Finite-time coordination in multiagent systems using sliding mode control approach

Finite-time stability in dynamical systems theory involves systems whose trajectories converge to an equilibrium state in finite time. In this paper, we use the notion of finite-time stability to apply it to the problem of coordinated motion in multiagent systems. Specifically, we consider a group of agents described by fully actuated Euler–Lagrange dynamics along with a leader agent with an objective to reach and maintain a desired formation characterized by steady-state distances between the neighboring agents in finite time. We use graph theoretic notions to characterize communication topology in the network determined by the information flow directions and captured by the graph Laplacian matrix. Furthermore, using sliding mode control approach, we design decentralized control inputs for individual agents that use only data from the neighboring agents which directly communicate their state information to the current agent in order to drive the current agent to the desired steady state. Sliding mode control is known to drive the system states to the sliding surface in finite time. The key feature of our approach is in the design of non-smooth sliding surfaces such that, while on the sliding surface, the error states converge to the origin in finite time, thus ensuring finite-time coordination among the agents in the network. In addition, we discuss the case of switching communication topologies in multiagent systems. Finally, we show the efficacy of our theoretical results using an example of a multiagent system involving planar double integrator agents.     

A 3D analysis of the joint torques developed during driver's ingress–egress motion

Providing an easy ingress–egress (I/E) movement remains a challenge for car designers. I/E has been largely studied in kinematics, but not in dynamics. This study proposes: (1) to evaluate and describe the motor torques developed in the lower limbs and lumbar joints during I/E motions and (2) to analyse the influence of the car geometry and subject anthropometry. An experiment was performed to observe 15 subjects of three anthropometrical groups getting in and out of a car mock-up simulating three different vehicle configurations. Motor torques were extracted using an inverse dynamics analysis. Both ingress and egress motions were primarily characterised by large torques. Overall, the taller a subject and the lower the seat of the vehicle were, the larger the peak torques were. Moreover, peak torques were higher for egress than ingress. These results are discussed in regard to the current knowledge on I/E ergonomics.     

聚酰亚胺/二氧化硅杂化膜的制备与介电性能的研究

采用溶胶-凝胶法制备了BTDA-ODA聚酰亚胺/SiO2杂化膜,利用红外分光光度计（FTIR）、热重分析仪（TGA）和透射电镜（TEM）研究了杂化膜的微观结构和热性能,并对杂化膜的介电常数（e）和介电损耗（tand）随SiO2粒子含量和电场频率的变化进行了分析和讨论。结果表明：杂化膜的介电常数和介电损耗随SiO2粒子含量的增加而增大,随电场频率的升高而逐渐降低,用考虑到粒子的形状因素和两相间相互作用的EMT模型可以预测聚酰亚胺/SiO2杂化膜的介电常数。     

ESTIMATION OF THE PREDICTION ERROR VARIANCE AND AN R2 MEASURE BY AUTOREGRESSIVE MODEL FITTING

Abstract. For predicting the future values of a stationary process { x_t } ( t = 0, pL 1, pL 2,…) on the basis of its past, two key parameters are the variance V ( h ), h ≥ 1, of the h -step prediction error and Z ( h ) ={ R (0) - V ( h )}/ R (0), the corresponding measure, in an R ² sense, of the predictability of the process from its past, where R (0) denotes the process variance. The estimation of V ( h ) and Z ( h ) from a realization of T consecutive observations of { x_t } is considered, without requiring that the process follows a finite parameter model. Three different autoregressive estimators are examined and are shown to be asymptotically equivalent in the sense that as T ∝ they have the same asymptotic normal distribution. The question of bias in estimating these parameters is also examined and a bias correction is proposed. Finite sample behaviour is investigated by a simulation study.     

用于虚拟现实的360度视频编码技术新进展*

随着虚拟现实技术不断发展,360度视频编码开始成为研究热点。应用于虚拟现实的360度视频与传统的视频相比分辨率更高,编码数据量更大,在实际应用中面临传输带宽有限的瓶颈,编码效率问题有待解决。归纳分析了国际标准组织联合视频研究组（joint video exploration team, JVET）正在制定的360度视频编码投影变换技术及其编码优化方法,综合对比了各变换技术的编码性能。根据当前最新研究成果,对下一步研究需要解决的问题进行了探讨总结,给出未来的研究方向和思路。     

弯道岸坡上粗细泥沙统一起动流速公式

该文基于概率论与泥沙起动基本理论,考虑了起动概率、相对暴露度与细颗粒泥沙间黏结力和附加下压力对泥沙起动的影响,采用滑动起动模型,从理论上推导出了适用于弯道岸坡上粗、细泥沙颗粒起动的统一流速公式,完善了已有研究成果对泥沙起动概率考虑的不足。公式综合了弯道岸坡、顺直岸坡、正负坡及平坡等条件下粗细泥沙颗粒起动流速计算,可简化为各简单条件下泥沙起动流速公式。通过各简单条件下泥沙起动流速实测资料验证,该文公式与实测数据符合良好。     

New correlation for predicting the viscosity of heavy petroleum fractions

A new, simple and reliable empirical correlation for predicting the viscosities of heavy petroleum fractions is proposed, applicable to fractions with mid-boiling points from 80 to 550°C over a wide range of viscosities (0.4 to 260 mm² s⁻¹) and measurement temperatures (40 to 200°C). This correlation showed better accuracy in the prediction of heavy petroleum fraction viscosities than that of the most accurate and much more complicated predictive methods in the literature, since it gave an overall average absolute deviation of 6.5% when tested on 296 data for medium and heavy petroleum fractions.     

年最大洪峰流量群居蜘蛛优化投影寻踪预测模型

年最大洪峰流量预测,受较多的复杂因素的影响,不确定性较强,用常规统计方法做出准确预报具有较大困难。从水文序列本身出发,提出将投影回归模型应用于年最大洪峰流量预测,为了更好获得投影寻踪模型参数和预测精度,提出了运用延迟相关系数法确定回归预测因子、群居蜘蛛算法优化投影寻踪模型最佳投影方向参数a、利用最小二乘法确定多项式的权系数c、岭函数个数M的群居蜘蛛优化投影寻踪年最大洪峰流量预测模型,结合长江宜昌站(1882年-2004年)的年最大洪峰流量资料进行实例预测,训练阶段平均绝对相对误差为8.61%,预测阶段平均绝对相对误差为10.51%,该模型预测效果较好,模型结果稳定,可有效应用于年最大洪峰流量预测。     

Hyperbola-Logistic叠加模型预测地基沉降

针对Hyperbola模型和Logistic模型的优缺点,提出Hyperbola-Logistic叠加模型,该叠加模型综合了两种单项预测模型的优点,以期达到高精度的预测结果。结合发电厂地基沉降现场观测数据,利用Hyperbola-Logistic叠加模型预测地基沉降,并与单项沉降预测模型的拟合结果进行比较分析。结果表明:与两种单项预测模型的预测结果相比较,叠加模型减小了系统误差,提高了整体的预测精度,拟合结果可靠,适用于发电厂地基沉降量的预测。新模型具有一定的适用性,是一种分析预测地基沉降的有效方法。     

Paramedics on the job: Dynamic trunk motion assessment at the workplace

Many paramedics' work accidents are related to physical aspects of the job, and the most affected body part is the low back. This study documents the trunk motion exposure of paramedics on the job. Nine paramedics were observed over 12 shifts (120 h). Trunk postures were recorded with the computer-assisted CUELA measurement system worn on the back like a knapsack. Average duration of an emergency call was 23.5 min. Sagittal trunk flexion of >40° and twisting rotation of >24° were observed in 21% and 17% of time-sampled postures. Medical care on the scene (44% of total time) involved prolonged flexed and twisted postures (∼10 s). The highest extreme sagittal trunk flexion (63°) and twisting rotation (40°) were observed during lifting activities, which lasted 2% of the total time. Paramedics adopted trunk motions that may significantly increase the risk of low back disorders during medical care and patient-handling activities.