This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based...This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.展开更多
Objective:To explore the clinical benefits achieved by implementing the operating room nursing cooperation path for patients undergoing laparoscopic hysterectomy.Methods:64 laparoscopic hysterectomy cases were divided...Objective:To explore the clinical benefits achieved by implementing the operating room nursing cooperation path for patients undergoing laparoscopic hysterectomy.Methods:64 laparoscopic hysterectomy cases were divided into groups according to the order of admission.The control group received routine perioperative care.The observation group implemented the nursing cooperation path in the operating room on the same basis as the control group.The two groups’physiological responses,stimulus indicators,anxiety,and complication rates were compared.Results:The heart rate,blood pressure 0.5 hours after surgery,anxiety scores 1 day before and 3 days after surgery,and the total number of complications in the observation group were all lower than those in the control group(P<0.05).Conclusion:The development of a nursing cooperation path in the operating room can help patients undergoing laparoscopic hysterectomy reduce heart rate,blood pressure,stress responses,and the risk of complications,and is worthy of promotion.展开更多
This paper reviews a local anesthesia for resection of back mass, and the rescue of patients with sudden apnea during the operation. It also summarizes the nursing experience and shortcomings of the visiting nurses du...This paper reviews a local anesthesia for resection of back mass, and the rescue of patients with sudden apnea during the operation. It also summarizes the nursing experience and shortcomings of the visiting nurses during the operation, which provides relevant experience for the future local anesthesia operation for patients with cardiovascular complications. The patient underwent left back mass resection under local anesthesia. Blood pressure, heart rate and blood oxygen saturation were monitored. The right lateral position was adopted during the operation. During the 5-minute operation to separate the tumor, the visiting nurse noticed that the patient was pale and weak in answering the questions, and immediately she cried out. The ECG monitor showed that the heart rate was 45 beats/min and the SpO2 was 85%, with continuous decrease. Immediately call the surgeon to stop the operation. Change the patient from lateral position to supine position. Due to the timely rescue and proper measures, the patients heart rate rose to 70 beats/min, BP120/70mmHg, R22 beats/min, SpO2 was 98% after about 10 minutes. The patient regained consciousness and was able to correctly answer the questions. After 15 minutes of observation, the patients condition was stable and there was no discomfort. The right lateral decubitus position was placed again and the operation was completed after the drape was disinfected again. Conclusion: local anesthesia operation has certain risks. Attention should be paid to local anesthesia operation for patients with cardiovascular and other complications. Preoperative preparation should be adequate, peripheral veins should be opened regularly, and ECG and blood pressure should be monitored. During the operation, the patients complexion, consciousness and breathing were closely observed. If there is any abnormal situation, the surgeon should be reported in time and the emergency plan should be started to ensure the safety of the patients during the operation and to improve the quality of nursing cooperation during the operation.展开更多
Cooperative guidance is a method for achieving combat objectives through information sharing and cooperative effects,and has emerged as a significant research area in the fields of missile guidance and systematic warf...Cooperative guidance is a method for achieving combat objectives through information sharing and cooperative effects,and has emerged as a significant research area in the fields of missile guidance and systematic warfare.This study presents a systematic review and analysis of current research on cooperative guidance.First,a bibliometric analysis is conducted on 513 articles using the Scopus database and CiteSpace software to assess keyword clustering,keyword cooccurrence,and keyword burst,and to later visualize the results.Second,fundamental theories of cooperative guidance,including relative motion modeling methods,algebraic graph theory,and multi-agent consensus theory,are summarized.Subsequently,an overview of current cooperative laws and corresponding analysis methods is provided,with categorization based on the cooperative structure and convergence performance.Finally,we summarize current research developments based on five perspectives and propose a developmental framework based on five layers(cyber,physical,decision,information,and system),discussing potential future advancements in cooperative terminal guidance.This framework emphasizes five key areas of research:networked,heterogeneous,integrated,intelligent,and group cooperations,with the goal of offering trends and insights for futurework.展开更多
The multi-target assignment(MTA)problem,a crucial challenge in command control,mission planning,and a fundamental research focus in military operations,has garnered significant attention over the years.Extensively stu...The multi-target assignment(MTA)problem,a crucial challenge in command control,mission planning,and a fundamental research focus in military operations,has garnered significant attention over the years.Extensively studied across various domains such as land,sea,air,space,and electronics,the MTA problem has led to the emergence of numerous models and algorithms.To delve deeper into this field,this paper starts by conducting a bibliometric analysis on 463 Scopus database papers using CiteSpace software.The analysis includes examining keyword clustering,co-occurrence,and burst,with visual representations of the results.Following this,the paper provides an overview of current classification and modeling techniques for addressing the MTA problem,distinguishing between static multi-target assignment(SMTA)and dynamic multi-target assignment(DMTA).Subsequently,existing solution algorithms for the MTA problem are reviewed,generally falling into three categories:exact algorithms,heuristic algorithms,and machine learning algorithms.Finally,a development framework is proposed based on the"HIGH"model(high-speed,integrated,great,harmonious)to guide future research and intelligent weapon system development concerning the MTA problem.This framework emphasizes application scenarios,modeling mechanisms,solution algorithms,and system efficiency to offer a roadmap for future exploration in this area.展开更多
Virtual coupling is a novel technology that enables trains to run closely together without physical connections through communication and automation systems.The paper addresses an adaptive polynomial approximation alg...Virtual coupling is a novel technology that enables trains to run closely together without physical connections through communication and automation systems.The paper addresses an adaptive polynomial approximation algorithm for the cooperative control of high-speed trains(HSTs)under virtual coupling.It aims to solve the cooperative tracking control problem of HST formation operations under various scenarios,including known and unknown parameters.To enable the HST formation system to achieve cooperative operation while ensuring an appropriate spacing distance,the tracking errors of displacement and speed throughout the entire operation converge to zero.The proposed control strategy focuses on adopting polynomial approximation to handle unknown parameters,which are estimated via adaptive laws.Additionally,the unknown parameters of the HSTs are estimated online through adaptive laws.Experimental results verify the effectiveness of this method.展开更多
In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative o...In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative operational task.This strategy can generate the collision-free trajectory of the robotic links in real-time,which is to realize that the robot can avoid moving obstacles less conservatively and ensure tracking accuracy of terminal end-effector tasks in performing cooperative tasks.For the case where there is interference between the moving obstacle and the desired path of the robotic end-effector,the method inherits the null-space-based self-motion characteristics of the redundant manipulator,integrates the relative motion information,and uses the improved artificial potential field method to design the control items,which are used to generate the collision avoidance motion and carry out moving obstacles smoothly and less conservatively.At the same time,the strategy maintains the kinematic constraint relationship of dual-arm cooperatives,to meet the real-time collision avoidance task under collaborative tasks.Finally,the algorithm simulation indicates that the method can better ensure the tracking accuracy of the end-effector task and carry out moving obstacles smoothly.The experimental results show that the method can generate the real-time collision-free trajectory of the robot in the cooperative handling task,and the joint movement is continuous and stable.展开更多
Chinese vegetable production cooperatives supply their members, mostly smallholder farmers, with a rotation schedule for the year. Since vegetable prices are not stable throughout the year, designing a rotation schedu...Chinese vegetable production cooperatives supply their members, mostly smallholder farmers, with a rotation schedule for the year. Since vegetable prices are not stable throughout the year, designing a rotation schedule that maximizes expected profits, distributes farmers＇ profits more equitably, maintains the diversity of produce in the market, and reduces the risk of pests and diseases, requires adaptive, price-contingent rotation schedules（here, called ＂self-adaptive adjustment＂）. This study uses an agent-based simulation（ABS） to design self-adaptive rotation schedules that deliver these aims. The selfadaptive adjustment strategy was more profitable for farmers when faced with price volatility, and more equitable as well. This work provides a decision-support tool for managers of Chinese vegetable production cooperatives to provide farmers with more profitable and equitable rotation schedules.展开更多
The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wi...The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands,as well as collaborative operations among multiple platforms,has become a development trend and focus of exploring complex and dangerous waters.This paper summarizes and elaborates on underwater communication technology,long-distance data transmission technology,multi-submersible robot collaborative operation,and information interaction technology,as well as the development status of key technologies of remote wireless operation platform on water surface.And the research direction and focus of the remote wireless operation platform on water surface are prospected.展开更多
Objective: to discuss the application of operating room nursing in patients undergoing total knee arthroplasty. Methods: 80 patients who received total knee arthroplasty in our hospital were randomly selected and rand...Objective: to discuss the application of operating room nursing in patients undergoing total knee arthroplasty. Methods: 80 patients who received total knee arthroplasty in our hospital were randomly selected and randomly divided into groups, 40 of them received routine nursing intervention (control group), and the other 40 received operating room nursing (observation group). After observation and comparison, conclusions are drawn. Results: for the comparison of various data, the observation groups nursing methods were more advantageous, and the difference was statistically significant (P<0.05). The adverse reactions, HHS score, VAS score, intraoperative blood loss, average time of replacement surgery and hospital stay in the observation group were significantly better than those in the control group, and the differences were statistically significant (P<0.05). Conclusion: using this research method for nursing, the cooperation of high-quality operating room nursing can help restore the patients prognosis, relieve the patients pain, and promote the recovery of joint function, which is worthy of clinical application.展开更多
Santomean pig farmer Simao Vicente was hopeful when he came to ask Zou Rui for help. His pig was suffering from hernia, and Zou, a 42-year-old Chinese agricultural expert working in Sao Tomé and Príncipe, wa...Santomean pig farmer Simao Vicente was hopeful when he came to ask Zou Rui for help. His pig was suffering from hernia, and Zou, a 42-year-old Chinese agricultural expert working in Sao Tomé and Príncipe, was the only person on the island who could provide emergency surgery.展开更多
With growing demands for carbon emission reductions,stringent policies necessitate the transition towards low-carbon,costeffective energy hub(EH)operations.Leveraging the integration of renewable energy sources,especi...With growing demands for carbon emission reductions,stringent policies necessitate the transition towards low-carbon,costeffective energy hub(EH)operations.Leveraging the integration of renewable energy sources,especially wind farms(WF)and photovoltaic(PV)stations,offers a significant opportunity for carbon emission reduction in EHs.This study introduces a method promoting low-carbon,economical operations for EHs in collaboration with WFs and PV stations.The research first outlines carbon emission dynamics for EHs in both cooperative and independent scenarios.Next,the study develops operational benefit models for WFs,PV stations,and EHs,factoring in the multifaceted electricity transactions between these entities and the main power grid.An optimization approach rooted in Nash bargaining gets introduced for the combined operation of WFs,PV stations,and EHs,accompanied by a decentralized algorithm to determine the Nash solution.The case study reveals that,against standalone operations,the cooperative strategy enhances operational gains for WFs and PV stations by 17.28% and 11.58% respectively while reducing EH operational costs and carbon emissions by 9.31%and 6.75%.展开更多
基金Supported by the Shenzhen Key Laboratory of Control Theory and Intelligent Systems (ZDSYS20220330161800001)the National Natural Science Foundation of China (62303207)the Guangdong Basic and Applied Basic Research Foundation (2024A1515010725)。
文摘This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.
文摘Objective:To explore the clinical benefits achieved by implementing the operating room nursing cooperation path for patients undergoing laparoscopic hysterectomy.Methods:64 laparoscopic hysterectomy cases were divided into groups according to the order of admission.The control group received routine perioperative care.The observation group implemented the nursing cooperation path in the operating room on the same basis as the control group.The two groups’physiological responses,stimulus indicators,anxiety,and complication rates were compared.Results:The heart rate,blood pressure 0.5 hours after surgery,anxiety scores 1 day before and 3 days after surgery,and the total number of complications in the observation group were all lower than those in the control group(P<0.05).Conclusion:The development of a nursing cooperation path in the operating room can help patients undergoing laparoscopic hysterectomy reduce heart rate,blood pressure,stress responses,and the risk of complications,and is worthy of promotion.
文摘This paper reviews a local anesthesia for resection of back mass, and the rescue of patients with sudden apnea during the operation. It also summarizes the nursing experience and shortcomings of the visiting nurses during the operation, which provides relevant experience for the future local anesthesia operation for patients with cardiovascular complications. The patient underwent left back mass resection under local anesthesia. Blood pressure, heart rate and blood oxygen saturation were monitored. The right lateral position was adopted during the operation. During the 5-minute operation to separate the tumor, the visiting nurse noticed that the patient was pale and weak in answering the questions, and immediately she cried out. The ECG monitor showed that the heart rate was 45 beats/min and the SpO2 was 85%, with continuous decrease. Immediately call the surgeon to stop the operation. Change the patient from lateral position to supine position. Due to the timely rescue and proper measures, the patients heart rate rose to 70 beats/min, BP120/70mmHg, R22 beats/min, SpO2 was 98% after about 10 minutes. The patient regained consciousness and was able to correctly answer the questions. After 15 minutes of observation, the patients condition was stable and there was no discomfort. The right lateral decubitus position was placed again and the operation was completed after the drape was disinfected again. Conclusion: local anesthesia operation has certain risks. Attention should be paid to local anesthesia operation for patients with cardiovascular and other complications. Preoperative preparation should be adequate, peripheral veins should be opened regularly, and ECG and blood pressure should be monitored. During the operation, the patients complexion, consciousness and breathing were closely observed. If there is any abnormal situation, the surgeon should be reported in time and the emergency plan should be started to ensure the safety of the patients during the operation and to improve the quality of nursing cooperation during the operation.
基金supported by the National Natural Science Foundation of China(No.62173274)the National Key R&D Program of China(No.2019YFA0405300)+4 种基金the Natural Science Foundation of Hunan Province of China(Nos.2021JJ10045 and 2025JJ60072)the Open Research Subject of State Key Laboratory of Intelligent Game(No.ZBKF-24-01)the Postdoctoral Fellowship Program of CPSF(No.GZB20240989)the China Postdoctoral Science Foundation(No.2024M754304)the Aeronautical Science Foundation of China(No.2023Z005030001).
文摘Cooperative guidance is a method for achieving combat objectives through information sharing and cooperative effects,and has emerged as a significant research area in the fields of missile guidance and systematic warfare.This study presents a systematic review and analysis of current research on cooperative guidance.First,a bibliometric analysis is conducted on 513 articles using the Scopus database and CiteSpace software to assess keyword clustering,keyword cooccurrence,and keyword burst,and to later visualize the results.Second,fundamental theories of cooperative guidance,including relative motion modeling methods,algebraic graph theory,and multi-agent consensus theory,are summarized.Subsequently,an overview of current cooperative laws and corresponding analysis methods is provided,with categorization based on the cooperative structure and convergence performance.Finally,we summarize current research developments based on five perspectives and propose a developmental framework based on five layers(cyber,physical,decision,information,and system),discussing potential future advancements in cooperative terminal guidance.This framework emphasizes five key areas of research:networked,heterogeneous,integrated,intelligent,and group cooperations,with the goal of offering trends and insights for futurework.
基金the financial support provided by the National Natural Science Foundation of China(NSFC)(Grant No.62173274)the National Key R&D Program of China(Grant No.2019YFA0405300)+4 种基金the Natural Science Foundation of Hunan Province of China(Grant No.2021JJ10045)the Practice and Innovation Funds for Graduate Students of Northwestern Polytechnical University(Grant No.PF2023046)the Open Research Subject of State Key Laboratory of Intelligent Game(Grant No.ZBKF-24-01)the Postdoctoral Fellowship Program of CPSF(No.GZB20240989)the China Postdoctoral Science Foundation(Grant No.2024M754304)。
文摘The multi-target assignment(MTA)problem,a crucial challenge in command control,mission planning,and a fundamental research focus in military operations,has garnered significant attention over the years.Extensively studied across various domains such as land,sea,air,space,and electronics,the MTA problem has led to the emergence of numerous models and algorithms.To delve deeper into this field,this paper starts by conducting a bibliometric analysis on 463 Scopus database papers using CiteSpace software.The analysis includes examining keyword clustering,co-occurrence,and burst,with visual representations of the results.Following this,the paper provides an overview of current classification and modeling techniques for addressing the MTA problem,distinguishing between static multi-target assignment(SMTA)and dynamic multi-target assignment(DMTA).Subsequently,existing solution algorithms for the MTA problem are reviewed,generally falling into three categories:exact algorithms,heuristic algorithms,and machine learning algorithms.Finally,a development framework is proposed based on the"HIGH"model(high-speed,integrated,great,harmonious)to guide future research and intelligent weapon system development concerning the MTA problem.This framework emphasizes application scenarios,modeling mechanisms,solution algorithms,and system efficiency to offer a roadmap for future exploration in this area.
基金supported in part by the National Natural Science Foundation of China(Grant Nos.62203246 and 62003127)Shandong Provincial Natural Science Foundation(Grant No.ZR2024QF041)the Natural Science Foundation of Hebei Province(Grant No.F2023202060)。
文摘Virtual coupling is a novel technology that enables trains to run closely together without physical connections through communication and automation systems.The paper addresses an adaptive polynomial approximation algorithm for the cooperative control of high-speed trains(HSTs)under virtual coupling.It aims to solve the cooperative tracking control problem of HST formation operations under various scenarios,including known and unknown parameters.To enable the HST formation system to achieve cooperative operation while ensuring an appropriate spacing distance,the tracking errors of displacement and speed throughout the entire operation converge to zero.The proposed control strategy focuses on adopting polynomial approximation to handle unknown parameters,which are estimated via adaptive laws.Additionally,the unknown parameters of the HSTs are estimated online through adaptive laws.Experimental results verify the effectiveness of this method.
基金supported in part by the Advanced Equipment Manufacturing Technology Innovation Project of Hebei Province under Grant No.22311801D,23311807D,and 236Z1816Gin part by the National Natural Science Foundation of China under Grant No.U20A20283.
文摘In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative operational task.This strategy can generate the collision-free trajectory of the robotic links in real-time,which is to realize that the robot can avoid moving obstacles less conservatively and ensure tracking accuracy of terminal end-effector tasks in performing cooperative tasks.For the case where there is interference between the moving obstacle and the desired path of the robotic end-effector,the method inherits the null-space-based self-motion characteristics of the redundant manipulator,integrates the relative motion information,and uses the improved artificial potential field method to design the control items,which are used to generate the collision avoidance motion and carry out moving obstacles smoothly and less conservatively.At the same time,the strategy maintains the kinematic constraint relationship of dual-arm cooperatives,to meet the real-time collision avoidance task under collaborative tasks.Finally,the algorithm simulation indicates that the method can better ensure the tracking accuracy of the end-effector task and carry out moving obstacles smoothly.The experimental results show that the method can generate the real-time collision-free trajectory of the robot in the cooperative handling task,and the joint movement is continuous and stable.
基金was supported by the National Natural Science Foundation of China (NSFC, 71301077)
文摘Chinese vegetable production cooperatives supply their members, mostly smallholder farmers, with a rotation schedule for the year. Since vegetable prices are not stable throughout the year, designing a rotation schedule that maximizes expected profits, distributes farmers＇ profits more equitably, maintains the diversity of produce in the market, and reduces the risk of pests and diseases, requires adaptive, price-contingent rotation schedules（here, called ＂self-adaptive adjustment＂）. This study uses an agent-based simulation（ABS） to design self-adaptive rotation schedules that deliver these aims. The selfadaptive adjustment strategy was more profitable for farmers when faced with price volatility, and more equitable as well. This work provides a decision-support tool for managers of Chinese vegetable production cooperatives to provide farmers with more profitable and equitable rotation schedules.
基金supported by National Natural Science Foundation of China(Grant No.51505258 and 61601265)Natural Science Foundation of Shandong Province,China(Grant No.ZR2015EL019,ZR2020ME126 and ZR2021MF131)+2 种基金The Youth Science and Technology Plan Project of Colleges and Universities in Shandong Province(Grant No.2019KJB019)Open project of State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures,China(Grant No.1903)Open project of Hebei Traffic Safety and Control Key Laboratory,China(Grant No.JTKY2019002).
文摘The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands,as well as collaborative operations among multiple platforms,has become a development trend and focus of exploring complex and dangerous waters.This paper summarizes and elaborates on underwater communication technology,long-distance data transmission technology,multi-submersible robot collaborative operation,and information interaction technology,as well as the development status of key technologies of remote wireless operation platform on water surface.And the research direction and focus of the remote wireless operation platform on water surface are prospected.
文摘Objective: to discuss the application of operating room nursing in patients undergoing total knee arthroplasty. Methods: 80 patients who received total knee arthroplasty in our hospital were randomly selected and randomly divided into groups, 40 of them received routine nursing intervention (control group), and the other 40 received operating room nursing (observation group). After observation and comparison, conclusions are drawn. Results: for the comparison of various data, the observation groups nursing methods were more advantageous, and the difference was statistically significant (P<0.05). The adverse reactions, HHS score, VAS score, intraoperative blood loss, average time of replacement surgery and hospital stay in the observation group were significantly better than those in the control group, and the differences were statistically significant (P<0.05). Conclusion: using this research method for nursing, the cooperation of high-quality operating room nursing can help restore the patients prognosis, relieve the patients pain, and promote the recovery of joint function, which is worthy of clinical application.
文摘Santomean pig farmer Simao Vicente was hopeful when he came to ask Zou Rui for help. His pig was suffering from hernia, and Zou, a 42-year-old Chinese agricultural expert working in Sao Tomé and Príncipe, was the only person on the island who could provide emergency surgery.
基金supported by the National Natural Science Foundation of China(Grant No.51877076)the Joint Funds of the National Natural Science Foundation of China(Grant No.U23B20124)。
文摘With growing demands for carbon emission reductions,stringent policies necessitate the transition towards low-carbon,costeffective energy hub(EH)operations.Leveraging the integration of renewable energy sources,especially wind farms(WF)and photovoltaic(PV)stations,offers a significant opportunity for carbon emission reduction in EHs.This study introduces a method promoting low-carbon,economical operations for EHs in collaboration with WFs and PV stations.The research first outlines carbon emission dynamics for EHs in both cooperative and independent scenarios.Next,the study develops operational benefit models for WFs,PV stations,and EHs,factoring in the multifaceted electricity transactions between these entities and the main power grid.An optimization approach rooted in Nash bargaining gets introduced for the combined operation of WFs,PV stations,and EHs,accompanied by a decentralized algorithm to determine the Nash solution.The case study reveals that,against standalone operations,the cooperative strategy enhances operational gains for WFs and PV stations by 17.28% and 11.58% respectively while reducing EH operational costs and carbon emissions by 9.31%and 6.75%.
