This paper focuses on the study of mechanical design and control measures in smart home systems.First of all,it elaborates on the theoretical foundation of mechatronics technology,including its multidisciplinary integ...This paper focuses on the study of mechanical design and control measures in smart home systems.First of all,it elaborates on the theoretical foundation of mechatronics technology,including its multidisciplinary integration characteristics,system design principles,and constituent elements.It then reviews the research progress in this field,followed by a detailed analysis of mechatronics design in systems such as smart lighting and smart security,as well as the application of control algorithms and communication protocols in smart homes.Finally,it discusses challenges such as system compatibility and data security risks,proposing corresponding solutions to provide theoretical and practical references for the development of smart home systems.展开更多
Premature senescence in Bacillus thuringiensis(Bt)cotton has emerged as a significant challenge to the formation and realization of fiber yield and quality since its commercialization in 1997.Initially,premature senes...Premature senescence in Bacillus thuringiensis(Bt)cotton has emerged as a significant challenge to the formation and realization of fiber yield and quality since its commercialization in 1997.Initially,premature senescence was thought to be an inherent trait associated with the Bt gene.However,subsequent research and practice have demonstrated that it is not directly linked to the Bt gene but rather results from a physiological imbalance between the sink and source,as well as between the root and shoot in Bt cotton.This short review provides an overview of the causes,mechanisms,and control measures for premature senescence in Bt cotton.It offers valuable insights for future research and the sustainable application of transgenic crops.展开更多
Based on the characteristics of wind-sand movement in the gravel desert area along the GolmudKorla Railway,this study employs numerical simulation,wind tunnel and field measurement methods to investigate the wind-sand...Based on the characteristics of wind-sand movement in the gravel desert area along the GolmudKorla Railway,this study employs numerical simulation,wind tunnel and field measurement methods to investigate the wind-sand protection mechanisms and effectiveness of various sand control measures for the Golmud-Korla Railway.Results reveal that wind-sand flow is significantly influenced by sand barrier with notable fluctuations in wind speed observed around these barriers.In the region of 0H to 5H(H is the height of the sand barrier model)downstream the barrier,where turbulent flow disturbances are particularly intense,substantial modifications to the airflow patterns were observed.Among the three types of sand barriers tested,the horizontal wind speed fluctuations on the leeward side of the reed bundle sand barrier are the most pronounced,with the lowest wind speed attenuation coefficient reaching 0.29.Within a specific range of wind speeds,the effective protective width of a sand barrier is negatively correlated with the upstream wind speed.The reed bundle sand barrier demonstrates the largest average protection width,followed by the highdensity polyethylene(HDPE)board sand barrier,while the metal mesh sand barrier provides the smallest protection.In the gravel desert area of southern Xinjiang,the sand trapping efficiency of the reed bundle and HDPE board barriers reaches 93.85%and 96.42%,respectively,with annual maximum accumulated sand volume of 3.342 m3/m and 3.73 m3/m.Both barriers demonstrate excellent wind-sand protection effects.From an environmental sustainability and operating lifetime perspective,a three-dimensional wind-sand control system composed of two or three reed bundle sand barriers is recommended for the Golmud-Korla Railway area.This endeavor would provide valuable insights and guidance for wind-sand disaster prevention and control in the gravel desert areas.展开更多
This editorial critically evaluated the recent study by Wang et al,which systematically investigated the efficacy of perioperative disinfection and isolation measures(including preoperative povidone-iodine disinfectio...This editorial critically evaluated the recent study by Wang et al,which systematically investigated the efficacy of perioperative disinfection and isolation measures(including preoperative povidone-iodine disinfection,intraoperative sterile barrier techniques,and postoperative intensive care)in reducing infection rates.The study further incorporated the surgical site infection risk prediction model(constructed via the least absolute shrinkage and selection operator al-gorithm,integrating patients'baseline characteristics,surgical indicators,and regional antibiotic-resistant bacterial data),and proposed a dynamic prevention and control system termed“disinfection protocols-predictive models–real-time monitoring”.The article highlighted that preoperative risk stratification,intraoperative personalized antibiotic selection,and postoperative multidimensional monitoring(encompassing inflammatory biomarkers,imaging,and microbiological testing)enabled the precise identification of high-risk patients and optimized intervention thresholds.Future research is deemed necessary to validate the synergistic effects of disinfection protocols and predictive models through large-scale multicenter studies,combined with advanced intraoperative rapid microbial detection technologies.This approach aims to establish standardized infection control protocols tailored for precision medicine and regional adaptability.Future research should prioritize validating the synergistic effects of disinfection protocols and predictive models via multi-center studies,while incorporating advanced rapid intraoperative microbial detection technologies to develop standardized infection prevention and control procedures.Such efforts will enhance the implementation of precise and regionally adaptive infection control strategies.展开更多
This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mi...This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mission is disturbed by the measurement noise and the target adversarial behavior.To address these problems,a model-free Combined Adaptive-length Datadriven Predictive Controller(CADPC)is proposed.It consists of a separated subsystem identification method and a combined predictive control strategy.The subsystem identification method is composed of an adaptive data length,thereby reducing sensitivity to undetermined measurement noises and disturbances.Based on the subsystem identification,the combined predictive controller is established,reducing calculating resource.The stability of the CADPC is rigorously proven using the Input-to-State Stable(ISS)theorem and the small-gain theorem.Simulations demonstrate that CADPC effectively handles the model-free space robot post operation in the presence of significant disturbances,state measurement noise,and control input errors.It achieves improved steady-state accuracy,reduced steady-state control consumption,and minimized control input chattering.展开更多
Chikungunya is a mosquito-borne viral infection caused by the chikungunya virus(CHIKV).It is characterized by acute onset of high fever,severe polyarthralgia,myalgia,headache,and maculopapular rash.The virus is rapidl...Chikungunya is a mosquito-borne viral infection caused by the chikungunya virus(CHIKV).It is characterized by acute onset of high fever,severe polyarthralgia,myalgia,headache,and maculopapular rash.The virus is rapidly spreading and may establish in new regions where competent mosquito vectors are present.This research analyzes the regulatory dynamics of a stochastic differential equation(SDE)model describing the transmission of the CHIKV,incorporating seasonal variations,immunization efforts,and environmentalffuctuations modeled through Poisson random measure noise under demographic heterogeneity.The model guarantees the existence of a global positive solution and demonstrates periodic dynamics driven by environmental factors.A key contribution of this study is the formulation of a stochastic threshold parameter,R0L,which characterizes the conditions for disease persistence or extinction under random environmental inffuences.Although our analysis highlights age-speciffc heterogeneities to illustrate differential transmission risks,the framework is general and can incorporate other vulnerable demographic groups,ensuring broader applicability of the results.Using the Monte Carlo Markov Chain(MCMC)method,we estimate R0L=1.4978(95%C-I:1.4968–1.5823)based on CHIKV data from Florida,USA,spanning 2005 to 2017,suggesting that the outbreak remains active and requires targeted control strategies.The effectiveness of immunization,screening,and treatment strategies varies depending on the prioritized demographic groups,due to substantial differences in CHIKV incidence across age categories in the USA.Numerical simulations were conducted using the truncated Euler–Maruyama method to robustly capture the stochastic dynamics of CHIKV transmission with Poissondriven jumps.Employing an iterative approach and assuming mild convexity conditions,we formulated and solved a parameterized near-optimality problem using the Ekeland variational principle.Ourffndings indicate that vaccination campaigns are signiffcantly more effective when focused on vulnerable adults over the age of 66,as well as individuals aged 21 to 25.Furthermore,enhancements in vaccine effcacy,diagnostic screening,and treatment protocols all contribute substantially to minimizing infection rates compared to current standard approaches.These insights support the development of targeted,age-speciffc public health interventions that can signiffcantly improve the management and control of future CHIKV outbreaks.展开更多
Mosquito-borne diseases pose a significant global health threat,necessitating the development of innovative vector control strategies.In this study,we investigated the potential of harnessing host immunity against mos...Mosquito-borne diseases pose a significant global health threat,necessitating the development of innovative vector control strategies.In this study,we investigated the potential of harnessing host immunity against mosquitoes through vaccination.Using Culex pipiens(C.pipiens)as a model,we demonstrated that polyclonal antibodies against C.pipiens abdominal protein extracts significantly impaired oviposition and increased mosquito mortality,primarily through the classical complement activation pathways.However,repeated exposure led to resistance,indicating potential adaptation.Proteomic analysis identified metabolic proteins as key targets,with Gene Ontology and Kyoto Encyclopedia of Genes and Genomes enrichment analyses highlighting their roles in carboxylic acid metabolism,tyrosine degradation,and the proteasome pathways.Notably,cross-species reactivity was revealed by Western blotting,showing strong binding of Culex-specific antibodies to Anopheles and Aedes abdominal proteins.This study provides mechanistic insights into antibody-based mosquito suppression,highlighting its potential as an innovative vector control strategy while underscoring the need for further research on resistance management and ecological impacts.展开更多
This paper examines a model that combines vortex generators and leading-edge tubercles for controlling the laminar separation bubble(LSB)over an airfoil at low Reynolds numbers(Re).This new concept of passive flow con...This paper examines a model that combines vortex generators and leading-edge tubercles for controlling the laminar separation bubble(LSB)over an airfoil at low Reynolds numbers(Re).This new concept of passive flow control technique utilizing a tubercle and vortex generator(VG)close to the leading edge was analyzed numerically for a NACA0015 airfoil.In this study,the Shear Stress Transport(SST)turbulence model was employed in the numerical modelling.Numerical modelling was completed using the ANSYS-Fluent 18.2 solver.Analyses were conducted to investigate the flow pattern and understand the underlying LSB control phenomena that enabled the new passive flow control method to provide this significant performance benefit.The findings indicated that the new concept of passive flow control technique suppressed the formation of an LSB at the suction surface of the NACA0015 airfoil,resulting in a higher lift coefficient and improved aerodynamic performance.Improvements in LSB dynamics and aerodynamic performance through the passive flow control method lead to increased energy output and enhanced stability.展开更多
Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybr...Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybrid control method was proposed.This method included a hybrid controller composed of a slope-based controller and a proportional-integral-derivative(PID)controller.The speed of agricultural machinery was influenced by longitudinal forces,which were divided into two parts:one part was slope-related forces and conventional resistance,and the other was hard-to-estimate forces,such as sliding friction.For the first part,a slope-based controller was designed;for the second part,a PID controller was implemented.By combining these two controllers,the system can dynamically adjust the throttle opening and the brake master cylinder pressure,ensuring steady speed travel on sloping farmland.Simulation tests at a target speed of 7 km/h demonstrated that the proposed controller maintained a stable speed,achieving a root mean square error of 0.13 km/h and a mean absolute percentage error of 1.6%.Field tests on a practical experimental platform validated the method’s effectiveness,with results showing consistent control performance across varying slope conditions.The proposed controller demonstrated superior control performance.Experimental data verified that this method can achieve precise control of the agricultural machinery’s movement speed,meeting the stability requirements for agricultural operations.展开更多
This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relativ...This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.展开更多
BACKGROUND The application of perioperative disinfection and isolation measures to patients undergoing gastrointestinal surgery with postoperative infection can provide a data reference for reducing the postoperative ...BACKGROUND The application of perioperative disinfection and isolation measures to patients undergoing gastrointestinal surgery with postoperative infection can provide a data reference for reducing the postoperative infection rate,improving post-operative biochemical markers,and enhancing postoperative recovery outcomes.AIM To explore the effectiveness of perioperative disinfection and isolation measures in controlling postoperative infection following gastrointestinal surgery.It also sought to compare infection rates and biochemical markers between the obser-vation and control groups and evaluate the impact of disinfection and isolation measures on reducing postoperative complications.METHODS A retrospective analysis was conducted.Ninety-six patients who underwent gastrointestinal surgery between January 2022 and December 2023 were selected and divided into an observation group and a control group,with 48 cases in each.The observation group received disinfection and isolation measures during the perioperative period,whereas the control group received standard nursing care.The incidence of infection,white blood cell count,C-reactive protein levels,hemoglobin levels,and liver function markers(alanine aminotransferase,aspartate aminotransferase,creatinine,and blood urea nitrogen)were monitored postoperatively in both groups.RESULTS The postoperative infection rate in the observation group was significantly lower than that in the control group(P<0.05).White blood cell and C-reactive protein levels decreased significantly after surgery in the observation group and were significantly lower than those in the control group(P<0.05).Alanine aminotransferase,aspartate aminotransferase,creatinine,and blood urea nitrogen levels in the observation group were lower than those in the control group on postoperative days 1 and 3,showing a significant difference(P<0.05).CONCLUSION Perioperative disinfection and isolation measures effectively reduce postoperative infection rates in gastrointestinal surgery patients and improve biochemical markers,thereby enhancing recovery outcomes.This study provides a valuable basis for postoperative infection control and has significant clinical applications.展开更多
With the development of our country’s social economy,the construction scale of water conservancy project has had an obvious expansion.In the construction of water conservancy projects,certain impacts on the surroundi...With the development of our country’s social economy,the construction scale of water conservancy project has had an obvious expansion.In the construction of water conservancy projects,certain impacts on the surrounding water and soil conditions are inevitable.These impacts may lead to problems such as soil erosion,which can directly affect local production,livelihoods,and the natural ecological environment on which people depend.In severe cases,such issues may even hinder the progress and quality of the water conservancy project itself.Therefore,in the construction of water conservancy projects,soil and water conservation work is extremely important.Based on this,this paper mainly aimed at the prevention and control of water and soil conservation of water conservancy projects launched the relevant analysis and research.展开更多
As a closed-loop learning control method,repetitive control has been widely used in a variety of areas from appliances to aviation.A repetitive control system features perfect reference tracking and disturbance reject...As a closed-loop learning control method,repetitive control has been widely used in a variety of areas from appliances to aviation.A repetitive control system features perfect reference tracking and disturbance rejection in the steady state for periodic signals with a fixed period.This characteristic is important not only for conventional technologies and conventional industries but also for advanced technologies and emerging industries.This paper first explains the concept of repetitive control from its original idea.Next,it describes the structure of a repetitive controller as an internal model and shows the respective points of continuous-and discrete-time repetitive control.It presents a categorized list of practical applications of repetitive control.Moreover,two concrete applications,namely the control of a robotic manipulator and a rotating system,demonstrate the validity of the method with experimental results.Several current studies in this field are also reviewed,and some challenges and future studies for repetitive control are provided.展开更多
This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper cons...This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.展开更多
Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion...Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.展开更多
To solve the problem of in-flight actuator faults and parameter uncertainties for multiple Unmanned Aerial Vehicles(UAVs),and reduce the communication and computational resource consumption of multiple UAVs,a Fraction...To solve the problem of in-flight actuator faults and parameter uncertainties for multiple Unmanned Aerial Vehicles(UAVs),and reduce the communication and computational resource consumption of multiple UAVs,a Fraction-Order(FO)sliding-mode Fault-Tolerant Cooperative Control(FTCC)strategy is proposed for multiple UAVs based on Event-Triggered Communication Mechanism(ET-COM-M)and Event-Triggered Control Mechanism(ET-CON-M).First,by considering the limited communication bandwidth of multiple UAVs in formation,an ET-COM-M is designed to significantly reduce communication times.Then,a distributed observer is skillfully constructed to estimate the reference signals for follower UAVs.Moreover,the adaptive strategy is incorporated into the Radial Basis Function Neural Network(RBFNN)to learn the lumped unknown terms for handling bias actuator faults and parameter uncertainties.Besides,the Nussbaum method is used to deal with the loss-of-effectiveness faults.To further achieve the refined control performance against faults,FO calculus is artfully integrated into the sliding-mode control protocol with ET-CON-M.Finally,Zeno behavior is excluded by rigorous theoretical analysis and Lyapunov stability is proved to show the effectiveness of the designed FTCC strategy.Simulation results show that the designed FTCC strategy with Event-Triggered Mechanism(ETM)can guarantee the safety of multiple UAVs and simultaneously reduce the communication and control frequencies,making the developed control scheme applicable in engineering.展开更多
Mobile wheel-legged robots exhibiting mobility,stability and reliability have garnered heightened research attention in demanding real-world scenarios,especially in material transport,emergency response and space expl...Mobile wheel-legged robots exhibiting mobility,stability and reliability have garnered heightened research attention in demanding real-world scenarios,especially in material transport,emergency response and space exploration.The kinematics model merely delineates the geometric relationship of the controlled objective,disregarding force feedback.This study investigates model predictive trajectory tracking control utilising the robot dynamic model(DRMPC)in the context of unpredictable interactions.The predictive tracking controller for the wheel-legged robot is introduced in the context of position tracking.A dynamic approximator is employed to address the uncertain interactions in the tracking process.Ultimately,cosimulation and empirical tests are conducted to demonstrate the efficacy of the devised control methodology,which achieves high precision and dependable robustness.This work can elucidate the technical and practical oversight of autonomous movement in complicated environments and enhance the manoeuverability and flexibility.展开更多
This paper presents an adaptive formation control method for a heterogeneous robot swarm,utilising a multilevel formation task tree to model various types of formation tasks and a single-state distributed k-winner-tak...This paper presents an adaptive formation control method for a heterogeneous robot swarm,utilising a multilevel formation task tree to model various types of formation tasks and a single-state distributed k-winner-take-all(S-DKWTA)algorithm to address the MRTA problem.In addition,we propose an enhanced load reassignment algorithm to resolve conflicts when using S-DKWTA.The S-DKWTA algorithm demonstrates the capability to manage multiple objectives and dynamically select leaders in real-time,thereby optimising formation efficiency and reducing energy consumption.The proposed approach integrates an enhanced artificial potential field(APF)to govern the motion of heterogeneous robot systems which encompasses both unmanned ground vehicles(UGVs)and unmanned aerial vehicles(UAVs),thereby achieving collision and obstacle avoidance.Simulations employing UGVs and UAVs swarm to achieve formation movement demonstrate the efficacy of this approach.The amalgamation of S-DKWTA and improved APF ensures stable and adaptable formation control,underscoring its potential for diverse multirobot applications.展开更多
This paper is concerned with adaptive consensus tracking control of nonlinear multi-agent systems with actuator faults and unknown nonidentical control directions under double semi-Markovian switching topologies.Consi...This paper is concerned with adaptive consensus tracking control of nonlinear multi-agent systems with actuator faults and unknown nonidentical control directions under double semi-Markovian switching topologies.Considering the complex working environment and the stability differences in communication links between leaders and followers,a double semi-Markov process is first introduced to describe the random switching of communication topologies in the leader-follower structure.In order to address challenges from the unknown nonidentical control directions and partial loss of effectiveness actuator faults,a completely independent parameter is introduced into the Nussbaum function to overcome the inherent obstacle of mutual cancellation and avoid the rapid growth rate.Considering only the state information of agents is transmitted among the agents,an adaptive distributed fault-tolerant consensus tracking control is proposed based on the double semi-Markovian switching topologies using the designed Nussbaum function.Furthermore,the stability of the closed-loop nonlinear multi-agent systems is analyzed using contradiction argument and Lyapunov theorem,from which the asymptotic consensus tracking in mean square sense can be obtained.A numerical simulation example is provided to verify the effectiveness of the proposed algorithm.展开更多
In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to ...In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to obtain the maximal positive definite solution of nonlinear matrix equation X+A^(*)X|^(-α)A=Q with the case 0<α≤1.Based on this method,a new iterative algorithm is developed,and its convergence proof is given.Finally,two numerical examples are provided to show the effectiveness of the proposed method.展开更多
文摘This paper focuses on the study of mechanical design and control measures in smart home systems.First of all,it elaborates on the theoretical foundation of mechatronics technology,including its multidisciplinary integration characteristics,system design principles,and constituent elements.It then reviews the research progress in this field,followed by a detailed analysis of mechatronics design in systems such as smart lighting and smart security,as well as the application of control algorithms and communication protocols in smart homes.Finally,it discusses challenges such as system compatibility and data security risks,proposing corresponding solutions to provide theoretical and practical references for the development of smart home systems.
基金supported by National Key Research and Development Program of China(2024YFD2300221)China Agricultural Research System(CARS-15–15)+1 种基金Agricultural Scientific and Technological Innovation Project of Shandong Academy of Agricultural Sciences(CXGC2024D03)Dong Hezhong Studio for Popularization of Science and Technology in Salt Tolerant Industrial Crops(202228297).
文摘Premature senescence in Bacillus thuringiensis(Bt)cotton has emerged as a significant challenge to the formation and realization of fiber yield and quality since its commercialization in 1997.Initially,premature senescence was thought to be an inherent trait associated with the Bt gene.However,subsequent research and practice have demonstrated that it is not directly linked to the Bt gene but rather results from a physiological imbalance between the sink and source,as well as between the root and shoot in Bt cotton.This short review provides an overview of the causes,mechanisms,and control measures for premature senescence in Bt cotton.It offers valuable insights for future research and the sustainable application of transgenic crops.
基金financially supported by Gansu Province Science and Technology Program Funding(25YFFA005)the Science and Technology Research and Development Program of China Railway Corporation(2017G004-E)the Natural Science Foundation of Gansu Province,China(23JRRE0741)。
文摘Based on the characteristics of wind-sand movement in the gravel desert area along the GolmudKorla Railway,this study employs numerical simulation,wind tunnel and field measurement methods to investigate the wind-sand protection mechanisms and effectiveness of various sand control measures for the Golmud-Korla Railway.Results reveal that wind-sand flow is significantly influenced by sand barrier with notable fluctuations in wind speed observed around these barriers.In the region of 0H to 5H(H is the height of the sand barrier model)downstream the barrier,where turbulent flow disturbances are particularly intense,substantial modifications to the airflow patterns were observed.Among the three types of sand barriers tested,the horizontal wind speed fluctuations on the leeward side of the reed bundle sand barrier are the most pronounced,with the lowest wind speed attenuation coefficient reaching 0.29.Within a specific range of wind speeds,the effective protective width of a sand barrier is negatively correlated with the upstream wind speed.The reed bundle sand barrier demonstrates the largest average protection width,followed by the highdensity polyethylene(HDPE)board sand barrier,while the metal mesh sand barrier provides the smallest protection.In the gravel desert area of southern Xinjiang,the sand trapping efficiency of the reed bundle and HDPE board barriers reaches 93.85%and 96.42%,respectively,with annual maximum accumulated sand volume of 3.342 m3/m and 3.73 m3/m.Both barriers demonstrate excellent wind-sand protection effects.From an environmental sustainability and operating lifetime perspective,a three-dimensional wind-sand control system composed of two or three reed bundle sand barriers is recommended for the Golmud-Korla Railway area.This endeavor would provide valuable insights and guidance for wind-sand disaster prevention and control in the gravel desert areas.
文摘This editorial critically evaluated the recent study by Wang et al,which systematically investigated the efficacy of perioperative disinfection and isolation measures(including preoperative povidone-iodine disinfection,intraoperative sterile barrier techniques,and postoperative intensive care)in reducing infection rates.The study further incorporated the surgical site infection risk prediction model(constructed via the least absolute shrinkage and selection operator al-gorithm,integrating patients'baseline characteristics,surgical indicators,and regional antibiotic-resistant bacterial data),and proposed a dynamic prevention and control system termed“disinfection protocols-predictive models–real-time monitoring”.The article highlighted that preoperative risk stratification,intraoperative personalized antibiotic selection,and postoperative multidimensional monitoring(encompassing inflammatory biomarkers,imaging,and microbiological testing)enabled the precise identification of high-risk patients and optimized intervention thresholds.Future research is deemed necessary to validate the synergistic effects of disinfection protocols and predictive models through large-scale multicenter studies,combined with advanced intraoperative rapid microbial detection technologies.This approach aims to establish standardized infection control protocols tailored for precision medicine and regional adaptability.Future research should prioritize validating the synergistic effects of disinfection protocols and predictive models via multi-center studies,while incorporating advanced rapid intraoperative microbial detection technologies to develop standardized infection prevention and control procedures.Such efforts will enhance the implementation of precise and regionally adaptive infection control strategies.
基金supported by the National Natural Science Foundation of China(No.12372045)the National Key Research and the Development Program of China(Nos.2023YFC2205900,2023YFC2205901)。
文摘This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mission is disturbed by the measurement noise and the target adversarial behavior.To address these problems,a model-free Combined Adaptive-length Datadriven Predictive Controller(CADPC)is proposed.It consists of a separated subsystem identification method and a combined predictive control strategy.The subsystem identification method is composed of an adaptive data length,thereby reducing sensitivity to undetermined measurement noises and disturbances.Based on the subsystem identification,the combined predictive controller is established,reducing calculating resource.The stability of the CADPC is rigorously proven using the Input-to-State Stable(ISS)theorem and the small-gain theorem.Simulations demonstrate that CADPC effectively handles the model-free space robot post operation in the presence of significant disturbances,state measurement noise,and control input errors.It achieves improved steady-state accuracy,reduced steady-state control consumption,and minimized control input chattering.
基金Ongoing Research Funding program(ORF-2025-1404),King Saud University,Riyadh,Saudi Arabia。
文摘Chikungunya is a mosquito-borne viral infection caused by the chikungunya virus(CHIKV).It is characterized by acute onset of high fever,severe polyarthralgia,myalgia,headache,and maculopapular rash.The virus is rapidly spreading and may establish in new regions where competent mosquito vectors are present.This research analyzes the regulatory dynamics of a stochastic differential equation(SDE)model describing the transmission of the CHIKV,incorporating seasonal variations,immunization efforts,and environmentalffuctuations modeled through Poisson random measure noise under demographic heterogeneity.The model guarantees the existence of a global positive solution and demonstrates periodic dynamics driven by environmental factors.A key contribution of this study is the formulation of a stochastic threshold parameter,R0L,which characterizes the conditions for disease persistence or extinction under random environmental inffuences.Although our analysis highlights age-speciffc heterogeneities to illustrate differential transmission risks,the framework is general and can incorporate other vulnerable demographic groups,ensuring broader applicability of the results.Using the Monte Carlo Markov Chain(MCMC)method,we estimate R0L=1.4978(95%C-I:1.4968–1.5823)based on CHIKV data from Florida,USA,spanning 2005 to 2017,suggesting that the outbreak remains active and requires targeted control strategies.The effectiveness of immunization,screening,and treatment strategies varies depending on the prioritized demographic groups,due to substantial differences in CHIKV incidence across age categories in the USA.Numerical simulations were conducted using the truncated Euler–Maruyama method to robustly capture the stochastic dynamics of CHIKV transmission with Poissondriven jumps.Employing an iterative approach and assuming mild convexity conditions,we formulated and solved a parameterized near-optimality problem using the Ekeland variational principle.Ourffndings indicate that vaccination campaigns are signiffcantly more effective when focused on vulnerable adults over the age of 66,as well as individuals aged 21 to 25.Furthermore,enhancements in vaccine effcacy,diagnostic screening,and treatment protocols all contribute substantially to minimizing infection rates compared to current standard approaches.These insights support the development of targeted,age-speciffc public health interventions that can signiffcantly improve the management and control of future CHIKV outbreaks.
基金supported by the National Natural Science Foundation of China(Grant No.82472312).
文摘Mosquito-borne diseases pose a significant global health threat,necessitating the development of innovative vector control strategies.In this study,we investigated the potential of harnessing host immunity against mosquitoes through vaccination.Using Culex pipiens(C.pipiens)as a model,we demonstrated that polyclonal antibodies against C.pipiens abdominal protein extracts significantly impaired oviposition and increased mosquito mortality,primarily through the classical complement activation pathways.However,repeated exposure led to resistance,indicating potential adaptation.Proteomic analysis identified metabolic proteins as key targets,with Gene Ontology and Kyoto Encyclopedia of Genes and Genomes enrichment analyses highlighting their roles in carboxylic acid metabolism,tyrosine degradation,and the proteasome pathways.Notably,cross-species reactivity was revealed by Western blotting,showing strong binding of Culex-specific antibodies to Anopheles and Aedes abdominal proteins.This study provides mechanistic insights into antibody-based mosquito suppression,highlighting its potential as an innovative vector control strategy while underscoring the need for further research on resistance management and ecological impacts.
基金the Scientific Research Projects Unit of Erciyes University under contract no:FDS-2022-11532 and FOA-2025-14773.
文摘This paper examines a model that combines vortex generators and leading-edge tubercles for controlling the laminar separation bubble(LSB)over an airfoil at low Reynolds numbers(Re).This new concept of passive flow control technique utilizing a tubercle and vortex generator(VG)close to the leading edge was analyzed numerically for a NACA0015 airfoil.In this study,the Shear Stress Transport(SST)turbulence model was employed in the numerical modelling.Numerical modelling was completed using the ANSYS-Fluent 18.2 solver.Analyses were conducted to investigate the flow pattern and understand the underlying LSB control phenomena that enabled the new passive flow control method to provide this significant performance benefit.The findings indicated that the new concept of passive flow control technique suppressed the formation of an LSB at the suction surface of the NACA0015 airfoil,resulting in a higher lift coefficient and improved aerodynamic performance.Improvements in LSB dynamics and aerodynamic performance through the passive flow control method lead to increased energy output and enhanced stability.
文摘Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybrid control method was proposed.This method included a hybrid controller composed of a slope-based controller and a proportional-integral-derivative(PID)controller.The speed of agricultural machinery was influenced by longitudinal forces,which were divided into two parts:one part was slope-related forces and conventional resistance,and the other was hard-to-estimate forces,such as sliding friction.For the first part,a slope-based controller was designed;for the second part,a PID controller was implemented.By combining these two controllers,the system can dynamically adjust the throttle opening and the brake master cylinder pressure,ensuring steady speed travel on sloping farmland.Simulation tests at a target speed of 7 km/h demonstrated that the proposed controller maintained a stable speed,achieving a root mean square error of 0.13 km/h and a mean absolute percentage error of 1.6%.Field tests on a practical experimental platform validated the method’s effectiveness,with results showing consistent control performance across varying slope conditions.The proposed controller demonstrated superior control performance.Experimental data verified that this method can achieve precise control of the agricultural machinery’s movement speed,meeting the stability requirements for agricultural operations.
文摘This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.
文摘BACKGROUND The application of perioperative disinfection and isolation measures to patients undergoing gastrointestinal surgery with postoperative infection can provide a data reference for reducing the postoperative infection rate,improving post-operative biochemical markers,and enhancing postoperative recovery outcomes.AIM To explore the effectiveness of perioperative disinfection and isolation measures in controlling postoperative infection following gastrointestinal surgery.It also sought to compare infection rates and biochemical markers between the obser-vation and control groups and evaluate the impact of disinfection and isolation measures on reducing postoperative complications.METHODS A retrospective analysis was conducted.Ninety-six patients who underwent gastrointestinal surgery between January 2022 and December 2023 were selected and divided into an observation group and a control group,with 48 cases in each.The observation group received disinfection and isolation measures during the perioperative period,whereas the control group received standard nursing care.The incidence of infection,white blood cell count,C-reactive protein levels,hemoglobin levels,and liver function markers(alanine aminotransferase,aspartate aminotransferase,creatinine,and blood urea nitrogen)were monitored postoperatively in both groups.RESULTS The postoperative infection rate in the observation group was significantly lower than that in the control group(P<0.05).White blood cell and C-reactive protein levels decreased significantly after surgery in the observation group and were significantly lower than those in the control group(P<0.05).Alanine aminotransferase,aspartate aminotransferase,creatinine,and blood urea nitrogen levels in the observation group were lower than those in the control group on postoperative days 1 and 3,showing a significant difference(P<0.05).CONCLUSION Perioperative disinfection and isolation measures effectively reduce postoperative infection rates in gastrointestinal surgery patients and improve biochemical markers,thereby enhancing recovery outcomes.This study provides a valuable basis for postoperative infection control and has significant clinical applications.
文摘With the development of our country’s social economy,the construction scale of water conservancy project has had an obvious expansion.In the construction of water conservancy projects,certain impacts on the surrounding water and soil conditions are inevitable.These impacts may lead to problems such as soil erosion,which can directly affect local production,livelihoods,and the natural ecological environment on which people depend.In severe cases,such issues may even hinder the progress and quality of the water conservancy project itself.Therefore,in the construction of water conservancy projects,soil and water conservation work is extremely important.Based on this,this paper mainly aimed at the prevention and control of water and soil conservation of water conservancy projects launched the relevant analysis and research.
基金supported in part by the Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research(B)(23K25252,24K03325)the National Natural Science Foundation of China(61873348)the Natural Science Foundation of Hubei Province,China(2020CFA031)。
文摘As a closed-loop learning control method,repetitive control has been widely used in a variety of areas from appliances to aviation.A repetitive control system features perfect reference tracking and disturbance rejection in the steady state for periodic signals with a fixed period.This characteristic is important not only for conventional technologies and conventional industries but also for advanced technologies and emerging industries.This paper first explains the concept of repetitive control from its original idea.Next,it describes the structure of a repetitive controller as an internal model and shows the respective points of continuous-and discrete-time repetitive control.It presents a categorized list of practical applications of repetitive control.Moreover,two concrete applications,namely the control of a robotic manipulator and a rotating system,demonstrate the validity of the method with experimental results.Several current studies in this field are also reviewed,and some challenges and future studies for repetitive control are provided.
基金Supported by the Fundamental Research Funds for the Central Universities(2024ZYGXZR047)the National Natural Science Foundation of China(62373156)the Guangdong Basic and Applied Basic Research Foundation(2024A1515011736)。
文摘This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.
文摘Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.
基金supported in part by National Natural Science Foundation of China(Nos.62373188,62003162)the Natural Science Foundation of Jiangsu Province of China(Nos.BK20240182,BK20222012)+2 种基金the Industry-University Research Innovation Foundation for the Chinese Ministry of Education(No.2021ZYA02005)the Aeronautical Science Foundation of China(Nos.20220007052003,20200007018001)the Fundamental Research Funds for the Central Universities,China(Nos.NE2024004,NI2024001)。
文摘To solve the problem of in-flight actuator faults and parameter uncertainties for multiple Unmanned Aerial Vehicles(UAVs),and reduce the communication and computational resource consumption of multiple UAVs,a Fraction-Order(FO)sliding-mode Fault-Tolerant Cooperative Control(FTCC)strategy is proposed for multiple UAVs based on Event-Triggered Communication Mechanism(ET-COM-M)and Event-Triggered Control Mechanism(ET-CON-M).First,by considering the limited communication bandwidth of multiple UAVs in formation,an ET-COM-M is designed to significantly reduce communication times.Then,a distributed observer is skillfully constructed to estimate the reference signals for follower UAVs.Moreover,the adaptive strategy is incorporated into the Radial Basis Function Neural Network(RBFNN)to learn the lumped unknown terms for handling bias actuator faults and parameter uncertainties.Besides,the Nussbaum method is used to deal with the loss-of-effectiveness faults.To further achieve the refined control performance against faults,FO calculus is artfully integrated into the sliding-mode control protocol with ET-CON-M.Finally,Zeno behavior is excluded by rigorous theoretical analysis and Lyapunov stability is proved to show the effectiveness of the designed FTCC strategy.Simulation results show that the designed FTCC strategy with Event-Triggered Mechanism(ETM)can guarantee the safety of multiple UAVs and simultaneously reduce the communication and control frequencies,making the developed control scheme applicable in engineering.
基金supported by the National Natural Science Foundation of China(62203176,62173038)Guangzhou Key Research and Development Program(2025B03J0072)+5 种基金Guangdong High-Level Talents Special Support Programme(2024TQ08Z107)Anhui Province Natural Science Funds for Distinguished Young Scholar(2308085J02)State Key Laboratory of Intelligent Vehicle Safety Technology(IVSTSKL-202402,IVSTSKL-202430,IVSTSKL-202508,IVSTSKL-202520)State Key Laboratory of Intelligent Green Vehicle and Mobility(KFY2417)State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body(32215010),Wuhu Major Scientific and Technological Achievements Engineering Project(2021zc04).
文摘Mobile wheel-legged robots exhibiting mobility,stability and reliability have garnered heightened research attention in demanding real-world scenarios,especially in material transport,emergency response and space exploration.The kinematics model merely delineates the geometric relationship of the controlled objective,disregarding force feedback.This study investigates model predictive trajectory tracking control utilising the robot dynamic model(DRMPC)in the context of unpredictable interactions.The predictive tracking controller for the wheel-legged robot is introduced in the context of position tracking.A dynamic approximator is employed to address the uncertain interactions in the tracking process.Ultimately,cosimulation and empirical tests are conducted to demonstrate the efficacy of the devised control methodology,which achieves high precision and dependable robustness.This work can elucidate the technical and practical oversight of autonomous movement in complicated environments and enhance the manoeuverability and flexibility.
基金supported by the National Natural Science Foundation of China(624B2140).
文摘This paper presents an adaptive formation control method for a heterogeneous robot swarm,utilising a multilevel formation task tree to model various types of formation tasks and a single-state distributed k-winner-take-all(S-DKWTA)algorithm to address the MRTA problem.In addition,we propose an enhanced load reassignment algorithm to resolve conflicts when using S-DKWTA.The S-DKWTA algorithm demonstrates the capability to manage multiple objectives and dynamically select leaders in real-time,thereby optimising formation efficiency and reducing energy consumption.The proposed approach integrates an enhanced artificial potential field(APF)to govern the motion of heterogeneous robot systems which encompasses both unmanned ground vehicles(UGVs)and unmanned aerial vehicles(UAVs),thereby achieving collision and obstacle avoidance.Simulations employing UGVs and UAVs swarm to achieve formation movement demonstrate the efficacy of this approach.The amalgamation of S-DKWTA and improved APF ensures stable and adaptable formation control,underscoring its potential for diverse multirobot applications.
基金supported by the National Natural Science Foundation of China(62333011,62020106003)the Natural Science Foundation of Jiangsu Province of China(BK20222012)+1 种基金the Fundamental Research Funds for the Central Universities(NE2024005)the Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX24_0594)。
文摘This paper is concerned with adaptive consensus tracking control of nonlinear multi-agent systems with actuator faults and unknown nonidentical control directions under double semi-Markovian switching topologies.Considering the complex working environment and the stability differences in communication links between leaders and followers,a double semi-Markov process is first introduced to describe the random switching of communication topologies in the leader-follower structure.In order to address challenges from the unknown nonidentical control directions and partial loss of effectiveness actuator faults,a completely independent parameter is introduced into the Nussbaum function to overcome the inherent obstacle of mutual cancellation and avoid the rapid growth rate.Considering only the state information of agents is transmitted among the agents,an adaptive distributed fault-tolerant consensus tracking control is proposed based on the double semi-Markovian switching topologies using the designed Nussbaum function.Furthermore,the stability of the closed-loop nonlinear multi-agent systems is analyzed using contradiction argument and Lyapunov theorem,from which the asymptotic consensus tracking in mean square sense can be obtained.A numerical simulation example is provided to verify the effectiveness of the proposed algorithm.
基金Supported in part by Natural Science Foundation of Guangxi(2023GXNSFAA026246)in part by the Central Government's Guide to Local Science and Technology Development Fund(GuikeZY23055044)in part by the National Natural Science Foundation of China(62363003)。
文摘In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to obtain the maximal positive definite solution of nonlinear matrix equation X+A^(*)X|^(-α)A=Q with the case 0<α≤1.Based on this method,a new iterative algorithm is developed,and its convergence proof is given.Finally,two numerical examples are provided to show the effectiveness of the proposed method.
