Aiming at the missile avoidance problem of the unmanned aerial vehicle(UAV)in complex obstacle environments,this work proposes a collision-avoidance method based on receding horizon optimization.The proposed method ge...Aiming at the missile avoidance problem of the unmanned aerial vehicle(UAV)in complex obstacle environments,this work proposes a collision-avoidance method based on receding horizon optimization.The proposed method generated a specific trajectory for the UAV to effectively induce the proportional navigation missile to successfully intercept the obstacle,thereby accomplishing the evasive maneuver.The evasive maneuver was divided into two distinct stages,namely the collision-inducing phase and the fast departure phase.The obstacle potential field-based target selection algorithm was employed to identify the most appropriate target obstacle,while the induced trajectory was determined through a combination of receding horizon optimization and the hp-adaptive pseudo-spectral method.Simulation experiments were carried out under three different types of obstacle environments and one multiobstacle environment,and the simulation results show that the method proposed in this paper greatly improves the success rate of UAV evasive maneuvers,proving the effectiveness of this method.展开更多
This study proposes an automatic control system for Autonomous Underwater Vehicle(AUV)docking,utilizing a digital twin(DT)environment based on the HoloOcean platform,which integrates six-degree-of-freedom(6-DOF)motion...This study proposes an automatic control system for Autonomous Underwater Vehicle(AUV)docking,utilizing a digital twin(DT)environment based on the HoloOcean platform,which integrates six-degree-of-freedom(6-DOF)motion equations and hydrodynamic coefficients to create a realistic simulation.Although conventional model-based and visual servoing approaches often struggle in dynamic underwater environments due to limited adaptability and extensive parameter tuning requirements,deep reinforcement learning(DRL)offers a promising alternative.In the positioning stage,the Twin Delayed Deep Deterministic Policy Gradient(TD3)algorithm is employed for synchronized depth and heading control,which offers stable training,reduced overestimation bias,and superior handling of continuous control compared to other DRL methods.During the searching stage,zig-zag heading motion combined with a state-of-the-art object detection algorithm facilitates docking station localization.For the docking stage,this study proposes an innovative Image-based DDPG(I-DDPG),enhanced and trained in a Unity-MATLAB simulation environment,to achieve visual target tracking.Furthermore,integrating a DT environment enables efficient and safe policy training,reduces dependence on costly real-world tests,and improves sim-to-real transfer performance.Both simulation and real-world experiments were conducted,demonstrating the effectiveness of the system in improving AUV control strategies and supporting the transition from simulation to real-world operations in underwater environments.The results highlight the scalability and robustness of the proposed system,as evidenced by the TD3 controller achieving 25%less oscillation than the adaptive fuzzy controller when reaching the target depth,thereby demonstrating superior stability,accuracy,and potential for broader and more complex autonomous underwater tasks.展开更多
Acute respiratory distress syndrome(ARDS) represents a serious problem in critically ill patients and is associated with in-hospital mortality rates of 33%-52%. Recruitment maneuvers(RMs) are a simple, low-cost, feasi...Acute respiratory distress syndrome(ARDS) represents a serious problem in critically ill patients and is associated with in-hospital mortality rates of 33%-52%. Recruitment maneuvers(RMs) are a simple, low-cost, feasible intervention that can be performed at the bedside in patients with ARDS. RMs are characterized by the application of airway pressure to increase transpulmonary pressure transiently. Once non-aerated lung units are reopened, improvements are observed in respiratory system mechanics, alveolar reaeration on computed tomography, and improvements in gas exchange(functional recruitment). However, the reopening process could lead to vascular compression, which can be associated with overinflation, and gas exchange may not improve as expected(anatomical recruitment). The purpose of this review was to discuss the effects of different RM strategies- sustained inflation, intermittent sighs, and stepwise increases of positive end-expiratory pressure(PEEP) and/or airway inspiratory pressure- on the following parameters: hemodynamics, oxygenation, barotrauma episodes, and lung recruitability through physiological variables and imaging techniques. RMs and PEEP titration are interdependent events for the success of ventilatory management. PEEP should be adjusted on the basis of respiratory system mechanics and oxygenation. Recent systematic reviews and meta-analyses suggest that RMs are associated with lower mortality in patients with ARDS. However, the optimal RM method(i.e., that providing the best balance of benefit and harm) and the effects of RMs on clinical outcome are still under discussion, and further evidence is needed.展开更多
This study creates and combines the general maneuver libraries for fixed-wing aircraft to implement tactical maneuvers.First,the generalized maneuver libraries are established by analyzing the characteristics of tacti...This study creates and combines the general maneuver libraries for fixed-wing aircraft to implement tactical maneuvers.First,the generalized maneuver libraries are established by analyzing the characteristics of tactical maneuvers required in battlefields.The 7th order polynomial is applied to both the creation of the maneuver libraries and the generation of the trajectories or flight paths for modal inputs.To track the desired trajectory,we design the Attitude Command Attitude Hold(ACAH)system and the Rate Command Rate Hold(RCRH)system using Model Following Controller(MFC).Moreover,the Line-of-Sight(LOS)guidance law is designed.In particular,the CONDUIT~?is employed to optimize the gains so that the control systems meet the aircraft Handling Qualities(HQ)criteria.Finally,flight simulations are performed for the longitudinal loop,immelmann-turn,and climb-slalom-descent maneuvers to verify that tactical aggressive maneuvers are realizable via the combination of maneuver libraries.This study can contribute to the development of flight techniques for aircraft tactical maneuvers and to the revision of air force operational manuals.展开更多
Introduction: Propofol use during endoscopic procedures has become increasingly popular and assessing and maintaining airway patency is a significant challenge. Anesthesiologists often use airway maneuvers to maintain...Introduction: Propofol use during endoscopic procedures has become increasingly popular and assessing and maintaining airway patency is a significant challenge. Anesthesiologists often use airway maneuvers to maintain airway patency and ventilation during procedural sedation. A novel, non-invasive, Respiratory Volume Monitor (RVM) that provided continuous, real-time measurements of minute ventilation (MV), tidal volume (TV) and respiratory rate (RR) was used to monitor respiratory performance before, during, and after endoscopic procedures, quantify MV changes before and after airway maneuvers, and to quantify propofol-induced respiratory depression. Methods: RVM traces were obtained from 25 patients undergoing sedation for endoscopic procedures. Airway maneuvers were performed in 19/25 patients. All 25 patients received propofol as the primary sedative. Results: Forty-five airway maneuvers were performed. During these maneuvers, all respiratory parameters increased relative to pre-maneuver levels. On average, MV increased by 24% ± 5% (mean ± SEM), TV 14% ± 5% and RR: 17% ± 6%. The cohort average MVBASELINE was 9.5 ± 0.7 L/min (TV = 670 ± 60 ml, RR = 15 ± 0.7). Following propofol MV decreased transiently, reaching nadir five minutes after the last dose of propofol at 82% ± 10% of baseline (MV = 7.5 ± 1.0 L/min). The reduction in MV was driven by reduction in TV, not RR. Conclusions: Data demonstrated that RVM was able to track changes in ventilation and was able to quantify respiratory changes following airway maneuvers. All patients had a significant reduction in ventilatory volumes after propofol. Five minutes after the last dose of propofol, MV and TV were significantly reduced while RR was not, suggesting that monitoring respiratory rate alone was not a sufficient indicator of respiratory status.展开更多
In the near future, active safety systems will take more control over the vehicle driving, even up to introducing fully autonomous vehicles. Nowadays, it is expected that the active safety systems will aid avoiding co...In the near future, active safety systems will take more control over the vehicle driving, even up to introducing fully autonomous vehicles. Nowadays, it is expected that the active safety systems will aid avoiding collisions much more efficiently than human drivers. These systems can protect not only the passengers, but also other road users. To mitigate collision, certain maneuvers （e.g., sudden braking, lane change, etc.） need to be done in a reasonably quick time. However, this may lead to low-g energy pulses. The latter fact, may cause unexpected and, in some cases, unwanted occupant body motion resulting even in OOP （out of position） postures. New patterns of occupant reactions in such cases are, to some extent, confirmed experimentally [1-3]. This paper evaluates the limits of standard ATDs （anthropometric test devices） and chosen human models in well established maneuver scenarios. Obtained results are compared with experimental data available in the literature. Drawbacks identify new challenges for the near future simulation based safety engineering. One scenario with combined conditions of emergency braking during lane change has been used as an example of OOP posture after maneuver.展开更多
Patients with acute respiratory distress syndrome (ARDS) are currently treated with a lung protective ventilation strategy and the application of positive end-expiratory pressure (PEEP), sometimes in combination with ...Patients with acute respiratory distress syndrome (ARDS) are currently treated with a lung protective ventilation strategy and the application of positive end-expiratory pressure (PEEP), sometimes in combination with recruitment maneuvers. In this study, the respiratory system elastance and airway resistance of each breath before, during and after a specific recruitment maneuver (PEEP wave maneuver) were analyzed in two patient groups, ARDS and control group. A reduction of elastance after the maneuver was observed in ARDS patients. In addition, only healthy lungs exhibited a reduction of the elastance during the course of the maneuver, while the lungs of ARDS patients didn’t show that reduction of elastance. The capability of PEEP wave maneuvers to improve lung ventilation was shown and the dynamic behavior of the elastance after the maneuver was illustrated. Healthy lungs adapt faster to changes in mechanical ventilation than the lungs of ARDS patients.展开更多
The time courses of wing and body kinematics of two free-flying drone-flies, as they performed saccades, were measured using 3D high-speed video, and the morpho- logical parameters of the wings and body of the insects...The time courses of wing and body kinematics of two free-flying drone-flies, as they performed saccades, were measured using 3D high-speed video, and the morpho- logical parameters of the wings and body of the insects were also measured. The measured wing kinematics was used in a Navier-Stokes solver to compute the aerodynamic forces and moments acting on the insects. The main results are as following. （1） The turn is mainly a 90° change of heading. It is made in about 10 wingbeats （about 55 ms）. It is of interest to note that the number of wingbeats taken to make the turn is approximately the same as and the turning time is only a little different from that of fruitflies measured recently by the same approach, even if the weight of the droneflies is more than 100 times larger than that of the fruitflies. The long axis of body is about 40° from the horizontal during the maneuver. （2） Although the body rotation is mainly about a vertical axis, a relatively large moment around the yaw axis （axis perpendicular to the long axis of body）, called as yaw moment, is mainly needed for the turn, because moment of inertial of the body about the yaw axis is much larger than that about the long axis. （3） The yaw moment is mainly pro- duced by changes in wing angles of attack： in a right turn, for example, the dronefly lets its right wing to have a rather large angle of attack in the downstroke （generally larger than 50°） and a small one in the upstroke to start the turn, and lets its left wing to do so to stop the turn, unlike the fruitflies who generate the yaw moment mainly by changes in the stroke plane and stroke amplitude.展开更多
To find a way of loads analysis from operational flight data for advanced aircraft,maneuver identification and standardization jobs are conducted in this paper. For thousands of sorties from one aircraft, after studyi...To find a way of loads analysis from operational flight data for advanced aircraft,maneuver identification and standardization jobs are conducted in this paper. For thousands of sorties from one aircraft, after studying the flight attitude when performing actions, the start and end time of the maneuvers can be determined. According to those time points, various types of maneuvers during the flight are extracted in the form of multi-parameters time histories. By analyzing the numerical range and curve shape of those parameters, a characteristic data library is established to model all types of maneuvers. Based on this library, a computer procedure using pattern-recognition theory is programmed to conduct automatic maneuver identification with high accuracy. In that way, operational loads are classified according to maneuver type. For a group of identified maneuvers of the same type, after the processes of time normalization, trace shifting, as well as averaging and smoothing, the idealization standard time history of each maneuver type is established.Finally, the typical load statuses are determined successfully based on standard maneuvers. The proposed method of maneuver identification and standardization is able to derive operational loads effectively, and might be applied to monitoring loads in Individual Aircraft Tracking Program（IATP）.展开更多
The space constellation of the BeiDou navigation satellite system(BDS) is a hybrid constellation containing medium earth orbit(MEO) satellites, geostationary earth orbit(GEO) satellites, and inclined geosynchronous or...The space constellation of the BeiDou navigation satellite system(BDS) is a hybrid constellation containing medium earth orbit(MEO) satellites, geostationary earth orbit(GEO) satellites, and inclined geosynchronous orbit(IGSO) satellites. Due to the geosynchronous characteristics of GEO and IGSO, GEO satellites and IGSO satellites often need to perform orbital maneuvers, which can affect the signal-inspace(SIS) availability performance of BeiDou satellites. A two-step detection method for BeiDou satellite orbital maneuvers has been proposed in this paper. The first step is to identify orbital maneuvers based on time series analysis of broadcast ephemeris, and the second step is to verify orbital maneuvers based on bidirectional orbit prediction. The two-step detection method was used to detect the orbital maneuvers of BeiDou satellites in 2019. Through the double guarantees of identification and verification,the detection accuracy of BeiDou satellite orbital maneuvers has been effectively improved. And the orbital maneuver detection results are continued to be used to assess the SIS availability of BeiDou satellites. The results show that the availability loss of GEO satellite orbital maneuvers is about 0.45%-1.07%, and the availability loss of IGSO satellite orbital maneuvers is about 0.12%-0.19%.展开更多
In order to restrict non-yielding maneuvers of left-turning vehicles,an optimal design of left-lane line extensions is proposed to solve the problem.A field observation was conducted to collect a data set of left-turn...In order to restrict non-yielding maneuvers of left-turning vehicles,an optimal design of left-lane line extensions is proposed to solve the problem.A field observation was conducted to collect a data set of left-turning vehicles at the beginning of a green phase at two similar intersections(one with a permitted phase and the other with a protected phase).The comparative analysis shows no significant difference in the speed distribution using either a permitted phase or a protected phase,but it reveals that a permitted phase can lead to a larger acceleration when the left-turn vehicles pass through the conflict points.Those indicate the existence of non-yielding maneuvers of left-turn vehicles at signalized intersections with a permitted phase.Optimal designed left-lane line extensions contain two types of segments,circular curves and transition curves,and they are only related to four geometry parameters of an intersection.The proposed method is easy to use and it can offer reference for intersection channelization and traffic organization.展开更多
A set of generallied equations which govern the klnematic parameters of helicopters in maneuvering flight is given. Loop and roll maneuvers are specially analysed in detail and the sample calculations are presented. T...A set of generallied equations which govern the klnematic parameters of helicopters in maneuvering flight is given. Loop and roll maneuvers are specially analysed in detail and the sample calculations are presented. The method established in this paper is of practical significance for aerobatic employment and design of armed helicopters.展开更多
The BeiDou Navigation Satellite System(BDS)provides global Positioning,Velocity,And Timing(PVT)services that are widely used in various areas.The BDS satellites frequently need the orbit maneuvers due to various pertu...The BeiDou Navigation Satellite System(BDS)provides global Positioning,Velocity,And Timing(PVT)services that are widely used in various areas.The BDS satellites frequently need the orbit maneuvers due to various perturbations to keep satellites in their designed positions.During these maneuvers,PVT services may be abnormal if the data from a maneuvering satellite is used.In this paper we developed an approach to recover the abnormal PVT services.By using BDS observations from multiple tracking stations,the orbital errors of a maneuvering satellite can be in real time obtained and corrected,thereby avoiding any influence on the performance of PVT services.The tests show that the average precision of position,velocity and timing services are improved by 0.8 m,0.1 mm/s and 0.16 ns,respectively,using the developed orbital maneuver recovery approach.In addition,the approach can also be used for the orbital maneuver detection and monitoring.展开更多
Re-entry gliding vehicles exhibit high maneuverability,making trajectory prediction a key factor in the effectiveness of defense systems.To overcome the limited fitting accuracy of existing methods and their poor adap...Re-entry gliding vehicles exhibit high maneuverability,making trajectory prediction a key factor in the effectiveness of defense systems.To overcome the limited fitting accuracy of existing methods and their poor adaptability to maneuver mode mutations,a trajectory prediction method is proposed that integrates online maneuver mode identification with dynamic modeling.Characteristic parameters are extracted from tracking data for parameterized modeling,enabling real-time identification of maneuver modes.In addition,a maneuver detection mechanism based on higher-order cumulants is introduced to detect lateral maneuver mutations and optimize the use of historical data.Simulation results show that the proposed method achieves accurate trajectory prediction during the glide phase and maintains high accuracy under maneuver mutations,significantly enhancing the prediction performance of both three-dimensional trajectories and ground tracks.展开更多
The problem of maneuvering for a servicing spacecraft(inspector)to inspect a noncooperative spacecraft(evader)in cislunar space is investigated in this paper.The evader,which may be a malfunctioning or uncontrolled sa...The problem of maneuvering for a servicing spacecraft(inspector)to inspect a noncooperative spacecraft(evader)in cislunar space is investigated in this paper.The evader,which may be a malfunctioning or uncontrolled satellite,introduces uncertainties due to its potential maneuvering capabilities.To address this challenge,the scenario is modeled as a special orbital game,incorporating the unique complexities of the cislunar environment.A variable-duration,turn-based inspection and anti-inspection game model is designed.The model defines both players'rules,constraints,and victory conditions,providing a framework for non-cooperative inspection.Strategies for both players are developed and validated based on their dynamical properties.The inspector's strategy integrates two-body Lambert transfers with shooting methods,while the evader's strategy aims to maximize the inspector's fuel consumption.Simulation results show that the evader's optimal strategy involves deliberate fluctuations in its lunar periapsis altitude,with the inspector's requiredΔV up to eight times greater than the evader's.The impact of game constraints is evaluated,and the effectiveness of deploying the inspector in low lunar orbit is compared with the inspector at the Earth-Moon Lagrange point L1.The strengths and weaknesses of both are shown.These findings provide valuable insights for future orbital servicing and orbital games.展开更多
This paper proposes a threat assessment framework for non-cooperative satellites by analyzing their motion characteristics,developing a quantitative evaluation methodology,and demonstrating its effectiveness via repre...This paper proposes a threat assessment framework for non-cooperative satellites by analyzing their motion characteristics,developing a quantitative evaluation methodology,and demonstrating its effectiveness via representative scenarios with neural network acceleration.The framework first establishes a threat evaluation model that integrates three core parameters:capability,opportunity,and hidden values.Subsequently,this research systematically investigates the critical role of transfer windows in threat quantification and introduces a transfer window-based threat assessment approach.The proposed methodology is validated through multiple representative scenarios,with simulation results demonstrating superior performance compared to conventional methods relying solely on optimal transfer windows or minimum distance metrics,enabling more nuanced threat ranking in scenarios where traditional techniques prove inadequate.To address computational demands,a neural networkbased approximation system is implemented to achieve a 25,200×speedup(0.005 s vs.baseline 126 s per 1000-sample batch)through parallel processing,maintaining 99.3%accuracy.Finally,the study explores the framework's extensibility to diverse NCS objectives.It identifies discrepancies between intention inference models and threat evaluation paradigms,providing methodological insights for next-generation space domain awareness systems.展开更多
In the field of intelligent air combat,real-time and accurate recognition of within-visual-range(WVR)maneuver actions serves as the foundational cornerstone for constructing autonomous decision-making systems.However,...In the field of intelligent air combat,real-time and accurate recognition of within-visual-range(WVR)maneuver actions serves as the foundational cornerstone for constructing autonomous decision-making systems.However,existing methods face two major challenges:traditional feature engineering suffers from insufficient effective dimensionality in the feature space due to kinematic coupling,making it difficult to distinguish essential differences between maneuvers,while end-to-end deep learning models lack controllability in implicit feature learning and fail to model high-order long-range temporal dependencies.This paper proposes a trajectory feature pre-extraction method based on a Long-range Masked Autoencoder(LMAE),incorporating three key innovations:(1)Random Fragment High-ratio Masking(RFH-Mask),which enforces the model to learn long-range temporal correlations by masking 80%of trajectory data while retaining continuous fragments;(2)Kalman Filter-Guided Objective Function(KFG-OF),integrating trajectory continuity constraints to align the feature space with kinematic principles;and(3)Two-stage Decoupled Architecture,enabling efficient and controllable feature learning through unsupervised pre-training and frozen-feature transfer.Experimental results demonstrate that LMAE significantly improves the average recognition accuracy for 20-class maneuvers compared to traditional end-to-end models,while significantly accelerating convergence speed.The contributions of this work lie in:introducing high-masking-rate autoencoders into low-informationdensity trajectory analysis,proposing a feature engineering framework with enhanced controllability and efficiency,and providing a novel technical pathway for intelligent air combat decision-making systems.展开更多
BACKGROUND Repeated application of the Pringle maneuver is a key obstacle to safe minimally invasive repeat liver resection(MISRLR).However,limited technical guidance is available.AIM To study the utility of newly dev...BACKGROUND Repeated application of the Pringle maneuver is a key obstacle to safe minimally invasive repeat liver resection(MISRLR).However,limited technical guidance is available.AIM To study the utility of newly developed Pringle taping method guided by liver surface in MISRLR.METHODS We retrospectively reviewed 72 cases of MISRLR performed by a single surgeon at two centers from August 2015 to July 2024.Beginning in October 2019,a liver surface-guided encirclement of hepatoduodenal ligament(LSEH)was used for repeat Pringle taping.Perioperative outcomes including Pringle taping success,operative time,blood loss,conversion rate,morbidity,and mortality were assessed.RESULTS Laparoscopic and robotic approaches were used in 63 patients and 9 patients,respectively.The median operative time,blood loss,and hospital stay were 331.5 minutes,70 mL,and 8 days,respectively.Open conversion occurred in two cases(2.8%)due to severe adhesions and right renal vein injury.Clavien-Dindo grade≥III complications occurred in 5.6%of cases with no mortality.Anti-adhesion barriers were used in 54 patients(75.0%).LSEH was attempted in 57 cases,improving Pringle taping success from 33.0%to 91.4%(P<0.001).LSEH succeeded in all patients with prior open liver resection(n=11).Among 6 patients in whom LSEH failed,3 patients(50.0%)had undergone a third liver resection,and 1 patient had a history of distal gastrectomy with choledochoduodenostomy.CONCLUSION The newly developed LSEH technique for Pringle taping in MISRLR was feasible,enhancing safety and reproducibility even in patients with a history of open liver resection.展开更多
基金Natural Science Foundation of Heilongjiang Province of China(Grant No.YQ2022F012)the Fundamental Research Funds for the Central Universities(Grant No.HIT.OCEF.2023010)to provide fund for conducting experiments.
文摘Aiming at the missile avoidance problem of the unmanned aerial vehicle(UAV)in complex obstacle environments,this work proposes a collision-avoidance method based on receding horizon optimization.The proposed method generated a specific trajectory for the UAV to effectively induce the proportional navigation missile to successfully intercept the obstacle,thereby accomplishing the evasive maneuver.The evasive maneuver was divided into two distinct stages,namely the collision-inducing phase and the fast departure phase.The obstacle potential field-based target selection algorithm was employed to identify the most appropriate target obstacle,while the induced trajectory was determined through a combination of receding horizon optimization and the hp-adaptive pseudo-spectral method.Simulation experiments were carried out under three different types of obstacle environments and one multiobstacle environment,and the simulation results show that the method proposed in this paper greatly improves the success rate of UAV evasive maneuvers,proving the effectiveness of this method.
基金supported by the National Science and Technology Council,Taiwan[Grant NSTC 111-2628-E-006-005-MY3]supported by the Ocean Affairs Council,Taiwansponsored in part by Higher Education Sprout Project,Ministry of Education to the Headquarters of University Advancement at National Cheng Kung University(NCKU).
文摘This study proposes an automatic control system for Autonomous Underwater Vehicle(AUV)docking,utilizing a digital twin(DT)environment based on the HoloOcean platform,which integrates six-degree-of-freedom(6-DOF)motion equations and hydrodynamic coefficients to create a realistic simulation.Although conventional model-based and visual servoing approaches often struggle in dynamic underwater environments due to limited adaptability and extensive parameter tuning requirements,deep reinforcement learning(DRL)offers a promising alternative.In the positioning stage,the Twin Delayed Deep Deterministic Policy Gradient(TD3)algorithm is employed for synchronized depth and heading control,which offers stable training,reduced overestimation bias,and superior handling of continuous control compared to other DRL methods.During the searching stage,zig-zag heading motion combined with a state-of-the-art object detection algorithm facilitates docking station localization.For the docking stage,this study proposes an innovative Image-based DDPG(I-DDPG),enhanced and trained in a Unity-MATLAB simulation environment,to achieve visual target tracking.Furthermore,integrating a DT environment enables efficient and safe policy training,reduces dependence on costly real-world tests,and improves sim-to-real transfer performance.Both simulation and real-world experiments were conducted,demonstrating the effectiveness of the system in improving AUV control strategies and supporting the transition from simulation to real-world operations in underwater environments.The results highlight the scalability and robustness of the proposed system,as evidenced by the TD3 controller achieving 25%less oscillation than the adaptive fuzzy controller when reaching the target depth,thereby demonstrating superior stability,accuracy,and potential for broader and more complex autonomous underwater tasks.
基金Supported by Brazilian Council for Scientific and Technological Development(CNPq),Carlos Chagas Filho Rio de Janeiro State Research Foundation(FAPERJ),Department of Science and Technology(DECIT)/Brazilian Ministry of HealthCoordination for the Improvement of Higher Level Personnel(CAPES)
文摘Acute respiratory distress syndrome(ARDS) represents a serious problem in critically ill patients and is associated with in-hospital mortality rates of 33%-52%. Recruitment maneuvers(RMs) are a simple, low-cost, feasible intervention that can be performed at the bedside in patients with ARDS. RMs are characterized by the application of airway pressure to increase transpulmonary pressure transiently. Once non-aerated lung units are reopened, improvements are observed in respiratory system mechanics, alveolar reaeration on computed tomography, and improvements in gas exchange(functional recruitment). However, the reopening process could lead to vascular compression, which can be associated with overinflation, and gas exchange may not improve as expected(anatomical recruitment). The purpose of this review was to discuss the effects of different RM strategies- sustained inflation, intermittent sighs, and stepwise increases of positive end-expiratory pressure(PEEP) and/or airway inspiratory pressure- on the following parameters: hemodynamics, oxygenation, barotrauma episodes, and lung recruitability through physiological variables and imaging techniques. RMs and PEEP titration are interdependent events for the success of ventilatory management. PEEP should be adjusted on the basis of respiratory system mechanics and oxygenation. Recent systematic reviews and meta-analyses suggest that RMs are associated with lower mortality in patients with ARDS. However, the optimal RM method(i.e., that providing the best balance of benefit and harm) and the effects of RMs on clinical outcome are still under discussion, and further evidence is needed.
基金High-Speed Compound Unmanned Rotorcraft(HCUR)research laboratory with the support of Agency for Defense Development(ADD).
文摘This study creates and combines the general maneuver libraries for fixed-wing aircraft to implement tactical maneuvers.First,the generalized maneuver libraries are established by analyzing the characteristics of tactical maneuvers required in battlefields.The 7th order polynomial is applied to both the creation of the maneuver libraries and the generation of the trajectories or flight paths for modal inputs.To track the desired trajectory,we design the Attitude Command Attitude Hold(ACAH)system and the Rate Command Rate Hold(RCRH)system using Model Following Controller(MFC).Moreover,the Line-of-Sight(LOS)guidance law is designed.In particular,the CONDUIT~?is employed to optimize the gains so that the control systems meet the aircraft Handling Qualities(HQ)criteria.Finally,flight simulations are performed for the longitudinal loop,immelmann-turn,and climb-slalom-descent maneuvers to verify that tactical aggressive maneuvers are realizable via the combination of maneuver libraries.This study can contribute to the development of flight techniques for aircraft tactical maneuvers and to the revision of air force operational manuals.
文摘Introduction: Propofol use during endoscopic procedures has become increasingly popular and assessing and maintaining airway patency is a significant challenge. Anesthesiologists often use airway maneuvers to maintain airway patency and ventilation during procedural sedation. A novel, non-invasive, Respiratory Volume Monitor (RVM) that provided continuous, real-time measurements of minute ventilation (MV), tidal volume (TV) and respiratory rate (RR) was used to monitor respiratory performance before, during, and after endoscopic procedures, quantify MV changes before and after airway maneuvers, and to quantify propofol-induced respiratory depression. Methods: RVM traces were obtained from 25 patients undergoing sedation for endoscopic procedures. Airway maneuvers were performed in 19/25 patients. All 25 patients received propofol as the primary sedative. Results: Forty-five airway maneuvers were performed. During these maneuvers, all respiratory parameters increased relative to pre-maneuver levels. On average, MV increased by 24% ± 5% (mean ± SEM), TV 14% ± 5% and RR: 17% ± 6%. The cohort average MVBASELINE was 9.5 ± 0.7 L/min (TV = 670 ± 60 ml, RR = 15 ± 0.7). Following propofol MV decreased transiently, reaching nadir five minutes after the last dose of propofol at 82% ± 10% of baseline (MV = 7.5 ± 1.0 L/min). The reduction in MV was driven by reduction in TV, not RR. Conclusions: Data demonstrated that RVM was able to track changes in ventilation and was able to quantify respiratory changes following airway maneuvers. All patients had a significant reduction in ventilatory volumes after propofol. Five minutes after the last dose of propofol, MV and TV were significantly reduced while RR was not, suggesting that monitoring respiratory rate alone was not a sufficient indicator of respiratory status.
文摘In the near future, active safety systems will take more control over the vehicle driving, even up to introducing fully autonomous vehicles. Nowadays, it is expected that the active safety systems will aid avoiding collisions much more efficiently than human drivers. These systems can protect not only the passengers, but also other road users. To mitigate collision, certain maneuvers （e.g., sudden braking, lane change, etc.） need to be done in a reasonably quick time. However, this may lead to low-g energy pulses. The latter fact, may cause unexpected and, in some cases, unwanted occupant body motion resulting even in OOP （out of position） postures. New patterns of occupant reactions in such cases are, to some extent, confirmed experimentally [1-3]. This paper evaluates the limits of standard ATDs （anthropometric test devices） and chosen human models in well established maneuver scenarios. Obtained results are compared with experimental data available in the literature. Drawbacks identify new challenges for the near future simulation based safety engineering. One scenario with combined conditions of emergency braking during lane change has been used as an example of OOP posture after maneuver.
基金Partial support by the EU-Project-“eTime”-ID:“FP7-PEOPLE-2012-IRSES”is gratefully acknowledged.
文摘Patients with acute respiratory distress syndrome (ARDS) are currently treated with a lung protective ventilation strategy and the application of positive end-expiratory pressure (PEEP), sometimes in combination with recruitment maneuvers. In this study, the respiratory system elastance and airway resistance of each breath before, during and after a specific recruitment maneuver (PEEP wave maneuver) were analyzed in two patient groups, ARDS and control group. A reduction of elastance after the maneuver was observed in ARDS patients. In addition, only healthy lungs exhibited a reduction of the elastance during the course of the maneuver, while the lungs of ARDS patients didn’t show that reduction of elastance. The capability of PEEP wave maneuvers to improve lung ventilation was shown and the dynamic behavior of the elastance after the maneuver was illustrated. Healthy lungs adapt faster to changes in mechanical ventilation than the lungs of ARDS patients.
基金supported by the National Natural Science Foundation of China(10732030)the 111 Project(B07009)
文摘The time courses of wing and body kinematics of two free-flying drone-flies, as they performed saccades, were measured using 3D high-speed video, and the morpho- logical parameters of the wings and body of the insects were also measured. The measured wing kinematics was used in a Navier-Stokes solver to compute the aerodynamic forces and moments acting on the insects. The main results are as following. （1） The turn is mainly a 90° change of heading. It is made in about 10 wingbeats （about 55 ms）. It is of interest to note that the number of wingbeats taken to make the turn is approximately the same as and the turning time is only a little different from that of fruitflies measured recently by the same approach, even if the weight of the droneflies is more than 100 times larger than that of the fruitflies. The long axis of body is about 40° from the horizontal during the maneuver. （2） Although the body rotation is mainly about a vertical axis, a relatively large moment around the yaw axis （axis perpendicular to the long axis of body）, called as yaw moment, is mainly needed for the turn, because moment of inertial of the body about the yaw axis is much larger than that about the long axis. （3） The yaw moment is mainly pro- duced by changes in wing angles of attack： in a right turn, for example, the dronefly lets its right wing to have a rather large angle of attack in the downstroke （generally larger than 50°） and a small one in the upstroke to start the turn, and lets its left wing to do so to stop the turn, unlike the fruitflies who generate the yaw moment mainly by changes in the stroke plane and stroke amplitude.
文摘To find a way of loads analysis from operational flight data for advanced aircraft,maneuver identification and standardization jobs are conducted in this paper. For thousands of sorties from one aircraft, after studying the flight attitude when performing actions, the start and end time of the maneuvers can be determined. According to those time points, various types of maneuvers during the flight are extracted in the form of multi-parameters time histories. By analyzing the numerical range and curve shape of those parameters, a characteristic data library is established to model all types of maneuvers. Based on this library, a computer procedure using pattern-recognition theory is programmed to conduct automatic maneuver identification with high accuracy. In that way, operational loads are classified according to maneuver type. For a group of identified maneuvers of the same type, after the processes of time normalization, trace shifting, as well as averaging and smoothing, the idealization standard time history of each maneuver type is established.Finally, the typical load statuses are determined successfully based on standard maneuvers. The proposed method of maneuver identification and standardization is able to derive operational loads effectively, and might be applied to monitoring loads in Individual Aircraft Tracking Program（IATP）.
基金This research was funded by the Shandong Provincial Natural Science Foundation(ZR2022QD100,ZR2022QE221)the Weifang University of Science and Technology Doctoral Research Startup Fund(2021KJBS16).
文摘The space constellation of the BeiDou navigation satellite system(BDS) is a hybrid constellation containing medium earth orbit(MEO) satellites, geostationary earth orbit(GEO) satellites, and inclined geosynchronous orbit(IGSO) satellites. Due to the geosynchronous characteristics of GEO and IGSO, GEO satellites and IGSO satellites often need to perform orbital maneuvers, which can affect the signal-inspace(SIS) availability performance of BeiDou satellites. A two-step detection method for BeiDou satellite orbital maneuvers has been proposed in this paper. The first step is to identify orbital maneuvers based on time series analysis of broadcast ephemeris, and the second step is to verify orbital maneuvers based on bidirectional orbit prediction. The two-step detection method was used to detect the orbital maneuvers of BeiDou satellites in 2019. Through the double guarantees of identification and verification,the detection accuracy of BeiDou satellite orbital maneuvers has been effectively improved. And the orbital maneuver detection results are continued to be used to assess the SIS availability of BeiDou satellites. The results show that the availability loss of GEO satellite orbital maneuvers is about 0.45%-1.07%, and the availability loss of IGSO satellite orbital maneuvers is about 0.12%-0.19%.
基金The National Natural Science Foundation of China(No.51278220)
文摘In order to restrict non-yielding maneuvers of left-turning vehicles,an optimal design of left-lane line extensions is proposed to solve the problem.A field observation was conducted to collect a data set of left-turning vehicles at the beginning of a green phase at two similar intersections(one with a permitted phase and the other with a protected phase).The comparative analysis shows no significant difference in the speed distribution using either a permitted phase or a protected phase,but it reveals that a permitted phase can lead to a larger acceleration when the left-turn vehicles pass through the conflict points.Those indicate the existence of non-yielding maneuvers of left-turn vehicles at signalized intersections with a permitted phase.Optimal designed left-lane line extensions contain two types of segments,circular curves and transition curves,and they are only related to four geometry parameters of an intersection.The proposed method is easy to use and it can offer reference for intersection channelization and traffic organization.
文摘A set of generallied equations which govern the klnematic parameters of helicopters in maneuvering flight is given. Loop and roll maneuvers are specially analysed in detail and the sample calculations are presented. The method established in this paper is of practical significance for aerobatic employment and design of armed helicopters.
基金the program of National Natural Science Foundation of China(Grant Nos:41674034,41974032,11903040)Chinese Academy of Sciences(CAS)programs of“The Frontier Science Research Project”(Grant No:QYZDB-SSW-DQC028)K.C.Wong Education Foundation.Rui Tu is also supported by the“High Level Talents”of CAS(Grant No:Y923YC1701).
文摘The BeiDou Navigation Satellite System(BDS)provides global Positioning,Velocity,And Timing(PVT)services that are widely used in various areas.The BDS satellites frequently need the orbit maneuvers due to various perturbations to keep satellites in their designed positions.During these maneuvers,PVT services may be abnormal if the data from a maneuvering satellite is used.In this paper we developed an approach to recover the abnormal PVT services.By using BDS observations from multiple tracking stations,the orbital errors of a maneuvering satellite can be in real time obtained and corrected,thereby avoiding any influence on the performance of PVT services.The tests show that the average precision of position,velocity and timing services are improved by 0.8 m,0.1 mm/s and 0.16 ns,respectively,using the developed orbital maneuver recovery approach.In addition,the approach can also be used for the orbital maneuver detection and monitoring.
基金supported by the National Natural Science Foundation of China(12302056)the Postdoctoral Fellowship Program of China Postdoctoral Science Foundation(GZC20233445)。
文摘Re-entry gliding vehicles exhibit high maneuverability,making trajectory prediction a key factor in the effectiveness of defense systems.To overcome the limited fitting accuracy of existing methods and their poor adaptability to maneuver mode mutations,a trajectory prediction method is proposed that integrates online maneuver mode identification with dynamic modeling.Characteristic parameters are extracted from tracking data for parameterized modeling,enabling real-time identification of maneuver modes.In addition,a maneuver detection mechanism based on higher-order cumulants is introduced to detect lateral maneuver mutations and optimize the use of historical data.Simulation results show that the proposed method achieves accurate trajectory prediction during the glide phase and maintains high accuracy under maneuver mutations,significantly enhancing the prediction performance of both three-dimensional trajectories and ground tracks.
基金supported by the National Key R&D Pro-gram of China:Gravitational Wave Detection Project(Nos.2021YFC2026,2021YFC2202601,2021YFC2202603)the National Natural Science Foundation of China(Nos.12172288 and 12472046)。
文摘The problem of maneuvering for a servicing spacecraft(inspector)to inspect a noncooperative spacecraft(evader)in cislunar space is investigated in this paper.The evader,which may be a malfunctioning or uncontrolled satellite,introduces uncertainties due to its potential maneuvering capabilities.To address this challenge,the scenario is modeled as a special orbital game,incorporating the unique complexities of the cislunar environment.A variable-duration,turn-based inspection and anti-inspection game model is designed.The model defines both players'rules,constraints,and victory conditions,providing a framework for non-cooperative inspection.Strategies for both players are developed and validated based on their dynamical properties.The inspector's strategy integrates two-body Lambert transfers with shooting methods,while the evader's strategy aims to maximize the inspector's fuel consumption.Simulation results show that the evader's optimal strategy involves deliberate fluctuations in its lunar periapsis altitude,with the inspector's requiredΔV up to eight times greater than the evader's.The impact of game constraints is evaluated,and the effectiveness of deploying the inspector in low lunar orbit is compared with the inspector at the Earth-Moon Lagrange point L1.The strengths and weaknesses of both are shown.These findings provide valuable insights for future orbital servicing and orbital games.
基金supported by the National Key R&D Programof China:Gravitational Wave Detection Project(Grant Nos.2021YFC2026,2021YFC2202601,2021YFC2202603)the Na-tional Natural Science Foundation of China(Grant Nos.12172288and 12472046)。
文摘This paper proposes a threat assessment framework for non-cooperative satellites by analyzing their motion characteristics,developing a quantitative evaluation methodology,and demonstrating its effectiveness via representative scenarios with neural network acceleration.The framework first establishes a threat evaluation model that integrates three core parameters:capability,opportunity,and hidden values.Subsequently,this research systematically investigates the critical role of transfer windows in threat quantification and introduces a transfer window-based threat assessment approach.The proposed methodology is validated through multiple representative scenarios,with simulation results demonstrating superior performance compared to conventional methods relying solely on optimal transfer windows or minimum distance metrics,enabling more nuanced threat ranking in scenarios where traditional techniques prove inadequate.To address computational demands,a neural networkbased approximation system is implemented to achieve a 25,200×speedup(0.005 s vs.baseline 126 s per 1000-sample batch)through parallel processing,maintaining 99.3%accuracy.Finally,the study explores the framework's extensibility to diverse NCS objectives.It identifies discrepancies between intention inference models and threat evaluation paradigms,providing methodological insights for next-generation space domain awareness systems.
文摘In the field of intelligent air combat,real-time and accurate recognition of within-visual-range(WVR)maneuver actions serves as the foundational cornerstone for constructing autonomous decision-making systems.However,existing methods face two major challenges:traditional feature engineering suffers from insufficient effective dimensionality in the feature space due to kinematic coupling,making it difficult to distinguish essential differences between maneuvers,while end-to-end deep learning models lack controllability in implicit feature learning and fail to model high-order long-range temporal dependencies.This paper proposes a trajectory feature pre-extraction method based on a Long-range Masked Autoencoder(LMAE),incorporating three key innovations:(1)Random Fragment High-ratio Masking(RFH-Mask),which enforces the model to learn long-range temporal correlations by masking 80%of trajectory data while retaining continuous fragments;(2)Kalman Filter-Guided Objective Function(KFG-OF),integrating trajectory continuity constraints to align the feature space with kinematic principles;and(3)Two-stage Decoupled Architecture,enabling efficient and controllable feature learning through unsupervised pre-training and frozen-feature transfer.Experimental results demonstrate that LMAE significantly improves the average recognition accuracy for 20-class maneuvers compared to traditional end-to-end models,while significantly accelerating convergence speed.The contributions of this work lie in:introducing high-masking-rate autoencoders into low-informationdensity trajectory analysis,proposing a feature engineering framework with enhanced controllability and efficiency,and providing a novel technical pathway for intelligent air combat decision-making systems.
文摘BACKGROUND Repeated application of the Pringle maneuver is a key obstacle to safe minimally invasive repeat liver resection(MISRLR).However,limited technical guidance is available.AIM To study the utility of newly developed Pringle taping method guided by liver surface in MISRLR.METHODS We retrospectively reviewed 72 cases of MISRLR performed by a single surgeon at two centers from August 2015 to July 2024.Beginning in October 2019,a liver surface-guided encirclement of hepatoduodenal ligament(LSEH)was used for repeat Pringle taping.Perioperative outcomes including Pringle taping success,operative time,blood loss,conversion rate,morbidity,and mortality were assessed.RESULTS Laparoscopic and robotic approaches were used in 63 patients and 9 patients,respectively.The median operative time,blood loss,and hospital stay were 331.5 minutes,70 mL,and 8 days,respectively.Open conversion occurred in two cases(2.8%)due to severe adhesions and right renal vein injury.Clavien-Dindo grade≥III complications occurred in 5.6%of cases with no mortality.Anti-adhesion barriers were used in 54 patients(75.0%).LSEH was attempted in 57 cases,improving Pringle taping success from 33.0%to 91.4%(P<0.001).LSEH succeeded in all patients with prior open liver resection(n=11).Among 6 patients in whom LSEH failed,3 patients(50.0%)had undergone a third liver resection,and 1 patient had a history of distal gastrectomy with choledochoduodenostomy.CONCLUSION The newly developed LSEH technique for Pringle taping in MISRLR was feasible,enhancing safety and reproducibility even in patients with a history of open liver resection.
