In the present paper, we introduce new models of pendulum motions for two cases: the first model consists of a pendulum with mass M moving at the end of a string with a suspended point moving on an ellipse and the second one consists of a pendulum with mass M moving at the end of a spring with a suspended point on an ellipse. In both models, we use the Lagrangian functions for deriving the equations of motions. The derived equations (...) are reduced to a quasilinear system of the second order. We use a new mathematical technique named a large parameter method for solving both models’ systems. The analytical solutions are obtained in terms of the generalized coordinates. We use the numerical techniques represented by the fourth-order Runge–Kutta method to solve the autonomous system for both cases. The stabilities of the obtained solutions are studied using the phase diagram procedure. The obtained numerical solutions and analytical ones are compared to examine the accuracy of the mathematical and numerical techniques. The large parameter technique gives us the advantage to obtain the solutions at infinity in opposite with the famous Poincare’s method which was used by many outstanding scientists in the last two centuries. (shrink)

In this paper, the stability of switched neural networks with interval parameter uncertainties and time delays is investigated. First, the conditions for the existence and uniqueness of the equilibrium point of the system are discussed. Second, the average dwell time approach and M-matrix property are employed to obtain conditions to ensure the globally exponential stability of the delayed SNNs under constrained switching. Third, by resorting to inequality technique and the idea of vector Lyapunov function, sufficient condition to (...) ensure the robust exponential stability of the delayed SNNs under arbitrary switching is derived. The form of the constructed Lyapunov functions is simple, which has certain commonality in studying delayed SNNs, and the proposed results not only are explicit but also reveal the relationship between the constrained switching and the arbitrary switching of the SNNs. Finally, two numerical examples are presented to illustrate the effectiveness and less conservativeness of the main results compared with the existing literature. (shrink)

In this paper, dynamic behavior analysis has been discussed for a class of switched complex-valued neural networks with interval parameter uncertainties and impulse disturbance. Sufficient conditions for guaranteeing the existence, uniqueness, and global robust exponential stability of the equilibrium point have been obtained by using the homomorphism mapping theorem, the scalar Lyapunov function method, the average dwell time method, and M-matrix theory. Since there is no result concerning the stability problem of switched neural networks defined in complex (...) number domain, the stability results we describe in this paper generalize the existing ones. The effectiveness of the proposed results is illustrated by a numerical example. (shrink)

The high traffic density of railway line causes ballasted track to be extremely busy, and thus it is particularly important to improve the efficiency during railway maintenance. The changing law of dynamic characteristics of ballast bed during operation for the dynamic track stabilizer is conducive to optimize simulation analysis of the vehicle-track system, so as to provide an optimized choice of operating parameters for promoting the pertinence and efficiency of dynamic track stabilizer. This paper presents the acceleration response of vehicle-track-subgrade (...) system during operation of a WD-320 dynamic track stabilizer and proposes the range of effective operating parameters. Then, the influence of operating parameters on the dynamic characteristics of the ballast bed is discussed for searching the optimal operating parameters under the single factor influence. Finally, the change laws including the support stiffness, damping, lateral resistance, and subsidence for the ballast bed are studied, and a parameterized model for dynamic characteristics of the ballast bed which can optimize the selection for operating parameters is constructed, rendering an effective reference variable for improving the simulation accuracy of the vehicle-track coupling system. (shrink)

Differential scanning calorimetry (DSC) has been employed to investigate the glass transition activation energy E g, thermal stability and glass-forming ability (GFA) of Se90In10− x Sb x (x = 0, 2, 4, 6, 8, 10) chalcogenide glasses. DSC runs were performed at six different heating rates. Well-defined endothermic and exothermic peaks were obtained at glass transition and crystallization temperature. The dependence of glass transition temperature T g on heating rate (α), as well as composition of Sb, has been studied. (...) From the dependence of glass transition temperature on heating rate, the E g has been calculated on the basis of the Kissinger [Anal. Chem. 29 (1957) p.1702] and Moynihan [J. Phys. Chem. 78 (1974) p.267] models. Thermal stability has been monitored through the calculation of temperature differences T c–T g, the stability parameter S, and the enthalpy released during crystallization H c. The GFA has been investigated on the basis of the Hruby parameter H r, which is strong indicator of GFA. Results for GFA are in good agreement with fragility index F i calculations, indicating that Se90In6Sb4 is an excellent glass-former. (shrink)

Standard adaptive control is the preferred approach for stabilization and synchronization of chaotic systems when the structure of such systems is a priori known but the parameters are unknown. However, in the presence of unmodeled dynamics and/or disturbance, this approach is not effective anymore due to the drift of the parameter estimations, which eventually causes the instability of the closed-loop system. In this paper, a robustifying term, which consists of a saturation function, is used to avoid this problem. The (...) robustifying term is added to the adaptive control law. Consequently, the learning law is also modified. The boundedness of the states and the parameter estimations is rigorously and thoroughly proven by means of Lyapunov like analysis based on Barbalat’s lemma. On these new conditions, the convergence to zero cannot be achieved due to the presence of unmodeled dynamics and/or disturbance. However, it is still possible to guarantee the asymptotic convergence to a bounded zone around zero. The width of this zone can be adjusted by the designer. The performance of this robust approach is verified by numerical simulations. Although, for simplicity, this strategy is only applied to the stabilization and synchronization of Zhang system, the procedure can easily be generalized to a broad class of chaotic systems. (shrink)

For enhancing the stability of the microgrid operation, this paper proposes an optimization model considering the small-signal stability constraint. Due to the nonsmooth property of the spectral abscissa function, the droop controller parameters’ optimization is a nonsmooth optimization problem. The Sequential Quadratic Programming with Gradient Sampling is implemented to optimize the droop controller parameters for solving the nonsmooth problem. The SQP-GS method can guarantee the solution of the optimization problem globally and efficiently converges to stationary points with probability (...) of one. In the current iteration, the gradient of the nonsmooth function can be evaluated on a set of randomly generated nearby points by computing closed-form sensitivities. A test on the microgrid system shows that the optimality and the efficiency of the SQP-GS are better than those of the heuristic algorithms. (shrink)

This paper deals with the exponential stabilization problem for a class of nonlinear switched systems with mixed delays under asynchronous switching. The switching signal of the switched controller involves delay, which results in the asynchronous switching between the candidate controllers and subsystems. By constructing the parameter-dependent Lyapunov-Krasovskii functional and the average dwell time approach, some sufficient conditions in forms of linear matrix inequalities are presented to ensure the exponential stability of the switched nonlinear system under arbitrary switching signals. (...) In addition, through the special deformation of the matrix and Schur complement, the controllers with asynchronous switching are designed. Finally, a numerical example and a practical example of river pollution control are provided to show the validity and potential of the developed results. (shrink)

Important similarities exist between the dynamical concepts implicit in Feldman & Levin's extended λ model and those basic to a dynamical systems approach. We argue that careful application of the key concepts of control and order parameters, equilibria, and stability, can relate known facts of neuromuscular processes to the observables of functional, task-specific behavior.

We prove almost sure exponential stability for the disease-free equilibrium of a stochastic differential equations model of an SIR epidemic with vaccination. The model allows for vertical transmission. The stochastic perturbation is associated with the force of infection and is such that the total population size remains constant in time. We prove almost sure positivity of solutions. The main result concerns especially the smaller values of the diffusion parameter, and describes the stability in terms of an analogue (...) $$\mathcal{R}_\sigma$$ of the basic reproduction number $$\mathcal{R}_0$$ of the underlying deterministic model, with $$\mathcal{R}_\sigma \le \mathcal{R}_0$$. We prove that the disease-free equilibrium is almost sure exponentially stable if $$\mathcal{R}_\sigma <1$$. (shrink)

A study of stage structured model of fish population is presented. This model focuse on the anchovy population in the Bay of Biscay (Engraulis encrasicolus L.) is presented. The method of study is based on an intermediate complexity mathematical model, taking into account the spatialisation, the environmental conditions and the stage-structure of the fishes. First, to test the model, we show mathematical properties, such as unicity of the solution of structural stability. Then we provide numerical simulations, to validate the (...) model and to test the dynamics according to the variations of the parameters. (shrink)

This paper addresses the robust stabilization problem for a class of stochastic Markovian jump systems with distributed delays. The systems under consideration involve Brownian motion, Markov chains, distributed delays, and parameter uncertainties. By an appropriate Lyapunov–Krasovskii functional, the novel delay-dependent stabilization criterion for the stochastic Markovian jump systems is derived in terms of linear matrix inequalities. When given linear matrix inequalities are feasible, an explicit expression of the desired state feedback controller is given. The designed controller, based on the (...) obtained criterion, ensures asymptotically stable in the mean square sense of the resulting closed-loop system. The convenience of the design is greatly enhanced due to the existence of an adjustable parameter in the controller. Finally, a numerical example is exploited to demonstrate the effectiveness of the developed theory. (shrink)

In this paper, a discrete-time dynamic duopoly model, with nonlinear demand and cost functions, is established. The properties of existence and local stability of equilibrium points have been verified and analyzed. The stability conditions are also given with the help of the Jury criterion. With changing of the values of parameters, the system shows some new and interesting phenomena in terms to stability and multistability, such as V-shaped stable structures and different shape basins of attraction of coexisting (...) attractors. The eye-shaped structures appear where the period-doubling and period-halving bifurcations occur. Finally, by utilizing critical curves, the changes in the topological structure of basin of attraction and the reason of “holes” formation are analyzed. As a result, the generation of global bifurcation, such as contact bifurcation or final bifurcation, is usually accompanied by the contact of critical curves and boundary. (shrink)

Prospect Theory (PT) is widely regarded as the most promising descriptive model for decision making under uncertainty. Various tests have corroborated the validity of the characteristic fourfold pattern of risk attitudes implied by the combination of probability weighting and value transformation. But is it also safe to assume stable PT preferences at the individual level? This is not only an empirical but also a conceptual question. Measuring the stability of preferences in a multi-parameter decision model such as PT (...) is far more complex than evaluating single-parameter models such as Expected Utility Theory under the assumption of constant relative risk aversion. There exist considerable interdependencies among parameters such that allegedly diverging parameter combinations could in fact produce very similar preference structures. In this paper, we provide a theoretic framework for measuring the (temporal) stability of PT parameters. To illustrate our methodology, we further apply our approach to 86 subjects for whom we elicit PT parameters twice, with a time lag of 1 month. While documenting remarkable stability of parameter estimates at the aggregate level, we find that a third of the subjects show significant instability across sessions. (shrink)

In this article we introduce and study the notion of operational closure: a transitive set d is called operationally closed iff it contains all constants of OST and any operation f∈d applied to an element a∈d yields an element fa∈d, provided that f applied to a has a value at all. We will show that there is a direct relationship between operational closure and stability in the sense that operationally closed sets behave like Σ1 substructures of the universe. This (...) leads to our final result that OST plus the axiom , claiming that any set is element of an operationally closed set, is proof-theoretically equivalent to the system KP+ of Kripke–Platek set theory with infinity and Σ1 separation. We also characterize the system OST plus the existence of one operationally closed set in terms of Kripke–Platek set theory with infinity and a parameter-free version of Σ1 separation. (shrink)

As humans, we constantly change our movement strategies to adapt to changes in physical functions and the external environment. We have to walk very slowly in situations with a high risk of falling, such as walking on slippery ice, carrying an overflowing cup of water, or muscle weakness owing to aging or motor deficit. However, previous studies have shown that a normal gait pattern at low speeds results in reduced efficiency and stability in comparison with those at a normal (...) speed. Another possible strategy is to change the gait pattern from normal to step-to gait, in which the other foot is aligned with the first swing foot. However, the efficiency and stability of the step-to gait pattern at low speeds have not been investigated yet. Therefore, in this study, we compared the efficiency and stability of the normal and step-to gait patterns at intermediate, low, and very low speeds. Eleven healthy participants were asked to walk with a normal gait and step-to gait on a treadmill at five different speeds, ranging from very low to normal walking speed. The efficiency parameters and stability parameters were analyzed from the motion capture data and then compared for the two gait patterns. The results suggested that step-to gait had a more efficient gait pattern at very low speeds of 10–30 m/min, with a larger percent recovery, and was more stable at 10–60 m/min in comparison with a normal gait. However, the efficiency of the normal gait was better than that of the step-to gait pattern at 60 m/min. Therefore, step-to gait is effective in improving gait efficiency and stability when faced with situations that force us to walk slowly or hinder quick walking because of muscle weakness owing to aging or motor deficit along with a high risk of falling. (shrink)

This paper presents the problem of robust and nonfragile stabilization of nonlinear systems described by multivariable Hammerstein models. The objective is focused on the design of a nonfragile feedback controller such that the resulting closed-loop system is globally asymptotically stable with robust H ∞ disturbance attenuation in spite of controller gain variations. First, the parameters of linear and nonlinear blocks characterizing the multivariable Hammerstein model structure are separately estimated by using a subspace identification algorithm. Second, approximate inverse nonlinear functions of (...) polynomial form are proposed to deal with nonbijective invertible nonlinearities. Thereafter, the Takagi–Sugeno model representation is used to decompose the composition of the static nonlinearities and their approximate inverses in series with the linear subspace dynamic submodel into linear fuzzy parts. Besides, sufficient stability conditions for the robust and nonfragile controller synthesis based on quadratic Lyapunov function, H ∞ criterion, and linear matrix inequality approach are provided. Finally, a numerical example based on twin rotor multi-input multi-output system is considered to demonstrate the effectiveness. (shrink)

Utilization of renewable energies in association with energy storage is increased in different applications such as electrical vehicles, electric boats, and smart grids. A robust controller strategy plays a significant role to optimally utilize the energy resources available in a power system. In this paper, a suitable controller for the energy resources of an EB which consists of a 5 kW solar power plant, 5 kW fuel cell, and 2 kW battery package is designed based on the linear parameter (...) varying controller design approach. Initially, all component dynamics are augmented, and by exploiting the sector-nonlinearity approach, the LPV representation is derived. Then, the LPV control method determines the suitable gains of the states’ feedbacks to provide the required pulse commands of the boost converters of the energy resources to regulate the DC-link voltage and supply the power of EB loads. Comparing with the state-of-the-art nonlinear control methods, the developed control approach assures the stability of the overall system, as it considers all component dynamics in the design procedure. The real-time simulation results demonstrate the performance of the designed controller in the creation of a constant DC-link voltage. (shrink)

This paper proposes an adaptive formation tracking control algorithm optimized by Q-learning scheme for multiple mobile robots. In order to handle the model uncertainties and external disturbances, a desired linear extended state observer is designed to develop an adaptive formation tracking control strategy. Then an adaptive method of sliding mode control parameters optimized by Q-learning scheme is employed, which can avoid the complex parameter tuning process. Furthermore, the stability of the closed-loop control system is rigorously proved by means (...) of matrix properties of graph theory and Lyapunov theory, and the formation tracking errors can be guaranteed to be uniformly ultimately bounded. Finally, simulations are presented to show the proposed algorithm has the advantages of faster convergence rate, higher tracking accuracy, and better steady-state performance. (shrink)

The principle of compositionality (PC) claims that the meaning of a compound expression is determined by the meanings of its constituent expressions and the way they compose. Is it true or false? Does it apply to both natural and formalised languages? In order to answer, we must examine various formal versions of PC, the notion of meaning and the patterns of composition. Moreover, further principles are called for to determine its import and, in particular, its relationships with the Context Principle, (...) which seems to be inconsistent with PC. The paper deals with some aspects of the issues involved, by considering both empirical and model-theoretic results on compositionality obtained in recent years. The main thesis is that only if the parametric form of PC is acknowledged, the above questions can receive a definite answer. To this aim, the paper makes the conditions for the consistency of PC with context-dependence explicit. Such conditions allow for the stability of a schematic conceptual/epistemic core, in contrast with the slippery slope leading to holistic pragmatism. (shrink)

Head stabilization is fundamental for balance during locomotion but can be impaired in elderly or diseased populations. Previous studies have identified several parameters of head stability with possible diagnostic value in a laboratory setting. Recently, the ecological validity of measures obtained in such controlled contexts has been called into question. The aim of this study was to investigate the ecological validity of previously described parameters of head stabilization in a real-world setting. Ten healthy subjects participated in the study. Head (...) and trunk movements of each subject were recorded with inertial measurement units (IMUs) for a period of at least ten hours. Periods of locomotion were extracted from the measurements and predominant frequencies, root mean squares (RMSs) and bout lengths were estimated. As parameters of head stabilization, attenuation coefficients (ACs), harmonic ratios (HRs), coherences and phase differences were computed. Predominant frequencies were distributed tightly around 2 Hz and ACs, HRs and coherences exhibited the highest values in this frequency range. All head stability parameters exhibited characteristics consistent with previous reports, although higher variances were observed. These results suggest that head stabilization is tuned to the 2 Hz fundamental frequency of locomotion and that previously described measures of head stability could generalize to a real-world setting. This is the first study to address the ecological validity of these measures, highlighting the potential use of head stability parameters as diagnostic tools or outcome measures for clinical trials. The low cost and ease of use of the IMU technology used in this study could additionally be of benefit for a clinical application. (shrink)

In this contribution, we use the connection between stable polynomials and orthogonal polynomials on the real line to construct sequences of Hurwitz polynomials that are robustly stable in terms of several uncertain parameters. These sequences are constructed by using properties of orthogonal polynomials, such as the well-known three-term recurrence relation, as well as by considering linear combinations of two orthogonal polynomials with consecutive degree. Some examples are presented.

Legal and philosophical theories of religious exemptions have primarily understood them as a means toward one or more moral ends: protecting rights and securing equality, primarily. But exemptions also serve an under-theorized stabilizing function in resolving conflicts between law and belief. In this paper, I argue that these conflicts pose a challenge to public justification, and ipso facto to political stability. I then show how religious exemptions can support stability by ameliorating these conflicts, and elaborate parameters for identifying (...) those exemptions most likely to achieve this stability-enhancing effect. (shrink)

Legal and philosophical theories of religious exemptions have primarily understood them as a means toward one or more moral ends: protecting rights and securing equality, primarily. But exemptions also serve an under-theorized stabilizing function in resolving conflicts between law and belief. In this paper, I argue that these conflicts pose a challenge to public justification, and ipso facto to political stability. I then show how religious exemptions can support stability by ameliorating these conflicts, and elaborate parameters for identifying (...) those exemptions most likely to achieve this stability-enhancing effect. (shrink)

In the past few decades, a lot of optimization methods have been applied in estimating the parameter of photovoltaic models and obtained better results, but these methods still have some deficiencies, such as higher time complexity and poor stability. To tackle these problems, an enhanced success history adaptive DE with greedy mutation strategy is employed to optimize parameters of PV models to propose a parameter optimization method in this paper. In the EBLSHADE, the linear population size reduction (...) strategy is used to gradually reduce population to improve the search capabilities and balance the exploitation and exploration capabilities. The less and more greedy mutation strategy is used to enhance the exploitation capability and the exploration capability. Finally, a parameter optimization method based on EBLSHADE is proposed to optimize parameters of PV models. The different PV models are selected to prove the effectiveness of the proposed method. Comparison results demonstrate that the EBLSHADE is an effective and efficient method and the parameter optimization method is beneficial to design, control, and optimize the PV systems. (shrink)

The paper discusses three different ways of explaining the referential stability of concepts of physics. In order to be successful, an approach to referential stability has to provide resources to understand what constitutes the difference between the birth of a new concept with a history of its own, and an innovative step occurring within the lifetime of a persisting concept with stable reference. According to Theodore Arabatzis' 'biographical' approach (Representing Electrons 2006), the historical continuity of representations of the (...) electron manifests itself by the numerical stability of experimental parameters like the charge-to-mass ratio, and the continued acceptance of earlier experiments as manifestations of electron properties. I argue, against Arabatzis' approach, that the stability of experimental parameters justifies the assumption that there exists a chain of representations of a unique theoretical entity only if this stability occurs against the background of evidence for theoretical continuity. The Bain/Norton approach proposes to add exactly this element to the picture, but fails to reach its aim by focusing on formal similarities of Hamiltonians as an indicator of theoretical continuity. I shall argue that theoretical continuity has to be demonstrated rather on the level of particular solutions. This task is accomplished by the semantic embedding approach by means of defining a co-reference criterion for theoretical terms requiring the existence of semantic embedding relations between the terms that occur in particular solutions of different theories. (shrink)

The H ∞ performance of a class of T-S fuzzy systems with Markovian-jump parameters is analyzed. A state feedback controller is designed for T-S fuzzy systems with Markovian-jump parameters. First, a new modal-dependent Lyapunov function composed of closed-loop functions is constructed, which can fully use system status information. Based on this function, the stability conditions with less conservatism are given by linear matrix inequalities. At the same time, a design algorithm for a state feedback controller is proposed for the (...) Markovian-jump-parameters T-S fuzzy systems, which ensures the system’s stability under the condition of H ∞ − γ performance. Simulation results demonstrate that the mentioned method is accurate and practical. (shrink)

Investigation of the 4 th order dynamic systems characteristic polynomials behavior in conditions of the interval parametric uncertainties is carried out on the basis of root locus portraits. The roots behavior regularities and corresponding diagrams for the root locus parameter distribution along the asymptotic stability bound are specified for the root locus portraits of the systems. On this basis the stability conditions are derived, graphic-analytical method is worked out for calculating intervals of variation for the polynomial family (...) parameters ensuring its robust stability. The discovered regularities of the system root locus portrait behavior allow to extract hurwitz sub-families from the non-hurwitz families of interval polynomials and to determine whether there exists at least one stable polynomial in the unstable polynomial family. (shrink)

This work introduces a three-dimensional, highly nonlinear quadratic oscillator with no linear terms in its equations. Most of the quadratic ordinary differential equations such as Chen, Rossler, and Lorenz have at least one linear term in their equations. Very few quadratic systems have been introduced and all of their terms are nonlinear. Considering this point, a new quadratic system with no linear term is introduced. This oscillator is analyzed by mathematical tools such as bifurcation and Lyapunov exponent diagrams. It is (...) revealed that this system can generate different behaviors such as limit cycle, torus, and chaos for its different parameters’ sets. Besides, the basins of attractions for this system are investigated. As a result, it is revealed that this system’s attractor is self-excited. In addition, the analog circuit of this oscillator is designed and analyzed to assess the feasibility of the system’s chaotic solution. The PSpice simulations confirm the theoretical analysis. The oscillator’s time series complexity is also investigated using sample entropy. It is revealed that this system can generate dynamics with different sample entropies by changing parameters. Finally, impulsive control is applied to the system to represent a possible solution for stabilizing the system. (shrink)

This communique presents the Q-S synchronization of two nonidentical complex nonlinear hyperchaotic systems with unknown parameters. An adaptive controller based on adaptive integral sliding mode control and parameter update laws are designed to realize the synchronization and parameter identification to a given map vector. The aforementioned strategy’s employment demands the transformation of a system into a specific structure containing a nominal part and some unknown terms. An integral sliding mode controller is used to stabilize the error system by (...) designing nominal control accompanied by compensator control. For chattering suppression, a continuous compensator of smooth nature is used instead of conventional control. The stability of the proposed algorithm is established in an impressive way, using Lyapunov criteria. A numerical simulation is performed to illustrate the validity of the proposed synchronization scheme. (shrink)

Multiple sensory signals from visual, somatosensory and vestibular systems are used for human postural control. To maintain postural stability, the central nervous system keeps the center of mass (CoM) within the base of support. The influence of the stomatognathic motor system on postural control has been established under static conditions, but it has not yet been investigated during dynamic steady-state balance. The purpose of the study was to investigate the effects of controlled stomatognathic motor activity on the control and (...) stability of the CoM during dynamic steady-state balance. A total of 48 physically active and healthy adults were assigned to three groups with different stomatognathic motor conditions: jaw clenching, tongue pressing and habitual stomatognathic behavior. Dynamic steady-state balance was assessed using an oscillating platform and the kinematic data were collected with a 3D motion capturing system. The path length (PL) of the 3D CoM trajectory was used for quantifying CoM sway. Temporal dynamics of the CoM movement was assessed with a detrended fluctuation analysis (DFA). An uncontrolled manifold (UCM) analysis was applied to assess the stability and control of the CoM with a subject-specific anthropometric 3D model. The statistical analysis revealed that the groups did not differ significantly in PL, DFA scaling exponents or UCM parameters. The results indicated that deliberate jaw clenching or tongue pressing did not seem to affect the sway, control or stability of the CoM on an oscillating platform significantly. Because of the task-specificity of balance, further research investigating the effects of stomatognathic motor activities on dynamic steady-state balance with different movement tasks are needed. Additionally, further analysis by use of muscle synergies or co-contractions may reveal effects on the level of muscles, which were not visible on the level of kinematics. This study can contribute to the understanding of postural control mechanisms, particularly in relation to stomatognathic motor activities and under dynamic conditions. (shrink)

A decentralized adaptive control based on human linguistic is investigated to learn human behaviors for multiple robotic manipulators. Many experts’ words or sentences can be transferred into the control actions by employing membership functions in robot systems, which can be synthesized fuzzy controller by employing reasoning mechanism. For the unknown model dynamical robot manipulators, one adjustable parameter that relates to the approximation accuracy of fuzzy logic systems is introduced at first, which be utilized to deal with the unknown dynamics (...) of robot manipulators. Switching fuzzy adaptive controller is designed to overcome the limitation of logic structure that the number of adaptive laws only focus on fuzzy rules in conventional fuzzy logic systems. Another advantage of this design method is that the control with human linguistic extend the semi-global stability to global stability. Finally, effectiveness of the developed control design scheme has been shown in simulation example. (shrink)

It is argued that the equilibrium point model can lead to new insights regarding transition and stability processes in movement coordination. The role of movement control parameters on equifinality and phase-resetting is discussed; not only control but also external control parameters can affect the global dynamical regime.

This paper presents an in-depth analysis of tennis match scene classification using an adaptive Gaussian mixture model parameter estimation simulation algorithm. We divided the main components of semantic analysis into type of motion, distance of motion, speed of motion, and landing area of the tennis ball. Firstly, for the problem that both people and tennis balls in the video frames of tennis matches from the surveillance viewpoint are very small, we propose an adaptive Gaussian mixture model parameter estimation (...) algorithm, which has good accuracy and speed on small targets. Secondly, in this paper, we design a sports player tracking algorithm based on role division and continuously lock the target player to be tracked and output the player region. At the same time, based on the displacement information of the key points of the player’s body and the system running time, the distance and speed of the player’s movement are obtained. Then, for the problem that tennis balls are small and difficult to capture in high-speed motion, this paper designs a prior knowledge-based algorithm for predicting tennis ball motion and landing area to derive the landing area of tennis balls. Finally, this paper implements a prototype system for semantic analysis of real-time video of tennis matches and tests and analyzes the performance indexes of the system, and the results show that the system has good performance in real-time, accuracy, and stability. (shrink)

Methods Young healthy heterosexual couples underwent sleep-lab-based polysomnography of two sleeping arrangements: individual sleep and co-sleep. Individual and dyadic sleep parameters (i.e., synchronization of sleep stages) were collected. The latter were assessed using cross-recurrence quantification analysis. Additionally, subjective sleep quality, relationship characteristics, and chronotype were monitored. Data were analyzed comparing co-sleep vs. individual sleep. Interaction effects of the sleeping arrangement with gender, chronotype, or relationship characteristics were moreover tested. Results As compared to sleeping individually, co-sleeping was associated with about 10% (...) more REM sleep, less fragmented REM sleep (p = 0.008), longer undisturbed REM fragments (p = 0.0006), and more limb movements (p = 0.007). None of the other sleep stages was significantly altered. Social support interacted with sleeping arrangement in a way that individuals with suboptimal social support showed the biggest impact of the sleeping arrangement on REM sleep. Sleep architectures were more synchronized between partners during co-sleep (p = 0.005) even if wake phases were excluded (p = 0.022). Moreover, sleep architectures are significantly coupled across a lag of ± 5min. Depth of relationship represented an additional significant main effect regarding synchronization, reflecting a positive association between the two. Neither REM sleep nor synchronization was influenced by gender, chronotype, or other relationship characteristics. Conclusion Depending on the sleeping arrangement, couple's sleep architecture and synchronization show alterations that are modified by relationship characteristics. We discuss that these alterations could be part of a self-enhancing feedback loop of REM sleep and sociality and a mechanism through which sociality prevents mental illness. (shrink)

Algorithmic software for mathematical modeling of structural stability is considered, which is reduced to solving a partial generalized eigenvalues problem of sparse matrices, with automatic parallelization of calculations on modern parallel computers with graphics processors. Peculiarities of realization of parallel algorithms for different structures of sparse matrices are presented. The times of solving the problem of stability of composite materialsusing a three-dimensional model of "finite size fibers" on computers of different architectures are given. In mathematical modeling of physical (...) and technical processes in many cases there is a need to solve problems of algebraic problem of eigenvalues with sparse matrices of large volumes. In particular, such problems arise in the analysis of the strength of structures in civil and industrial construction, aircraft construction, electric welding, etc. The solving to these problems is to determine the eigenvalues and eigenvectors of sparse matrices of different structure. The efficiency of solving these problems largely depends on the effectiveness of mathematical modeling of the problem as a whole. Continuous growth of task parameters, calculation of more complete models of objects and processes on computers require an increase in computer productivity. High-performance computing requirements are far ahead of traditional parallel computing, even with multicore processors. High-performance computing requirements are far ahead of traditional parallel computing, even with multicore processors. Today, this problem is solved by using powerful supercomputers of hybrid architecture, such as computers with multicore processors and graphics processors, which combine MIMD and SIMD architectures. But the potential of high-performance computers can be used to the fullest only with algorithmic software that takes into account both the properties of the task and the features of the hybrid architecture. Complicating the architecture of modern high-performance supercomputers of hybrid architecture, which are actively used for mathematical modeling means a significant complication of efficient use of these resources in creating parallel algorithms and programs. here are problems with the creation of algorithmic software with automatic execution of stages of work, which are associated with the efficient use of computing resources, ways to store and process sparse matrices, analysis of the reliability of computer results. This makes it possible to significantly increase the efficiency of mathematical modeling of practical problems on modern high-performance computers, as well as free users from the problems of parallelization of complex problems. he developed algorithmic software automatically implements all stages of parallel computing and processing of sparse matrices on a hybrid computer. It was used at the Institute of Mechanics named after S.P. Tymoshenko NAS of Ukraine in modeling the strength problems of composite material. A significant improvement in the time characteristics of mathematical modeling was obtained. Problems of mathematical modeling of the properties of composite materials has an important role in designing the processes of deformation and destruction of products in various subject areas. Algorithmic software for mathematical modeling of structural stability is considered, which is reduced to solving a partial generalized problem of eigen values of sparse matrices of different structure of large orders, with automatic parallelization of calculations on modern parallel computers with graphics processors. The main methodological principles and features of implementation of parallel algorithms for different structures of sparse matrices are presented, which ensure effective implementation of multilevel parallelism of a hybrid system and reduce data exchange time during the computational process. As an example of these approaches, a hybrid algorithm of the iteration method in subspace for tape and block-diagonal matrices with a frame for computers of hybrid architecture is given. Peculiarities of data decomposition for matrices of profile structure at realization of parallel algorithms are considered. The proposed approach provides automatic determination of the required topology of the hybrid computer and the optimal amount of resources for the organization of an efficient computational process. The results of testing the developed algorithmic software for problems from the collection of the University of Florida, as well as the times of solving the problem of stability of composite materials using a three-dimensional model of "finite size fibers" on computers of different architectures. The results show a significant improvement in the time characteristics of solving problems. (shrink)

The whale optimization algorithm is a powerful swarm intelligence method which has been widely used in various fields such as parameter identification of solar cells and PV modules. In order to better balance the exploration and exploitation of WOA, we propose a novel modified WOA in which both the mutation strategy based on Levy flight and a local search mechanism of pattern search are introduced. On the one hand, Levy flight can make the algorithm get rid of the local (...) optimum and avoid stagnation; thus, it is able to prevent the algorithm from losing diversity and to increase the global search capability. On the other hand, pattern search, a direct search method, has not only high convergence rate but also good stability, which can boost the local optimization ability of the WOA. Therefore, the combination of these two mechanisms can greatly improve the capability of WOA to obtain the best solution. In addition, MWOA may be employed to estimate parameters in single diode model, double diode model, and PV modules and to identify unknown parameters of two different types of PV modules under diverse light irradiance and temperature conditions. The analytical results demonstrate the validity and the practicality of MWOA for estimating parameters of solar cells and PV modules. (shrink)

Unmanned aerial vehicles, particularly quadcopters, have several medical, agriculture, surveillance, and security applications. However, the use of this innovative technology for civilian applications is still very limited in low-income countries due to the high cost, whereas low-cost controllers available in the market are often tuned using the hit and trial approach and are limited for specific applications. This paper addresses this issue and presents a novel proof of concept low-cost quadcopter UAV design approach using a systematic Model-Based Design method for (...) mathematical modeling, simulation, real-time testing, and prototyping. The quadcopter dynamic model is developed, and controllers are designed using Proportional Integral, and Derivative, Pole Placement, and Linear Quadratic Regulator control strategies. The stability of the controllers is also checked using Lyapunov stability analysis. For verification and validation of the design, Software-in-the-Loop, Processor-in-the-Loop, Hardware-in-the-loop testing, and Rapid Control Prototyping have been performed. The V&V methods of the MBD approach showed practically valid results with a stable flight of the quadcopter prototype. The proposed low-cost POC quadcopter design approach can be easily modified to have enhanced features, and quadcopters with different design parameters can be assembled using this approach for a diverse range of applications. (shrink)

The vestibular system is critical for human locomotion. Any deteriorated vestibular system leads to gait instability. In the past decades, these alternations in gait patterns have been majorly measured by the spatial-temporal gait parameters and respective variabilities. However, measuring gait characteristics cannot capture the full aspect of motor controls. Thus, to further understand the effects of deteriorated vestibular system on gait performance, additional measurement needs to be taken into consideration. This study proposed using the margin of stability to identify (...) the patterns of dynamic control under different types of mastoid vibrations in walking. This study hypothesized that using the MOS method could facilitate the understanding of another aspect of motor control induced by different types of mastoid vibrations, and applying the mastoid vibrations could induce the asymmetric MOS. Twenty healthy young adults were recruited. Two electromechanical vibrotactile transducers were placed on the bilateral mastoid process to apply different types of vestibular vibrations. A motion capture system with eight cameras was used to measure the MOSap, MOSml, and respective variabilities. The results were in line with the hypotheses that both bilateral and unilateral mastoid vibrations significantly increased MOSap, MOSml, and respective variabilities p = 0.001, p < 0.001; p = 0.001, p < 0.01 when compared to the no vibration condition. Also, significantly larger MOSml, MOSml variability, MOSap, and MOSap variability were observed under the unilateral vibration condition than that observed under the bilateral vibration condition. The above-mentioned result found that different types of mastoid vibrations affected the MOS differently, suggesting different patterns of control mechanisms under different sensory-conflicted situations. Besides, a significant difference between the dominant and non-dominant legs was observed in MOSml. Moreover, applying the unilateral mastoid vibrations induced a greater symmetric index of MOSml, suggesting that more active control in balance was needed in the medial-lateral than in the anterior-posterior direction. (shrink)

This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the (...) image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control. (shrink)