On Exploiting System Dynamics Modeling to Identify Service Requirements
基于随机几何理论的无线异构网络性能分析
基于随机几何理论的无线异构网络性能分析杜月林;郑宝玉【摘要】随着移动互联网的快速发展,以及新兴业务和移动应用的爆发性增长,移动用户对传输速率提出了更高的要求。
通过在传统的蜂窝上叠加小型基站,使得异构无线网络可以有效地提高蜂窝网络容量。
介绍了低功率节点类型、异构网络干扰等无线异构网络的概念及应用场景,构建了异构无线网络模型,异构无线网络其网络节点分布可建模为泊松分布,通过随机几何等数学工具对异构无线网络的性能进行了分析,推导出异构网络的成功传输概率及网络吞吐量。
通过实验仿真验证了理论推导的正确性,为异构网络的实际部署提供了理论基础。
%With the rapid development of the mobile Internet and explosive growth of emerging services and mobile applications,mobile users put forward a higher requirement for the data raters. By deploying small cells on the conventional Macrocell network,heterogeneous cellular network can effectively improve the cellular capacity. It introduces the concept and application scenario of wireless heterogeneous network like node type with low power and heterogeneous network interference,and uses a statistical approach based on stochastic geome-try to model and evaluate the performance of the proposed system and deduces coverage probability and network throughput of heteroge-neous network by stochastic geometry mathematical tools in this paper. Simulation has verified the correctness of theory deduction,which provides a theoretical basis for the actual deployment of heterogeneous networks.【期刊名称】《计算机技术与发展》【年(卷),期】2016(026)011【总页数】4页(P86-89)【关键词】异构网络;随机几何;泊松点过程;成功传输概率;吞吐量【作者】杜月林;郑宝玉【作者单位】南京邮电大学信号处理与传输研究院,江苏南京 210003;南京邮电大学信号处理与传输研究院,江苏南京 210003【正文语种】中文【中图分类】TN929.5近来随着移动网络技术的快速发展,人们对移动数据业务的需求逐年增长。
Geometric Modeling
Geometric ModelingGeometric modeling is a fundamental concept in computer graphics and design, playing a crucial role in various industries such as architecture, engineering, and entertainment. It involves creating digital representations of physical objects or environments using mathematical and computational techniques. Geometric modeling allows designers and engineers to visualize, analyze, and manipulate complex shapes and structures, leading to the development of innovative products and solutions. However, it also presents several challenges and limitations that need to be addressed to ensure its effectiveness and efficiency. One of the key challenges in geometric modeling is the accurate representation of real-world objects and environments. This requires the use of advanced mathematical algorithms and computational methods to capture the intricate details and complexities of physical entities. For example, creating a realistic 3D model of a human face or a natural landscape involves precise measurements, surface calculations, and texture mapping to achieve a lifelike appearance. This level of accuracy is essential in industries such as animation, virtual reality, and simulation, where visual realism is critical for creating immersive experiences. Another challenge in geometric modeling is the efficient manipulation and editing of geometric shapes. Designers and engineers often need to modify existing models or create new ones to meet specific requirements or constraints. This process can be time-consuming and labor-intensive, especially when dealing with large-scale or highly detailed models. As a result, there is a constant demand for more intuitive and user-friendly modeling tools that streamline the design process and enhance productivity. Additionally, the interoperability of geometric models across different software platforms and systems is a persistent issue that hinders seamless collaboration and data exchange. Moreover, geometric modeling also faces challenges in terms of computational resources and performance. Generating and rendering complex 3D models requires significant computing power and memory, which can limit the scalability and accessibility of geometric modeling applications. High-resolution models with intricate geometries may strain hardware capabilities and lead to slow processing times, making it difficult for designers and engineers to work efficiently. This is particularly relevant in industries such as gamingand virtual reality, where real-time rendering and interactive simulations are essential for delivering engaging and immersive experiences. Despite these challenges, geometric modeling continues to evolve and advance through technological innovations and research efforts. The development of advanced modeling techniques such as parametric modeling, procedural modeling, and non-uniform rational B-spline (NURBS) modeling has significantly improved the accuracy and flexibility of geometric representations. These techniques enable designersand engineers to create complex shapes and surfaces with greater precision and control, paving the way for more sophisticated and realistic virtual environments. Furthermore, the integration of geometric modeling with other disciplines such as physics-based simulation, material science, and machine learning has expanded its capabilities and applications. This interdisciplinary approach allows for the creation of interactive and dynamic models that accurately simulate physical behaviors and interactions, leading to more realistic and immersive experiences. For example, in the field of architecture and construction, geometric modeling combined with structural analysis and environmental simulation enables the design and evaluation of sustainable and resilient buildings and infrastructure. In conclusion, while geometric modeling presents several challenges and limitations, it remains an indispensable tool for innovation and creativity in various industries. The ongoing advancements in geometric modeling techniques and technologies continue to push the boundaries of what is possible, enabling designers and engineers to create increasingly realistic and complex digital representations of the physical world. As computational power and software capabilities continue to improve, the future of geometric modeling holds great promise for revolutionizing the way we design, visualize, and interact with the world around us.。
机器人顶刊论文
机器人顶刊论文机器人领域内除开science robotics以外,TRO和IJRR是机器人领域的两大顶刊,最近师弟在选择研究方向,因此对两大顶刊的论文做了整理。
TRO的全称IEEE Transactions on Robotics,是IEEE旗下机器人与自动化协会的汇刊,最新的影响因子为6.123。
ISSUE 61 An End-to-End Approach to Self-Folding Origami Structures2 Continuous-Time Visual-Inertial Odometry for Event Cameras3 Multicontact Locomotion of Legged Robots4 On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots5 Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks6 Supervisory Control of Multirotor Vehicles in Challenging Conditions Using Inertial Measurements7 Robust Ballistic Catching: A Hybrid System Stabilization Problem8 Discrete Cosserat Approach for Multisection Soft Manipulator Dynamics9 Anonymous Hedonic Game for Task Allocation in a Large-Scale Multiple Agent System10 Multimodal Sensorimotor Integration for Expert-in-the-Loop Telerobotic Surgical Training11 Fast, Generic, and Reliable Control and Simulation of Soft Robots Using Model Order Reduction12 A Path/Surface Following Control Approach to Generate Virtual Fixtures13 Modeling and Implementation of the McKibben Actuator in Hydraulic Systems14 Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving15 Robust Planar Odometry Based on Symmetric Range Flow and Multiscan Alignment16 Accelerated Sensorimotor Learning of Compliant Movement Primitives17 Clock-Torqued Rolling SLIP Model and Its Application to Variable-Speed Running in aHexapod Robot18 On the Covariance of X in AX=XB19 Safe Testing of Electrical Diathermy Cutting Using a New Generation Soft ManipulatorISSUE 51 Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 22 Efficient Equilibrium Testing Under Adhesion and Anisotropy Using Empirical Contact Force Models3 Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification4 An Ankle–Foot Prosthesis Emulator With Control of Plantarflexion and Inversion–Eversion Torque5 SLAP: Simultaneous Localization and Planning Under Uncertainty via Dynamic Replanning in Belief Space6 An Analytical Loading Model for n -Tendon Continuum Robots7 A Direct Dense Visual Servoing Approach Using Photometric Moments8 Computational Design of Robotic Devices From High-Level Motion Specifications9 Multicontact Postures Computation on Manifolds10 Stiffness Modulation in an Elastic Articulated-Cable Leg-Orthosis Emulator: Theory and Experiment11 Human–Robot Communications of Probabilistic Beliefs via a Dirichlet Process Mixture of Statements12 Multirobot Reconnection on Graphs: Problem, Complexity, and Algorithms13 Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras14 Reactive Trajectory Generation for Multiple Vehicles in Unknown Environments With Wind Disturbances15 Resource-Aware Large-Scale Cooperative Three-Dimensional Mapping Using Multiple Mobile Devices16 Control of Planar Spring–Mass Running Through Virtual Tuning of Radial Leg Damping17 Gait Design for a Snake Robot by Connecting Curve Segments and ExperimentalDemonstration18 Server-Assisted Distributed Cooperative Localization Over Unreliable Communication Links19 Realization of Smooth Pursuit for a Quantized Compliant Camera Positioning SystemISSUE 41 A Survey on Aerial Swarm Robotics2 Trajectory Planning for Quadrotor Swarms3 A Distributed Control Approach to Formation Balancing and Maneuvering of Multiple Multirotor UAVs4 Joint Coverage, Connectivity, and Charging Strategies for Distributed UAV Networks5 Robotic Herding of a Flock of Birds Using an Unmanned Aerial Vehicle6 Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures7 Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment8 Resilient, Provably-Correct, and High-Level Robot Behaviors9 Humanoid Dynamic Synchronization Through Whole-Body Bilateral Feedback Teleoperation10 Informed Sampling for Asymptotically Optimal Path Planning11 Robust Tactile Descriptors for Discriminating Objects From Textural Properties via Artificial Robotic Skin12 VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator13 Zero Step Capturability for Legged Robots in Multicontact14 Fast Gait Mode Detection and Assistive Torque Control of an Exoskeletal Robotic Orthosis for Walking Assistance15 Physically Plausible Wrench Decomposition for Multieffector Object Manipulation16 Considering Uncertainty in Optimal Robot Control Through High-Order Cost Statistics17 Multirobot Data Gathering Under Buffer Constraints and Intermittent Communication18 Image-Guided Dual Master–Slave Robotic System for Maxillary Sinus Surgery19 Modeling and Interpolation of the Ambient Magnetic Field by Gaussian Processes20 Periodic Trajectory Planning Beyond the Static Workspace for 6-DOF Cable-Suspended Parallel Robots1 Computationally Efficient Trajectory Generation for Fully Actuated Multirotor Vehicles2 Aural Servo: Sensor-Based Control From Robot Audition3 An Efficient Acyclic Contact Planner for Multiped Robots4 Dimensionality Reduction for Dynamic Movement Primitives and Application to Bimanual Manipulation of Clothes5 Resolving Occlusion in Active Visual Target Search of High-Dimensional Robotic Systems6 Constraint Gaussian Filter With Virtual Measurement for On-Line Camera-Odometry Calibration7 A New Approach to Time-Optimal Path Parameterization Based on Reachability Analysis8 Failure Recovery in Robot–Human Object Handover9 Efficient and Stable Locomotion for Impulse-Actuated Robots Using Strictly Convex Foot Shapes10 Continuous-Phase Control of a Powered Knee–Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines11 Fundamental Actuation Properties of Multirotors: Force–Moment Decoupling and Fail–Safe Robustness12 Symmetric Subspace Motion Generators13 Recovering Stable Scale in Monocular SLAM Using Object-Supplemented Bundle Adjustment14 Toward Controllable Hydraulic Coupling of Joints in a Wearable Robot15 Geometric Construction-Based Realization of Spatial Elastic Behaviors in Parallel and Serial Manipulators16 Dynamic Point-to-Point Trajectory Planning Beyond the Static Workspace for Six-DOF Cable-Suspended Parallel Robots17 Investigation of the Coin Snapping Phenomenon in Linearly Compliant Robot Grasps18 Target Tracking in the Presence of Intermittent Measurements via Motion Model Learning19 Point-Wise Fusion of Distributed Gaussian Process Experts (FuDGE) Using a Fully Decentralized Robot Team Operating in Communication-Devoid Environment20 On the Importance of Uncertainty Representation in Active SLAM1 Robust Visual Localization Across Seasons2 Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers3 Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots4 The Boundaries of Walking Stability: Viability and Controllability of Simple Models5 A Novel Robotic Platform for Aerial Manipulation Using Quadrotors as Rotating Thrust Generators6 Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization7 3-D Robust Stability Polyhedron in Multicontact8 Cooperative Collision Avoidance for Nonholonomic Robots9 A Physics-Based Power Model for Skid-Steered Wheeled Mobile Robots10 Formation Control of Nonholonomic Mobile Robots Without Position and Velocity Measurements11 Online Identification of Environment Hunt–Crossley Models Using Polynomial Linearization12 Coordinated Search With Multiple Robots Arranged in Line Formations13 Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums14 Online Approximate Optimal Station Keeping of a Marine Craft in the Presence of an Irrotational Current15 Ultrahigh-Precision Rotational Positioning Under a Microscope: Nanorobotic System, Modeling, Control, and Applications16 Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing17 Controlling Noncooperative Herds with Robotic Herders18 ε⋆: An Online Coverage Path Planning Algorithm19 Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force20 Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic HandISSUE 11 Development of the Humanoid Disaster Response Platform DRC-HUBO+2 Active Stiffness Tuning of a Spring-Based Continuum Robot for MRI-Guided Neurosurgery3 Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing4 A Rationale for Acceleration Feedback in Force Control of Series Elastic Actuators5 Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration6 Interaction Between Inertia, Viscosity, and Elasticity in Soft Robotic Actuator With Fluidic Network7 Exploiting Elastic Energy Storage for “Blind”Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling8 Enhance In-Hand Dexterous Micromanipulation by Exploiting Adhesion Forces9 Trajectory Deformations From Physical Human–Robot Interaction10 Robotic Manipulation of a Rotating Chain11 Design Methodology for Constructing Multimaterial Origami Robots and Machines12 Dynamically Consistent Online Adaptation of Fast Motions for Robotic Manipulators13 A Controller for Guiding Leg Movement During Overground Walking With a Lower Limb Exoskeleton14 Direct Force-Reflecting Two-Layer Approach for Passive Bilateral Teleoperation With Time Delays15 Steering a Swarm of Particles Using Global Inputs and Swarm Statistics16 Fast Scheduling of Robot Teams Performing Tasks With Temporospatial Constraints17 A Three-Dimensional Magnetic Tweezer System for Intraembryonic Navigation and Measurement18 Adaptive Compensation of Multiple Actuator Faults for Two Physically Linked 2WD Robots19 General Lagrange-Type Jacobian Inverse for Nonholonomic Robotic Systems20 Asymmetric Bimanual Control of Dual-Arm Exoskeletons for Human-Cooperative Manipulations21 Fourier-Based Shape Servoing: A New Feedback Method to Actively Deform Soft Objects into Desired 2-D Image Contours22 Hierarchical Force and Positioning Task Specification for Indirect Force Controlled Robots。
collaboratecom2013
12:20 PM- 1:20 PM 1:20 PM - 3:50 PM
1:20 PM - 3:50 PM
3:50 PM- 4:20 PM 4:20 PM- 5:50 PM
Lunch Break Session 3: Big Data Session Chair: James Joshi
Efficient Opportunistic Sensing using Mobile Collaborative Platform MOSDEN Prem Prakash Jayaraman, Charith Perera, Dimitrios Georgakopoulos and Arkady Zaslavsky (Full Research Paper)
Web Based Collaborative Social Album Authoring System Using Facebook Photos Changhyeon Lee, Fathoni Arief Musyaffa and Yong-Moo Kwon (Full Application Paper)
8:00 AM Onwards 8:30 AM - 9:40 AM 9:40 AM- 10:00 AM 10:00 AM- 12:30 PM
10:00 AM- 12:30 PM
陆战平台分布式综合模块化系统架构建模方法
收稿日期:2020-02-08修回日期:2020-03-18作者简介:王昊(1996-),男,山西平遥人,硕士研究生。
研究方向:系统工程。
摘要:分布式综合模块化系统架构,成为航空应用领域的主流架构和发展趋势。
我国空军已进行了分布式综合模块化系统架构研究设计和仿真评估,但缺乏系统级的架构优劣评估。
兵器领域已将综合模块化系统架构应用于型号项目中,但在分布式综合模块化架构方面,尚未在具体项目中应用。
针对分布式综合模块化系统架构缺乏系统级评估手段的问题,提出一种陆战平台分布式综合模块化系统架构建模方法。
根据系统架构评估需求,建立不同层级实体的模型及约束,分别对应陆战平台信息控制系统的业务层、操作系统分区层、模块层、子系统层、系统层;在层级划分的基础上,定义各层级模型的属性;通过对评估指标中的综合度、耦合度进行评估计算,对系统架构建模方法进行验证。
系统架构建模方法为系统架构评估提供了一种参考。
关键词:系统架构,建模方法,陆战平台,综合模块化中图分类号:TJ811;TP311文献标识码:ADOI :10.3969/j.issn.1002-0640.2021.03.016引用格式:王昊,张振华,赵刚,等.陆战平台分布式综合模块化系统架构建模方法[J ].火力与指挥控制,2021,46(3):92-99.陆战平台分布式综合模块化系统架构建模方法王昊,张振华,赵刚,梁栋,贾智(北方自动控制技术研究所,太原030012)Research on Modeling Method of Distributed Integrated ModularSystem Architecture of Land Combat PlatformWANG Hao ,ZHANG Zhen-hua ,ZHAO Gang ,LIANG Dong ,JIA Zhi (North Automatic Control Technology Institute ,Taiyuan 030012,China )Abstract :The distributed integrated modular system architecture has become the mainstreamarchitecture and development trend in the aviation application field.The Chinese Air Force has conducted research and design and simulation evaluation of the distributed integrated modular system architecture ,but it lacks a system -level evaluation of the advantages and disadvantages of the architecture.In the field of weapons ,the integrated modular system architecture has been applied to model projects ,but the distributed integrated modular architecture has not yet been applied to specific projects.Aiming at the problem of the lack of system -level evaluation methods for the distributed integrated modular system architecture ,this paper proposes a modeling method for the distributed integrated modular system architecture of the land warfare platform.According to the evaluation requirements of the system architecture ,this paper establishes the models and constraints of different levels of entities ,corresponding to the business layer ,operating system partition layer ,module layer ,subsystem layer ,and system layer of the land warfare platform information control system ;on the basis of layer division ,Define the attributes of each level model ;verify the system architecture modeling method by evaluating the degree of integration and coupling in the evaluation indicators.The system architecture modeling method in this article provides a reference for system architecture evaluation.Key words :system structure ,modeling method ,land combat platform ,integrated modular Citation format :WANG H ,ZHANG Z H ,ZHAO G ,et al.Research on modeling method of distribut-ed integrated modular system architecture of land combat platform [J ].Fire Control &Command Control ,2021,46(3):92-99.文章编号:1002-0640(2021)03-0092-08Vol.46,No.3Mar ,2021火力与指挥控制Fire Control &Command Control 第46卷第3期2021年3月92··(总第46-)0引言系统架构可以拆分成两部分:“系统”和“架构”。
混合翼垂直起降无人机过渡过程自适应切换控制
第41卷第11期2020年11月哈㊀尔㊀滨㊀工㊀程㊀大㊀学㊀学㊀报Journal of Harbin Engineering UniversityVol.41ɴ.11Nov.2020混合翼垂直起降无人机过渡过程自适应切换控制张勇1,2,沈海东3,王博豪1,2,刘燕斌3(1.南京航空航天大学无人机研究院,江苏南京210016;2.南京航空航天大学中小型无人机先进技术工业和信息化部重点实验室,江苏南京210016;3.南京航空航天大学航天学院,江苏南京210016)摘㊀要:针对混合翼垂直起降无人机过渡过程中模型参数变化大㊁特性耦合严重的问题,本文提出了一种基于保护映射理论的垂直起降无人机过渡过程自适应切换控制器的设计方案㊂以雅可比线性化方法为基础,搭建混合翼垂直起降无人机过渡过程的线性变参数模型,选取线性二次型为基本控制结构并求取过渡过程起始点的控制参数㊂基于保护映射理论求取初始控制参数的稳定范围,进而通过自动迭代获取整个过渡过程中满足性能指标的控制器参数集合㊂对所得控制器参数进行插值拟合,获得混合翼垂直起降无人机过渡过程自适应控制律㊂仿真结果表明,所设计的自适应控制律能够保证闭环系统的鲁棒稳定,满足混合翼垂直起降无人机过渡过程中的定高加速稳定控制㊂关键词:混合翼;过渡过程控制;雅克比线性化;线性变参;保护映射;自适应切换控制;自动迭代DOI :10.11990/jheu.201911029网络出版地址:http :// /kcms /detail /23.1390.u.20201111.1823.002.html 中图分类号:V249.1㊀文献标志码:A㊀文章编号:1006-7043(2020)11-1675-08Transition process adaptive switch control of a hybrid-wingvertical takeoff and landing UAVZHANG Yong 1,2,SHEN Haidong 3,WANG Bohao 1,2,LIU Yanbin 3(1.Research Institute of Pilotless Aircraft,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;2.Key La-boratory of Advanced Technology for Small and Medium-sized UAV,Ministry of Industry and Information Technology,Nanjing Univer-sity of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;3.College of Astro-nautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)Abstract :During flight mode transition of hybrid-wing vertical take-off and landing unmanned aerial vehicle (UAV),significant parameter variations and strong characteristic coupling occur.To deal with these,this study proposes an adaptive switch control system design strategy based on guardian maps theory.First,a linear parameter varying (LPV)model is established based on Jacobian linearization method.Linear quadratic regulation is selected as the basic control structure and control parameters are calculated according to the required flying qualities at the transition start point.The stabilization range of the initial controller parameter is calculated based on guardian maps theory.From this,the control parameters are automatically obtained over the whole transition process and are then transformed into a polynomial form which now derives the complete adaptive control law.Simulation results indicate that the proposed adaptive control law can simultaneously guarantee the robustness of the closed ring system and stability control in the fixed height acceleration of hybrid-wing vertical take-off and landing UAV during transition process.Keywords :hybrid wing;transition control;Jacobian linearization;linear parameter varying (LPV);guardian maps;adaptive switch control;automatous iteration收稿日期:2019-11-12.网络出版日期:2020-11-12.基金项目:中小型无人机先进技术工业和信息化部重点实验室科研基地创新基金项目(NJ2018015).作者简介:张勇,男,助理研究员,博士研究生;刘燕斌,男,副教授.通信作者:张勇,E-mail:yongzhang@.㊀㊀通过在传统固定翼无人机上加装旋翼,混合翼垂直起降无人机结合了旋翼和固定翼无人机的优点,不仅能够同多旋翼无人机一样垂直起降,还可以实现固定翼无人机一样的高航时远航程[1]㊂因此,该类飞行器在军事㊁民用领域均具有广泛的应用前景,其关键技术的研究引起了国内外学者的哈㊀尔㊀滨㊀工㊀程㊀大㊀学㊀学㊀报第41卷广泛关注㊂目前,垂直起降无人机可分为3类:倾转旋翼无人机㊁混合翼无人机和尾座式无人机[2-4]㊂其中,倾转旋翼无人机旋翼与机翼之间存在很强的气动耦合,且倾转机构设计困难,导致其安全性难以保证[5-6]㊂尾座式垂直起降无人机动力学模型耦合强㊁欧拉角奇异,导致其控制器设计非常困难[7-10]㊂相比之下,混合翼垂直起降无人机无需复杂的倾转结构,还能在起降中实现无人机姿态的稳定,消除了欧拉角奇异问题,所以将旋翼与固定翼复合而成的垂直起降方案是目前工程实现难度最低㊁实用性及可靠性最强的方案[11]㊂混合翼垂直起降无人机在垂直起飞状态和前飞状态的气动模型存在巨大的差别,因此其过渡过程的稳定控制对整个飞行任务起着决定性作用㊂文献[12]分别对混合式垂直起降无人机的垂起模式㊁过渡模式和平飞模式3种模式进行了六自由度的建模,并使用积分滑模控制器实现了垂起模式下高度和航向的控制㊂文献[13]根据混合翼无人机存在的固定翼巡航模式时不活动的旋翼将会增加空气阻力的问题,提出了形态盒方法将其结合到一致的降阻系统的设计概念㊂文献[14]通过传统的三回路PID控制器实现了混合翼垂直起降无人机的控制,保证了不同模式间控制信号的平滑切换㊂文献[15]针对副翼卡住等多种特殊情况,基于线性自抗扰技术设计了无人机过渡过程的容错控制器㊂Saydy等[16]提出了保护映射理论,用来分析处理参数化矩阵族和多项式的广义稳定性,可以更加方便地分析带参数系统的稳定性㊂文献[17]通过一个二阶线性模型验证了保护映射理论用于解决带参数线性系统的鲁棒广义稳定性问题的有效性㊂肖地波等[18]将保护映射理论用于高超声速飞行器大包线控制律的设计,实现了飞行控制参数的自适应整定㊂本文提出了一种基于保护映射理论的混合翼垂直起降无人机过渡过程自适应切换控制律设计方法㊂首先推导了无人机过渡过程的非线性动力学模型,并基于雅可比线性化方法,获得了过渡过程中飞行器线性变参数模型;给出了自适应切换控制律设计的具体步骤;通过数值仿真验证了所提方法的有效性㊂1㊀垂直起降无人机建模本文研究的混合翼垂直起降无人机如图1所示㊂将4个用以提供垂直起降时所需升力的旋翼,安装在机翼两侧,与水平面保持平行㊂为了减少旋翼与固定翼之间力和力矩的相互影响,应将4个旋翼的机械中心放到固定翼的气动中心,从而提高4个旋翼的工作效率㊂图1㊀混合翼垂直起降无人机Fig.1㊀Hybrid wing vertical take-off and landing UAV 1.1㊀混合翼垂直起降无人机过渡过程动力学模型旋翼模式㊁固定翼模式和过渡模式是混合翼垂直起降无人机的3种飞行模式㊂飞行过程如图2所示㊂在旋翼模式下依靠4个旋翼工作,过渡模式需要旋翼与固定翼同时工作,固定翼模式动下仅有固定翼工作㊂图2㊀混合翼垂直起降无人机模态转换过程Fig.2㊀Transition process of hybrid wing UAV传统的旋翼或固定翼无人机的建模方法已经比较成熟,而混合式垂直起降无人机在过渡过程中旋翼部分和固定翼部分的控制面和系统输入均对飞行器整体施加作用,旋翼部分和固定翼部分的控制面和系统输入又不尽相同㊂但归根结底两部分施加的力和力矩都可分解到三维坐标X㊁Y㊁Z轴上㊂这样即可对混合翼垂直起降无人机进行非线性六自由度建模㊂对于无人机平动有:md V bd t+ωˑV b()=f b(1)式中:m为无人机质量;V b为无人机在机体坐标系下的速度;ω为无人机机体坐标系相对于惯性系的角速度;f b为无人机在机体坐标系下的受力[5]㊂将式(1)展开得:̇u̇v̇wéëêêêêùûúúúú=rv-qwpw-ruqu-pvéëêêêùûúúú+1mF xF yF zéëêêêêùûúúúú(2)式中:F x㊁F y㊁F z为无人机在机体坐标系下沿机体轴方向受力的分量;u㊁v㊁w为沿机体坐标轴方向上的速度分量;p㊁q㊁r为沿机体坐标轴各方向上的角度㊃6761㊃第11期张勇,等:混合翼垂直起降无人机过渡过程自适应切换控制分量㊂F x ㊁F y ㊁F z 为:F x F y F z éëêêêêùûúúúú=F fx F fy F fz éëêêêêùûúúúú+F rx F ry F rz éëêêêêùûúúúú(3)式中:F fx ㊁F fy ㊁F fz 为固定翼在机体轴3个方向上的分力;F xz ㊁F yz ㊁F rz 为旋翼在机体轴3个方向上产生的升力㊂对于无人机绕质心的运动有:̇ω=J -1[-ωˑ(Jω)+m b ]m b =[L M N ]T{(4)式中:L ㊁M ㊁N 为无人机受力矩在机体坐标轴上的投影;J 为惯性矩阵:L M N éëêêêùûúúú=l f m f n f éëêêêêùûúúúú+l r m r n r éëêêêêùûúúúú(5)式中:l f ㊁m f ㊁n f 为固定翼产生的滚转㊁俯仰㊁偏航力矩;l r ㊁m r ㊁n r 为旋翼产生的滚转㊁俯仰㊁偏航力矩㊂现假设过渡过程中飞行器水平无侧滑飞行,则过渡过程纵向运动方程组为:̇V=T cos α-D m -g sin(θ-α)̇α=-T sin α+F z mV +q +g V cos(θ-α)̇q=M J y ̇h =V sin(θ-α)̇θ=qìîíïïïïïïïïïïï(6)式中:T 为固定翼推力;D 为无人机所受阻力;α为迎角;θ为俯仰角;V 为前飞速度㊂1.2㊀混合翼垂直起降无人机过渡过程LPV 建模过渡过程最重要特征参数是混合翼垂直起降无人机的前飞速度,在无人机过渡过程中前飞速度由从0开始加速,直到固定翼起飞速度,即18m /s,前飞速度的增加同时导致固定翼提供的升力也在不断增加,此时需要调整旋翼油门,从而保持合理的飞行姿态㊂将纵向运动方程组在速度V =[0,18]m /s 范围内进行配平,并对配平状态进行线性化,线性拟合得到关于前飞速度V 的表达式:̇x=A (V )x +B (V )u y =C (V )x{(7)式中:系统状态x =[V αq h θ];输入u =[δt δe T 1T 2];δt 为固定翼油门;δe 为升降舵输入;T 1㊁T 2分别为前边一对和后边一对的旋翼油门㊂2㊀保护映射理论2.1㊀保护映射的定义与构造保护映射是一种将N 阶实矩阵集映射到复平面某一区域上的标量映射㊂定义映射ν将R n ˑn 实矩阵的集合映射到整个复平面C ,Ω为复平面上某一已知区域㊂定义矩阵集合S :S (Ω)={A ɪR n ˑn ʒλ(A )⊂Ω}(8)式中λ(A )为矩阵A 的所有特征值的集合㊂定义S (Ω)为矩阵集S (Ω)的边界矩阵集合,当且仅当A ɪS (Ω)时,ν(A )=0㊂即:ν(A )=0⇔A ɪS (Ω)(9)此时称ν为S (Ω)的保护映射㊂3种典型凸区域的保护映射定义如下:1)图3(a)为虚轴向左平移σ的左半平面,其对应的保护映射为:νσ(A s )=det(A s I -σI I )det(A s -σI )(10)式中运算符号 为Bialternate 积㊂2)图3(b)为以复平面原点为圆心半径为ωn 的圆盘,其保护映射:νωn =det(A s A s -ω2n I I )det(A 2s -ω2n I )(11)㊀㊀3)图3(c)所示的内角为2θ的圆锥面,即阻尼比大于ξ=cos θ区域,相应的保护映射为:νξ(A s )=det[A 2s I +(1-2ξ2)A s A s ]det(A s )(12)㊀㊀通过上述3种典型凸区域的保护映射组成飞行控制系统稳定区域的保护映射:ν(A s )=νσ(A s )νωn (A s )νξ(A s )(13)图3㊀3种典型区域Fig.3㊀Three typical regions2.2㊀基于保护映射理论的稳定性分析保护映射理论描述了特征值在复平面上特定区域内的矩阵集与复平面上的点之间的映射关系,而矩阵集可以用来表示需要稳定性分析的系统,矩阵集所有特征值的位置可以用来表示系统的极点位置㊂因此通过使用保护映射理论分析矩阵集的稳定性,就能够判断系统的稳定性㊂㊃7761㊃哈㊀尔㊀滨㊀工㊀程㊀大㊀学㊀学㊀报第41卷设系统可以用连续参数r ɪR n 决定的实数方阵集A (r )表示,并且已知参数r 边界,那么矩阵集A (r )的稳定性就可以根据如下引理进行判断:引理1[19]㊀如果νΩ是n 维矩阵集关于区域Ω的保护映射,要使矩阵集{A (r ),r ɪR n }稳定则需满足的充要条件是:在参数r 的上下界范围内存在某一个值r 0使得A (r 0)特征值在区域Ω中,并且对于任意参数r ,都有νΩ[A (r 0)]νΩ[A (r )]>0㊂可由上述引理得出推论1[19]:由条件νΩ[A (r )]=0将参数r ɪR n 空间分成的若干子空间中的任意一个参数r p 使得A (r p )稳定,则这个子空间的所有参数r 确定的矩阵都关于复平面区域Ω稳定㊂根据引理1,若想要判断矩阵集的稳定性,首先寻找参数r 0使得矩阵A (r 0)关于区域Ω稳定,且νΩ[A (r 0)]㊂由于νΩ[A (r 0)]νΩ[A (r )]是一个关于参数r 有关的函数,则可以通过判断νΩ[A (r 0)]νΩ[A (r )]的正负来判断νΩ[A (r 0)]与νΩ[A (r )]是否同号,若同号,则说明参数r 使得矩阵A (r )关于区域Ω稳定㊂同时当νΩ[A (r )]=0时,即可判定矩阵稳定是的参数r 的范围㊂3㊀控制器设计3.1㊀控制器结构为使飞行器能够从旋翼单独工作的悬停状态转换到固定翼单独工作的状态,需要飞行器在过渡过程中达到足够的前飞速度,使固定翼机翼和机身产生足够与重力平衡的升力㊂采用LQR 理论设计最优跟踪控制,使飞行器前飞速度由0逐渐加速到起飞速度,并在过渡过程中保证平稳㊂对于飞行器小扰动线性化之后的平衡点线性系统为:̇x 0=Ax 0+Bu y =Cx 0{(14)㊀㊀跟踪输入信号为z =[v (t )h (t )]T ,跟踪输出信号为y =Cx 0,输入与输出误差定义为:e 1=z -y (15)㊀㊀令误差积分:x 1=ʏt 0e 1(τ)d τ(16)代入到系统进行扩维:̇x 0̇x 1éëêêêùûúúú=A 0-C 0éëêêùûúúx 0x 1éëêêùûúú+B 0éëêêùûúúu +0I éëêêùûúúz (17)㊀㊀令x 2=[x 0x 1]T ,扩维后的系统写为:̇x 2=Ax +Bu +Gz (18)㊀㊀得到关于系统误差的状态方程:e =z -Cx 0x 1éëêêùûúú=I 0éëêêùûúúz +-C 00I éëêêùûúúx 2=Mz +C z x 2(19)㊀㊀取二次性能指标为:J =12ʏɕ0(e TQe +u T Ru )d t (20)式中:Q 为半正定矩阵;R 为正定矩阵㊂标函数的意义为使用较小的输入量使得系统的状态量的误差尽可能地小,所以当取得能量函数J 最小时,目标成立:J =12ʏɕ0(x T 2C TQCx 2+2z T M T QCx 2+z T M T QMz +u T Ru )d t (21)㊀㊀为使性能指标的值最小,利用标准解法求得Riccati 方程和伴随向量方程㊂若(A ,B )可控,(A ,Q )可观,则Riccati 方程可得到为唯一正定解P >0㊂从而得到系统输入:u =-K x x -K z z (22)式中:K x =R -1B T PK z =(PBR -1B T -A T )-1(C T QM +PG )3.2㊀基于保护映射理论的控制参数整定与稳定区域分析首先选择合适的控制器结构,在过渡过程起始点计算控制器参数K 0,并应用保护映射理论计算控制器参数K 0使得系统关于已知区域Ω稳定的调度参数范围㊂接下来取调度参数边界值重新计算新的控制器参数K 1及其对应的稳定范围,直至控制器参数K n 使得系统稳定的调度参数范围涵盖整个过渡过程㊂在该算法中,只需要选定控制架构及初始控制参数,后续控制参数可由自动迭代获得,不必在每个点计算控制参数㊂算法步骤如图4所示㊂只要给出控制结构和初始得到控制参数,可以通过该算法得出数组控制律和每组控制律使得系统稳定的调度参数范围㊂所得的多组控制律根据其对应的调度参数范围进行自适应切换,从而对研究对象进行控制㊂基于保护映射进行参数整定是一种离线调参方法,通过判定闭环系统极点是否满足在性能指标对应的目标区域Ω内来调整控制参数㊂本文所采用的目标区域定义为2.1节中式(13),其中包括了闭环极点位于复平面左半平面的约束,因此最终获得的控制参数能够保证系统的稳定性㊂㊃8761㊃第11期张勇,等:混合翼垂直起降无人机过渡过程自适应切换控制图4㊀单变量系统控制参数自适应整定算法流程Fig.4㊀Flow chart controller searching for one-parametervarying system4㊀仿真结果4.1㊀LPV 模型验证本文研究的混合翼垂直起降无人机过渡过程的前飞速度范围是V =[0,18]m /s,假设飞行高度保持100m,在不同前飞速度下对飞行器进行配平,各配平点特征值分布如图5所示,对应的控制输入如图6所示㊂图5㊀不同飞行速度下系统特征根分布Fig.5㊀Eigenvalues under different velocities由图5可以得出,在前飞速度V =[0,18]m /s,系统中存在实部大于0的特征根,在速度变化过程中会出现不稳定状态㊂在过渡过程中,短周期模态特征值受前飞速度影响产生的变化较大,长周期模态特征值影响产生的变化相对较小,特征值在前飞速度增大时会逐渐向左半平面移动,因此过渡过程中,随着前飞速度的不断增加,无人机的稳定性会变得越来越好㊂当前飞速度较低时,力和力矩的施加主要依靠旋翼,此时无人机的飞行特性与普通四旋翼无人机更相似,然而普通四旋翼无人机是不稳定系统,这也就解释了前飞速度较低时系统稳定性差的原因㊂伴随着前飞速度增加,机翼以及各舵面所产生的力和力矩也会不断增加,旋翼部分施加的力和力矩协同降低,此时无人机的飞行特性更类似于固定翼无人机,固定翼无人机是稳定系统,所以当前飞速度增大后,混合翼垂直起降无人机稳定性也不断增强㊂图6㊀不同前飞速度对应的控制输入Fig.6㊀Control inputs under different velocities与速度相比,过渡过程中高度对模型影响可以忽略,所以在飞行包线内根据前飞速度来选取设计点,最后把变参数进行归一化:V =V -V min V max -V min(23)㊀㊀基于线性化得到的5个LTI 模型,获得无人机的LPV 系统模型:̇x0=A (V )x 0+B (V )u y =C (V )x 0{(24)㊀㊀对所建立的LPV 模型进行验证,通过将建立的模型与无人机非线性模型两者进行对比,从而判断模型是否正确㊂首先,初始状态设定为前飞速度为9m /s,高度为100m 时的配平状态,固定翼油门开度为10%,经过5s 的仿真后,固定翼油门开度调整为20%,整个过程2个模型响应如图7所示㊂从LPV 模型和非线性模型的响应对比图可以得出,2种模型结果十分接近,所以通过雅克比线性㊃9761㊃哈㊀尔㊀滨㊀工㊀程㊀大㊀学㊀学㊀报第41卷化得到的LPV 模型能够很好地替代已有的混合翼垂直起降无人机非线性模型㊂图7㊀LPV 模型与非线性模型各状态响应对比Fig.7㊀Response of nonlinear and LPV systems4.2㊀控制器设计仿真首先确定V =0时的初始控制器参数为:K 0=-0.3080-0.06220.0001-4.40210.0622000000.33320.1619-0.0010-0.1141-0.16200.33260.16170.0007-0.1770-0.1617éëêêêêêùûúúúúú㊀㊀根据保护映射理论求出使控制器满足条件的稳定范围上边界为0.4139m /s,以此上边界计算相应的控制律矩阵㊂以此类推,得到的随前飞速度变化控制器序列及稳定区域的上边界分别为:0.4139㊁1.8229㊁20.5641m /s㊂至此,3个控制器能够使闭环系统极点稳定在期望的复平面区域㊂将各个控制器控制律参数的插值拟合,避免在各个稳定邻域边界处的控制器参数突变㊂采用上述计算的控制器参数在飞行包线V =[0,18]m /s,对混合式垂直起降无人机非线性模型进行仿真分析㊂在h =100m 给定高度下,针对初始前飞速度V =[0,12]m /s,每隔1m /s 取初始状态,给定跟踪速度跟踪偏差信号为2m /s 进行速度跟踪控制,其速度及高度响应曲线如图8㊂图8㊀不同初始速度下指令跟踪效果Fig.8㊀Tracking performance under different initial velocities㊀㊀由图8可以看出,在各个初始速度下均能快速对速度进行较好的跟踪,同时飞行高度也能保证在合理的范围变化之内,并最终稳定在初始给定值㊂在给定高度h =100m,前飞速度V =0的初始条件下㊂给定斜坡信号,并使斜坡信号达到18m /s 后进行保持,在飞行器非线性模型中进行仿真分析得到速度V ㊁高度h ㊁迎角㊁俯仰角θ和俯仰角速率q 随时间的变化曲线,如图9所示㊂其中图9(a)中对比了㊃0861㊃第11期张勇,等:混合翼垂直起降无人机过渡过程自适应切换控制本文基于保护映射的控制参数整定方法与文献[20]中常规分段增益调度方法的速度和高度跟踪效果㊂由图9可知,基于保护映射的切换控制相比常规增益调度切换控制具有更快的速度跟踪和更稳定的高度保持效果㊂同时,无人机前飞速度能够良好地跟踪斜坡信号并逐渐增加到给定输入值,在前飞速度跟踪过程中飞行高度有0.1m 的掉高,达到前飞速度设定值后高度保持在给定高度㊂该过渡过程对应的控制输入如图10所示㊂由图10可知升降舵在跟踪过程中偏转角在合理范围之内㊂基于保护映射的控制参数整定方法相较与常规的增益调度算法在整定效率上存在明显优势,只需给定期望性能指标对应的稳定区域及起始状态点,即可自动获取满足全包线范围内的所有控制参数㊂图9㊀过渡过程状态量变化曲线Fig.9㊀States tracking during the transitionprocess图10㊀过渡过程控制输入Fig.10㊀Control inputs during the transition process5㊀结论1)通过对混合翼垂直起降无人机垂平过渡过程中旋翼和固定翼动力学进行一体化建模,推导出了混合翼垂直起降无人机纵向非线性动力学方程组㊂2)基于雅可比线性化方法建立了过渡过程的纵向LPV 模型,通过对LPV 模型及原非线性模型输出响应进行对比,验证了所得LPV 模型的准确性㊂3)通过使用增益调度方法设计了以线性二次型调节器为基础的速度和高度跟踪控制器,结合保护映射理论设计了控制律参数自适应整定算法㊂仿真结果表明,所设计的自适应控制律能够实现满足混合翼垂直起降无人机过渡过程的设计要求,实现了定高加速过程中的稳定控制㊂参考文献:[1]汪文凯.可垂直起降固定翼飞行器概念设计研究[D].长沙:国防科学技术大学,2014.WANG Wenkai.Research on conceptual design of VFWaircraft [D ].Changsha:National University of Defense Technology,2014.[2]于进勇,王超.垂直起降无人机技术发展现状与展望[J].飞航导弹,2017(5):37-42.YU Jinyong,WANG Chao.Development status and pros-pect of VTOL UAV technology [J].Aerodynamic missile journal,2017(5):37-42.[3]何小九,李彦彬,朱枫,等.国外垂直起降无人机发展现状及设计制造关键技术[J].飞航导弹,2016(6):22-27.HE Xiaojiu,LI Yanbin,ZHU Feng,et al.Development status 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胡正珲-浙江工业大学理学院
姓名:胡正珲工作部门:理学院性别:男技术职称:校聘教授最高学位:博士民族:汉籍贯:江西吉安联系方式:Email: zhenghui@电话:0571-主要研究方向:医学物理,生物医学图像处理简历:2015/11 -至今,浙江工业大学,理学院,教授2007/09 -2015/10:浙江大学,光电系,副研究员2008/08 -2010/08: 美国罗切斯特理工大学,计算与信息科学学院,博士后2005/09 –2007/09: 香港科技大学,电子与计算机系,博士后研究(情况)项目:1 脑血容积/血管造影成像辅助的脑功能影像精确数据同化国家自然科学基金面上项目65万2013/01-2016/122 BOLD信号的非线性分析:生物物理模型,生理学状态及脑功能激活国家自然科学基金青年项目20万2008/01-2011/123 脑机协同视听觉信息处理与交互技术国家863项目20万2012/01-2015/124 多模态大脑磁共振影像计算机辅助诊断技术研究浙江省公益技术研究项目15万2013/01-2015/125 基于功能磁共振成像的大脑计算机辅助诊断技术研究浙江省钱江人才计划12万2009/01-2010/126 XXX,军委科技委保密项目48万发表的论文、专著、教材:1 Influence of Resting Venous Blood Volume Fraction on Dynamic Causal Modeling and System Identifiability Scientific Reports 2016 SCI,5.228 1,通讯作者2 Exploiting Complexity Information for Brain Activation Detection PLoS One 2016SCI,3.057 通讯作者3 Concurrent Bias Correction in Hemodynamic Data Assimilation Medical Image Analysis2012 SCI,4.248 1,通讯作者4 Quantitative Evaluation of Activation State in Functional Brain Imaging Brain Topography2012 SCI,3.288 1,通讯作者5 Sensitivity Analysis for Biomedical Models IEEE Transactions on Medical Imaging 2010SCI,3.639 1,通讯作者6 Changes in Topological Organization of Functional PET Brain Network with Normal AgingPLoS One 2014 SCI,3.057 通讯作者7 An H‘ Strategy for Strain Estimation in Ultrasound Elastography Using BiomechanicalModeling Constraint PLoS One 2013 SCI,3.057 18 Exploiting Magnetic Resonance Angiography Imaging Improves Model Estimation of BOLD Signal PLoS One 2012 SCI,3.057 1,通讯作者科研成果及专利:发明专利5项研究生培养等教学情况:本科生课程“科技英语”,“数据科学导论”研究生课程“数字信号处理”指导硕士研究生十余名奖励和荣誉:2007年香港科技大学贡献奖香港科技大学2013年浙江省科技进步二等奖“整合系统指导下的心脏图像分析”第三完成人浙江省科技厅2009 浙江省钱江人才计划2012年International Conference on Medical Image Analysis and Clinical Applications (MIACA)组委会成员(Committee member),分会场主持人2011年ICIP分会报告2009年ISBI大会报告2006年ICIP,ICARCV分会报告PLoS One,Computational and Mathematical Methods in Medicine杂志专业审稿人浙江省数理医学会理事其它:。
Fluid-Structure Interaction
Fluid-Structure Interaction Fluid-structure interaction (FSI) is a complex and challenging problem that arises in various engineering and scientific fields. It involves the interaction between a deformable structure and a fluid flow, and understanding and accurately modeling this interaction is crucial for the design and analysis of many engineering systems, such as aircraft wings, wind turbines, and cardiovascular devices. The behavior of the structure is influenced by the fluid flow, and vice versa, making FSI a highly coupled and multidisciplinary problem. From a mechanical engineering perspective, FSI presents a unique set of challenges and opportunities. On one hand, the coupling between the fluid and structure introduces nonlinearities and complexities that are not present in either fluid dynamics or structural mechanics alone. This requires advanced numerical methods and computational tools to accurately simulate and analyze FSI problems. On the other hand, FSI offers the potential for innovative designs and optimization of engineering systems by exploiting the interaction between the fluid and structure to improve performance and efficiency. In the field of computational fluid dynamics (CFD), FSI is a topic of great interest and research. Simulating FSI problems requires solving the governing equations for both the fluid flow and the structural deformation, and then coupling these equations to account for the interaction between the two. This often involves using specialized FSI algorithms and solvers, as well as high-performance computing resources to handle the computational demands of FSI simulations. Additionally, experimental validation and verification of FSI simulations are essential to ensure their accuracy and reliability. From a biomedical engineering perspective, FSI is particularly relevant in the study of cardiovascular dynamics and the behavior of blood flow in the human body. Understanding how blood interacts with the walls of blood vessels and how this interaction affects the cardiovascular system is crucial for the diagnosis and treatment of cardiovascular diseases. FSI simulations can provide valuable insights into the hemodynamics of blood flow, the formation of arterial plaques, and the performance of medical devices such as stents and artificial heart valves. In the aerospace industry, FSI plays a critical role in the design and analysis of aircraft and spacecraft. The interaction between the aerodynamicforces acting on the aircraft and the structural response of the wings, fuselage, and control surfaces is essential for ensuring the safety and performance of the vehicle. FSI simulations are used to predict the structural loads and deformations under different flight conditions, as well as to optimize the aerodynamic shape of the aircraft to improve fuel efficiency and reduce emissions. In conclusion,fluid-structure interaction is a multifaceted problem that presents challenges and opportunities across various engineering disciplines. From a mechanical engineering perspective, FSI requires advanced computational tools and methods to accurately simulate and analyze the complex interaction between a fluid flow and a deformable structure. In the fields of biomedical engineering and aerospace engineering, FSI is particularly relevant for studying cardiovascular dynamics and designing aircraft and spacecraft. Overall, FSI is a critical area of research and development with far-reaching implications for the design and analysis of engineering systems.。
未来的物理英文作文
未来的物理英文作文Title: The Future of PhysicsIntroduction:Physics, as a branch of science, has always played a crucial role in understanding the fundamental principles governing the universe. With advancements in technology and scientific knowledge, the future of physics holds immense potential for groundbreaking discoveries and innovations. This essay explores the potential areas of development in physics and their impact on society.1. Quantum Computing:One of the most exciting prospects for the future of physics is the development of quantum computing. Quantum computers have the potential to revolutionize computing power by exploiting the principles of quantum mechanics. They can solve complex problems much faster than classical computers, which could have significant implications for fields like cryptography, optimization, drug discovery, and climate modeling.2. Energy Generation and Storage:As the world faces the challenge of transitioning to sustainable energy sources, physics will play a vital role in developing efficient energy generation and storage technologies. Advancements in materials science and nanotechnology could lead to the development of more efficient solar cells, batteries, and energy storage systems. Physics will also contribute to the development of fusion reactors, offering a virtually limitless and clean energy source.3. Particle Physics and Fundamental Laws:The exploration of particle physics and the search for a unified theory continue to be at the forefront of physics research. The Large Hadron Collider (LHC) and future particle accelerators will enable scientists to study the fundamental particles and forces that govern our universe. Discoveries in this field could provide a deeper understanding of the nature of matter, dark matter, and the origin of the universe itself.4. Artificial Intelligence and Robotics:Physics will also play a crucial role in the development of artificial intelligence (AI) and robotics. Understanding the principles of physics is essential for creating intelligentsystems that can interact with the physical world effectively. Physics-based simulations and models will enable the design and optimization of robotic systems, autonomous vehicles, and smart technologies.5. Quantum Mechanics Applications:Quantum mechanics, with its inherent strangeness and counterintuitive properties, has already found applications in various fields. In the future, quantum mechanics could have even broader applications in areas such as secure communication, quantum sensing, quantum cryptography, and quantum teleportation. These advancements could revolutionize communication and information processing.Conclusion:The future of physics is full of exciting possibilities. From quantum computing to energy generation, particle physics, AI, and quantum mechanics applications, physics will continue to shape our understanding of the universe and drive technological advancements. By pushing the boundaries of scientific knowledge, physicists will contribute to solvingglobal challenges and making significant societal progress. The potential for new discoveries and innovations is limitless, and the future of physics holds great promise.。
西门子(Siemens) PLM 软件传动工程-挑战与解决方案说明书
Predict and reduce gear whine noise 5 times faster Generate transmission gearbox models automatically and boost vibro-acoustic performanceUnrestricted© Siemens AG 2019Realize innovation.Transmission Engineering ChallengesGuarantee Performance and DurabilityReduce Time for SimulationMinimize Vibration and Noise LevelsReduce Weight with Lightweight DesignsAnalysisResultsModellingPrototyping can cost up to 200k$ --per single gear80% of time for manual model creationMicrogeometry modificationscan reduce vibration level with 6dB (=half!)Transmission Error can increase 10x or more!Transmission Engineering ProcessTypical process for NVH analysisMore efficient process in Simcenter 3DTransmission Error or Stiffness, parametersAcoustics, NVH •Gear whine •Gear rattleEnd-to-end integrated process for transmission simulation from CAD to Loads to NoiseTransmission Builder →Motion →Motion-to-Acoustics →Acoustic Analysis•Automatic creation of multi-body simulation models •Accurate 3D simulation of gear forces•Semi-automatic link of gear forces to vibro-acoustics •Efficient and accurate acoustic simulationsPre-processing of loads orsurface vibrationsTransmission layout (stages, dimensions)Multi-body simulation •Simulation of forcesand dynamicsPositioning, dimensions…Gear-centric tool•Analysis of gear pairsMulti-Body Simulation of TransmissionsTransmission Engineering ProcessTypical process for NVH analysisMore efficient process in Simcenter 3DTransmission Error or Stiffness, parametersAcoustics, NVH •Gear whine •Gear rattleEnd-to-end integrated process for transmission simulation from CAD to Loads to NoiseTransmission Builder →Motion →Motion-to-Acoustics →Acoustic Analysis•Automatic creation of multi-body simulation models •Accurate 3D simulation of gear forces•Semi-automatic link of gear forces to vibro-acoustics •Efficient and accurate acoustic simulationsPre-processing of loads orsurface vibrationsTransmission layout (stages, dimensions)Multi-body simulation •Simulation of forcesand dynamicsPositioning, dimensions…Gear-centric tool•Analysis of gear pairs.Transmission BuilderSummaryNew Simulation Solution for GearsMulti-Body Simulation of TransmissionsMulti-Body SimulationScopePredicting, Analyzing, Improving the positions, velocities, accelerations and loads of a mechatronic system using an accurate and robust 3D multi-body simulation approachMechatronic Systems Flexible Bodies•Integration with tools for robust design of complex non-linear multi-physics systems:control systems, sensors, electric motors, etc •Predict mechanical system more accurately wrt displacements and loads•Gain insight in frequency response of a mechanism•Enable Noise, Vibration & Harshness (NVH) as well as Durability analysesSimcenter 3D Motion for Transmission Simulation Critical featuresMulti-Body Simulation Industry Modelling Practices•Joints •Constraints •Bearings•Linear Flexible Bodies•Nonlinearity (geometric & materials) by running FEcode•Deformations•Loads•Transmission Error•Time domain •Statics, dynamic,•Mechatronics / controlPost processing•Create gear geometry ✓CAE interface ✓Import CAD•Ext. Forces •Motor•Contacts, FrictionParametric Optimization loop Automation / CustomizationKinematicsDynamicsFlexible bodiesCADSolving1D -modelsControlsTEST dataA manual creation process can consume 80%of time!.Transmission BuilderSummaryNew Simulation Solution for GearsMulti-Body Simulation of TransmissionsNew ApproachTransmission Builder Vertical ApplicationProblem: Even experienced 3D-Multi Body Simulation experts can struggle to 1.Model complex parametric transmissions2.Capture all relevant effects correctly and efficiently3.Update and validate their modelsSolution: Transmission Builder Up to 5x faster Model creation processSimcenter TransmissionBuilderGear train specification based on Industry standardsMultibody simulation modelDemonstrationModel Creation and Updating1.Loading of pre-definedTransmission2.Geometry creation3.Creation of rigid bodies forgearwheels and shafts4.Positioning and Joint-definition5.Force element creation.Transmission BuilderSummaryNew Simulation Solution for GearsMulti-Body Simulation of TransmissionsNew Solver Methodologies Simulating and ValidatingValidation cases ensure resultsas accurate as non-linear Finite Elements simulationMeasured Transmission ErrorAnalytical MethodSiemens STS Advanced MethodExploiting intrinsic geometric properties of gears + Efficient-Only for gears, not for arbitrary shapes-No deformation includedBut, included as part of the Load CalculationFE based contact detection -“Brute force” Slow+ Any geometry+ Deformation effects includedDedicating Tooth ContactModeling –FE PreprocessorLocal Deformation –Analytic SolutionSlicing –Gear Force Distribution Along Line of Action •Includes Microgeometry Modifications and Misalignments in all DOF•Automatically takes in to account coupling between slices and between teeth•Accounts for actual gear body geometry with advanced stiffness formulation•Evaluates tip contact (approximation)Gear ContactMethodology HighlightsKey Features.Transmission BuilderSummaryNew Simulation Solution for GearsMulti-Body Simulation of TransmissionsMulti-Body Simulation of Transmissions SummaryValidated methodologySuperior insight in transmission vibrationsAutomated creation of transmission modelsGear simulation as accurate as FE whileextremely fast•Create CAD + MBD model•Connect and position housing•Add flexible modes (Autoflex)•Set up load casesSimcenter 3D Motion Simulate TransmissionDynamic bearing forcesSimulateAcoustic Simulation of TransmissionsTransmission Engineering ProcessTypical process for NVH analysisMore efficient process in Simcenter 3DTransmission Error or Stiffness, parametersAcoustics, NVH •Gear whine •Gear rattleEnd-to-end integrated process for transmission simulation from CAD to Loads to NoiseTransmission Builder →Motion →Motion-to-Acoustics →Acoustic Analysis•Automatic creation of multi-body simulation models •Accurate 3D simulation of gear forces•Semi-automatic link of gear forces to vibro-acoustics •Efficient and accurate acoustic simulationsPre-processing of loads orsurface vibrationsTransmission layout (stages, dimensions)Multi-body simulation •Simulation of forcesand dynamicsPositioning, dimensions…Gear-centric tool•Analysis of gear pairs.Acoustic Simulation of TransmissionsAcoustic SimulationPost-ProcessingSummaryAcoustic Process OverviewvvcvMulti-body simulation resultsD a t a p r o c e s s i n g a n d m a p p i n gLoad Recipe Time series Frequency spectraWaterfalls OrdersNoise PredictionMeasured dataORAcoustic Process OverviewFrom Motion to AcousticsInput Loads Time Data to Waterfallof Time DataFFT Post-Processing•Multi-body simulation results•Data selection (forces, vibrations)•Automatic mapping •Multiple RPM•RPM function•Frame size definition•Time range selection•Time segmentation•Fourier transform(windowing, frequencyrange, averaging)•Waterfalls•Functions•Order-cut analysis Benefits•Quick switch between Motion and Acoustics solutions•Efficient data processing (fast pre-solver)•Automatic data mapping•Pre-processing time reductionAcoustic Process Overview Acoustic SimulationGeometry Preparation Meshing andAssemblyStructural/AcousticPre-ProcessingSolver Post-Processing•Holes closing •Blends removal •Parts assembly •Mesh mating•Bolt pre-stress•Structural meshing•Acoustic meshing•Loading frommulti-body analysis•Fluid-StructureInterface•Output requests•Simcenter NastranVibro-Acoustics(FEM AML,FEMAO, ATV)•Structural results•Acoustic results•Contributionanalysis (modes,panels, grids) What-If, Optimization, Feedback to DesignerBenefits•Efficient model set-up•Efficient, accurate solutions•Quick solution update•Deep insight into results.Acoustic Simulation of TransmissionsAcoustic SimulationPost-ProcessingSummaryAcoustic SimulationModel Preparation –MeshesFrom multi-body analysis•CAD geometry•Structural mesh of body→Used to compute structural modes included in Motion model when accounting for flexibility of body Specific to acoustic analysis•Acoustic mesh around body for exterior noise radiation →Geometry cleaning (ribs removal, holes filling)→Surface and convex meshing →3D elements filling•Microphone mesh for acoustic responseAssembly of structural and acoustic meshesBenefits•Easy, fast, efficient model set-up•Quick switch between CAD and FEM environments •Quick update with associativity of meshes to CAD •Flexible modelling through assemblyAssociativityModel Preparation –Loads and Boundary Conditions Structural constraints and loads•Fixed constraints•Multi-body forces applied at center of bearings→Automatic mapping→Data processing (time to waterfall of time data, FFT) Acoustic boundary conditions•AML (Automatically Matched Layer)→Non-reflecting boundary condition to absorb outgoing acoustic wavesFluid-structure interface•Weak or strong couplingTime dataTo Waterfall of Frequency dataBenefits•Easy, fast, efficient model set-up•Quick switch between FEM and SIM environmentsρc AMLSize ~ 190k nodes ~ 14k nodes Timex s/freq.x/20s/freq.AML (Automatically Matched Layer)•Automatic creation of PML (Perfectly Matched Layer) at solver levelFull absorption of outwards-traveling waves•First, accurate results in “physical” (red) FEM domain •Then, accurate results outside the FEM domain (green), through post-processing •PML layer very close to radiatorBenefits•No manual creation of extra absorbing layer •Optimal absorption •Lean FEM model •Fast computationSolver Technologies –FEM AMLATV (Acoustic Transfer Vector)•Single computation of acoustic transfer vector between vibrating surface and microphones{p ω}=ATV ω×{v n (ω)}•Independence of ATV from load conditions (RPM, order)•For exterior radiation, smooth ATV functions in frequencyBenefits•Large frequency steps for ATV computation, and interpolation for acoustic response •Fast multi-RPM analysisSolver Technologies –ATV=+p ωv n (ω)304050607080901001003005007009001100130015001700S o u n d P r e s s u r e L e v e l (d B )f (Hz)FEMATV Response Frequency100-1700 Hz 100-1700 HzTime22 min3 minNo ATV ATVFEMAO (FEM Adaptive Order)•High-order FEM with adaptive order refinement •Hierarchical high-order shape functions•Auto-adapting fluid element order at each frequency (dependent on f, local c0, local ℎ), to maintain accuracy Benefits•Lean single coarse acoustic mesh •Optimal model size at each frequency •Huge gains vs standard FEM •Faster at lower frequencies•More efficient at higher frequencies • 2 to 10 x fasterAcoustic SimulationSolver Technologies –FEMAOStandard FEM →1 single model for all frequenciesStandard FEM →several modelsfor different frequency rangesFEMAO →1 single model for all frequenciesLess DOF required forFEMAO Optimal DOF size over all frequenciesEdge Shape Functions Face Shape FunctionsFEM FEMAO.Acoustic Simulation of TransmissionsAcoustic SimulationPost-ProcessingSummaryRigid body vs Flexible body•No significant difference at low frequencies •Above 1400 Hz, more frequency content due to structural modes of flexible housing structurePlain gears vs Lightweight gears (flexible body)•Low harmonic at 200 Hz (6000 RPM), due to gear stiffness variation with holes in lightweight gear •Side band due to tooth stiffness variation (amplitude effect due to coupling with holes)Bearing Forces Frequency Domain Benefits•Deeper insight on input forces•Quick solution update for comparative studies involving design/modelling changesPlain gears vs Lightweight gears (flexible body)•Low RPM•Significant impact of lightweight gears •High RPM•Extra frequency content at low frequenciesRigid body vs Flexible body •Low frequencies•Reduced impact of flexibility •High frequencies•Larger impact of flexibilityRadiated Acoustic Power Functions300 RPM –Plain gears300 RPM –Lightweight gear 5900 RPM –Plain gears5900 RPM –Lightweight gears300 RPM –Rigid body 300 RPM –Flexible body 1500 RPM –Rigid body 1500 RPM –Flexible bodyBenefits•Efficient post-processing for results analysis •Quick solution update for comparative studiesinvolving design/modelling changesRigid Body vs Flexible Body Benefits•Efficient post-processing forresults analysis•Global overview oncorrespondencebetween source(dynamic forces)and receiver(acoustic power)Plain Gears vs Lightweight Gears Benefits•Efficient post-processing forresults analysis•Global overview oncorrespondencebetween source(dynamic forces)and receiver(acoustic power)Contribution AnalysisExamplesMultiple results types: structural displacements and modes, equivalent radiated power, acoustic pressure and power, panel contributions to pressure and power, grid contributions, etcBenefits•Efficient post-processing forresults analysis•Deepunderstanding ofmodel behaviorthrough multipleresults types Structural displacements Acoustic pressure Grid contributionsPanel contributions.Acoustic Simulation of TransmissionsAcoustic SimulationPost-ProcessingSummaryAcoustic Simulation of Transmissions SummaryEfficient model set-up with CAD associativity for quicksolution updateSuperior insight in vibro-acoustic responseFast and accurate solver technologiesMore efficient link of gear forces from Motion toAcoustics =+p ωv n (ω)Associativity•Transfer bearing forces into frequency domain•Set-up vibro-acoustic model•Map bearing forces onto vibro-acoustic modelSimcenter 3D Acoustics Simulate TransmissionSimulateAcoustic resultsConclusionUnrestricted © Siemens AG 20192019-05-08Page 42Siemens PLM SoftwarePredict and Reduce Gear Whine Noise 5 Times FasterGenerate transmission gearbox models automatically and boost vibro-acoustic performanceSimcenterTransmission Builder Motion Simulation Acoustic SimulationAutomation removes 80% of workload for transmission model generation New gear solver increases efficiencyand accuracy Automatic motion-to-acoustics linksimplifies pre-processing Fast acoustic solver gives superiorinsight to responseUnrestricted © Siemens AG 20192019-05-08Page 43Siemens PLM SoftwareEasy workflow from design specifications NVH gear whine analysisHyundai Motor CompanyGear Whine Analysis of Drivetrains Using Simcenter Simulation & Services•Predictive simulation for system level NVH and gear whine•Bring 3D simulation to the next level of usability, towards an holistic generative approach for drivetrain design and NVH“Simcenter Engineering and Consulting services helped us use the right analysistools to cover the entire gear transmission analysis […] The Simcenter 3D Transmission Builder software tool is well suited for our engineering purposes”Mr. Horim Yang, Senior Research Engineer•Simcenter 3D Motion and Transmission Builder for system level NVH in multibody •Simcenter Engineering and Consulting for solving complex engineering issues AutomaticCAD and multibody creationAccurateFE-based gear elementsMulti-disciplinaryCAD-FEMMultibody-Acoustichttps://youtu.be/bBM5TPP6iBg。
基于虚拟试验场的牵引车动态载荷研究
2024年第1期27doi:10.3969/j.issn.1005-2550.2024.01.005 收稿日期:2023-10-27基于虚拟试验场的牵引车动态载荷研究王庆华1,王丽荣2,陈小华2,李蒙然1,黄刚1(1.国家汽车质量检验检测中心(襄阳),襄阳441004;2. 北京福田戴姆勒汽车有限公司,北京 101400)摘 要:基于Adams软件的虚拟试验场动态载荷分解技术在乘用车耐久性能开发领域广泛应用。
对于重卡车型,由于车辆模型复杂、参数有限且测试难度大,虚拟试验场技术的应用推广受到限制。
搭建某牵引车整车多体动力学模型及虚拟试验场仿真环境,同时采集试验场工况下的实车载荷谱数据并与虚拟试验场动力学仿真分析提取的动态载荷进行对比。
使用相对伪损伤比值、频谱分析等评估比利时、扭曲路、搓板路等典型路面工况下仿真与实测载荷谱数据的差异。
结果表明:基于虚拟试验场的动态载荷提取技术可应用于牵引车车型且可实现较高的精度,是一种获取试验场耐久工况载荷谱的有效方法。
关键词:虚拟试验场;载荷分解;路面模型;牵引车中图分类号:U467 文献标识码:A 文章编号:1005-2550(2024)01-0027-07Research on Dynamic Load of Tractor Based on VPGWANG Qing-hua1, WANG Li-rong2, CHEN Xiao-hua2, LI Meng-ran1, HUANG Gang1(1.National Automobile Quality Inspection and T est Center (Xiangyang), Xiangyang 441004,China; 2. Beijing Foton Daimler Automobile Co., Ltd, Beijing 101400, China)Abstract: The dynamic load decomposition technology of VPG based on Adams is widely applied in the field of passenger car durability performance development. For heavytruck, the application and promotion of VPG are limited due to the complexity of vehiclemodels, limited parameters, and high RLDA testing difficulty. The complete vehicle multi-body dynamics model of a tractor and virtual proving ground simulation environment arebuilt based on Adams. The real vehicle load data acquisition of the proving ground eventswas carried out and compared with the dynamic loads extracted from dynamic simulationanalysis of the virtual proving ground to verify the model accuracy and load accuracy.Relative pseudo damage ratio, RMS value ratio, and spectrum analysis were used to evaluatethe differences between simulated and measured load data under typical road conditionssuch as Belgium, twisted roads, and washboard roads. It is proved that The dynamic loadextraction technology based on virtual proving ground can be applied to tractor models andachieve high accuracy, which is an effective method for obtaining the load data of provingground durability events.Key Words: Virtual Proving Ground; Load Extraction; Road Model; Tractor随着高精度路面扫描和轮胎力学模型建模等技术快速发展,基于虚拟试验场(V i r t u a l Proving Ground)的动态载荷提取技术在车型开发早期阶段即可开展,可有效缩短开发周期和试验成本[1-4]。
电气控制英文参考文献(精选120个最新)
改革开放以来,随着我国工业的迅速发展和科学技术的进步,电气控制技术在工业上的运用也越来越广泛,对于一个国家的科技水平高低来说,电气控制技术水平是一项重要的衡量因素.电气控制技术主要以电动机作为注重的对象,通过一系列的电气控制技术,买现生产或者监控的自动化.下面是搜索整理的电气控制英文参考文献,欢迎借鉴参考。
电气控制英文参考文献一: [1]Laiqing Xie,Yugong Luo,Donghao Zhang,Rui Chen,Keqiang Li. Intelligent energy-saving control strategy for electric vehicle based on preceding vehicle movement[J]. Mechanical Systems andSignal Processing,2019,130. [2]F.N. Tan,Q.Y. Wong,W.L. Gan,S.H. Li,H.X. Liu,F. Poh,W.S. Lew. Electric field control for energy efficient domain wallinjection[J]. Journal of Magnetism and Magnetic Materials,2019,485. [3]N. Nursultanov,W.J.B. Heffernan,M.J.W.M.R. van Herel,J.J. Nijdam. Computational calculation of temperature and electrical resistance to control Joule heating of green Pinus radiata logs[J]. Applied Thermal Engineering,2019,159. [4]Min Cheng,Junhui Zhang,Bing Xu,Ruqi Ding,Geng Yang. Anti-windup scheme of the electronic load sensing pump via switchedflow/power control[J]. Mechatronics,2019,61. [5]Miles L. Morgan,Dan J. Curtis,Davide Deganello. Control of morphological and electrical properties of flexographic printed electronics through tailored ink rheology[J]. 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腾讯对话机器人
Knowledge
Understanding
Generation
Planning
• Structured • Unstructured • Real world
• Annotation • Semantics • Matching
2
User Interests
• Predefined ontology • Automatically extracted tags • User behavior based user interests • …
Technology
Recommendation system
News characteris2cs
Environmental characteris2cs
User characteris2cs
Context characteris2cs
Ar$cle score Score(u,d)=f(class,topic,tag,2me,…)
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Deep Pyramid CNN (J&Z 17)
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Science
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毕业设计英文翻译中英文对照版
Feasibility assessment of a leading-edge-flutter wind power generator前缘颤振风力发电机的可行性评估Luca Caracoglia卢卡卡拉克格里亚Department of Civil and Environmental Engineering, Northeastern University, 400 Snell Engineering Center, 360 Huntington A venue, Boston, MA 02115, USA美国东北大学土木与环境工程斯内尔工程中心400,亨廷顿大道360,波士顿02115This study addresses the preliminary technical feasibility assessment of a mechanical apparatus for conversion of wind energy. 这项研究涉及的是风能转换的机械设备的初步技术可行性评估。
The proposed device, designated as ‘‘leading-edge-fl utter wind power generator’’, employs aeroelastic dynamic instability of a blade airfoil, torsionally rotating about its leading edge. 这种被推荐的定义为“前缘颤振风力发电机”的设备,采用的气动弹性动态不稳定叶片翼型,通过尖端旋转产生扭矩。
Although the exploitation of aeroelastic phenomena has been proposed by the research community for energy harvesting, this apparatus is compact, simple and marginally susceptible to turbulence and wake effects.虽然气动弹性现象的开发已经有研究界提出可以通过能量采集。
federated learning based on dynamic regularization
federated learning based on dynamic regularization 随着人工智能技术的发展,越来越多的企业和机构开始将其应用于各种商业和科学领域。
然而,在实际应用中,由于数据保密性和隐私性的问题,数据共享和联合学习成为了制约人工智能技术发展的一个瓶颈。
为了解决这个问题,研究人员提出了一种新的联合学习方法:基于动态正则化的联邦学习。
联邦学习的基本思想是将训练数据分散在多个设备或节点中,每个节点只训练本地数据,然后将本地模型的参数上传到中央服务器进行模型融合,从而实现全局模型的更新。
这种方法可以有效地保护数据隐私,但是由于节点之间的数据分布和样本量的不同,会导致模型的过拟合和欠拟合问题。
为了解决这个问题,研究人员提出了一种新的动态正则化方法,即基于动态正则化的联邦学习。
动态正则化的联邦学习方法是在传统联邦学习的基础上引入了正则化项,通过对模型参数进行约束,减少模型的过拟合和欠拟合问题。
与传统的正则化方法不同的是,动态正则化方法可以根据节点的数据分布和样本量动态地调整正则化系数,从而实现更好的模型泛化能力。
具体来说,动态正则化的联邦学习方法包括以下步骤:1. 将训练数据分散在多个节点中,每个节点只训练本地数据,得到本地模型参数。
2. 将本地模型参数上传到中央服务器,进行模型融合。
3. 在模型融合的过程中,引入动态正则化项,对模型参数进行约束。
4. 根据节点的数据分布和样本量,动态调整正则化系数,从而实现更好的模型泛化能力。
动态正则化的联邦学习方法在实验中取得了很好的效果。
与传统的联邦学习方法相比,动态正则化方法可以有效地减少模型的过拟合和欠拟合问题,提高模型的泛化能力。
同时,该方法还可以根据节点的数据分布和样本量动态地调整正则化系数,从而实现更好的模型适应性和鲁棒性。
总之,动态正则化的联邦学习方法是一种新的联合学习方法,可以有效地解决数据隐私和共享问题。
该方法可以根据节点的数据分布和样本量动态地调整正则化系数,从而实现更好的模型泛化能力。
牛鞭效应及其抑制方法
硕士学位论文
牛鞭效应及其抑制方法
姓名:***
申请学位级别:硕士
专业:控制理论与控制工程指导教师:***
20060101
东北大学硕士学位论文第五章改变传统供应链模式降低牛鞭效应
3.马士华.林勇.陈志祥供应链管理 2001
4.Bourland K.Powell S.Pyke D Exploiting timely demand information to reduce inventories[外文期刊] 1996
5.Cachon G P.Fisher M Supply chain inventory management and the value of shared information[外文期刊] 2000
25.Sterman J D Modeling managerial behavior:Misperceptions of feedback in a dynamic decision making experiment 1989(03)
26.Sterman J D Teaching takes off,fight simulators for management education 1992(05)
29.Kahn J Inventories and the volatility of production 1987
30.Eichenbaum M S Some empirical evidence on the production level and production cost smoothing models of inventory investment 1989(04)
50.Graves S C A single-item inventory model for a non-stationary demand process 1999(01)
大数据的危害英语作文
大数据时代的隐患:机遇与挑战并存In the age of big data, the volume, velocity, and variety of data have exploded, revolutionizing the way we live, work, and think. With the ever-growing accessibility and affordability of data, its potential to transform industries and revolutionize decision-making processes is immense. However, alongside the remarkable opportunities that big data presents, it also brings a myriad of hazards that cannot be ignored.One significant hazard posed by big data is the issue of privacy. As more and more personal information is collected and stored, the risk of privacy breaches and misuse of data increases exponentially. Hackers and cybercriminals are constantly on the lookout for vulnerabilities in data systems, exploiting them to steal sensitive information or launch malicious attacks. Even well-intentioned organizations can fall victim to data breaches, putting the personal details of millions at risk. Moreover, the rise of big data analytics and predictive modeling has led to concerns about the potential for abuse. With the ability to analyze vast amounts of data andpredict behaviors, organizations can gain unprecedented insights into individuals' lives. This knowledge can be misused for discriminatory practices, such as targeting certain groups for unfair treatment or excluding them from opportunities based on flawed algorithms.Another hazard of big data is the ethical implications associated with its use. In the quest for data-driven insights, organizations may be tempted to overlook ethical considerations. This could lead to unethical practices such as manipulating data to fit a desired outcome or using data in ways that violate individuals' rights and freedoms.Furthermore, the sheer volume of data generated by big data can be overwhelming, leading to issues of information overload. As individuals and organizations struggle to process and understand the vast amounts of data available, they may miss important signals or fail to identify patterns and trends that could lead to valuable insights. Lastly, the dependency on big data can create a false sense of security. Relying solely on data-driven decisions can blind organizations to the need for human intuition and expertise. In some cases, data may not capture all relevantinformation or may be subject to interpretation and misinterpretation. Relying solely on data can lead to decisions that ignore important contextual information orfail to anticipate unexpected outcomes.In conclusion, while big data holds immense potentialto transform our world, it also brings a range of hazards that need to be addressed. It is crucial that we strike a balance between harnessing the power of data and safeguarding privacy, ethics, and human values. By doing so, we can ensure that big data serves as a tool for positive transformation rather than a threat to our society and wayof life.**大数据时代的隐患:机遇与挑战并存**在大数据时代,数据的数量、速度和多样性都呈爆炸性增长,彻底改变了我们的生活方式、工作方式以及思维方式。
下象棋技巧作文英语
下象棋技巧作文英语Title: Mastering Chess: Strategies and Techniques。
Chess, often hailed as the "game of kings," is a timeless strategic endeavor that challenges players' intellect, foresight, and adaptability. As one delves into the world of chess, they encounter a rich tapestry of tactics, strategies, and techniques that elevate the game from mere entertainment to a mental battleground where minds clash in pursuit of victory. In this essay, we shall explore various chess techniques and strategies that can aid players in honing their skills and mastering this ancient game.First and foremost, understanding the fundamentals of chess is crucial. Each player begins with 16 pieces: one king, one queen, two rooks, two knights, two bishops, and eight pawns. The goal is to checkmate the opponent's king, a situation where the king is under direct attack with no means of escape. To achieve this, players must leveragetheir pieces effectively, considering their strengths and weaknesses.One of the fundamental techniques in chess is controlling the center of the board. The center is the heart of the chessboard, offering greater mobility and control over the game. By occupying the center with pawns and pieces, players can exert influence over more squares and facilitate the movement of their forces. Controlling the center also provides avenues for launching attacks and defending key areas of the board.Moreover, the principle of development is essential for success in chess. Development involves bringing pieces into play efficiently, ensuring they contribute to the overall strategy. Neglecting development can result in pieces being sidelined, diminishing their effectiveness. Players should aim to develop their pieces harmoniously, avoiding premature pawn moves that obstruct their own forces.In addition to development, pawn structure plays a pivotal role in shaping the course of the game. Pawnstructure refers to the arrangement of pawns on the board and how they influence the flow of play. Understanding pawn structures allows players to anticipate potential pawn breaks, create weaknesses in the opponent's camp, and establish strongholds for their own pieces. Players should strive to maintain flexible pawn structures that accommodate changing circumstances while restricting the opponent's options.Furthermore, tactics are the building blocks of chess strategy. Tactical maneuvers, such as forks, pins, skewers, and discovered attacks, can quickly turn the tide of a game by exploiting vulnerabilities in the opponent's position. Regular practice of tactical puzzles and exercises sharpens one's tactical acumen, enabling them to spot opportunities and threats on the board more effectively.Beyond tactics, strategic planning distinguishes proficient players from novices. Strategic considerations involve long-term goals, such as controlling key squares, targeting weak pawns, and creating outpost squares for pieces. Formulating a coherent plan guides one's moves anddecisions, ensuring they work in concert towards achieving victory. It's crucial to remain flexible and adaptstrategies based on the evolving dynamics of the game.Moreover, understanding the value of each piece is essential for effective decision-making. While the queen is the most powerful piece on the board, it must be used judiciously to avoid overexposure and potential threats. Rooks excel in open files and ranks, bishops thrive in open positions with long diagonals, knights are adept at maneuvering around obstacles, and pawns form the backboneof pawn structure and can be promoted to more powerful pieces.Another critical aspect of chess mastery is endgame technique. The endgame, characterized by reduced material and simplified positions, demands precision and calculation. Players must leverage their remaining forces efficiently, aiming to promote pawns, create passed pawns, and orchestrate mating nets to secure victory. Endgame studies and practice allow players to navigate these complex scenarios with confidence.Lastly, maintaining psychological composure is vital in chess. The game can be mentally taxing, with each move carrying weighty consequences. Players must remain calm under pressure, resist the temptation to make hasty decisions, and stay focused on their objectives. Analyzing past games, learning from mistakes, and embracing a growth mindset fosters continuous improvement and resilience in the face of adversity.In conclusion, mastering chess requires a combination of strategic thinking, tactical prowess, and psychological resilience. By honing fundamental techniques, understanding key principles, and embracing a spirit of continuous learning, players can elevate their game to new heights. Whether competing in tournaments or enjoying friendly matches, the journey of chess mastery is as rewarding as it is challenging, offering endless opportunities for intellectual growth and self-discovery.。
【设计】汽车玻璃升降器外壳冲压模设计
【关键字】设计汽车玻璃升降器外壳冲压模设计机械设计制造及其自动化专业xxx[摘要]现代模具工业有“不衰亡工业”之称,单就汽车产业而言,一个型号的汽车所需模具达几千副,价值上亿元,而当汽车更换车型时约有80%的模具需要更换。
在模具工业的总产值中,冲压模具约占50%。
人们已经越来越认识到模具在制造中的重要基础地位,认识到模具技术水平的高低,已成为衡量一个国家制造业水平高低的重要标志,并在很大程度上决定着产品质量、效益和新产品的开发能力。
本文利用UG在建模方面的强大功能,对汽车玻璃升降器外壳的整套模具进行建模并装配。
通过实体建模系统,可以进行快速的概念设计,通过定义设计中的不同部件间的数学关系将它们的需求和设计限制结合在一起;基于特征的实体建模和编辑能力使得设计者可以通过直接编辑实体特征的尺寸,或通过使用其他几何编辑和构造技巧,来改变和更新实体。
CAD、CAE在设计中的同步使用,使设计方案达到优化,使产品由出现问题的“事后分析”,转为设计开发过程中的“事前控制”,从根本上保证产品质量。
在此基础上,可以将设计与生产更为紧密地连接起来,进一步提高生产效率,为今后产品的智能化生产奠定基础。
[关键词] 玻璃升降器;拉深模具;冲压工艺分析;模具结构Punching die design of The motor vehicle window glass liftershellMechanical Design and Manufacture Automation Major WANG Xi-yin Abstract:Modern mould industry is known for never declining.Only as far as automobile industry is concerned,thousands of moulds which value more than one hundred million RMB are needed in only one type of automobile. However,about 80%of the moulds will need to be replaced when the type of the automobile is going to be changed.In the total value of output of mould industry impact extrusion occupies 50%or so.People begin to realize the great importance of mould in manufacturing and perceive that the technical standard of mould has been regarded as a symbol that indicates the level of the manufacturing in a nation.Further more,mould determines the quality of the products,benefit and the capability of new products exploiting to a great extent 。
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On Exploiting System Dynamics Modeling to Identify Service RequirementsLianjun An and Jun-Jang (JJ) Jeng IBM T.J. Watson Research Center Yorktown, New York 10598, U.S.A.{jjjeng,alianjun}@Cagdas E. GeredeDepartment of Computer Science University of California at Santa Barbara gerede@AbstractSOA provides a flexible framework for better-integrated systems that meet business needs. However, the existing methods are not successful in helping business analysts to devise appropriate business services. Herein, a novel approach is presented to address service identification and thereby developing sound SOA. In contrast with conventional methodologies, we press on the criticality of exploiting the information of dynamic business behavior to develop business services.1. IntroductionTo cope with the increasing speed of the business changes and the increasing pressure of revenue and cost optimization, enterprises are looking for ways to align their IT organizations more closely with their business requirements. SOA is a strong candidate to solve this problem. One challenge in developing SOA solutions is identifying service requirements at business level. This study focuses on this problem.Conventional software development methods are not totally applicable to SOA development. New means to identify and define services in a dynamic business environment is needed [5].In this paper, we present a case study of defining supply chain business services in the domain of demand-supply-offering (DSO) conditioning. We use System Dynamics [1] which captures business requirements in feedback control type of formalism. 2. DSO Conditioning ScenarioWe detail our study case in the manufacturing process and provide a base for choosing business services we need to support the business operation. From complexity viewpoint, the manufacturing process could be separated as the front end, the back end and the integration between them [2].In the front end of a supply chain, business owners are mainly concerned with the market investment environment. Based on customer purchasing behavior, competitors’ share, business potential, the business owner makes a decision to offer a valuable product to an existing market. Proper pricing strategy is established to attract different levels of customers based on its own pricing objective (maximizing revenue, maximizing profit, getting quality leadership, surviving in the constrained market). For instance, quantity discount is offered to large buyers, seasonal discount is offered during Christmas, promotion discount is offered to stimulate sales. Our study related to the front-end is limited to demand forecast. Customer satisfaction is taken into account through penalization of the longer order backlog. Pricing correlated to customer demand and competitors.In the back end of a supply chain, business owners are mainly concerned with having stable and flexible supply for products. In order to guarantee business continuity, business owners adopt various contract structures and optimize enterprise supplier portfolio. For instance, buyers can lock into low price through forward contract. In the IBM PCD/Lenovo case, multiple suppliers setup hubs near its manufacturing sites and manage part inventory for Lenovo directly. This reduces part acquisition leading time to zero and reduce bullwhip effect for suppliers.Integration is responsible to manage the manufacturing process and hook up the both ends. In order to achieve optimal profit margin in uncertain and competitive world, business owners need to establish policy and decision rules to manage inventory and order policy from suppliers and satisfy market demand. There exist both information flow and material flow during integration. That information flows from customer to manufacturer and to supplier; while material flows from suppliers to manufacturers and to customers. Information sharing allows participants to make better planning.In terms of long term planning, business owners need to consider their business based on their strategic direction. In the front-end, they need to answer how much market they want to occupy, what is the predicted business growth rate. In the back-end, they select suppliers and partners, and determine the order frequency and quantity overall, and sign contract to have continuous supply. In the integration layer, they prepare their resource capacity and determine their production scale. In the short term, business owners need to adjust operations based on unpredictable situations. In practice, business owner introduces a conditioning phase. The conditioning processes in IBM PC Division are explained in [3] and can serve as a good example. When an imbalance between demand and supply of components and products is detected, proactive actions can be taken to correct the situation [4]. The basic supply chain structure with conditioning process is shown in Figure 1. There are three decision points in this figure representing different types of conditioning.•Supply conditioning: When the committed supply cannot meet the demand, it is possible that we canchase additional suppliers or adjust supply amongdifferent supply chain components among geographies.•Demand conditioning: Through price change and promotion, we can provide incentives to customerto choose product alternatives.•Offering conditioning: When there are some excessive parts, we can create and offer new configuration models to consume these parts.We refer to assembled products as Machine Type Models (MTM). Components procured from suppliers are assembled to form major building blocks, which can be further assembled to make the MTM. Customer order creates demand on the MTMs and is backlogged into the order system (a pull model). The incoming part supply replenishes the inventory and makes parts being available for assembling (a push model). The demand-supply imbalance would be measured by the following expression:∑∑−i jjj iim cp,where m is the vector representing demand amount for each MTM, p the vector of available parts for major building blocks, and c the BOM (bill of material) matrix – how a MTM is built-up from multiple parts.When the component supply is constrained, we have the option of choosing the allocations of components to different MTMs using different policies, such as priority, proportional allocation and optimizing allocations to maximize the profit. Which rule is used might effect the long term instability and the overall profit measure.3. DSO System Dynamics ModelSystem dynamics modeling can be used to study the dynamics of operation and understand the causality relationship and feedback loops in the system. Since business is exposed to uncertain world, demand from customers, replenishment from suppliers and competition from competitors, all influence the business profit. A simulation model would be very useful to simulate such uncertainty and evaluate efficiency of the operation. Identified positive/negative feedback loops in the operation provide us to effective control mechanism to reduce dynamics. Its simulation can be used evaluate its efficiency and stability of the mechanism. In fact planning and scheduling for certain activities is related to how to handle dynamics of a business.We present a System Dynamics model to capture supply and demand conditioning process and demonstrate inventory evolution under conditioning. Such a model can be exported and its parameters can be exposed to configuration tool. Then the user can do some experiments and simulate the effect under different circumstances. Also the model can be used to find out optimal solution for chosen objective, like minimizing cost for certain periods; maximizing revenue for other periods or minimizing backlog in certain periods, whenever the goal fits enterprise strategic direction. System dynamics model representing conditioning process is shown in Figure 2. It is marked in 5 parts for easy description.Below we explain two parts. More detailed explanation can be found in [5].Part 1 is for part inventory processing. Replenishing from supplier would increase the inventory level and usage from assembling line would decrease its level. The initial inventory is indicated by the net position. Note that the replenishment rate is affected by both the committed supply through contract and additional supply due to supply conditioning action. Supply 0 aggregated part cost and additional amount of supply contribute to the formulation of profit rate (in Part 3). Another contributor to profit is the part inventory holding cost. When a different supplier profile contextis put into the model, the total cost associated with the supplier would be evaluated and compared.Part 3 is used to evaluate the performance of processing. It aggregates profit due to sell product, labor cost for assembling product, holding cost for finished product, the penalty for not meeting demand, the holding cost for part inventory, and cost for ordering additional supply.)0,(0*654321Supply Additional st UnitPartCo w ory PartInvent erDay ldingCostP UnitPartHo w SDGap Max Day BacklogPer PenaltyFor w SDGap,Max stPerDay tHoldingCo UnitProduc w RateAssembling erDay LaborCostP w RateFulfilment MtmPrice w ProfitRate ∗∗−∗∗−−∗∗−∗∗−∗−∗∗=)(An assumptive profile is obtained through the integration along the timeline. w i ’s denote weights that we choose for the profit rate. In fact, the profit rate here does not map to real profit. What we formulate is an objective function by combining multi-objectives. By changing weight among the contributors of profit formula, we virtually switch among different objectives to fit current enterprise strategy. The defined objective could achieve maximum value at specific points of adjustable space. In order words, the output of optimization runs would give us choice of value to use and appreciate actions to take to achieve best performance align with strategic direction. We describe a scenario in which the SD model is used to determine what action should to take to reduce imbalance between supply and demand. First, we use customer order historical data to forecast future demand for certain time horizon (say 13 weeks). Second, the model is configured and has regular parameters is set. Since we focus on reducing imbalance, we choose and being nonzero and other weight to be zero. Third, the model runs as it is using the forecast demand data. When the imbalance situation is detected, we set price change range to be in 20% of the original price and additional supply limit up to 500. Finally, the optimization run gives “to be” situation. For instance, it suggests raising 12% price on Mtm1 and reducing 3% price on MTM2, and/or ordering additional 250 800Mhz CPU chips, and/or substituting 400G hard disk by 300G for MTM3. 43,w w 5w The second step is to determine which suppliers to use to get additional 250 800Mhz CPU chips and outsource assembling machine task to which provider. We choose and being nonzero to evaluate revenue and cost. The run will be carried out for each supplier and service provider. By comparing among these profit numbers, we obtain the best portfolio of suppliers and providers for this short term supply conditioning. 21,w w 6w6. Future Work and Concluding RemarkIn this paper, we have presented an approach for identifying business services by exploiting the information of dynamic business behavior obtained through System Dynamic Modeling. By doing so, we have gained the advantage of devising business services in a more accurate sense by considering not only the services interface but also expected business dynamics for desired business services. System Dynamics provides a useful design tool to help business analysts to identify service boundaries and their dynamic relationships. Through our experience, we conclude that the enrichment of current service-oriented methodologies with dynamic modeling ingredients, e.g. System Dynamics, is a powerful approach to identifying business services and developing a service-oriented architecture. We will continue to extend and apply this methodology to other areas by focusing on building tools for enabling business analysts and service developers to develop SOA using dynamic service-oriented modeling and analysis methodology.References[1] Sterman, J.D., “Business Dynamics: System Thinkingand Modeling for a Complex World”, Irwin McGraw-Hill, Boston, 2000. [2] Crespo, A., “Front-end, Back-end and Integration Issuesin Virtual Supply Chain Dynamics Modeling,” The 23rd International Conference of the System Dynamics Society,/conf2005/proceed/inde x.htm. [3] An, L., Ramachandran, B., “System dynamics model tounderstand demand conditioning dynamics in supply chain”, The 23rd International Conference of the System Dynamics Society, 2005. [4] Huang, P. , Lee, Y.M., An, L., Ettl, M., Soururajan, K.,Buckley, S., “Utilizing Simulation to Evaluate Business Decisions in Sense-and-Respond Systems,” In Proceedings of the 2004 Winter Simulation Conference, 2004. [5] An, L., Jeng, J. J., and Gerede, C. E., “On ExploitingSystem Dynamics Modeling Approach to Developing Demand-Supply-Offering Conditioning Service Oriented Architecture”, Technical Report, January, 2006.Figure 1: Supply Chain Conditioning ProcessFigure 2: System Dynamics Model of Conditioning Process。