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Study on Decentralization of Spherical Amphibious Multi-robot Control System Based on Smart Contract and Blockchain

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Journal of Bionic Engineering 2021年第6期18卷 1317-1330页

作者： Shuxiang guo Sheng Cao jian guo Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa UniversityTakamatsuKagawaJapan

With the development of intelligent bionic robots and the improvement of military application,a single robot cannot meet the requirements of the tasks of the current *** more complex tasks require not only that the robot be able to pass through the field barriers and the amphibious environment,but also that the robot be able to collaborate in a multi-robot ***,research on the multi-robot control system of spherical amphibious robots is very ***,the main research on amphibious robots is to improve the functions of a single robot,in the absence of the study of the multi-robot control *** systems primarily use a centralized control *** the transfer of central node can be achieved,there is still a problem of Byzantine fault tolerance in military applications,that is,when the amphibious multi-robot system is invaded by the *** central node may not only fail to accomplish the task,but also lose control of other robots,with severe *** solve the above problems,this paper proposed a decentralized method of spherical amphibious multi-robot control system based on blockchain ***,the point-to-point information network based on long range radio technology of low power wide area network was set up,we designed the blockchain system for embedded application environment and the decentralized hardware and software architecture of multi-robot control *** this basis,the consensus plugin,smart contract and decentralized multi-robot control algorithm were designed to achieve *** experimental results of consensus of spherical amphibious multi-robot showed the effectiveness of the decentralization.

关键词： Amphibious robot Blockchain Smart contract Control system Decentralization

Path Optimization Method for the Spherical Underwater Robot in Unknown Environment

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Journal of Bionic Engineering 2020年第5期17卷 944-958页

作者： jian guo Chunying Li Shuxiang guo Tianjin Key Laboratory for Control Theory&Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyTianjin 300384China Department of Intelligent Mechanical Systems Engineering Faculty of EngineeringKagawa UniversityTakamatsu 761-0396Japan

One of the major respects of the autonomous capability of underwater robots in unknown environment is to be capable of global path planning and obstacles avoiding when encountering abrupt *** the Spherical Underwater Robot(SUR)to fulfill autonomous task execution,this paper proposed a novel fuzzy control method that incorporates multi-sensor technology to guide underwater robots in unknown *** attain the objective,a SUR we designed is used to design the *** to its kinematic model,the safety distance was calculated and sensors(US1000-21 A)were *** novel fuzzy control method was then explored for robot's path planning in an unknown environment through *** simulation results demonstrate the capability of the proposed method to guide the robot,and to generate a safe and smooth trajectory in an unknown *** effectiveness of the proposed method was further verified through experiments with a SUR in a real *** real environment experiments by using the novel fuzzy control method were compared with the basic control *** experimental results show that in unknown environments,the proposed method improves the execution efficiency and flexibility of the SUR.

关键词： path planning fuzzy control spherical underwater robot unknown environment

Analytic Solutions of an Iterative Differential Equation under Brjuno Condition

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Acta Mathematica Sinica,English Series 2009年第9期25卷 1469-1482页

作者： jian LIU jian guo SI School of Science University of Ji'nan Ji'nan 250022 P.R. China School of Mathematics Shandong University Ji'nan 250100 P.R. China

In this paper, the differential equation involving iterates of the unknown function,x＇（z）=[a^2-x^2（z）]x^[m]（z）with a complex parameter a, is investigated in the complex field C for the existence of analytic solutions. First of all, we discuss the existence and the continuous dependence on the parameter a of analytic solution for the above equation, by making use of Banach fixed point theorem. Then, as well as in many previous works, we reduce the equation with the SchrSder transformation x（z） = y（αy^-1（z）） to the following another functional differential equation without iteration of the unknown functionαy＇（αz）=[a^2-y^2（αz）]y＇（z）y（α^mz）,which is called an auxiliary equation. By constructing local invertible analytic solutions of the auxiliary equation, analytic solutions of the form y（αy^-1 （z）） for the original iterative differential equation are obtained. We discuss not only these α given in SchrSder transformation in the hyperbolic case 0 〈｜α｜〈 1 and resonance, i.e., at a root of the unity, but also those α near resonance （i.e., near a root of the unity） under Brjuno condition. Finally, we introduce explicit analytic solutions for the original iterative differential equation by means of a recurrent formula, and give some particular solutions in the form of power functions when a = 0.

关键词： iterative differential equation analytic solution Banach fixed point theorem resonance Diophantine condition Brjuno condition

Flow separation control over an airfoil using continuous alternating current plasma actuator

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Chinese Physics B 2021年第3期30卷 346-355页

作者： jian-guo Zheng School of Aerospace Engineering Huazhong University of Science and TechnologyWuhan 430074China

The flow separation control over an NACA 0015 airfoil using continuous alternating current(AC)dielectric barrier discharge(DBD)plasma actuator is investigated experimentally and *** work is intended to report some observations made from our experiment,to which little attention is paid in the previous studies,but which is thought to be important to the understanding of control of complex flow separation with AC *** this end,the response of separated flow to AC plasma actuation is visualized through the time-resolved particle image velocimetry(PIV)measurement,whereas numerical simulation is carried out to complement the *** flow control process at chord-based Reynolds number(Re)of 3.31×105 is *** is found that the response of external flow to plasma forcing is delayed for up to tens of milliseconds and the delay time increases with angle of attack *** observed is that at the intermediate angle of attack near stall,the forced flow features a well re-organized flow ***,for airfoil at high post-stall angle of attack,the already well suppressed flow field can recover to the massively separated flow state and then reattach to airfoil surface with the flow pattern fluctuating between the two states in an irregular *** is contrary to one’s first thought that the forced flow at any angles of attack will become well organized and regular,and reflects the complexity of flow separation control.

关键词： dielectric barrier discharge plasma actuator alternating current plasma discharge flow separation flow control delayed response

Risk assessment of hazardous materials transportation:A review of research progress in the last thirty years

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Journal of Traffic and Transportation Engineering(English Edition) 2022年第4期9卷 571-590页

作者： jian guo Cheng Luo College of Civil Engineering Zhejiang University of TechnologyHangzhou 310023China School of Civil Engineering Southwest Jiaotong UniversityChengdu 610031China

In recent years,hazardous materials transportation accidents occur frequently,causing huge casualties and property *** assessment of hazardous materials transportation has been constantly investigated by researchers and *** order to study the research progress of risk assessment of hazardous materials transportation,so as to better reveal relevant *** review systematically analyzes the existing literature,from 1991 to 2020,on risk assessment models and methods of hazardous materials transportation,and segregates the relevant studies based on unimodal and intermodal transportation ***,an example is considered to analyze the characteristics of each risk assessment model of unimodal transportation,and a novel detailed classification is proposed for the risk assessment *** results indicate that the research on the risk assessment model of road transportation of hazardous materials is comprehensive,whereas that based on the railway and intermodal transportations is *** comparison with the traditional risk assessment model,the conditional value-at-risk model presents a flexible decision-making framework for decision-makers and controls risk preference between risk neutrality and risk *** to the difficulty in achieving door-to-door railway transportation and the increased risks associated with the intermodal transportation,the conclusion that the risk of railway and multimodal transportation of hazardous materials is lower than that of road transportation is not *** operators and governments can combine the advantages of different transportation modes,such as low risk,low cost,high flexibility,and high reliability,to achieve public safety and improve the competence of the *** on the proposed classification,this review identifies the existing trends and research gaps and summarizes future research directions.

关键词： Transportation Hazardous materials Risk assessment Transportation modes Risk model

Signal classification method based on data mining formulti-mode radar

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Journal of Systems Engineering and Electronics 2016年第5期27卷 1010-1017页

作者： qiang guo pulong nan jian wan College of Information and Communication Engineering Harbin Engineering University Harbin 150001 China

For the multi-mode radar working in the modern electronicbattlefield, different working states of one single radar areprone to being classified as multiple emitters when adoptingtraditional classification methods to process intercepted signals,which has a negative effect on signal classification. A classificationmethod based on spatial data mining is presented to address theabove challenge. Inspired by the idea of spatial data mining, theclassification method applies nuclear field to depicting the distributioninformation of pulse samples in feature space, and digs out thehidden cluster information by analyzing distribution *** addition, a membership-degree criterion to quantify the correlationamong all classes is established, which ensures classificationaccuracy of signal samples. Numerical experiments show that thepresented method can effectively prevent different working statesof multi-mode emitter from being classified as several emitters,and achieve higher classification accuracy.

关键词： multi-mode radar signal classification data mining,nuclear field cloud model membership.

A novel depressor useful for flotation separation of diaspore and kaolinite

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Mining Science and Technology 2010年第2期20卷 292-295页

作者： guo, jian information school beijing wuzi universitybeijfing 101149china

The floatation of the minerals diaspore and kaolinite was investigated using dodecylamine as the *** diaspore and kaolinite in a neutral pH pulp is difficult since they then have similar floatability.A depressor consisting of an AlCl3/Na2SiO3 mixture is demonstrated to solve this *** sinking may be seen when the ratio of AlCl3 to Na2SiO3 is 3:*** refer to this mixture as *** influence of Al/Si ratio in the feedstock and the grain size of fed minerals on separation was *** Al/Si ratio in the concentrate greater than 11 may be obtained when the Al/Si ratio of the feed is between 2.53 and ***,the grain size of the diaspore greatly influences the concentrate *** grain size of the diaspore(<40 μm) in pulp makes the flotation separation less than ideal,no matter what the kaolinite grain size.

关键词： diaspore kaolinite dodecylamine ATNO depressor

Experimental investigation of combustion mechanisms of kerosene-fueled scramjet engines with double-cavity flameholders

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Acta Mechanica Sinica 2011年第6期27卷 891-897页

作者： Yu Pan jian-guo Tan jian-Han Liang Wei-Dong Liu Zhen-guo Wang Department of Aerospace and Material National University of Defense and Technology 410073 Changsha China

A scramjet combustor with double cavitybased flameholders was experimentally studied in a directconnected test bed with the inflow conditions of M = 2.64,Pt = 1.84 MPa,Tt = 1 300 *** ignition and selfsustained combustion with room temperature kerosene was achieved using pilot hydrogen,and kerosene was vertically injected into the combustor through 4×φ 0.5 mm holes mounted on the *** different equivalence ratios and different injection schemes with both tandem cavities and parallel cavities,flow fields were obtained and compared using a high speed camera and a Schlieren *** revealed that the combustor inside the flow field was greatly influenced by the cavity installation scheme,cavities in tandem easily to form a single side flame distribution,and cavities in parallel are more likely to form a joint flame,forming a choked combustion *** supersonic combustion flame was a kind of diffusion flame and there were two kinds of combustion *** the unchoked combustion mode,both subsonic and supersonic combustion regions *** in the choked mode,the combustion region was fully subsonic with strong shock propagating *** also showed that there was a balance point between the boundary separation and shock enhanced combustion,depending on the intensity of heat release.

关键词： Scramjet. Supersonic combustion. Flame structure Cavity flameholder

Fluorite REE characteristics of the Diyanqinamu Mo deposit,Inner Mongolia, China

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Chinese Journal Of Geochemistry 2015年第4期34卷 610-619页

作者： Long jian Hairui Sun jian'guo Gao Faculty of Land Resource Engineering Kunming University of Science and Technology Development and Research Center of China Geological Survey National Exploration and Development Planning Technical Guidance Center in Ministry of Land and Resorces China University of Geosciences State Key Laboratory of Ore Deposit Geochemistry Institute of Geochemistry Chinese Academy of Sciences

The Diyanqinamu Mo deposit, a newly discovered porphyry deposit in the northern-central part of the Great Xing'an Range, Inner Mongolia, China, is characterized by widely distributed fluorite. It is important to note that almost all the fluorite that is paragenetic with molybdenite is purple. The Tb/Ca–Tb/La ratios of these purple fluorite samples show that they have a hydrothermal *** unidirectional solidification texture at the apex of the aplitic granite and the low F contents in the andesite suggest that most of F in fluorite was derived from granitic melts. These observations suggest that the fluorite was related to the magmatic-hydrothermal fluids. All the fluorite separates have consistent total REE contents with LREE-depleted, HREE-enriched, negative Eu anomaly,unapparent Ce anomaly and positive Y anomaly. These characteristics are significantly different than those of country granite, andesite and tuff whole-rock. The positive Y anomaly of the fluorite separates implies that the hydrothermal fluids migrated a long distance, as suggested by the fact that the fluorite-molybdenite veins were mostly hosted in andesite and tuff, far from the Mo ore-forming granites. The features of LREE-depleted and HREE-enriched fluorite are due to the REE-complex in the F-enriched fluids during migration. The stronger negative Eu anomaly of fluorite than those of country rocks suggests that the Eu anomaly of the original hydrothermal fluid was enhanced by the high temperature(generally above 200 or250 °C). The widespread magnetite in the studied deposit indicates that the magmatic-hydrothermal fluid was oxidized at early stage. On the other hand, the pyrite was also paragenetic, with the molybdenite and unapparent Ce anomaly implying that the hydrothermal fluid probably experienced oxygen fugacity decreasing during migration,which is important for Mo mineralization.

关键词：钼矿床稀土元素特征内蒙古萤石中国热液成因岩浆热液迁移过程