Hybrid input shaping control scheme for reducing vibration of robot based on multi-mode control

The classic multi-mode input shapers(MMISs)are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously.But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different.The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper.Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established.The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation.The response time of the zero vibration-zero vibration and derivative(ZV-ZVD)input shaper is the fastest,but the robustness is the least.The robustness of the zero vibration and derivative-extra insensitive(ZVD-EI)input shaper is the best,while the response time is the longest.According to the frequency bandwidth at each mode and required system response time,the most appropriate multi-mode hybrid input shaper(MMHIS)can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.

Optimization Control of Multi-Mode Coupling All-Wheel Drive System for Hybrid Vehicle

The all-wheel drive(AWD)hybrid system is a research focus on high-performance new energy vehicles that can meet the demands of dynamic performance and passing ability.Simultaneous optimization of the power and economy of hybrid vehicles becomes an issue.A unique multi-mode coupling(MMC)AWD hybrid system is presented to realize the distributed and centralized driving of the front and rear axles to achieve vectored distribution and full utilization of the system power between the axles of vehicles.Based on the parameters of the benchmarking model of a hybrid vehicle,the best model-predictive control-based energy management strategy is proposed.First,the drive system model was built after the analysis of the MMC-AWD’s drive modes.Next,three fundamental strategies were established to address power distribution adjustment and battery SOC maintenance when the SOC changed,which was followed by the design of a road driving force observer.Then,the energy consumption rate in the average time domain was processed before designing the minimum fuel consumption controller based on the equivalent fuel consumption coefficient.Finally,the advantage of the MMC-AWD was confirmed by comparison with the dynamic performance and economy of the BYD Song PLUS DMI-AWD.The findings indicate that,in comparison to the comparative hybrid system at road adhesion coefficients of 0.8 and 0.6,the MMC-AWD’s capacity to accelerate increases by 5.26%and 7.92%,respectively.When the road adhesion coefficient is 0.8,0.6,and 0.4,the maximum climbing ability increases by 14.22%,12.88%,and 4.55%,respectively.As a result,the dynamic performance is greatly enhanced,and the fuel savings rate per 100 km of mileage reaches 12.06%,which is also very economical.The proposed control strategies for the new hybrid AWD vehicle can optimize the power and economy simultaneously.

Fake News Detection Based on Text-Modal Dominance and Fusing Multiple Multi-Model Clues

In recent years,how to efficiently and accurately identify multi-model fake news has become more challenging.First,multi-model data provides more evidence but not all are equally important.Secondly,social structure information has proven to be effective in fake news detection and how to combine it while reducing the noise information is critical.Unfortunately,existing approaches fail to handle these problems.This paper proposes a multi-model fake news detection framework based on Tex-modal Dominance and fusing Multiple Multi-model Cues(TD-MMC),which utilizes three valuable multi-model clues:text-model importance,text-image complementary,and text-image inconsistency.TD-MMC is dominated by textural content and assisted by image information while using social network information to enhance text representation.To reduce the irrelevant social structure’s information interference,we use a unidirectional cross-modal attention mechanism to selectively learn the social structure’s features.A cross-modal attention mechanism is adopted to obtain text-image cross-modal features while retaining textual features to reduce the loss of important information.In addition,TD-MMC employs a new multi-model loss to improve the model’s generalization ability.Extensive experiments have been conducted on two public real-world English and Chinese datasets,and the results show that our proposed model outperforms the state-of-the-art methods on classification evaluation metrics.

Time varying congestion pricing for multi-class and multi-mode transportation system with asymmetric cost functions

This paper considers the problem of time varying congestion pricing to determine optimal time-varying tolls at peak periods for a queuing network with the interactions between buses and private cars.Through the combined applications of the space-time expanded network（STEN） and the conventional network equilibrium modeling techniques,a multi-class,multi-mode and multi-criteria traffic network equilibrium model is developed.Travelers of different classes have distinctive value of times（VOTs）,and travelers from the same class perceive their travel disutility or generalized costs on a route according to different weights of travel time and travel costs.Moreover,the symmetric cost function model is extended to deal with the interactions between buses and private cars.It is found that there exists a uniform（anonymous） link toll pattern which can drive a multi-class,multi-mode and multi-criteria user equilibrium flow pattern to a system optimum when the system＇s objective function is measured in terms of money.It is also found that the marginal cost pricing models with a symmetric travel cost function do not reflect the interactions between traffic flows of different road sections,and the obtained congestion pricing toll is smaller than the real value.

大学英语的Multi-Mode教学模式

针对目前高职院校大学英语教学普遍存在的问题,结合全国性大学英语教学需要改革的迫切要求,笔者对所在院校研究并应用的Multi-Mode教学模式进行分析说明,其关键性在于培养学生自主学习的积极性,较好地落实教学任务,提高学生参加英语等级考试的通过率。

3D FEM simulation of responses of LWD multi-mode resistivity imaging sonde

A new multi-mode resistivity imaging sonde, with toroidal coils as source, can conduct three resistivity measurements: azimuthal resistivity, lateral resistivity, and bit resistivity measurements. Thus, the logging time and cost are greatly saved. The toroidal coils are simplified as an extended voltage dipole and the response equations are derived for a homogenous formation. Based on 3D FEM, the depth of investigation(DOI), vertical resolution, circumferential azimuthal capacity, borehole diameter, mud resistivity, thickness of target formation, and the resistivity of the surrounding formation and mud invasion are simulated. The results suggest that the three measurement modes of the new sonde are different in vertical resolutions and DOIs. The circumferential detection ability of the azimuth button depends on the contrast between the anomaly and formation resistivity and the open angle of the anomaly. Whether the borehole is truncated at the bit or not has a great influence on the simulation results. The borehole and mud invasion affect the apparent resistivity in all modes, but the effects of resistivity of surrounding formation and thickness of the target formation are only corrected for lateral resistivity measurement.

Signal classification method based on data mining formulti-mode radar

For the multi-mode radar working in the modern electronicbattlefield, different working states of one single radar areprone to being classified as multiple emitters when adoptingtraditional classification methods to process intercepted signals,which has a negative effect on signal classification. A classificationmethod based on spatial data mining is presented to address theabove challenge. Inspired by the idea of spatial data mining, theclassification method applies nuclear field to depicting the distributioninformation of pulse samples in feature space, and digs out thehidden cluster information by analyzing distribution characteristics.In addition, a membership-degree criterion to quantify the correlationamong all classes is established, which ensures classificationaccuracy of signal samples. Numerical experiments show that thepresented method can effectively prevent different working statesof multi-mode emitter from being classified as several emitters,and achieve higher classification accuracy.

Multi-mode process monitoring based on a novel weighted local standardization strategy and support vector data description

There are multiple operating modes in the real industrial process, and the collected data follow the complex multimodal distribution, so most traditional process monitoring methods are no longer applicable because their presumptions are that sampled-data should obey the single Gaussian distribution or non-Gaussian distribution. In order to solve these problems, a novel weighted local standardization(WLS) strategy is proposed to standardize the multimodal data, which can eliminate the multi-mode characteristics of the collected data, and normalize them into unimodal data distribution. After detailed analysis of the raised data preprocessing strategy, a new algorithm using WLS strategy with support vector data description(SVDD) is put forward to apply for multi-mode monitoring process. Unlike the strategy of building multiple local models, the developed method only contains a model without the prior knowledge of multi-mode process. To demonstrate the proposed method's validity, it is applied to a numerical example and a Tennessee Eastman(TE) process. Finally, the simulation results show that the WLS strategy is very effective to standardize multimodal data, and the WLS-SVDD monitoring method has great advantages over the traditional SVDD and PCA combined with a local standardization strategy(LNS-PCA) in multi-mode process monitoring.

Digital Communication Using Multi-mode Chaotic Lasers

The digital communication in a system of two multi-mode solid state chaotic lasers is investigated theoretically. If the usual method working well in a single-mode laser system is applied to a multi-mode laser system, the memory effect of the two nearest digits can cause high rate of mistakes when the digits are decoded through the subtraction of receiver output from the transmittal. By introducing the deviations of two nearest maximum and minimum fluctuationsof the signal to decode the digit, the message can be decoded correctly. Also, this communication method does not critically depend on the quality of the chaotic synchronization of the two multi-mode lasers.

Adaptive Learning-Based Delay-Sensitive and Secure Edge-End Collaboration for Multi-Mode Low-Carbon Power IoT

Multi-mode power internet of things(PIoT)combines various communication media to provide spatio-temporal coverage for low-carbon operation in smart park.Edge-end collaboration is feasible to achieve the full utilization of heterogeneous resources and anti-eavesdropping.However,edge-end collaboration-based multi-mode PIoT faces challenges of mutual contradiction in communication and security quality of service(QoS)guarantee,inadaptability of resource management,and multi-mode access conflict.We propose an Adaptive learning based delAysensitive and seCure Edge-End Collaboration algorithm(ACE_(2))to optimize multi-mode channel selection and split device power into artificial noise(AN)transmission and data transmission for secure data delivery.ACE_(2) can achieve multi-attribute QoS guarantee,adaptive resource management and security enhancement,and access conflict elimination with the combined power of deep actor-critic(DAC),“win or learn fast(WoLF)”mechanism,and edge-end collaboration.Simulations demonstrate its superior performance in queuing delay,energy consumption,secrecy capacity,and adaptability to differentiated low-carbon services.

Design of Multi-mode Mobile Terminal Chips

Based on the analysis of B3G evolution, the base-band processing chips for mobile terminals are introduced. Key technologies for multi-mode mobile terminal base-band chips are discussed. Terminal technologies are thought to be the key of B3G, and terminal base-band chips are regarded as the core of terminal technologies. Therefore, a unified wireless development platform is required for the R&D of multi-mode mobile terminal base-band processing chips.

Multi-mode controller IC for soft-switched flyback converter with high efficiency over the entire load range

This paper presents a multi-mode control scheme for a soft-switched flyback converter to achieve high efficiency and excellent load regulation over the entire load range. At heavy load, critical conduction mode with valley switching (CCMVS) is employed to realize soft switching so as to reduce turn-on loss of power switch as well as conducted electromagnetic interference (EMI). At light load, the converter operates in discontinuous conduction mode (DCM) with valley switching and adaptive off-time control (AOT) to limit the switching frequency range and maintain load regulation. At extremely light load or in standby mode, burst mode operation is adopted to provide low power consumption through reducing both switching frequency and static power dissipation of the controller. The multi-mode control is implemented by an oscillator whose pulse duration is adjusted by output feedback. An accurate valley switching control circuit guarantees the minimum turn-on voltage drop of power switch. The pro-totype of the controller IC was fabricated in a 1.5-μm BiCMOS process and applied to a 310 V/20 V, 90 W flyback DC/DC converter circuitry. Experimental results showed that all expected functions were realized successfully. The flyback converter achieved a high efficiency of over 80% from full load down to 2.5 W, with the maximum reaching 88.8%, while the total power consumption in standby mode was about 300 mW.

Current multifunctional albumin-based nanoplatforms for cancer multi-mode therapy

Albumin has been widely applied for rational design of drug delivery complexes as natural carriers in cancer therapy due to its distinct advantages of biocompatibility,abundance,low toxicity and versatile property.Hence,various types of multifunctional albumin-based nanoplatforms(MAlb-NPs)that adopt multiple imaging and therapeutic techniques have been developed for cancer diagnosis and treatment.Stimuli-responsive release,including reduction-sensitive,p H-responsive,concentration-dependent and photodynamic-triggered,is important to achieve low-toxicity cancer therapy.Several types of imaging techniques can synergistically improve the effectiveness of cancer therapy.Therefore,combinational theranostic is considered to be a prospective strategy to improve treatment efficiency,minimize side effects and reduce drug resistance,which has received tremendous attentions in recent years.In this review,we highlight several stimuli-responsive albumin nanoplatforms for combinational theranostic.

Self-Mixing Interference Effects in LD Pumped Multi-Mode Solid-State Laser

Based on the effective structure of the self-mixing interference effects,a general model for the self-mixing interference effects in the LD pumped solid-state laser has been established for the first time.The numerical simulation of the self-mixing interference signal has been done,the results show that when the external cavity length is integral times of 1/2,1/3,2/3,1/4,3/4 of the effective cavity length,the intensity of the self-mixing interference signals reach maximum in value.While that of single mode laser is integral times of half of the effective cavity length,the measuring precision of displacement of single mode laser is λ/2.A conclusion can be drawn from the above results that the measuring precision of displacement of multi-mode laser is higher than that of single mode laser.

Vortex-Induced Vibration of a Tension Leg Platform Tendon:Multi-Mode Limit Cycle Oscillations

This paper studies the application of mathematical models to analyze the vortex-induced vibrations of the tendons of a given TLP along the Indian coastline, by using an analytical approach, using MATLAB. The tendon is subjected to a steady current load, which causes vortex-shedding downstream, leading to cross-flow vibrations. The magnitude of the excitation(lift and drag coefficients) depends on the vortex-shedding frequency. The resulting vibration is studied for possible resonant behavior. The excitation force is quantified empirically, the added mass by potential flow hydrodynamics, and the vibration by normal mode summation method. Non-linear viscous damping of the water is considered. The non-linear oscillations are studied by the phase-plane method, investigating the limit-cycle oscillations. The stable/unstable regions of the dynamic behavior are demarcated. The modal contribution to the total deflection is studied to establish the possibility of resonance of one of the wet modes with the vortex-shedding frequency.

A global analysis of multi-mode sea surface temperature pattern

The variability of the air-sea system in the low-frequency time domain can be decomposed into several systematic climate modes, namely, the decadal variability （DV） mode, the El Nino Southem Oscillation （ENSO） mode, the annual cycle （AC） mode, the semiannual cycle （ SC ） mode and the intraseasonal variability （ ISV ） mode. The combination of these primary modes in the air - sea system orchestrates a complex climate system. The multi-mode low-frequency variability in SST is investigated based on 22 a SST records from 1982 through 2003. The variation of SST in the past two decades undergoes a different combination of these dominant climate modes over different regions, which leads to an interesting new classification of the global ocean based on the relative importance of these modes. The new classification can provide ideal locations for better monitoring of these low-frequency modes in the scientific proof sense. Moreover, two no-annual variation and 14 no-semiannual variation oceanic points, termed annual and semiannual amphidromes, have been well defined in the AC and SC phase maps. The formation of these nodal points is attributed to the couplings of climate modes in EOF analysis results.

Multi-Mode Guided Waves Based Reference-Free Damage Diagnostic Imaging in Plates

Probability-based diagnostic imaging(PDI)is one of the most well-known damage identification methods using guided waves.It is usually applied to diagnose damage in plates.The previous studies were dependent on the certain damage index(DI)which is always calculated from the guided wave signals.In conventional methods,DI is simply defined by comparing the real-time data with the baseline data as reference.However,the baseline signal is easily affected by varying environmental conditions of structures.In this paper,a reference-free diagnostic imaging method is developed to avoid the influence of environmental factors,such as temperature and load conditions.The DI is defined based on the mode conversion of multi-mode guided waves with realtime signals without baseline signals.To improve the accuracy of diagnosis,two terms are included in the reference-free DI.One is called energy DI,which is defined based on the feature of signal energy.The other is called correlation DI and is defined based on the correlation coefficient.Then the PDI algorithm can be carried out instantaneously according to the reference-free DI.The real-time signals which are used to calculate DI are collected by the piezoelectric lead zirconate titanate(PZT)transducers placed on both sides of a plate.The numerical simulations by the finite element(FE)method on aluminum plates with PZT arrays are performed to validate the effectiveness of the reference-free damage diagnostic imaging.The approach is validated by two different arrays:a circle network and a square network.The results of diagnostic imaging are demonstrated and discussed in this paper.Furthermore,the advantage of reference-free DI is investigated by comparing the accuracy of defined reference-free DI and energy DI.

Memetic algorithm for multi-mode resource-constrained project scheduling problems

A memetic algorithm （MA） for a multi-mode resourceconstrained project scheduling problem （MRCPSP） is proposed. We use a new fitness function and two very effective local search procedures in the proposed MA. The fitness function makes use of a mechanism called ＂strategic oscillation＂ to make the search process have a higher probability to visit solutions around a ＂feasible boundary＂. One of the local search procedures aims at improving the lower bound of project makespan to be less than a known upper bound, and another aims at improving a solution of an MRCPSP instance accepting infeasible solutions based on the new fitness function in the search process. A detailed computational experiment is set up using instances from the problem instance library PSPLIB. Computational results show that the proposed MA is very competitive with the state-of-the-art algorithms. The MA obtains improved solutions for one instance of set J30.

A single-ended wideband reconfigurable receiver front-end for multi-mode multi-standard applications in 0.18μm CMOS

This paper presents a reconfigurable RF front-end for multi-mode multi-standard(MMMS) applications. The designed RF front-end is fabricated in 0.18 μm RF CMOS technology. The low noise characteristic is achieved by the noise canceling technique while the bandwidth is enhanced by gate inductive peaking technique. Measurement results show that, while the input frequency ranges from 100 MHz to 2.9 GHz, the proposed reconfigurable RF front-end achieves a controllable voltage conversion gain(VCG) from 18 dB to 39 dB. The measured maximum input third intercept point(IIP3) is-4.9 dBm and the minimum noise figure(NF) is 4.6 dB. The consumed current ranges from 16 mA to 26.5 mA from a 1.8 V supply voltage. The chip occupies an area of 1.17 mm^2 including pads.

Input series out putparallel based multi-modular boost half bridge DC-DC converter with a dynamic control scheme

Multi-modular system plays an important role in power system architecture because low voltage and low power converters can be connected in any combination parallel or series at input/ output side in order to obtained any given power system specifications. Multi-modular boost haft bridge DC-DC converter in the configuration of input series output parallel has been investigated in this paper. The boost half bridge DC-DC converters are connected in input series output parallel con- figuration in order to achieve equal input voltage sharing and output current sharing between the con- verters. This can be achieved with the help of dynamic control scheme which consists of two loops, a voltage loop and a current loop, for each module. Dynamic behavior of multi-modular converter configuration has been observe by varying the load condition. Moreover, the results obtained through multi-modular converter describe that the system has good dynamic and steady state response. Al- though two converter modules are focused in this paper but it can be modified to any number of modules.