This paper is concerned with event-triggered control of discrete-time systems with or without input saturation.First,an accumulative-error-based event-triggered scheme is devised for control updates.When the accumulat...This paper is concerned with event-triggered control of discrete-time systems with or without input saturation.First,an accumulative-error-based event-triggered scheme is devised for control updates.When the accumulated error between the current state and the latest control update exceeds a certain threshold,an event is triggered.Such a scheme can ensure the event-generator works at a relatively low rate rather than falls into hibernation especially after the system steps into its steady state.Second,the looped functional method for continuous-time systems is extended to discrete-time systems.By introducing an innovative looped functional that links the event-triggered scheme,some sufficient conditions for the co-design of control gain and event-triggered parameters are obtained in terms of linear matrix inequalities with a couple of tuning parameters.Then,the proposed method is applied to discrete-time systems with input saturation.As a result,both suitable control gains and event-triggered parameters are also co-designed to ensure the system trajectories converge to the region of attraction.Finally,an unstable reactor system and an inverted pendulum system are given to show the effectiveness of the proposed method.展开更多
OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patient...OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patients with KOA(Kellgren-Lawrence gradeⅡ-Ⅲ)were recruited from the Acupuncture-Moxibustion Rehabilitation Department,Anhui University of Chinese Medicine between October 2024 and May 2025.Participants were randomized into a TBHM group(n=30)or a transcutaneous electrical neuromuscular stimulation(TENS)group(n=30).Using two-way repeated measures ANOVA,biomechanical indicators,including rectus femoris tension,vastus medialis tension,vastus lateralis tension,patellar ligament tension,lateral patellar displacement(LPD),medial patellar displacement(MPD),normalized patellar mobility(LPD/patellar width[PW],MPD/PW),knee flexion range of motion,and functional indicators,including KOOS subscales,time up and go test(TUGT),were compared between groups at baseline and after 6 weeks of intervention.RESULTS After intervention,all biomechanical and knee joint function indicators in the TBHM group were significantly improved(P<0.05,P<0.01),while only the vastus medialis tension,TUGT and KOOS Pain,ADL and QoL scores in the control group were significantly improved(P<0.01).The improvement amplitudes of biomechanical indicators in the TBHM group,including rectus femoris tension,vastus lateralis tension,patellar ligament tension,MPD/PW,LPD/PW and knee flexion range of motion were better than those in the control group(P<0.05,P<0.01).In the functional evaluation,the interaction effects of the TBHM group in all dimensions of the KOOS score and TUGT were statistically significant(P<0.05,P<0.01).Post-hoc simple effect analysis confirmed that there were significant differences in the above indicators between the two groups after intervention(P<0.05),and all indicators showed a significant main effect of time(P<0.01),suggesting that the intervention measures had continuous and cumulative curative effects.CONCLUSION TBHM effectively improves joint function and quality of life in KOA patients by restoring dynamic equilibrium in soft tissue tension and patellar mobility,ultimately achieving the therapeutic goal of concurrent tissue-bone management.展开更多
The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, un...The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.展开更多
Sliding mode control(SMC)is a well-known robust nonlinear control method with strong robustness and fast response which has been widely used in many applications.This paper introduces the major results of SMC design m...Sliding mode control(SMC)is a well-known robust nonlinear control method with strong robustness and fast response which has been widely used in many applications.This paper introduces the major results of SMC design methods that the authors have achieved in the last decade.Undoubtedly,our results are obtained based on many other researchers'pioneer work in the literature which will not be discussed in detail here.Notably,our development has a main focus on tackling practical issues such that a proposed or enhanced SMC approach is effectively applicable to motion control systems.Issues on sliding function and adaptive gain designs in SMC and their control features will be both discussed in this paper.Those issues comprise fast convergent speed,predefined convergent time,input saturation restriction,chattering reduction,and unknown disturbance suppression.Lastly,conclusion and a few remarks on future research directions are presented.展开更多
Dear Editor,This letter deals with the controller synthesis problem of networked Takagi-Sugeno(T-S)fuzzy systems.Due to the introduction of network communications,the same premise is no longer shared by fuzzy plants a...Dear Editor,This letter deals with the controller synthesis problem of networked Takagi-Sugeno(T-S)fuzzy systems.Due to the introduction of network communications,the same premise is no longer shared by fuzzy plants and fuzzy controllers.This makes the classic parallel distribution compensation(PDC)control infeasible.To overcome this situation,a novel method for reconstructing the membership functions'grades is proposed,which synchronizes the time scales.Then,the membership function dependent method is adopted to introduce asynchronous errors and detailed membership function information.For the event-triggered control strategy,a series of robust H∞stable conditions in LMI form are derived.Finally,a simulation of a practical system is used to demonstrate the method proposed in this letter can reduce conservatism.展开更多
The application of generative artificial intelligence(GAI)in the judicial domain represents an innovative approach to achieving digital justice.GAI’s functionalities are primarily exhibited in the enhancement of judi...The application of generative artificial intelligence(GAI)in the judicial domain represents an innovative approach to achieving digital justice.GAI’s functionalities are primarily exhibited in the enhancement of judicial efficiency,improving the accuracy and fairness of adjudications,promoting the uniform application of the law,and enhancing transparency and engagement in judicial processes.However,these advancements are accompanied by potential risks and challenges in technology,adjudication,and ethics.It is thus essential to strengthen privacy protection during the processing and transmission of data,ensure data security and confidentiality,and establish and refine clear legal norms regarding the roles,responsibilities,and legal obligations of GAI in judicial settings.In addition,ethical guidelines that delineate the behavioral boundaries and value orientations of GAI need to be formulated.Collectively,these elements can form a trinary model of technical controls,legal norms,and ethical constraints,to facilitate the modernization and intelligent development of the judicial system.展开更多
This paper presents a predefined-time controller for Multiple Space transportation Robots System (MSRS), which can be applied in on-orbit assembly tasks to transport modules to pre-assembly configuration quickly. Firs...This paper presents a predefined-time controller for Multiple Space transportation Robots System (MSRS), which can be applied in on-orbit assembly tasks to transport modules to pre-assembly configuration quickly. Firstly, to simplify the analysis and design of predefined-time controller, a Predefined-time Stability Criterion is proposed in the form of Composite Lyapunov Function (CLF-PSC). Besides simplicity, the CLF-PSC also has the advantage of less conservativeness due to utilization of initial state information. Secondly, a concept of Lp-Norm-Normalized Sign Function (LPNNSF) is proposed based on the CLF-PSC. Different from traditional norm-normalized sign function, the Lp-norm of LPNNSF can be selected arbitrarily according to practical control task requirements, which means that the proposed LPNNSF is more generalized and more convenient for calculation. Thirdly, a predefined-time disturbance observer and predefined-time controller are designed based on the LPNNSF. The observer has the property of predefined-time convergence to achieve quicker and more accurate estimation of the lumped disturbance. The controller has less control input and chattering phenomenon than traditional predefined-time controller. In addition, by introducing the observer into the controller, the closed-loop system enjoys high precision and strong robustness. Finally, the effectiveness of the proposed controller is verified by numerical simulations. By employing the controller, the MSRS can carry assembly modules to the desired pre-assembly configuration accurately within predefined time.展开更多
This paper systematically introduces the extraction process of the active components from the essential oil of Melaleuca alternifolia,elucidates the biological functions of these active components,and summarizes their...This paper systematically introduces the extraction process of the active components from the essential oil of Melaleuca alternifolia,elucidates the biological functions of these active components,and summarizes their applications in agricultural pest control.Furthermore,the paper examines the future developmental directions of M.alternifolia essential oil in pest control,along with the current challenges associated with its application.The aim is to offer insights for future research on botanical essential oils,particularly regarding their biological functions and applications in agricultural pest control.展开更多
The nanofluid-based direct absorption solar collector(NDASC)ensures that solar radiation passing through the tube wall is directly absorbed by the nanofluid,reducing thermal resistance in the energy transfer process.H...The nanofluid-based direct absorption solar collector(NDASC)ensures that solar radiation passing through the tube wall is directly absorbed by the nanofluid,reducing thermal resistance in the energy transfer process.However,further exploration is required to suppress the outward thermal losses from the nanofluid at high temperatures.Herein,this paper proposes a novel NDASC in which the outer surface of the collector tube is covered with functional coatings and a three-dimensional computational fluid dynamics model is established to study the energy flow distributions on the collector within the temperature range of 400-600 K.When the nanofluid’s absorption coefficient reaches 80 m^(-1),the NDASC shows the optimal thermal performance,and the NDASC with local Sn-In_(2)O_(3) coating achieves a 7.8% improvement in thermal efficiency at 400 K compared to the original NDASC.Furthermore,hybrid coatings with Sn In_(2)O_(3)/WTi-Al_(2)O_(3) are explored,and the optimal coverage angles are determined.The NDASC with such coatings shows a 10.22%-17.9% increase in thermal efficiency compared to the original NDASC and a 7.6%-19.5% increase compared to the traditional surface-type solar collectors,demonstrating the effectiveness of the proposed energy flow control strategy for DASCs.展开更多
Disability is defined as a condition that makes it difficult for a person to perform certain vital activities.In recent years,the integration of the concepts of intelligence in solving various problems for disabled pe...Disability is defined as a condition that makes it difficult for a person to perform certain vital activities.In recent years,the integration of the concepts of intelligence in solving various problems for disabled persons has become more frequent.However,controlling an exoskeleton for rehabilitation presents challenges due to their nonlinear characteristics and external disturbances caused by the structure itself or the patient wearing the exoskeleton.To remedy these problems,this paper presents a novel adaptive control strategy for upper-limb rehabilitation exoskeletons,addressing the challenges of nonlinear dynamics and external disturbances.The proposed controller integrated a Radial Basis Function Neural Network(RBFNN)with a disturbance observer and employed a high-dimensional integral Lyapunov function to guarantee system stability and trajectory tracking performance.In the control system,the role of the RBFNN was to estimate uncertain signals in the dynamic model,while the disturbance observer tackled external disturbances during trajectory tracking.Artificially created scenarios for Human-Robot interactive experiments and periodically repeated reference trajectory experiments validated the controller’s performance,demonstrating efficient tracking.The proposed controller is found to achieve superior tracking accuracy with Root-Mean-Squared(RMS)errors of 0.022-0.026 rad for all joints,outperforming conventional Proportional-Integral-Derivative(PID)by 73%and Neural-Fuzzy Adaptive Control(NFAC)by 389.47%lower error.These results suggested that the RBFNN adaptive controller,coupled with disturbance compensation,could serve as an effective rehabilitation tool for upper-limb exoskeletons.These results demonstrate the superiority of the proposed method in enhancing rehabilitation accuracy and robustness,offering a promising solution for the control of upper-limb assistive devices.Based on the obtained results and due to their high robustness,the proposed control schemes can be extended to other motor disabilities,including lower limb exoskeletons.展开更多
This paper introduces a novel chattering-free terminal sliding mode control(SMC)strategy to address chaotic behavior in permanent magnet synchronous generators(PMSG)for offshore wind turbine systems.By integrating an ...This paper introduces a novel chattering-free terminal sliding mode control(SMC)strategy to address chaotic behavior in permanent magnet synchronous generators(PMSG)for offshore wind turbine systems.By integrating an adaptive exponential reaching law with a continuous barrier function,the proposed approach eliminates chattering and ensures robust performance under model uncertainties.The methodology combines adaptive SMC with dynamic switching to estimate and compensates for unknown uncertainties,providing smooth and stable control.Finally,the performance and effectiveness of the proposed approach are compared with those of a previous study.展开更多
It is a challenging issue to obtain the minimum amplitude control for linear systems subject to amplitudebounded disturbances.The difficulty is how to accurately give the quantitative relationship between the system H...It is a challenging issue to obtain the minimum amplitude control for linear systems subject to amplitudebounded disturbances.The difficulty is how to accurately give the quantitative relationship between the system H∞norm and control parameters.An optimal-Lyapunov-function-based controller design concept is proposed,and a minimum amplitude control scheme is presented under amplitude-bounded disturbances.Firstly,the optimal Lyapunov function is proposed by analyzing the geometric characteristics of the system H∞norm,and the necessary and sufficient condition of the optimal Lyapunov function parameter matrix is given.Secondly,the optimal Lyapunov function parameter matrix is constructed in the parameterized matrix equation,and the accurate quantitative relationship between the system H∞norm and control parameters is given.Finally,the control parameter optimization method is proposed according to the quantitative relationship between the system H∞norm and control parameters.Unlike robust optimization control methods,the presented minimum amplitude control scheme avoids the improper selection of the Lyapunov function in the controller design,and provides a novel way to design the minimum amplitude control under the given control accuracy.A buck converter example is given to illustrate the effectiveness and practicability of the presented scheme.展开更多
The demand for ^(238)Pu(nuclear battery heat source)drives the separation of its precursor,^(237)Np,from spent nuclear fuel(SNF).However,the co-existence of multi-valence states(IV/V/VI)of Np and similar redox behavio...The demand for ^(238)Pu(nuclear battery heat source)drives the separation of its precursor,^(237)Np,from spent nuclear fuel(SNF).However,the co-existence of multi-valence states(IV/V/VI)of Np and similar redox behavior with Pu(IV)hinder the effective separation of Np.N-Butyraldehyde(n-C_(3)H_(7)CHO)selectively reduces Np(VI)to Np(V)without reducing Pu(IV).Herein,we examined the reduction mechanisms of Np(VI)and Pu(IV)by n-C_(3)H_(7)CHO using relativistic density functional theory.Based on the results of the potential energy profiles,the reductions of both Np(VI)and Pu(IV)by n-C_(3)H_(7)CHO are thermodynamically feasible,whereas only the former is kinetically achievable.It uncovers that n-C_(3)H_(7)CHO can only reduce Np(VI)to Np(V)owing to kinetically controlled selective reduction.The analyses of spin density and bond distance indicate that the reduction nature for the first Np(VI)/Pu(IV)belongs to hydrogen atom transfer,whereas that for the second one involves outer-sphere electron transfer.Localized molecular orbitals(LMOs)analysis discloses the bonding evolution during the reduction process of Np(VI)/Pu(IV).This study elucidates the reason behind the kinetically controlled selective reduction of Np(VI)/Pu(IV)by n-C_(3)H_(7)CHO at the molecular level and offers in-depth perspectives on the isolation of specific metal ions from the view of kinetic control.展开更多
[Objectives]To investigate the clinical effects of implementing structured phased rehabilitation training,in addition to conventional rehabilitation,on shoulder joint function and pain alleviation in patients with rot...[Objectives]To investigate the clinical effects of implementing structured phased rehabilitation training,in addition to conventional rehabilitation,on shoulder joint function and pain alleviation in patients with rotator cuff injuries managed conservatively.[Methods]Eighty patients diagnosed with rotator cuff injury were selected and randomly assigned to either the control group or the experimental group,each comprising 40 individuals.The control group received conventional rehabilitation treatment,whereas the experimental group underwent phased rehabilitation training in addition to the conventional treatment for 6 weeks.Assessments were conducted prior to treatment,6 weeks following treatment,and 8 weeks after the completion of treatment(follow-up period).The visual analogue scale(VAS)was employed to evaluate pain intensity,the Constant-Murley score was utilized to assess shoulder joint function,and the shoulder joint range of motion was measured.[Results]Prior to treatment,no statistically significant differences were observed between the two patient groups across all measured indicators(P>0.05).Following 6 weeks of treatment and throughout the follow-up period,both groups exhibited significant reductions in VAS scores compared to baseline measurements,alongside improvements in Constant-Murley scores and shoulder joint range of motion(P<0.05).Furthermore,the magnitude of improvement in the experimental group was significantly greater than that in the control group(P<0.05).[Conclusions]Phased rehabilitation training can enhance shoulder joint function and alleviate pain in patients with rotator cuff injuries beyond the effects of conventional rehabilitation treatment,demonstrating notable clinical application value.展开更多
BACKGROUND The therapeutic role of neurodynamic mobilization in improving lower limb function in patients with mild post-traumatic knee osteoarthritis remains poorly understood.AIM To further elucidate the role of neu...BACKGROUND The therapeutic role of neurodynamic mobilization in improving lower limb function in patients with mild post-traumatic knee osteoarthritis remains poorly understood.AIM To further elucidate the role of neurodynamic mobilization in facilitating knee joint functional recovery.METHODS Thirty-two patients with post-traumatic knee osteoarthritis treated at Chonghua Hospital of Traditional Chinese Medicine(Guilin)from March 2024 to August 2025 were randomly assigned to a control group(n=16)or an intervention group(n=16).Both groups received eight weeks of conventional treatment;and the intervention group additionally underwent neurodynamic mobilization.Outcomes including pain assessed by the visual analogue scale,active range of motion,Lysholm score,stork stand test,single hop test,and Y-balance test were assessed before and after the intervention.RESULTS There were no significant differences between the two groups in baseline characteristics,including gender,age,body mass index,or surgical side(P>0.05).Two-way repeated-measures analysis of variance demonstrated significant time×group interaction effects for the visual analogue scale score(F=13.364,P<0.05),Lysholm knee score(F=20.385,P<0.05),stork stand test(F=103.756,P<0.05),and Y-balance test score(F=8.089,P<0.05).CONCLUSION Neurodynamic mobilization effectively reduces pain,improves knee function,and enhances lower limb balance in patients with mild post-traumatic knee osteoarthritis.展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This stu...Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller(NFIDC)with a Feedback Radial Basis Function Neural Network(FRBFNN).The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1.The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.A two-stage simulation evaluation was conducted.In the first stage,the controller was tested in a simulated hospital environment under both ideal and non-ideal conditions.In the second,it was benchmarked against four established controllers-Neural Network Model Reference Adaptive(NNMRA),Z-number Fuzzy Logic(Z-FL),Adaptive Dynamic Controller(ADC),and Fuzzy Logic-PID(FL-PID)—using circular and lemniscate trajectories.Across ten runs,the proposed controller achieved the lowest tracking errors under all conditions.Under ideal conditions,it achieved average improvements of 55.24%,75.75%,and 55.20%in integral absolute error(IAE),integral squared error(ISE),and mean absolute error(MAE),respectively,with coefficient of variation(CV)reductions above 55%.Under non-ideal conditions,average improvements exceeded 64%in IAE,77%in ISE,and 66%in MAE,while maintaining CV reductions above 57%.These results confirm that the NFIDC-FRBFNN controller offers superior accuracy,robustness,and consistency for real-time path tracking in healthcare robotics.展开更多
Objective To observe the clinical efficacy of acupuncture and moxibustion in treatment of functional amenorrhea by establishing artificial cycle.Method One hundred and twelve eligible patients with functional amenorrh...Objective To observe the clinical efficacy of acupuncture and moxibustion in treatment of functional amenorrhea by establishing artificial cycle.Method One hundred and twelve eligible patients with functional amenorrhea were divided into an acupuncture-moxibustion group（64 cases） and a western medication group（48 cases） by adopting random method.According to the pattern differentiation of amenorrhea of traditional Chinese medicine,the patients in the acupuncture-moxibustion group were classified into two types：amenorrhea due to blood depletion and amenorrhea due to stagnation of blood.For patients with amenorrhea due to blood depletion,Guanyuan（关元 CV4）,Zhongji（中极CV 3）,GuiTlai（归来ST 29）,Geshu（膈俞 BL 17）,Ganshu（肝俞BL 18）,Pishu（脾俞 BL 20） and Shenshu（肾俞 BL 23） were selected.At first,BL 17,BL 18,BL 20 and BL 23 were needled;after deqi,reinforcing method was applied,and the needles were not retained.Then,warmingneedle moxibustion was applied at CV 4,CV 3 and ST 29,and the needles were retained for 30 min.For patients with amenorrhea due to stagnation of blood,CV 3,Qihai（气海CV 6）,Xuehai（血海 SP 10）,Sanyinjiao（三阴交 SP 6）and Xingjian（行间 LR 2） were selected,reducing method was applied,and the needles were retained for 30 min.The treatment was performed once a day,and treatment for 15 consecutive days were the 1st cycle.The 2nd and3 rd cycles started from the 5th day of menstruation（for the patients still not menstruating,the 2nd and 3rd cycles started from the 29 th and 57 th days since the 1st day of treatment）,and the treatment lasted for 15 days.Three cycles were needed.In the western medicine group,estrogen-progestogen was taken orally for 21 days（one cycle） to establish a artificial cycle.The levels of FSH and LH were tested and compared on the 3rd day of menstruation before treatment and after the 3rd cycle of treatment,and the adverse effects were analyzed statistically.Follow-up visit was conducted for the patients after treatment for three cycles,and the recurrence rate was calculated.Result The levels of FSH and LH of patients with functional amenorrhea were enhanced significantly through establishing artificial cycle by acupuncture and moxibustion.There was no significant difference between the acupuncture-moxibustion group and the western medication group in effective rate（P〉0.05）;but the adverse effect rate（1.49%） and recurrence rate（25.0%） of the acupuncture-moxibustion group were lower than that of the western medication group（with the adverse effect rate of 4.14%,and recurrence rate of 69.8%）（both P〈0.05）.Conclusion The levels of FSH and LH of patients with functional amenorrhea can be enhanced significantly through establishing artificial cycle by acupuncture and moxibustion.The efficacy of acupuncture and moxibustion in treatment of functional amenorrhea by establishing artificial cycle is equivalent to that of oral administration of estrogen-progestogen in treatment of functional amenorrhea by establishing artificial cycle,but the adverse effect rate and recurrence rate of acupuncture and moxibustion group are lower.展开更多
A novel nonlinear adaptive control method is presented for a near-space hypersonic vehicle （NHV） in the presence of strong uncertainties and disturbances. The control law consists of the optimal generalized predicti...A novel nonlinear adaptive control method is presented for a near-space hypersonic vehicle （NHV） in the presence of strong uncertainties and disturbances. The control law consists of the optimal generalized predictive controller （OGPC） and the functional link network （FLN） direct adaptive law. OGPC is a continuous-time nonlinear predictive control law. The FLN adaptive law is used to offset the unknown uncertainties and disturbances in a flight through the online learning. The learning process does not need any offline training phase. The stability analyses of the NHV close-loop system are provided and it is proved that the system error and the weight learning error are uniformly ultimately hounded. Simulation results show the satisfactory performance of the con- troller for the attitude tracking.展开更多
The random delays in a networked control system (NCS) degrade control performance and can even destabilize the control system.To deal with this problem,the time-stamped predictive functional control (PFC) algorithm is...The random delays in a networked control system (NCS) degrade control performance and can even destabilize the control system.To deal with this problem,the time-stamped predictive functional control (PFC) algorithm is proposed,which generalizes the standard PFC algorithm to networked control systems with random delays.The algorithm uses the time-stamp method to estimate the control delay,predicts the future outputs based on a discrete time delay state space model,and drives the control law that applies to an NCS from the idea of a PFC algorithm.A networked control system was constructed based on TrueTime simulator,with which the time-stamped PFC algorithm was compared with the standard PFC algorithm.The response curves show that the proposed algorithm has better control performance.展开更多
基金supported in part by the National Natural Science Foundation of China(62473221)the Natural Science Foundation of Shandong Province,China(ZR2024MF006)Qingdao Natural Science Foundation(24-4-4-zrjj-165-jch)。
文摘This paper is concerned with event-triggered control of discrete-time systems with or without input saturation.First,an accumulative-error-based event-triggered scheme is devised for control updates.When the accumulated error between the current state and the latest control update exceeds a certain threshold,an event is triggered.Such a scheme can ensure the event-generator works at a relatively low rate rather than falls into hibernation especially after the system steps into its steady state.Second,the looped functional method for continuous-time systems is extended to discrete-time systems.By introducing an innovative looped functional that links the event-triggered scheme,some sufficient conditions for the co-design of control gain and event-triggered parameters are obtained in terms of linear matrix inequalities with a couple of tuning parameters.Then,the proposed method is applied to discrete-time systems with input saturation.As a result,both suitable control gains and event-triggered parameters are also co-designed to ensure the system trajectories converge to the region of attraction.Finally,an unstable reactor system and an inverted pendulum system are given to show the effectiveness of the proposed method.
文摘OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patients with KOA(Kellgren-Lawrence gradeⅡ-Ⅲ)were recruited from the Acupuncture-Moxibustion Rehabilitation Department,Anhui University of Chinese Medicine between October 2024 and May 2025.Participants were randomized into a TBHM group(n=30)or a transcutaneous electrical neuromuscular stimulation(TENS)group(n=30).Using two-way repeated measures ANOVA,biomechanical indicators,including rectus femoris tension,vastus medialis tension,vastus lateralis tension,patellar ligament tension,lateral patellar displacement(LPD),medial patellar displacement(MPD),normalized patellar mobility(LPD/patellar width[PW],MPD/PW),knee flexion range of motion,and functional indicators,including KOOS subscales,time up and go test(TUGT),were compared between groups at baseline and after 6 weeks of intervention.RESULTS After intervention,all biomechanical and knee joint function indicators in the TBHM group were significantly improved(P<0.05,P<0.01),while only the vastus medialis tension,TUGT and KOOS Pain,ADL and QoL scores in the control group were significantly improved(P<0.01).The improvement amplitudes of biomechanical indicators in the TBHM group,including rectus femoris tension,vastus lateralis tension,patellar ligament tension,MPD/PW,LPD/PW and knee flexion range of motion were better than those in the control group(P<0.05,P<0.01).In the functional evaluation,the interaction effects of the TBHM group in all dimensions of the KOOS score and TUGT were statistically significant(P<0.05,P<0.01).Post-hoc simple effect analysis confirmed that there were significant differences in the above indicators between the two groups after intervention(P<0.05),and all indicators showed a significant main effect of time(P<0.01),suggesting that the intervention measures had continuous and cumulative curative effects.CONCLUSION TBHM effectively improves joint function and quality of life in KOA patients by restoring dynamic equilibrium in soft tissue tension and patellar mobility,ultimately achieving the therapeutic goal of concurrent tissue-bone management.
基金supported by the Fondo para el Primer Proyecto of the Comitépara el Desarrollo de la Investigación(CODI)at the Universidad de Antioquia(Grant Number PRV2024-78509)。
文摘The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.
基金supported by the Natural Science Basic Research Program of Shaanxi with Grant No.2025JC-YBQN-807。
文摘Sliding mode control(SMC)is a well-known robust nonlinear control method with strong robustness and fast response which has been widely used in many applications.This paper introduces the major results of SMC design methods that the authors have achieved in the last decade.Undoubtedly,our results are obtained based on many other researchers'pioneer work in the literature which will not be discussed in detail here.Notably,our development has a main focus on tackling practical issues such that a proposed or enhanced SMC approach is effectively applicable to motion control systems.Issues on sliding function and adaptive gain designs in SMC and their control features will be both discussed in this paper.Those issues comprise fast convergent speed,predefined convergent time,input saturation restriction,chattering reduction,and unknown disturbance suppression.Lastly,conclusion and a few remarks on future research directions are presented.
基金supported by the National Natural Science Foundation of China(62173218,61833011)International International Cooperation Project of Shanghai Science and Technology Commission(21190780300).
文摘Dear Editor,This letter deals with the controller synthesis problem of networked Takagi-Sugeno(T-S)fuzzy systems.Due to the introduction of network communications,the same premise is no longer shared by fuzzy plants and fuzzy controllers.This makes the classic parallel distribution compensation(PDC)control infeasible.To overcome this situation,a novel method for reconstructing the membership functions'grades is proposed,which synchronizes the time scales.Then,the membership function dependent method is adopted to introduce asynchronous errors and detailed membership function information.For the event-triggered control strategy,a series of robust H∞stable conditions in LMI form are derived.Finally,a simulation of a practical system is used to demonstrate the method proposed in this letter can reduce conservatism.
文摘The application of generative artificial intelligence(GAI)in the judicial domain represents an innovative approach to achieving digital justice.GAI’s functionalities are primarily exhibited in the enhancement of judicial efficiency,improving the accuracy and fairness of adjudications,promoting the uniform application of the law,and enhancing transparency and engagement in judicial processes.However,these advancements are accompanied by potential risks and challenges in technology,adjudication,and ethics.It is thus essential to strengthen privacy protection during the processing and transmission of data,ensure data security and confidentiality,and establish and refine clear legal norms regarding the roles,responsibilities,and legal obligations of GAI in judicial settings.In addition,ethical guidelines that delineate the behavioral boundaries and value orientations of GAI need to be formulated.Collectively,these elements can form a trinary model of technical controls,legal norms,and ethical constraints,to facilitate the modernization and intelligent development of the judicial system.
基金co-supported by the National Natural Science Foundation of China(Nos.12372048,12102343)the Key Program of the National Natural Science Foundation of China(No.U2013206)+1 种基金the China Postdoctoral Science Foundation(No.2023M742835)the Guangdong Basic and Applied Basic Research Foundation,China(No.2023A1515011421).
文摘This paper presents a predefined-time controller for Multiple Space transportation Robots System (MSRS), which can be applied in on-orbit assembly tasks to transport modules to pre-assembly configuration quickly. Firstly, to simplify the analysis and design of predefined-time controller, a Predefined-time Stability Criterion is proposed in the form of Composite Lyapunov Function (CLF-PSC). Besides simplicity, the CLF-PSC also has the advantage of less conservativeness due to utilization of initial state information. Secondly, a concept of Lp-Norm-Normalized Sign Function (LPNNSF) is proposed based on the CLF-PSC. Different from traditional norm-normalized sign function, the Lp-norm of LPNNSF can be selected arbitrarily according to practical control task requirements, which means that the proposed LPNNSF is more generalized and more convenient for calculation. Thirdly, a predefined-time disturbance observer and predefined-time controller are designed based on the LPNNSF. The observer has the property of predefined-time convergence to achieve quicker and more accurate estimation of the lumped disturbance. The controller has less control input and chattering phenomenon than traditional predefined-time controller. In addition, by introducing the observer into the controller, the closed-loop system enjoys high precision and strong robustness. Finally, the effectiveness of the proposed controller is verified by numerical simulations. By employing the controller, the MSRS can carry assembly modules to the desired pre-assembly configuration accurately within predefined time.
基金Supported by Undergraduate Training Programs for Innovation and Entrepreneurship of Guangdong Province(202310580005)Youth Project of Zhaoqing University(QN202443)China Agriculture Research System of MOF and MARA(CARS-26).
文摘This paper systematically introduces the extraction process of the active components from the essential oil of Melaleuca alternifolia,elucidates the biological functions of these active components,and summarizes their applications in agricultural pest control.Furthermore,the paper examines the future developmental directions of M.alternifolia essential oil in pest control,along with the current challenges associated with its application.The aim is to offer insights for future research on botanical essential oils,particularly regarding their biological functions and applications in agricultural pest control.
基金Project(52476095)supported by the National Natural Science Foundation of ChinaProject(kq2506013)supported by Changsha Outstanding Innovative Youth Training Program,China。
文摘The nanofluid-based direct absorption solar collector(NDASC)ensures that solar radiation passing through the tube wall is directly absorbed by the nanofluid,reducing thermal resistance in the energy transfer process.However,further exploration is required to suppress the outward thermal losses from the nanofluid at high temperatures.Herein,this paper proposes a novel NDASC in which the outer surface of the collector tube is covered with functional coatings and a three-dimensional computational fluid dynamics model is established to study the energy flow distributions on the collector within the temperature range of 400-600 K.When the nanofluid’s absorption coefficient reaches 80 m^(-1),the NDASC shows the optimal thermal performance,and the NDASC with local Sn-In_(2)O_(3) coating achieves a 7.8% improvement in thermal efficiency at 400 K compared to the original NDASC.Furthermore,hybrid coatings with Sn In_(2)O_(3)/WTi-Al_(2)O_(3) are explored,and the optimal coverage angles are determined.The NDASC with such coatings shows a 10.22%-17.9% increase in thermal efficiency compared to the original NDASC and a 7.6%-19.5% increase compared to the traditional surface-type solar collectors,demonstrating the effectiveness of the proposed energy flow control strategy for DASCs.
基金funded by the King Salman Center For Disability Research,through Research Group No.KSRG-2024-468。
文摘Disability is defined as a condition that makes it difficult for a person to perform certain vital activities.In recent years,the integration of the concepts of intelligence in solving various problems for disabled persons has become more frequent.However,controlling an exoskeleton for rehabilitation presents challenges due to their nonlinear characteristics and external disturbances caused by the structure itself or the patient wearing the exoskeleton.To remedy these problems,this paper presents a novel adaptive control strategy for upper-limb rehabilitation exoskeletons,addressing the challenges of nonlinear dynamics and external disturbances.The proposed controller integrated a Radial Basis Function Neural Network(RBFNN)with a disturbance observer and employed a high-dimensional integral Lyapunov function to guarantee system stability and trajectory tracking performance.In the control system,the role of the RBFNN was to estimate uncertain signals in the dynamic model,while the disturbance observer tackled external disturbances during trajectory tracking.Artificially created scenarios for Human-Robot interactive experiments and periodically repeated reference trajectory experiments validated the controller’s performance,demonstrating efficient tracking.The proposed controller is found to achieve superior tracking accuracy with Root-Mean-Squared(RMS)errors of 0.022-0.026 rad for all joints,outperforming conventional Proportional-Integral-Derivative(PID)by 73%and Neural-Fuzzy Adaptive Control(NFAC)by 389.47%lower error.These results suggested that the RBFNN adaptive controller,coupled with disturbance compensation,could serve as an effective rehabilitation tool for upper-limb exoskeletons.These results demonstrate the superiority of the proposed method in enhancing rehabilitation accuracy and robustness,offering a promising solution for the control of upper-limb assistive devices.Based on the obtained results and due to their high robustness,the proposed control schemes can be extended to other motor disabilities,including lower limb exoskeletons.
文摘This paper introduces a novel chattering-free terminal sliding mode control(SMC)strategy to address chaotic behavior in permanent magnet synchronous generators(PMSG)for offshore wind turbine systems.By integrating an adaptive exponential reaching law with a continuous barrier function,the proposed approach eliminates chattering and ensures robust performance under model uncertainties.The methodology combines adaptive SMC with dynamic switching to estimate and compensates for unknown uncertainties,providing smooth and stable control.Finally,the performance and effectiveness of the proposed approach are compared with those of a previous study.
基金supported in part by the National Natural Science Foundation of China(62373089).
文摘It is a challenging issue to obtain the minimum amplitude control for linear systems subject to amplitudebounded disturbances.The difficulty is how to accurately give the quantitative relationship between the system H∞norm and control parameters.An optimal-Lyapunov-function-based controller design concept is proposed,and a minimum amplitude control scheme is presented under amplitude-bounded disturbances.Firstly,the optimal Lyapunov function is proposed by analyzing the geometric characteristics of the system H∞norm,and the necessary and sufficient condition of the optimal Lyapunov function parameter matrix is given.Secondly,the optimal Lyapunov function parameter matrix is constructed in the parameterized matrix equation,and the accurate quantitative relationship between the system H∞norm and control parameters is given.Finally,the control parameter optimization method is proposed according to the quantitative relationship between the system H∞norm and control parameters.Unlike robust optimization control methods,the presented minimum amplitude control scheme avoids the improper selection of the Lyapunov function in the controller design,and provides a novel way to design the minimum amplitude control under the given control accuracy.A buck converter example is given to illustrate the effectiveness and practicability of the presented scheme.
基金supported by the National Natural Science Foundation of China(Nos.22376197,U2441225,22076188).
文摘The demand for ^(238)Pu(nuclear battery heat source)drives the separation of its precursor,^(237)Np,from spent nuclear fuel(SNF).However,the co-existence of multi-valence states(IV/V/VI)of Np and similar redox behavior with Pu(IV)hinder the effective separation of Np.N-Butyraldehyde(n-C_(3)H_(7)CHO)selectively reduces Np(VI)to Np(V)without reducing Pu(IV).Herein,we examined the reduction mechanisms of Np(VI)and Pu(IV)by n-C_(3)H_(7)CHO using relativistic density functional theory.Based on the results of the potential energy profiles,the reductions of both Np(VI)and Pu(IV)by n-C_(3)H_(7)CHO are thermodynamically feasible,whereas only the former is kinetically achievable.It uncovers that n-C_(3)H_(7)CHO can only reduce Np(VI)to Np(V)owing to kinetically controlled selective reduction.The analyses of spin density and bond distance indicate that the reduction nature for the first Np(VI)/Pu(IV)belongs to hydrogen atom transfer,whereas that for the second one involves outer-sphere electron transfer.Localized molecular orbitals(LMOs)analysis discloses the bonding evolution during the reduction process of Np(VI)/Pu(IV).This study elucidates the reason behind the kinetically controlled selective reduction of Np(VI)/Pu(IV)by n-C_(3)H_(7)CHO at the molecular level and offers in-depth perspectives on the isolation of specific metal ions from the view of kinetic control.
文摘[Objectives]To investigate the clinical effects of implementing structured phased rehabilitation training,in addition to conventional rehabilitation,on shoulder joint function and pain alleviation in patients with rotator cuff injuries managed conservatively.[Methods]Eighty patients diagnosed with rotator cuff injury were selected and randomly assigned to either the control group or the experimental group,each comprising 40 individuals.The control group received conventional rehabilitation treatment,whereas the experimental group underwent phased rehabilitation training in addition to the conventional treatment for 6 weeks.Assessments were conducted prior to treatment,6 weeks following treatment,and 8 weeks after the completion of treatment(follow-up period).The visual analogue scale(VAS)was employed to evaluate pain intensity,the Constant-Murley score was utilized to assess shoulder joint function,and the shoulder joint range of motion was measured.[Results]Prior to treatment,no statistically significant differences were observed between the two patient groups across all measured indicators(P>0.05).Following 6 weeks of treatment and throughout the follow-up period,both groups exhibited significant reductions in VAS scores compared to baseline measurements,alongside improvements in Constant-Murley scores and shoulder joint range of motion(P<0.05).Furthermore,the magnitude of improvement in the experimental group was significantly greater than that in the control group(P<0.05).[Conclusions]Phased rehabilitation training can enhance shoulder joint function and alleviate pain in patients with rotator cuff injuries beyond the effects of conventional rehabilitation treatment,demonstrating notable clinical application value.
基金Supported by the Central Guided Local Science and Technology Development Fund Project for Science and Technology Innovation Base Construction,No.Guike ZY24212046National Natural Science Foundation of China,No.U22A2092+3 种基金Guangxi Education Science“the 14th Five-Year Plan”2024 Special Project“Research on Steam Education Practice in Rehabilitation Engineering”,No.2024ZJY304the Research Basic Ability Enhancement Program for Young and Middle-aged Teachers of Guangxi,No.2025KY2255the Innovation Project of GUET Graduate Education,No.2025YCXB010Natural Science Research Project of Guilin Life and Health Career Technical College,No.2025GKKY04.
文摘BACKGROUND The therapeutic role of neurodynamic mobilization in improving lower limb function in patients with mild post-traumatic knee osteoarthritis remains poorly understood.AIM To further elucidate the role of neurodynamic mobilization in facilitating knee joint functional recovery.METHODS Thirty-two patients with post-traumatic knee osteoarthritis treated at Chonghua Hospital of Traditional Chinese Medicine(Guilin)from March 2024 to August 2025 were randomly assigned to a control group(n=16)or an intervention group(n=16).Both groups received eight weeks of conventional treatment;and the intervention group additionally underwent neurodynamic mobilization.Outcomes including pain assessed by the visual analogue scale,active range of motion,Lysholm score,stork stand test,single hop test,and Y-balance test were assessed before and after the intervention.RESULTS There were no significant differences between the two groups in baseline characteristics,including gender,age,body mass index,or surgical side(P>0.05).Two-way repeated-measures analysis of variance demonstrated significant time×group interaction effects for the visual analogue scale score(F=13.364,P<0.05),Lysholm knee score(F=20.385,P<0.05),stork stand test(F=103.756,P<0.05),and Y-balance test score(F=8.089,P<0.05).CONCLUSION Neurodynamic mobilization effectively reduces pain,improves knee function,and enhances lower limb balance in patients with mild post-traumatic knee osteoarthritis.
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
基金supported by the Malaysia Ministry of Higher Education under Fundamental Research Grant Scheme with Project Code:FRGS/1/2024/TK07/USM/02/3.
文摘Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller(NFIDC)with a Feedback Radial Basis Function Neural Network(FRBFNN).The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1.The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.A two-stage simulation evaluation was conducted.In the first stage,the controller was tested in a simulated hospital environment under both ideal and non-ideal conditions.In the second,it was benchmarked against four established controllers-Neural Network Model Reference Adaptive(NNMRA),Z-number Fuzzy Logic(Z-FL),Adaptive Dynamic Controller(ADC),and Fuzzy Logic-PID(FL-PID)—using circular and lemniscate trajectories.Across ten runs,the proposed controller achieved the lowest tracking errors under all conditions.Under ideal conditions,it achieved average improvements of 55.24%,75.75%,and 55.20%in integral absolute error(IAE),integral squared error(ISE),and mean absolute error(MAE),respectively,with coefficient of variation(CV)reductions above 55%.Under non-ideal conditions,average improvements exceeded 64%in IAE,77%in ISE,and 66%in MAE,while maintaining CV reductions above 57%.These results confirm that the NFIDC-FRBFNN controller offers superior accuracy,robustness,and consistency for real-time path tracking in healthcare robotics.
文摘Objective To observe the clinical efficacy of acupuncture and moxibustion in treatment of functional amenorrhea by establishing artificial cycle.Method One hundred and twelve eligible patients with functional amenorrhea were divided into an acupuncture-moxibustion group（64 cases） and a western medication group（48 cases） by adopting random method.According to the pattern differentiation of amenorrhea of traditional Chinese medicine,the patients in the acupuncture-moxibustion group were classified into two types：amenorrhea due to blood depletion and amenorrhea due to stagnation of blood.For patients with amenorrhea due to blood depletion,Guanyuan（关元 CV4）,Zhongji（中极CV 3）,GuiTlai（归来ST 29）,Geshu（膈俞 BL 17）,Ganshu（肝俞BL 18）,Pishu（脾俞 BL 20） and Shenshu（肾俞 BL 23） were selected.At first,BL 17,BL 18,BL 20 and BL 23 were needled;after deqi,reinforcing method was applied,and the needles were not retained.Then,warmingneedle moxibustion was applied at CV 4,CV 3 and ST 29,and the needles were retained for 30 min.For patients with amenorrhea due to stagnation of blood,CV 3,Qihai（气海CV 6）,Xuehai（血海 SP 10）,Sanyinjiao（三阴交 SP 6）and Xingjian（行间 LR 2） were selected,reducing method was applied,and the needles were retained for 30 min.The treatment was performed once a day,and treatment for 15 consecutive days were the 1st cycle.The 2nd and3 rd cycles started from the 5th day of menstruation（for the patients still not menstruating,the 2nd and 3rd cycles started from the 29 th and 57 th days since the 1st day of treatment）,and the treatment lasted for 15 days.Three cycles were needed.In the western medicine group,estrogen-progestogen was taken orally for 21 days（one cycle） to establish a artificial cycle.The levels of FSH and LH were tested and compared on the 3rd day of menstruation before treatment and after the 3rd cycle of treatment,and the adverse effects were analyzed statistically.Follow-up visit was conducted for the patients after treatment for three cycles,and the recurrence rate was calculated.Result The levels of FSH and LH of patients with functional amenorrhea were enhanced significantly through establishing artificial cycle by acupuncture and moxibustion.There was no significant difference between the acupuncture-moxibustion group and the western medication group in effective rate（P〉0.05）;but the adverse effect rate（1.49%） and recurrence rate（25.0%） of the acupuncture-moxibustion group were lower than that of the western medication group（with the adverse effect rate of 4.14%,and recurrence rate of 69.8%）（both P〈0.05）.Conclusion The levels of FSH and LH of patients with functional amenorrhea can be enhanced significantly through establishing artificial cycle by acupuncture and moxibustion.The efficacy of acupuncture and moxibustion in treatment of functional amenorrhea by establishing artificial cycle is equivalent to that of oral administration of estrogen-progestogen in treatment of functional amenorrhea by establishing artificial cycle,but the adverse effect rate and recurrence rate of acupuncture and moxibustion group are lower.
基金Supported by the National Nature Science Foundation of China (90716028)~~
文摘A novel nonlinear adaptive control method is presented for a near-space hypersonic vehicle （NHV） in the presence of strong uncertainties and disturbances. The control law consists of the optimal generalized predictive controller （OGPC） and the functional link network （FLN） direct adaptive law. OGPC is a continuous-time nonlinear predictive control law. The FLN adaptive law is used to offset the unknown uncertainties and disturbances in a flight through the online learning. The learning process does not need any offline training phase. The stability analyses of the NHV close-loop system are provided and it is proved that the system error and the weight learning error are uniformly ultimately hounded. Simulation results show the satisfactory performance of the con- troller for the attitude tracking.
文摘The random delays in a networked control system (NCS) degrade control performance and can even destabilize the control system.To deal with this problem,the time-stamped predictive functional control (PFC) algorithm is proposed,which generalizes the standard PFC algorithm to networked control systems with random delays.The algorithm uses the time-stamp method to estimate the control delay,predicts the future outputs based on a discrete time delay state space model,and drives the control law that applies to an NCS from the idea of a PFC algorithm.A networked control system was constructed based on TrueTime simulator,with which the time-stamped PFC algorithm was compared with the standard PFC algorithm.The response curves show that the proposed algorithm has better control performance.
