Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the softw...Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the software logic,hardware architecture,data interface and reliability of the control system.To implement this system,the whole system plan,including interface computer and the methods of pipeline tracking,was described.Compared to numerical simulation,the semi-physical simulation was used to test the real software and hardware more veritably.In the semi-physical simulation system,tracking experiments of both straight lines and polygonal lines were carried out,considering the influence of ocean current and the situation of buried pipeline.The experimental results indicate that the AUV can do pipeline tracking task,when angles of pipeline are 15°,30°,45° and 60°.In the ocean current of 2 knots,AUV could track buried pipeline.展开更多
Hybrid systems are dynamical systems with interacting discrete computation and continuous physical processes, which have become more common, more indispensable, and more complicated in our modern life. Particularly, m...Hybrid systems are dynamical systems with interacting discrete computation and continuous physical processes, which have become more common, more indispensable, and more complicated in our modern life. Particularly, many of them are safety-critical, and therefore are required to meet a critical safety standard. Invariant generation plays a central role in the verification and synthesis of hybrid systems. In the previous work, the fourth author and his coauthors gave a necessary and sufficient condition for a semi-algebraic set being an invariant of a polynomial autonomous dynamical system, which gave a confirmative answer to the open problem. In addition, based on which a complete algorithm for generating all semi-algebraic invariants of a given polynomial autonomous hybrid system with the given shape was proposed. This paper considers how to extend their work to non-autonomous dynamical and hybrid systems. Non-autonomous dynamical and hybrid systems are with inputs, which are very common in practice; in contrast, autonomous ones are without inputs. Furthermore, the authors present a sound and complete algorithm to verify semi-algebraic invariants for non-autonomous polynomial hybrid systems. Based on which, the authors propose a sound and complete algorithm to generate all invariants with a pre-defined template.展开更多
基金Projects(50909025,51179035) supported by the National Natural Science Foundation of ChinaProject(HEUCFZ1003) supported by the Fundamental Research Funds for Central Universities of China
文摘Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the software logic,hardware architecture,data interface and reliability of the control system.To implement this system,the whole system plan,including interface computer and the methods of pipeline tracking,was described.Compared to numerical simulation,the semi-physical simulation was used to test the real software and hardware more veritably.In the semi-physical simulation system,tracking experiments of both straight lines and polygonal lines were carried out,considering the influence of ocean current and the situation of buried pipeline.The experimental results indicate that the AUV can do pipeline tracking task,when angles of pipeline are 15°,30°,45° and 60°.In the ocean current of 2 knots,AUV could track buried pipeline.
基金supported partly by“973 Program”under Grant No.2014CB340701by the National Natural Science Foundation of China under Grant Nos.61625205,91418204 and 61625206+2 种基金by CDZ Project CAP(GZ 1023)by the CAS/SAFEA International Partnership Program for Creative Research Teamssupported partly by the National Natural Science Foundation of China under Grant Nos.11290141,11271034 and 61532019
文摘Hybrid systems are dynamical systems with interacting discrete computation and continuous physical processes, which have become more common, more indispensable, and more complicated in our modern life. Particularly, many of them are safety-critical, and therefore are required to meet a critical safety standard. Invariant generation plays a central role in the verification and synthesis of hybrid systems. In the previous work, the fourth author and his coauthors gave a necessary and sufficient condition for a semi-algebraic set being an invariant of a polynomial autonomous dynamical system, which gave a confirmative answer to the open problem. In addition, based on which a complete algorithm for generating all semi-algebraic invariants of a given polynomial autonomous hybrid system with the given shape was proposed. This paper considers how to extend their work to non-autonomous dynamical and hybrid systems. Non-autonomous dynamical and hybrid systems are with inputs, which are very common in practice; in contrast, autonomous ones are without inputs. Furthermore, the authors present a sound and complete algorithm to verify semi-algebraic invariants for non-autonomous polynomial hybrid systems. Based on which, the authors propose a sound and complete algorithm to generate all invariants with a pre-defined template.
