Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange (EL) systems. The dynamicleader case is considered. First, with the...Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange (EL) systems. The dynamicleader case is considered. First, with the parameter-linearity property,a distributed coordinated adaptive control scheme is proposedfor EL systems in the presence of parametric uncertainties.Then, subject to nonlinear uncertainties and external disturbances,an improved adaptive control algorithm is developed by usingneural-network (NN) approximation of nonlinear functions. Bothproposed algorithms can make tracking errors for each followerultimately bounded. The closed-loop systems are investigated byusing the combination of graph theory, Lyapunov theory, and BarbalatLemma. Numerical examples and comparisons with othermethods are provided to show the effectiveness of the proposedcontrol strategies.展开更多
A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with ...A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with their states available for measurement. When the communication topology of the system is connected, an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent's positions and ve-locities asymptotically converges to zero. Moreover, the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity. Finally, simulation results show the effectiveness of the proposed control algorithm.展开更多
The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the l...The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the fol- lowers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws.展开更多
The tracking control for multiple Euler-Lagrange systems with external disturbances in finite time under undirected topology is investigated in this paper.A dynamic model is established for the multi-EL systems to acc...The tracking control for multiple Euler-Lagrange systems with external disturbances in finite time under undirected topology is investigated in this paper.A dynamic model is established for the multi-EL systems to accurately describe the general mechanical system.Furthermore,an integral terminal sliding mode surface is devised to converge the tracking errors of the system state to a neighborhood of zero within finite time,and the designed finite-time controller ensures fast convergence and high steady-state accuracy.To reduce the controller update frequency and network transmission communication load,a dynamic event-triggered mechanism is introduced between the sensor and controller,and no Zeno behavior was observed.Therefore,the Lyapunov stability theory and finite-time stability criterion prove that all signals in the closed-loop system are uniformly ultimately bounded in finite time.Finally,the simulation results verified the effectiveness of the proposed control method.展开更多
This paper studies global robust tracking of uncertain Euler-Lagrange systems with input disturbances.The authors develop a robust regulation-based approach for the problem.Specifically,by introducing a novel nonlinea...This paper studies global robust tracking of uncertain Euler-Lagrange systems with input disturbances.The authors develop a robust regulation-based approach for the problem.Specifically,by introducing a novel nonlinear internal model,the authors solve global asymptotic trajectory tracking with disturbance rejection of multiple step/sinusoidal signals with unknown amplitudes,frequencies,and phases.Moreover,the authors show that a robustness property to actuator noises can be guaranteed in a sense of strong integral input-to-state stability(iISS).That is,the closed-loop system is not only i ISS but also input-to-state stable(ISS)to small magnitude actuator noises.Furthermore,the authors explore a by-product overparametrized linear regression estimation,coming up with robust estimation of the unknown parameters.Finally,the authors present several numerical examples to illustrate the theoretical results.展开更多
Model checking is an automated formal verification method to verify whether epistemic multi-agent systems adhere to property specifications.Although there is an extensive literature on qualitative properties such as s...Model checking is an automated formal verification method to verify whether epistemic multi-agent systems adhere to property specifications.Although there is an extensive literature on qualitative properties such as safety and liveness,there is still a lack of quantitative and uncertain property verifications for these systems.In uncertain environments,agents must make judicious decisions based on subjective epistemic.To verify epistemic and measurable properties in multi-agent systems,this paper extends fuzzy computation tree logic by introducing epistemic modalities and proposing a new Fuzzy Computation Tree Logic of Knowledge(FCTLK).We represent fuzzy multi-agent systems as distributed knowledge bases with fuzzy epistemic interpreted systems.In addition,we provide a transformation algorithm from fuzzy epistemic interpreted systems to fuzzy Kripke structures,as well as transformation rules from FCTLK formulas to Fuzzy Computation Tree Logic(FCTL)formulas.Accordingly,we transform the FCTLK model checking problem into the FCTL model checking.This enables the verification of FCTLK formulas by using the fuzzy model checking algorithm of FCTL without additional computational overheads.Finally,we present correctness proofs and complexity analyses of the proposed algorithms.Additionally,we further illustrate the practical application of our approach through an example of a train control system.展开更多
The conditions for the emergence of the non-Hermitian skin effect, as a unique physical response of non-Hermitian systems, have now become one of the hot research topics. In this paper, we study the novel physical res...The conditions for the emergence of the non-Hermitian skin effect, as a unique physical response of non-Hermitian systems, have now become one of the hot research topics. In this paper, we study the novel physical responses of nonHermitian systems with anomalous time-reversal symmetry, in both one dimension and two dimensions. Specifically, we focus on whether the systems will exhibit a non-Hermitian skin effect. We employ the theory of generalized Brillouin zone and also numerical methods to show that the anomalous time-reversal symmetry can prevent the skin effect in onedimensional non-Hermitian systems, but is unable to exert the same effectiveness in two-dimensional cases.展开更多
This paper provides an overview of conventional geothermal systems and unconventional geothermal developments as a common reference is needed for discussions between energy professionals. Conventional geothermal syste...This paper provides an overview of conventional geothermal systems and unconventional geothermal developments as a common reference is needed for discussions between energy professionals. Conventional geothermal systems have the heat, permeability and fluid, requiring only drilling down to °C, normal heat flow or decaying radiogenic granite as heat sources, and used in district heating. Medium-temperature (MT) 100°C - 190°C, and high-temperature (HT) 190°C - 374°C resources are mostly at plate boundaries, with volcanic intrusive heat source, used mostly for electricity generation. Single well capacities are °C - 500°C) and a range of depths (1 m to 20 Km), but lack permeability or fluid, thus requiring stimulations for heat extraction by conduction. HVAC is 1 - 2 m deep and shallow geothermal down to 500 m in wells, both capturing °C, with °C are either advanced by geothermal developers at <7 Km depth (Enhanced Geothermal Systems (EGS), drilling below brittle-ductile transition zones and under geothermal fields), or by the Oil & Gas industry (Advanced Geothermal Systems, heat recovery from hydrocarbon wells or reservoirs, Superhot Rock Geothermal, and millimeter-wave drilling down to 20 Km). Their primary aim is electricity generation, relying on closed-loops, but EGS uses fractures for heat exchange with earthquake risks during fracking. Unconventional approaches could be everywhere, with shallow geothermal already functional. The deeper and hotter unconventional alternatives are still experimental, overcoming costs and technological challenges to become fully commercial. Meanwhile, the conventional geothermal resources remain the most proven opportunities for investments and development.展开更多
Numerical simulation is employed to investigate the initial state of avalanche in polydisperse particle systems.Nucleation and propagation processes are illustrated for pentadisperse and triadisperse particle systems,...Numerical simulation is employed to investigate the initial state of avalanche in polydisperse particle systems.Nucleation and propagation processes are illustrated for pentadisperse and triadisperse particle systems,respectively.In these processes,particles involved in the avalanche grow slowly in the early stage and explosively in the later stage,which is clearly different from the continuous and steady growth trend in the monodisperse system.By examining the avalanche propagation,the number growth of particles involved in the avalanche and the slope of the number growth,the initial state can be divided into three stages:T1(nucleation stage),T2(propagation stage),T3(overall avalanche stage).We focus on the characteristics of the avalanche in the T2 stage,and find that propagation distances increase almost linearly in both axial and radial directions in polydisperse systems.We also consider the distribution characteristics of the average coordination number and average velocity for the moving particles.The results support that the polydisperse particle systems are more stable in the T2 stage.展开更多
Quantum discord, one of the famous quantum correlations, has been recently generalized to multipartite systems by Radhakrishnan et al. Here we give analytical solutions of the quantum discord for a family of N-qubit q...Quantum discord, one of the famous quantum correlations, has been recently generalized to multipartite systems by Radhakrishnan et al. Here we give analytical solutions of the quantum discord for a family of N-qubit quantum states. For the bipartite system, we derive a zero quantum discord which will remain unchanged under the phase damping channel. For multiparitite systems, it is found that the quantum discord can be classified into three categories and the quantum discord for odd-partite systems can exhibit freezing under the phase damping channel, while the freezing does not exist in the even-partite systems.展开更多
This paper investigates the exponential stability and performance analysis of nonlinear time-delay impulsive systems subject to actuator saturation. When continuous dynamics is unstable, under some conditions, it is s...This paper investigates the exponential stability and performance analysis of nonlinear time-delay impulsive systems subject to actuator saturation. When continuous dynamics is unstable, under some conditions, it is shown that the system can be stabilized by a class of saturated delayed-impulses regardless of the length of input delays. Conversely, when the system is originally stable, it is shown that under some conditions, the system is robust with respect to sufficient small delayed-impulses. Moreover, the design problem of the controller with the goal of obtaining a maximized estimate of the domain of attraction is formulated via a convex optimization problem. Three examples are provided to demonstrate the validity of the main results.展开更多
We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that prov...We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.展开更多
This paper is concerned with consensus of a secondorder linear time-invariant multi-agent system in the situation that there exists a communication delay among the agents in the network.A proportional-integral consens...This paper is concerned with consensus of a secondorder linear time-invariant multi-agent system in the situation that there exists a communication delay among the agents in the network.A proportional-integral consensus protocol is designed by using delayed and memorized state information.Under the proportional-integral consensus protocol,the consensus problem of the multi-agent system is transformed into the problem of asymptotic stability of the corresponding linear time-invariant time-delay system.Note that the location of the eigenvalues of the corresponding characteristic function of the linear time-invariant time-delay system not only determines the stability of the system,but also plays a critical role in the dynamic performance of the system.In this paper,based on recent results on the distribution of roots of quasi-polynomials,several necessary conditions for Hurwitz stability for a class of quasi-polynomials are first derived.Then allowable regions of consensus protocol parameters are estimated.Some necessary and sufficient conditions for determining effective protocol parameters are provided.The designed protocol can achieve consensus and improve the dynamic performance of the second-order multi-agent system.Moreover,the effects of delays on consensus of systems of harmonic oscillators/double integrators under proportional-integral consensus protocols are investigated.Furthermore,some results on proportional-integral consensus are derived for a class of high-order linear time-invariant multi-agent systems.展开更多
In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented ...In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented two approaches for synthesis the proportional-integral-derivative controller to the models of objects with inertia, that offer the procedure of system performance optimization based on maximum stability degree criterion. The proposed algorithms of system performance optimization were elaborated for model of objects with inertia second and third order and offer simple analytical expressions for tuning the PID controller. Validation and verification are conducted through computer simulations using MATLAB, demonstrating successful performance optimization and showcasing the effectiveness PID controllers’ tuning. The proposed approaches contribute insights to the field of control, offering a pathway for optimizing the performance of second and third-order inertial systems through robust controller synthesis.展开更多
This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent sys-tems.New hyperbolic tangent function-based protocols are pro-posed to achieve global and semi-global ...This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent sys-tems.New hyperbolic tangent function-based protocols are pro-posed to achieve global and semi-global finite-time consensus for both single-integrator and double-integrator multi-agent systems with leaderless undirected and leader-following directed commu-nication topologies.These new protocols not only provide an explicit upper-bound estimate for the settling time,but also have a user-prescribed bounded control level.In addition,compared to some existing results based on the saturation function,the pro-posed approach considerably simplifies the protocol design and the stability analysis.Illustrative examples and an application demonstrate the effectiveness of the proposed protocols.展开更多
This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a larg...This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.展开更多
We present a large deviation theory that characterizes the exponential estimate for rare events in stochastic dynamical systems in the limit of weak noise.We aim to consider a next-to-leading-order approximation for m...We present a large deviation theory that characterizes the exponential estimate for rare events in stochastic dynamical systems in the limit of weak noise.We aim to consider a next-to-leading-order approximation for more accurate calculation of the mean exit time by computing large deviation prefactors with the aid of machine learning.More specifically,we design a neural network framework to compute quasipotential,most probable paths and prefactors based on the orthogonal decomposition of a vector field.We corroborate the higher effectiveness and accuracy of our algorithm with two toy models.Numerical experiments demonstrate its powerful functionality in exploring the internal mechanism of rare events triggered by weak random fluctuations.展开更多
Blockchain can realize the reliable storage of a large amount of data that is chronologically related and verifiable within the system.This technology has been widely used and has developed rapidly in big data systems...Blockchain can realize the reliable storage of a large amount of data that is chronologically related and verifiable within the system.This technology has been widely used and has developed rapidly in big data systems across various fields.An increasing number of users are participating in application systems that use blockchain as their underlying architecture.As the number of transactions and the capital involved in blockchain grow,ensuring information security becomes imperative.Addressing the verification of transactional information security and privacy has emerged as a critical challenge.Blockchain-based verification methods can effectively eliminate the need for centralized third-party organizations.However,the efficiency of nodes in storing and verifying blockchain data faces unprecedented challenges.To address this issue,this paper introduces an efficient verification scheme for transaction security.Initially,it presents a node evaluation module to estimate the activity level of user nodes participating in transactions,accompanied by a probabilistic analysis for all transactions.Subsequently,this paper optimizes the conventional transaction organization form,introduces a heterogeneous Merkle tree storage structure,and designs algorithms for constructing these heterogeneous trees.Theoretical analyses and simulation experiments conclusively demonstrate the superior performance of this scheme.When verifying the same number of transactions,the heterogeneous Merkle tree transmits less data and is more efficient than traditional methods.The findings indicate that the heterogeneous Merkle tree structure is suitable for various blockchain applications,including the Internet of Things.This scheme can markedly enhance the efficiency of information verification and bolster the security of distributed systems.展开更多
The healthcare data requires accurate disease detection analysis,real-timemonitoring,and advancements to ensure proper treatment for patients.Consequently,Machine Learning methods are widely utilized in Smart Healthca...The healthcare data requires accurate disease detection analysis,real-timemonitoring,and advancements to ensure proper treatment for patients.Consequently,Machine Learning methods are widely utilized in Smart Healthcare Systems(SHS)to extract valuable features fromheterogeneous and high-dimensional healthcare data for predicting various diseases and monitoring patient activities.These methods are employed across different domains that are susceptible to adversarial attacks,necessitating careful consideration.Hence,this paper proposes a crossover-based Multilayer Perceptron(CMLP)model.The collected samples are pre-processed and fed into the crossover-based multilayer perceptron neural network to detect adversarial attacks on themedical records of patients.Once an attack is detected,healthcare professionals are promptly alerted to prevent data leakage.The paper utilizes two datasets,namely the synthetic dataset and the University of Queensland Vital Signs(UQVS)dataset,from which numerous samples are collected.Experimental results are conducted to evaluate the performance of the proposed CMLP model,utilizing various performancemeasures such as Recall,Precision,Accuracy,and F1-score to predict patient activities.Comparing the proposed method with existing approaches,it achieves the highest accuracy,precision,recall,and F1-score.Specifically,the proposedmethod achieves a precision of 93%,an accuracy of 97%,an F1-score of 92%,and a recall of 92%.展开更多
基金supported by the National Natural Science Foundation of China(6130400561174200)the Research Fund for the Doctoral Program of Higher Education of China(20102302110031)
文摘Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange (EL) systems. The dynamicleader case is considered. First, with the parameter-linearity property,a distributed coordinated adaptive control scheme is proposedfor EL systems in the presence of parametric uncertainties.Then, subject to nonlinear uncertainties and external disturbances,an improved adaptive control algorithm is developed by usingneural-network (NN) approximation of nonlinear functions. Bothproposed algorithms can make tracking errors for each followerultimately bounded. The closed-loop systems are investigated byusing the combination of graph theory, Lyapunov theory, and BarbalatLemma. Numerical examples and comparisons with othermethods are provided to show the effectiveness of the proposedcontrol strategies.
基金supported by the National Natural Sciences Foundation of China (60974146)
文摘A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with their states available for measurement. When the communication topology of the system is connected, an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent's positions and ve-locities asymptotically converges to zero. Moreover, the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity. Finally, simulation results show the effectiveness of the proposed control algorithm.
基金supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61321002)the Projects of Major International(Regional)Joint Research Program(61120106010)+5 种基金the National Natural Science Foundation of China(61175112)the Beijing Education Committee Cooperation Building Foundation Projectthe Program for Changjiang Scholars and Innovative Research Team in University(IRT1208)the Changjiang Scholars Programthe Science and Technology Project of Education Department of Fujian Province(JA12370)the Beijing Outstanding Ph.D.Program Mentor Grant(20131000704)
文摘The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the fol- lowers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws.
基金Supported by National Natural Science Foundation of China(60904051)the Innovative Team Program of the National Natural Science Foundation of China(61021002)the Royal Academy of Engineering-Research Exchanges with China and India Awards
基金supported by the National Natural Science Foundation of China(Grant Nos.62121004,62033003,62003098,62103111,and 62303125)the Local Innovative and Research Teams Project of Guangdong Special Support Program(Grant No.2019BT02X353)+2 种基金the China Postdoctoral Science Foundation(Grant Nos.2021TQ0079 and 2021M700883)the Natural Science Foundation of Guangdong Province(Grant Nos.2023A1515011527 and 2022A1515011506)the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2023A1515010855 and 2022A1515110949)。
文摘The tracking control for multiple Euler-Lagrange systems with external disturbances in finite time under undirected topology is investigated in this paper.A dynamic model is established for the multi-EL systems to accurately describe the general mechanical system.Furthermore,an integral terminal sliding mode surface is devised to converge the tracking errors of the system state to a neighborhood of zero within finite time,and the designed finite-time controller ensures fast convergence and high steady-state accuracy.To reduce the controller update frequency and network transmission communication load,a dynamic event-triggered mechanism is introduced between the sensor and controller,and no Zeno behavior was observed.Therefore,the Lyapunov stability theory and finite-time stability criterion prove that all signals in the closed-loop system are uniformly ultimately bounded in finite time.Finally,the simulation results verified the effectiveness of the proposed control method.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.61673216 and 62073168supported by the China Scholarship Council on his study at the University of Groningen,The Netherlandspartially done when he was with the School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China。
文摘This paper studies global robust tracking of uncertain Euler-Lagrange systems with input disturbances.The authors develop a robust regulation-based approach for the problem.Specifically,by introducing a novel nonlinear internal model,the authors solve global asymptotic trajectory tracking with disturbance rejection of multiple step/sinusoidal signals with unknown amplitudes,frequencies,and phases.Moreover,the authors show that a robustness property to actuator noises can be guaranteed in a sense of strong integral input-to-state stability(iISS).That is,the closed-loop system is not only i ISS but also input-to-state stable(ISS)to small magnitude actuator noises.Furthermore,the authors explore a by-product overparametrized linear regression estimation,coming up with robust estimation of the unknown parameters.Finally,the authors present several numerical examples to illustrate the theoretical results.
基金The work is partially supported by Natural Science Foundation of Ningxia(Grant No.AAC03300)National Natural Science Foundation of China(Grant No.61962001)Graduate Innovation Project of North Minzu University(Grant No.YCX23152).
文摘Model checking is an automated formal verification method to verify whether epistemic multi-agent systems adhere to property specifications.Although there is an extensive literature on qualitative properties such as safety and liveness,there is still a lack of quantitative and uncertain property verifications for these systems.In uncertain environments,agents must make judicious decisions based on subjective epistemic.To verify epistemic and measurable properties in multi-agent systems,this paper extends fuzzy computation tree logic by introducing epistemic modalities and proposing a new Fuzzy Computation Tree Logic of Knowledge(FCTLK).We represent fuzzy multi-agent systems as distributed knowledge bases with fuzzy epistemic interpreted systems.In addition,we provide a transformation algorithm from fuzzy epistemic interpreted systems to fuzzy Kripke structures,as well as transformation rules from FCTLK formulas to Fuzzy Computation Tree Logic(FCTL)formulas.Accordingly,we transform the FCTLK model checking problem into the FCTL model checking.This enables the verification of FCTLK formulas by using the fuzzy model checking algorithm of FCTL without additional computational overheads.Finally,we present correctness proofs and complexity analyses of the proposed algorithms.Additionally,we further illustrate the practical application of our approach through an example of a train control system.
基金Project supported by the National Natural Science Foundation of China (Grant No. 12304201)。
文摘The conditions for the emergence of the non-Hermitian skin effect, as a unique physical response of non-Hermitian systems, have now become one of the hot research topics. In this paper, we study the novel physical responses of nonHermitian systems with anomalous time-reversal symmetry, in both one dimension and two dimensions. Specifically, we focus on whether the systems will exhibit a non-Hermitian skin effect. We employ the theory of generalized Brillouin zone and also numerical methods to show that the anomalous time-reversal symmetry can prevent the skin effect in onedimensional non-Hermitian systems, but is unable to exert the same effectiveness in two-dimensional cases.
文摘This paper provides an overview of conventional geothermal systems and unconventional geothermal developments as a common reference is needed for discussions between energy professionals. Conventional geothermal systems have the heat, permeability and fluid, requiring only drilling down to °C, normal heat flow or decaying radiogenic granite as heat sources, and used in district heating. Medium-temperature (MT) 100°C - 190°C, and high-temperature (HT) 190°C - 374°C resources are mostly at plate boundaries, with volcanic intrusive heat source, used mostly for electricity generation. Single well capacities are °C - 500°C) and a range of depths (1 m to 20 Km), but lack permeability or fluid, thus requiring stimulations for heat extraction by conduction. HVAC is 1 - 2 m deep and shallow geothermal down to 500 m in wells, both capturing °C, with °C are either advanced by geothermal developers at <7 Km depth (Enhanced Geothermal Systems (EGS), drilling below brittle-ductile transition zones and under geothermal fields), or by the Oil & Gas industry (Advanced Geothermal Systems, heat recovery from hydrocarbon wells or reservoirs, Superhot Rock Geothermal, and millimeter-wave drilling down to 20 Km). Their primary aim is electricity generation, relying on closed-loops, but EGS uses fractures for heat exchange with earthquake risks during fracking. Unconventional approaches could be everywhere, with shallow geothermal already functional. The deeper and hotter unconventional alternatives are still experimental, overcoming costs and technological challenges to become fully commercial. Meanwhile, the conventional geothermal resources remain the most proven opportunities for investments and development.
基金Project supported by the Qingdao National Laboratory for Marine Science and Technology(Grant No.2015ASKJ01)the National Natural Science Foundation of China(Grant Nos.11972212,12072200,and 12002213).
文摘Numerical simulation is employed to investigate the initial state of avalanche in polydisperse particle systems.Nucleation and propagation processes are illustrated for pentadisperse and triadisperse particle systems,respectively.In these processes,particles involved in the avalanche grow slowly in the early stage and explosively in the later stage,which is clearly different from the continuous and steady growth trend in the monodisperse system.By examining the avalanche propagation,the number growth of particles involved in the avalanche and the slope of the number growth,the initial state can be divided into three stages:T1(nucleation stage),T2(propagation stage),T3(overall avalanche stage).We focus on the characteristics of the avalanche in the T2 stage,and find that propagation distances increase almost linearly in both axial and radial directions in polydisperse systems.We also consider the distribution characteristics of the average coordination number and average velocity for the moving particles.The results support that the polydisperse particle systems are more stable in the T2 stage.
基金partially supported by the National Natural Science Foundation of China (Grant No. 11601338)。
文摘Quantum discord, one of the famous quantum correlations, has been recently generalized to multipartite systems by Radhakrishnan et al. Here we give analytical solutions of the quantum discord for a family of N-qubit quantum states. For the bipartite system, we derive a zero quantum discord which will remain unchanged under the phase damping channel. For multiparitite systems, it is found that the quantum discord can be classified into three categories and the quantum discord for odd-partite systems can exhibit freezing under the phase damping channel, while the freezing does not exist in the even-partite systems.
基金supported by National Natural Science Foundation of China (62173215)Major Basic Research Program of the Natural Science Foundation of Shandong Province in China(ZR2021ZD04, ZR2020ZD24)the Support Plan for Outstanding Youth Innovation Team in Shandong Higher Education Institutions (2019KJI008)。
文摘This paper investigates the exponential stability and performance analysis of nonlinear time-delay impulsive systems subject to actuator saturation. When continuous dynamics is unstable, under some conditions, it is shown that the system can be stabilized by a class of saturated delayed-impulses regardless of the length of input delays. Conversely, when the system is originally stable, it is shown that under some conditions, the system is robust with respect to sufficient small delayed-impulses. Moreover, the design problem of the controller with the goal of obtaining a maximized estimate of the domain of attraction is formulated via a convex optimization problem. Three examples are provided to demonstrate the validity of the main results.
基金Project supported by the National Natural Science Foundation of China (Grant No.62073045)。
文摘We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.
基金supported in part by the National Natural Science Foundation of China (NSFC)(61703086, 61773106)the IAPI Fundamental Research Funds (2018ZCX27)
文摘This paper is concerned with consensus of a secondorder linear time-invariant multi-agent system in the situation that there exists a communication delay among the agents in the network.A proportional-integral consensus protocol is designed by using delayed and memorized state information.Under the proportional-integral consensus protocol,the consensus problem of the multi-agent system is transformed into the problem of asymptotic stability of the corresponding linear time-invariant time-delay system.Note that the location of the eigenvalues of the corresponding characteristic function of the linear time-invariant time-delay system not only determines the stability of the system,but also plays a critical role in the dynamic performance of the system.In this paper,based on recent results on the distribution of roots of quasi-polynomials,several necessary conditions for Hurwitz stability for a class of quasi-polynomials are first derived.Then allowable regions of consensus protocol parameters are estimated.Some necessary and sufficient conditions for determining effective protocol parameters are provided.The designed protocol can achieve consensus and improve the dynamic performance of the second-order multi-agent system.Moreover,the effects of delays on consensus of systems of harmonic oscillators/double integrators under proportional-integral consensus protocols are investigated.Furthermore,some results on proportional-integral consensus are derived for a class of high-order linear time-invariant multi-agent systems.
文摘In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented two approaches for synthesis the proportional-integral-derivative controller to the models of objects with inertia, that offer the procedure of system performance optimization based on maximum stability degree criterion. The proposed algorithms of system performance optimization were elaborated for model of objects with inertia second and third order and offer simple analytical expressions for tuning the PID controller. Validation and verification are conducted through computer simulations using MATLAB, demonstrating successful performance optimization and showcasing the effectiveness PID controllers’ tuning. The proposed approaches contribute insights to the field of control, offering a pathway for optimizing the performance of second and third-order inertial systems through robust controller synthesis.
基金supported by the National Natural Science Foundation of China(62073019)。
文摘This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent sys-tems.New hyperbolic tangent function-based protocols are pro-posed to achieve global and semi-global finite-time consensus for both single-integrator and double-integrator multi-agent systems with leaderless undirected and leader-following directed commu-nication topologies.These new protocols not only provide an explicit upper-bound estimate for the settling time,but also have a user-prescribed bounded control level.In addition,compared to some existing results based on the saturation function,the pro-posed approach considerably simplifies the protocol design and the stability analysis.Illustrative examples and an application demonstrate the effectiveness of the proposed protocols.
基金supported in part by the National Key R&D Program of China under Grant 2021YFB2011300the National Natural Science Foundation of China under Grant 52075262。
文摘This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.
基金Project supported by the Natural Science Foundation of Jiangsu Province (Grant No.BK20220917)the National Natural Science Foundation of China (Grant Nos.12001213 and 12302035)。
文摘We present a large deviation theory that characterizes the exponential estimate for rare events in stochastic dynamical systems in the limit of weak noise.We aim to consider a next-to-leading-order approximation for more accurate calculation of the mean exit time by computing large deviation prefactors with the aid of machine learning.More specifically,we design a neural network framework to compute quasipotential,most probable paths and prefactors based on the orthogonal decomposition of a vector field.We corroborate the higher effectiveness and accuracy of our algorithm with two toy models.Numerical experiments demonstrate its powerful functionality in exploring the internal mechanism of rare events triggered by weak random fluctuations.
基金funded by the National Natural Science Foundation of China(62072056,62172058)the Researchers Supporting Project Number(RSP2023R102)King Saud University,Riyadh,Saudi Arabia+4 种基金funded by the Hunan Provincial Key Research and Development Program(2022SK2107,2022GK2019)the Natural Science Foundation of Hunan Province(2023JJ30054)the Foundation of State Key Laboratory of Public Big Data(PBD2021-15)the Young Doctor Innovation Program of Zhejiang Shuren University(2019QC30)Postgraduate Scientific Research Innovation Project of Hunan Province(CX20220940,CX20220941).
文摘Blockchain can realize the reliable storage of a large amount of data that is chronologically related and verifiable within the system.This technology has been widely used and has developed rapidly in big data systems across various fields.An increasing number of users are participating in application systems that use blockchain as their underlying architecture.As the number of transactions and the capital involved in blockchain grow,ensuring information security becomes imperative.Addressing the verification of transactional information security and privacy has emerged as a critical challenge.Blockchain-based verification methods can effectively eliminate the need for centralized third-party organizations.However,the efficiency of nodes in storing and verifying blockchain data faces unprecedented challenges.To address this issue,this paper introduces an efficient verification scheme for transaction security.Initially,it presents a node evaluation module to estimate the activity level of user nodes participating in transactions,accompanied by a probabilistic analysis for all transactions.Subsequently,this paper optimizes the conventional transaction organization form,introduces a heterogeneous Merkle tree storage structure,and designs algorithms for constructing these heterogeneous trees.Theoretical analyses and simulation experiments conclusively demonstrate the superior performance of this scheme.When verifying the same number of transactions,the heterogeneous Merkle tree transmits less data and is more efficient than traditional methods.The findings indicate that the heterogeneous Merkle tree structure is suitable for various blockchain applications,including the Internet of Things.This scheme can markedly enhance the efficiency of information verification and bolster the security of distributed systems.
基金funded by King Saud University through Researchers Supporting Program Number (RSP2024R499).
文摘The healthcare data requires accurate disease detection analysis,real-timemonitoring,and advancements to ensure proper treatment for patients.Consequently,Machine Learning methods are widely utilized in Smart Healthcare Systems(SHS)to extract valuable features fromheterogeneous and high-dimensional healthcare data for predicting various diseases and monitoring patient activities.These methods are employed across different domains that are susceptible to adversarial attacks,necessitating careful consideration.Hence,this paper proposes a crossover-based Multilayer Perceptron(CMLP)model.The collected samples are pre-processed and fed into the crossover-based multilayer perceptron neural network to detect adversarial attacks on themedical records of patients.Once an attack is detected,healthcare professionals are promptly alerted to prevent data leakage.The paper utilizes two datasets,namely the synthetic dataset and the University of Queensland Vital Signs(UQVS)dataset,from which numerous samples are collected.Experimental results are conducted to evaluate the performance of the proposed CMLP model,utilizing various performancemeasures such as Recall,Precision,Accuracy,and F1-score to predict patient activities.Comparing the proposed method with existing approaches,it achieves the highest accuracy,precision,recall,and F1-score.Specifically,the proposedmethod achieves a precision of 93%,an accuracy of 97%,an F1-score of 92%,and a recall of 92%.