Differential flatness-based distributed control of underactuated robot swarms

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

A Method for Classification and Evaluation of Pilot’s Mental States Based on CNN

How to accurately recognize the mental state of pilots is a focus in civil aviation safety.The mental state of pilots is closely related to their cognitive ability in piloting.Whether the cognitive ability meets the standard is related to flight safety.However,the pilot’s working state is unique,which increases the difficulty of analyzing the pilot’s mental state.In this work,we proposed a Convolutional Neural Network(CNN)that merges attention to classify the mental state of pilots through electroencephalography(EEG).Considering the individual differences in EEG,semi-supervised learning based on improvedK-Means is used in themodel training to improve the generalization ability of the model.We collected the EEG data of 12 pilot trainees during the simulated flight and compared the method in this paper with other methods on this data.The method in this paper achieved an accuracy of 86.29%,which is better than 4D-aNN and HCNN etc.Negative emotion will increase the probability of fatigue appearing,and emotion recognition is also meaningful during the flight.Then we conducted experiments on the public dataset SEED,and our method achieved an accuracy of 93.68%.In addition,we combine multiple parameters to evaluate the results of the classification network on a more detailed level and propose a corresponding scoring mechanism to display the mental state of the pilots directly.

CONSTITUTIVE EQUATION OF CO-ROTATIONAL DERIVATIVE TYPE FOR ANISOTROPIC-VISCOELASTIC FLUID

A constitutive equation theory of Oldroyd fluid B type,i.e.the co-rotational derivative type,is developed for the anisotropic-viscoelastic fluid of liquid crystalline(LC)polymer.Analyzing the influence of the orientational motion on the material behavior and neglecting the influence,the constitutive equation is applied to a simple case for the hydrodynamic motion when the orientational contribution is neglected in it and the anisotropic relaxation,retardation times and anisotropic viscosi- ties are introduced to describe the macroscopic behavior of the anisotropic LC polymer fluid.Using the equation for the shear flow of LC polymer fluid,the analytical expressions of the apparent viscosity and the normal stress differences are given which are in a good agreement with the experimental results of Baek et al.For the fiber spinning flow of the fluid,the analytical expression of the extensional viscosity is given.

Research advances of un-symmetric constitutive theory of anisotropic viscoelastic liquids and its hydrodynamic behavior

Research advances of un-symmetric constitutive equation of anisotropic fluid,influence of un-symmetric stress tensor on material functions,vibrational shear flow of the fluid with small amplitudes and rheology of anisotropic suspension were reported.A new concept of simple anisotropic fluid was introduced.On the basis of anisotropic principle,the simple fluid stress behaviour was described by velocity gradient tensor F and spin tensor W instead of velocity gradient tensor D in the classic Leslie-Ericksen continuum theory.Two relaxation times analyzing rheological nature of the fluid and using tensor analysis a general form of the constitutive equation of co-rotational type was introduced.More general model LCP-H for the fluid was developed.The unsymmetry of the shear stress was predicted by the present continuum theory for anisotropic viscoelastic fluid-LC polymer liquids.The influence of the relaxation times on material functions was specially studied.It is important to study the unsteady vibrational rotating flow with small amplitudes,as it is a best way to obtain knowledge of elasticity of the LC polymer,i.e.dynamic viscoelasticity.For the shear-unsymmetric stresses,two shear stresses were obtained thus two complex viscosities and two complex shear modulus(i.e.first and second one) were introduced by the constitutive equation which was defined by rotating shear rate introduced by author.For the two stability problems of fluid,such as stability of hydrodynamic flow and orientational motion,were discussed.The results show that the polymer suspension systems exhibit anisotropic character.The PNC systems can exhibit significant shear-thinning effects.For more concentrated polymer nano-suspensions,the first normal stress difference change from positive to negative,which is similar to LC polymer behavior.

A Class of Parallel Algorithms of Real-TimeNumerical Simulation for Stiff Dynamic System

In this paper a class of real-time parallel modified Rosenbrock methods of numerical simulation is constructed for stiff dynamic systems on a multiprocessor system, and convergence and numerical stability of these methods are discussed. A-stable real-time parallel formula of two-stage third-order and A(α)-stable real-time parallel formula with o ≈ 89.96° of three-stage fourth-order are particularly given. The numerical simulation experiments in parallel environment show that the class of algorithms is efficient and applicable, with greater speedup.

Hydrodynamics Research on Amphibious Vehicle Systems:Engineering Application

Based on the modeling theoretical research of the amphibious vehicle systems, a simulation computed architecture on the state space expressions of hydrodynamics for amphibious vehicle systems are educed, and simulation computed results of navigation characteristics, vibration-impact characteristics, firing-hitting characteristics for amphibious vehicle on water are given. It is shown that the hydrodynamic research on amphibious vehicle systems is necessary and feasible.

Vibrational shear flow of anisotropic viscoelastic fluid with small amplitudes

Using the constitutive equation of co-rotational derivative type for anisotropic viscoelastic fluid-liquid crystalline(LC),polymer liquids was developed.Two relaxation times are introduced in the equation:λn represents relaxation of the normal-symmetric stress components;λs represents relaxation of the shear-unsymmetric stress components.A vibrational rotating flow in gap between cylinders with small amplitudes is studied for the anisotropic viscoelastic fluid-liquid crystalline polymer.The time-dependent constitutive equation are linearized with respect to parameter of small amplitude.For the normal-symmetric part of stress tensor analytical expression of the shear stress is obtained by the constitutive equation.The complex viscosity,complex shear modulus,dynamic and imaginary viscosities,storage modulus and loss modulus are obtained for the normal-symmetric stress case which are defined by the common shear rate.For the shear-unsymmetric stress part,two shear stresses are obtained thus two complex viscosities and two complex shear modulus(i.e.first and second one) are given by the constitutive equation which are defined by rotating shear rate introduced by author.The dynamic and imaginary viscosities,storage modulus and loss modulus are given for each complex viscosities and complex shear modulus.Using the constituive equation the rotating flow with small amplitudes in gap between two coaxial cylinders is studied.

Construction of Domain Web Classification Ontology Based on Suggested Upper Merged Ontology

Aiming at the problem of merging heterogeneous semantic taxonomy emerged in Web information integration, a method of building Web classification ontology （WCO） has been proposed. A WCO that is logically consistent with the suggested upper merged ontology （SUMO） is defined, together with axioms needed to classify Web pages. WCO can be used as a foundation of merging heterogeneous semantic taxonomy, and could be used to support Web information integration and classification based Web information retrieval.

Temperature Drift Modeling of FOG Based on LS-WSVM

Large temperature drift is an important factor for improving the performance of FOG.A trend term of temperature drift of FOG is obtained using stationary wavelets transform,and an FOG drift algorithm with least squares wavelet support vector machine(LS-WSVM) is developed.The algorithm used Maxihat wavelet as a kernel function of LS-WSVM to establish an FOG drift model.It has better modeling precise than LS-WSVM model with Gauss kernel.Results indicate the efficiency of this algorithm of LS-WSVM.

Software Residual defects Prediction Model based on BBNs

The importance of software residual defects and some prediction residual defects models are introduced. The problem that is not easy adapted to a general model is discussed. The model of prediction residual defects based on BBNs is proposed and the detailed processes of the approach are given.

A Novel Multivariate Polynomial Approximation Factorization of Big Data

In actual engineering, processing of big data sometimes requires building of mass physical models, while processing of physical model requires relevant math model, thus producing mass multivariate polynomials, the effective reduction of which is a difficult problem at present. A novel algorithm is proposed to achieve the approximation factorization of complex coefficient multivariate polynomial in light of characteristics of multivariate polynomials. At first, the multivariate polynomial is reduced to be the binary polynomial, then the approximation factorization of binary polynomial can produce irreducible duality factor, at last, the irreducible duality factor is restored to the irreducible multiple factor. As a unit root is cyclic, selecting the unit root as the reduced factor can ensure the coefficient does not expand in a reduction process. Chinese remainder theorem is adopted in the corresponding reduction process, which brought down the calculation complexity. The algorithm is based on approximation factorization of binary polynomial and calculation of approximation Greatest Common Divisor, GCD. The algorithm can solve the reduction of multivariate polynomials in massive math models, which can obtain effectively null point of multivariate polynomials, providing a new approach for further analysis and explanation of physical models. The experiment result shows that the irreducible factors from this method get close to the real factors with high efficiency.

Key Technologies of Traditional Chinese Medicine Traceability Based on Internet of Things

Compared with western medicine, there are many complicated factors affecting the intrinsic quality of traditional Chinese medicine, because its production needs to be planted, harvested, processed, transported, stored, and sold, etc. Therefore, the internet of things is integrated into the traceability of traditional Chinese medicine, and its key technologies are studied. An XMLbased traceability information exchange model was constructed for traditional Chinese medicine and modeled the traceability process by the finite state machine (FSM). Furthermore, the specific electronic product code (EPC) coding scheme of traditional Chinese medicine was proposed based on the EPC coding structure model. Finally, the effectiveness of the above models and schemes is verified by an example of a traditional Chinese medicine traceability prototype system.

Long Short Term Memory Networks Based Anomaly Detection for KPIs

In real-world many internet-based service companies need to closely monitor large amounts of data in order to ensure stable operation of their business.However,anomaly detection for these data with various patterns and data quality has been a great challenge,especially without labels.In this paper,we adopt an anomaly detection algorithm based on Long Short-Term Memory(LSTM)Network in terms of reconstructing KPIs and predicting KPIs.They use the reconstruction error and prediction error respectively as the criteria for judging anomalies,and we test our method with real data from a company in the insurance industry and achieved good performance.

A Convolution-Based System for Malicious URLs Detection

Since the web service is essential in daily lives,cyber security becomes more and more important in this digital world.Malicious Uniform Resource Locator(URL)is a common and serious threat to cybersecurity.It hosts unsolicited content and lure unsuspecting users to become victim of scams,such as theft of private information,monetary loss,and malware installation.Thus,it is imperative to detect such threats.However,traditional approaches for malicious URLs detection that based on the blacklists are easy to be bypassed and lack the ability to detect newly generated malicious URLs.In this paper,we propose a novel malicious URL detection method based on deep learning model to protect against web attacks.Specifically,we firstly use auto-encoder to represent URLs.Then,the represented URLs will be input into a proposed composite neural network for detection.In order to evaluate the proposed system,we made extensive experiments on HTTP CSIC2010 dataset and a dataset we collected,and the experimental results show the effectiveness of the proposed approach.

An unsymmetric constitutive equation for anisotropic viscoelastic fluid

A continuum constitutive theory of corotational derivative type is developed for the anisotropic viscoelastic fluid-liquid crystalline （LC） polymers. A concept of anisotropic viscoelastic simple fluid is introduced. The stress tensor instead of the velocity gradient tensor D in the classic Leslie-Ericksen theory is described by the first Rivlin-Ericksen tensor A and a spin tensor W measured with respect to a co-rotational coordinate system. A model LCP-H on this theory is proposed and the characteristic unsymmetric behaviour of the shear stress is predicted for LC polymer liquids. Two shear stresses thereby in shear flow of LC polymer liquids lead to internal vortex flow and rotational flow. The conclusion could be of theoretical meaning for the modern liquid crystalline display technology. By using the equation, extrusion-extensional flows of the fluid are studied for fiber spinning of LC polymer melts, the elongational viscosity vs. extension rate with variation of shear rate is given in figures. A considerable increase of elongational viscosity and bifurcation behaviour are observed when the orientational motion of the director vector is considered. The contraction of extru- date of LC polymer melts is caused by the high elongational viscosity. For anisotropic viscoelastic fluids, an important advance has been made in the investigation on the constitutive equation on the basis of which a seriesof new anisotropic non-Newtonian fluid problems can be addressed.

Hydrodynamics Research on Amphibious Vehicle Systems:Modeling Theory

For completing the hydrodynamics software development and the engineering application research on the amphibious vehicle systems, hydrodynamic modeling theory of the amphibious vehicle systems is elaborated, which includes to build up the dynamic system model of amphibious vehicle motion on water, gun tracking-aiming-firing, bullet hit and armored check-target, gunner operating control, and the simulation computed model of time domain for random sea wave.

0.8μm LDD CMOS RELIABILITY EXPERIMENTS AND ANALYSIS

The numerical simulation of two dimensional device is conducted to describe the mechanism of the special substrate current and degradation of submicron LDD structure observed in experiments, and finally, the optimum processes for submicron LDD CMOS are proposed.

Non-Local DWI Image Super-Resolution with Joint Information Based on GPU Implementation

Since the spatial resolution of diffusion weighted magnetic resonance imaging(DWI)is subject to scanning time and other constraints,its spatial resolution is relatively limited.In view of this,a new non-local DWI image super-resolution with joint information method was proposed to improve the spatial resolution.Based on the non-local strategy,we use the joint information of adjacent scan directions to implement a new weighting scheme.The quantitative and qualitative comparison of the datasets of synthesized DWI and real DWI show that this method can significantly improve the resolution of DWI.However,the algorithm ran slowly because of the joint information.In order to apply the algorithm to the actual scene,we compare the proposed algorithm on CPU and GPU respectively.It is found that the processing time on GPU is much less than on CPU,and that the highest speedup ratio to the traditional algorithm is more than 26 times.It raises the possibility of applying reconstruction algorithms in actual workplaces.

Multi-agent Belief,Goal and Exceptions Reasoning

Temporal logics are often adopted as basic tools to specifying mental states such as belief and goal of agents. Although there are works on non-monotonic extension of linear temporal logic (LTL) and branching time temporal logic (CTL),the non-monotonic extension of alternating-time temporal logic (ATL) which is an important kind of multi-agent cooperation logics has not been discussed yet in literature. To solve this problem,this paper proposed non-monotonic alternating-time temporal logic with belief and goal,namely N-ATL-BG,to facilitate the non-monotonic reasoning of mental states of agents. The semantic model,syntax and semantics of this new logic are developed. A model checking algorithm which can be finished in polynomial time is proposed for this new logic. Examples are given to show its usage.