Differential flatness-based distributed control of underactuated robot swarms

This paper proposes a distributed control method based on the differential flatness(DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.

Layered kagome compound Na_(2)Ni_(3)S_(4)with topological flat band

We report structural and electronic properties of Na_(2)Ni_(3)S_(4),a quasi-two-dimensional compound composed of alternating layers of[Ni_(3)S_(4)]^(2-)and Na^(+).The compound features a remarkable Ni-based kagome lattice with a square planar configuration of four surrounding S atoms for each Ni atom.Magnetization and electrical measurements reveal a weak paramagnetic insulator with a gap of about 0.5 eV.Our band structure calculation highlights a set of topological flat bands of the kagome lattice derived from the rotated dxz-orbital with C_(3)+T symmetry in the presence of crystal-field splitting.

Observation of flat-band localized state in a one-dimensional diamond momentum lattice of ultracold atoms

We investigated the one-dimensional diamond ladder in the momentum lattice platform. By inducing multiple twoand four-photon Bragg scatterings among specific momentum states, we achieved a flat band system based on the diamond model, precisely controlling the coupling strength and phase between individual lattice sites. Utilizing two lattice sites couplings, we generated a compact localized state associated with the flat band, which remained localized throughout the entire time evolution. We successfully realized the continuous shift of flat bands by adjusting the corresponding nearest neighbor hopping strength, enabling us to observe the complete localization process. This opens avenues for further exploration of more complex properties within flat-band systems, including investigating the robustness of flat-band localized states in disordered flat-band systems and exploring many-body localization in interacting flat-band systems.

A More Accurate Determination of the Magnitude of Cosmic Inflation in the Big Bang Model

According to our hypothesis, at the very beginning of the Big Bang, a hyperenergetic spherical wave was created. We described its characteristics in our previous work, and the present work is based on them. Logically, we saw that in cosmic inflation the frequency of such a wave would decrease sharply. Based on the temperature that prevailed immediately after inflation according to the hot Big Bang model, we determined a measure of the size of the inflation in this model, in accordance with our hypothesis.

Changes of coastline and tidal flat and its implication for ecological protection under human activities: Take China’s Bohai Bay as an example

The change processes and trends of shoreline and tidal flat forced by human activities are essential issues for the sustainability of coastal area,which is also of great significance for understanding coastal ecological environment changes and even global changes.Based on field measurements,combined with Linear Regression(LR)model and Inverse Distance Weighing(IDW)method,this paper presents detailed analysis on the change history and trend of the shoreline and tidal flat in Bohai Bay.The shoreline faces a high erosion chance under the action of natural factors,while the tidal flat faces a different erosion and deposition patterns in Bohai Bay due to the impact of human activities.The implication of change rule for ecological protection and recovery is also discussed.Measures should be taken to protect the coastal ecological environment.The models used in this paper show a high correlation coefficient between observed and modeling data,which means that this method can be used to predict the changing trend of shoreline and tidal flat.The research results of present study can provide scientific supports for future coastal protection and management.

How the Flat Space Cosmology Model Correlates the Recombination CMB Temperature of 3000 K with a Redshift of 1100

This paper shows how the Flat Space Cosmology model correlates the recom-bination epoch CMB temperature of 3000 K with a cosmological redshift of 1100. This proof is given in support of the recent publication that the Tatum and Seshavatharam Hubble temperature formulae can be derived using the Stephan-Boltzmann dispersion law. Thus, as explained herein, the era of high precision Planck scale quantum cosmology has arrived.

Product Development of High Strength and Toughness Spring Flat Steel

With the continuous development of mechanical industry,higher requirements are put forward for the comprehensive properties of spring steel.The chemical composition and production process of spring flat steel are designed to meet the requirements of high strength and high toughness of spring flat steel,through the test,the product surface quality and internal quality all meet the national standards,the performance indicators to meet user requirements.

Flatness Control Based on Dynamic Effective Matrix for Cold Strip Mills

Steel strips are the main of steel products and flatness is an important quality indicator of steel strips. Flatness control is the key and highly difficult technique of strip mills. The bottle-neck restricting the improvement of flatness control techniques is that the research on flatness theories and control mathematic models is not in accordance with the requirement of technique developments. To build a simple, rapid and accurate explicit formulation control model has become an urgent need for the development of flatness control technique. This paper puts forward the conception of dynamic effective matrix based on the effective matrix method for flatness control proposed by the authors under the consideration of the influence of the change of parameters in roiling processes on the effective matrix, and the concept is validated by industrial productions. Three methods of the effective matrix generation are induced： the calculation method based on the flatness prediction model; the calculation method based on the data excavation in rolling processes and the direct calculation method based on the network model. A fuzzy neural network effective matrix model is built based on the clusters, and then the network structure is optimized and the high-speed-calculation problem of the dynamic effective matrix is solved. The flatness control scheme for cold strip mills is proposed based on the dynamic effective matrix. On stand 5 of the 1 220 mm five-stand 4-high cold strip tandem mill, the industrial experiment with the control methods of tilting roll and bending roll is done by the control scheme of the static effective matrix and the dynamic effective matrix, respectively. The experiment result proves that the control effect of the dynamic effective matrix is much better than that of the static effective matrix. This paper proposes a new idea and method for the dynamic flatness control in the rolling processes of cold strip mills and develops the theory and model of the flatness control effective matrix method.

Application of Crown-Flatness Vector Analysis in Plate Rolling Schedule

A simple plate crown model was introduced,and the crown-flatness vector analysis method was analyzed.Based on the plate rolling technology,the rolling schedule design of elongation phase is divided into three steps.First step is to calculate the reductions of first pass of elongation making full use of the mill capability to decrease the total pass number.The second step is to calculate the pass reduction for the last three or four passes to control crown and flatness by crown-flatness vector analysis method.In the third step,the maximum rolling force limit and the total pass number are adjusted to make the plate gauge at exit equal to target gauge with satisfactory flatness.The on-line application shows that this method is effective.

Flatness predictive model based on T-S cloud reasoning network implemented by DSP

The accuracy of present flatness predictive method is limited and it just belongs to software simulation. In order to improve it, a novel flatness predictive model via T-S cloud reasoning network implemented by digital signal processor(DSP) is proposed. First, the combination of genetic algorithm(GA) and simulated annealing algorithm(SAA) is put forward, called GA-SA algorithm, which can make full use of the global search ability of GA and local search ability of SA. Later, based on T-S cloud reasoning neural network, flatness predictive model is designed in DSP. And it is applied to 900 HC reversible cold rolling mill. Experimental results demonstrate that the flatness predictive model via T-S cloud reasoning network can run on the hardware DSP TMS320 F2812 with high accuracy and robustness by using GA-SA algorithm to optimize the model parameter.

Research of the image processing in dynamic flatness detection based on improved laser triangular method

As a commonly used non-contact flatness detection method, laser triangular detection method is designed with low cost, but it cannot avoid measurement errors caused by strip steel vibration effectively. This paper puts forward a dynamic flatness image processing method based on improved laser triangular detection method. According to the practical application of strip steel straightening, it completes the image pre-processing, image feature curve extraction and calculation of flatness elongation using digital image processing technology. Finally it eliminates elongation measurement errors caused by the vibration.

Dynamic characteristics of cold rolling mill and strip based on flatness and thickness control in rolling process

The dynamic model of cold rolling mill based on strip flatness and thickness integrated control was proposed,containing the following sub-models:the rolling process model,the dynamic model of rolls along axial direction,and the compensation model.Based on the rule of volume flow rate,the dynamic rolling process model was built.The work roll and backup roll were taken as elastic continuous bodies,the effect of shear and moment of inertia were taken into consideration,and then the dynamic model of rolls was built.The two models were coupled together,and the dynamic model of rolling mill was built.In the dynamic model,the thermal expansion of the rolls,the wear of the rolls and other related parameters can not be considered.In order to compensate the dynamic model,the coupled static model of rolls and strip was applied.Then,according to the inner relationship of these models,the dynamic model and the compensation model were coupled,and the dynamic model of rolling mill based on the strip flatness and thickness integrated control was built.The dynamic simulation of the rolling process was made,and the dynamic thickness and the dynamic flatness information were obtained.This model not only provides a theory basis for the virtual rolling,but also provides a platform for the application of advanced control theory.

REQUIREMENT OF SILICON FLATNESS FOR SILICON DIRECT BONDING TECHNOLOGY

The influence of silicon slice flatness on bonding technology and the relation between a foreign particle and resulting bubble are quantitatively presented by the elastic theory. It is demonstrated experimentally by X-ray double crystal diffractometry and infrared imager.

VCR and ASR technology for profile and flatness control in hot strip mills

The roll contour pattern and variety of work and backup rolls in service and its effect on profile and flatness control performance in 1 700 mm hot strip mill at Wuhan Iron and Steel(Group) Corporation were tested and analyzed by the developed finite element models of different typical roll contours configurations.A rather smooth local work roll contour near strip edges and an increase in rolled length can be obtained by application of long stroke work roll shifting system with conventional work roll contours that is incapable of the crown control.In comparison with the conventional backup and work roll contours configuration,the crown control range by the roll bending force enhances by 12.79% and the roll gap stiffness increases by 25.26% with the developed asymmetry self-compensating work rolls(ASR) and varying contact backup rolls(VCR).A better strip profile and flatness quality,an increase in coil numbers within the rolling campaign and a significant alleviated effect of severe work roll wear contours on performance of edge drop control are achieved by the application of ASR with crown control and wear control ability in downstream stand F5 and VCR in all stands of 1 700 mm hot strip mill.

Development and application of cold strip rolling flatness control system in Ansteel

In this paper,the flatness control technology AnShaper^(TM) for cold-rolling mill and industry application are introduced.AnShaper^(TM) includes;partitioning piezomagnetic shape meter for flatness measurement for cold-rolling strip;flatness measured signals processing system based on digital signal processing(DSP);flatness feedback control model system based on the control efficiency of flatness control actuators and model adaptive function.The application verifies that strip flatness can meet the need of high quality product by using AnShaperTM.The average flatness quality is about 5Ⅰ-unit and the 0.18 mm ultrathin thickness strip flatness is 10Ⅰ-unit.

Morphodynamic signatures derived from daily surface elevation dynamics can explain the morphodynamic development of tidal flats

Understanding the sensitivity of tidal flats to environmental changes is challenging.Currently,most studies rely on process-based models to systematically explain the morphodynamic evolution of tidal flats.In this study,we proposed an alternative empirical approach to explore tidal flat dynamics using statistical indices based on long-term time series of daily surface elevation development.Surface elevation dynamic(SED)indices focus on the magnitude and period of surface elevation changes,while morphodynamic signature(MDS)indices relate sediment dynamics to environmental drivers.The statistical analyses were applied to an intervention site in the Netherlands to determine the effect of recently constructed groynes on the tidal flat.Using these analyses,we were able to(1)detect a reduction in the daily SED and(2)determine that the changes in the daily SED were predominantly caused by the reduction in wave impact between the groynes rather than the reduction in tidal currents.Overall,the presented results showed that the combination of novel statistical indices provides new insights into the trajectories of tidal flats,ecosystem functioning,and sensitivity to physical drivers(wind and tides).Finally,we suggested how the SED and MDS indices may help to explore the future trajectories and climate resilience of intertidal habitats.

Flat soliton microcomb source

Mode-locked microcombs with flat spectral profiles provide the high signal-to-noise ratio and are in high demand for wavelength division multiplexing(WDM)-based applications,particularly in future high-capacity communication and parallel optical computing.Here,we present two solutions to generate local relatively flat spectral profiles.One microcavity with ultra-flat integrated dispersion is pumped to generate one relatively flat single soliton source spanning over 150 nm.Besides,one extraordinary soliton crystal with single vacancy demonstrates the local relatively flat microcomb lines when the inner soliton spacings are slightly irregular.Our work paves a new way for soliton-based applications owing to the relatively flat spectral characteristics.

Flatness intelligent control via improved least squares support vector regression algorithm

To overcome the disadvantage that the standard least squares support vector regression(LS-SVR) algorithm is not suitable to multiple-input multiple-output(MIMO) system modelling directly,an improved LS-SVR algorithm which was defined as multi-output least squares support vector regression(MLSSVR) was put forward by adding samples' absolute errors in objective function and applied to flatness intelligent control.To solve the poor-precision problem of the control scheme based on effective matrix in flatness control,the predictive control was introduced into the control system and the effective matrix-predictive flatness control method was proposed by combining the merits of the two methods.Simulation experiment was conducted on 900HC reversible cold roll.The performance of effective matrix method and the effective matrix-predictive control method were compared,and the results demonstrate the validity of the effective matrix-predictive control method.

Distribution of benthic macrofaunal communities in intertidal flat under hydrodynamic influence:a case study of Jiangsu coast,East China

To identify the distribution pattern of macrofaunal assemblages of the Dafeng intertidal flats in response to hydrodynamic and sediment dynamic processes in the northern Jiangsu coast,East China,macrofauna sampling and hydrodynamic observations were carried out simultaneously across the mud flat,mixed mud-sand flat,and silt-sand flat of the intertidal zone in June 2018.Results show that there was a clear zonal distribution pattern of the macrofaunal communities,as is controlled by local hydrological and sedimentary environments.Principal component analysis(PCA)revealed three types of intertidal area in terms of hydrological and surficial sediment parameters.Similarly,three distinct groups of the macrofaunal communities,i.e.,mud flat,mix mud-sand,and silt-sand groups,were recognized at similarity level of 24%based on the CLUSTER analysis in similarity profile(SIMPROF)test.Correlation analysis upon best variables stepwise search(BVSTEP)indicated the importance of the hydrodynamics(e.g.,water temperature and salinity,tidal duration,flow speed,suspended sediment concentration,and wave height)in the differentiation of macrofaunal communities with different taxonomic classes over the intertidal zone.Therefore,macrofaunal assemblages,similar to hydrology and surficial sediment,have a unique zonation pattern.Small-sized deposit feeders adapt better to low energy environments,thus dominated the upper part of the intertidal flat,whilst the heavy and large-sized filter feeders and deposit feeders were dominant over the middle and lower parts.The hydrodynamic and sediment processes cause biota-niche separation,which affected the biological processes across the intertidal flat.

Dramatical hydro-sedimentary changes induced by bamboo fences over mangrove tidal flat of the largest delta in Beibu Gulf, southwestern China

Mangrove forest is one of the most important ecological and environmental resources by effectively promoting tidal flat deposition and preventing the coastal region from typhoon.However,there have been mass loss of mangrove forests due to anthropogenic activities.It is an urgent need to explore an effective way for mangrove restoration.Here,three rows of bamboo fences with hydro-sedimentary observation set over Aegiceras corniculatum mangrove tidal flat of the Nanliu Delta,the largest delta of Beibu Gulf,China,were conducted to analyze the hydro-sedimentary variations induced by bamboo fences.Results identified that the mean horizontal velocity Um per burst(20 min)decreased by as much as 71%and 40%in comparison with those without bamboo fences in March and November,respectively,when the tidal current entering the bamboo area during flood.The maximum of mean horizontal flow velocity Um-max at bamboo area was 50%–75%of that without bamboo fences during ebb tide.The suspended sediment concentration of bamboo area suggested a maximum reduction of 57%relative to bare flat during flood,and was 80%lower than bare flat at ebb peak.Moreover,the turbulent kinetic dissipationεat flood tide was significantly higher than that at ebb tide,while the bamboo fences greatly increased the turbulent kinetic dissipationεby 2 to 5 times relative to bare flat,resulting in an increase of the bed elevation by inhibiting the sediment incipient motion and intercepting suspended sediment.The siltation rate at the bamboo area was 140%and 29.3%higher than that at the bare flat and the region covered with A.corniculatum,respectively.These results highlight that bamboo fences can effectively attenuate tidal current and thus promote siltation over mangrove flat,which contribute great benefit to mangrove survival.