Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity

This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed to maintain stability in terms of solutions of linear matrix inequalities and the controller's performance with safe angular velocity constraints is derived.The simulation and experiment results confirm the effectiveness of the proposed method and verify that the angular velocity of the cushion robot provided safe motion with obstacle avoidance.

Adaptive Angular Velocity Tracking Control of Spacecraft with Dynamic Uncertainties

The tracking of orientation and angular velocity is a primary attitude control task for an on-orbit spacecraft.The problem for a rigid spacecraft tracking a desired angular velocity profile is addressed using an adaptive feedback control.An angular velocity feedback tracking algorithm is firstly developed based on the precisely known attitude dynamics of the spacecraft,and the global tracking of the control algorithm is proved based on the Lyapunov analysis.An adaptation mechanism is then designed to deal with the dynamic uncertainties of the spacecraft.Such an adaptation mechanism enables the controller to track any desired angular velocity trajectories even in the presence of uncertain inertia parameters,although it does not guarantee the inertia tensor being precisely identified.To verify the effectiveness of the proposed adaptive control policy,computer simulations on dynamic equations of a spacecraft are conducted and their results are discussed.

Underactuated spacecraft angular velocity stabilization and three-axis attitude stabilization using two single gimbal control moment gyros

Angular velocity stabilization control and attitude stabilization control for an underactuated spacecraft using only two single gimbal control moment gyros （SGCMGs） as actuators is investigated. First of all, the dynamic model of the underactuated spacecraft is established and the singularity of different configurations with the two SGCMGs is analyzed. Under the assumption that the gimbal axes of the two SGCMGs are installed in any direction, and that the total system angular momentum is not zero, a state feedback control law via Lyapunov method is designed to globally asymptotically stabilize the angular velocity of spacecraft. Under the assumption that the gimbal axes of the two SGCMGs are coaxially installed along anyone of the three principal axes of spacecraft inertia, and that the total system angular momentum is zero, a discontinuous state feedback control law is designed to stabilize three-axis attitude of spacecraft with respect to the inertial frame. Furthermore, the singularity escape of SGCMGs for the above two control problems is also studied. Simulation results demonstrate the validity of the control laws.

Estimator-Based GPS Attitude and Angular Velocity Determination

In this paper,the estimator-based Global Positioning System(GPS)attitude and angular velocity determination is presented.Outputs of the attitude estimator include the attitude angles and attitude rates or body angular velocities,depending on the design of estimator.Traditionally as a position,velocity and time sensor,the GPS also offers a free attitude-determination interferometer.GPS research and applications to the field of attitude determination using carrier phase or Doppler measurement has been extensively conducted.The rawattitude solution using the interferometry technique based on the least-squares approach is inherently noisy.The estimator such as the Kalman filter(KF)or extended Kalman filter(EKF)can be incorporated into the GPS interferometer,potentially providing several advantages,such as accuracy improvement,reliability enhancement,and real-time characteristics.Three estimator-based approaches are investigated for performance comparison,including(1)KF with measurement involving attitude angles only;(2)EKF with measurements based on attitude angles only;(3)EKF with measurements involving both attitude angles and body angular rates.The assistance from body mounted gyroscopes,if available,can be utilized as the measurements for further performance improvement,especially useful for the case of signal-challenged environment,such as the GPS outages.Modeling of the dynamic process involving the body angular rates and derivation of the related algorithm will be presented.Simulation results for various estimator-based approaches are conducted;performance comparison is presented for the case of GPS outages.

Effect of extrusion wheel angular velocity on continuous extrusion forming process of copper concave bus bar

The continuous extrusion forming process for producing large section copper concave bus bar under different extrusion wheel angular velocities was studied by three-dimensional finite element technology based on software DEFORM-3D. The rigid-viscoplastic constitutive equation was employed in the model. The numerical simulation results show that the deformation body flow velocity in the die orifice increases gradually with the increase of the extrusion wheel angular velocity. But slippage between the rod and extrusion wheel occurs when the extrusion wheel angular velocity is high. The effective stress near the die orifice enhances gradually with increasing extrusion wheel angular velocity. High stress is concentrated in adjacent regions of the flash gap. The effective strain gradient is greater near the abutment than that near the die orifice. The effective strain of the product increases gradually with increasing extrusion wheel angular velocity. In the deformation process, the deformation body temperature increases remarkably due to friction and deformation. So the cooling is necessary in the region of the die and tools.

Lateral Shear Layer and Its Velocity Distribution of Flow in Rectangular Open Channels

The lateral velocity distribution of flow in the shear layer of open channel is required to many problems in river and eco-environment engineering, e.g. distribution of pollutant dispersion, sediment transport and bank erosion, and aquatic habitat. It is not well understood about how the velocity varies laterally in the wall boundary layer. This paper gives an analytical solution of lateral velocity distribution in a rectangular open channel based on the depth-averaged momentum equation proposed by Shiono & Knight. The obtained lateral velocity distributions in the wall shear layer are related to the two hydraulic parameters of lateral eddy viscosity (λ) and depth-averaged secondary flow (Γ) for given roughened channels. Preliminary relationships between the above two parameters and the aspect ratio of channel, B/H, are obtained from two sets of experimental data. The lateral width (δ) of the shear layer was investigated and found to relate to the λ and the bed friction factor (f), as described by Equation (26). This study indicates that the lateral shear layer near the wall can be very wide (δ/H = 14.6) for the extreme case (λ = 0.6 and f = 0.01).

Influence of the instability of angular velocity of the rotating carrier itself on the stability of silicon micromachined gyroscope

In order to find out the influence of the instability of angular velocity of the rotating carrier itself on the stability of silicon micromachined gyroscope, the digital models for relative error of the high and low damping gyroscope's output signal are given respectively, based on the motion equations of the silicon micromachined gyroscope. Theory proves that the output signal error of the silicon micromachined sensor is mainly caused by the instability of damping factor and the angular velocity of the rotating carrier itself. The experiment result indicates that the error of proportionality coefficient of output voltage which is caused by the instability of the angular velocity of the rotating carrier itself reaches to 4.1 %. Theoretical demonstration and experimental verification show that the instability of angular velocity of the rotating carrier itself has an important effect on the stability of low damping silicon micromachined gyroscope.

用Velocity Verlet积分器改进HMC抽样方法

Hamilton Monte Carlo (HMC)方法是一种常用的快速抽样方法.在对哈密顿方程进行抽样时,HMC方法使用Leapfrog积分器,这可能造成方程的位置及动量的迭代值在时间上不同步,其产生的误差会降低抽样效率及抽样结果的稳定性.为此,本文提出了IHMC(Improved HMC)方法,该方法用Velocity Verlet积分器替代Leapfrog积分器,每次迭代时都计算两变量在同一时刻的值.为验证方法的效果,本文进行了两个实验,一个是将该方法应用于非对称随机波动率模型(RASV模型)的参数估计,另一个是将方法应用于方差伽马分布的抽样,结果显示:IHMC方法比HMC方法的效率更高、结果更稳定.

Analytical solutions for transverse distributions of stream-wise velocity in turbulent flow in rectangular channel with partial vegetation

The theory of poroelasticity is introduced to study the hydraulic properties of the steady uniform turbulent flow in a partially vegetated rectangular channel. Plants are assumed as immovable media. The resistance caused by vegetation is expressed by the theory of poroelasticity. Considering the influence of a secondary flow, the momentum equation can be simplified. The momentum equation is nondimensionalized to obtain a smooth solution for the lateral distribution of the longitudinal velocity. To verify the model, an acoustic Doppler velocimeter （ADV） is used to measure the velocity field in a rectangular open channel partially with emergent artificial rigid vegetation. Comparisons between the measured data and the computed results show that the method can predict the transverse distributions of stream-wise velocities in turbulent flows in a rectangular channel with partial vegetation.

Research on Angular Output Velocity of a Drive Shaft with Double Cross Universal Joints

The study object is the angular output velocity of the drive shaft which is made up of two series-wound cross universal joints. We have deduced the function relation between the angular output velocity and initiative input angle of the drive shaft with double cross universal joints that is based on the calculation formula of the angular output velocity of a single cross universal joint, and by analyzing the relation between the two input angles. By using this function relation, the constant velocity condition of the drive shaft with double cross universal joints＂ is verified. The step-by-step searching algorithm is adopted to obtain the optimal phase angle that leads to the minimum fluctuate index of the angular output velocity in the vary velocity condition. At the same time, we worked out the maximal and minimum value of the angular output velocity, and their initiative input angle. The correctness of the function of the angular output velocity and the step-by-step search algorithm are verified by an ADAMS simulation example.

ST-LSTM-SA:A New Ocean Sound Velocity Field Prediction Model Based on Deep Learning

The scarcity of in-situ ocean observations poses a challenge for real-time information acquisition in the ocean.Among the crucial hydroacoustic environmental parameters,ocean sound velocity exhibits significant spatial and temporal variability and it is highly relevant to oceanic research.In this study,we propose a new data-driven approach,leveraging deep learning techniques,for the prediction of sound velocity fields(SVFs).Our novel spatiotemporal prediction model,STLSTM-SA,combines Spatiotemporal Long Short-Term Memory(ST-LSTM) with a self-attention mechanism to enable accurate and real-time prediction of SVFs.To circumvent the limited amount of observational data,we employ transfer learning by first training the model using reanalysis datasets,followed by fine-tuning it using in-situ analysis data to obtain the final prediction model.By utilizing the historical 12-month SVFs as input,our model predicts the SVFs for the subsequent three months.We compare the performance of five models:Artificial Neural Networks(ANN),Long ShortTerm Memory(LSTM),Convolutional LSTM(ConvLSTM),ST-LSTM,and our proposed ST-LSTM-SA model in a test experiment spanning 2019 to 2022.Our results demonstrate that the ST-LSTM-SA model significantly improves the prediction accuracy and stability of sound velocity in both temporal and spatial dimensions.The ST-LSTM-SA model not only accurately predicts the ocean sound velocity field(SVF),but also provides valuable insights for spatiotemporal prediction of other oceanic environmental variables.

Velocity equation for grenades while impacting on dry sand media

This paper deals with the collision of sphere shape grenades with sand media.The central issue of the article is the establishing of an empirical velocity equation of the grenade while impacting on sand that is used to solve motion equations of the mechanical mechanism inside the impact grenade fuze.The paper focuses on impact velocities that are lower than 5 m s^(-1).An experiment was conducted to study the velocity of the grenade while impacting on dry sand.A high-speed camera video was used to capture the grenade positions.The grenade velocity in the impact process was generated from these video data.Some types of fitting curves are used to regress the velocity equation of the grenade while interacting with the sand media and the best-fitting model is chosen.The result shows the regression curve has a high correlation with the experiment data for grenade velocities below 5 m s^(-1).The received regression equation is useful for analyzing the working ability of the inertial mechanism inside the impact grenade or analyzing and choosing the appropriate parameters of each part in the inertial mechanism to meet the required characteristics of the mechanism.

Coupled-resonator-induced transparency in two microspheres as the element of angular velocity sensing

We proposed a two-coupled microsphere resonator structure as the element of angular velocity sensing under the Sagnac effect.We analyzed the theoretical model of the two coupled microspheres,and derived the coupled-resonatorinduced transparency（CRIT） transfer function,the effective phase shift,and the group delay.Experiments were also carried out to demonstrate the CRIT phenomenon in the two-coupled microsphere resonator structure.We calculated that the group index of the two-coupled sphere reaches n_g = 180.46,while the input light at a wavelength of 1550 nm.

In vivo label-free measurement of blood flow velocity symmetry based on dual line scanning third-harmonic generation microscopy excited at the 1700 nm window

Measurement of bloodflow velocity is key to understanding physiology and pathology in vivo.While most measurements are performed at the middle of the blood vessel,little research has been done on characterizing the instantaneous bloodflow velocity distribution.This is mainly due to the lack of measurement technology with high spatial and temporal resolution.Here,we tackle this problem with our recently developed dual-wavelength line-scan third-harmonic generation(THG)imaging technology.Simultaneous acquisition of dual-wavelength THG line-scanning signals enables measurement of bloodflow velocities at two radially symmetric positions in both venules and arterioles in mouse brain in vivo.Our results clearly show that the instantaneous bloodflow velocity is not symmetric under general conditions.

Flood Velocity Prediction Using Deep Learning Approach

Floods are one of the most serious natural disasters that can cause huge societal and economic losses.Extensive research has been conducted on topics like flood monitoring,prediction,and loss estimation.In these research fields,flood velocity plays a crucial role and is an important factor that influences the reliability of the outcomes.Traditional methods rely on physical models for flood simulation and prediction and could generate accurate results but often take a long time.Deep learning technology has recently shown significant potential in the same field,especially in terms of efficiency,helping to overcome the time-consuming associated with traditional methods.This study explores the potential of deep learning models in predicting flood velocity.More specifically,we use a Multi-Layer Perceptron(MLP)model,a specific type of Artificial Neural Networks(ANNs),to predict the velocity in the test area of the Lundesokna River in Norway with diverse terrain conditions.Geographic data and flood velocity simulated based on the physical hydraulic model are used in the study for the pre-training,optimization,and testing of the MLP model.Our experiment indicates that the MLP model has the potential to predict flood velocity in diverse terrain conditions of the river with acceptable accuracy against simulated velocity results but with a significant decrease in training time and testing time.Meanwhile,we discuss the limitations for the improvement in future work.

A Theoretical Analysis of the Acceleration and the Angular Momentum of the Universe

The loss of Baryonic Matter through Black Holes from our spatial 3-D Universe into its 4th dimension as Dark Matter, is used along with the Conservation of Angular Momentum Principle to prove theoretically the accelerated expansion of the 3-D Universe, as has already been confirmed experimentally being awarded the 2011 Nobel Prize in Physics. Theoretical calculations can estimate further to indicate the true nature of the acceleration;that the outward acceleration is due to the rotation of the Universe caused by Dark Energy from the Void, that the acceleration is non-linear, initially increasing from zero for the short period of about a Million years at a constant rate, and then leveling off non-linearly over extended time before the outward acceleration begins to decrease in a non-linear fashion until it is matched by the gravitational attraction of the matter content of 4D Space and the virtual matter in 3-D Vacuum Space. m = m(4D) + m(Virtual). The rotation of our 3D Universe will become constant once all 3D matter has entered 4D space. As the 3-D Universe tries to expand further it will be pulled inward by its gravitational attraction and will then keep on oscillating about a final radius rf while it also keeps on oscillating at right angles to the radius rf around final angular velocity ωf, until it becomes part of the 4-D Universe. The constant value of the Angular Momentum of our Universe is L = .

Dynamic properties of the magnetic skyrmion driven by electromagnetic waves with spin angular momentum and orbital angular momentum

We theoretically studied the dynamic properties of the skyrmion driven by electromagnetic(EM)waves with spin angular momentum(SAM)and orbital angular momentum(OAM)using micromagnetic simulations.First,the guiding centers of the skyrmion driven by EM waves with SAM,i.e.,left-handed and right-handed circularly polarized EM waves,present circular trajectories,while present elliptical trajectories under linear EM waves driving due to the superposition of oppositely polarized wave components.Second,the trajectories of the skyrmion driven by EM waves with OAM demonstrate similar behavior to that driven by linearly polarized EM waves.Because the wave vector intensity varies with the phase for both linearly polarized EM waves and EM waves with OAM,the angular momentum is transferred to the skyrmion non-uniformly,while the angular momentum is transferred to the skyrmion uniformly for left-handed and right-handed circularly polarized EM driving.Third,the dynamic properties of the skyrmion driven by EM waves with both SAM and OAM are investigated.It is found that the dynamic trajectories exhibit more complex behavior due to the contributions or competition of SAM and OAM.We investigate the characteristics of intrinsic gyration modes and frequency-dependent trajectories.Our research may provide insight into the dynamic properties of skyrmion manipulated by EM waves with SAM or OAM and provide a method for controlling skyrmion in spintronic devices.

Secure optical interconnects using orbital angular momentum beams multiplexing/multicasting

Orbital angular momentum(OAM),described by an azimuthal phase term expej lθT,has unbound orthogonal states with different topological charges l.Therefore,with the explosive growth of global communication capacity,especially for short-distance optical interconnects,light-carrying OAM has proved its great potential to improve transmission capacity and spectral efficiency in the space-division multiplexing system due to its orthogonality,security,and compatibility with other techniques.Meanwhile,100-m freespace optical interconnects become an alternative solution for the“last mile”problem and provide interbuilding communication.We experimentally demonstrate a 260-m secure optical interconnect using OAM multiplexing and 16-ary quadrature amplitude modulation(16-QAM)signals.We study the beam wandering,power fluctuation,channel cross talk,bit-error-rate performance,and link security.Additionally,we also investigate the link performance for 1-to-9 multicasting at the range of 260 m.Considering that the power distribution may be affected by atmospheric turbulence,we introduce an offline feedback process to make it flexibly controllable.

Distributed Multicircular Circumnavigation Control for UAVs with Desired Angular Spacing

This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving target.Besides,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication traffic.Then,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing.It is inferred from Lyapunov stability that all errors are demonstrated to be convergent.Simulations are offered to verify the utility of proposed protocol.

Origin of tradeoff between movement velocity and attachment duration of kinesin motor on a microtubule

Kinesin-1 motor protein is a homodimer containing two identical motor domains connected by a common long coiledcoil stalk via two flexible neck linkers. The motor can step on a microtubule with a velocity of about 1 μm·s-1and an attachment duration of about 1 s under physiological conditions. The available experimental data indicate a tradeoff between velocity and attachment duration under various experimental conditions, such as variation of the solution temperature,variation of the strain between the two motor domains, and so on. However, the underlying mechanism of the tradeoff is unknown. Here, the mechanism is explained by a theoretical study of the dynamics of the motor under various experimental conditions, reproducing quantitatively the available experimental data and providing additional predictions. How the various experimental conditions lead to different decreasing rates of attachment duration versus velocity is also explained.