A multilevel sampled‐data approach for resilient navigation and control of autonomous systems

Autonomous systems are rapidly becoming an integrated part of the modern life. Safe and secure navigation and control of these systems present significant challenges in the presence of uncertainties, physical failures, and cyber attacks. In this paper, we formulate a navigation and control problem for autonomous systems using a multilevel control structure, in which the high‐level reference commands are limited by a saturation function, whereas the low‐level controller tracks the reference by compensating for disturbances and uncertainties. For this purpose, we consider a class of nested, uncertain, multiple‐input–multiple‐output systems subject to reference command saturation, possibly with nonminimum phase zeros. A multirate output‐feedback adaptive controller is developed as the low‐level controller. The sampled‐data (SD) design of this controller facilitates the direct implementation on digital computers, where the input/output signals are available at discrete time instances with different sampling rates. In addition, stealthy zero‐dynamics attacks become detectable by considering a multirate SD formulation. Robust stability and performance of the overall closed‐loop system with command saturation and multirate adaptive control are analyzed. Simulation scenarios for navigation and control of a fixed‐wing drone under failures/attacks are provided to validate the theoretical findings.     

An interval observer for uncertain continuous‐time linear systems

To design robust interval observers for uncertain continuous‐time linear systems, a new set‐integration approach is proposed to compute trajectory tubes for the estimation error. Because this approach, the order‐preserving condition on the dynamics of the estimation error is no longer required. Therefore, synthesis methods can be used to compute observer gains that reduce the impact of the system uncertainties on the accuracy of the estimated state enclosures. The performance of the proposed approach is showcased through illustrative numerical examples.     

Stochastic collocation-based nonlinear analysis of concrete bridges with uncertain parameters

This paper focuses on the stochastic response of concrete bridges considering uncertainty in bearing and abutment stiffness. A multi-span simply supported bridge with concrete girders is selected. A 3D-dimensional model is prepared, and nonlinear response history analyses are performed. For the numerical dynamic simulation, the non-sampling stochastic method based on generalized polynomial chaos (gPC) expansion is utilised. The uncertain parameters include the vertical and shear stiffness of bearings and the lateral stiffness of abutments are presented by the truncated gPC expansions. Furthermore, the system response such as base shear, acceleration, velocity and displacement in different columns is presented by gPC expansion with unknown deterministic coefficients. The stochastic Galerkin projection is employed to calculate a set of deterministic equations. A non-intrusive solution, as a set of collocation points, determines the unknown gPC coefficients of the system response and the results are compared with Monte Carlo simulations. The key advantage of spectral discretization is the combination of the mentioned method with the spatial discretization, e.g. finite element model. This study also emphasises the accuracy in results and time efficiency of the proposed non-sampling method for uncertainty quantification of stochastic systems comparing to sampling procedure (e.g. Monte Carlo simulation).     

基于模糊谱聚类的不确定蛋白质相互作用网络功能模块挖掘

针对谱聚类融合模糊C-means（FCM）聚类的蛋白质相互作用（PPI）网络功能模块挖掘方法准确率不高、执行效率较低和易受假阳性影响的问题，提出一种基于模糊谱聚类的不确定PPI网络功能模块挖掘（FSC-FM）方法。首先，构建一个不确定PPI网络模型，使用边聚集系数给每一条蛋白质交互作用赋予一个存在概率测度，克服假阳性对实验结果的影响；第二，利用基于边聚集系数流行距离（FEC）策略改进谱聚类中的相似度计算，解决谱聚类算法对尺度参数敏感的问题，进而利用谱聚类算法对不确定PPI网络数据进行预处理，降低数据的维数，提高聚类的准确率；第三，设计基于密度的概率中心选取策略（DPCS）解决模糊C-means算法对初始聚类中心和聚类数目敏感的问题，并对预处理后的PPI数据进行FCM聚类，提高聚类的执行效率以及灵敏度；最后，采用改进的边期望稠密度（EED）对挖掘出的蛋白质功能模块进行过滤。在酵母菌DIP数据集上运行各个算法可知，FSC-FM与基于不确定图模型的检测蛋白质复合物（DCU）算法相比，F-measure值提高了27.92%，执行效率提高了27.92%；与在动态蛋白质相互作用网络中识别复合物的方法（CDUN）、演化算法（EA）、医学基因或蛋白质预测算法（MGPPA）相比也有更高的F-measure值和执行效率。实验结果表明，在不确定PPI网络中，FSC-FM适合用于功能模块的挖掘。     

Influences of chitosan on freeze–thaw stability of Arenga pinnata starch

This study aims to investigate chitosan (CS) with five different molecular weight (Mw) on freeze–thaw stability of Arenga pinnata starch (APS) gel subjected to five freeze–thaw cycles (FTC). The syneresis of APS gels was reduced by adding CS and the APS gel with high Mw CS had lower syneresis duo to a higher water holding capacity (P < 0.05). The addition of CS significantly decreased the hardness and molecular ordered structure of APS gel. In addition, CS could improve the microstructural stability. The results suggested that CS could effectively improve the freeze–thaw stability of APS gel, and CS with higher Mw might have more practical utility to improve stability of APS gel.     

Distributed Kalman filter for linear system with complex multi-channel stochastic uncertain parameter and decoupled local filters

This article considers a distributed Kalman filtering problem for linear system contaminated by complex multi-channel random uncertain parameter in which a number of nodes cooperative without central coordination to estimate a common state based on local measurements and data received from neighbors. We propose an approach to eliminate this error propagation. The proposed local filters are guaranteed to be stable under some mild conditions on certain global structural data, and their fusion yields the centralized Kalman estimate. Then, we extend this method to smoothing and deconvolution algorithm. Finally, simulation experiments demonstrate the validity of the proposed approach.     

The introduction strategy of the emerging online marketplace considering risk attitude and channel power

With the development of online retailing, traditional online platforms have begun to offer a novel online marketplace format that brings many advantages but also gives rise to problems such as operational risks and changes in channel power. This paper studies whether the e-tailer and manufacturer can reach a consensus on introducing the marketplace channel and obtains the following insights. First, the manufacturer always prefers to introduce the online marketplace in the model where she acts as the leader. The e-tailer has the same preference for the online marketplace when he moves later or simultaneously with the manufacturer. Second, as the participants become more risk-averse, the manufacturer and e-tailer would be less willing to introduce the online marketplace, and it would be more difficult to realize the equilibrium strategy under all power structure models. Third, by combining the cross-effect of the attitude towards risks and the power structure, we find that when the participants prefer risks and the e-tailer has strong channel power, it would be much easier for the two parties to reach a consensus about introducing the online marketplace.     

Adaptive control of unactuated dynamical systems through interconnections: Stability and performance guarantees

This article studies control and performance enforcement for a class of uncertain dynamical systems that consist of actuated and unactuated portions physically interconnected to each other. The proposed approach stabilizes the overall interconnected system in the presence of unknown physical interconnections as well as system uncertainties. Performance guarantees are enforced, individually, on the actuated as well as unactuated portions of the interconnected system via this approach. For enforcing these performance guarantees, a set-theoretic model reference adaptive control approach is used, in conjunction with linear matrix inequalities, to restrict the respective system error trajectories of the actuated and unactuated dynamics inside a priori, user-defined compact sets. The efficacy of the proposed approach is demonstrated using simulations.     

Failure load prediction and optimisation for adhesively bonded joints enabled by deep learning and fruit fly optimisation

Adhesively bonded joints have been extensively employed in the aeronautical and automotive industries to join thin-layer materials for developing lightweight components. To strengthen the structural integrity of joints, it is critical to estimate and improve joint failure loads effectually. To accomplish the aforementioned purpose, this paper presents a novel deep neural network (DNN) model-enabled approach, and a single lap joint (SLJ) design is used to support research development and validation. The approach is innovative in the following aspects: (i) the DNN model is reinforced with a transfer learning (TL) mechanism to realise an adaptive prediction on a new SLJ design, and the requirement to re-create new training samples and re-train the DNN model from scratch for the design can be alleviated; (ii) a fruit fly optimisation (FFO) algorithm featured with the parallel computing capability is incorporated into the approach to efficiently optimise joint parameters based on joint failure load predictions. Case studies were developed to validate the effectiveness of the approach. Experimental results demonstrate that, with this approach, the number of datasets and the computational time required to re-train the DNN model for a new SLJ design were significantly reduced by 92.00% and 99.57% respectively, and the joint failure load was substantially increased by 9.96%.     

基于多要素视角的矿产资源节约集约利用水平评估

根据2016~2018年度对浙江省内53座典型露天开采矿山的跟踪调研,分析矿产资源节约集约利用水平现状,经多批次的专家咨询、研讨,确定了矿产资源节约集约利用水平评价指标项和评价标准值计算方法,结合专家打分方式确定各项指标权重,构建了评价指标体系。通过对选取的典型矿山试点评估,探讨评价指标体系的科学合理性。结果显示,由评价体系得出的评估值与矿山企业的开发利用实际情况较为吻合,能够客观的反映出矿山企业的资源节约集约利用水平。以此可建立矿产资源节约集约利用水平评价机制,定期开展系统性评价工作,为建立矿政管理考核和监管提供依据。