G protein coupled receptor kinase 2 (GRK2) is a kinase that regulates cardiac signaling activity. Inhibiting GRK2 is a promising mechanism for the treatment of heart failure (HF). Further development and optimization ...G protein coupled receptor kinase 2 (GRK2) is a kinase that regulates cardiac signaling activity. Inhibiting GRK2 is a promising mechanism for the treatment of heart failure (HF). Further development and optimization of inhibitors targeting GRK2 are highly meaningful. Therefore, in order to design GRK2 inhibitors with better performance, the most active molecule was selected as a reference compound from a data set containing 4-pyridylhydrazone derivatives and triazole derivatives, and its scaffold was extracted as the initial scaffold. Then, a powerful optimization-based framework for de novo drug design, guided by binding affinity, was used to generate a virtual molecular library targeting GRK2. The binding affinity of each virtual compound in this dataset was predicted by our developed deep learning model, and the designed potential compound with high binding affinity was selected for molecular docking and molecular dynamics simulation. It was found that the designed potential molecule binds to the ATP site of GRK2, which consists of key amino acids including Arg199, Gly200, Phe202, Val205, Lys220, Met274 and Asp335. The scaffold of the molecule is stabilized mainly by H-bonding and hydrophobic contacts. Concurrently, the reference compound in the dataset was also simulated by docking. It was found that this molecule also binds to the ATP site of GRK2. In addition, its scaffold is stabilized mainly by H-bonding and π-cation stacking interactions with Lys220, as well as hydrophobic contacts. The above results show that the designed potential molecule has similar binding modes to the reference compound, supporting the effectiveness of our framework for activity-focused molecular design. Finally, we summarized the interaction characteristics of general GRK2 inhibitors and gained insight into their molecule-target binding mechanisms, thereby facilitating the expansion of lead to hit compound.展开更多
Computer-based conceptual design for routine design has made great strides, yet non-routine design has not been given due attention, and it is still poorly automated. Considering that the function-behavior-structure（...Computer-based conceptual design for routine design has made great strides, yet non-routine design has not been given due attention, and it is still poorly automated. Considering that the function-behavior-structure（FBS） model is widely used for modeling the conceptual design process, a computer-based creativity enhanced conceptual design model（CECD） for non-routine design of mechanical systems is presented. In the model, the leaf functions in the FBS model are decomposed into and represented with fine-grain basic operation actions（BOA）, and the corresponding BOA set in the function domain is then constructed. Choosing building blocks from the database, and expressing their multiple functions with BOAs, the BOA set in the structure domain is formed. Through rule-based dynamic partition of the BOA set in the function domain, many variants of regenerated functional schemes are generated. For enhancing the capability to introduce new design variables into the conceptual design process, and dig out more innovative physical structure schemes, the indirect function-structure matching strategy based on reconstructing the combined structure schemes is adopted. By adjusting the tightness of the partition rules and the granularity of the divided BOA subsets, and making full use of the main function and secondary functions of each basic structure in the process of reconstructing of the physical structures, new design variables and variants are introduced into the physical structure scheme reconstructing process, and a great number of simpler physical structure schemes to accomplish the overall function organically are figured out. The creativity enhanced conceptual design model presented has a dominant capability in introducing new deign variables in function domain and digging out simpler physical structures to accomplish the overall function, therefore it can be utilized to solve non-routine conceptual design problem.展开更多
This paper presents a Model-Based Design(MBD)approach for the design and control of a customized manipulator intended for drilling and position-ing of dental implants accurately with minimal human intervention.While p...This paper presents a Model-Based Design(MBD)approach for the design and control of a customized manipulator intended for drilling and position-ing of dental implants accurately with minimal human intervention.While performing an intra-oral surgery for a prolonged duration within a limited oral cavity,the tremor of dentist's hand is inevitable.As a result,wielding the drilling tool and inserting the dental implants safely in accurate position and orientation is highly challenging even for experienced dentists.Therefore,we introduce a customized manipulator that is designed ergonomically by taking in to account the dental chair specifications and anthropomorphic data such that it can be readily mounted onto the existing dental chair.The manipulator can be used to drill holes for dental inserts and position them with improved accuracy and safety.Further-more,a thorough multi-body motion analysis of the manipulator was carried out by creating a virtual prototype of the manipulator and simulating its controlled movements in various scenarios.The overall design was prepared and validated in simulation using Solid works,MATLAB and Simulink through Model Based Design(MBD)approach.The motion simulation results indicate that the manipulator could be built as a prototype readily.展开更多
The application level of mathematics in each science discipline signs the level of development of this science. With the advancement of science and technology, especially the rapid development of computer technology, ...The application level of mathematics in each science discipline signs the level of development of this science. With the advancement of science and technology, especially the rapid development of computer technology, mathematics has permeated from natural scientific technology to agricultural construction, from economic activities to all areas of social life. Generally, when the actual problem requires us to provide quantitative results of analysis, forecasting, decision making, control and other aspects for real object under study, we are often inseparable from the application of mathematics. Mathematical modeling is the key to this process, whose purpose is to make mathematics applied to social and social services, and using mathematics to solve practical problems is through mathematical models. When using mathematical methods to solve some practical problems, we usually first transfer practical problems into mathematical language, and then abstract them into a mathematical model.展开更多
The paper deals with factorial experimental design models decoding.For the ease of calculation of the experimental mathematical models,it is convenient first to code the independent variables.When selecting independen...The paper deals with factorial experimental design models decoding.For the ease of calculation of the experimental mathematical models,it is convenient first to code the independent variables.When selecting independent variables,it is necessary to take into account the range covered by each.A wide range of choices of different variables is presented in this paper.After calculating the regression model,its variables must be returned to their original values for the model to be easy recognized and represented.In the paper,the procedures of simple first order models,with interactions and with second order models,are presented,which could be a very complicated process.Models without and with the mutual influence of independent variables differ.The encoding and decoding procedure on a model with two independent first-order parameters is presented in details.Also,the procedure of model decoding is presented in the experimental surface roughness parameters models’determination,in the face milling machining process,using the first and second order model central compositional experimental design.The simple calculation procedure is recommended in the case study.Also,a large number of examples using mathematical models obtained on the basis of the presented methodology are presented throughout the paper.展开更多
Autonomous undersea vehicle (AUV) is a typical complex engineering system. This paper studies the disciplines and coupled variables in AUV design with multidisciplinary design optimization (MDO) methods. The framework...Autonomous undersea vehicle (AUV) is a typical complex engineering system. This paper studies the disciplines and coupled variables in AUV design with multidisciplinary design optimization (MDO) methods. The framework of AUV synthetic conceptual design is described first, and then a model with collaborative optimization is studied. At last, an example is given to verify the validity and efficiency of MDO in AUV synthetic conceptual design.展开更多
This paper presents a methodology driven by database constraints for designing and developing(database)software applications.Much needed and with excellent results,this paradigm guarantees the highest possible quality...This paper presents a methodology driven by database constraints for designing and developing(database)software applications.Much needed and with excellent results,this paradigm guarantees the highest possible quality of the managed data.The proposed methodology is illustrated with an easy to understand,yet complex medium-sized genealogy software application driven by more than 200 database constraints,which fully meets such expectations.展开更多
The heavy fuel compression ignition engines are widely equipped as aircraft piston engines. The fuel injection system is one of the key technologies that determines the performance of engine. One of the main challenge...The heavy fuel compression ignition engines are widely equipped as aircraft piston engines. The fuel injection system is one of the key technologies that determines the performance of engine. One of the main challenges is to precisely control the injected fuel quantity and flow rate in the presence of pressure fluctuation. This challenge is even more serious for heavy fuel. An original design for electrically controlled high pressure fuel injection system called Multi-Pumppressure-reservoirs fuel injection System(MPS) was demonstrated to reduce the pressure fluctuation and help keep injection stable. MPS was compared with an ordinary high pressure Common Rail fuel injection System(CRS). This work established one-dimensional AMESim and mathematical models for both CRS and MPS to study the effect of different structures and geometric parameters on the pressure fluctuations. The calculations show that the average fuel pressure fluctuation of MPS can be reduced by 57% for the crankshaft speed of 1900 r/min, and the pressure fluctuation before injection reduced by 100%. It is concluded that the pressure performance of MPS is less sensitive to pressure reservoir volume than that of CRS, and there is an opportunity for further volume reduction.展开更多
A single screw compressor (SSC) is an important component found in many refrigeration systems.However,the durability is not so good because of the friction between its meshing pair.Therefore the column envelope meshin...A single screw compressor (SSC) is an important component found in many refrigeration systems.However,the durability is not so good because of the friction between its meshing pair.Therefore the column envelope meshing pair was pro-posed to prolong the operating life of SSCs,although it has not been applied to commercial refrigeration systems.To accelerate the industrial application,a mathematical model for analyzing the column envelope meshing pair is established based on the geometry and kinematics.Equations giving the flanks of column envelope grooves are obtained,and teeth flank meshing with the groove is designed.Results show that this model could be applicable in the design of the column envelope type SSC.展开更多
One-dimensional pseudo-homogeneous model of an axial flow converter and one-dimensional heteroge-neous model of a horizontal converter have been presented, which describe the distribution of gaseous composition,temper...One-dimensional pseudo-homogeneous model of an axial flow converter and one-dimensional heteroge-neous model of a horizontal converter have been presented, which describe the distribution of gaseous composition,temperature and pressure along the height in the two converters, respectively. Design optimization methods of the two converters have been proposed, by which the minimum catalyst volume can be obtained to satisfy the productive capacity of 1000 tons per day, when the operating pressure is 15.0, 10.0 and 7.5 MPa, respectively.展开更多
The relationship between arts and mathematics is very close, computer graphic design is based on digital methodology. The paper reveals the mathematical backgrounds behind graphic design by the example of computer-aid...The relationship between arts and mathematics is very close, computer graphic design is based on digital methodology. The paper reveals the mathematical backgrounds behind graphic design by the example of computer-aided cubic modeling and mathematical exchange methodology. Furthermore, one can get incredible artistic effects if computer graphic designers pay more attention to the probability and use probable numbers and fractal operation in their design activities.Finally, the author also discusses the bidirections between arts and mathematics.展开更多
This paper gives and verifies a mathematical model with only one argument which determines the movement parameters of any point in a plane four-bar linkage on the basis of the analysis of mining machinery linkages. C ...This paper gives and verifies a mathematical model with only one argument which determines the movement parameters of any point in a plane four-bar linkage on the basis of the analysis of mining machinery linkages. C A A (computer aided analysis) based on the mathemetical model can be used to make not only the quick and accurate analysis and design of mining machinery linkages but also the movement analysis and optimization design of any other plane four-bar linkage.展开更多
This paper describes an approach to ethical decision design. It discusses the use of several mathematical tools applicable to the world of economics and business. It then demonstrates how the tools analogously extend ...This paper describes an approach to ethical decision design. It discusses the use of several mathematical tools applicable to the world of economics and business. It then demonstrates how the tools analogously extend themselves to making ethical decisions as supported by personal values. A review of the mathematics, including the design of a decision tree, the concept of mathematical expectation, and mathematical modeling are included.展开更多
The development of product is a complex process. Collaboration is necessary to this process to support multi-function teams’ participation in this process at the same time. Effective task decomposition is the prerequ...The development of product is a complex process. Collaboration is necessary to this process to support multi-function teams’ participation in this process at the same time. Effective task decomposition is the prerequisite of collaborative design and constraint network was used to express the relationship among design participants. In order to make the coupling collaborative design go smoothly, a constraint satisfaction model based on dynamic constraint is put forward. An integrated-based conflict resolution model is advanced to resolve the complex conflict during the process of collaborative design.展开更多
An optimization mathematical model of the pile forces for piled breasting dolphins in the open sea under various loading conditions is presented. The optimum layout with the well distributed pile forces and the least ...An optimization mathematical model of the pile forces for piled breasting dolphins in the open sea under various loading conditions is presented. The optimum layout with the well distributed pile forces and the least number of piles is achieved by the multiplier penalty function method. Several engineering cases have been calculated and compared with the result of the conventional design method. It is shown that the number of piles can be reduced at least by 10%～20% and the piles' bearing state is improved greatly.展开更多
In this paper,the modeling and control design of a biomimetic robotic fish is presented.The Anguilliform robotic fish consists of N links and N−1 joints,and the driving forces are the torques applied to the joints.Con...In this paper,the modeling and control design of a biomimetic robotic fish is presented.The Anguilliform robotic fish consists of N links and N−1 joints,and the driving forces are the torques applied to the joints.Considering kinematic constraints,Lagrangian formulation is used to obtain the dynamics of the fish model.The computed torque control method is applied first,which can provide satisfactory tracking responses for fish joints.Since this robotic fish is essentially an underactuated system,the reference trajectories for the orientation of the N links are planned in such a way that,at a neighborhood of the equilibrium point,the tracking task of N angles can be achieved by using N−1 joint torques.To deal with parameter uncertainties that exist in the actual environment,sliding mode control is adopted.Considering feasibility and complexity issues,a simplified sliding mode control algorithm is given.A four-link robotic fish is modeled and simulated,and the results validate the effectiveness of reference planning and the proposed controllers.展开更多
The pulsed-spray fluid-bed granulation (PSFBG) process was investigated and optimized using definitive scree ning design, a recently proposed new class of three-level desig n of experiment method. Such a design enable...The pulsed-spray fluid-bed granulation (PSFBG) process was investigated and optimized using definitive scree ning design, a recently proposed new class of three-level desig n of experiment method. Such a design enabled quadratic models to be established that described the effect of six in put process parameters - inlet air temperature, inlet air humidity, binder spray rate, atomization pressure, pulse period, and pulse width - on the granule quality in a PSFBG process. Mathematical models of the mean particle size, relative size distribution width, production yield, and porosity were developed to quantify the relationships between the in flue ncing factors and critical quality attributes. On the basis of con strai nts on the desired granule properties, a design space for PSFBG was determined and ranges of the operating parameters were defined. An acceptable degree of prediction was confirmed by validation experiments, demonstrating the reliability and effectiveness of using definitive screening design to study the PSFBG process. This method can accelerate screening and optimization of this process within a large multidimensional design space.展开更多
基金supported by the National Natural Science Foundation of China Excellent Young Scientist Fund(22422801)the National Natural Science Foundation of China General Project(22278053)+1 种基金the National Natural Science Foundation of China General Project(22078041)Dalian High-level Talents Innovation Support Program(2023RQ059).
文摘G protein coupled receptor kinase 2 (GRK2) is a kinase that regulates cardiac signaling activity. Inhibiting GRK2 is a promising mechanism for the treatment of heart failure (HF). Further development and optimization of inhibitors targeting GRK2 are highly meaningful. Therefore, in order to design GRK2 inhibitors with better performance, the most active molecule was selected as a reference compound from a data set containing 4-pyridylhydrazone derivatives and triazole derivatives, and its scaffold was extracted as the initial scaffold. Then, a powerful optimization-based framework for de novo drug design, guided by binding affinity, was used to generate a virtual molecular library targeting GRK2. The binding affinity of each virtual compound in this dataset was predicted by our developed deep learning model, and the designed potential compound with high binding affinity was selected for molecular docking and molecular dynamics simulation. It was found that the designed potential molecule binds to the ATP site of GRK2, which consists of key amino acids including Arg199, Gly200, Phe202, Val205, Lys220, Met274 and Asp335. The scaffold of the molecule is stabilized mainly by H-bonding and hydrophobic contacts. Concurrently, the reference compound in the dataset was also simulated by docking. It was found that this molecule also binds to the ATP site of GRK2. In addition, its scaffold is stabilized mainly by H-bonding and π-cation stacking interactions with Lys220, as well as hydrophobic contacts. The above results show that the designed potential molecule has similar binding modes to the reference compound, supporting the effectiveness of our framework for activity-focused molecular design. Finally, we summarized the interaction characteristics of general GRK2 inhibitors and gained insight into their molecule-target binding mechanisms, thereby facilitating the expansion of lead to hit compound.
基金Supported by National Natural Science Foundation of China (Grant Nos.51375496,51205409)
文摘Computer-based conceptual design for routine design has made great strides, yet non-routine design has not been given due attention, and it is still poorly automated. Considering that the function-behavior-structure（FBS） model is widely used for modeling the conceptual design process, a computer-based creativity enhanced conceptual design model（CECD） for non-routine design of mechanical systems is presented. In the model, the leaf functions in the FBS model are decomposed into and represented with fine-grain basic operation actions（BOA）, and the corresponding BOA set in the function domain is then constructed. Choosing building blocks from the database, and expressing their multiple functions with BOAs, the BOA set in the structure domain is formed. Through rule-based dynamic partition of the BOA set in the function domain, many variants of regenerated functional schemes are generated. For enhancing the capability to introduce new design variables into the conceptual design process, and dig out more innovative physical structure schemes, the indirect function-structure matching strategy based on reconstructing the combined structure schemes is adopted. By adjusting the tightness of the partition rules and the granularity of the divided BOA subsets, and making full use of the main function and secondary functions of each basic structure in the process of reconstructing of the physical structures, new design variables and variants are introduced into the physical structure scheme reconstructing process, and a great number of simpler physical structure schemes to accomplish the overall function organically are figured out. The creativity enhanced conceptual design model presented has a dominant capability in introducing new deign variables in function domain and digging out simpler physical structures to accomplish the overall function, therefore it can be utilized to solve non-routine conceptual design problem.
文摘This paper presents a Model-Based Design(MBD)approach for the design and control of a customized manipulator intended for drilling and position-ing of dental implants accurately with minimal human intervention.While performing an intra-oral surgery for a prolonged duration within a limited oral cavity,the tremor of dentist's hand is inevitable.As a result,wielding the drilling tool and inserting the dental implants safely in accurate position and orientation is highly challenging even for experienced dentists.Therefore,we introduce a customized manipulator that is designed ergonomically by taking in to account the dental chair specifications and anthropomorphic data such that it can be readily mounted onto the existing dental chair.The manipulator can be used to drill holes for dental inserts and position them with improved accuracy and safety.Further-more,a thorough multi-body motion analysis of the manipulator was carried out by creating a virtual prototype of the manipulator and simulating its controlled movements in various scenarios.The overall design was prepared and validated in simulation using Solid works,MATLAB and Simulink through Model Based Design(MBD)approach.The motion simulation results indicate that the manipulator could be built as a prototype readily.
文摘The application level of mathematics in each science discipline signs the level of development of this science. With the advancement of science and technology, especially the rapid development of computer technology, mathematics has permeated from natural scientific technology to agricultural construction, from economic activities to all areas of social life. Generally, when the actual problem requires us to provide quantitative results of analysis, forecasting, decision making, control and other aspects for real object under study, we are often inseparable from the application of mathematics. Mathematical modeling is the key to this process, whose purpose is to make mathematics applied to social and social services, and using mathematics to solve practical problems is through mathematical models. When using mathematical methods to solve some practical problems, we usually first transfer practical problems into mathematical language, and then abstract them into a mathematical model.
文摘The paper deals with factorial experimental design models decoding.For the ease of calculation of the experimental mathematical models,it is convenient first to code the independent variables.When selecting independent variables,it is necessary to take into account the range covered by each.A wide range of choices of different variables is presented in this paper.After calculating the regression model,its variables must be returned to their original values for the model to be easy recognized and represented.In the paper,the procedures of simple first order models,with interactions and with second order models,are presented,which could be a very complicated process.Models without and with the mutual influence of independent variables differ.The encoding and decoding procedure on a model with two independent first-order parameters is presented in details.Also,the procedure of model decoding is presented in the experimental surface roughness parameters models’determination,in the face milling machining process,using the first and second order model central compositional experimental design.The simple calculation procedure is recommended in the case study.Also,a large number of examples using mathematical models obtained on the basis of the presented methodology are presented throughout the paper.
文摘Autonomous undersea vehicle (AUV) is a typical complex engineering system. This paper studies the disciplines and coupled variables in AUV design with multidisciplinary design optimization (MDO) methods. The framework of AUV synthetic conceptual design is described first, and then a model with collaborative optimization is studied. At last, an example is given to verify the validity and efficiency of MDO in AUV synthetic conceptual design.
文摘This paper presents a methodology driven by database constraints for designing and developing(database)software applications.Much needed and with excellent results,this paradigm guarantees the highest possible quality of the managed data.The proposed methodology is illustrated with an easy to understand,yet complex medium-sized genealogy software application driven by more than 200 database constraints,which fully meets such expectations.
文摘The heavy fuel compression ignition engines are widely equipped as aircraft piston engines. The fuel injection system is one of the key technologies that determines the performance of engine. One of the main challenges is to precisely control the injected fuel quantity and flow rate in the presence of pressure fluctuation. This challenge is even more serious for heavy fuel. An original design for electrically controlled high pressure fuel injection system called Multi-Pumppressure-reservoirs fuel injection System(MPS) was demonstrated to reduce the pressure fluctuation and help keep injection stable. MPS was compared with an ordinary high pressure Common Rail fuel injection System(CRS). This work established one-dimensional AMESim and mathematical models for both CRS and MPS to study the effect of different structures and geometric parameters on the pressure fluctuations. The calculations show that the average fuel pressure fluctuation of MPS can be reduced by 57% for the crankshaft speed of 1900 r/min, and the pressure fluctuation before injection reduced by 100%. It is concluded that the pressure performance of MPS is less sensitive to pressure reservoir volume than that of CRS, and there is an opportunity for further volume reduction.
基金Project(No.2008AA05Z203)supported by the Hi-Tech Research & Development(863)Program of China
文摘A single screw compressor (SSC) is an important component found in many refrigeration systems.However,the durability is not so good because of the friction between its meshing pair.Therefore the column envelope meshing pair was pro-posed to prolong the operating life of SSCs,although it has not been applied to commercial refrigeration systems.To accelerate the industrial application,a mathematical model for analyzing the column envelope meshing pair is established based on the geometry and kinematics.Equations giving the flanks of column envelope grooves are obtained,and teeth flank meshing with the groove is designed.Results show that this model could be applicable in the design of the column envelope type SSC.
文摘One-dimensional pseudo-homogeneous model of an axial flow converter and one-dimensional heteroge-neous model of a horizontal converter have been presented, which describe the distribution of gaseous composition,temperature and pressure along the height in the two converters, respectively. Design optimization methods of the two converters have been proposed, by which the minimum catalyst volume can be obtained to satisfy the productive capacity of 1000 tons per day, when the operating pressure is 15.0, 10.0 and 7.5 MPa, respectively.
文摘The relationship between arts and mathematics is very close, computer graphic design is based on digital methodology. The paper reveals the mathematical backgrounds behind graphic design by the example of computer-aided cubic modeling and mathematical exchange methodology. Furthermore, one can get incredible artistic effects if computer graphic designers pay more attention to the probability and use probable numbers and fractal operation in their design activities.Finally, the author also discusses the bidirections between arts and mathematics.
文摘This paper gives and verifies a mathematical model with only one argument which determines the movement parameters of any point in a plane four-bar linkage on the basis of the analysis of mining machinery linkages. C A A (computer aided analysis) based on the mathemetical model can be used to make not only the quick and accurate analysis and design of mining machinery linkages but also the movement analysis and optimization design of any other plane four-bar linkage.
文摘This paper describes an approach to ethical decision design. It discusses the use of several mathematical tools applicable to the world of economics and business. It then demonstrates how the tools analogously extend themselves to making ethical decisions as supported by personal values. A review of the mathematics, including the design of a decision tree, the concept of mathematical expectation, and mathematical modeling are included.
文摘The development of product is a complex process. Collaboration is necessary to this process to support multi-function teams’ participation in this process at the same time. Effective task decomposition is the prerequisite of collaborative design and constraint network was used to express the relationship among design participants. In order to make the coupling collaborative design go smoothly, a constraint satisfaction model based on dynamic constraint is put forward. An integrated-based conflict resolution model is advanced to resolve the complex conflict during the process of collaborative design.
基金TheworkwassupportedbytheNationalFoundationofHighPerformanceComputation (No .9810 0 5 )
文摘An optimization mathematical model of the pile forces for piled breasting dolphins in the open sea under various loading conditions is presented. The optimum layout with the well distributed pile forces and the least number of piles is achieved by the multiplier penalty function method. Several engineering cases have been calculated and compared with the result of the conventional design method. It is shown that the number of piles can be reduced at least by 10%～20% and the piles' bearing state is improved greatly.
基金supported by the STARFISH project of Defence Science and Technology Agency(DSTA),Singapore,under Grant R-263-000-622-232.
文摘In this paper,the modeling and control design of a biomimetic robotic fish is presented.The Anguilliform robotic fish consists of N links and N−1 joints,and the driving forces are the torques applied to the joints.Considering kinematic constraints,Lagrangian formulation is used to obtain the dynamics of the fish model.The computed torque control method is applied first,which can provide satisfactory tracking responses for fish joints.Since this robotic fish is essentially an underactuated system,the reference trajectories for the orientation of the N links are planned in such a way that,at a neighborhood of the equilibrium point,the tracking task of N angles can be achieved by using N−1 joint torques.To deal with parameter uncertainties that exist in the actual environment,sliding mode control is adopted.Considering feasibility and complexity issues,a simplified sliding mode control algorithm is given.A four-link robotic fish is modeled and simulated,and the results validate the effectiveness of reference planning and the proposed controllers.
文摘The pulsed-spray fluid-bed granulation (PSFBG) process was investigated and optimized using definitive scree ning design, a recently proposed new class of three-level desig n of experiment method. Such a design enabled quadratic models to be established that described the effect of six in put process parameters - inlet air temperature, inlet air humidity, binder spray rate, atomization pressure, pulse period, and pulse width - on the granule quality in a PSFBG process. Mathematical models of the mean particle size, relative size distribution width, production yield, and porosity were developed to quantify the relationships between the in flue ncing factors and critical quality attributes. On the basis of con strai nts on the desired granule properties, a design space for PSFBG was determined and ranges of the operating parameters were defined. An acceptable degree of prediction was confirmed by validation experiments, demonstrating the reliability and effectiveness of using definitive screening design to study the PSFBG process. This method can accelerate screening and optimization of this process within a large multidimensional design space.
