Nominal Model-Based Sliding Mode Control with Backstepping for 3-Axis Flight Table

Based on nominal model, a novel global sliding mode controller （GSMC） with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.

Stiffness of Postural Alignment System Based on 3-Axis Actuators for Large Aircraft Components

Aircraft digital flexible assembly fixture and technologies are widely used in developed countries, while the traditional jig-based assembly mode is still used in China. The application study of aircraft digital flexible assembly system is just beginning in our country recently. To meet the requirements of automated posture alignment and join in digital assembly system for large aircraft components, a novel fitting fixture called 3-axis actuator is developed. On the basis of the actuators, three kinds of posture alignment system for large aircraft components are proposed, including the non-redundant system, the redundant actuating system, and the redundant leg system, and their constitutions and properties are introduced. Through deriving the feeding transmission stiffness model of single actuator and analyzing the inverse kinematics of these systems, the relationship between the external force and the changes of position and orientation of large aircraft component is obtained, and then the postural alignment stiffness models are established. With the method mentioned above, the postural alignment stiffness of three systems is computed by using the algebraic formulate, and the results show that redundant properties can increase system＇s postural alignment stiffness. As an example, a optimized layout of the assembly system for a given model of aircraft is developed, the results of application show that the layout has many advantages, such as high accuracy, stiffness, stability, reliability, efficiency and flexible, which can satisfy the requirement of aircraft digital assembly system well. The proposed study of postural alignment stiffness for different systems can supply the theoretic support for the optimization layout design of aircraft digital assembly system, and contribute to evaluate the system working performance of systems.

QFT Robust Control Design for 3-Axis Flight Table Servo System with Large Friction

The 3-axis flight table is an important device and a typical high performanceposition and speed servo system used in the hardware-in-the-loop simulation of flight controlsystem. Friction force and uncertainty are the main characteristics in the 3-axis flight table servosystem. Based on the description of dynamic and static model of a nonlinear Stribeck frictionmodel, and taking account of the practical uncertainties of 3-axis flight table servo system, theQFT controller is designed. Simulation and realtime results are presented.

SGT-Net: A Transformer-Based Stratified Graph Convolutional Network for 3D Point Cloud Semantic Segmentation

In recent years,semantic segmentation on 3D point cloud data has attracted much attention.Unlike 2D images where pixels distribute regularly in the image domain,3D point clouds in non-Euclidean space are irregular and inherently sparse.Therefore,it is very difficult to extract long-range contexts and effectively aggregate local features for semantic segmentation in 3D point cloud space.Most current methods either focus on local feature aggregation or long-range context dependency,but fail to directly establish a global-local feature extractor to complete the point cloud semantic segmentation tasks.In this paper,we propose a Transformer-based stratified graph convolutional network(SGT-Net),which enlarges the effective receptive field and builds direct long-range dependency.Specifically,we first propose a novel dense-sparse sampling strategy that provides dense local vertices and sparse long-distance vertices for subsequent graph convolutional network(GCN).Secondly,we propose a multi-key self-attention mechanism based on the Transformer to further weight augmentation for crucial neighboring relationships and enlarge the effective receptive field.In addition,to further improve the efficiency of the network,we propose a similarity measurement module to determine whether the neighborhood near the center point is effective.We demonstrate the validity and superiority of our method on the S3DIS and ShapeNet datasets.Through ablation experiments and segmentation visualization,we verify that the SGT model can improve the performance of the point cloud semantic segmentation.

Maximal Resonance of{(3,4),4}-Fullerene Graphs

A{(3,4),4}-fullerene graph S is a 4-regular map on the sphere whose faces are of length 3 or 4.It follows from Euler s formula that the number of triangular faces is eight.A set H of disjoint quadrangular faces of S is called resonant pattern if S has a perfect matching M such that every quadrangular face in H is M-alternating.Let k be a positive integer,S is k-resonant if any i≤k disjoint quadrangular faces of S form a resonant pattern.Moreover,if graph S is k-resonant for any integer k,then S is called maximally resonant.In this paper,we show that the maximally resonant{(3,4),4}-fullerene graphs are S_6,S_8,S_(10)^(2),S_(12)^(2),S_(12)^(4),S_(12)^(5),S_(14)^(3),S_(14)^(5),S_(16)^(3),S_(18)^(5),S_(24)as shown in Fig.1.As a corollary,it is shown that if a{(3,4),4}-fullerene graph is 4-resonant,then it is also maximally resonant.

GRAPH GRAMMAR METHOD FOR 3-D CORNER DETECTION

Most of local feature descriptors assume that the scene is planar. In the real scene, the captured images come from the 3-D world. 3-D corner as a novel invariant feature is important for the image matching and the object detection, while automatically discriminating 3-D corners from ordinary corners is difficult. A novel method for 3-D corner detection is proposed based on the image graph grammar, and it can detect the 3-D features of corners to some extent. Experimental results show that the method is valid and the 3-D corner is useful for image matching.

Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

The Cordiality on the Union of 3-regular Connected Graph and Cycle

Diab proved the following graphs are Cordial;Pm K1,n if and only if(m,n) =(1,2);Cm K1,n;Pm Kn;Cm Kn for all m and n except m ≡ 2(mod 4).In this paper,we proved the Cordiality on the union of 3-regular connected graph K3 and cycle Cm.First we have the Lemma 2,if uv ∈ E(G),G is Cordial,we add 4 vertices x,y,z,w in sequence to the edge uv,obtain a new graph denoted by G*,then G* is still Cordial,by this lemma,we consider four cases on the union of 3-regular connected graph R3,and for every case we distinguish four subcases on the cycle Cm.

A POLYNOMIAL ALGORITHM FOR FINDING THEMINIMUM FEEDBACK VERTEX SET OF A3-REGULAR SIMPLE GRAPH

A subset of the vertex set of a graph is a feedback vertex set of the graph if the resulting graph is a forest after removed the vertex subset from the graph. A polynomial algorithm for finding a minimum feedback vertex set of a 3-regular simple graph is provided.

SCORE SETS IN ORIENTED 3-PARTITE GRAPHS

Abstract. Let D （U, V, W） be an oriented 3-partite graph with ｜ U ｜ = p, ｜V｜ = q and ｜W ｜ = r. For any vertex x in D（U,V,W）, let dx^＋ and dui^- be the outdegree and indegree ofx respectively. Define aui （or simply ai） = q ＋ r ＋ dui^＋ - dui^-, bvj （or simply b j） = p ＋ r ＋ d^＋vj - d^-vj and cwk （or simply ck） =p ＋ q ＋ dwk^＋ -dwk^- as the scores of ui in U,vj in V and wk in W respectively. The set A of distinct scores of the vertices of D（U, V, W） is called its score set. In this paper, we prove that if a1 is a non-negative integer, ai（2 ≤ i ≤ n - 1） are even positive integers and an is any positive integer, then for n 〉 3, there exists an oriented 3-partite graph with the score set A ={a1,Σ2i=1 ai,…,Σni=1 ai}, except when A = {0, 2, 3}. Some more results for score sets in oriented 3-partite graphs are obtained.

The L(3,2,1)-labeling on Bipartite Graphs

An L（3, 2, 1）-labeling of a graph G is a function from the vertex set V（G） to the set of all nonnegative integers such that ｜f（u）-f（v）｜≥3 if dG（u,v） = 1, ｜f（u）-f（v）｜≥2 if dG（u,v） = 2, and ｜f（u）-f（v）｜≥1 if dG（u,v） = 3. The L（3, 2,1）-labeling problem is to find the smallest number λ3（G） such that there exists an L（3, 2,1）-labeling function with no label greater than it. This paper studies the problem for bipartite graphs. We obtain some bounds of λ3 for bipartite graphs and its subclasses. Moreover, we provide a best possible condition for a tree T such that λ3（T） attains the minimum value.

A Note on the Girth of 3-Regular Hamiltonian Graph

It is well-known that the Petersen graph is nonhamiltonian.A very short proof for this result was presented in[2]due to D.B.West.In this note,by extending the proof technique in[2],we briefly show that the girth of every 3-regular hamiltonian graph on n≥10 vertices is at most(n+4)/3.

GCR-Net:3D Graph convolution-based residual network for robust reconstruction in cerenkov luminescence tomography

Cerenkov Luminescence Tomography(CLT)is a novel and potential imaging modality which can display the three-dimensional distribution of radioactive probes.However,due to severe ill-posed inverse problem,obtaining accurate reconstruction results is still a challenge for traditional model-based methods.The recently emerged deep learning-based methods can directly learn the mapping relation between the surface photon intensity and the distribution of the radioactive source,which effectively improves the performance of CLT reconstruction.However,the previously proposed deep learning-based methods cannot work well when the order of input is disarranged.In this paper,a novel 3D graph convolution-based residual network,GCR-Net,is proposed,which can obtain a robust and accurate reconstruction result from the photon intensity of the surface.Additionally,it is proved that the network is insensitive to the order of input.The performance of this method was evaluated with numerical simulations and in vivo experiments.The results demonstrated that compared with the existing methods,the proposed method can achieve efficient and accurate reconstruction in localization and shape recovery by utilizing threedimensional information.

3D scene graph prediction from point clouds

Background In this study,we propose a novel 3D scene graph prediction approach for scene understanding from point clouds.Methods It can automatically organize the entities of a scene in a graph,where objects are nodes and their relationships are modeled as edges.More specifically,we employ the DGCNN to capture the features of objects and their relationships in the scene.A Graph Attention Network(GAT)is introduced to exploit latent features obtained from the initial estimation to further refine the object arrangement in the graph structure.A one loss function modified from cross entropy with a variable weight is proposed to solve the multi-category problem in the prediction of object and predicate.Results Experiments reveal that the proposed approach performs favorably against the state-of-the-art methods in terms of predicate classification and relationship prediction and achieves comparable performance on object classification prediction.Conclusions The 3D scene graph prediction approach can form an abstract description of the scene space from point clouds.

不超过7阶的3-关系图的刻画

给定一个图G,如果存在一个边标号树T,使得树T的叶子集等于图G的顶点集,并且树T任何叶子x到叶子y的唯一路径上的边标号之和为3当且仅当xy为图G的边,那么称图G是一个3-关系图.该文讨论了什么样的图是3-关系图,证明了图G是3-关系图的必要条件为图G是二部图,即只要图G包含奇圈,则图G不是3-关系图.更进一步,完全刻画了圈为3-关系图的充要条件,即一个圈是3-关系图当且仅当圈为偶圈,并且给出了偶圈相对应的边标号树.最后讨论了比较小的图为3-关系图的条件,即证明了阶至多为7的图是3-关系图的充分必要条件为图G是二部图.

基于边权的最小权重3路顶点覆盖算法

城际仓储选址通常可以转化为顶点覆盖问题,顶点覆盖问题是一种经典的NP难问题。针对最小权重3路顶点覆盖问题,设计了基于边权和顶点度的贪心策略,构建了1个两阶段的最小权重3路顶点覆盖算法。通过与2种较优的最小权重3路顶点覆盖算法进行对比实验分析可知,本文提出的算法在城际物流仓储选址问题中具有较好的效果,最小权重和分别减少了3.34和1.13个百分点。

图P_n^3的优美标号

定义了图 P3 n,证明了当 n =6 k +2及 n =6 k +4时 ,图 P3 n是优美图 ,并得到它们的优美标号 ,其中 k是任意自然数 .

关于图的3—色数

对 Harary 在文献[1]中的 n一色数的 n=3,进行了讨论,得到了 X_3(G),不可改进的上下界以及常见特殊图簇的 x_3(G),并得到了 X_3(G)与 X_3(?)、 X_3(G)与 X(?)不可改进的关系。

一类基于二部图的(g,f)-3-覆盖图的研究

一个图G称为(g,f)-3-覆盖图,如果G的任何三条边都属于它的一个(g,f)-因子。本文得到了如下结论:1)当g≤f时一个二部图是(g,f)-3-覆盖图的一个充分必要条件;2)当时f(X)=f(Y)时一个二部图是f-3-覆盖图的一个充分必要条件。

关于图P_n^3的优美性

定义了图P3n,得到了结论 :当n =6k和n =6k +1(k为任意自然数 )时 ,图P3n 都是优美图 ,同时 。