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This paper studies finite-time attitude control for a flexible spacecraft with unknown bounded disturbances. Aiming at reducing vibrations excited by attitude manoeuvring, we develop a new manoeuvre path by combining path planning with the input shaping technique. Also, based on terminal sliding mode and the exponential reaching law, we propose a modified fast non-singular finite-time control law, which can achieve rapid finite-time convergence in the reaching phase as well as in the sliding phase. Furthermore, we design a weighted homogeneous extended state observer to estimate and thus to attenuate the unknown bounded disturbances in finite time. Finite-time stability of the overall system is analysed via Lyapunov technique, and simulation results demonstrate the effectiveness and robustness of the proposed control scheme.

The emerging prosperity of cryptocurrencies, such as Bitcoin, has come into the spotlight during the past few years. Cryptocurrency exchanges, which act as the gateway to this world, now play a dominant role in the circulation of Bitcoin. Thus, delving into the analysis of the transaction patterns of exchanges can shed light on the evolution and trends in the Bitcoin market, and participants can gain hints for identifying credible exchanges as well. Not only Bitcoin practitioners but also researchers in the financial domains are interested in the business intelligence behind the curtain. However, the task of multiple exchanges exploration and comparisons has been limited owing to the lack of efficient tools. Previous methods of visualizing Bitcoin data have mainly concentrated on tracking suspicious transaction logs, but it is cumbersome to analyze exchanges and their relationships with existing tools and methods. In this paper, we present BitExTract, an interactive visual analytics system, which, to the best of our knowledge, is the first attempt to explore the evolutionary transaction patterns of Bitcoin exchanges from two perspectives, namely, exchange versus exchange and exchange versus client. In particular, BitExTract summarizes the evolution of the Bitcoin market by observing the transactions between exchanges over time via a massive sequence view. A node-link diagram with ego-centered views depicts the trading network of exchanges and their temporal transaction distribution. Moreover, BitExTract embeds multiple parallel bars on a timeline to examine and compare the evolution patterns of transactions between different exchanges. Three case studies with novel insights demonstrate the effectiveness and usability of our system.