This paper presents one type of integrals and its condition of existence for the equations of motion of higher-order nonholonomic systems, including l-order integral (generalized energy integral), 2-order integral and...This paper presents one type of integrals and its condition of existence for the equations of motion of higher-order nonholonomic systems, including l-order integral (generalized energy integral), 2-order integral and p-order integral (p>2)All of these integrals can be constructed by the Lagrangian function of the system. Two examples are given to illustrate the application of the suggested method.展开更多
In this paper,sufficient conditions are formulated for controllability of fractional order stochastic differential inclusions with fractional Brownian motion(f Bm) via fixed point theorems,namely the Bohnenblust-Karli...In this paper,sufficient conditions are formulated for controllability of fractional order stochastic differential inclusions with fractional Brownian motion(f Bm) via fixed point theorems,namely the Bohnenblust-Karlin fixed point theorem for the convex case and the Covitz-Nadler fixed point theorem for the nonconvex case.The controllability Grammian matrix is defined by using Mittag-Leffler matrix function.Finally,a numerical example is presented to illustrate the efficiency of the obtained theoretical results.展开更多
In this paper we study the higher-order differential variational principle and differential equations of motion for mechanical systems in event space. Based on the higher-order d＇Alembert principle of the system, the...In this paper we study the higher-order differential variational principle and differential equations of motion for mechanical systems in event space. Based on the higher-order d＇Alembert principle of the system, the higher-order velocity energy and the higher-order acceleration energy of the system in event space are defined, the higher-order d＇Alembert- Lagrange principle of the system in event space is established, and the parametric forms of Euler-Lagrange, Nielsen and Appell for this principle are given. Finally, the higher-order differential equations of motion for holonomic systems in event space are obtained.展开更多
This paper investigates a new formation motion problem of a class of first-order multi-agent systems with antagonistic interactions.A distributed formation control algorithm is proposed for each agent to realize the a...This paper investigates a new formation motion problem of a class of first-order multi-agent systems with antagonistic interactions.A distributed formation control algorithm is proposed for each agent to realize the antagonistic formation motion.A sufficient condition is derived to ensure that all of the agents make an antagonistic formation motion in a distributed manner.It is shown that all of the agents can be spontaneously divided into several groups and that agents in the same group collaborate while agents in different groups compete.Finally,a numerical simulation is included to demonstrate our theoretical results.展开更多
Through a higher-order boundary element method based on NURBS （Non-uniform Rational B-splines）, the calculation of second-order low-frequency forces and slow drift motions is conducted for floating bodies. In the fl...Through a higher-order boundary element method based on NURBS （Non-uniform Rational B-splines）, the calculation of second-order low-frequency forces and slow drift motions is conducted for floating bodies. In the floating body＇s inner domain, an auxiliary equation is obtained by applying a Green function which satisfies the solid surface condition. Then, the auxiliary equation and the velocity potential equation are combined in the fluid domain to remove the solid angle coefficient and the singularity of the double layer potentials in the integral equation. Thus, a new velocity potential integral equation is obtained. The new equation is extended to the inner domain to reheve the irregular frequency effects; on the basis of the order analysis, the comparison is made about the contribution of all integral terms with the result in the second-order tow-frequency problem; the higher-order boundary element method based on NURBS is apphed to calculate the geometric position and velocity potentials; the slow drift motions are calculated by the spectrum analysis method. Removing the solid angle coefficient can apply NURBS technology to the hydrodynamic calculation of floating bodies with complex surfaces, and the extended boundary integral method can reduce the irregular frequency effects. Order analysis shows that free surface integral can be neglected, and the numerical results can also prove the correctness of order analysis. The results of second-order low-frequency forces and slow drift motions and the comparison with the results from references show that the application of the NURBS technology to the second-order low-frequency problem is of high efficiency and credible results.展开更多
In this paper, we present a motion segmentation approach based on the subspace segmentation technique, the genera-lized PCA. By incorporating the cues from the neighborhood of intensity edges of images, motion segment...In this paper, we present a motion segmentation approach based on the subspace segmentation technique, the genera-lized PCA. By incorporating the cues from the neighborhood of intensity edges of images, motion segmentation is solved under an algebra framework. Our main contribution is to propose a post-processing procedure, which can detect the boundaries of motion layers and further determine the layer ordering. Test results on real imagery have confirmed the validity of our method.展开更多
文摘This paper presents one type of integrals and its condition of existence for the equations of motion of higher-order nonholonomic systems, including l-order integral (generalized energy integral), 2-order integral and p-order integral (p>2)All of these integrals can be constructed by the Lagrangian function of the system. Two examples are given to illustrate the application of the suggested method.
基金supported by Council of Scientific and Industrial Research,Extramural Research Division,Pusa,New Delhi,India(25/(0217)/13/EMR-Ⅱ)
文摘In this paper,sufficient conditions are formulated for controllability of fractional order stochastic differential inclusions with fractional Brownian motion(f Bm) via fixed point theorems,namely the Bohnenblust-Karlin fixed point theorem for the convex case and the Covitz-Nadler fixed point theorem for the nonconvex case.The controllability Grammian matrix is defined by using Mittag-Leffler matrix function.Finally,a numerical example is presented to illustrate the efficiency of the obtained theoretical results.
基金Project supported by the Science and Technology Program of Xi’an City,China(Grant No.CXY1352WL34)
文摘In this paper we study the higher-order differential variational principle and differential equations of motion for mechanical systems in event space. Based on the higher-order d＇Alembert principle of the system, the higher-order velocity energy and the higher-order acceleration energy of the system in event space are defined, the higher-order d＇Alembert- Lagrange principle of the system in event space is established, and the parametric forms of Euler-Lagrange, Nielsen and Appell for this principle are given. Finally, the higher-order differential equations of motion for holonomic systems in event space are obtained.
基金supported by the National Natural Science Foundation of China(Grant Nos.61203080 and 61473051)the Natural Science Foundation of Chongqing City(Grant No.CSTC 2011BB0081)
文摘This paper investigates a new formation motion problem of a class of first-order multi-agent systems with antagonistic interactions.A distributed formation control algorithm is proposed for each agent to realize the antagonistic formation motion.A sufficient condition is derived to ensure that all of the agents make an antagonistic formation motion in a distributed manner.It is shown that all of the agents can be spontaneously divided into several groups and that agents in the same group collaborate while agents in different groups compete.Finally,a numerical simulation is included to demonstrate our theoretical results.
文摘Through a higher-order boundary element method based on NURBS （Non-uniform Rational B-splines）, the calculation of second-order low-frequency forces and slow drift motions is conducted for floating bodies. In the floating body＇s inner domain, an auxiliary equation is obtained by applying a Green function which satisfies the solid surface condition. Then, the auxiliary equation and the velocity potential equation are combined in the fluid domain to remove the solid angle coefficient and the singularity of the double layer potentials in the integral equation. Thus, a new velocity potential integral equation is obtained. The new equation is extended to the inner domain to reheve the irregular frequency effects; on the basis of the order analysis, the comparison is made about the contribution of all integral terms with the result in the second-order tow-frequency problem; the higher-order boundary element method based on NURBS is apphed to calculate the geometric position and velocity potentials; the slow drift motions are calculated by the spectrum analysis method. Removing the solid angle coefficient can apply NURBS technology to the hydrodynamic calculation of floating bodies with complex surfaces, and the extended boundary integral method can reduce the irregular frequency effects. Order analysis shows that free surface integral can be neglected, and the numerical results can also prove the correctness of order analysis. The results of second-order low-frequency forces and slow drift motions and the comparison with the results from references show that the application of the NURBS technology to the second-order low-frequency problem is of high efficiency and credible results.
文摘In this paper, we present a motion segmentation approach based on the subspace segmentation technique, the genera-lized PCA. By incorporating the cues from the neighborhood of intensity edges of images, motion segmentation is solved under an algebra framework. Our main contribution is to propose a post-processing procedure, which can detect the boundaries of motion layers and further determine the layer ordering. Test results on real imagery have confirmed the validity of our method.
