DYNAMIC COOPERATION

As China and ASEAN mark their 15th anniversary of dialogue, their relationship is beginning to leave adolescence and become a mature entity. Both sides are working on shortening the fence between their borders. After all, they are each other's fourth largest trading partner. By this time next year, if things keep improving, they should be able to commemorate a sweet 16th anniversary and look forward to cohabiting the same continent happily ever after.

NEW APPROACHES FOR COMPUTING DYNAMIC LOAD-CARRYING CAPACITY OF MULTIPLE COOPERATING ROBOTIC MANIPULATORS

A novel unified method for computing the dynamic load carrying capacity(DLCC) of multiple cooperating robotic manipulators is developed.In this method,the kinematic constraints and the governing dynamic equations of the multiple robot system are formulated in the joint space by using the method of transference of dependence from one set of generalized coordinates to another,and the virtual work principle,which includes the readily available dynamics and joint torques of individual manipulators,and the dynamic of payload.Based on this dynamic model,the upper limit of the DLCC at any points on a given trajectory is obtained by solving a small size linear programming problem.This method is conceptually straightforward,and it is applicable also to the cases of multi fingered robot hands and multi legged walking machines.

Cooperative path planning for multi-AUV in time-varying ocean flows

For low-speed underwater vehicles, the ocean currents has a great influence on them, and the changes in ocean currents is complex and continuous, thus whose impact must be taken into consideration in the path planning. There are still lack of authoritative indicator and method for the cooperating path planning. The calculation of the voyage time is a difficult problem in the time-varying ocean, for the existing methods of the cooperating path planning, the computation time will increase exponentially as the autonomous underwater vehicle（AUV） counts increase, rendering them unfeasible. A collaborative path planning method is presehted for multi-AUV under the influence of time-varying ocean currents based on the dynamic programming algorithm. Each AUV cooperates with the one who has the longest estimated time of sailing, enabling the arrays of AUV to get their common goal in the shortest time with minimum timedifference. At the same time, they could avoid the obstacles along the way to the target. Simulation results show that the proposed method has a promising applicability.

Theoretical Insight into the Influence of Molecular Ratio on the Stability, Mechanical Property, Solvent Effect and Cooperativity Effect of HMX/DMI Cocrystal Explosive

Molecular dynamics method was employed to study the binding energies of the selected crystal planes of the 1,3,5,7-tetranitro-1,3,5,7-tetrazacyclooctane（HMX）/1,3-dimethyl-2-imidazolidinone（DMI） cocrystal in different molecular molar ratios. The mechanical properties were estimated in different molar ratios. Solvent effects were evaluated and the cooperativity effects were discussed in the HMX···HF···DMI ternary by using the M06-2x/6-311＋G（2df,2p） and MP2（full）/6-311＋G（2df,2p） methods. The results indicate that the substituted patterns（020） and（100） own the highest binding energies. The stabilities of cocrystals in the 1：1 and 2：1 ratios are the greatest, and thus the HMX/DMI cocrystals prefer cocrystallizing in the 1：1 and 2：1 molar ratios, which have good mechanical properties. The sensitivity change of cocrystal originates from not only the formation of intermolecular interaction but also the increment of bond dissociation energy of the N–NO2 bond. The cooperativity effect appears in the linear complex while the anti-cooperativity effect is found in the cyclic system. DMI binding to HMX is not energetically and structurally favored in the presence of HF. This is perhaps the reason that the solvent with large dielectric constant weakens the stability of the HMX/DMI cocrystals. Therefore, the solvents with low dielectric constants should be chosen in the preparation of HMX/DMI cocrystals.

ESKD-A New Structure of Expert System Based on Knowledge Discovery

A new structure of ESKD (expert system based on knowledge discovery system KD (D&K)) is first presented on the basis of KD (D&K)-a synthesized knowledge discovery system based on double-base (database and knowledge base) cooperating mechanism. With all new features, ESKD may form a new research direction and provide a great probability for solving the wealth of knowledge in the knowledge base. The general structural frame of ESKD and some sub-systems among ESKD have been described, and the dynamic knowledge base based on double-base cooperating mechanism has been emphased on. According to the result of demonstrative experi- ment, the structure of ESKD is effective and feasible.

Composite nonlinear feedback control for cooperative output regulation of linear multi-agent systems by a distributed dynamic compensator

This paper investigates the cooperative output regulation problem of linear multi-agent systems with a linear exogenous system(exo-system).The network topology is described by a directed graph which contains a directed spanning tree with the exo-system as the root.Aiming at improving the transient performance of the multi-agent systems,a dynamic control law is developed by the composite nonlinear feedback(CNF)control technique.In particular,a distributed dynamic compensator independent of the interaction on the compensator states of agents among the network,is adopted.The solvability condition for the cooperative output regulation problem is obtained using the small-gain theory,which will not be destroyed by adding the nonlinear feedback part of the CNF control law.It is also shown that in the case with the exo-system not diverging exponentially,the small-gain condition can be guaranteed using the low-gain design.Finally,simulation results illustrate that the proposed CNF control law improves the transient performance for the cooperative output regulation of linear multi-agent systems.

Irrational-Behavior-Proof Conditions for Stochastic Games over Event Trees

In this paper,the irrational-behavior-proof conditions in a class of stochastic dynamic games over event trees are presented.Four kinds of irrational-behavior-proof conditions are proposed by the imputation distribution procedure,and their relationships are discussed.More specific properties for the general transformation of characteristic functions are developed,based on which,the irrational-behavior-proof conditions are proved to be true in a transformed cooperative game.

A Class of General Transformation of Characteristic Functions in Dynamic Games

The transformation of characteristic functions is an effective way to avoid time-inconsistency of cooperative solutions in dynamic games.There are several forms on the transformation of characteristic functions.In this paper,a class of general transformation of characteristic functions is proposed.It can lead to the time-consistency of cooperative solutions and guarantee that the irrational-behaviorproof conditions hold true.To illustrate the theory,an example of dynamic game on a tree is given.

Super twisting controller for on-orbit servicing to non-cooperative target

A relative position and attitude coupled controller is proposed for rendezvous and docking between two docking ports located in different spacecraft. It is concerned with servicing to a tumbling non-cooperative target spacecraft in arbitrary orbit subjected to external disturbances.By considering both kinematic and dynamical coupled effects of relative rotation on relative translation, a coupled dynamic model is established to represent the relative motion of docking port on target spacecraft with respect to another on the service spacecraft. The spacecraft control is based on the second order sliding mode algorithm of super twisting（ST）. It is schemed to manipulate the relative position and attitude synchronously. A formal proof of the finite time convergence property of the closed-loop system is derived theoretically by the second method of Lyapunov. Numerical simulations with the designed ST controller are presented to validate the analytic analysis by contrast with the twisting control algorithm. Simulation results demonstrate that the proposed relative position and attitude integrated controller is characterized by high precision, strong robustness and high reliability.