Concept Of Dynamical Systems Research Articles

Концепция системы динамического позиционирования необитаемых подводных аппаратов малого класса на основе визуальной одометрии

Статья посвящена актуальной проблеме подводной робототехники – задаче динамического позиционирования необитаемых подводных аппаратов малого класса. Особое внимание уделено способам навигации необитаемых подводных аппаратов и методам создания системы динамического позиционирования, включающих в себя методы синтеза наблюдателя, регулятора и методы распределения управляющих воздействий на движительно-рулевой комплекс необитаемых подводных аппаратов. Выявлено, что в существующих системах динамического позиционирования для формирования обратной связи по положению и скорости необитаемых подводных аппаратов преимущественно используются дорогостоящие гидроакустические навигационные системы и доплеровские измерители скорости. Не все необитаемые подводные аппараты малого класса бюджетного сегмента оснащаются такими системами, тогда как видеосистемы и инерциальные датчики присутствуют практически в каждом аппарате. С развитием бортовых вычислительных средств становится возможным использовать алгоритмы визуальной одометрии для навигации необитаемых подводных аппаратов по данным с видеосистемы в качестве альтернативы гидроакустической навигации в задаче динамического позиционирования. Предложена концепция архитектуры системы динамического позиционирования необитаемых подводных аппаратов малого класса на основе визуальной одометрии, которая способствует уменьшению стоимости навигационного оборудования и позволяет повысить производительность подводно-технических работ. The article is devoted to the actual problem of underwater robotics - the problem of dynamic positioning of unmanned underwater vehicles of small class. Particular attention is paid to the methods of navigation of unmanned underwater vehicles and methods for creating a dynamic positioning system, including methods for the synthesis of an observer, a regulator and methods for distributing control actions on the propulsion and steering complex of unmanned underwater vehicles. It is revealed that in the existing dynamic positioning systems, expensive hydro acoustic navigation systems and Doppler speed meters are mainly used to generate feedback on the position and speed of unmanned underwater vehicles. Not all unmanned submersibles of the small class of the budget segment are equipped with such systems, while video systems and inertial sensors are present in almost every device. With the development of onboard computing facilities, it becomes possible to use visual odometry algorithms for navigation of unmanned underwater vehicles based on data from a video system as an alternative to hydro acoustic navigation in the task of dynamic positioning. The concept of architecture of the system of dynamic positioning of unmanned underwater vehicles of small class based on visual odometry is proposed, which helps to reduce the cost of navigation equipment and allows to increase the productivity of underwater technical work.

New Approach and Integration for The Introduction of Dynamic Systems : Methodology, Models, And Relations

Introduction: This article is the result of the research “Analysis of the dynamic systems component of the engineering programs in control and automation and technology in industrial electronics,” developed at the Francisco José de Caldas District University in the years 2022-2023. Problem: The document addresses the lack of a clear and comprehensive structure in the analysis of linear dynamic systems, as well as the absence of an innovative approach to addressing these topics in traditional courses, which hinders their understanding and application in different disciplines. Objective: The objective is to present a novel approach to analyzing linear dynamic systems, providing a complete framework of concepts, relationships, and important tools in this analysis, as well as a literature review based on over seventeen years of experience in courses and studies of this kind. Methodology: A journey of concepts is proposed from signals and systems, through modeling with methods such as black box, white box, gray box, to linear analysis based on examples with calculation of differential equations, state representation, transfer function, and block diagrams. Results: The document aggregates and articulates all the concepts of dynamic systems, along with the relationships and tools used, offering a more practical and intuitive approach to understanding the material. Conclusion: The document provides a comprehensive and articulated view of key concepts in the analysis of linear dynamic systems, highlighting an innovative approach that facilitates their understanding. Its main contribution is to aggregate and articulate these concepts, along with the tools and relationships used, to offer a more practical and clear approach for their study. Originality: The originality lies in proposing a novel and structured approach to analyzing linear dynamic systems, addressing the lack of clarity and completeness in traditional approaches. Limitations: Although the document proposes a novel approach, it does not delve into specific aspects of some topics covered, which could limit the detailed understanding of certain concepts. Deepening: The document could delve into the practical application of the proposed concepts and tools in real cases of dynamic systems, as well as into the comparison with traditional approaches to highlight the differences and advantages of the proposed new approach.

A Hybrid Controller Enhancing Transient Performance for an Aerial Manipulator Extracting a Wedged Object

Autonomous aerial manipulation requires the capability to handle inevitable dynamic changes during physical interaction. Previously, very few studies have addressed the stability and transient performance of the scenarios involving abrupt changes in dynamics. This paper proposes a hybrid controller enhancing transient performance for an aerial manipulator extracting an object wedged in a static structure. This task incurs a significant jump in the interaction force on the end-effector so that the analysis using the concept of hybrid dynamical systems is required. To demonstrate the dynamic characteristics of the object-extracting aerial manipulator, we derive the dynamic equations for two flight modes, i.e., free-flight and object-extracting, and the rule of state jumps. Also, we design control strategies which enhance the transient performance during flight mode transition. Then, the stability of the proposed control law is proven, and the overshoot reduction after the object extraction is analyzed. To show the improved performance, we conduct plug-pulling experiments with a quadrotor-based aerial manipulator using the proposed controller and two different existing controllers. The comparative results confirm that our controller enables the aerial manipulator to maintain its stability after the flight mode transition and shows the best transient performance in overshoot minimization among three controllers. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —The motivation for this article is the desire to prevent unexpected collisions between obstacles and an aerial manipulator after the vehicle extracts a wedged object from a static structure. To resolve this problem, we present a hybrid control method for such tasks while avoiding an excessive overshoot after the extraction. This method can be utilized in tasks involving abrupt changes in the dynamic model such as retrieving a device attached to a tall structure, reclaiming an object in disaster recovery, or pulling a plug out of a socket. Unlike existing methods, the proposed method simultaneously considers the stability <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">and</i> the initial overshoot right after pulling the object out of the structure, by employing a disturbance observer (DOB) in a hybrid control structure. It can be utilized for the aerial manipulator to avoid collision in a narrow space or to keep it in a safe operation envelope even though the task requires producing a relatively large pulling force.

Penerapan Dynamic Governance terhadap Tata Kelola Permukiman Akibat Dampak Urbanisasi di Kota Depok Tahun 2022

Urbanization is a dynamic phenomenon, where the population lock-in that occurs is triggered by the large number of economic centers in urban areas, especially in the JABODETABEK area. However, in reality Depok City, which is one of these satellite cities, has not been able to overcome the impact of increasing urbanization on plantation management. Dealing with plantation governance in responding to urbanization challenges in Depok City is the focus of the Depok City Regional Development Planning Agency (BAPPEDA), the Depok City Housing and Settlement Service (Disrumkim), the Depok City Public Works and Spatial Planning Office (DPUPR), and other institutions. . This study discusses the dynamics of the Depok City Government in implementing governance management to deal with the impacts of urbanization such as the rise of uninhabitable, obsolete, slum, liars, and so on. In addition, the concept of Dynamic Governance System put forward by Boon Siong Neo and Geraldine Chen in 2007 was used to analyze this research. The results of this study found that the handling carried out by the Depok City Government regarding these problems resulted in positive changes. So that adaptive policies can be created, such as setting simple subsidized house prices that are adjusted to the income of urbanites by making binding regulations, as well as other adaptive policy suggestions put forward in this study on elements of change.

Analysis of the behavior of the flow of prices in the financial market using the entropy of information

In the present work it is indicated that the entropy of the information is the most appropriate tool to analyze the behavior of the flow of prices in the financial market. For this, the following points are mentioned: general concepts of chaos theory applied to the financial market, concept of dynamic systems applied to the flow of prices, time series of prices and the entropy of information applied to the flow of prices in the financial market.

Scaling Symmetries and Parameter Reduction in Epidemic SI(R)S Models

Symmetry concepts in parametrized dynamical systems may reduce the number of external parameters by a suitable normalization prescription. If, under the action of a symmetry group G, parameter space A becomes a (locally) trivial principal bundle, A≅A/G×G, then the normalized dynamics only depends on the quotient A/G. In this way, the dynamics of fractional variables in homogeneous epidemic SI(R)S models, with standard incidence, absence of R-susceptibility and compartment independent birth and death rates, turns out to be isomorphic to (a marginally extended version of) Hethcote’s classic endemic model, first presented in 1973. The paper studies a 10-parameter master model with constant and I-linear vaccination rates, vertical transmission and a vaccination rate for susceptible newborns. As recently shown by the author, all demographic parameters are redundant. After adjusting time scale, the remaining 5-parameter model admits a 3-dimensional abelian scaling symmetry. By normalization we end up with Hethcote’s extended 2-parameter model. Thus, in view of symmetry concepts, reproving theorems on endemic bifurcation and stability in such models becomes needless.

Resilience of dynamical systems

AbstractStability is among the most important concepts in dynamical systems. Local stability is well-studied, whereas determining the ‘global stability’ of a nonlinear system is very challenging. Over the last few decades, many different ideas have been developed to address this issue, primarily driven by concrete applications. In particular, several disciplines suggested a web of concepts under the headline ‘resilience’. Unfortunately, there are many different variants and explanations of resilience, and often, the definitions are left relatively vague, sometimes even deliberately. Yet, to allow for a structural development of a mathematical theory of resilience that can be used across different areas, one has to ensure precise starting definitions and provide a mathematical comparison of different resilience measures. In this work, we provide a systematic review of the most relevant indicators of resilience in the context of continuous dynamical systems, grouped according to their mathematical features. The indicators are also generalised to be applicable to any attractor. These steps are important to ensure a more reliable, quantitatively comparable and reproducible study of resilience in dynamical systems. Furthermore, we also develop a new concept of resilience against certain nonautonomous perturbations to demonstrate how one can naturally extend our framework. All the indicators are finally compared via the analysis of a classic scalar model from population dynamics to show that direct quantitative application-based comparisons are an immediate consequence of a detailed mathematical analysis.

Factors Influencing Cost Performance Improvement on the Concept Of Green Retrofitting High-Rise Offices Using Structural Equationg Modelling-Part Least Square (SEM-PLS)

The increase in energy consumption in the operation of the building construction industry globally has increased by a percentage of 35%, so that this increase can lead to an increase in carbon emissions which was originally at a percentage of 28% to 38%. The concepts of Green Retrofitting, Dynamic Systems and Value Engineering can be researched based on the influence on improving the cost performance of Green Retrofitting in high-rise (existing) office buildings and connected with the Structural Equation Modelling-Partial Least Square (SEM-PLS) analysis model. PLS-SEM is very appropriate to be used in research aimed at developing theories. The results of this study show that in the application of the Green Retrofitting concept in high-rise office buildings using Dynamic Systems and Value Engineering has a significant effect on improving the cost performance of Green Retrofitting and get the most influential factors are Top Management Support, Energy Efficiency, Water Efficiency, Indoor Air Quality, Retrofitting Planning, Retrofitting Initial Costs, Bill Of Quantity, Dynamic System Model Generation, Alternative Material Selection, and Material Cost Reduction

Natural Intelligence as the Brain of Intelligent Systems

This article discusses the concept and applications of cognitive dynamic systems (CDS), which are a type of intelligent system inspired by the brain. There are two branches of CDS, one for linear and Gaussian environments (LGEs), such as cognitive radio and cognitive radar, and another one for non-Gaussian and nonlinear environments (NGNLEs), such as cyber processing in smart systems. Both branches use the same principle, called the perception action cycle (PAC), to make decisions. The focus of this review is on the applications of CDS, including cognitive radios, cognitive radar, cognitive control, cyber security, self-driving cars, and smart grids for LGEs. For NGNLEs, the article reviews the use of CDS in smart e-healthcare applications and software-defined optical communication systems (SDOCS), such as smart fiber optic links. The results of implementing CDS in these systems are very promising, with improved accuracy, performance, and lower computational costs. For example, CDS implementation in cognitive radars achieved a range estimation error that is as good as 0.47 (m) and a velocity estimation error of 3.30 (m/s), outperforming traditional active radars. Similarly, CDS implementation in smart fiber optic links improved the quality factor by 7 dB and the maximum achievable data rate by 43% compared to those of other mitigation techniques.

Project-based learning for an online course of simulation engineering: From bioreactor to epidemiological modeling

Before the pandemic, distance learning was not a widely adopted option for science and engineering programs where in some courses, such as chemistry, electromagnetism, or fluid mechanics, etc., attending to laboratories and workshops was in most cases mandatory. The lockdown forced us to innovate, searching alternative ways to teach experimental phenomena, suddenly replaced with simulation science and technology, subjects that although rely on computers, also suffered changes from the transition. In this contribution, we propose an undergraduate course on simulation for chemical engineering, departing from the fact that modeling, and simulation are multipurpose and multidisciplinary tools. The course aims to reinforce the concepts of dynamical systems by using analogies between process engineering examples and other disciplines, particularly, epidemiology. For this purpose, a final project on modeling the dynamics of the COVID 19 pandemic in Mexico was designed and validated with a public database from the Mexican Secretariat of Health. By doing this, the students got in touch with the evolution of the dynamics outside of school hours, since it was common to see weekly updates and extrapolation trends of the pandemic, thus applying their skills to the final project. It was found that success factors were the use of official data, the use of Graphical User Interfaces to explore diverse simulation scenarios and the final project. The transition to the Distance Learning faced several challenges that were partially coped with the redesign of the course.

Reconceptualizing semiotic resources in the eco-social system of an online language tutoring course

ABSTRACT Translanguaging and trans-semiotizing research has problematized the static view of language and argued that meaning making is a dynamic, material, social, and historical process across multiple timescales in complex eco-social systems. The second author proposed the concept of trans-semiotizing as an alternative lens to study language teaching and learning. In this autoethnographic study, the dynamic processes of online language learning and teaching are examined by analysing the semiotic resources, trans-semiotic practices, and the coordination of different semiotic resources. To capture such dynamic processes and the semiotic resources involved, the first author setup multiple cameras and used screen recording to document my teaching. Data include recordings of my computer screens, video recordings of my physical environment, facial expressions, body movements, screen shots of my social media posts, and my teaching notes. We draw on Lemke’s dynamic eco-social system concept to discuss how semiotic resources are used in online language teaching and learning across different timescales.

A dynamic data-driven response prediction method for thermal protection tiles and experimental validation

Intelligent thermal protection systems with self-perception and decision-making functions are preferable for future spacecraft. Online thermal response prediction is a key step to intelligent thermal protection systems. In this paper, the concept of Dynamic Data-Driven Application System between simulations and experiments is employed to achieve online thermal response prediction. In this framework, measured temperature data are injected into an online heat transfer model, and the real-time temperature at the bottom of the thermal protection system is calculated. A demonstration test system is built and experiments were carried out to validate the method. The effects of dynamic data and the number of sensors on the temperature prediction accuracy are analyzed. Dynamic data-driven temperature predictions under transient heat load are also carried out. The dynamic data-driven model can reduce the temperature prediction error from 25.9% to less than 10% based on the experimental results, and increasing the number of sensors can also improve the prediction accuracy. The model also has good adaptability under accidental overload and cyclic load. The Dynamic Data-Driven Application System framework presented in this work can be used for online safety assessment of thermal protection systems and active flight control.

Certain New Development to the Orthogonal Binary Relations

In this study, inspired by the concept of B-metric-like space (BMLS), we introduce the concept of orthogonal B-metric-like space (OBMLS) via a hybrid pair of operators. Additionally, we establish the concept of orthogonal dynamic system (ODS) as a generalization of the dynamic system (DS), which improves the existing results for analysies such as those presented here. By applying this, some new refinements of the F⊥-Suzuki-type (F⊥-ST) fixed-point results are presented. These include some tangible instances, and applications in the field of nonlinear analysis are given to highlight the usability and validity of the theoretical results.

Modeling and development of a low-cost didactic plant for teaching in multivariable systems

This paper aims the planning, construction and modeling of a low-cost multivariable level plant for didactic purposes. The developed model has two pumps that feed four tanks coupled to each other. Between the tanks and the pumps, there are inlet and outlet valves that can change the system dynamics according to its opening configuration. To automate the pumps and read the instrumentation used, the Arduino microcontroller was chosen because it is a model of great use in the academic environment and of easy parameterization. For sensing, the HC-SR04 ultrasonic sensor was chosen, which already has native compatibility with the microcontroller. In order to validate the constructed plant, it was necessary to identify its model, using the empirical step response method for this purpose. In this way, this work has both qualitative and quantitative characteristics, since the planning and construction of the didactic plant involved an exploratory research of the problem, and then the modeling and simulation method was applied to obtain the mathematical model of the plant. Finally, an experimental research was conducted, comparing the data obtained in the real plant with the model data for validation. Having completed all research stages, the work result is a didactic plant with good linearity, able to provide implementation of level control strategies of coupled tanks and to assist in teaching and learning subjects that involve concepts of dynamic systems, besides multivariable systems identification and control.

Нейромережа Хопфілда як відкрита динамічна система

The paper provides an analysis of a Hopfield neural network model from the standpoint of the concept of open dynamic systems (ODS) offered earlier. According to it, the evolution of the universe can be represented as a sequence of stages of the ODS development, during which more and more complex ODSs were formed. Living cells were later formed from them and their further development led to the appearance of humans and their intelligence, the formation of civilization, and the emergence of artificial intelligence. An overview of the provisions of the ODS concept is presented and the stage of the emergence of life as a collective development of ODS in the form of populations of the offspring of the mother cell, that led to the emergence of complex organisms, the nervous system, human, and intelligence as an intangible form of the ODS development, is analyzed in detail. It has been suggested that transforming an inanimate macromolecule of ODS into a living cell is connected with the appearance in its composition of a multistable component like a Hopfield network, whose prototype – spin glass – is a quantum object that existed even before the emergence of life on Earth. To verify it, there has been car-ried out a detailed analysis of the Hopfield network model as a linear manifold stretched over a set of memorized data vectors. New evidence of the network convergence process coinciding is presented, and the source of energy that a living cell requires for reproduction is revealed. In the paper, a structure of a living ODS that is similar to the Hopfield network and supplemented with a reproduction module similar to a DNA molecule is offered. It fully corresponds to the struc-ture of the first bacteria on Earth detected by archaeologists. The results of the study confirm the efficiency of the methods of the ODS concept when studying the dynamics of the develop-ment of systems of different natures, including the latest artificial intelligence systems whose behavior may not be controlled.

Латентные личностные профили стилевой регуляции принятия решений

Decision making (DM) generally assumes that the person is performing a choice between a multitude of alternatives under uncertainty and possible risk. According to the concept of dynamic regulative systems (Kornilova, 2016), preferred or most relied on DM strategies are linked in an integrative way with a variety of personality traits that can be at the top of the hierarchy. These include risk readiness, rationality, and Dark Triad traits as reflective of a generally unstable personality core. Decision-Making Tendency Inventory (DMTI; Misuraca et al., 2015) defined DM characteristics via maximization, satisficing and minimization. However, the relationships between DM characteristics captured by DMTI and the listed personality traits have not been explored before. The goal of the current study was establishing latent personality profiles in a person-centered approach that integrates DM “tendencies” and the listed personality traits by identifying relatively homogenous subgroups of individuals with similar profiles. Methods. 625 individuals in the age from 17 to 39 years (М = 20,17, SD = 3,02; 84% females) participated in the study. We used DMTI, Dirty Dozen, and LFR questionnaires to measure DM tendencies, Dark Triad traits, and risk readiness/rationality, respectively. Latent profile analysis was performed in VarSelLCM for R. Results. The results indicated the presence of three latent profiles in the data after adjustments for age and sex. Risk readiness and Dark Triad traits were positively related with maximizing and satisficing, forming one latent class. In another class lower rationality, on the other hand, was linked with minimization. In the third class higher rationality accompanied lower Dark Triad traits. Conclusions. The results provide evidence in favor of the general hypothesis that latent profiles of personality traits are associated with distinct preferences for specific DM tendencies. Higher levels of maximizing, satisficing, and minimizing were not related to subclinical psychopathy or Machiavellianism. Higher narcissism and risk readiness, generally unrelated, are nonetheless characteristic of the latent class that prefers maximizing and satisficing. Preference for minimization of effort during DM was associated with lower rationality. Latent class or latent profile analysis is a powerful technique that sheds new light on the relationships between personality and DM, beyond the contributions of variable-centered approaches such as correlational analysis.

Nonlinear excitations and dynamic features of dust ion-acoustic waves in a magnetized electron–positron–ion plasma

Abstract A wide class of nonlinear excitations and the dynamics of wave groups of finite amplitude ion-acoustic waves are investigated in multicomponent magnetized plasma system comprising warm ions, and superthermal electrons as well as positrons in presence of negatively charged impurities or dust particles. Employing the reductive perturbation technique (RPT), the Korteweg–de-Vries (KdV) equation, and extended KdV equation are derived. The presence of excess superthermal electrons as well as positrons and other plasma parameters are shown to influence the characteristics of both compressive and rarefactive solitons as well as double layers (DLs). Also, we extend our investigation by deriving the nonlinear Schrödinger equation from the extended KdV equation employing a suitable transformation to study the wave group dynamics for long waves. The analytical and numerical simulation results demonstrate that nonlinear wave predicts solitons, “table-top” solitons, DLs, bipolar structure, rogue waves, and breather structures. Moreover, implementing the concept of dynamical systems, phase portraits of nonlinear periodic, homoclinic trajectories, and supernonlinear periodic trajectories are presented through numerical simulation.

A New View of Homomorphic Properties of BCK-Algebra in Terms of Some Notions of Discrete Dynamical System

In the present manuscript, we introduce the concept of a discrete dynamical system (Ⱬ,Ψ) in BCK-algebra where Ⱬ is a BCK-algebra and Ψ is a homomorphism from Ⱬ to Ⱬ and establish some of their related properties. We prove that the set of all fixed points and the set of all periodic points in BCK-algebra Ⱬ are the BCK-subalgebras. We show that when a subset of BCK-algebra Ⱬ is invariant concerning Ψ. We prove that the set of all fixed points and the set of all periodic points in commutative BCK-algebra Ⱬ with relative cancellation property are the ideals of Ⱬ. We also prove that the set of all fixed points in Ⱬ is an S-invariant subset of a BCK-algebra Ⱬ.

Parallelizability of control systems

This manuscript presents a notion of parallelizability of control systems. Parallelizability is a well-known concept of dynamical systems that associates with complete instability and dispersiveness. The concept of dispersiveness has been successfully interpreted in the setup of control systems. This naturally asks about the meaning of a parallelizable control system. The answer can be given in the setting of control affine systems by evoking their control flows. The main result shows that a parallelizable control flow characterizes a dispersive control affine system. The dispersiveness is then equivalent to the existence of a functional with infinite limit at infinity. The results of the paper contribute to the controllability studies, since dispersive control systems admit no control set. For invariant control systems with commutative vector fields, null trace representative matrices are a necessary condition for the existence of control set.

Properties of Nilpotent Evolution Algebras with no Maximal Nilindex

As a system of abstract algebra, evolution algebras are commutative and non-associative algebras. There is no deep structure theorem for general non-associative algebras. However, there are deep structure theorem and classification theorem for evolution algebras because it has been introduced concepts of dynamical systems to evolution algebras. Recently, in [25], it has been studied some properties of nilpotent evolution algebra with maximal index (dim E2 = dim E − 1). This paper is devoted to studying nilpotent finite-dimensional evolution algebras E with dim E2 =dim E − 2. We describe Lie algebras related to the evolution of algebras. Moreover, this result allowed us to characterize all local and 2-local derivations of the considered evolution algebras. All automorphisms and local automorphisms of the nilpotent evolution algebras are found.