Differential geometric guidance command with finite time convergence using extended state observer

For improving the performance of differential geometric guidance command(DGGC), a new formation of this guidance law is proposed, which can guarantee the finite time convergence(FTC) of the line of sight(LOS) rate to zero or its neighborhood against maneuvering targets in three-dimensional(3D) space. The extended state observer(ESO) is employed to estimate the target acceleration, which makes the new DGGC more applicable to practical interception scenarios. Finally, the effectiveness of this newly proposed guidance command is demonstrated by the numerical simulation results.

带线性红利和干扰的复合Poisson-Geometric风险模型的破产问题

考虑了常利力环境下,包含线性红利、随机干扰和随机保费的复合P-G风险模型。通过应用全期望公式,推导出该模型的Gerber-Shiu函数及破产概率的更新方程。在不考虑分红且保费额和索赔额均服从指数分布时,进一步得到了破产概率所满足的具体微分方程,并求解得到了其解析表达式。通过数值实验,系统分析了多个关键因素对破产概率的具体影响,所得结论与保险公司的实际经营情况相吻合。

Observer-based robust high-order fully actuated attitude autopilot design for spinning glide-guided projectiles

This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.

Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

Engineering of geometrical configurations in dual-atom catalysts for electrocatalytic applications

Geometrical configurations play a crucial role in dual-atom catalysts(DACs)for electrocatalytic applications.Significant progress has been made to design DACs electrocatalysts with various geometri-cal configurations,but in-depth understanding the relationship between geometrical configurations and metal-metal interaction mechanisms for designing targeted DACs is still required.In this review,the recent progress in engineering of geometrical configurations of DACs is systematically summarized.Based on the polarity of geometrical configuration,DACs can be classified into two different types that are homonuclear and heteronuclear DACs.Furthermore,with regard to the geometrical configurations of the active sites,homonuclear DACs are identified into adjacent and bridged configurations,and heteronuclear DACs can be classified into adjacent,bridged,and separated configurations.Subsequently,metal-metal interactions in DACs with different geometrical configurations are introduced.Additionally,the applications of DACs in different electrocatalytic reactions are discussed,including the oxygen reduction reaction(ORR),oxygen evolution reaction(OER),hydrogen evolution reaction(HER),and other catalysis.Finally,the future challenges and perspectives for advancements in DACs are high-lighted.This review aims to provide inspiration for the design of highly effcient DACs towards energy relatedapplications.

Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks.However,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for high control performance.Model-based full-state-feedback control is an effective alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particularly the joint angular velocity measurement.Considering that it is not suitable to obtain the velocity signal directly from differentiating of position measurement,the low-pass filtering is commonly used,but it will definitely restrict the closed-loop bandwidth of the whole system.To avoid this problem and realize better control performance,this paper proposes a novel observerbased adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity measurement.Specifically,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties.Then,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop system robust stability is theoretically proved under the observation and control errors.Finally,comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough,which is limited by low-pass filtering in fullstate-feedback control.

Disturbance Observer-Based Predictive Tracking Control of Uncertain HOFA Cyber-Physical Systems

Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is used to denote the total uncertainties containing parameters perturbations and external disturbances.

Modeling Geometrically Nonlinear FG Plates: A Fast and Accurate Alternative to IGA Method Based on Deep Learning

Isogeometric analysis (IGA) is known to showadvanced features compared to traditional finite element approaches.Using IGA one may accurately obtain the geometrically nonlinear bending behavior of plates with functionalgrading (FG). However, the procedure is usually complex and often is time-consuming. We thus put forward adeep learning method to model the geometrically nonlinear bending behavior of FG plates, bypassing the complexIGA simulation process. A long bidirectional short-term memory (BLSTM) recurrent neural network is trainedusing the load and gradient index as inputs and the displacement responses as outputs. The nonlinear relationshipbetween the outputs and the inputs is constructed usingmachine learning so that the displacements can be directlyestimated by the deep learning network. To provide enough training data, we use S-FSDT Von-Karman IGA andobtain the displacement responses for different loads and gradient indexes. Results show that the recognition erroris low, and demonstrate the feasibility of deep learning technique as a fast and accurate alternative to IGA formodeling the geometrically nonlinear bending behavior of FG plates.

Geometric properties of the first singlet S-wave excited state of two-electron atoms near the critical nuclear charge

The geometric structure parameters and radial density distribution of 1s2s1S excited state of the two-electron atomic system near the critical nuclear charge Z_(c)were calculated in detail under tripled Hylleraas basis set.Contrary to the localized behavior observed in the ground and the doubly excited 2p^(23)Pe states,for this state our results identify that while the behavior of the inner electron increasingly resembles that of a hydrogen-like atomic system,the outer electron in the excited state exhibits diffused hydrogen-like character and becomes perpendicular to the inner electron as nuclear charge Z approaches Z_(c).This study provides insights into the electronic structure and stability of the two-electron system in the vicinity of the critical nuclear charge.

Quantum Realities and Observer-Dependent Universes: An Advanced Observer Model

This paper presents a novel observer model that integrates quantum mechanics, relativity, idealism, and the simulation hypothesis to explain the quantum nature of the universe. The model posits a central server transmitting multi-media frames to create observer-dependent realities. Key aspects include deriving frame rates, defining quantum reality, and establishing hierarchical observer structures. The model’s impact on quantum information theory and philosophical interpretations of reality are examined, with detailed discussions on information loss and recursive frame transmission in the appendices.

Establishment of a Geometric Geoid Model and Evaluation of the EGM2008 and EIGEN-6CA Models over the Dakar-Thies-Mbour Triangle in Senegal

High-accuracy geoid determination is an essential goal that many groups of scientists and countries are striving to achieve. Techniques for determining geoid models have evolved over time. Unfortunately, this all-important determination requires relatively substantial technical and financial resources, depending on the type of geoid to be determined. This situation justifies the inadequacy, and sometimes absence, of accurate geoid models in many countries, despite the new challenges of altimetric positioning using space or satellite positioning techniques. This study focuses on the establishment of a geometric geoid model using simplistic techniques that are accessible and applicable in restricted or wide areas, with or without gravimetric data. The study was applied to the Dakar-Thiès-Mbour triangle, the two regions in the extreme west of Senegal that are home to the most infrastructure projects with the highest socio-economic stakes, as well as mines currently being exploited, and therefore the highest stakes in terms of positioning. This study also enabled us to assess the accuracy of a number of global field models in Senegal, which are used by some professionals for altimetric positioning using Global Positioning Satellite Systems (GNSS) in the absence of a local geoid model. The estimated geoid model is based on the determination of undulation at various sample points in the study area. To this end, a campaign of GNSS observations and direct levelling was carried out on the various points spread across the study area. These measurements were then used to determine the undulation at each point. Bilinear interpolation was used to deduce the undulations throughout the study area, based on the altimeter conversion grid. This grid was evaluated using GPS/level control points.

Sliding and damming properties of granular debris with different geometric configurations and grain size distributions

Granular debris plays a significant role in determining damming deposit characteristics. An indepth understanding of how variations in grain size distribution(GSD) and geometric configurations impact the behavior of granular debris during the occurrence of granular debris is essential for precise assessment and effective mitigation of landslide hazards in mountainous terrains. This research aims to investigate the impact of GSD and geometric configurations on sliding and damming properties through laboratory experiments. The geometric configurations were categorized into three categories based on the spatial distribution of maximum volume: located at the front(Type Ⅰ), middle(Type Ⅱ), and rear(Type Ⅲ) of the granular debris. Our experimental findings highlight that the sliding and damming processes primarily depend on the interaction among the geometric configuration, grain size, and GSD in granular debris. Different sliding and damming mechanisms across various geometric configurations induce variability in motion parameters and deposition patterns. For Type Ⅰ configurations, the front debris functions as the critical and primary driving component, with energy dissipation primarily occurring through inter-grain interactions. In contrast, Type Ⅱ configurations feature the middle debris as the dominant driving component, experiencing hindrance from the front debris and propulsion from the rear, leading to complex alterations in sliding motion. Here, energy dissipation arises from a combination of inter-grain and grain-substrate interactions. Lastly, in Type Ⅲ configurations, both the middle and rear debris serve as the main driving components, with the rear sliding debris impeded by the front. In this case, energy dissipation predominantly results from grainsubstrate interaction. Moreover, we have quantitatively demonstrated that the inverse grading in damming deposits, where coarse grain moves upward and fine grain moves downward, is primarily caused by grain sorting due to collisions among the grains and between the grain and the base. The impact of grain on the horizontal channel further aids grain sorting and contributes to inverse grading. The proposed classification of three geometric configurations in our study enhances the understanding of damming properties from the view of mechanism, which provides valuable insights for related study about damming granular debris.

Iterative Subregion Correction Preconditioners with Adaptive Tolerance for Problems with Geometrically Localized Stiffness

We present a class of preconditioners for the linear systems resulting from a finite element or discontinuous Galerkin discretizations of advection-dominated problems.These preconditioners are designed to treat the case of geometrically localized stiffness,where the convergence rates of iterative methods are degraded in a localized subregion of the mesh.Slower convergence may be caused by a number of factors,including the mesh size,anisotropy,highly variable coefficients,and more challenging physics.The approach taken in this work is to correct well-known preconditioners such as the block Jacobi and the block incomplete LU(ILU)with an adaptive inner subregion iteration.The goal of these preconditioners is to reduce the number of costly global iterations by accelerating the convergence in the stiff region by iterating on the less expensive reduced problem.The tolerance for the inner iteration is adaptively chosen to minimize subregion-local work while guaranteeing global convergence rates.We present analysis showing that the convergence of these preconditioners,even when combined with an adaptively selected tolerance,is independent of discretization parameters(e.g.,the mesh size and diffusion coefficient)in the subregion.We demonstrate significant performance improvements over black-box preconditioners when applied to several model convection-diffusion problems.Finally,we present performance results of several variations of iterative subregion correction preconditioners applied to the Reynolds number 2.25×10^(6)fluid flow over the NACA 0012 airfoil,as well as massively separated flow at 30°angle of attack.

Geometric Error Identification of Gantry-Type CNC Machine Tool Based on Multi-Station Synchronization Laser Tracers

Laser tracers are a three-dimensional coordinate measurement system that are widely used in industrial measurement.We propose a geometric error identification method based on multi-station synchronization laser tracers to enable the rapid and high-precision measurement of geometric errors for gantry-type computer numerical control(CNC)machine tools.This method also improves on the existing measurement efficiency issues in the single-base station measurement method and multi-base station time-sharing measurement method.We consider a three-axis gantry-type CNC machine tool,and the geometric error mathematical model is derived and established based on the combination of screw theory and a topological analysis of the machine kinematic chain.The four-station laser tracers position and measurement points are realized based on the multi-point positioning principle.A self-calibration algorithm is proposed for the coordinate calibration process of a laser tracer using the Levenberg-Marquardt nonlinear least squares method,and the geometric error is solved using Taylor’s first-order linearization iteration.The experimental results show that the geometric error calculated based on this modeling method is comparable to the results from the Etalon laser tracer.For a volume of 800 mm×1000 mm×350 mm,the maximum differences of the linear,angular,and spatial position errors were 2.0μm,2.7μrad,and 12.0μm,respectively,which verifies the accuracy of the proposed algorithm.This research proposes a modeling method for the precise measurement of errors in machine tools,and the applied nature of this study also makes it relevant both to researchers and those in the industrial sector.

Quantification of grain boundary effects on the geometrically necessary dislocation density evolution and strain hardening of polycrystalline Mg-4Al using in situ tensile testing in scanning electron microscope and HR-EBSD

In situ tensile testing in a scanning electron microscope(SEM)in conjunction with high-resolution electron backscatter diffraction(HR-EBSD)under load was used to characterize the evolution of geometrically necessary dislocation(GND)densities at individual grain boundaries as a function of applied strain in a polycrystalline Mg-4Al alloy.The increase in GND density was investigated at plastic strains of 0%,0.6%,2.2%,3.3% from the area including 76 grains and correlated with(i)geometric compatibility between slip systems across grain boundaries,and(ii)plastic incompatibility.We develop expressions for the grain boundary GND density evolution as a function of plastic strain and plastic incompatibility,from which uniaxial tensile stress-strain response of polycrystalline Mg-4Al are computed and compared with experimental measurement.The findings in this study contribute to understanding the mechanisms governing the strain hardening response of single-phase polycrystalline alloys and more reliable prediction of mechanical behaviors in diverse microstructures.

Influence of manufacturing process-induced geometrical defects on the energy absorption capacity of polymer lattice structures

Modern additive manufacturing processes enable fabricating architected cellular materials of complex shape,which can be used for different purposes.Among them,lattice structures are increasingly used in applications requiring a compromise among lightness and suited mechanical properties,like improved energy absorption capacity and specific stiffness-to-weight and strength-to-weight ratios.A dedicated modeling strategy to assess the energy absorption capacity of lattice structures under uni-axial compression loading is presented in this work.The numerical model is developed in a non-linear framework accounting for the strain rate effect on the mechanical responses of the lattice structure.Four geometries,i.e.,cubic body centered cell,octet cell,rhombic-dodecahedron and truncated cuboctahedron 2+,are investigated.Specifically,the influence of the relative density of the representative volume element of each geometry,the strain-rate dependency of the bulk material and of the presence of the manufacturing process-induced geometrical imperfections on the energy absorption capacity of the lattice structure is investigated.The main outcome of this study points out the importance of correctly integrating geometrical imperfections into the modeling strategy when shock absorption applications are aimed for.

Geometric regulation of collective cell tangential ordering migration

Collective cell migration is a coordinated movement of multi-cell systems essential for various processes throughout life.The collective motions often occur under spatial restrictions,hallmarked by the collective rotation of epithelial cells confined in circular substrates.Here,we aim to explore how geometric shapes of confinement regulate this collective cell movement.We develop quantitative methods for cell velocity orientation analysis,and find that boundary cells exhibit stronger tangential ordering migration than inner cells in circular pattern.Furthermore,decreased tangential ordering movement capability of collective cells in triangular and square patterns are observed,due to the disturbance of cell motion at unsmooth corners of these patterns.On the other hand,the collective cell rotation is slightly affected by a convex defect of the circular pattern,while almost hindered with a concave defect,also resulting from different smoothness features of their boundaries.Numerical simulations employing cell Potts model well reproduce and extend experimental observations.Together,our results highlight the importance of boundary smoothness in the regulation of collective cell tangential ordering migration.

Modeling and analysis of an inextensible beam with inertial and geometric nonlinearities

The present study focuses on an inextensible beam and its relevant inertia nonlinearity,which are essentially distinct from the commonly treated extensible beam that is dominated by the geometric nonlinearity.Explicitly,by considering a weakly constrained or free end(in the longitudinal direction),the inextensibility assumption and inertial nonlinearity(with and without an initial curvature)are introduced.For a straight beam,a multi-scale analysis of hardening/softening dynamics reveals the effects of the end stiffness/mass.Extending the straight scenario,a refined inextensible curved beam model is further proposed,accounting for both its inertial nonlinearity and geometric nonlinearity induced by the initial curvature.The numerical results for the frequency responses are also presented to illustrate the dynamic effects of the initial curvature and axial constraint,i.e.,the end mass and end stiffness.

A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.

基于Observer的典型飞行学员起飞阶段操作行为差异研究

为了研究飞行学员起飞训练阶段的行为特性,选取某航校培训的150名飞行学员,在实训固态模拟机(DA-40)上执行大侧风起飞航线任务,通过多角度录像的方法记录下飞行的全过程,并选取A、B两组飞行学员(表现最好和最差)的操作视频,对其操纵动作进行编码,应用The Observer XT(12.0)行为分析软件得出两组飞行学员各行为的可视图,并结合数理统计的方法对其俯仰操纵、航向操纵、滚转操纵等行为的持续时间、发生频次、所占飞行总时长的百分比进行对比分析。结果表明:在大侧风起飞任务下,两组飞行学员的俯仰操纵和滚转操纵行为在持续时间、发生频次、所占飞行总时长的百分比差异较为明显,其他操作行为无显著性差异。