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穿刺机器人运动安全性的形式化分析与建模
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作者 孙浩然 施智平 +1 位作者 关永 王瑞 《计算机工程与应用》 CSCD 北大核心 2018年第18期263-270,共8页
混成系统是实时嵌入式系统的重要子类,其行为中存在连续变化和离散跳转混杂的情况,使得混成系统行为复杂,安全性难以掌握。近年来,混成系统在医疗环境中得到越来越广泛的应用。其中,医疗机器人的穿刺运动控制系统呈现高度复杂的混成性,... 混成系统是实时嵌入式系统的重要子类,其行为中存在连续变化和离散跳转混杂的情况,使得混成系统行为复杂,安全性难以掌握。近年来,混成系统在医疗环境中得到越来越广泛的应用。其中,医疗机器人的穿刺运动控制系统呈现高度复杂的混成性,如果机器人在穿刺过程中失控将导致不可挽回的严重后果。因此穿刺机器人运动行为的安全性设计成为了亟需解决的问题。首先根据穿刺机器人的运动学设计,将机器人的复杂运动分解。然后基于微分动态逻辑理论从混成系统的角度出发对穿刺机器人的运动控制系统进行了形式化建模与分析,并使用证明工具KeYmaera归纳出微分不变式,获得了控制模型的参数约束。最后提出了针对机器人运动到某一靶目标区域这类运动学问题的一般性验证模型。 展开更多
关键词 混成系统 医疗机器人 微分动态逻辑 微分不变式 形式化验证
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A Power Penalty Approach to Numerical Solutions of Two-Asset American Options 被引量:1
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作者 K. Zhang S. Wang +1 位作者 X. Q. Yang K. L. Teo 《Numerical Mathematics(Theory,Methods and Applications)》 SCIE 2009年第2期202-223,共22页
This paper aims to develop a power penalty method for a linear parabolic variational inequality (VI) in two spatial dimensions governing the two-asset American option valuation. This method yields a two-dimensional ... This paper aims to develop a power penalty method for a linear parabolic variational inequality (VI) in two spatial dimensions governing the two-asset American option valuation. This method yields a two-dimensional nonlinear parabolic PDE containing a power penalty term with penalty constant λ〉 1 and a power parameter k 〉 0. We show that the nonlinear PDE is uniquely solvable and the solution of the PDE converges to that of the VI at the rate of order O(λ^-k/2). A fitted finite volume method is designed to solve the nonlinear PDE, and some numerical experiments are performed to illustrate the usefulness of this method. 展开更多
关键词 Complementarity problem option pricing penalty method finite volume method.
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时延混成系统的切换控制器合成 被引量:1
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作者 白云军 甘庭 +2 位作者 焦莉 薛白 詹乃军 《中国科学:数学》 CSCD 北大核心 2021年第1期97-114,共18页
如何设计安全、可靠的信息物理融合系统是计算机科学和控制理论面临的一个重大挑战.时延现象在信息物理融合系统中普遍存在,时延对系统的稳定性、安全性和控制性能具有实质性影响.但是在已有时延系统验证和控制器合成的工作中往往忽略... 如何设计安全、可靠的信息物理融合系统是计算机科学和控制理论面临的一个重大挑战.时延现象在信息物理融合系统中普遍存在,时延对系统的稳定性、安全性和控制性能具有实质性影响.但是在已有时延系统验证和控制器合成的工作中往往忽略时延因素,这会导致在不考虑时延情况下能保证稳定和安全的系统在实际运行时因为时延原因而不再稳定和安全.因为时延使得系统的行为演化不仅与当前状态有关,还依赖于系统的历史状态,所以时延混成系统的验证和控制合成更加困难.本文研究信息物理融合系统在考虑时延情形下切换控制器合成问题,提出基于不变式生成技术的控制器合成方法.首先,利用谱分析和线性化技术将时延系统的微分不变式生成问题归结为有界时间的可达集计算问题;然后,提出基于抽象精化的算法计算时延系统有界时间可达集的上近似;最后,实现本文算法并使用实例验证该方法的有效性. 展开更多
关键词 时延混成系统 时延微分方程 微分不变式 切换控制器 安全性
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Existence Results for a Class of Periodic Evolution Variational Inequalities 被引量:1
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作者 Samir ADLY Daniel GOELEVEN Michel THRA 《Chinese Annals of Mathematics,Series B》 SCIE CSCD 2007年第6期629-650,共22页
In this paper, using the Brouwer topological degree, the authors prove an existence result for finite variational inequalities. This approach is also used to obtain the existence of periodic solutions for a class of e... In this paper, using the Brouwer topological degree, the authors prove an existence result for finite variational inequalities. This approach is also used to obtain the existence of periodic solutions for a class of evolution variational inequalities. 展开更多
关键词 Variational inequalities Differential inclusions Topological degree Guiding functions Periodic solutions
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New Stability Criteria for High-Order Neural Networks with Proportional Delays 被引量:1
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作者 徐昌进 李培峦 《Communications in Theoretical Physics》 SCIE CAS CSCD 2017年第3期235-240,共6页
This paper is concerned with high-order neural networks with proportional delays. The proportional delay is a time-varying unbounded delay which is different from the constant delay, bounded time-varying delay and dis... This paper is concerned with high-order neural networks with proportional delays. The proportional delay is a time-varying unbounded delay which is different from the constant delay, bounded time-varying delay and distributed delay. By the nonlinear transformation yi(t) = ui( et)(i = 1, 2,..., n), we transform a class of high-order neural networks with proportional delays into a class of high-order neural networks with constant delays and timevarying coefficients. With the aid of Brouwer fixed point theorem and constructing the delay differential inequality, we obtain some delay-independent and delay-dependent sufficient conditions to ensure the existence, uniqueness and global exponential stability of equilibrium of the network. Two examples with their simulations are given to illustrate the theoretical findings. Our results are new and complement previously known results. 展开更多
关键词 high-order neural networks exponential stability proportional delays delay differential inequality Brouwer fixed point theorem
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Forward-backward stochastic differential equation with subdifferential operator and associated variational inequality
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作者 NIE TianYang 《Science China Mathematics》 SCIE CSCD 2015年第4期729-748,共20页
We study the existence and uniqueness of the solution to a forward-backward stochastic differential equation with subdifferential operator in the backward equation. This kind of equations includes, as a particular cas... We study the existence and uniqueness of the solution to a forward-backward stochastic differential equation with subdifferential operator in the backward equation. This kind of equations includes, as a particular case, multi-dimensional forward-backward stochastic differential equation where the backward equation is reflected on the boundary of a closed convex(time-independent) domain. Moreover, we give a probabilistic interpretation for the viscosity solution of a kind of quasilinear variational inequalities. 展开更多
关键词 backward stochastic differential equations variational inequalities subdifferential operators viscosity solutions
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Differential operators for Siegel-Jacobi forms
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作者 YANG Jiong YIN LinSheng 《Science China Mathematics》 SCIE CSCD 2016年第6期1029-1050,共22页
For any positive integers n and m, H_(n,m):= H_n× C^(m,n) is called the Siegel-Jacobi space, with the Jacobi group acting on it. The Jacobi forms are defined on this space. We compute the Chern connection of the ... For any positive integers n and m, H_(n,m):= H_n× C^(m,n) is called the Siegel-Jacobi space, with the Jacobi group acting on it. The Jacobi forms are defined on this space. We compute the Chern connection of the Siegel-Jacobi space and use it to obtain derivations of Jacobi forms. Using these results, we construct a series of invariant differential operators for Siegel-Jacobi forms. Also two kinds of Maass-Shimura type differential operators for H_(n,m) are obtained. 展开更多
关键词 CONNECTION Jacobi form differential operator
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Global exponential stability of cellular neural networks with multi-proportional delays 被引量:10
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作者 Liqun Zhou Yanyan Zhang 《International Journal of Biomathematics》 2015年第6期1-17,共17页
In this paper, a class of cellular neural networks (CNNs) with multi-proportional delays is studied. The nonlinear transformation yi(t) = xi(et) transforms a class of CNNs with multi-proportional delays into a c... In this paper, a class of cellular neural networks (CNNs) with multi-proportional delays is studied. The nonlinear transformation yi(t) = xi(et) transforms a class of CNNs with multi-proportional delays into a class of CNNs with multi-constant delays and time- varying coefficients. By applying Brouwer fixed point theorem and constructing the delay differential inequality, several delay-independent and delay-dependent sufficient conditions are derived for ensuring the existence, uniqueness and global exponential stability of equilibrium of the system and the exponentially convergent rate is estimated. And several examples and their simulations are given to illustrate the effectiveness of obtained results. 展开更多
关键词 Cellular neural networks proportional delay global exponential stability Brouwer fixed point theorem delay differential inequality.
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