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Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints

Science China(Technological Sciences) 2018年第10期61卷 1528-1536页

作者： YANG HongJun LIU JinKun HE Wei State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences School of Automation Science and Electrical Engineering Beihang University School of Automation and Electrical Engineering University of Science and Technology Beijing

The issue of output constraints is studied for a flexible-link manipulator in the presence of unknown spatially distributed disturbances. The manipulator can be taken as an Euler-Bernoulli beam and its dynamic is expressed by partial differential equations. On account of the uncertainty of disturbances, we present a disturbance observer to estimate infinite dimensional disturbances on the beam. The observer is proven exponentially stable. Considering the problem of output constraints in the practical engineering, we propose a novel distributed vibration controller based on the disturbance observer to fulfill the position regulation of the joint angle and suppress elastic deflections on the flexible link, while confining the regulating errors of output in a suitable scope that we can assign. The closed-loop system is demonstrated exponentially stable based on an integral-barrier Lyapunov function. Simulations validate the effectiveness of the design scheme.

关键词： flexible manipulator distributed vibration control disturbance observer partial differential equation output constraint distributed parameter system

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CodeRAG: Supportive Code Retrieval on Bigraph for Real-World Code Generation

arXiv

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arXiv 2025年

作者： Li, Jia Shi, Xianjie Zhang, Kechi Li, Lei Li, Ge Tao, Zhengwei Liu, Fang Tao, Chongyang Jin, Zhi Key Lab of High Confidence Software Technology Peking University MoE School of Computer Science Peking University China The University of Hong Kong Hong Kong School of Computer Science and Engineering State Key Laboratory of Complex & Critical Software Environment Beihang University China Beihang University China

Large language models (LLMs) have shown promising performance in automated code generation, especially excelling in simple tasks such as generating standalone codes. Different from simple tasks, real-world code generation usually depends on specific programming environment (e.g., code repositories). It contains complex dependencies and domain knowledge, which is needed for LLMs when generating target code snippets. In this paper, we propose CodeRAG, a retrieval-augmented code generation (RAG) framework to comprehensively retrieve supportive codes for real-world code generation. Beginning with the requirement, CodeRAG first constructs a requirement graph for the current repository, and retrieves sub- and similar- requirement nodes of the target requirement on the graph. Meanwhile, it models the repository into a DS-code graph. CodeRAG then maps these relevant requirement nodes into their corresponding code nodes, and treats these code nodes as archors for LLM reasoning on DS-code graph. Finally, CodeRAG introduces a code-oriented agentic reasoning process, seamlessly allowing LLMs to reason and comprehensively retrieve for supportive codes which LLMs’ need for generating correct programs. Experiments show that CodeRAG achieves significant improvements (i.e., increasing 40.90 and 37.79 Pass@1 on GPT-4o and Gemini-Pro on DevEval) compared to no RAG scenarios. Further tests on reasoning LLMs (i.e., QwQ-32B) confirm CodeRAG’s adaptability and efficacy across various types of LLMs. In addition, CodeRAG outperforms commercial programming products such as Copilit and Cursor. We further investigate the performance of our framework on different dependency types, and observe that CodeRAG is superior in generating examples where target codes invoke predefined cross-file code snippets. These results demonstrate CodeRAG’s potential in solving real-world repo-level coding challenges. Copyright © 2025, The Authors. All rights reserved.

关键词： Report generators

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How does supergravity affect combustion?

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Acta Mechanica Sinica 2024年第6期40卷 39-40页

作者： Wenjun Kong Zheng Chen School of Astronautics Beihang UniversityBejing 102206China State Key Laboratory of Turbulence and Complex System Cllege of EngineeringPeking Universy Beijing 100871Chin

It is well known that gravity may have a profound impact on the combustion process under certain conditions[1].The densities of the gaseous combustion products are typically 5-12 times lower than those of *** normal gravity conditions,the density difference generates buoyant forces that drive the flow,which affects the combustion process through flow-transport-chemistry *** example,the buoyant convection in normal gravity causes the candle flame to be shaped like a teardrop while spherical candle flame is observed in ***,microgravity combustion has drawn great attention.A series of combustion experiments have been and will be conducted in the International Space Station and Chinese Space *** fact,significant progress has been made in microgravity *** example,the discovery of steadily burning cool flames[2]in microgravity experiments was regarded as one of the"20 Breakthroughs from 20 Years of Science aboard the International Space Station".

关键词： interaction. reactant typically

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Research on survivability analysis method of spatial information network based on dynamic cumulative model 6

Research on survivability analysis method of spatial informa...

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6th International Conference on Electronic Information Technology and Computer engineering, EITCE 2022

作者： Zhao, Zhongwen Li, Guodong Lu, Di Key Laboratory of Complex Electronic System Simulation Space Engineering University Beijing China

ISBN: (纸本)9781450397148

In view of the problem that multifunctional hierarchy and dynamic characteristics are not considered simultaneously in the research methods of survivability of spatial information networks. This paper first summarizes the main methods of survivability research and three main attack strategies. Secondly, the idea of data flow and the method of time accumulation graph were integrated into the spatial information network model, and the multi-layer dynamic spatial network accumulation model was established. Finally, the navigation satellite network, communication satellite network and remote sensing satellite network are taken as examples to construct the spatial information network simulation plan, and the attack is carried out according to the three attack strategies, and the survivability of the spatial information network is analyzed. The experimental results verify the rationality of the proposed method and the effectiveness of the index, and explore the rules. © 2022 Association for Computing Machinery.

关键词： Satellites

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Explicit solvent molecular dynamics simulations of chaperonin-assisted rhodanese folding

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Particuology 2009年第3期7卷 220-224页

作者： Ying Ren Jian Gao Ji XU Wei Ge Jinghai Li State Key Laboratory of Multiphase Complex System Institute of Process Engineering Chinese Academy of Sciences Beijing 100190 China Graduate University of the Chinese Academy of Sciences Beijing 100039 China

Chaperonins are known to facilitate the productive folding of numerous misfolded proteins. Despite their established importance, the mechanism of chaperonin-assisted protein folding remains unknown. In the present article, all-atom explicit solvent molecular dynamics （MD） simulations have been performed for the first time on rhodanese folding in a series of cavity-size and cavity-charge chaperonin mutants. A compromise between stability and flexibility of chaperonin structure during the substrate folding has been observed and the key factors affecting this dynamic process are discussed.

关键词： Molecular dynamics simulation Explicit solvent Chaperonin-assisted Protein folding Molecular chaperonin Rhodanese

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Wetting between molten iron and prereduced ilmenite with carbon

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Transactions of Nonferrous Metals Society of China 2010年第5期20卷 924-929页

作者：王玉明袁章福赵宏欣熊绍锋姜伟忠李肇毅 Department of Energy and Resources Engineering College of EngineeringPeking University Institute of Ironmaking Research Baoshan Iron and Steel Co.Ltd State Key Laboratory of Multi-Phase Complex System Institute of Process EngineeringChinese Academy of Sciences

An interfacial study between molten iron and the prereduced ilmenite with carbon was conducted at different melting temperatures by the sessile droplet *** wetting characteristics between molten iron and the prereduced ilmenites with carbon were investigated by measuring contact angle of the droplet of molten iron on the prereduced ilmenite *** images of the interface were also examined by the optical microscope and SEM equipped with *** volume of molten iron increased with the melting temperature increasing when titania or high-content titania slag was used as the *** contact angle decreased with the melting temperature increasing and it was independent on time at constant *** contact angle was positively correlated with the reduction degree of the ilmenite,but the work of adhesion was negatively correlated with *** smelting temperature was beneficial to the separation of iron and Ti *** permeability of molten iron into the prereduced ilmenite with carbon was more obvious with reduction degree increasing owing to the high porosity of prereduced ilmenite.

关键词： molten iron prereduced ilmenite wetting interfacial permeability contact angle carbon reduction

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Nonlinear impedance control with trajectory adaptation for collaborative robotic grinding

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Science China(Technological Sciences) 2023年第7期66卷 1928-1936页

作者： HAN FengTao TAM SikYuen CAO ZhiHong ZHAO XingWei TAO Bo DING Han State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing System Technology for Complex Products Beijing Institute of Electronic System EngineeringBeijing 100854China ROKAE(Beijing)Technology Co. Ltd.Beijing 100193China

Stiffness adjustment is an important feature of human arm *** adaptive variable impedance control can adapt to the robotic stiffness,but may result in a large *** this paper,nonlinear impedance control is proposed for collaborative robotic grinding,where nonlinear force feedback is designed to compensate for the nonlinear stiffness of the ***,the interaction system can be linearization to ensure the system ***,a target trajectory adaptation strategy is studied to ensure the force tracking ***,switching law between trajectory tracking and force tracking is proposed when the robot performs a complex grinding *** stability of the switch control as well as the trajectory adaptation law is *** are conducted in a robotic grinding test rig,where the robot is used to grind a turbine *** results show that the nonlinear impedance control can obtain stable grinding force,and have better grinding quality than the linear impedance control.

关键词： impedance control robotic grinding trajectory adaptation force tracking

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引用

5th IEEE Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2021

作者： Peng, Yafei Yang, Fande Aerospace Engineering University Complex Electronic System Simulation Key Laboratory Beijing China

ISBN: (纸本)9781665415989

In order to improve the decision-making ability of aerospace commanders, aerospace command decision-making theory was studied from the concepts and characteristics of space command decision-making, and various situation information involved in aerospace command decision-making was analyzed, a general process for aerospace command decision-making was established. and the auxiliary technical means of aerospace command decision-making was summarized. It has laid a foundation for aerospace command and decision-making related theories, which is convenient for commanders to clarify the aerospace command and decision-making process, obtain situational knowledge required for decision-making, and improve the timeliness of decision-making. © 2021 IEEE.

关键词： Decision making

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Eliciting dependability requirements:a control cases based approach

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Science China(Information Sciences) 2014年第1期57卷 96-110页

作者： LIU Chun WANG Yue ZHANG Wei JIN Zhi Academy of Mathematics and System Science Chinese Academy of Sciences Key Laboratory of High Confidence Software Technologies (Peking University) Ministry of Education Institute of Software School of Electronics Engineering and Computer Science Peking University

At present,great demands are posed on software *** how to elicit the dependability requirements is still a challenging *** paper proposes a novel approach to address this *** essential idea is to model a dependable software system as a feedforward-feedback control system,and presents the use cases+control cases model to express the requirements of the dependable software *** this model,while the use cases are adopted to model the functional requirements,two kinds of control cases(namely the feedforward control cases and the feedback control cases)are designed to model the dependability *** use cases+control cases model provides a unified framework to integrate the modeling of the functional requirements and the dependability requirements at a high abstract *** guide the elicitation of the dependability requirements,a HAZOP based process is also designed.A case study is conducted to illustrate the feasibility of the proposed approach.

关键词： dependability dependability requirements requirements elicitation control systems control cases

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Improving students’programming quality with the continuous inspection process:a social coding perspective

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Frontiers of Computer Science 2020年第5期14卷 43-60页

作者： Yao Lu Xinjun Mao Tao Wang Gang Yin Zude Li College of Computer National University of Defense TechnologyChangsha410073China Key Laboratory of Software Engineering for Complex Systems Changsha410073China School of Information Science and Engineering Central South UniversityChangsha410012China

College students majoring in computer science and software engineering need to master skills for high-quality ***,rich research has shown that both the teaching and learning of high-quality programming are challenging and deficient in most college education ***,the continuous inspection paradigm has been widely used by developers on social coding sites(e.g.,GitHub)as an important method to ensure the internal quality of massive code *** paper presents a case where continuous inspection is introduced into the classroom setting to improve students’programming *** the study,we first designed a specific continuous inspection process for students’collaborative projects and built an execution environment for the *** then conducted a controlled experiment with 48 students from the same course during two school years to evaluate how the process affects their programming *** results show that continuous inspection can help students in identifying their bad coding habits,mastering a set of good coding rules and significantly reducing the density of code quality issues introduced in the ***,we describe the lessons learned during the study and propose ideas to replicate and improve the process and its execution platform.

关键词： continuous inspection programming quality SonarQube

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