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Space-time principles of reducing stripping in furrow pits 被引量:1
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作者 Shixiong Zhang, Guozhu Zeng, and Tao PengCollege of Resources and Environment Engineering, Wuhan University of’Technologv, Wuhan 430070, China 《Journal of University of Science and Technology Beijing》 CSCD 2003年第1期16-17,共2页
The lower slope of furrow pits has following special features: small extent of weathering destruction, short time of production blasting damage, good arching effect of lower slope with small curvature radius, and good... The lower slope of furrow pits has following special features: small extent of weathering destruction, short time of production blasting damage, good arching effect of lower slope with small curvature radius, and good bottom effect of a pit end for transferring and bearing initial horizontal stresses in lower slope. The new principles provided theoretical basis for convex slope in furrow pits to reduce stripping. Similar phenomena and examples are supplied simultaneously. 展开更多
关键词 furrow pits space-time principle STRIPPING
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Elementary analysis of interferometers for wave particle duality test and the prospect of going beyond the complementarity principle 被引量:5
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作者 李志远 《Chinese Physics B》 SCIE EI CAS CSCD 2014年第11期202-214,共13页
A distinct method to show a quantum object behaving both as wave and as particle is proposed and described in some detail. We make a systematic analysis using the elementary methodology of quantum mechanics upon Young... A distinct method to show a quantum object behaving both as wave and as particle is proposed and described in some detail. We make a systematic analysis using the elementary methodology of quantum mechanics upon Young's two-slit interferometer and the Mach-Zehnder two-arm interferometer with the focus placed on how to measure the interference pattern (wave nature) and the which-way information (particle nature) of quantum objects. We design several schemes to simultaneously acquire the which-way information for an individual quantum object and the high-contrast interference pattern for an ensemble of these quantum objects by placing two sets of measurement instruments that are well separated in space and whose perturbation of each other is negligibly small within the interferometer at the same time. Yet, improper arrangement and cooperation of these two sets of measurement instruments in the interferometer would lead to failure of simultaneous observation of wave and particle behaviors. The internal freedoms of quantum objects could be harnessed to probe both the which-way information and the interference pattern for the center-of-mass motion. That quantum objects can behave beyond the wave-particle duality and the complementarity principle would stimulate new conceptual examination and exploration of quantum theory at a deeper level. 展开更多
关键词 wave-particle duality complementarity principle atom interferometer
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Physics of Clocks in Absolute Space-Time 被引量:3
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作者 Edwin Eugene Klingman 《Journal of Modern Physics》 2020年第12期1950-1968,共19页
20th century physics experimentally established beyond doubt the fact that moving clocks read differently from “static” clocks. This fact is typically interpreted as support for special relativity. On the other hand... 20th century physics experimentally established beyond doubt the fact that moving clocks read differently from “static” clocks. This fact is typically interpreted as support for special relativity. On the other hand, the same century produced proof that clocks at various locations in the gravitational field also read differently, and this fact is explained by general relativity, which is, in general, not Lorentz transformable. This paper establishes a common framework for the physics of clocks in these different situations. 展开更多
关键词 RELATIVITY Time Dilation space-time Ontology Clock Slowdown Inertial Clocks Absolute Space and Time Inertial Mass Covariance principle Ideal Clocks
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Generating Real Random Numbers with Uncertainty Principle 被引量:1
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作者 ZHANG Jiayi 《Instrumentation》 2020年第3期43-49,共7页
The real random number generation is a critical problem in computer science.The current generation methods are either too dangerous or too expensive,such as using decays of some radioactive elements.They are also hard... The real random number generation is a critical problem in computer science.The current generation methods are either too dangerous or too expensive,such as using decays of some radioactive elements.They are also hard to control.By the declaration of uncertainty principles in quantum mechanics,real probabilistic events can be substituted by easier and safer processes,such as electron diffraction,photon diffraction and qubits.The key to solve the problem of Schr?dinger’s cat is to identify that the atom stays in different states after and before the decay,and the result of the decay is probabilistic according to the wave packet co llapse hypothesis.Same matter is able to possess different kinds of properties such as wave-particle duality due to that it can stay in various states,and which state will the matter stay is determined by the chosen set of physical quantities(or mechanical quantities).One eigenstate of a set of physical quantities can be a superpos ition of other eigenstates of different sets of physical quantities,and the collapse from a superposition to an eigenstate it contains is really random.Using this randomness,real random number can be generated more easily. 展开更多
关键词 Uncertainty principle Wave Packet Real Random duality SUPERPOSITION Matter Wave
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Geometric Interpretation of the Uncertainty Principle
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作者 Pavel A. Stabnikov 《Natural Science》 2019年第5期146-148,共3页
The problems of unattainable infinity and infinitesimal are discussed. Limitations connected with the absolute zero of temperature and the maximal velocity are considered, as well as the consequences of these limitati... The problems of unattainable infinity and infinitesimal are discussed. Limitations connected with the absolute zero of temperature and the maximal velocity are considered, as well as the consequences of these limitations. A geometric approach is proposed as an alternative to the wave-particle duality to explain the anomalous motion of micro objects. The basis of the geometric approach is a comparison between two geometries differing from each other in the metric of infinitesimal. The interconnection of these geometries is possible through the direct and inverse Weierstrass transformation. The application of this transformation allows one to explain diffraction effects. 展开更多
关键词 Uncertainty principle Unattainable Limits GEOMETRY of INFINITELY Small Wave-Particle duality
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On the Crucial Role of the Variational Principle in Quantum Theories
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作者 Eliahu Comay 《Journal of Applied Mathematics and Physics》 2017年第11期2093-2103,共11页
The paper shows that the variational principle serves as an element of the mathematical structure of a quantum theory. The experimentally confirmed properties of the corpuscular-wave duality of a quantum particle are ... The paper shows that the variational principle serves as an element of the mathematical structure of a quantum theory. The experimentally confirmed properties of the corpuscular-wave duality of a quantum particle are elements of the analysis. A Lagrangian density that yields the equations of motion of a given quantum theory of a massive particle is analyzed. It is proved that if this Lagrangian density is a Lorentz scalar whose dimension is ?then the associated action consistently defines the required phase of the quantum particle. The dimension of this Lagrangian density proves that also the quantum function ?has dimension. This result provides new criteria for the acceptability of quantum theories. An examination of the first order Dirac equation demonstrates that it satisfies the new criteria whereas the second order Klein-Gordon equation fails to do that. 展开更多
关键词 QUANTUM Theories LAGRANGIAN Density Corpuscular-Wave duality DIMENSION of the QUANTUM Function The CORRESPONDENCE principle
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Was Polchinski Wrong? Colombeau Distributional Rindler Space-Time with Distributional Levi-CivitàConnection Induced Vacuum Dominance. Unruh Effect Revisited
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作者 Jaykov Foukzon Alexander Potapov Elena Men’kova 《Journal of High Energy Physics, Gravitation and Cosmology》 2018年第2期361-440,共80页
The vacuum energy density of free scalar quantum field in a Rindler distributional space-time with distributional Levi-Cività connection is considered. It has been widely believed that, except in very extreme sit... The vacuum energy density of free scalar quantum field in a Rindler distributional space-time with distributional Levi-Cività connection is considered. It has been widely believed that, except in very extreme situations, the influence of acceleration on quantum fields should amount to just small, sub-dominant contributions. Here we argue that this belief is wrong by showing that in a Rindler distributional background space-time with distributional Levi-Cività connection the vacuum energy of free quantum fields is forced, by the very same background distributional space-time such a Rindler distributional background space-time, to become dominant over any classical energy density component. This semiclassical gravity effect finds its roots in the singular behavior of quantum fields on a Rindler distributional space-times with distributional Levi-Cività connection. In particular we obtain that the vacuum fluctuations have a singular behavior at a Rindler horizon . Therefore sufficiently strongly accelerated observer burns up near the Rindler horizon. Thus Polchinski’s account doesn’t violate the Einstein equivalence principle. 展开更多
关键词 VACUUM Energy Density Rindler Distributional space-time Levi-Cività CONNECTION Semiclassical Gravity Effect EINSTEIN EQUIVALENCE principle space-time EINSTEIN EQUIVALENCE principle
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The Quaternion Structure of Space-Time and Arrow of Time
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作者 Ying-Qiu Gu 《Journal of Modern Physics》 2012年第7期570-580,共11页
In fundamental theories of physics, the dynamical equations all have time inversion invariance. Except for the evolution of some simple system which has realistic inverse processes, but for a slightly more complicated... In fundamental theories of physics, the dynamical equations all have time inversion invariance. Except for the evolution of some simple system which has realistic inverse processes, but for a slightly more complicated system, the evolution processes are irreversible. This is the problem of arrow of time, which is always warmly debated. In different point of view, we find there may have some conceptual misunderstanding in the controversy: 1) The realization of an inverse process does not mean the time of the system goes backward. 2) The principles of relativity and covariance are the constraints to physical laws, but not constraints to specific solutions. The equations must be covariant, but the solutions are not definitely symmetric. 3) Time is a global property of the universe, which is a measurement of the evolution process of the universe. The internal time of a matter system reflecting its internal evolution speed also takes this cosmic time as a unified background and standard of measurement. 4) The universe has a unified cosmic time T and a cosmic space related to this cosmic time. They are objective and absolute. 5) The eigensolution of a spinor is a critical state losing time concept, which responses the interaction of environment with some uncertainty, then the evolution process of the world is not uniquely determined. 6) The non-uniqueness of the evolution process means that the inverse process is absent. So for a world including spinors, the evolution is essentially irreversible. In this paper, according to the widely accepted principles and direct calculations of transformation, we reveal the misunderstandings in the usual controversy, and then give more natural and reasonable explanations for structure of space-time and arrow of time. 展开更多
关键词 ARROW of Time Invariance The principle of RELATIVITY QUATERNION STRUCTURE of space-time SIMULTANEITY
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Nature of Black Holes and Space-Time around Them
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作者 Amir Ali Tavajoh 《Journal of High Energy Physics, Gravitation and Cosmology》 2017年第1期96-105,共10页
Based on the Mach’s principle, black holes warp the space time in a way that geodesic for every object which is moving toward black hole starts to bend and object starts to rotate around the black hole. Even light ca... Based on the Mach’s principle, black holes warp the space time in a way that geodesic for every object which is moving toward black hole starts to bend and object starts to rotate around the black hole. Even light cannot be able to escape from the strong gravitational field of black hole and all the light like paths will warp so as to fall farther to the hole. Before arriving to the Schwarzschild’s Sphere, object faces with length extension because of the difference between amount of tidal forces on the nearest and furthest points of object that take the object apart and after passing the Schwarzschild’s sphere, based on the Special relativity of Einstein, the parts of object face with length contraction. In comparison between strange stars and black holes we conclude that core of strange stars has a temperature and pressure not sufficient for up and down quarks and they turn into strange ones. However, in core of black holes, because of massive stars and hot gases falling into it, they are always in a high temperature and pressure. So they can be made up of up and down quarks. At the Ergo sphere Region of black hole, a particle that gets into it will divide into 2 pieces, one of them falls into the black hole and another gets out of the Schwarzschild sphere very fast and it’s called the black hole radiation. According to the Diagram drawn by R. Rafini and J. Weeler, an object gets out of white hole in past space-time, it can be able to send signals to us and we can receive it but black hole which is located in future space-time, after object enters to the Schwarzschild’s Sphere, the signals it sends won’t be received. In order to reach the third space-time which is like a mirror to our universe, our speed needs to exceed the speed of light to pass the Einstein-Rosen Bridge. As a conclusion, structure of black holes can be made up of up and down quarks and everything falls into the black hole, collapses and turns into a bunch of quarks. Space-time around black holes, based on Rafini-Weeler diagram, is like a frontier between our space-time and other space-times. So it can be possible to reach past space-time and other space-times. 展开更多
关键词 General RELATIVITY GEODESIC Rafini-Weeler Diagram STRANGE Stars Einstein-Rosen Bridge Schwarzschild’s SPHERE Ergo SPHERE space-time Curvature Time Warp Special RELATIVITY Mach’s principle
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A New Version of Special Relativity Absorbed the Uncertainty Principle: Its Content as Well as Application and Experimental Test
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作者 Dapeng Qian 《Journal of Modern Physics》 2014年第12期1146-1166,共21页
Based on the space spherical symmetry of 3-dimensional and the translational symmetry of time and the uncertainty principle, a 4-dimensional space-time cylinder model of quarks and leptons is established. With this mo... Based on the space spherical symmetry of 3-dimensional and the translational symmetry of time and the uncertainty principle, a 4-dimensional space-time cylinder model of quarks and leptons is established. With this model, equations of the special relativity can be extended more perfectly, thereby achieving a unity of the special relativity and quantum mechanics in deeper level. New equations can not only interpret issues explained by old equations but also solve several important pending problems. For example, a formula to strictly calculate the coefficient ξ of Lorentz invariance violation (LIV) is derived, to above 4 × 1019 eV UHECR protons the calculated |ξ| -30, although there is the LIV effect it is too weak to change the GZK cutoff, which is consistent with observations of HiRes and Auger;Also, a relation formula between the Hubble constant and several basic constants is derived, thus theoretically calculated H0 = 70.937 km·s-1·Mpc-1, which is well consistent with the final observation result of HST Key Project. In addition, an unusual effect predicted by new equations can be experimentally tested in the electron storage ring;a preliminary experiment result has hinted its signs of existence. 展开更多
关键词 Special Relativity Uncertainty principle Cylinder Model with Intrinsic 4-Dimensional space-time of Quarks/Leptons Lorentz Invariance Violation GZK Cutoff of UHECR Planck ENERGY HUBBLE Constant Super-High ENERGY ELECTRON ELECTRON Storage Ring
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Experimental demonstration of tight duality relation in three-path interferometer
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作者 Zhi-Jin Ke Yu Meng +9 位作者 Yi-Tao Wang Shang Yu Wei Liu Zhi-Peng Li Hang Wang Qiang Li Jin-Shi Xu Jian-Shun Tang Chuan-Feng Li Guang-Can Guo 《Chinese Physics B》 SCIE EI CAS CSCD 2020年第5期119-124,共6页
Bohr’s principle of complementarity has a long history and it is an important topic in quantum theory,among which the famous example is the duality relation.The relation between visibilityC and distinguishability D,C... Bohr’s principle of complementarity has a long history and it is an important topic in quantum theory,among which the famous example is the duality relation.The relation between visibilityC and distinguishability D,C2+D2≤1,has long been recognized as the only representative of the duality relation.However,recent researches have shown that this inequality is not good enough because it is not tight for multipath interferometers.Meanwhile,a tight bound for the multipath interferometer has been put forward.Here we design and experimentally implement a three-path interferometer coupling with path indicator states.The wave property of photons is characterized by l1-norm coherence measure,and the particle property is based on distinguishability of the indicator states.The new duality relation of the three-path interferometer is demonstrated in our experiment,which bounds the union of a right triangle and a part of elliptical area inside the quadrant of a unit circle.Data analysis confirms that the new bound is tight for photons in three-path interferometers. 展开更多
关键词 duality relation multi-path interferometer principle of complementarity foundations of quantum mechanics
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Magnetism: Further Proof of Wave Particle Duality
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作者 Bhekuzulu Khumalo 《Open Journal of Microphysics》 2023年第3期52-68,共17页
The question of what magnetism is vital to quantum physics. We know what all other quantum phenomenon is, but we did not know what magnetism is. It is not enough to say it is a force because of a charge. That force mu... The question of what magnetism is vital to quantum physics. We know what all other quantum phenomenon is, but we did not know what magnetism is. It is not enough to say it is a force because of a charge. That force must be something, for consistencies sake it had to be tested. This paper was written in order to confirm the results that were received in the experiments that took place that led to the paper “Magnetism: Insights from the Thomas Young Experiment” where it was concluded the magnetic phenomenon is both a particle and a wave. Will different interference patterns confirm a khumalon and wave like behaviour? The khumalon is the name of the particle associated with magnetic phenomenon. This paper concludes by confirming what was discovered in mentioned paper. Magnetism organizes into a wave no matter the interference. Understanding this reality, it allows us to understand what is happening with simple magnetic interactions. When like poles meet because they can not occupy the same space they push each other. Opposite poles are antiparticles to each other and annihilate each other. South pole scientifically speaking is not attracted to the north pole, the reason why the magnets slam each other is because they are closing a magnetic vacuum caused by the particles annihilating each other. We can now start theorizing on why a lodestone attracts iron because we now know we are dealing with a particle. 展开更多
关键词 Anti-Matter Experiment Heisenberg principle Khumalon MAGNETISM MATTER Quantum Magnetism Wave/Particle duality Symmetry
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Magnetism: Further Proof of Wave Particle Duality
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作者 Bhekuzulu Khumalo 《Natural Resources》 2023年第3期52-68,共17页
The question of what magnetism is vital to quantum physics. We know what all other quantum phenomenon is, but we did not know what magnetism is. It is not enough to say it is a force because of a charge. That force mu... The question of what magnetism is vital to quantum physics. We know what all other quantum phenomenon is, but we did not know what magnetism is. It is not enough to say it is a force because of a charge. That force must be something, for consistencies sake it had to be tested. This paper was written in order to confirm the results that were received in the experiments that took place that led to the paper “Magnetism: Insights from the Thomas Young Experiment” where it was concluded the magnetic phenomenon is both a particle and a wave. Will different interference patterns confirm a khumalon and wave like behaviour? The khumalon is the name of the particle associated with magnetic phenomenon. This paper concludes by confirming what was discovered in mentioned paper. Magnetism organizes into a wave no matter the interference. Understanding this reality, it allows us to understand what is happening with simple magnetic interactions. When like poles meet because they can not occupy the same space they push each other. Opposite poles are antiparticles to each other and annihilate each other. South pole scientifically speaking is not attracted to the north pole, the reason why the magnets slam each other is because they are closing a magnetic vacuum caused by the particles annihilating each other. We can now start theorizing on why a lodestone attracts iron because we now know we are dealing with a particle. 展开更多
关键词 Anti-Matter Experiment Heisenberg principle Khumalon MAGNETISM MATTER Quantum Magnetism Wave/Particle duality Symmetry
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电路的量纲模型与相似性原理和对偶性原理 被引量:1
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作者 朱明 朱嘉慧 《电工技术》 2024年第9期7-15,19,共10页
宇宙量纲模型的思想适用于任何系统,物理系统适用,电路系统也同样适用。系统地分析总结了电路运行的基本原理,确定了电路系统的量纲,提出了电路的量纲模型、相似性原理和对偶性原理及规律拓展性原理等概念,并给出了相似性原理和对偶性... 宇宙量纲模型的思想适用于任何系统,物理系统适用,电路系统也同样适用。系统地分析总结了电路运行的基本原理,确定了电路系统的量纲,提出了电路的量纲模型、相似性原理和对偶性原理及规律拓展性原理等概念,并给出了相似性原理和对偶性原理的一些应用实例。 展开更多
关键词 量纲模型 相似性原理 对偶性原理 规律拓展性原理 互变器 互转器
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单相无桥功率因数校正变换器拓扑族推演回顾与性能分类总结
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作者 陈正格 陈健 +1 位作者 许多 许建平 《中国电机工程学报》 EI CSCD 北大核心 2024年第7期2786-2800,I0022,共16页
随着多种节能标准与低碳政策的实施,单相无桥功率因数校正(power factor correction,PFC)拓扑受到更多关注。目前,虽然多种无桥拓扑已被提出并被应用于不同应用场合,但尚未有文献系统地概述这类无桥PFC拓扑结构特点并开展拓扑性能分析... 随着多种节能标准与低碳政策的实施,单相无桥功率因数校正(power factor correction,PFC)拓扑受到更多关注。目前,虽然多种无桥拓扑已被提出并被应用于不同应用场合,但尚未有文献系统地概述这类无桥PFC拓扑结构特点并开展拓扑性能分析。该文通过将双变换单元进行输入并联输出并联(input-parallel output-parallel,IPOP)、输入并联输出串联(input-parallel output-series,IPOS),提出无桥拓扑族系统推演方法以及无桥拓扑IPOP与IPOS的分类。同时,以6种变换单元为例,推演28种无桥拓扑并作相关拓扑概述,说明无桥拓扑族系统推演方法的普适性。其次,通过对称性与对偶性,进一步简化无桥拓扑族的器件数量。然后,筛选出12种主要无桥拓扑与传统有桥拓扑比较,并分别介绍12种无桥拓扑性能特点。最后,基于性能对比结果,归纳IPOS与IPOP两类拓扑的优缺点与适用场景。 展开更多
关键词 功率因数校正 变换单元 无桥拓扑族推演 输入并联输出并联与输入并联输出串联分类 对称性与对偶性 器件数量简化
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On the Multi-Dimensional Duality Principle of Sawyer Type
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作者 YVES RAKOTONDRATSIMBA 《Acta Mathematica Sinica,English Series》 SCIE CSCD 2001年第1期81-88,共8页
A multi-dimensional version of the duality principle of Sawyer type [1] is obtained whenever the corresponding weight satisfies some doubling property.
关键词 Multi--dimensional duality principle Doubling weights Weighted inequalities Decreasing functions
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Path-dependent backward stochastic Volterra integral equations with jumps,differentiability and duality principle
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作者 Ludger Overbeck Jasmin A.L.Roder 《Probability, Uncertainty and Quantitative Risk》 2018年第1期109-145,共37页
We study the existence and uniqueness of a solution to path-dependent backward stochastic Volterra integral equations(BSVIEs)with jumps,where path-dependence means the dependence of the free term and generator of a pa... We study the existence and uniqueness of a solution to path-dependent backward stochastic Volterra integral equations(BSVIEs)with jumps,where path-dependence means the dependence of the free term and generator of a path of a c`adl`ag process.Furthermore,we prove path-differentiability of such a solution and establish the duality principle between a linear path-dependent forward stochastic Volterra integral equation(FSVIE)with jumps and a linear path-dependent BSVIE with jumps.As a result of the duality principle we get a comparison theorem and derive a class of dynamic coherent risk measures based on path-dependent BSVIEs with jumps. 展开更多
关键词 Path-dependent backward stochastic Volterra integral equation Jump diffusion Path-differentiability duality principle Comparison theorem Functional Ito formula Dynamic coherent risk measure
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一类几何规划的Frank-wolfe算法 被引量:3
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作者 徐裕生 陈诚 史向平 《河南科技大学学报(自然科学版)》 CAS 2008年第1期71-73,共3页
在对偶理论作用下,将约束正项几何规划转变为线性约束下的非线性规划;利用Frank-wolte算法以及几何规划和约束条件的特点,为有多个变量的几何规划构造出了一种有效的间接算法,而且此方法更适用于困难度大于零的几何规划问题,实验表明此... 在对偶理论作用下,将约束正项几何规划转变为线性约束下的非线性规划;利用Frank-wolte算法以及几何规划和约束条件的特点,为有多个变量的几何规划构造出了一种有效的间接算法,而且此方法更适用于困难度大于零的几何规划问题,实验表明此方法是可行的。 展开更多
关键词 几何规划 对偶理论 非线性
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时滞系统基于对偶原理的故障诊断 被引量:4
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作者 唐功友 李娟 张勇 《控制理论与应用》 EI CAS CSCD 北大核心 2008年第5期966-969,共4页
研究时滞系统中含有执行器故障和传感器故障情况下的故障诊断方法,提出一种基于对偶原理的故障诊断器的设计方法.首先将故障状态转化为增广系统的状态,然后利用对偶原理将基于观测器的故障诊断器的设计问题转化为状态反馈控制器的设计问... 研究时滞系统中含有执行器故障和传感器故障情况下的故障诊断方法,提出一种基于对偶原理的故障诊断器的设计方法.首先将故障状态转化为增广系统的状态,然后利用对偶原理将基于观测器的故障诊断器的设计问题转化为状态反馈控制器的设计问题.根据不同的要求,分别设计了渐近稳定的故障诊断器和保性能故障诊断器.利用Lyapunov稳定性理论和线性矩阵不等式技术,实现了系统的实时在线故障诊断.仿真结果证明了该方法的可行性和有效性. 展开更多
关键词 时滞系统 故障诊断 对偶原理 线性矩阵不等式 稳定性
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可容错的遥控水下机器人递归神经网络控制 被引量:5
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作者 姜述强 金鸿章 魏凤梅 《哈尔滨工业大学学报》 EI CAS CSCD 北大核心 2013年第9期57-63,共7页
针对遥控水下机器人(ROV)需要长时间稳定可靠工作的问题,提出递归模糊神经网络及可容错分配推力的控制方法.使用扩展函数链改进递归模糊神经网络控制器,提高了控制器对机器人非线性特性的识别和处理能力;基于反向梯度传播原理,由能量函... 针对遥控水下机器人(ROV)需要长时间稳定可靠工作的问题,提出递归模糊神经网络及可容错分配推力的控制方法.使用扩展函数链改进递归模糊神经网络控制器,提高了控制器对机器人非线性特性的识别和处理能力;基于反向梯度传播原理,由能量函数设计了该网络的学习算法,并根据微粒群优化确定学习率参数,从而保证整个网络的收敛性;在推力分配方面,针对开架式遥控水下机器人的两种推力器布置形式进行建模,将容错问题转化为对偶优化问题,建立能量函数实现故障条件下的推力优化分配.实验结果表明,所设计控制器不仅增强了遥控水下机器人对干扰的反应能力,并且提高了对机器人非线性特性的控制能力,减少了控制误差.当部分主推或侧推等推力器失效时,仍可以通过推力优化分配实现机器人在水平面上的准确位置控制,从而保证了遥控水下机器人长时间可靠工作. 展开更多
关键词 遥控水下机器人 递归神经网络 扩展函数链 推力分配 容错控制
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