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
The problem of collision avoidance for non-cooperative targets has received significant attention from researchers in recent years.Non-cooperative targets exhibit uncertain states and unpredictable behaviors,making co...The problem of collision avoidance for non-cooperative targets has received significant attention from researchers in recent years.Non-cooperative targets exhibit uncertain states and unpredictable behaviors,making collision avoidance significantly more challenging than that for space debris.Much existing research focuses on the continuous thrust model,whereas the impulsive maneuver model is more appropriate for long-duration and long-distance avoidance missions.Additionally,it is important to minimize the impact on the original mission while avoiding noncooperative targets.On the other hand,the existing avoidance algorithms are computationally complex and time-consuming especially with the limited computing capability of the on-board computer,posing challenges for practical engineering applications.To conquer these difficulties,this paper makes the following key contributions:(A)a turn-based(sequential decision-making)limited-area impulsive collision avoidance model considering the time delay of precision orbit determination is established for the first time;(B)a novel Selection Probability Learning Adaptive Search-depth Search Tree(SPL-ASST)algorithm is proposed for non-cooperative target avoidance,which improves the decision-making efficiency by introducing an adaptive-search-depth mechanism and a neural network into the traditional Monte Carlo Tree Search(MCTS).Numerical simulations confirm the effectiveness and efficiency of the proposed method.展开更多
This paper presents the design of an asymmetrically variable wingtip anhedral angles morphing aircraft,inspired by biomimetic mechanisms,to enhance lateral maneuver capability.Firstly,we establish a lateral dynamic mo...This paper presents the design of an asymmetrically variable wingtip anhedral angles morphing aircraft,inspired by biomimetic mechanisms,to enhance lateral maneuver capability.Firstly,we establish a lateral dynamic model considering additional forces and moments resulting during the morphing process,and convert it into a Multiple Input Multiple Output(MIMO)virtual control system by importing virtual inputs.Secondly,a classical dynamics inversion controller is designed for the outer-loop system.A new Global Fast Terminal Incremental Sliding Mode Controller(NDO-GFTISMC)is proposed for the inner-loop system,in which an adaptive law is implemented to weaken control surface chattering,and a Nonlinear Disturbance Observer(NDO)is integrated to compensate for unknown disturbances.The whole control system is proven semiglobally uniformly ultimately bounded based on the multi-Lyapunov function method.Furthermore,we consider tracking errors and self-characteristics of actuators,a quadratic programmingbased dynamic control allocation law is designed,which allocates virtual control inputs to the asymmetrically deformed wingtip and rudder.Actuator dynamic models are incorporated to ensure physical realizability of designed allocation law.Finally,comparative experimental results validate the effectiveness of the designed control system and control allocation law.The NDO-GFTISMC features faster convergence,stronger robustness,and 81.25%and 75.0%reduction in maximum state tracking error under uncertainty compared to the Incremental Nonlinear Dynamic Inversion Controller based on NDO(NDO-INDI)and Incremental Sliding Mode Controller based on NDO(NDO-ISMC),respectively.The design of the morphing aircraft significantly enhances lateral maneuver capability,maintaining a substantial control margin during lateral maneuvering,reducing the burden of the rudder surface,and effectively solving the actuator saturation problem of traditional aircraft during lateral maneuvering.展开更多
Muscle Shortening Maneuver(MSM)is a rehabilitation technique successfully applied to several pathological conditions.The concept is to passively elongate and shorten the target muscle group of the affected limb.As a r...Muscle Shortening Maneuver(MSM)is a rehabilitation technique successfully applied to several pathological conditions.The concept is to passively elongate and shorten the target muscle group of the affected limb.As a result,the functionality(muscle strength and range of motion)of that limb is improved.The existing system induces these oscillations manually or without any feedback control,which can compromise the effectiveness and standardization of MSM.In this paper,we present a mechatronic system that can precisely deliver motion oscillations to the upper limb for a controllable execution of MSM.First,we collected the parameters(frequency and amplitude of the oscillations)from a system where a motor was heuristically used by a well-experienced therapist to induce the oscillations(without any feedback control).Based on these specifications,we chose the motor and rebuilt the experimental setup,implementing a sliding mode control with a sliding perturbation observer.With our system,the operator can choose a given frequency and amplitude of the oscillations within the range we experimentally observed.We tested our system with ten participants of different anthropometry.We found that our system can accurately reproduce oscillations in the frequency range 0.8 to 1.2 Hz and amplitude range 2 to 6 cm,with a maximum percentage normalized root mean square error around 7%.展开更多
1) Introduction: Ventilation disorders of the middle ear play a major role in everyday clinical ENT-practice and sometimes represent a major therapeutic challenge. In addition to the conventional therapy of tympanosto...1) Introduction: Ventilation disorders of the middle ear play a major role in everyday clinical ENT-practice and sometimes represent a major therapeutic challenge. In addition to the conventional therapy of tympanostomy tube insertion, tuboplasty (TP) offers a less invasive option for treating this problem. The study should examine whether TP can be performed in a rural setting. 2) Material and methods: This is a prospective, monocentric study of patients scheduled for TP because of tubal ventilation disorder (TVD) in a rural region of Germany. The diagnosis was established after a thorough clinical examination and by assessing the possibility of performing the Valsalva maneuver, the tympanogram type, recording the middle ear pressure and air-bone gap. The subjective impairment caused by the TVD was evaluated using the EDTQ-7 questionnaire pre- and approximately 3 months postoperatively. 3) Results: Sixty-two patients with 92 TP were included with a mean age of 44.1 years. The EDTQ-7 score decreased highly significantly from 3.6 to 1.7 (p < 0.0001) without correlating with parameters such as age, sex, BMI, allergies or smoking. Middle ear pressure fell in average by −87 daPa, resulting in an improvement of the tympanogram type. The preoperative air-bone gap of 10.2 dB also was reduced significantly in most patients to 8.0 dB after the procedure. No notable complications occurred beside a sore throat due to the use of a laryngeal mask for ventilation during anesthesia in two cases. 4) Conclusion: In our experience, TP represents a less invasive and, in many cases, successful alternative to the established tympanostomy tube insertion with the advantage of an intact eardrum. It can also be offered and successfully performed in a rural setting.展开更多
The concept of the spacecraft Reachable Domain(RD)has garnered significant scholarly attention due to its crucial role in space situational awareness and on-orbit service applications.While the existing research has l...The concept of the spacecraft Reachable Domain(RD)has garnered significant scholarly attention due to its crucial role in space situational awareness and on-orbit service applications.While the existing research has largely focused on single-impulse RD analysis,the challenge of Multi-Impulse RD(MIRD)remains a key area of interest.This study introduces a methodology for the precise calculation of spacecraft MIRD.The reachability constraints specific to MIRD are first formulated through coordinate transformations.Two restricted maneuvering strategies are examined.The derivation of two extremum conditions allows for determining the accessible orientation range and the nodes encompassing the MIRD.Subsequently,four nonlinear programming models are developed to address two types of MIRD by skillfully relaxing constraints using scale factors.Numerical results validate the robustness and effectiveness of the proposed approach,showing substantial agreement with Monte Carlo simulations and confirming its applicability to spacecraft on various elliptical orbits.展开更多
1 The grandfather was choking on a mouthful of food,unable to breathe and unable to cough.The grandson,recalling the important lesson learned during the 8-13 Project organized by the Italian Red Cross⁃Poggi⁃Sermide Co...1 The grandfather was choking on a mouthful of food,unable to breathe and unable to cough.The grandson,recalling the important lesson learned during the 8-13 Project organized by the Italian Red Cross⁃Poggi⁃Sermide Committee,suggested performing the Heimlich manoeuvre(海姆立克急救法)on the elderly man.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co-supported by the Foundation of Shanghai Astronautics Science and Technology Innovation,China(No.SAST2022-114)the National Natural Science Foundation of China(No.62303378),the National Natural Science Foundation of China(Nos.124B2031,12202281)the Foundation of China National Key Laboratory of Science and Technology on Test Physics&Numerical Mathematics,China(No.08-YY-2023-R11)。
文摘The problem of collision avoidance for non-cooperative targets has received significant attention from researchers in recent years.Non-cooperative targets exhibit uncertain states and unpredictable behaviors,making collision avoidance significantly more challenging than that for space debris.Much existing research focuses on the continuous thrust model,whereas the impulsive maneuver model is more appropriate for long-duration and long-distance avoidance missions.Additionally,it is important to minimize the impact on the original mission while avoiding noncooperative targets.On the other hand,the existing avoidance algorithms are computationally complex and time-consuming especially with the limited computing capability of the on-board computer,posing challenges for practical engineering applications.To conquer these difficulties,this paper makes the following key contributions:(A)a turn-based(sequential decision-making)limited-area impulsive collision avoidance model considering the time delay of precision orbit determination is established for the first time;(B)a novel Selection Probability Learning Adaptive Search-depth Search Tree(SPL-ASST)algorithm is proposed for non-cooperative target avoidance,which improves the decision-making efficiency by introducing an adaptive-search-depth mechanism and a neural network into the traditional Monte Carlo Tree Search(MCTS).Numerical simulations confirm the effectiveness and efficiency of the proposed method.
基金supported by the National Natural Science Foundation of China(Nos.62103052 and No.52175214)。
文摘This paper presents the design of an asymmetrically variable wingtip anhedral angles morphing aircraft,inspired by biomimetic mechanisms,to enhance lateral maneuver capability.Firstly,we establish a lateral dynamic model considering additional forces and moments resulting during the morphing process,and convert it into a Multiple Input Multiple Output(MIMO)virtual control system by importing virtual inputs.Secondly,a classical dynamics inversion controller is designed for the outer-loop system.A new Global Fast Terminal Incremental Sliding Mode Controller(NDO-GFTISMC)is proposed for the inner-loop system,in which an adaptive law is implemented to weaken control surface chattering,and a Nonlinear Disturbance Observer(NDO)is integrated to compensate for unknown disturbances.The whole control system is proven semiglobally uniformly ultimately bounded based on the multi-Lyapunov function method.Furthermore,we consider tracking errors and self-characteristics of actuators,a quadratic programmingbased dynamic control allocation law is designed,which allocates virtual control inputs to the asymmetrically deformed wingtip and rudder.Actuator dynamic models are incorporated to ensure physical realizability of designed allocation law.Finally,comparative experimental results validate the effectiveness of the designed control system and control allocation law.The NDO-GFTISMC features faster convergence,stronger robustness,and 81.25%and 75.0%reduction in maximum state tracking error under uncertainty compared to the Incremental Nonlinear Dynamic Inversion Controller based on NDO(NDO-INDI)and Incremental Sliding Mode Controller based on NDO(NDO-ISMC),respectively.The design of the morphing aircraft significantly enhances lateral maneuver capability,maintaining a substantial control margin during lateral maneuvering,reducing the burden of the rudder surface,and effectively solving the actuator saturation problem of traditional aircraft during lateral maneuvering.
基金supported by the European Union by the Next Generation EU Project ECS00000017‘Ecosistema dell’Innovazione’Tuscany Health Ecosystem(THE,PNRR,Spoke 9:Robotics and Automation for Health)by the Italian Ministry of Education and Research(MUR)in the framework of the FoReLab project(Departments of Excellence).
文摘Muscle Shortening Maneuver(MSM)is a rehabilitation technique successfully applied to several pathological conditions.The concept is to passively elongate and shorten the target muscle group of the affected limb.As a result,the functionality(muscle strength and range of motion)of that limb is improved.The existing system induces these oscillations manually or without any feedback control,which can compromise the effectiveness and standardization of MSM.In this paper,we present a mechatronic system that can precisely deliver motion oscillations to the upper limb for a controllable execution of MSM.First,we collected the parameters(frequency and amplitude of the oscillations)from a system where a motor was heuristically used by a well-experienced therapist to induce the oscillations(without any feedback control).Based on these specifications,we chose the motor and rebuilt the experimental setup,implementing a sliding mode control with a sliding perturbation observer.With our system,the operator can choose a given frequency and amplitude of the oscillations within the range we experimentally observed.We tested our system with ten participants of different anthropometry.We found that our system can accurately reproduce oscillations in the frequency range 0.8 to 1.2 Hz and amplitude range 2 to 6 cm,with a maximum percentage normalized root mean square error around 7%.
文摘1) Introduction: Ventilation disorders of the middle ear play a major role in everyday clinical ENT-practice and sometimes represent a major therapeutic challenge. In addition to the conventional therapy of tympanostomy tube insertion, tuboplasty (TP) offers a less invasive option for treating this problem. The study should examine whether TP can be performed in a rural setting. 2) Material and methods: This is a prospective, monocentric study of patients scheduled for TP because of tubal ventilation disorder (TVD) in a rural region of Germany. The diagnosis was established after a thorough clinical examination and by assessing the possibility of performing the Valsalva maneuver, the tympanogram type, recording the middle ear pressure and air-bone gap. The subjective impairment caused by the TVD was evaluated using the EDTQ-7 questionnaire pre- and approximately 3 months postoperatively. 3) Results: Sixty-two patients with 92 TP were included with a mean age of 44.1 years. The EDTQ-7 score decreased highly significantly from 3.6 to 1.7 (p < 0.0001) without correlating with parameters such as age, sex, BMI, allergies or smoking. Middle ear pressure fell in average by −87 daPa, resulting in an improvement of the tympanogram type. The preoperative air-bone gap of 10.2 dB also was reduced significantly in most patients to 8.0 dB after the procedure. No notable complications occurred beside a sore throat due to the use of a laryngeal mask for ventilation during anesthesia in two cases. 4) Conclusion: In our experience, TP represents a less invasive and, in many cases, successful alternative to the established tympanostomy tube insertion with the advantage of an intact eardrum. It can also be offered and successfully performed in a rural setting.
基金supported by the National Natural Science Foundation of China(Nos.12372052,12125207)the Young Elite Scientists Sponsorship Program,China(No.2021JCJQ-QT-047)+1 种基金the Natural Science Foundation of Hunan Province,China(No.2023JJ20047)the Technology Innovation Team of Manned Space Engineering,China。
文摘The concept of the spacecraft Reachable Domain(RD)has garnered significant scholarly attention due to its crucial role in space situational awareness and on-orbit service applications.While the existing research has largely focused on single-impulse RD analysis,the challenge of Multi-Impulse RD(MIRD)remains a key area of interest.This study introduces a methodology for the precise calculation of spacecraft MIRD.The reachability constraints specific to MIRD are first formulated through coordinate transformations.Two restricted maneuvering strategies are examined.The derivation of two extremum conditions allows for determining the accessible orientation range and the nodes encompassing the MIRD.Subsequently,four nonlinear programming models are developed to address two types of MIRD by skillfully relaxing constraints using scale factors.Numerical results validate the robustness and effectiveness of the proposed approach,showing substantial agreement with Monte Carlo simulations and confirming its applicability to spacecraft on various elliptical orbits.
文摘1 The grandfather was choking on a mouthful of food,unable to breathe and unable to cough.The grandson,recalling the important lesson learned during the 8-13 Project organized by the Italian Red Cross⁃Poggi⁃Sermide Committee,suggested performing the Heimlich manoeuvre(海姆立克急救法)on the elderly man.
