A Faà di Bruno Hopf algebra for a group of Fliess operators with applications to feedback

A Faà di Bruno type Hopf algebra is developed for a group of integral operators known as Fliess operators, where operator composition is the group product. Such operators are normally written in terms of generating series over a noncommutative alphabet. Using a general series expansion for the antipode, an explicit formula for the generating series of the compositional inverse operator is derived. The result is applied to analytic nonlinear feedback systems to produce an explicit formula for the feedback product, that is, the generating series for the Fliess operator representation of the closed-loop system written in terms of the generating series of the Fliess operator component systems. This formula is employed to provide a proof that local convergence is preserved under feedback.     

Design and experimental evaluation of a robust force controller for an electro-hydraulic actuator via quantitative feedback theory

This paper presents the design and experimental evaluation of an explicit force controller for a hydraulic actuator in the presence of significant system uncertainties and nonlinearities. The nonlinear version of quantitative feedback theory (QFT) is employed to design a robust time-invariant controller. Two approaches are developed to identify linear time-invariant equivalent model that can precisely represent the nonlinear plant, operating over a wide range. The first approach is based on experimental input–output measurements, obtained directly from the actual system. The second approach is model-based, and utilizes the general nonlinear mathematical model of a hydraulic actuator interacting with an uncertain environment. Given the equivalent models, a controller is then designed to satisfy a priori specified tracking and stability specifications. The controller enjoys the simplicity of fixed-gain controllers while exhibiting robustness. Experimental tests are performed on a hydraulic actuator equipped with a low-cost proportional valve. The results show that the compensated system is not sensitive to the variation of parameters such as environmental stiffness or supply pressure and can equally work well for various set-point forces.     

任务型的教学模式在高职计算机教学中的应用

该文对任务型的教学模式的本质进行了研究,对它加以改进、深化,并将之用于职业教育的计算机教学,取得了好的教学效果。在实践的基础上,该文从基于任务型的教学模式的概念、教学结构和职业教育的现状特点和这一模式具体的实施步骤方面进行了理论上的总结。     

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.     

一个二阶非线性中立时滞微分方程的正解

研究了一个二阶非线性中立时滞微分方程,给出了关于此方程正解存在的一些充分条件,其优点在于省略了对任意的a〉0,aQ1（t）-Q2（t）都是最终非负的限制条件。最后通过数值例子说明研究结果的优越性。     

Biot–Frenkel Poromechanics in Russia (Review)

The Biot–Frenkel model of fluid-infiltrated material dynamics in its original linear form is adequate to solve many problems for soils and rocks mechanics saturated with fluids. The main interest to it was connected with applications in oil/gas production and the exploration industry and also in civil engineering and ecology. The model was developed and generalized successfully for the first half century. The input of the Russian writers was essential. A corresponding review of their published results is given in this paper.     

A flight control system for aerial robots: algorithms and experiments

This paper presents a hierarchical flight control system for unmanned aerial vehicles. The proposed system executes high-level mission objectives by progressively substantiating them into machine-level commands. The acquired information from various sensors is propagated back to the higher layers for reactive decision making. Each vehicle is connected via standardized wireless communication protocol for scalable multi-agent coordination. The proposed system has been successfully implemented on a number of small helicopters and validated in various applications. Results from waypoint navigation, a probabilistic pursuit-evasion game and vision-based target tracking demonstrate the potential of the proposed approach toward intelligent flying robots.     

Multiobjective problems: Linear and nonlinear control

In this note, we compare the value of nonlinear and linear control for a multiobjective control problem with a linear time-invariant (LTI) plant. We show that if the performance of a nonlinear feedback controller is measured by the maximum incremental gain, the optimal achievable performance with nonlinear, time-varying control is identical to that achievable by LTI control.     

Rough Terrain Autonomous Mobility—Part 1: A Theoretical Analysis of Requirements

A basic requirement of autonomous vehicles is that of guaranteeing the safety of the vehicle by avoiding hazardous situations. This paper analyses this requirement in general terms of real-time response, throughput, and the resolution and accuracy of sensors and computations. Several nondimensional expressions emerge which characterize requirements in canonical form.The automatic generation of dense geometric models for autonomously navigating vehicles is a computationally expensive process. Using first principles, it is possible to quantify the relationship between the raw throughput required of the perception system and the maximum safely achievable speed of the vehicle. We derive several useful expressions for the complexity of terrain mapping perception under various assumptions. All of them can be reduced to polynomials in the response distance.The significant time consumed by geometric perception degrades real-time response characteristics. Using our results, several strategies of active geometric perception arise which are practical for autonomous vehicles and increasingly important at higher speeds.