A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by...A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom （6DOF） nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics.展开更多
This work offers a typical understanding of the factors that govern the nanostructures of poly（4-vinyl pyridine）-b-polystyrene-bpoly（4-vinyl pyridine）（P4 VP-b-PS-b-P4 VP） block copolymers（BCs） in dioxane/water...This work offers a typical understanding of the factors that govern the nanostructures of poly（4-vinyl pyridine）-b-polystyrene-bpoly（4-vinyl pyridine）（P4 VP-b-PS-b-P4 VP） block copolymers（BCs） in dioxane/water, in which water is a selective solvent for the P4 VP block. It is achieved through an investigation of the amphiphilic triblock copolymer micelles by variation of three different factors, including water content（above CWC but under the immobile concentration）, temperature（ranging from 20 °C to 80 °C）, and copolymer composition（low and high PS block length）. Transition of bead-like micelles to vesicles is observed with the increase of water content due to the increase of interfacial energy between the copolymer and the solvent. Effect of temperature superposed on that of water content results in various morphologies, such as beads, fibers, rods, capsules, toroids, lamellae, and vesicles. The interfacial tension between the BC and the solvent increases with the increase of water content but decreases with the increase of temperature, indicating that the micellar morphologies are resulted from the competitive interplay between the temperature and the water content and always change in a direction that decreases the interfacial energy. Based on the micellar structures obtained in this work and the effects of temperature superposed on water concentration, a diagram of phase evolution of different micellar morphologies is illustrated here, covering the temperature range from 20 °C to 80 °C and the water content changing from 20 vol% to 35 vol%. For the investigation of BC composition, morphological transition of vesicle-to-fiber, for high PS length, is observed as compared with bead-to-capsule for low PS length, as the temperature changes from 20 °C to 80 °C. Our research complements the protocols to control over the morphologies and the phase diagram describing P4 VP-b-PS-b-P4 VP micellar nanostructures in aqueous solution.展开更多
Vinyl ether (VE)-based amphiphilic block copolymers with D-glucose residues as hydrophilicpendants were synthesized by CH_3 CH(OiBu)Cl/ZnI_2-initiated sequential living cationic copolymerization of3-O-(vinyloxy)ethyl-...Vinyl ether (VE)-based amphiphilic block copolymers with D-glucose residues as hydrophilicpendants were synthesized by CH_3 CH(OiBu)Cl/ZnI_2-initiated sequential living cationic copolymerization of3-O-(vinyloxy)ethyl-1, 2:5, 6-di-O-isopropylidene-D-glucofuranose (IGVE) and isobutyl VE (IBVE ) andsubsequent deprotection. The precursor block copolymers had a narrow molecular weight distribution(M_w/M_n～1.1) and a controlled segmental composition. The solubility characteristics of the amphiphiliccopolymer depended strongly on composition. Their solvent-cast thin films were examined, under atransmission electron microscope, and could be seen to exhibit various microphase-separated surfacemorphologies such as spheres, cylinders, and lamellae, depending on composition. The amphiphiliccopolymers with the appropriate segmental composition were found to form a stable monolayer at the air-water interface, which was successfully transferred onto a substrate by the Langmuir-Blodgett (LB)technique. The layered strucfure of the built-up LB films was controlled by blending the homopolymer.展开更多
Control equation and adjoint equation are established by using block pulse functions, which transforms the linear time varying systems with time delays into a system of algebraic equations and the optimal control prob...Control equation and adjoint equation are established by using block pulse functions, which transforms the linear time varying systems with time delays into a system of algebraic equations and the optimal control problems are transformed into an optimization problem of multivariate functions thereby achieving the optimal control of linear systems with time delays.展开更多
<b><span>Introduction:</span></b><span> Blind fascia iliaca compartment block (FICB) and ultrasound guided femoral nerve block (FNB) are two types of peripheral nerve blocks, commonl...<b><span>Introduction:</span></b><span> Blind fascia iliaca compartment block (FICB) and ultrasound guided femoral nerve block (FNB) are two types of peripheral nerve blocks, commonly used in preoperative pain management in patients with hip fractures in Danish emergency departments. The aim of this study was to compare the efficacy </span><span>in pain management of </span><span>these two types of peripheral nerve blocks in the preoperative period in patients with hip fractures. </span><b><span>Method:</span></b><span> We performed a randomized controlled study. The primary outcome was the proportion of patients with a numeric rating scale (NRS) pain score equal to three or less at rest and after passive leg raise</span><span> </span><span>test</span><span> three hours after block administration. </span><b><span>Results:</span></b><span> A total of 88 patients were included in the study and 67 patients in the statistical analysis with 33 in the FICB group and 34 in the FNB group. The results showed a significant reduction in the proportion of patients with a</span><span>n</span><span> NRS score higher than three, three hours after administration of either FICB or FNB compared to at inclusion. There was no significant difference in pain scores between patients receiving FICB versus patients receiving FNB at rest or after passive leg raise (p = 0.25 and p = 0.86, respectively). </span><b><span>Conclusion:</span></b><span> Blind FICB and ultrasound guided FNB were effective in preoperative pain management in patients with hip fractures. The results showed that the two types of peripheral nerve blocks were equally </span><span>efficient</span><span> in providing pain management in the preoperative period.</span>展开更多
Objective In cerebral aneurysm clipping and embolization, blood pressure control and temporaryparent artery blocking are common methods to prevent aneurysm rupture. Their influence on the prognosis isuncertain. In thi...Objective In cerebral aneurysm clipping and embolization, blood pressure control and temporaryparent artery blocking are common methods to prevent aneurysm rupture. Their influence on the prognosis isuncertain. In this study, we try to find out the association between methods above and prognostic indicators.展开更多
Background: Sacroiliac joint (SIJ) pain presents as a deep and somatic pain, predominantly affecting the lower back and buttock and referring down the leg, sometimes as far as the foot. Given that the features of SIJ ...Background: Sacroiliac joint (SIJ) pain presents as a deep and somatic pain, predominantly affecting the lower back and buttock and referring down the leg, sometimes as far as the foot. Given that the features of SIJ pain are non-specific and that this referred pain is similar to lumbar facet joint and lumbar disc pain, diagnostic local anesthetic injections (diagnostic blocks) into the SIJ are used to identify the source of pain. Despite wide use, little is known about the false positive rate of a single diagnostic sacroiliac (SI) block and the requirement for a control block. Objective: To determine whether a control SI block is necessary and to monitor the false positive rate for a single injection. Study Design: A prospective and observational study was conducted as part of a practice audit, with data collected over 3.5 years at the authors’ private practice. Patients & Methods: Under fluoroscopic guidance, 1408 consecutive patients presenting with prominent deep somatic pain over the SIJ region were sterilely injected with anesthetic into the SIJ and/or the deep interosseous ligament (DIL). Pain was measured on the 11-point Numerical Rating Scale (NRS) prior to injection and incrementally over the following 1- 2 weeks. Fully completed and unequivocal data sets were available for 1060 patients. Decreases in pain scores (of >80%) at >2 hours of post-injection were indicative of SIJ pain and recorded as a positive SIJ block. Results: Of 1060 patients receiving a first SIJ diagnostic block, 680 (64.1%) recorded a positive result. Subsequently, 271 positive patients and 22 who were negative for SIJ pain opted to receive a second control block. SIJ pain diagnosis was confirmed in 237/271 (87.5%) of those with an initial positive response, while 18/22 patients (81%) had their initial negative result confirmed. The false positive rate of a single block is therefore calculated at 12.5%, and on a contingency table analysis, a single anesthetic SIJ injection has diagnostic accuracy of 87.03%, with high sensitivity (98.3%), when compared with a second control diagnostic block. Limitations: All injections were performed at one clinical centre. A proportion (348/1408) of initial patients did not return fully completed pain records or had equivocal responses (≥80% pain relief, but transiently, for ≤30 min) and were excluded from further analysis. Conclusion: Given the observed high rates of accuracy in this study, it is reasonable to suggest the use of one diagnostic block as the criterion standard for assessing the SIJ as the source of a patient’s pain.展开更多
基金the Fundamental Research Funds for the Central Universities(No.HIT.NSRIF.2013039)the National Natural Science Foundation of China(Nos.61203125 and 61021002)
文摘A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom （6DOF） nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics.
基金financially supported by Key Lab of Renewable Energy Foundation of Chinese Academy of Sciences(No.Y609JK1001)the National Natural Science Foundation of China for Major Program(Nos.51433009 and 51576201)+2 种基金Natural Science Foundation of Guangdong(No.2015A030313716)Natural Science Foundation of Guangdong for Research Team(No.2015A030312007)Guangdong Science and Technology Project(Nos.2013B050800007 and 2013J4500027)
文摘This work offers a typical understanding of the factors that govern the nanostructures of poly（4-vinyl pyridine）-b-polystyrene-bpoly（4-vinyl pyridine）（P4 VP-b-PS-b-P4 VP） block copolymers（BCs） in dioxane/water, in which water is a selective solvent for the P4 VP block. It is achieved through an investigation of the amphiphilic triblock copolymer micelles by variation of three different factors, including water content（above CWC but under the immobile concentration）, temperature（ranging from 20 °C to 80 °C）, and copolymer composition（low and high PS block length）. Transition of bead-like micelles to vesicles is observed with the increase of water content due to the increase of interfacial energy between the copolymer and the solvent. Effect of temperature superposed on that of water content results in various morphologies, such as beads, fibers, rods, capsules, toroids, lamellae, and vesicles. The interfacial tension between the BC and the solvent increases with the increase of water content but decreases with the increase of temperature, indicating that the micellar morphologies are resulted from the competitive interplay between the temperature and the water content and always change in a direction that decreases the interfacial energy. Based on the micellar structures obtained in this work and the effects of temperature superposed on water concentration, a diagram of phase evolution of different micellar morphologies is illustrated here, covering the temperature range from 20 °C to 80 °C and the water content changing from 20 vol% to 35 vol%. For the investigation of BC composition, morphological transition of vesicle-to-fiber, for high PS length, is observed as compared with bead-to-capsule for low PS length, as the temperature changes from 20 °C to 80 °C. Our research complements the protocols to control over the morphologies and the phase diagram describing P4 VP-b-PS-b-P4 VP micellar nanostructures in aqueous solution.
文摘Vinyl ether (VE)-based amphiphilic block copolymers with D-glucose residues as hydrophilicpendants were synthesized by CH_3 CH(OiBu)Cl/ZnI_2-initiated sequential living cationic copolymerization of3-O-(vinyloxy)ethyl-1, 2:5, 6-di-O-isopropylidene-D-glucofuranose (IGVE) and isobutyl VE (IBVE ) andsubsequent deprotection. The precursor block copolymers had a narrow molecular weight distribution(M_w/M_n～1.1) and a controlled segmental composition. The solubility characteristics of the amphiphiliccopolymer depended strongly on composition. Their solvent-cast thin films were examined, under atransmission electron microscope, and could be seen to exhibit various microphase-separated surfacemorphologies such as spheres, cylinders, and lamellae, depending on composition. The amphiphiliccopolymers with the appropriate segmental composition were found to form a stable monolayer at the air-water interface, which was successfully transferred onto a substrate by the Langmuir-Blodgett (LB)technique. The layered strucfure of the built-up LB films was controlled by blending the homopolymer.
文摘Control equation and adjoint equation are established by using block pulse functions, which transforms the linear time varying systems with time delays into a system of algebraic equations and the optimal control problems are transformed into an optimization problem of multivariate functions thereby achieving the optimal control of linear systems with time delays.
文摘<b><span>Introduction:</span></b><span> Blind fascia iliaca compartment block (FICB) and ultrasound guided femoral nerve block (FNB) are two types of peripheral nerve blocks, commonly used in preoperative pain management in patients with hip fractures in Danish emergency departments. The aim of this study was to compare the efficacy </span><span>in pain management of </span><span>these two types of peripheral nerve blocks in the preoperative period in patients with hip fractures. </span><b><span>Method:</span></b><span> We performed a randomized controlled study. The primary outcome was the proportion of patients with a numeric rating scale (NRS) pain score equal to three or less at rest and after passive leg raise</span><span> </span><span>test</span><span> three hours after block administration. </span><b><span>Results:</span></b><span> A total of 88 patients were included in the study and 67 patients in the statistical analysis with 33 in the FICB group and 34 in the FNB group. The results showed a significant reduction in the proportion of patients with a</span><span>n</span><span> NRS score higher than three, three hours after administration of either FICB or FNB compared to at inclusion. There was no significant difference in pain scores between patients receiving FICB versus patients receiving FNB at rest or after passive leg raise (p = 0.25 and p = 0.86, respectively). </span><b><span>Conclusion:</span></b><span> Blind FICB and ultrasound guided FNB were effective in preoperative pain management in patients with hip fractures. The results showed that the two types of peripheral nerve blocks were equally </span><span>efficient</span><span> in providing pain management in the preoperative period.</span>
文摘Objective In cerebral aneurysm clipping and embolization, blood pressure control and temporaryparent artery blocking are common methods to prevent aneurysm rupture. Their influence on the prognosis isuncertain. In this study, we try to find out the association between methods above and prognostic indicators.
文摘Background: Sacroiliac joint (SIJ) pain presents as a deep and somatic pain, predominantly affecting the lower back and buttock and referring down the leg, sometimes as far as the foot. Given that the features of SIJ pain are non-specific and that this referred pain is similar to lumbar facet joint and lumbar disc pain, diagnostic local anesthetic injections (diagnostic blocks) into the SIJ are used to identify the source of pain. Despite wide use, little is known about the false positive rate of a single diagnostic sacroiliac (SI) block and the requirement for a control block. Objective: To determine whether a control SI block is necessary and to monitor the false positive rate for a single injection. Study Design: A prospective and observational study was conducted as part of a practice audit, with data collected over 3.5 years at the authors’ private practice. Patients & Methods: Under fluoroscopic guidance, 1408 consecutive patients presenting with prominent deep somatic pain over the SIJ region were sterilely injected with anesthetic into the SIJ and/or the deep interosseous ligament (DIL). Pain was measured on the 11-point Numerical Rating Scale (NRS) prior to injection and incrementally over the following 1- 2 weeks. Fully completed and unequivocal data sets were available for 1060 patients. Decreases in pain scores (of >80%) at >2 hours of post-injection were indicative of SIJ pain and recorded as a positive SIJ block. Results: Of 1060 patients receiving a first SIJ diagnostic block, 680 (64.1%) recorded a positive result. Subsequently, 271 positive patients and 22 who were negative for SIJ pain opted to receive a second control block. SIJ pain diagnosis was confirmed in 237/271 (87.5%) of those with an initial positive response, while 18/22 patients (81%) had their initial negative result confirmed. The false positive rate of a single block is therefore calculated at 12.5%, and on a contingency table analysis, a single anesthetic SIJ injection has diagnostic accuracy of 87.03%, with high sensitivity (98.3%), when compared with a second control diagnostic block. Limitations: All injections were performed at one clinical centre. A proportion (348/1408) of initial patients did not return fully completed pain records or had equivocal responses (≥80% pain relief, but transiently, for ≤30 min) and were excluded from further analysis. Conclusion: Given the observed high rates of accuracy in this study, it is reasonable to suggest the use of one diagnostic block as the criterion standard for assessing the SIJ as the source of a patient’s pain.
