Band 22, Heft 2

In this paper, we investigate the numerical solutions of the cubic nonlinear Schrödinger equation via the exponential cubic B-spline collocation method. Crank–Nicolson formulas are used for time discretization of the target equation. A linearization technique is also employed for the numerical purpose. Four numerical examples related to single soliton, collision of two solitons that move in opposite directions, the birth of standing and mobile solitons and bound state solution are considered as the test problems. The accuracy and the efficiency of the purposed method are measured by max error norm and conserved constants. The obtained results are compared with the possible analytical values and those in some earlier studies.

Optimal classifications of Lie algebras of some well-known equations under their group of inner automorphism are re-considered. By writing vector fields of some known Lie algebras in the abstract format, we have proved that there exist explicit isomorphism between Lie algebras and sub-algebras which have already been classified. The isomorphism between Lie algebras is useful in the sense that the classifications of sub-algebras of dimension ≤4 have previously been carried out in literature. These already available classifications can be used to write classification of any Lie algebra of dimension ≤4. As an example, the explicit isomorphism between Lie algebra of variant Boussinesq system and sub-algebra A 3,5 1 / 2 ${A}_{3,5}^{1/2}$ is proved, and subsequently, optimal sub-algebras up to dimension four are obtained. Besides this, some other examples of Lie algebras are also considered for explicit isomorphism.

In this paper, a generalized technique for solving a class of nonlinear optimal control problems is proposed. The optimization problem is formulated based on the cost-to-go functional approach and the optimal solution can be obtained by Bellman’s technique. Specifically, a continuous nonlinear system is first discretized and a set of equality constraints can be obtained from the discretization. We show that, under a certain condition, the optimal solution of a problem in this class can be approximated by a solution of the set of equality constraints within any precision and the system is guaranteed to be stable under a control signal obtained from the solution. An iterative approach is then applied to numerically solve the set of equality constraints. The technique is tested on a nonlinear control problem from the class and simulation results show that the approach is not only effective but also leads to a fast convergence and accurate optimal solution.

Towards planning a modular library for customized designs of serial manipulators, a trade-off is required between minimum modules inventory and maximum robotic applications to be handled. This paper focusses at the types of modules which are majorly based upon optimized payload capacity of the modular links. To find minimum types of modules in the modular library, an exercise has been performed on a large variety of robotic manipulators, with variations in degrees-of-freedom (dof) between 3 and 9 in number and that in payload capacity between 0 and 5 in kgs. Observing the pattern of the maximum-torque based drive-train selections for all the manipulators in consideration, three types of actuators are selected from a set of Maxon motor-gear assemblies. Subsequently, three types of modules are planned—Heavy (H), Medium (M) and Light (L). Challenge involved is the maximum load estimations for each joint involving variations due to large number of dof, various possible configurations and realistic weight estimation. This paper provides a general recursive framework for optimized drive-train, with one step as determination of maximum load estimation at a joint, and the second step as the selection of appropriate motor-gear assembly for the joint—providing an appropriate weight estimation for critical-configuration evaluation of the next link. The methodology is utilized for planning optimized number of modular divisions, for evaluating payload capacity of each division and possible modular combinations for given number of degrees-of-freedom.

From the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

In this paper, a computational model is proposed to predict the noise radiation of a planetary gear reducer. In addition, a system-level vibro-acoustic model of a two-stage planetary gear reducer is also established, and the dynamic contact equations of engagement are deduced to investigate the dynamic loads at the interface of bearing-housing and ring-housing in operation, using a large mining two-stage planetary reducer as a test mechanism. Moreover, the frequency response of the planetary transmission has been derived, the radiation noises from the two-stage planetary gear train are analyzed, the simulation results agree well with the experimental results. This research can be guide structural optimization of planetary gear mining reducer.

The work in this paper consists of two parts. The one is modelling. After a method of classification for three dimensional (3D) autonomous chaotic systems and a concept of mixed Lorenz system are introduced, a mixed Lorenz system with a damped term is presented. The other is the analysis for dynamical properties of this model. First, its local stability and bifurcation in its parameter space are in detail considered. Then, the existence of its homoclinic and heteroclinic orbits, and the existence of singularly degenerate heteroclinic cycles, are studied by rigorous theoretical analysis. Finally, by using the Poincaré compactification for polynomial vector fields in R 3 ${\mathbb{R}}^{3}$ , a global analysis of this system near and at infinity is presented, including the complete description of its dynamics on the sphere near and at infinity. Simulations corroborate corresponding theoretical results. In particular, a possibly new mechanism for the creation of chaotic attractors is proposed. Some different structure types of chaotic attractors are correspondingly and numerically found.