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Due to the Jacobian matrix rank reduction near singularities, applying numerical methods to study PMs’ motion stability at singularities is quite difficult. As a result, there is a scarcity of literature on the investigation of PMs’ dynamic behaviors near singularities and the influence of kinematic parameters on the motion stability of PMs. To address the research gap related to the above issues, based on the Gerschgorin perturbation method, Hurwitz exact approach, and the Lyapunov dynamic stability theory, the influence of kinematic parameters and external loads on a PM’s motion stability at singularities is studied for the first time. The theoretical analysis results reported in this paper reveal many previously undiscovered features beyond those derived from previous numerical methods, and indicate the limitations of some widely accepted statements. For example, increasing the angular speed of the movable platform can expand the range of the external loads that meet the motion stability at singular configurations. The prevailing notion in prior research that PMs are unable to support external loads in the direction of the gained DoF at singular configurations is only partially accurate. This pioneering research establishes a theoretical foundation for exploring a new real-time approach to avoid dynamic singularities by fully exploiting the influence mechanisms of kinematic parameters on PMs’ dynamic stability at singularities.

This paper investigates the problem of coning motion stability of spinning missiles equipped with strapdown seekers. During model derivation, it is found that the scaling factor error between the strapdown seeker and the onboard gyro introduces an undesired parasitic loop in the guidance system and, therefore, results in stability issues. Through stability analysis, a sufficient and necessary condition for the stability of spinning missiles with strapdown seekers is proposed analytically. Theoretical and numerical results reveal that the scaling factor error, spinning rate and navigation ratio play important roles in stable regions of the guidance system. Consequently, autopilot gains must be checked carefully to satisfy the stability conditions.

The effective detection of X-ray radiation with low threshold is essential to many medical and industrial applications. Three-dimensional (3D) organolead trihalide and double perovskites have been shown to be suitable for direct X-ray detection. However, the sensitivity and stability of 3D perovskite X-ray detectors are limited by ion motion, and there remains a demand to develop green and stable X-ray detectors with high sensitivity and low detection limit. The emerging low-dimensional perovskites have shown promising optoelectronic properties, featuring good intrinsic stability and reduced ion migration. Inspired by this, we show that our 2D layered perovskite-like (NH4)3Bi2I9 device provides unique anisotropic X-ray detecting performance with different crystal directions, effective suppression of ion migration and a low detection limit of 55 nGyair s−1. These results will motivate new strategies to achieve a high-performance X-ray detector by utilizing 2D layered perovskite or perovskite-like materials, without requiring toxic elements.

Limb motion capture is essential in human motion-recognition, motor-function assessment and dexterous human-robot interaction for assistive robots. Due to highly dynamic nature of limb activities, conventional inertial methods of limb motion capture suffer from serious drift and instability problems. Here, a motion capture method with integral-free velocity detection is proposed and a wearable device is developed by incorporating micro tri-axis flow sensors with micro tri-axis inertial sensors. The device allows accurate measurement of three-dimensional motion velocity, acceleration, and attitude angle of human limbs in daily activities, strenuous, and prolonged exercises. Additionally, we verify an intra-limb coordination relationship exists between thigh and shank in human walking and running, and establish a neural network model for it. Using the intra-limb coordination model, dynamic motion capture of human lower limbs including thigh and shank is tactfully implemented by a single shank-worn device, which simplifies the capture device and reduces cost. Experiments in strenuous activities and long-time running validate excellent performance and robustness of the wearable device in dynamic motion recognition and reconstruction of human limbs. Current wearable motion capture technologies are unable to accurately detect dynamic motion of human limbs due to drift and instability problems. Here, the authors report a wearable motion capture device combining tri-axis velocity sensor and inertial sensors for accurate 3D limb motion capture.

In synchrotron light sources, the non-linear magnetic fields and Touschek scattering limit the stability of electron motion, determining the dynamic aperture (DA) and the momentum acceptance (MA). Optimizing both the DA and the MA is crucial to maximize injection efficiency and the beam’s lifetime, but it is numerically expensive. We implement recently developed algorithms that speed-up their calculation in CPUs: Flood Fill (FF) and Fast Touschek Tracking (FTT). Applying these to the analysis of the ALBA II lattice and comparing them to the existing methods, we obtain rigorous and faster results using FF, and ones with a slight loss of accuracy for FTT.

The coordinate frame is not only the foundation for depicting the shape and changes of the Earth and expressing geospatial information but also the crucial geospatial information infrastructure for expanding human activities and promoting social development. Research on satellite navigation and positioning reference stations considering linear motion will be of great significance for navigation and positioning. Therefore, this paper first deduces the transformation formula between different international terrestrial reference frames (ITRF) and the transformation relationship between different reference epochs. Second, a comparison experiment is conducted to analyze the influence of coordinates under different reference frames and epochs on the accuracy of the international GNSS service (IGS) baseline solution results. Finally, stability analysis is performed considering the effect of linear motion on the urban frame points. The results show that using the coordinates under the reference frame and epochs that best fit the measurement time for the baseline solution gives the most reliable results.

We ćonsider 3, 1, 4, 1, 5, 9, … as a time series desćribing osćillation of a partićle. The level of instability is defined using two of ten forće parameters assigned to the time series. Irrationality of the number p ćan then be seen through instability of motion, using Newton’s sećond law. If we intervene in digits, making a rational number, with termination or a repeating sequenće, level of instability slumps to zero. New rules for digits of p are found out. High instability is ćonnećted with strong damping and driving forćes. Tendenćy to a moderate instability is observed. Unrealised series of digits, ćlose to the realised series, derogate this tendenćy.

Disturbances in the vehicle motion may be caused by different factors and in many cases are the reason for dangerous traffic incidents. Disturbances within the human-vehicle system are particularly hazardous. An innovative method was designed for analyzing and simulating the process of loss of vehicle motion stability after interference in the steering system, e.g. by acting on the steering wheel by the passenger. The subject of the study is the theoretical and experimental analysis of the vehicle motion path kinematics together with the duration of the disturbance, driver’s reaction time and steering wheel turning angles. PC-Crash simulation software was employed for the purpose of studying the disturbance characteristics and their influence on the loss of vehicle motion stability. It is recognized that the studied issues are as yet poorly understood, the presented results expand our knowledge base in this area and can be employed for the purpose of analysis of actual traffic accidents.

Principles of typical motion planning algorithms are investigated and analyzed in this paper. These algorithms include traditional planning algorithms, classical machine learning algorithms, optimal value reinforcement learning, and policy gradient reinforcement learning. Traditional planning algorithms investigated include graph search algorithms, sampling-based algorithms, interpolating curve algorithms, and reaction-based algorithms. Classical machine learning algorithms include multiclass support vector machine, long short-term memory, Monte-Carlo tree search and convolutional neural network. Optimal value reinforcement learning algorithms include Q learning, deep Q-learning network, double deep Q-learning network, dueling deep Q-learning network. Policy gradient algorithms include policy gradient method, actor-critic algorithm, asynchronous advantage actor-critic, advantage actor-critic, deterministic policy gradient, deep deterministic policy gradient, trust region policy optimization and proximal policy optimization. New general criteria are also introduced to evaluate the performance and application of motion planning algorithms by analytical comparisons. The convergence speed and stability of optimal value and policy gradient algorithms are specially analyzed. Future directions are presented analytically according to principles and analytical comparisons of motion planning algorithms. This paper provides researchers with a clear and comprehensive understanding about advantages, disadvantages, relationships, and future of motion planning algorithms in robots, and paves ways for better motion planning algorithms in academia, engineering, and manufacturing.

The ultra-fast dynamics of superconducting vortices harbors rich physics generic to nonequilibrium collective systems. The phenomenon of flux-flow instability (FFI), however, prevents its exploration and sets practical limits for the use of vortices in various applications. To suppress the FFI, a superconductor should exhibit a rarely achieved combination of properties: weak volume pinning, close-to-depairing critical current, and fast heat removal from heated electrons. Here, we demonstrate experimentally ultra-fast vortex motion at velocities of 10–15 km s −1 in a directly written Nb-C superconductor with a close-to-perfect edge barrier. The spatial evolution of the FFI is described using the edge-controlled FFI model, implying a chain of FFI nucleation points along the sample edge and their development into self-organized Josephson-like junctions (vortex rivers). In addition, our results offer insights into the applicability of widely used FFI models and suggest Nb-C to be a good candidate material for fast single-photon detectors. To realize ultra-fast dynamics of superconducting vortices one needs to overcome the practical issue of flux-flow instability (FFI). Here, Dobrovolskiy et al. demonstrate ultra-fast vortex motion at 10-15 km/s velocity in a Nb-C superconductor where the FFI is described by the edge-controlled FFI model.