Patchy solution of a Francis–Byrnes–Isidori partial differential equation

The solution to the nonlinear output regulation problem requires one to solve a first‐order partial differential equation, known as the Francis–Byrnes–Isidori equations. In this paper, we propose a method to compute approximate solutions to the Francis–Byrnes–Isidori equations when the zero dynamics of the plant are hyperbolic and the exosystem is two dimensional. With our method, we are able to produce approximations that converge uniformly to the true solution. Our method relies on the periodic nature of two‐dimensional analytic center manifolds. Copyright © 2012 John Wiley & Sons, Ltd.     

汽车防追尾无线动态测距系统的研究与应用

为了有效解决汽车行驶中的动态测距问题,讨论汽车动态测距系统的总体设计方案,利用超声波在空气中传播遇障碍物反射原理,以超声波探头为接口部件,AT89S8252单片机为核心,计算超声波在空气中传播的时间,并换算成对应的距离来实现动态测距,通过硬件设计实现自车和邻车之间距离的实时显示和非安全距离的声光报警。经软件编程仿真,结果表明该系统软硬件设计合理、抗干扰能力强、实时性良好、精确度较高。经过系统扩展和升级,以其较高的性价比可在不同的测距场合得到广泛应用。     

Continuous collision detection for adaptive simulation of articulated bodies

We perform continuous collision detection (CCD) for articulated bodies where motion is governed by an adaptive dynamics simulation. Our algorithm is based on a novel hierarchical set of transforms that represent the kinematics of an articulated body recursively, as described by an assembly tree. The performance of our CCD algorithm significantly improves as the number of active degrees of freedom in the simulation decreases.     

Thermodynamic modeling of the Na–Al–Ti–H system and Ti dissolution in sodium alanates

Thermodynamic assessments were made to optimize thermodynamic models and parameter fits to selected experimental and first principles hypothetical predicted phase data within the Na–Al–Ti–H system. This enabled thermodynamic modeling of Ti solubility within the sodium alanates: NaAlH₄ and Na₃AlH₆, and the relative stability of Ti-bearing phases. The modeling provides insights into the role of Ti originating from Ti-based activating agents commonly referred to as ‘catalysts’ in promoting reversibility of the Na–Al–H dehydrogenation and rehydrogenation reactions under moderate temperature and pressure conditions relevant to H storage applications. Preliminary assessments were made to evaluate H solubility in bcc-Ti and hcp-Ti, and stability of the hydride δ-TiH₂. To model possible Ti dissolution in NaAlH₄ and α-Na₃AlH₆, sub-lattice models were applied. A repulsive interaction is predicted by first principles calculations when Ti is dissolved in NaAlH₄ or α-Na₃AlH₆, which becomes stronger with increasing temperature. Although Ti is virtually insoluble in NaAlH₄ or α-Na₃AlH₆, a small addition of TiCl₃ will induce a thermodynamic driving force for formation of TiH₂ and/or TiAl₃. The addition of pure Ti shows a weaker effect than TiCl₃ and leads to formation of TiH₂ only. Based on a combined interpretation of present thermodynamic modeling and prior experimental observations, the TiAl₃ and TiH₂ phases are ascribed to have a catalytic effect, not a thermodynamic destabilization effect, on the reversibility of the dehydrogenation/rehydrogenation reactions in the Na–Al–H system.     

基于计算缓存方法的分子动力学程序性能优化

分子动力学数值模拟程序在现代高性能计算机上的计算效率往往很低,只能发挥系统峰值性能的几个百分点。本文对并行分子动力学程序PMD3D在联想深腾6800超级计算机上进行性能优化。通过性能分析,我们发现粒子相互作用力计算中相互关联的浮点运算严重影响了处理器的指令级并行效率,为此我们应用计算缓存的方法,将大量不规则的浮点计算进行缓存,达到一定规模后再进行向量化计算。这样使得单机性能在优化后提升4倍多,达到处理器峰值性能5.2GFlops的32.3%。最后,在深腾6800的64个节点的256个CPU上进行了并行性能测试,达到峰值运算性能1.3万亿次的27%。     

一类不确定非线性系统的停息时间可调的有限时间镇定

研究了一类带有零动态不确定非线性系统有限时间镇定问题, 给出了具有更强实用性的停息时间可调的有限时间稳定控制设计方法. 基于有限时间稳定的Lyapunov理论和反推技术, 给出了停息时间可调有限时间稳定控制器的设计步骤. 所设计的状态反馈控制器使得闭环系统全局有限时间稳定, 且停息时间可调整, 特别是当系统初始值已知时, 停息时间可以任意调节. 仿真例子验证了本文的主要结论.     

基于扩散激活模型的无线自组网分簇方法

传统的分簇方法很少同时考虑安全因素及其对网络性能的影响。针对此问题,提出了一种基于信任关系的分簇方法,该分簇方法结合人类记忆的扩散激发模型思想,能够根据有限的局部信息自动地对整个网络进行分割。试验结果表明,该文所提出的分簇方法在精确度方面与集中式的分簇方法非常接近。因此,在提高Ad Hoc网络性能的同时,还可提高其安全性。     

基于系统动力学的环境污染演化博弈问题研究

用系统动力学建立环境污染管理问题中政府管理部门与生产排污企业之间的一个混合战略演化博弈模型.仿真结果表明:非对称结构的2*2混合策略演化博弈模型不存在演化均衡.从监管部门的角度出发,改变博弈支付矩阵在演化博弈过程始终保持不变的情况,在博弈支付矩阵中考虑动态惩罚策略.结果表明,本策略的演化博弈模型存在演化稳定均衡,即Nash均衡.系统动力学为演化博弈理论的验证和应用提供一个政策仿真实验平台.     

履带车多刚体建模与仿真分析

首先以车辆地面力学理论为基础,分析了典型的履带与地面相互作用关系及其在RecurDyn/Track(LM)程序中的处理,分别定义了两种典型地面土力学参数,从而建立了基于Bekker理论与Janosi & Hanamoto理论的循环动载荷作用下履带与地面相互作用力学模型;同时分析了履带系统各部件之间的接触力学模型,定义各接触参数及约束关系,从而准确合理地建立了履带车多刚体模型,通过施加运动函数,实现模型在典型地面参数下的行走特性仿真分析,仿真结果与理论分析及实际情况相符合,互为验证,从而为进一步深入研究提供了理论依据与有效分析手段.