This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theor...This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.展开更多
This paper analyzes the supervision activity, to which educators and teachers enrolled with AIGAM （Gordon Italian Association for the Musical Learning） are subject to every year and intends to verify the application...This paper analyzes the supervision activity, to which educators and teachers enrolled with AIGAM （Gordon Italian Association for the Musical Learning） are subject to every year and intends to verify the application of those principles expressed in the learning model of the MLT （Music Learning Theory） developed by educational psychologist E. Edwin Gordon （1989, 1999, 2000, 2001, 2007） and promoted internationally by various institutions and organizations specifically accredited. It describes the influence of the videotaped supervision on the process, functions of monitoring, and evaluation of educational practices, starting with an empirical model that has guided the interventions in a study of supervision on training aimed at consolidating and developing professional skills in music education in early childhood. This paper sought to understand： the kind of practices, interactions, communications developing during an educational actions, the existence of a consistent relationship between the principles expressed in the MLT and their application, the type and benefits of supervision performed by of video recording on stakeholders in terms of change in professional behavior, and finally whether the active supervision could be comparable with other kinds of approaches.展开更多
This paper presents a novel observer model that integrates quantum mechanics, relativity, idealism, and the simulation hypothesis to explain the quantum nature of the universe. The model posits a central server transm...This paper presents a novel observer model that integrates quantum mechanics, relativity, idealism, and the simulation hypothesis to explain the quantum nature of the universe. The model posits a central server transmitting multi-media frames to create observer-dependent realities. Key aspects include deriving frame rates, defining quantum reality, and establishing hierarchical observer structures. The model’s impact on quantum information theory and philosophical interpretations of reality are examined, with detailed discussions on information loss and recursive frame transmission in the appendices.展开更多
There is a puzzling astrophysical result concerning the latest observation of the absorption profile of the redshifted radio line 21 cm from the early Universe(as described in Bowman et al.). The amplitude of the prof...There is a puzzling astrophysical result concerning the latest observation of the absorption profile of the redshifted radio line 21 cm from the early Universe(as described in Bowman et al.). The amplitude of the profile was more than a factor of two greater than the largest predictions. This could mean that the primordial hydrogen gas was much cooler than expected. Some explanations in the literature suggested a possible cooling of baryons either by unspecified dark matter particles or by some exotic dark matter particles with a charge a million times smaller than the electron charge. Other explanations required an additional radio background. In the present paper, we entertain a possible different explanation for the above puzzling observational result: the explanation is based on the alternative kind of hydrogen atoms(AKHA),whose existence was previously demonstrated theoretically, as well as by the analysis of atomic experiments. Namely, the AKHA are expected to decouple from the cosmic microwave background(CMB) much earlier(in the course of the Universe expansion) than usual hydrogen atoms, so that the AKHA temperature is significantly lower than that of usual hydrogen atoms. This seems to lower the excitation(spin) temperature of the hyperfine doublet(responsible for the 21 cm line) sufficiently enough for explaining the above puzzling observational result. This possible explanation appears to be more specific and natural than the previous possible explanations. Further observational studies of the redshifted 21 cm radio line from the early Universe could help to verify which explanation is the most relevant.展开更多
In this paper, we propose a new parametrization for Om(z) diagnostics and show how the most recent and significantly improved observations concerning the H(z) and SN Ia measurements can be used to probe the consistenc...In this paper, we propose a new parametrization for Om(z) diagnostics and show how the most recent and significantly improved observations concerning the H(z) and SN Ia measurements can be used to probe the consistency or tension between the ΛCDM model and observations. Our results demonstrate that H0 plays a very important role in the consistency test of ΛCDM with H(z)data. Adopting the Hubble constant priors from Planck 2013 and Riess, one finds considerable tension between the current H(z) data and ΛCDM model and confirms the conclusions obtained previously by others. However, with the Hubble constant prior taken from WMAP9, the discrepancy between H(z) data and ΛCDM disappears, i.e., the current H(z) observations still support the cosmological constant scenario. This conclusion is also supported by the results derived from the Joint Lightcurve Analysis(JLA) SN Ia sample. The best-fit Hubble constant from the combination of H(z)+JLA(H00 = 68.81+1.5-1.49 km s-1 Mpc-1) is very consistent with results derived both by Planck 2013 and WMAP9, but is significantly different from the recent local measurement by Riess.展开更多
This paper proposes recursive least-squares (RLS) l-step ahead predictor and filtering algorithms with uncertain observations in linear discrete-time stochastic systems. The observation equation is given by y(k)=y(k)z...This paper proposes recursive least-squares (RLS) l-step ahead predictor and filtering algorithms with uncertain observations in linear discrete-time stochastic systems. The observation equation is given by y(k)=y(k)z(k)+v(k), z(k)=Hx(k), where {y(k)} is a binary switching sequence with conditional probability. The estimators require the information of the system state-transition matrix Ф, the observation matrix H, the variance K(k,k) of the state vector x(k), the variance R(k) of the observation noise, the probability p(k)=p{y(k)=1} that the signal exists in the uncertain observation equation and the (2,2) element [p(k|j)]2,2 of the conditional probability of y(k), given y(j).展开更多
Large-scale magnetic structures are the main carrier of major eruptions in the solar atmosphere. These structures are rooted in the photosphere and are driven by the unceasing motion of the photospheric material throu...Large-scale magnetic structures are the main carrier of major eruptions in the solar atmosphere. These structures are rooted in the photosphere and are driven by the unceasing motion of the photospheric material through a series of equilibrium configurations. The motion brings energy into the coronal magnetic field until the system ceases to be in equilibrium. The catastrophe theory for solar eruptions indicates that loss of mechanical equilibrium constitutes the main trigger mechanism of major eruptions, usually shown up as solar flares, eruptive prominences, and coronal mass ejections （CMEs）. Magnetic reconnection which takes place at the very beginning of the eruption as a result of plasma instabilities/turbulence inside the current sheet, converts magnetic energy into heating and kinetic energy that are responsible for solar flares, and for accelerating both plasma ejecta （flows and CMEs） and energetic particles. Various manifestations are thus related to one another, and the physics behind these relationships is catastrophe and magnetic reconnection. This work reports on recent progress in both theoretical research and observations on eruptive phenomena showing the above manifestations. We start by displaying the properties of large-scale structures in the corona and the related magnetic fields prior to an eruption, and show various morphological features of the disrupting magnetic fields. Then, in the framework of the catastrophe theory, we look into the physics behind those features investigated in a succession of previous works, and discuss the approaches they used.展开更多
Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhi...Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.展开更多
To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation f...To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation from any initial states, while the velocity converges to that of the virtual leader whose velocity cannot be measured by agents in real time. The two cases of switching topologies without communication delay and fixed topology with time-varying communication delay are both considered for multi-agent networks. By using the Lyapunov stability theory, the issue of stability is analysed for multi-agent systems with switching topologies. Then, by considering the time-varying communication delay, the sufficient condition is proposed for the multi-agent systems with fixed topology. Finally, two numerical examples are given to illustrate the effectiveness of the proposed leader-following formation control protocols.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.52272358 and 62103052)。
文摘This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.
文摘This paper analyzes the supervision activity, to which educators and teachers enrolled with AIGAM （Gordon Italian Association for the Musical Learning） are subject to every year and intends to verify the application of those principles expressed in the learning model of the MLT （Music Learning Theory） developed by educational psychologist E. Edwin Gordon （1989, 1999, 2000, 2001, 2007） and promoted internationally by various institutions and organizations specifically accredited. It describes the influence of the videotaped supervision on the process, functions of monitoring, and evaluation of educational practices, starting with an empirical model that has guided the interventions in a study of supervision on training aimed at consolidating and developing professional skills in music education in early childhood. This paper sought to understand： the kind of practices, interactions, communications developing during an educational actions, the existence of a consistent relationship between the principles expressed in the MLT and their application, the type and benefits of supervision performed by of video recording on stakeholders in terms of change in professional behavior, and finally whether the active supervision could be comparable with other kinds of approaches.
文摘This paper presents a novel observer model that integrates quantum mechanics, relativity, idealism, and the simulation hypothesis to explain the quantum nature of the universe. The model posits a central server transmitting multi-media frames to create observer-dependent realities. Key aspects include deriving frame rates, defining quantum reality, and establishing hierarchical observer structures. The model’s impact on quantum information theory and philosophical interpretations of reality are examined, with detailed discussions on information loss and recursive frame transmission in the appendices.
文摘There is a puzzling astrophysical result concerning the latest observation of the absorption profile of the redshifted radio line 21 cm from the early Universe(as described in Bowman et al.). The amplitude of the profile was more than a factor of two greater than the largest predictions. This could mean that the primordial hydrogen gas was much cooler than expected. Some explanations in the literature suggested a possible cooling of baryons either by unspecified dark matter particles or by some exotic dark matter particles with a charge a million times smaller than the electron charge. Other explanations required an additional radio background. In the present paper, we entertain a possible different explanation for the above puzzling observational result: the explanation is based on the alternative kind of hydrogen atoms(AKHA),whose existence was previously demonstrated theoretically, as well as by the analysis of atomic experiments. Namely, the AKHA are expected to decouple from the cosmic microwave background(CMB) much earlier(in the course of the Universe expansion) than usual hydrogen atoms, so that the AKHA temperature is significantly lower than that of usual hydrogen atoms. This seems to lower the excitation(spin) temperature of the hyperfine doublet(responsible for the 21 cm line) sufficiently enough for explaining the above puzzling observational result. This possible explanation appears to be more specific and natural than the previous possible explanations. Further observational studies of the redshifted 21 cm radio line from the early Universe could help to verify which explanation is the most relevant.
基金supported by the National Key R&D Program of China (No. 2017YFA0402600)the National Basic Research Program of China (2014CB845800)+8 种基金the National Natural Science Foundation of China (Nos. 11503001, 11690023, 11373014 and 11633001)the Strategic Priority Research Program of the Chinese Academy of Sciences (No. XDB23000000)the Interdisciplinary Research Funds of Beijing Normal Universitythe Opening Project of Key Laboratory of Computational AstrophysicsNational Astronomical Observatories, Chinese Academy of Sciencessupported by the China Postdoctoral Science Foundation (Grant No. 2017M620661)also partly supported by the Poland-China Scientific & Technological Cooperation Committee Project (No. 35-4)supported by the Foreign Talent Introduction Projectthe Special Fund Supporting Introduction of Foreign Knowledge Project in China
文摘In this paper, we propose a new parametrization for Om(z) diagnostics and show how the most recent and significantly improved observations concerning the H(z) and SN Ia measurements can be used to probe the consistency or tension between the ΛCDM model and observations. Our results demonstrate that H0 plays a very important role in the consistency test of ΛCDM with H(z)data. Adopting the Hubble constant priors from Planck 2013 and Riess, one finds considerable tension between the current H(z) data and ΛCDM model and confirms the conclusions obtained previously by others. However, with the Hubble constant prior taken from WMAP9, the discrepancy between H(z) data and ΛCDM disappears, i.e., the current H(z) observations still support the cosmological constant scenario. This conclusion is also supported by the results derived from the Joint Lightcurve Analysis(JLA) SN Ia sample. The best-fit Hubble constant from the combination of H(z)+JLA(H00 = 68.81+1.5-1.49 km s-1 Mpc-1) is very consistent with results derived both by Planck 2013 and WMAP9, but is significantly different from the recent local measurement by Riess.
文摘This paper proposes recursive least-squares (RLS) l-step ahead predictor and filtering algorithms with uncertain observations in linear discrete-time stochastic systems. The observation equation is given by y(k)=y(k)z(k)+v(k), z(k)=Hx(k), where {y(k)} is a binary switching sequence with conditional probability. The estimators require the information of the system state-transition matrix Ф, the observation matrix H, the variance K(k,k) of the state vector x(k), the variance R(k) of the observation noise, the probability p(k)=p{y(k)=1} that the signal exists in the uncertain observation equation and the (2,2) element [p(k|j)]2,2 of the conditional probability of y(k), given y(j).
基金the National Natural Science Foundation of China.
文摘Large-scale magnetic structures are the main carrier of major eruptions in the solar atmosphere. These structures are rooted in the photosphere and are driven by the unceasing motion of the photospheric material through a series of equilibrium configurations. The motion brings energy into the coronal magnetic field until the system ceases to be in equilibrium. The catastrophe theory for solar eruptions indicates that loss of mechanical equilibrium constitutes the main trigger mechanism of major eruptions, usually shown up as solar flares, eruptive prominences, and coronal mass ejections （CMEs）. Magnetic reconnection which takes place at the very beginning of the eruption as a result of plasma instabilities/turbulence inside the current sheet, converts magnetic energy into heating and kinetic energy that are responsible for solar flares, and for accelerating both plasma ejecta （flows and CMEs） and energetic particles. Various manifestations are thus related to one another, and the physics behind these relationships is catastrophe and magnetic reconnection. This work reports on recent progress in both theoretical research and observations on eruptive phenomena showing the above manifestations. We start by displaying the properties of large-scale structures in the corona and the related magnetic fields prior to an eruption, and show various morphological features of the disrupting magnetic fields. Then, in the framework of the catastrophe theory, we look into the physics behind those features investigated in a succession of previous works, and discuss the approaches they used.
基金Supported by National Excellent Natural Science Foundation of China(Grant No.52122503)Hebei Provincial Natural Science Foundation of China(Grant No.E2022203002)+2 种基金The Yanzhao’s Young Scientist Project of China(Grant No.E2023203258)Science Research Project of Hebei Education Department of China(Grant No.BJK2022060)Hebei Provincial Graduate Innovation Funding Project of China(Grant No.CXZZSS2022129).
文摘Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.
基金Project supported by the National Natural Science Foundation for Distinguished Young Scholars of China (Grant No. 60525303)the National Natural Science Foundation of China (Grant No. 60704009)+1 种基金the Key Project for Natural Science Research of the Hebei Educational Department (Grant No. ZD200908)the Doctorial Fund of Yanshan University (Grant No. B203)
文摘To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation from any initial states, while the velocity converges to that of the virtual leader whose velocity cannot be measured by agents in real time. The two cases of switching topologies without communication delay and fixed topology with time-varying communication delay are both considered for multi-agent networks. By using the Lyapunov stability theory, the issue of stability is analysed for multi-agent systems with switching topologies. Then, by considering the time-varying communication delay, the sufficient condition is proposed for the multi-agent systems with fixed topology. Finally, two numerical examples are given to illustrate the effectiveness of the proposed leader-following formation control protocols.
