机器人系统有限时间自适应迭代学习控制

研究任意初态下，机器人系统的有限时间自适应迭代学习控制方法。引入初始修正吸引子的概念，构造一个含有初始修正项的误差变量。针对定常机器人系统和时变机器人系统，采用Lyapunov-like方法，分别设计迭代学习控制器处理系统中不确定性。并且，采用未含/含限幅学习机制，保证闭环系统各变量的一致有界性和误差变量在整个作业区间一致收敛性。藉以实现跟踪误差在预先指定区间的完全跟踪。仿真结果验证所设计控制方法的有效性。     

Multicolour tunable luminescence of thermal-stable Ce3+/Tb3+/Eu3+-triactivated Ca3Gd(GaO)3(BO3)4 phosphors via Ce3+ → Tb3+ → Eu3+ energy transfer for near-UV WLEDs applications

A series of single-component blue, green and red phosphors have been fabricated based on the Ca₃Gd(GaO)₃(BO₃)₄ host through doping of the Ce³⁺/Tb³⁺/Eu³⁺ ions, and their crystal structure and photoluminescence properties have been discussed in detail. A terbium bridge model via Ce³⁺ → Tb³⁺ → Eu³⁺ energy transfer has been studied. The emission colours of the phosphors can be tuned from blue (0.1661, 0.0686) to green (0.3263, 0.4791) and eventually to red (0.5284, 0.4040) under a single 344 nm UV excitation as the result of the Ce³⁺ → Tb³⁺ → Eu³⁺ energy transfer. The energy transfer mechanisms of Ce³⁺ → Tb³⁺ and Tb³⁺ → Eu³⁺ were found to be dipole-dipole interactions. Importantly, Ca₃Gd(GaO)₃(BO₃)_4:Ce³⁺,Tb³⁺,Eu³⁺ phosphors had high internal quantum efficiency. Moreover, the study on the temperature-dependent emission spectra revealed that the Ca₃Gd(GaO)₃(BO₃)_4:Ce³⁺,Tb³⁺,Eu³⁺ phosphors possessed good thermal stability. The above results indicate that the phosphors can be applied into white light-emitting diodes as single-component multi-colour phosphors.     

A low power and low phase-noise 91~96 GHz VCO in 90 nm CMOS

This paper reports a 94 GHz CMOS voltage-controlled oscillator (VCO) using both the negative capacitance (NC) technique and series-peaking output power and phase noise (PN) enhancement technique. NC is achieved by adding two variable LC networks to the source nodes of the active circuit of the VCO. NMOSFET varicaps are adopted as the required capacitors of the LC networks. In comparison with the conventional one, the proposed active circuit substantially decreases the input capacitance (C_in) to zero or even a negative value. This leads to operation (or oscillation) frequency (OF) increase and tuning range (TR) enhancement of the VCO. The VCO dissipates 8.3 mW at 1 V supply. The measured TR of the VCO is 91~96 GHz, close to the simulated (92.1~96.7 GHz) and the calculated one (92.2~98.2 GHz). In addition, at 1 MHz offset from 95.16 GHz, the VCO attains an excellent PN of – 98.3 dBc/Hz. This leads to a figure-of-merit (FOM) of ?188.5 dBc/Hz, a remarkable result for a V- or W-band CMOS VCO. The chip size of the VCO is 0.75 × 0.42 mm², i.e. 0.315 mm².     

Design of an adaptive super-twisting decoupled terminal sliding mode control scheme for a class of fourth-order systems

This paper proposes an adaptive super-twisting decoupled terminal sliding mode control technique for a class of fourth-order systems. The adaptive-tuning law eliminates the requirement of the knowledge about the upper bounds of external perturbations. Using the proposed control procedure, the state variables of cart-pole system are converged to decoupled terminal sliding surfaces and their equilibrium points in the finite time. Moreover, via the super-twisting algorithm, the chattering phenomenon is avoided without affecting the control performance. The numerical results demonstrate the high stabilization accuracy and lower performance indices values of the suggested method over the other ones. The simulation results on the cart-pole system as well as experimental validations demonstrate that the proposed control technique exhibits a reasonable performance in comparison with the other methods.     

On the approximation of the canard explosion point in singularly perturbed systems without an explicit small parameter

A canard explosion is the dramatic change of period and amplitude of a limit cycle of a system of nonlinear ODEs in a very narrow interval of the bifurcation parameter. It occurs in slow–fast systems and is well understood in singular perturbation problems where a small parameter epsilon defines the time-scale separation. We present an iterative algorithm for the determination of the canard explosion point which can be applied for a general slow–fast system without an explicit small parameter. We also present assumptions under which the algorithm gives accurate estimates of the canard explosion point. Finally, we apply the algorithm to the van der Pol equations, a Templator model for a self-replicating system and a model for intracellular calcium oscillations with no explicit small parameters and obtain very good agreement with results from numerical simulations.     

具有外套管的释热元件表面温度求解

为进行具有外套管的释热元件的性能分析，需准确计算元件包壳外侧的温度分布。由于套管结构内外均存在流体，传热情况较为复杂，因此本文基于传热基本方程和能量守恒关系，设计开发了专用的迭代算法和计算程序求解该结构温度分布，并采用典型算例，将计算结果与Fluent软件仿真结果进行对比。结果表明，本文程序计算结果与Fluent软件仿真结果的相对误差小于5%。基于本算法编写的程序模块与燃料元件性能分析程序相耦合，可提高燃料性能分析流程的独立性。     

Two-stage optimization for machine learning workflow

Machine learning techniques play a preponderant role in dealing with massive amount of data and are employed in almost every possible domain. Building a high quality machine learning model to be deployed in production is a challenging task, from both, the subject matter experts and the machine learning practitioners.For a broader adoption and scalability of machine learning systems, the construction and configuration of machine learning workflow need to gain in automation. In the last few years, several techniques have been developed in this direction, known as AutoML.In this paper, we present a two-stage optimization process to build data pipelines and configure machine learning algorithms. First, we study the impact of data pipelines compared to algorithm configuration in order to show the importance of data preprocessing over hyperparameter tuning. The second part presents policies to efficiently allocate search time between data pipeline construction and algorithm configuration. Those policies are agnostic from the metaoptimizer. Last, we present a metric to determine if a data pipeline is specific or independent from the algorithm, enabling fine-grain pipeline pruning and meta-learning for the coldstart problem.     

Multi-objective iterative optimization algorithm based optimal wavelet filter selection for multi-fault diagnosis of rolling element bearings

Rolling element bearings (REBs) play an essential role in modern machinery and their condition monitoring is significant in predictive maintenance. Due to the harsh operating conditions, multi-fault may co-exist in one bearing and vibration signal always exhibits low signal-to-noise ratio (SNR), which causes difficulties in detecting fault. In the previous studies, maximum correlated kurtosis deconvolution (MCKD) has been validated as an efficient method to extract fault feature in the fault signals. Nonetheless, there are still some challenges when MCKD is applied to fault detection owing to the rigorous requirements of multiple input parameters. To overcome limitation, a multi-objective iterative optimization algorithm (MOIOA) for multi-fault diagnosis is proposed. In this method, correlated kurtosis (CK) is taken as a criterion to select optimal Morlet wavelet filter using the whale optimization algorithm (WOA). Meanwhile, to further eliminate the effect of the inaccurate period on CK, the update process of period is incorporated. After that, the simulated and experimental signals are utilized to testify the validity and superiority of the MOIOA for multiple faults detection by the comparison with MCKD. The results indicate that MOIOA is efficient to extract weak fault features even with heavy noise and harmonic interferences.     

Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law

Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm.     

Rhombellation: a builder for multi-shell clusters

Rhombellanes are mathematical structures, proposed by us in 2017; they may appear both in periodic crystals or in finite structures. The simplest rhombellane is rbl.5 or K_2.3, the complete bipartite graph. In this paper, rhombellation operation is iteratively applied on three classes of structures: cube, tori and cubic pcu-network, respectively. The structural topological parameters are detailed.