Leader-Following Entrapping Control of AUVs Using Bearing Measurements in Local Coordinate Frames

In this paper,the entrapping control problem of discrete-time AUVs with local coordinate frames is studied.To achieve entrapment in arbitrarily shaped orbits and formations,we design a bearingbased leader-following framework fully in the discrete-time domain with four parts:the orientation estimation unit,estimator unit,controller unit and parameters tuning unit.With bearing measurements and communication information,the orientation estimation unit can estimate orientations of local coordinate frames infinite time,and the estimator unit can achieve local localization.Based on estimation,the controller unit can drive each AUV to track the desired orbit or formation with an arbitrary shape.We present su±cient conditions under which stability of the overall system is proved using the theorem offinite-time stability and LaSalle's theorem for the discrete-time system.Moreover,the parameters tuning unit can calculate optimal parameters to improve overall performance.Additionally,we extend our schemes to nonholonomic AUVs with unicycle models.Finally,simulation results demonstrate the effectiveness of the proposed scheme.

Identification of the highly active Zn-N_(4) sites with pyrrole/pyridine-N synergistic coordination by dz^(2)+s-band center for electrocatalytic H_(2)O_(2) production

Single metal atoms anchored on nitrogen-doped carbon materials(M-N_(4))have been identified as effective active sites for catalyzing the two-electron oxygen reduction reaction(2e-ORR).However,the relationship between the local atomic/electronic environments of the M-N_(4) sites(metal atoms coordinated with different types of N species)and their catalytic activity for 2e-ORR has rarely been elaborated clearly,which imposes significant ambiguity for the rational design of catalysts.Herein,guided by the comprehensive density-functional theory calculations and predictions,a series of Zn-N_(4) single-atom catalysts(SACs)are designed with pyrrole/pyridine-N(N_(Po)/N_(Pd))synergistic coordination and prepared by controlling the pyrolysis temperature(600,700,and 800℃),Among them,the dominated Zn-N_(4) configurations with rationally combined N_(Po)/N_(Pd)coordination show~*OOH adsorption strength close to the optimal value,much superior to those with mono N species.Thus,the as-prepared catalyst exhibits a high H_(2)O_(2) selectivity of over 90%both in neutral and alkaline environments,with a superb H_(2)O_(2) yield of up to 33.63 mol g^(-1)h^(-1)in an alkaline with flow cell.More importantly,a new descriptor,dz^(2)+s band center,has been proposed,which is especially feasible for predicting the activity for metal types with fully occupied s and d orbitals.This work thus presents clear guidance for the rational design of highly active SACs toward ORR and provides a complement to the d-band theory for more accurately predicting the catalytic activity of the materials.

First-principles study of the local structure and crystal field of Yb^(2+) in sodium and potassium halides

The local coordination structures around the doping Yb2＋ ions in sodium and potassium halides were calculated by using the first-principles supercell model. Both the cases with and without the charge compensation vacancy in the local environment of the doping Yb2＋ were calculated to study the effect of the doping on the local coordination structures of Yb2＋. Using the calculated local structures, we obtained the crystal-field parameters for the Yb2＋ ions doped in sodium and potassium halides by a method based on the combination of the quantum-chemical calculations and the effective Hamiltonian method. The calculated crystal-field parameters were analyzed and compared with the fitted results.

2-D distributed pose estimation of multi-agent systems using bearing measurements

This article studies distributed pose(orientation and position)estimation of leader–follower multi-agent systems over𝜅-layer graphs in 2-D plane.Only the leaders have access to their orientations and positions,while the followers can measure the relative bearings or(angular and linear)velocities in their unknown local coordinate frames.For the orientation estimation,the local relative bearings are used to obtain the relative orientations among the agents,based on which a distributed orientation estimation algorithm is proposed for each follower to estimate its orientation.For the position estimation,the local relative bearings are used to obtain the position constraints among the agents,and a distributed position estimation algorithm is proposed for each follower to estimate its position by solving its position constraints.Both the orientation and position estimation errors converge to zero asymptotically.A simulation example is given to verify the theoretical results.

TWISTED BIFURCATIONS AND STABILITY OF HOMOCLINIC LOOP WITH HIGHER DIMENSIONS

By using the linear independent solutions of the linear variational equation along the homoclinic loop as the demanded local coordinates to construct the Poincaré map,the bifurcations of twisted homoclinic loop for higher dimensional systems are studied.Under the nonresonant and resonant conditions,the existence,number and existence regions of the 1-homoclinic loop,1-periodic orbit,2-homoclinic loop,2-periodic orbit and 2-fold 2-periodic orbit were obtained.Particularly,the asymptotic repressions of related bifurcation surfaces were also given.Moreover, the stability of homoclinic loop for higher dimensional systems and nontwisted homoclinic loop for planar systems were studied.

BIFURCATIONS OF TWISTED HOMOCLINIC LOOPS FOR DEGENERATED CASES

In this paper,the bifurcation problems of twisted and degenerated homoclinic loop for higher dimensional systems are studied.Under the nonresonant condition,the existence,uniqueness,and incoexistence of the 1-homoclinic loop and 1-periodic orbit near Γ are obtained,and the inexistence of the 2-homoclinic loop and the existence of 2-periodic orbit near Γ are also given.

Coordinated target localization base on pseudo measurement for clustered space robot

This paper presents a coordinated target localization method for clustered space robot.According to the different measuring capabilities of cluster members,the master-slave coordinated relative navigation strategy for target localization with respect to slavery space robots is proposed;then the basic mathematical models,including coordinated relative measurement model and cluster centralized dynamics,are established respectively.By employing the linear Kalman flter theorem,the centralized estimator based on truth measurements is developed and analyzed frstly,and with an intention to inhabit the initial uncertainties related to target localization,the globally stabilized estimator is designed through introduction of pseudo measurements.Furthermore,the observability and controllability of stochastic system are also analyzed to qualitatively evaluate the convergence performance of pseudo measurement estimator.Finally,on-orbit target approaching scenario is simulated by using semi-physical simulation system,which is used to verify the convergence performance of proposed estimator.During the simulation,both the known and unknown maneuvering acceleration cases are considered to demonstrate the robustness of coordinated localization strategy.

Insights into layered-tunnel dynamic structural evolution based on local coordination chemistry regulation for high-energy-density and long-cycle-life sodium-ion oxide cathodes

The pursuit of high energy density while achieving long cycle life remains a challenge in developing transition metal(TM)oxide cathode materials for sodium-ion batteries(SIBs).Here,we present a concept of precisely manipulating structural evolution via local coordination chemistry regulation to design high-performance composite cathode materials.The controllable structural evolution process is realized by tuning magnesium content in Na0.6Mn1-xMgxO2,which is elucidated by a combination of experimental analysis and theoretical calculations.The substitution of Mg into Mn sites not only induces a unique structural evolu-tion from layered–tunnel structure to layered structure but also mitigates the Jahn–Teller distortion of Mn3+.Meanwhile,benefiting from the strong ionic inter-action between Mg2+and O2-,local environments around O2-coordinated with electrochemically inactive Mg2+are anchored in the TM layer,providing a pinning effect to stabilize crystal structure and smooth electrochemical profile.The layered–tunnel Na0.6Mn0.95Mg0.05O2 cathode material delivers 188.9 mAh g-1 of specific capacity,equivalent to 508.0 Wh kg-1 of energy density at 0.5C,and exhibits 71.3%of capacity retention after 1000 cycles at 5C as well as excellent compatibility with hard carbon anode.This work may provide new insights of manipulating structural evolution in composite cathode materials via local coordi-nation chemistry regulation and inspire more novel design of high-performance SIB cathode materials.

基于两部模型的组合惩罚似然估计方法研究及其应用

在统计学中,多借助零膨胀模型研究零膨胀数据潜在的模型结构及变量选择问题。然而,在多数情况下,响应变量的非零部分为定量数据,简单的零膨胀模型无法刻画这类数据的模型结构,对应的参数估计方法也不再适用。鉴于此,学者提出处理零膨胀半连续数据的两部模型。本文将组合惩罚似然估计方法引入两部模型,研究其变量选择问题。提出一种新的处理高维统计分析问题的惩罚似然估计方法:NCPM (New Combined Punishment Method),并将该方法应用于太原市降水量数据,分析其影响因素。模拟及实例分析结果均表明本文的方法行之有效,较传统的惩罚似然估计方法具有更高的预测精度。

Engineering local coordination environments and site densities for high-performance Fe-N-C oxygen reduction reaction electrocatalysis

Fe-N-C catalysts represent very promising cathode catalysts for polymer electrolyte fuel cells,owing to their outstanding activity for the oxygen reduction reaction(ORR),especially in alkaline media.In this review,we summarize recent advances in the design and synthesis of Fe-N-C catalysts rich in highly dispersed FeNx active sites.Special emphasis is placed on emerging strategies for tuning the electronic structure of the Fe atoms to enhance the ORR activity,and also maximizing the surface concentration of FeNx sites that are catalytically accessible during ORR.While great progress has been made over the past 5 years in the development of Fe-N-C catalyst for ORR,significant technical obstacles still need to be overcome to enable the large-scale application of Fe-N-C materials as cathode catalysts in real-world fuel cells.

Problems in Homoclinic Bifurcation with Higher Dimensions

In this paper, a suitable local coordinate system is constructed by using exponential dichotomies and generalizing the Floquet method from periodic systems to nonperiodic systems. Then the Poincare map is established to solve various problems in homoclinic bifurcations with codimension one or two. Bifurcation diagrams and bifurcation curves are given.

DEGENERATED HOMOCLINIC BIFURCATIONS WITH HIGHER DIMENSIONS

The degenerated homoclinic bifurcation for high dimensional system is considered. The existence, uniqueness, and incoexistence of the 1-homclinic orbit and 1-periodic orbit near Г are studied under the nonresonant condition. Complicated bifurcation pattern is described under the resonant condition.

Bifurcations of Rough Heteroclinic Loops with Three Saddle Points

In this paper, we study the bifurcation problems of rough heteroclinic loups cormecting threc saddle points for a higher-dimensional system. Under some transversal conditions and the nontwisted condition. the existence. uniqueness. nd incoexistencc of thc l-heteroclinic loop with threc or two saddle pomts. l-homoclinic orbit and l-periodic orbit near T are obtained. Nleanwhile, the bifurcation surfaces and existence regions are also given. Moreover. the above bifurcation results are extended to the case for heteroclinic loop with l saddle points.

Bifurcations of rough heteroclinic loop with two saddle points

The bifurcation problems of rough 2-point-loop are studied for the caseρ 1 1 >λ 1 1 ,ρ 2 1 <λ 2 1 ,ρ 1 1 ρ 2 1 <λ 1 1 λ 2 1 , where ?ρ i 1 <0 and λ i 1 >0 are the pair of principal eigenvalues of unperturbed system at saddle point pi, i = 1,2. Under the transversal and nontwisted conditions, the authors obtain some results of the existence of one 1-periodic orbit, one 1-periodic and one 1-homoclinic loop, two 1-periodic orbits and one 2-fold 1-periodic orbit. Moreover, the bifurcation surfaces and the existence regions are given, and the corresponding bifurcation graph is drawn.

BIFURCATIONS OF ROUGH 3-POINT-LOOP WITH HIGHER DIMENSIONS

The authors study the bifurcation problems of rough heteroclinic loop connecting threesaddle points for the case β1 ＞ 1, β2 ＞ 1, β3 ＜ 1 and β1β2β3 ＜ 1. The existence, number, co-existence and incoexistence of 2-point-loop, 1-homoclinic orbit and 1-periodic orbit are studied.Meanwhile, the bifurcation surfaces and existence regions are given.

Bifurcations of Fine 3-point-loop in Higher Dimensional Space

By using the linear independent fundamental solutions of the linearvariational equation along the heteroclinic loop to establish a suitable local coordinate system insome small tubular neighborhood of the heteroclinic loop, the Poincaré map is constructed to studythe bifurcation problems of a fine 3–point loop in higher dimensional space. Under some transversalconditions and the non–twisted condition, the existence, coexistence and incoexistence of2–point–loop, 1–homoclinic orbit, simple 1–periodic orbit and 2–fold 1–periodic orbit, and thenumber of 1–periodic orbits are studied. Moreover, the bifurcation surfaces and existence regionsare given. Lastly, the above bifurcation results are applied to a planar system and an insidestability criterion is obtained.

VGIS-AntiJitter: an effective framework for solving jitter problems in virtual geographic information systems

With the proposition of the Digital Earth(DE)concept,Virtual Geographic Information System(VGIS)has started to play the role of a Digital Earth prototype system.Many core problems involved in VGIS,such as out-of-core management and interactive rendering of very large scale terrain and image data,have been well studied in the past decades.However,the jitter problem,a common problem in VGIS that often causes annoying visual artefacts and deteriorates the output image quality,draws little attention.In this paper,after an intensive analysis of the jitter problem,a comprehensive framework is proposed to address such a problem while accounting for the characteristics of different data types in VGIS,such as terrain or ocean mesh data,vector data and 3-D model data.Specifically,this framework provides an improved dynamic local coordinate system(DLCS)method for terrain or ocean mesh data.For vector data,the framework provides a simple and effective multiple local coordinate systems(MLCS)method.The framework provides a MLCS method for 3-D model data making full use of the existing local coordinate system of the model.The advantages of the proposed methods over current approaches are analysed and highlighted through case studies involving large GIS datasets.

Bifurcation of Homoclinic Orbits with Saddle-Center Equilibrium

In this paper, the authors develop new global perturbation techniques for detecting the persistence of transversal homoclinic orbits in a more general nondegenerated system with action-angle variable. The unperturbed system is assumed to have saddlecenter type equilibrium whose stable and unstable manifolds intersect in one dimensional manifold, and does not have to be completely integrable or near-integrable. By constructing local coordinate systems near the unperturbed homoclinic orbit, the conditions of existence of transversal homoclinic orbit are obtained, and the existence of periodic orbits bifurcated from homoclinic orbit is also considered.

RESONANT BIFURCATIONS OF THE HOMOCLINIC MANIFOLD FOR FOURTH-DIMENSIONAL SYSTEM

The homoclinic bifurcations under resonant conditions are considered in the ho- moclinic manifold consisting of a series of homoclinic orbits for the fourth-dimensional system.The existence,coexistence and uniqueness of 1-homoclinic orbit,1-periodic orbit and 2-fold 1-periodic orbit are obtained under resonant condition,the correspon- ding bifurcation surfaces and existing regions are also given.

A new principle and device for large aircraft components gaining accurate support by ball joint

How to obtain an accurate support for large components by ball joint is a key process in aircraft digital assembly. A novel principle and device is developed to solve the problem. Firstly, the working principle of the device is introduced. When three or four displacement sensors installed in the localizer are touched by the ball-head, the spatial relation is calculated between the large aircraft component's ball-head and the localizer's ball-socket. The localizer is driven to achieve a new position by compensation. Relatively, a support revising algorithm is proposed. The localizer's ball-socket approaches the ball-head based on the displacement sensors. According to the points selected from its spherical surface, the coordinates of ball-head spherical center are computed by geometry. Finally, as a typical application, the device is used to conduct a test-fuselage's ball-head into a localizer's ball-socket. Positional deviations of the spherical centers between the ball-head and the ball-socket in the x, y, and z directions are all controlled within ±0.05 mm under various working conditions. The results of the experiments show that the device has the characteristics of high precision, excellent stability, strong operability, and great potential to be applied widely in the modern aircraft industry.