Coordinate descent with arbitrary sampling I: algorithms and complexity†

We study the problem of minimizing the sum of a smooth convex function and a convex block-separable regularizer and propose a new randomized coordinate descent method, which we call ALPHA. Our method at every iteration updates a random subset of coordinates, following an arbitrary distribution. No coordinate descent methods capable to handle an arbitrary sampling have been studied in the literature before for this problem. ALPHA is a very flexible algorithm: in special cases, it reduces to deterministic and randomized methods such as gradient descent, coordinate descent, parallel coordinate descent and distributed coordinate descent—both in nonaccelerated and accelerated variants. The variants with arbitrary (or importance) sampling are new. We provide a complexity analysis of ALPHA, from which we deduce as a direct corollary complexity bounds for its many variants, all matching or improving best known bounds.     

On input‐to‐state stability‐based design for leader/follower formation control with measurement delays

This paper addresses the design of low‐level controllers for leader–follower formations of nonholonomic vehicles in the presence of bounded measurement delays. The concept of input‐to‐state stability is extended to encompass the effect of bounded delays and restrictions on the input. A method is proposed to integrate a Smith predictor in a backstepping design on the basis of nested saturations and nonlinear small‐gain assignment, which allows for time delays in the feedback loop. Robustness analysis under uncertain bounded time delays is provided, and design tradeoffs resulting from the use of bounded controls are discussed. Illustrative simulations are shown to validate the design and robustness analysis in the context of a simple leader–follower trailing control problem. Copyright © 2012 John Wiley & Sons, Ltd.     

基于模型的单视图线性共面四点算法

通过利用三维点的仿射坐标对于刚体变换而言是不变的,并且对计算机坐标系到图像坐标系的坐标变换而言也是不变的这一特性,开发了从一个目标单视图线性复原其三维位姿的新算法,该算法只需4个特征点即可精确实现目标的三维位姿的线性重建。实验表明,该算法快速高效,误差性能良好,抗噪能力较强。     

Addressing agent loss in vehicle formations and sensor networks

In this paper, we address the problem of agent loss in vehicle formations and sensor networks via two separate approaches: (1) perform a ‘self‐repair’ operation in the event of agent loss to recover desirable information architecture properties or (2) introduce robustness into the information architecture a priori such that agent loss does not destroy desirable properties. We model the information architecture as a graph G(V, E), where V is a set of vertices representing the agents and E is a set of edges representing information flow amongst the agents. We focus on two properties of the graph called rigidity and global rigidity, which are required for formation shape maintenance and sensor network self‐localization, respectively. For the self‐repair approach, we show that while previous results permit local repair involving only neighbours of the lost agent, the repair cannot always be implemented using only local information. We present new results that can be applied to make the local repair using only local information. We describe implementation and illustrate with algorithms and examples. For the robustness approach, we investigate the structure of graphs with the property that rigidity or global rigidity is preserved after removing any single vertex (we call the property as 2‐vertex‐rigidity or 2‐vertex‐global‐rigidity, respectively). Information architectures with such properties would allow formation shape maintenance or self‐localization to be performed even in the event of agent failure. We review a characterization of a class of 2‐vertex‐rigidity and develop a separate class, making significant strides towards a complete characterization. We also present a characterization of a class of 2‐vertex‐global‐rigidity. Copyright © 2008 John Wiley & Sons, Ltd.     

Adaptive prescribed time control for quadrotor formation with stochastic links failure

The formation control for multiple quadrotors subject to maintaining the formation configuration and collision avoidance in the situation of stochastic links failure is investigated in this paper. First, the distributed formation controller is designed, the position controller is developed to manage the desired formation of position, and the attitude controller is developed to control the translation and rotation movements of the quadrotor. Then, in order to avoid the collisions between multiple quadrotors and the obstacles, a potential energy function method is introduced into the quadrotor formation control combined with the nest adaptive control. Inspired by the design of event trigger controller, a communication compensation controller is designed to ensure the stability of quadrotor formation under the condition of random communication interruption and recovery. Moreover, a prescribed time function is designed, which means the convergence time of the formation system can be set in advance. The prescribed time stability of the formation control system is proved by Lyapunov theory. Finally, the simulation results verify the effectiveness and superiority of this method.     

不同形貌Ti-O基纳米结构的可控制备与形成机制探讨

利用碱辅助水热法实现了Ti-O基纳米管、纳米带和纳米结构微球的合成,通过TEM、SEM等手段对所制备的纳米结构进行表征。当采用商品级锐钛矿TiO2为原料,热水处理温度为180℃、碱的浓度为10mol/L,热处理48h时可以得到Ti-O基纳米带。纳米带宽度为50~200nm,长度达到几十微米甚至一百多微米;产物产率高,质量好,结晶良好,表面洁净,无缺陷。当热处理温度为120℃时,可以得到Ti-O基纳米管,纳米管的长度为200~500nm,外径在20~50nm之间。当所用前驱体的粒径较小时,容易形成较细或者较窄的纳米带或者纳米线,当在选用前驱体的粒径较大时,可以生成纳米结构微球。     

工业设计专业基础设计教学思考与探索

基础设计课程是工业设计专业从基础课程过渡到产品设计课程之间的桥梁,采用理论与实践相结合以实践教学为主的教学方法,理论环节以实例讲授为主,实践环节主要是专题设计训练,培养学生的观察、感受和把握的能力,着重于从纯粹的无目的的形态构成到实际产品设计的过渡,系统地训练产品设计的创意思维方法。在学习过程中运用基础课程的原理与方法,通过手工制作出有实用功能、形式美感兼备的产品雏形。     

A comparison of finite elements for nonlinear beams: the absolute nodal coordinate and geometrically exact formulations

Two of the most popular finite element formulations for solving nonlinear beams are the absolute nodal coordinate and the geometrically exact approaches. Both can be applied to problems with very large deformations and strains, but they differ substantially at the continuous and the discrete levels. In addition, implementation and run-time computational costs also vary significantly. In the current work, we summarize the main features of the two formulations, highlighting their differences and similarities, and perform numerical benchmarks to assess their accuracy and robustness. The article concludes with recommendations for the choice of one formulation over the other.     

A distributed control scheme for multiple robotic vehicles to make group formations

This paper presents a novel distributed control scheme of multiple robotic vehicles. Each robotic vehicle in this scheme has its own coordinate system, and it senses its relative position and orientation to others, in order to make group formations. Although there exists no supervisor and each robotic vehicle has only relative position feedback from the others in the local area around itself, all the robotic vehicles are stabilized, which we have succeeded in proving mathematically only in the cases where the attractions between the robots are symmetrical. Each robotic vehicle especially has a two-dimensional control input referred to as a “formation vector” and the formation is controllable by the vectors. The validity of this scheme is supported by computer simulations.     

鄂尔多斯盆地东南部长7油层组沉积相研究

为了明确鄂尔多斯盆地东南部长7油层组沉积体系类型和沉积相展布特征,总结其沉积演化规律,以沉积学的基本原理和方法为指导,综合运用地球化学、盆地分析等理论和方法,通过野外露头、钻井、测井等资料的综合分析,认为鄂尔多斯盆地东南部长7油层组主要发育三角洲和湖泊沉积体系,可进一步划分为3类亚相,其中以三角洲前缘和深湖2种亚相为主．