Vibration Control of A Flexible Marine Riser System Subject to Input Dead Zone and Extraneous Disturbances

An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.

A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone

This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.

Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.

Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.

Stochastic Chebyshev-Picard Iteration Method for Nonlinear Differential Equations with Random Inputs

This work presents a stochastic Chebyshev-Picard iteration method to efficiently solve nonlinear differential equations with random inputs.If the nonlinear problem involves uncertainty,we need to characterize the uncer-tainty by using a few random variables.The nonlinear stochastic problems require solving the nonlinear system for a large number of samples in the stochastic space to quantify the statistics of the system of response and explore the uncertainty quantification.The computational cost is very expensive.To overcome the difficulty,a low rank approximation is introduced to the solution of the corresponding nonlinear problem and admits a variable-separation form in terms of stochastic basis functions and deterministic basis functions.No it-eration is performed at each enrichment step.These basis functions are model-oriented and involve offline computation.To efficiently identify the stochastic basis functions,we utilize the greedy algorithm to select some optimal sam-ples.Then the modified Chebyshev-Picard iteration method is used to solve the nonlinear system at the selected optimal samples,the solutions of which are used to train the deterministic basis functions.With the deterministic basis functions,we can obtain the corresponding stochastic basis functions by solv-ing linear differential systems.The computation of the stochastic Chebyshev-Picard method decomposes into an offline phase and an online phase.This is very desirable for scientific computation.Several examples are presented to illustrate the efficacy of the proposed method for different nonlinear differential equations.

A Hybrid Compensation Scheme for the Input Rate-Dependent Hysteresis of the Piezoelectric Ceramic Actuators

A hybrid compensation scheme for piezoelectric ceramic actuators(PEAs)is proposed.In the hybrid compensation scheme,the input rate-dependent hysteresis characteristics of the PEAs are compensated.The feedforward controller is a novel input rate-dependent neural network hysteresis inverse model,while the feedback controller is a proportion integration differentiation(PID)controller.In the proposed inverse model,an input ratedependent auxiliary inverse operator(RAIO)and output of the hysteresis construct the expanded input space(EIS)of the inverse model which transforms the hysteresis inverse with multi-valued mapping into single-valued mapping,and the wiping-out,rate-dependent and continuous properties of the RAIO are analyzed in theories.Based on the EIS method,a hysteresis neural network inverse model,namely the dynamic back propagation neural network(DBPNN)model,is established.Moreover,a hybrid compensation scheme for the PEAs is designed to compensate for the hysteresis.Finally,the proposed method,the conventional PID controller and the hybrid controller with the modified input rate-dependent Prandtl-Ishlinskii(MRPI)model are all applied in the experimental platform.Experimental results show that the proposed method has obvious superiorities in the performance of the system.

Influence of heat input on microhardness and microstructure across the welding interface between stainless steel and low alloy steel

The welding interface is crucial to the service safety of dissimilar metal weld(DMW)joints between stainless steel(SS)and low alloy(LA)steel.Different status of welding interfaces was prepared by cladding SS consumables to LA steel substrates with different heat inputs via tungsten inert gas arc welding(TIG),followed by a series of microstructural characterizations and hardness tests.Results showed that a hardening and transition layer(TL)would be generated along the welding interface,and the width and hardening degree of the TL would increase with the heat input.Meanwhile,heavy load hardness tests showed that highly severe inhomogeneous plastic deformation and the microcrack would be generated in the interfacial region and the welding interface respectively in the highest heat input sample(1.03 kJ/mm).These results indicate that the increase in heat input would deteriorate the bonding performance of DMW joints.Further microstructural observations showed that the higher hardening degree of the highest heat input sample was mainly attributed to the stronger grain boundary,solution,and dislocation strengthening effects.

Influence of heat input on the microhardness and microstructure of the welding interface between nickel-based alloy and low-alloy steel

The evolution of microstructure and local properties near the welding interface is essential for the service safety of dissimilar metal welded joints between nickel-based alloy(NA) and low-alloy steel(LA).In this work,NA filler metal was deposited on LA substrate under different heat inputs by tungsten inert gas(TIG) welding.Microstructural characterization and microhardness tests were carried out near the prepared cladding interfaces.Optical and scanning electron microscopes show the lack of evident hardening transition layer along the welding interface.As the heat input increases,the mean hardness of the deposited layer also increases remarkably due to the rising dilution rate.Microstructural characterization shows a significant composition gradient across the cladding interface,but the diffusion gradient is limited to a small range.Under high heat input,a planar grain zone is generated along the interface due to the large temperature gradient across the interface region.

Exact controllability of rational expectations model with multiplicative noise and input delay

This paper considers the rational expectations model with multiplicative noise and input delay,where the system dynamics rely on the conditional expectations of future states.The main contribution is to obtain a sufficient condition for the exact controllability of the rational expectations model.In particular,we derive a sufficient Gramian matrix condition and a rank condition for the delay-free case.The key is the solvability of the backward stochastic difference equations with input delay which is derived from the forward and backward stochastic system.

Estimating the Input Power of a Power Plant Using the Efficiency of the Inverter

The study focuses on estimating the input power of a power plant from available data, using the theoretical inverter efficiency as the key parameter. The paper addresses the problem of missing data in power generation systems and proposes an approach based on the efficiency formula widely documented in the literature. In the absence of input data, this method makes it possible to estimate the plant’s input power using data extracted from the site, in particular that provided by the Ministry of the Environment. The importance of this study lies in the need to accurately determine the input power in order to assess the overall performance of the energy system.

A Robust Alternative Virtual Key Input Scheme for Virtual Keyboard Systems

Towards virtual keyboard design and realization, the work in this paper presents a robust key input method for deployment in virtual keyboard systems. The proposed scheme harnesses the information contained within shadows towards robustifying virtual key input. This scheme allows for input efficiency to be guaranteed in situations of relatively lower illumination, a core challenge associated with virtual keyboards. Contributions of the paper are two-fold. Firstly the paper pre-sents an approach towards effectively applying shadow information towards robustifying virtual key input systems;Secondly, through morphological operations, the performance of this input method is boosted by means of effectively alleviating noise and its impacts on overall algorithm performance, while highlighting the necessary features towards an efficient performance. While previous contributions have followed a similar trend, the contribution of this paper stresses on the intensification and improvement of both shadow and finger-tip feature highlighting schemes towards overall performance improvement. Experimental results presented in the paper demon-strate the efficiency and robustness of the approach. The attained results suggest that the scheme is capable of attaining high performances in terms of accuracy while being capable of addressing false touch situations.

The Enlightment on Task-based Teaching Derived from Input Hypothesis

Aiming at gradually developing and perfecting the task-based teaching method, the essay, with enlightment from the Krashen＇s Input Hypothesis, discusses some issues about input, output, activities and teacher＇s role in this method.

Effect of welding heat input and post-welded heat treatment on hardness of stir zone for friction stir-welded 2024-T3 aluminum alloy

The microstructure and hardness of the stir zone （SZ） with different welding heat inputs were investigated for friction stir-welded 2024-T3 aluminum by transmission electron microscopy, differential scanning calorimeter and Vickers micro-hardness test. The results show that welding heat input has a significant effect on the hardness of the SZ. Under high welding heat input condition, a higher welding speed is beneficial for improving the hardness of the SZ. However, when the welding heat input is low, the hardness of the SZ elevates with increasing the rotation speed. The hardness of the SZ decreases after post-welded heat treatment due to overaging. The joints welded at 500 r/min and 100 mm/min show a high resistance to overaging. The reduction of hardness in the SZ is only 3.8%, while in other joints, the reduction is more than 10%. The morphology of strengthening precipitates plays important roles for the improvement of hardness.

Effects of Temperature and Nitrogen Input on Nitrogen Mineralization in Alpine Soils on Tibetan Plateau

[Objective] The study aimed to investigate the effects of temperature and nitrogen input on nitrogen mineralization in alpine soils on the Tibetan Plateau.[Method]An incubation experiment in the laboratory was conducted using three alpine soils.These soils were collected from the top 10 cm depth in three grassland types：alpine meadow in Haibei,alpine steppe in Naqu and alpine wetland in Dangxiong.[Result] Temperature significantly affected nitrogen mineralization in alpine soils of three grassland types.The mineralization rate in alpine steppe soil rose with the rise of temperature,while the mineralization rate in the alpine meadow soil and alpine wetland soil decreased with the rise of temperature.Nitrogen input had no significant effect on nitrogen mineralization in the alpine meadow soil,but significantly increased nitrogen mineralization in the alpine steppe soil and the alpine wetland soil.Grassland types significantly affected nitrogen mineralization in alpine grasslands.[Conclusion] The effects of temperature and nitrogen input on nitrogen mineralization in alpine soils on the Tibetan Plateau were significant.And those different effects depended on different types of grassland.

基于Input-Output模型的新疆水资源合理配置研究

根据2007和2012年新疆统计年鉴和投入产出表等相关资料,利用Input-output模型和水资源结构偏差系数对国民经济各产业的用水效率、用水效益指数等进行了分析。研究表明:2012年新疆各产业水资源利用效率和效益显著提高,但农业用水消耗量远高于其产出效益,第三产业和生态环境产业的水资源消耗呈现递减趋势。此外,工业和建筑业的水资源配置较为合理。最后,为促进新疆水资源优化配置提出了相应的对策建议。

Analysis on Input-Output in Rice Cultivation Based on Cobb-Douglas Production Function

[Objective] To analyze the input and output in rice cultivation based on CD function. [Method] Based on the input factors, Cobb-Douglas production （CD） function was used to do the quantitative analysis on the input-output in rice production with rice growers as the objective. [Result] Considering the substitution effect of labor in- put and capital input, under the same technical conditions, the effect of increasing labor input on the rice production in per 667 m2 was negative, based on which 2 pieces of policy suggestions were put forward to promote the transfer of surplus la- bor force of rice growers and ensure the capital supply for rice production. [Conclusion] This study laid the foundation for the realization of reasonable allocation of rice production resources.

Sensitivity of Chinese Industrial Wastewater Discharge Reduction to Direct Input Coefficients in an Input-output Context

Industrial wastewater discharge in China is increasing with the country′s economic development and it is worthy of concern. The discharge is primarily relevant to the direct discharge coefficient of each sector of the economy, its direct input coefficient and the final demand in input-output models. In this study, we calculated the sensitivity of the reduction in the Chinese industrial wastewater discharge using the direct input coefficients based on the theory of error-transmission in an input-output framework. Using input-output models, we calculated the direct and total industrial wastewater discharge coefficients. Analysis of 2007 input-output data of 30 sectors of the Chinese economy and of 30 provincial regions of China indicates that by lowering their direct input coefficients, the manufacturers of textiles, paper and paper products, chemical products, smelting and metal pressing, telecommunication equipment, computers and other electronic equipment will significantly reduce their amounts of industrial wastewater discharge. By lowering intra-provincial direct input coefficients to industrial sectors themselves of Jiangsu, Shandong and Zhejiang, there will be a significant reduction in industrial wastewater discharge for the country as a whole. Investment in production technology and improvement in organizational efficiency in these sectors and in these provinces can help lessen the direct input coefficients, thereby effectively achieving a reduction in industrial wastewater discharge in China via industrial restructuring.

Stress Uniformity Process of Specimens in SHPB Test Under Different Loading Conditions of Rectangular and Half-Sine Input Waves

Based on the characteristics of 1D waves,the stress uniformity process in specimens under different loading conditions of rectangular and half-sine input waves was analyzed in split Hopkinson pressure bar (SHPB) test.The results show that the times of an elastic wave propa-gating from one end to the other in a specimen to attain stress equilibrium,is related to input wave-forms and relative mechanical impedance between the specimen and the input/output bars.Here-into,with the increae of the relative impedance,the times decreases under rectangular input waves loading,while it increases under half-sine input wave loading.The dimensionless stress value of specimen corresponding to the status of stress equilibrium increases with the increase of the rela-tive mechanical impedance.However,the dimensionless stress value under half-sine input wave loading is significantly lower than the value under rectangular input wave loading for specimen with low mechanical impedance,and the relative differentia of the dimensionless stress values under two loading conditions decreases with the increase of the relative mechanical impedance.In gen-eral,the forced state of specimen with relatively low mechanical impedance under half-sine input wave loading is evidently superior to the state under rectangular input wave loading in SHPB test,and the advantages of forced state under half-sine input wave loading turns weak with the increase of the relative mechanical impedance.

LSMW的Direct Input方法在SAP中的应用

LSMW为系统应用程序和产品的数据处理软件(SAP)提供批量数据导入平台,Direct Input方法是LSMW批量数据导入的方法之一。以上传采购订单为例,介绍了采用LSMW的Direct Input方法上传数据的步骤和方法。将LSMW的Direct Input方法应用于华能集团SAP中,显著提高了SAP启动时海量数据导入的速率,保证了SAP按时上线运行。

An Efficient MMI SOI Splitter with Multimode Input/Output Waveguides

A 1×8 multimode interference power splitter with multimode input/output waveguides in SOI material is designed by the beam propagation method and fabricated by the inductive coupled plasma etching technology for use in fiber optics communication systems.The fabricated device exhibits low loss and good coupling uniformity.The excess loss is lower than 0 8dB,and the uniformity is 0 45dB at the wavelength of 1550nm.Moreover,the polarization dependent loss is lower than 0 7dB at 1550nm.The device size is only 2mm×10mm.