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 describes an approximated-scalar-sign-function-based anti-windup digital control design for analog nonlinear systems subject to input constraints. As input saturation occurs, the non-smooth saturation const...This paper describes an approximated-scalar-sign-function-based anti-windup digital control design for analog nonlinear systems subject to input constraints. As input saturation occurs, the non-smooth saturation constraint is modeled with the approximated scalar sign function which is a smooth nonlinear function. The resulting nonlinear model is further linearized at any operating point with the optimal linearization technique, and Linear Quadratic Regulator (LQR) is then applied for a state-feedback controller optimal for each operating point. As input saturation is encountered, an iterative procedure is developed to adjust control gains by systematically updating LQR weighting matrices until the inputs lie within the saturation limits. Through global digital redesign, the analog LQR controller is converted to an equivalent digital one for keeping the essential control performance, and moreover, delay compensation is taken into account during digital redesign for compensating the potential time delays in a control loop. The swing-up and stabilization control of single rotary inverted pendulum system is used to illustrate and verify the proposed method.展开更多
This paper is concerned with the following fourth-order three-point boundary value problem , where , we discuss the existence of positive solutions to the above problem by applying to the fixed point theory in cones a...This paper is concerned with the following fourth-order three-point boundary value problem , where , we discuss the existence of positive solutions to the above problem by applying to the fixed point theory in cones and iterative technique.展开更多
With the rapid development of Chinese economy, more and more foreigners have been attracted to China to invest, work, study and travel. To help the foreigners better understand China and facilitate cross-cultural comm...With the rapid development of Chinese economy, more and more foreigners have been attracted to China to invest, work, study and travel. To help the foreigners better understand China and facilitate cross-cultural communication, bilingual or even trilingual public signs spring up in every part of China. As is known that public signs, usually in the form of a few words, a picture or words accompanied with a picture, function not only as a " face" of a city and a nation, but also as a first calling card given to the foreigners. Moreover, public signs have definite functions-informing, warning or directing. However, to our disappointment, mistranslations of the public signs are present everywhere.展开更多
In this paper, we consider the generalized translations associated with the Dunkl and the Jacobi-Dunkl differential-difference operators on the real line which provide the structure of signed hrpergroups on R. Especia...In this paper, we consider the generalized translations associated with the Dunkl and the Jacobi-Dunkl differential-difference operators on the real line which provide the structure of signed hrpergroups on R. Especially, we study the representation of the gener- alized translations of the product of two functions for these signed hypergroups.展开更多
In this paper,the authors obtain the existence of one-signed periodic solutions of the first-order functional difference equation ？u（n） = a（n）u（n）-λb（n）f（u（n-τ（n）））,n ∈ Z by using global bifurcation ...In this paper,the authors obtain the existence of one-signed periodic solutions of the first-order functional difference equation ？u（n） = a（n）u（n）-λb（n）f（u（n-τ（n）））,n ∈ Z by using global bifurcation techniques,where a,b：Z → [0,∞） are T-periodic functions with ∑T n=1 a（n） 〉 0,∑T n=1 b（n） 〉 0;τ：Z → Z is T-periodic function,λ 〉 0 is a parameter;f ∈ C（R,R） and there exist two constants s2 〈 0 〈 s1 such that f（s2） = f（0） = f（s1） = 0,f（s） 〉 0 for s ∈（0,s1） ∪（s1,∞）,and f（s） 〈 0 for s ∈（-∞,s2） ∪（s2,0）.展开更多
现有目标检测算法对背景复杂下小交通标志的检测效果并不理想。为此,提出了一种基于归一化通道注意力机制YOLOv7的交通标志检测算法(YOLOv7 based on normalized channel attention mechanism,YOLOv7-NCAM)。为了使YOLOv7-NCAM模型具有...现有目标检测算法对背景复杂下小交通标志的检测效果并不理想。为此,提出了一种基于归一化通道注意力机制YOLOv7的交通标志检测算法(YOLOv7 based on normalized channel attention mechanism,YOLOv7-NCAM)。为了使YOLOv7-NCAM模型具有像素级建模能力,提高它对小目标交通标志特征的提取能力,YOLOv7-NCAM算法使用FReLU激活函数构建了DBF和CBF两种卷积层,并用它们来组建模型的Backbone模块和Neck模块;提出一种归一化通道注意力机制(normalized channel attention mechanism,NCAM)并加入Head模块中。通过与整体网络一起训练,得到归一化(batch normalization,BN)缩放因子,利用缩放因子算出各个通道的权重因子,提升网络对交通标志特征的表达能力,从而使YOLOv7-NCAM网络模型能够集中关注检测目标交通标志。通过在CCTSDB-2021交通标志检测数据集上的测试,与YOLOv7网络模型对比结果表明,YOLOv7-NCAM算法对背景复杂下小交通标志的检测各项指标均有明显提高:准确率(precision,P)达到91.5%,比原网络高出9.5个百分点;召回率(recall,R)达到85.9%,比原网络高出5.7个百分点;均值平均精度(mean average precision,mAP)达到了91.4%,比原网络高出4.7个百分点。与现有的交通标志检测算法相比,YOLOv7-NCAM算法的检测准确率也有提高,且检测速度48.3 FPS,能满足实时需求。展开更多
Introduction: The management of fractures of the tibia shaft is an important aspect of orthopaedic care, and the selection of the surgical method for fixation can substantially impact patient outcomes. The current rev...Introduction: The management of fractures of the tibia shaft is an important aspect of orthopaedic care, and the selection of the surgical method for fixation can substantially impact patient outcomes. The current review aims to compare the outcomes of adult tibia fractures treated with solid nails to those treated with hollow nails. Methods: A search on Scopus, PubMed, and Cochrane Library, using three keywords (Outcome, Tibia shaft fractures, Nail) was conducted in April 2023. Results were compiled and two independent reviewers screened and selected eligible articles After removing duplicates, titles and abstracts were read to exclude ineligible studies. Full-text articles of the remaining papers were read to select eligible studies which were further critically appraised to ascertain their methodological quality. The data extracted from the selected papers were synthesized using a combination of pooling of results, tests of statistical difference (t-test and chi-square) and narrative synthesis methods. Results: A total of 2295 articles were obtained from the databases and citation searching. A total of 9 papers were identified as eligible and included in the review. Findings revealed that there is no statistical difference in the outcomes of tibia fractures treated with either solid or hollow nail groups such as duration of surgery (p = 0.541), rate of delayed and non-union (p = 0.342), and rate of surgical site infections (p = 0.395). Conclusion: Intramedullary nailing of tibia shaft fractures with either solid or hollow nails have similar functional outcomes.展开更多
Based on Nida’s Functional Equivalence theory,this article makes an analysis of the problems in C-E translations ofsigns in China.The author will discuss respectively the problematic C-E translations from two respect...Based on Nida’s Functional Equivalence theory,this article makes an analysis of the problems in C-E translations ofsigns in China.The author will discuss respectively the problematic C-E translations from two respects:1)not being equivalent tosource-language message,and 2)not being natural for target language.If translators work hard with the help of Nida’s functionalequivalence theory,the defects and imperfections will be discovered,and standard signs in English will be read more and more inpublic places.展开更多
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.
文摘This paper describes an approximated-scalar-sign-function-based anti-windup digital control design for analog nonlinear systems subject to input constraints. As input saturation occurs, the non-smooth saturation constraint is modeled with the approximated scalar sign function which is a smooth nonlinear function. The resulting nonlinear model is further linearized at any operating point with the optimal linearization technique, and Linear Quadratic Regulator (LQR) is then applied for a state-feedback controller optimal for each operating point. As input saturation is encountered, an iterative procedure is developed to adjust control gains by systematically updating LQR weighting matrices until the inputs lie within the saturation limits. Through global digital redesign, the analog LQR controller is converted to an equivalent digital one for keeping the essential control performance, and moreover, delay compensation is taken into account during digital redesign for compensating the potential time delays in a control loop. The swing-up and stabilization control of single rotary inverted pendulum system is used to illustrate and verify the proposed method.
文摘This paper is concerned with the following fourth-order three-point boundary value problem , where , we discuss the existence of positive solutions to the above problem by applying to the fixed point theory in cones and iterative technique.
文摘With the rapid development of Chinese economy, more and more foreigners have been attracted to China to invest, work, study and travel. To help the foreigners better understand China and facilitate cross-cultural communication, bilingual or even trilingual public signs spring up in every part of China. As is known that public signs, usually in the form of a few words, a picture or words accompanied with a picture, function not only as a " face" of a city and a nation, but also as a first calling card given to the foreigners. Moreover, public signs have definite functions-informing, warning or directing. However, to our disappointment, mistranslations of the public signs are present everywhere.
文摘In this paper, we consider the generalized translations associated with the Dunkl and the Jacobi-Dunkl differential-difference operators on the real line which provide the structure of signed hrpergroups on R. Especially, we study the representation of the gener- alized translations of the product of two functions for these signed hypergroups.
基金Supported by the National Natural Science Foundation of China(Grant Nos.1162618811671322+2 种基金11501451)the Natural Science Foundation of Gansu Province(Grant No.1606RJYA232)the Young Teachers’ Scientific Research Capability Upgrading Project of Northwest Normal University(Grant No.NWNU-LKQN-15-16)
文摘In this paper,the authors obtain the existence of one-signed periodic solutions of the first-order functional difference equation ？u（n） = a（n）u（n）-λb（n）f（u（n-τ（n）））,n ∈ Z by using global bifurcation techniques,where a,b：Z → [0,∞） are T-periodic functions with ∑T n=1 a（n） 〉 0,∑T n=1 b（n） 〉 0;τ：Z → Z is T-periodic function,λ 〉 0 is a parameter;f ∈ C（R,R） and there exist two constants s2 〈 0 〈 s1 such that f（s2） = f（0） = f（s1） = 0,f（s） 〉 0 for s ∈（0,s1） ∪（s1,∞）,and f（s） 〈 0 for s ∈（-∞,s2） ∪（s2,0）.
文摘现有目标检测算法对背景复杂下小交通标志的检测效果并不理想。为此,提出了一种基于归一化通道注意力机制YOLOv7的交通标志检测算法(YOLOv7 based on normalized channel attention mechanism,YOLOv7-NCAM)。为了使YOLOv7-NCAM模型具有像素级建模能力,提高它对小目标交通标志特征的提取能力,YOLOv7-NCAM算法使用FReLU激活函数构建了DBF和CBF两种卷积层,并用它们来组建模型的Backbone模块和Neck模块;提出一种归一化通道注意力机制(normalized channel attention mechanism,NCAM)并加入Head模块中。通过与整体网络一起训练,得到归一化(batch normalization,BN)缩放因子,利用缩放因子算出各个通道的权重因子,提升网络对交通标志特征的表达能力,从而使YOLOv7-NCAM网络模型能够集中关注检测目标交通标志。通过在CCTSDB-2021交通标志检测数据集上的测试,与YOLOv7网络模型对比结果表明,YOLOv7-NCAM算法对背景复杂下小交通标志的检测各项指标均有明显提高:准确率(precision,P)达到91.5%,比原网络高出9.5个百分点;召回率(recall,R)达到85.9%,比原网络高出5.7个百分点;均值平均精度(mean average precision,mAP)达到了91.4%,比原网络高出4.7个百分点。与现有的交通标志检测算法相比,YOLOv7-NCAM算法的检测准确率也有提高,且检测速度48.3 FPS,能满足实时需求。
文摘Introduction: The management of fractures of the tibia shaft is an important aspect of orthopaedic care, and the selection of the surgical method for fixation can substantially impact patient outcomes. The current review aims to compare the outcomes of adult tibia fractures treated with solid nails to those treated with hollow nails. Methods: A search on Scopus, PubMed, and Cochrane Library, using three keywords (Outcome, Tibia shaft fractures, Nail) was conducted in April 2023. Results were compiled and two independent reviewers screened and selected eligible articles After removing duplicates, titles and abstracts were read to exclude ineligible studies. Full-text articles of the remaining papers were read to select eligible studies which were further critically appraised to ascertain their methodological quality. The data extracted from the selected papers were synthesized using a combination of pooling of results, tests of statistical difference (t-test and chi-square) and narrative synthesis methods. Results: A total of 2295 articles were obtained from the databases and citation searching. A total of 9 papers were identified as eligible and included in the review. Findings revealed that there is no statistical difference in the outcomes of tibia fractures treated with either solid or hollow nail groups such as duration of surgery (p = 0.541), rate of delayed and non-union (p = 0.342), and rate of surgical site infections (p = 0.395). Conclusion: Intramedullary nailing of tibia shaft fractures with either solid or hollow nails have similar functional outcomes.
文摘Based on Nida’s Functional Equivalence theory,this article makes an analysis of the problems in C-E translations ofsigns in China.The author will discuss respectively the problematic C-E translations from two respects:1)not being equivalent tosource-language message,and 2)not being natural for target language.If translators work hard with the help of Nida’s functionalequivalence theory,the defects and imperfections will be discovered,and standard signs in English will be read more and more inpublic places.
