OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patient...OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patients with KOA(Kellgren-Lawrence gradeⅡ-Ⅲ)were recruited from the Acupuncture-Moxibustion Rehabilitation Department,Anhui University of Chinese Medicine between October 2024 and May 2025.Participants were randomized into a TBHM group(n=30)or a transcutaneous electrical neuromuscular stimulation(TENS)group(n=30).Using two-way repeated measures ANOVA,biomechanical indicators,including rectus femoris tension,vastus medialis tension,vastus lateralis tension,patellar ligament tension,lateral patellar displacement(LPD),medial patellar displacement(MPD),normalized patellar mobility(LPD/patellar width[PW],MPD/PW),knee flexion range of motion,and functional indicators,including KOOS subscales,time up and go test(TUGT),were compared between groups at baseline and after 6 weeks of intervention.RESULTS After intervention,all biomechanical and knee joint function indicators in the TBHM group were significantly improved(P<0.05,P<0.01),while only the vastus medialis tension,TUGT and KOOS Pain,ADL and QoL scores in the control group were significantly improved(P<0.01).The improvement amplitudes of biomechanical indicators in the TBHM group,including rectus femoris tension,vastus lateralis tension,patellar ligament tension,MPD/PW,LPD/PW and knee flexion range of motion were better than those in the control group(P<0.05,P<0.01).In the functional evaluation,the interaction effects of the TBHM group in all dimensions of the KOOS score and TUGT were statistically significant(P<0.05,P<0.01).Post-hoc simple effect analysis confirmed that there were significant differences in the above indicators between the two groups after intervention(P<0.05),and all indicators showed a significant main effect of time(P<0.01),suggesting that the intervention measures had continuous and cumulative curative effects.CONCLUSION TBHM effectively improves joint function and quality of life in KOA patients by restoring dynamic equilibrium in soft tissue tension and patellar mobility,ultimately achieving the therapeutic goal of concurrent tissue-bone management.展开更多
The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, un...The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.展开更多
The application of generative artificial intelligence(GAI)in the judicial domain represents an innovative approach to achieving digital justice.GAI’s functionalities are primarily exhibited in the enhancement of judi...The application of generative artificial intelligence(GAI)in the judicial domain represents an innovative approach to achieving digital justice.GAI’s functionalities are primarily exhibited in the enhancement of judicial efficiency,improving the accuracy and fairness of adjudications,promoting the uniform application of the law,and enhancing transparency and engagement in judicial processes.However,these advancements are accompanied by potential risks and challenges in technology,adjudication,and ethics.It is thus essential to strengthen privacy protection during the processing and transmission of data,ensure data security and confidentiality,and establish and refine clear legal norms regarding the roles,responsibilities,and legal obligations of GAI in judicial settings.In addition,ethical guidelines that delineate the behavioral boundaries and value orientations of GAI need to be formulated.Collectively,these elements can form a trinary model of technical controls,legal norms,and ethical constraints,to facilitate the modernization and intelligent development of the judicial system.展开更多
This paper presents a predefined-time controller for Multiple Space transportation Robots System (MSRS), which can be applied in on-orbit assembly tasks to transport modules to pre-assembly configuration quickly. Firs...This paper presents a predefined-time controller for Multiple Space transportation Robots System (MSRS), which can be applied in on-orbit assembly tasks to transport modules to pre-assembly configuration quickly. Firstly, to simplify the analysis and design of predefined-time controller, a Predefined-time Stability Criterion is proposed in the form of Composite Lyapunov Function (CLF-PSC). Besides simplicity, the CLF-PSC also has the advantage of less conservativeness due to utilization of initial state information. Secondly, a concept of Lp-Norm-Normalized Sign Function (LPNNSF) is proposed based on the CLF-PSC. Different from traditional norm-normalized sign function, the Lp-norm of LPNNSF can be selected arbitrarily according to practical control task requirements, which means that the proposed LPNNSF is more generalized and more convenient for calculation. Thirdly, a predefined-time disturbance observer and predefined-time controller are designed based on the LPNNSF. The observer has the property of predefined-time convergence to achieve quicker and more accurate estimation of the lumped disturbance. The controller has less control input and chattering phenomenon than traditional predefined-time controller. In addition, by introducing the observer into the controller, the closed-loop system enjoys high precision and strong robustness. Finally, the effectiveness of the proposed controller is verified by numerical simulations. By employing the controller, the MSRS can carry assembly modules to the desired pre-assembly configuration accurately within predefined time.展开更多
This paper systematically introduces the extraction process of the active components from the essential oil of Melaleuca alternifolia,elucidates the biological functions of these active components,and summarizes their...This paper systematically introduces the extraction process of the active components from the essential oil of Melaleuca alternifolia,elucidates the biological functions of these active components,and summarizes their applications in agricultural pest control.Furthermore,the paper examines the future developmental directions of M.alternifolia essential oil in pest control,along with the current challenges associated with its application.The aim is to offer insights for future research on botanical essential oils,particularly regarding their biological functions and applications in agricultural pest control.展开更多
The nanofluid-based direct absorption solar collector(NDASC)ensures that solar radiation passing through the tube wall is directly absorbed by the nanofluid,reducing thermal resistance in the energy transfer process.H...The nanofluid-based direct absorption solar collector(NDASC)ensures that solar radiation passing through the tube wall is directly absorbed by the nanofluid,reducing thermal resistance in the energy transfer process.However,further exploration is required to suppress the outward thermal losses from the nanofluid at high temperatures.Herein,this paper proposes a novel NDASC in which the outer surface of the collector tube is covered with functional coatings and a three-dimensional computational fluid dynamics model is established to study the energy flow distributions on the collector within the temperature range of 400-600 K.When the nanofluid’s absorption coefficient reaches 80 m^(-1),the NDASC shows the optimal thermal performance,and the NDASC with local Sn-In_(2)O_(3) coating achieves a 7.8% improvement in thermal efficiency at 400 K compared to the original NDASC.Furthermore,hybrid coatings with Sn In_(2)O_(3)/WTi-Al_(2)O_(3) are explored,and the optimal coverage angles are determined.The NDASC with such coatings shows a 10.22%-17.9% increase in thermal efficiency compared to the original NDASC and a 7.6%-19.5% increase compared to the traditional surface-type solar collectors,demonstrating the effectiveness of the proposed energy flow control strategy for DASCs.展开更多
Disability is defined as a condition that makes it difficult for a person to perform certain vital activities.In recent years,the integration of the concepts of intelligence in solving various problems for disabled pe...Disability is defined as a condition that makes it difficult for a person to perform certain vital activities.In recent years,the integration of the concepts of intelligence in solving various problems for disabled persons has become more frequent.However,controlling an exoskeleton for rehabilitation presents challenges due to their nonlinear characteristics and external disturbances caused by the structure itself or the patient wearing the exoskeleton.To remedy these problems,this paper presents a novel adaptive control strategy for upper-limb rehabilitation exoskeletons,addressing the challenges of nonlinear dynamics and external disturbances.The proposed controller integrated a Radial Basis Function Neural Network(RBFNN)with a disturbance observer and employed a high-dimensional integral Lyapunov function to guarantee system stability and trajectory tracking performance.In the control system,the role of the RBFNN was to estimate uncertain signals in the dynamic model,while the disturbance observer tackled external disturbances during trajectory tracking.Artificially created scenarios for Human-Robot interactive experiments and periodically repeated reference trajectory experiments validated the controller’s performance,demonstrating efficient tracking.The proposed controller is found to achieve superior tracking accuracy with Root-Mean-Squared(RMS)errors of 0.022-0.026 rad for all joints,outperforming conventional Proportional-Integral-Derivative(PID)by 73%and Neural-Fuzzy Adaptive Control(NFAC)by 389.47%lower error.These results suggested that the RBFNN adaptive controller,coupled with disturbance compensation,could serve as an effective rehabilitation tool for upper-limb exoskeletons.These results demonstrate the superiority of the proposed method in enhancing rehabilitation accuracy and robustness,offering a promising solution for the control of upper-limb assistive devices.Based on the obtained results and due to their high robustness,the proposed control schemes can be extended to other motor disabilities,including lower limb exoskeletons.展开更多
This paper introduces a novel chattering-free terminal sliding mode control(SMC)strategy to address chaotic behavior in permanent magnet synchronous generators(PMSG)for offshore wind turbine systems.By integrating an ...This paper introduces a novel chattering-free terminal sliding mode control(SMC)strategy to address chaotic behavior in permanent magnet synchronous generators(PMSG)for offshore wind turbine systems.By integrating an adaptive exponential reaching law with a continuous barrier function,the proposed approach eliminates chattering and ensures robust performance under model uncertainties.The methodology combines adaptive SMC with dynamic switching to estimate and compensates for unknown uncertainties,providing smooth and stable control.Finally,the performance and effectiveness of the proposed approach are compared with those of a previous study.展开更多
The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-base...The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.展开更多
Traditional centralized Proportional Integral(PI)controller design methods based on Equivalent Transfer Functions(ETFs)have poor decoupling effect in turboprop engines.In this paper,a centralized PI design method base...Traditional centralized Proportional Integral(PI)controller design methods based on Equivalent Transfer Functions(ETFs)have poor decoupling effect in turboprop engines.In this paper,a centralized PI design method based on dynamic imaginary matrix and equivalent transfer function is proposed.Firstly,a method for solving equivalent transfer functions based on the dynamic imaginary matrix is proposed,which adopts dynamic imaginary matrix to describe the dynamic characteristics of the system,and obtains the equivalent transfer function based on the dynamic imaginary matrix characteristics.Secondly,for the equivalent transfer function,a central-ized PI control gain is designed using the Taylor expansion method.Meanwhile,this paper further proves that the centralized PI design method proposed in this paper has integral stability.Consid-ering the impact of altitude and Mach number on turboprop engines,a linear feedforward control method based on the transfer function matrix is further proposed based on the centralized PI con-troller,and the stability of the entire comprehensive control method is proved.Finally,to ensure the safe and effective operation of the turboprop engine,a temperature and torque limiting protection controller is designed for the turboprop engine.Simulation results show that the centralized PI con-troller design method and linear feedforward control method proposed can effectively improve the control quality of turboprop engine control systems.展开更多
This paper introduces the quantum control of Lyapunov functions based on the state distance, the mean of imaginary quantities and state errors.In this paper, the specific control laws under the three forms are given.S...This paper introduces the quantum control of Lyapunov functions based on the state distance, the mean of imaginary quantities and state errors.In this paper, the specific control laws under the three forms are given.Stability is analyzed by the La Salle invariance principle and the numerical simulation is carried out in a 2D test system.The calculation process for the Lyapunov function is based on a combination of the average of virtual mechanical quantities, the particle swarm algorithm and a simulated annealing algorithm.Finally, a unified form of the control laws under the three forms is given.展开更多
Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse ...Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer needs.This paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and actuators.The intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position sensors.The force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control modes.The dynamics feedforward layer mitigates the effect of the exoskeleton itself on movement.Meanwhile,the feedback compensation layer provides reliable closed-loop control.This approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed dynamics.Validating this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.展开更多
Small video satellites have unique advantages of short development cycle,agile attitude maneuver,real-time video imaging.They have broad application prospects in space debris,faulty spacecraft,and other space target d...Small video satellites have unique advantages of short development cycle,agile attitude maneuver,real-time video imaging.They have broad application prospects in space debris,faulty spacecraft,and other space target detection and tracking.However,when a space target first enters the camera’s visual field,it has a relatively large angular velocity relative to the satellite,which makes it easy to deviate from the visual field and cause off-target problems.This paper proposes a novel visual tracking control method based on potential function preventing missed targets in space.Firstly,a circular area in the image plane is designed as a mandatory restricted projection area of the target and a visual tracking controller based on image error.Then,a potential function is designed to ensure continuous and stable tracking of the target after entering the visual field.Finally,the stability of the control is proved using Barbarat’s lemma.By setting the same conditions and comparing with the simulation results of the proportion-derivative(PD)control method,the results show that when there is a large relative attitude motion angular velocity between the target and the satellite,the track-ing method based on potential function can ensure that the tar-get does not deviate from the field-of-view during the tracking control process,and the projection of target is controlled to the desired position.The proposed control method is effective in eliminating tracking error and preventing off-target simultane-ously.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
Although constraint satisfaction approaches have achieved fruitful results,system states may lose their smoothness and there may be undesired chattering of control inputs due to switching characteristics.Furthermore,i...Although constraint satisfaction approaches have achieved fruitful results,system states may lose their smoothness and there may be undesired chattering of control inputs due to switching characteristics.Furthermore,it remains a challenge when there are additional constraints on control torques of robotic systems.In this article,we propose a novel high-order control barrier function(HoCBF)-based safety control method for robotic systems subject to input-output constraints,which can maintain the desired smoothness of system states and reduce undesired chattering vibration in the control torque.In our design,augmented dynamics are introduced into the HoCBF by constructing its output as the control input of the robotic system,so that the constraint satisfaction is facilitated by HoCBFs and the smoothness of system states is maintained by the augmented dynamics.This proposed scheme leads to the quadratic program(QP),which is more user-friendly in implementation since the constraint satisfaction control design is implemented as an add-on to an existing tracking control law.The proposed closed-loop control system not only achieves the requirements of real-time capability,stability,safety and compliance,but also reduces undesired chattering of control inputs.Finally,the effectiveness of the proposed control scheme is verified by simulations and experiments on robotic manipulators.展开更多
The current study aimed to evaluate the efficacy and safety of Compound Danshen Dripping Pills(CDDP)in improving cardiac function in patients with acute anterior ST-segment elevation myocardial infarction(AAMI).Betwee...The current study aimed to evaluate the efficacy and safety of Compound Danshen Dripping Pills(CDDP)in improving cardiac function in patients with acute anterior ST-segment elevation myocardial infarction(AAMI).Between February 2021 and February 2023,247 eligible patients with AAMI after primary percutaneous coronary intervention were enrolled and randomly assigned(1∶1)to receive CDDP(n=126)or placebo(n=121),with a follow-up of 48 weeks.Compared with the placebo group,the CDDP group demonstrated a significant increase in left ventricular ejection fraction values after 24 weeks of treatment(least squares mean:3.31;95%confidence interval[CI]:1.72–4.90;P<0.001)and at the 48-week follow-up(least squares mean:4.35;95%CI:2.76–5.94;P<0.001).Significant reductions in N-terminal pro-B-type natriuretic peptide levels were observed in both groups at the 24-and 48-week visits with no significant difference between the two groups(P>0.1 for all).The incidence of major adverse cardiovascular and cerebrovascular events was 6.35%in the CDDP group and 5.79%in the placebo group(P=0.822).Notably,no serious adverse events were attributed to CDDP.These findings suggest that CDDP may be well tolerated and could improve left ventricular ejection fraction in patients with AAMI at 24 and 48 weeks.展开更多
Objective:To analyze the effects of repetitive transcranial magnetic stimulation combined with motor control training on the treatment of stroke-induced hemiplegia,specifically focusing on the impact on patients’bala...Objective:To analyze the effects of repetitive transcranial magnetic stimulation combined with motor control training on the treatment of stroke-induced hemiplegia,specifically focusing on the impact on patients’balance function and gait.Methods:Fifty-two cases of hemiplegic stroke patients were randomly divided into two groups,26 in the control group and 26 in the observation group,using computer-generated random grouping.All participants underwent conventional treatment and rehabilitation training.In addition to these,the control group received repetitive transcranial magnetic pseudo-stimulation therapy+motor control training,while the observation group received repetitive transcranial magnetic stimulation therapy+motor control training.The balance function and gait parameters of both groups were compared before and after the interventions and assessed the satisfaction of the interventions in both groups.Results:Before the invention,there were no significant differences in balance function scores and each gait parameter between the two groups(P>0.05).However,after the intervention,the observation group showed higher balance function scores compared to the control group(P<0.05).The observation group also exhibited higher step speed and step frequency,longer step length,and a higher overall satisfaction level with the intervention compared to the control group(P<0.05).Conclusion:The combination of repetitive transcranial magnetic stimulation and motor control training in the treatment of stroke-induced hemiplegia has demonstrated positive effects.It not only improves the patient’s balance function and gait but also contributes to overall physical rehabilitation.展开更多
Osteoporosis represents a prevalent and debilitating comorbidity in patients diagnosed with type 2 diabetes mellitus(T2DM),which is characterized by suppressed osteoblast function and disrupted bone microarchitecture....Osteoporosis represents a prevalent and debilitating comorbidity in patients diagnosed with type 2 diabetes mellitus(T2DM),which is characterized by suppressed osteoblast function and disrupted bone microarchitecture.In this study,we utilized male C57BL/6 J mice to investigate the role of SIRT3 in T2DM.Decreased SIRT3 expression and impaired mitochondrial quality control mechanism are observed in both in vitro and in vivo models of T2DM.Mechanistically,SIRT3 suppression results in hyperacetylation of FOXO3,hindering the activation of the PINK1/PRKN mediated mitophagy pathway and resulting in accumulation of dysfunctional mitochondria.Genetical overexpression or pharmacological activation of SIRT3 restores deacetylation status of FOXO3,thus facilitating mitophagy and ameliorating osteogenic impairment in T2DM.Collectively,our findings highlight the fundamental regulatory function of SIRT3 in mitochondrial quality control,crucial for maintaining bone homeostasis in T2DM.These insights not only enhance our understanding of the molecular mechanisms underlying diabetic osteoporosis but also identify SIRT3 as a promising therapeutic target for diabetic osteoporosis.展开更多
Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a ...Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a nonlinear state dependence function (NSDF) that transforms the state of each AUV in the formation.展开更多
This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bound...This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bounded gain is proposed by using a new time-varying scaling function.Moreover,a same-side performance function and a novel barrier Lyapunov function are incorporated into the control algorithm,which can compress the feasible domain of tracking error to minimize the overshoot and solve the difficult in tracking error not converging to zero simultaneously.The proposed scheme guarantees the airship capable of operating autonomously with satisfactory transient performance and tracking accuracy,where the performance parameters can be designed artificially and link to the physical process directly.Finally,the effectiveness of the proposed control scheme is verified by theoretical analysis and numerical simulation.展开更多
文摘OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patients with KOA(Kellgren-Lawrence gradeⅡ-Ⅲ)were recruited from the Acupuncture-Moxibustion Rehabilitation Department,Anhui University of Chinese Medicine between October 2024 and May 2025.Participants were randomized into a TBHM group(n=30)or a transcutaneous electrical neuromuscular stimulation(TENS)group(n=30).Using two-way repeated measures ANOVA,biomechanical indicators,including rectus femoris tension,vastus medialis tension,vastus lateralis tension,patellar ligament tension,lateral patellar displacement(LPD),medial patellar displacement(MPD),normalized patellar mobility(LPD/patellar width[PW],MPD/PW),knee flexion range of motion,and functional indicators,including KOOS subscales,time up and go test(TUGT),were compared between groups at baseline and after 6 weeks of intervention.RESULTS After intervention,all biomechanical and knee joint function indicators in the TBHM group were significantly improved(P<0.05,P<0.01),while only the vastus medialis tension,TUGT and KOOS Pain,ADL and QoL scores in the control group were significantly improved(P<0.01).The improvement amplitudes of biomechanical indicators in the TBHM group,including rectus femoris tension,vastus lateralis tension,patellar ligament tension,MPD/PW,LPD/PW and knee flexion range of motion were better than those in the control group(P<0.05,P<0.01).In the functional evaluation,the interaction effects of the TBHM group in all dimensions of the KOOS score and TUGT were statistically significant(P<0.05,P<0.01).Post-hoc simple effect analysis confirmed that there were significant differences in the above indicators between the two groups after intervention(P<0.05),and all indicators showed a significant main effect of time(P<0.01),suggesting that the intervention measures had continuous and cumulative curative effects.CONCLUSION TBHM effectively improves joint function and quality of life in KOA patients by restoring dynamic equilibrium in soft tissue tension and patellar mobility,ultimately achieving the therapeutic goal of concurrent tissue-bone management.
基金supported by the Fondo para el Primer Proyecto of the Comitépara el Desarrollo de la Investigación(CODI)at the Universidad de Antioquia(Grant Number PRV2024-78509)。
文摘The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.
文摘The application of generative artificial intelligence(GAI)in the judicial domain represents an innovative approach to achieving digital justice.GAI’s functionalities are primarily exhibited in the enhancement of judicial efficiency,improving the accuracy and fairness of adjudications,promoting the uniform application of the law,and enhancing transparency and engagement in judicial processes.However,these advancements are accompanied by potential risks and challenges in technology,adjudication,and ethics.It is thus essential to strengthen privacy protection during the processing and transmission of data,ensure data security and confidentiality,and establish and refine clear legal norms regarding the roles,responsibilities,and legal obligations of GAI in judicial settings.In addition,ethical guidelines that delineate the behavioral boundaries and value orientations of GAI need to be formulated.Collectively,these elements can form a trinary model of technical controls,legal norms,and ethical constraints,to facilitate the modernization and intelligent development of the judicial system.
基金co-supported by the National Natural Science Foundation of China(Nos.12372048,12102343)the Key Program of the National Natural Science Foundation of China(No.U2013206)+1 种基金the China Postdoctoral Science Foundation(No.2023M742835)the Guangdong Basic and Applied Basic Research Foundation,China(No.2023A1515011421).
文摘This paper presents a predefined-time controller for Multiple Space transportation Robots System (MSRS), which can be applied in on-orbit assembly tasks to transport modules to pre-assembly configuration quickly. Firstly, to simplify the analysis and design of predefined-time controller, a Predefined-time Stability Criterion is proposed in the form of Composite Lyapunov Function (CLF-PSC). Besides simplicity, the CLF-PSC also has the advantage of less conservativeness due to utilization of initial state information. Secondly, a concept of Lp-Norm-Normalized Sign Function (LPNNSF) is proposed based on the CLF-PSC. Different from traditional norm-normalized sign function, the Lp-norm of LPNNSF can be selected arbitrarily according to practical control task requirements, which means that the proposed LPNNSF is more generalized and more convenient for calculation. Thirdly, a predefined-time disturbance observer and predefined-time controller are designed based on the LPNNSF. The observer has the property of predefined-time convergence to achieve quicker and more accurate estimation of the lumped disturbance. The controller has less control input and chattering phenomenon than traditional predefined-time controller. In addition, by introducing the observer into the controller, the closed-loop system enjoys high precision and strong robustness. Finally, the effectiveness of the proposed controller is verified by numerical simulations. By employing the controller, the MSRS can carry assembly modules to the desired pre-assembly configuration accurately within predefined time.
基金Supported by Undergraduate Training Programs for Innovation and Entrepreneurship of Guangdong Province(202310580005)Youth Project of Zhaoqing University(QN202443)China Agriculture Research System of MOF and MARA(CARS-26).
文摘This paper systematically introduces the extraction process of the active components from the essential oil of Melaleuca alternifolia,elucidates the biological functions of these active components,and summarizes their applications in agricultural pest control.Furthermore,the paper examines the future developmental directions of M.alternifolia essential oil in pest control,along with the current challenges associated with its application.The aim is to offer insights for future research on botanical essential oils,particularly regarding their biological functions and applications in agricultural pest control.
基金Project(52476095)supported by the National Natural Science Foundation of ChinaProject(kq2506013)supported by Changsha Outstanding Innovative Youth Training Program,China。
文摘The nanofluid-based direct absorption solar collector(NDASC)ensures that solar radiation passing through the tube wall is directly absorbed by the nanofluid,reducing thermal resistance in the energy transfer process.However,further exploration is required to suppress the outward thermal losses from the nanofluid at high temperatures.Herein,this paper proposes a novel NDASC in which the outer surface of the collector tube is covered with functional coatings and a three-dimensional computational fluid dynamics model is established to study the energy flow distributions on the collector within the temperature range of 400-600 K.When the nanofluid’s absorption coefficient reaches 80 m^(-1),the NDASC shows the optimal thermal performance,and the NDASC with local Sn-In_(2)O_(3) coating achieves a 7.8% improvement in thermal efficiency at 400 K compared to the original NDASC.Furthermore,hybrid coatings with Sn In_(2)O_(3)/WTi-Al_(2)O_(3) are explored,and the optimal coverage angles are determined.The NDASC with such coatings shows a 10.22%-17.9% increase in thermal efficiency compared to the original NDASC and a 7.6%-19.5% increase compared to the traditional surface-type solar collectors,demonstrating the effectiveness of the proposed energy flow control strategy for DASCs.
基金funded by the King Salman Center For Disability Research,through Research Group No.KSRG-2024-468。
文摘Disability is defined as a condition that makes it difficult for a person to perform certain vital activities.In recent years,the integration of the concepts of intelligence in solving various problems for disabled persons has become more frequent.However,controlling an exoskeleton for rehabilitation presents challenges due to their nonlinear characteristics and external disturbances caused by the structure itself or the patient wearing the exoskeleton.To remedy these problems,this paper presents a novel adaptive control strategy for upper-limb rehabilitation exoskeletons,addressing the challenges of nonlinear dynamics and external disturbances.The proposed controller integrated a Radial Basis Function Neural Network(RBFNN)with a disturbance observer and employed a high-dimensional integral Lyapunov function to guarantee system stability and trajectory tracking performance.In the control system,the role of the RBFNN was to estimate uncertain signals in the dynamic model,while the disturbance observer tackled external disturbances during trajectory tracking.Artificially created scenarios for Human-Robot interactive experiments and periodically repeated reference trajectory experiments validated the controller’s performance,demonstrating efficient tracking.The proposed controller is found to achieve superior tracking accuracy with Root-Mean-Squared(RMS)errors of 0.022-0.026 rad for all joints,outperforming conventional Proportional-Integral-Derivative(PID)by 73%and Neural-Fuzzy Adaptive Control(NFAC)by 389.47%lower error.These results suggested that the RBFNN adaptive controller,coupled with disturbance compensation,could serve as an effective rehabilitation tool for upper-limb exoskeletons.These results demonstrate the superiority of the proposed method in enhancing rehabilitation accuracy and robustness,offering a promising solution for the control of upper-limb assistive devices.Based on the obtained results and due to their high robustness,the proposed control schemes can be extended to other motor disabilities,including lower limb exoskeletons.
文摘This paper introduces a novel chattering-free terminal sliding mode control(SMC)strategy to address chaotic behavior in permanent magnet synchronous generators(PMSG)for offshore wind turbine systems.By integrating an adaptive exponential reaching law with a continuous barrier function,the proposed approach eliminates chattering and ensures robust performance under model uncertainties.The methodology combines adaptive SMC with dynamic switching to estimate and compensates for unknown uncertainties,providing smooth and stable control.Finally,the performance and effectiveness of the proposed approach are compared with those of a previous study.
基金the China Scholarship Council(202106690037)the Natural Science Foundation of Anhui Province(19080885QE194)。
文摘The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.
基金support by the National Natural Science Foundation of China (No.52202474)China Postdoctoral Science Foundation (No.2023M731655)+3 种基金Major Projects of National Science and Technology,China (No.J2019-I-0020-0019)Advanced Aviation Power Innovation Workstation Project,China (No.HKCX2022-01-026-03)Basic Research Business Fees for Central Universities,China (No.NT2023004)Nanjing University of Aeronautics and Astronautics Forward-looking Layout Research Project,China (No.1002-ILA22037-1A22).
文摘Traditional centralized Proportional Integral(PI)controller design methods based on Equivalent Transfer Functions(ETFs)have poor decoupling effect in turboprop engines.In this paper,a centralized PI design method based on dynamic imaginary matrix and equivalent transfer function is proposed.Firstly,a method for solving equivalent transfer functions based on the dynamic imaginary matrix is proposed,which adopts dynamic imaginary matrix to describe the dynamic characteristics of the system,and obtains the equivalent transfer function based on the dynamic imaginary matrix characteristics.Secondly,for the equivalent transfer function,a central-ized PI control gain is designed using the Taylor expansion method.Meanwhile,this paper further proves that the centralized PI design method proposed in this paper has integral stability.Consid-ering the impact of altitude and Mach number on turboprop engines,a linear feedforward control method based on the transfer function matrix is further proposed based on the centralized PI con-troller,and the stability of the entire comprehensive control method is proved.Finally,to ensure the safe and effective operation of the turboprop engine,a temperature and torque limiting protection controller is designed for the turboprop engine.Simulation results show that the centralized PI con-troller design method and linear feedforward control method proposed can effectively improve the control quality of turboprop engine control systems.
基金Project supported by the National Natural Science Foundation of China (Grant No.62176140)。
文摘This paper introduces the quantum control of Lyapunov functions based on the state distance, the mean of imaginary quantities and state errors.In this paper, the specific control laws under the three forms are given.Stability is analyzed by the La Salle invariance principle and the numerical simulation is carried out in a 2D test system.The calculation process for the Lyapunov function is based on a combination of the average of virtual mechanical quantities, the particle swarm algorithm and a simulated annealing algorithm.Finally, a unified form of the control laws under the three forms is given.
基金supported by the China Postdoctoral Science Foundation(No.2020M672823)National Natural Science Foundation of China National Natural Science Foundation of China(No.52305072,U2013602)+3 种基金Natural Science Foundation of Hebei Province of China(No.E2022203095)Shenzhen Science and Technology Program(No.JSGG20201102152602007)Shenzhen Science and Technology Research and Development Foundation(No.JCYJ20190813171009236)Basic Scientific Research of Technology(No.JCKY2020603C009).
文摘Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer needs.This paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and actuators.The intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position sensors.The force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control modes.The dynamics feedforward layer mitigates the effect of the exoskeleton itself on movement.Meanwhile,the feedback compensation layer provides reliable closed-loop control.This approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed dynamics.Validating this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.
文摘Small video satellites have unique advantages of short development cycle,agile attitude maneuver,real-time video imaging.They have broad application prospects in space debris,faulty spacecraft,and other space target detection and tracking.However,when a space target first enters the camera’s visual field,it has a relatively large angular velocity relative to the satellite,which makes it easy to deviate from the visual field and cause off-target problems.This paper proposes a novel visual tracking control method based on potential function preventing missed targets in space.Firstly,a circular area in the image plane is designed as a mandatory restricted projection area of the target and a visual tracking controller based on image error.Then,a potential function is designed to ensure continuous and stable tracking of the target after entering the visual field.Finally,the stability of the control is proved using Barbarat’s lemma.By setting the same conditions and comparing with the simulation results of the proportion-derivative(PD)control method,the results show that when there is a large relative attitude motion angular velocity between the target and the satellite,the track-ing method based on potential function can ensure that the tar-get does not deviate from the field-of-view during the tracking control process,and the projection of target is controlled to the desired position.The proposed control method is effective in eliminating tracking error and preventing off-target simultane-ously.
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 in part by the National Natural Science Foundation of China(62273311,61773351)Henan Provincial Science Foundation for Distinguished Young Scholars(242300421051)。
文摘Although constraint satisfaction approaches have achieved fruitful results,system states may lose their smoothness and there may be undesired chattering of control inputs due to switching characteristics.Furthermore,it remains a challenge when there are additional constraints on control torques of robotic systems.In this article,we propose a novel high-order control barrier function(HoCBF)-based safety control method for robotic systems subject to input-output constraints,which can maintain the desired smoothness of system states and reduce undesired chattering vibration in the control torque.In our design,augmented dynamics are introduced into the HoCBF by constructing its output as the control input of the robotic system,so that the constraint satisfaction is facilitated by HoCBFs and the smoothness of system states is maintained by the augmented dynamics.This proposed scheme leads to the quadratic program(QP),which is more user-friendly in implementation since the constraint satisfaction control design is implemented as an add-on to an existing tracking control law.The proposed closed-loop control system not only achieves the requirements of real-time capability,stability,safety and compliance,but also reduces undesired chattering of control inputs.Finally,the effectiveness of the proposed control scheme is verified by simulations and experiments on robotic manipulators.
基金supported by Tasly Pharmaceutical Group Co.,Ltd.(Grant No.303100031BA20)。
文摘The current study aimed to evaluate the efficacy and safety of Compound Danshen Dripping Pills(CDDP)in improving cardiac function in patients with acute anterior ST-segment elevation myocardial infarction(AAMI).Between February 2021 and February 2023,247 eligible patients with AAMI after primary percutaneous coronary intervention were enrolled and randomly assigned(1∶1)to receive CDDP(n=126)or placebo(n=121),with a follow-up of 48 weeks.Compared with the placebo group,the CDDP group demonstrated a significant increase in left ventricular ejection fraction values after 24 weeks of treatment(least squares mean:3.31;95%confidence interval[CI]:1.72–4.90;P<0.001)and at the 48-week follow-up(least squares mean:4.35;95%CI:2.76–5.94;P<0.001).Significant reductions in N-terminal pro-B-type natriuretic peptide levels were observed in both groups at the 24-and 48-week visits with no significant difference between the two groups(P>0.1 for all).The incidence of major adverse cardiovascular and cerebrovascular events was 6.35%in the CDDP group and 5.79%in the placebo group(P=0.822).Notably,no serious adverse events were attributed to CDDP.These findings suggest that CDDP may be well tolerated and could improve left ventricular ejection fraction in patients with AAMI at 24 and 48 weeks.
文摘Objective:To analyze the effects of repetitive transcranial magnetic stimulation combined with motor control training on the treatment of stroke-induced hemiplegia,specifically focusing on the impact on patients’balance function and gait.Methods:Fifty-two cases of hemiplegic stroke patients were randomly divided into two groups,26 in the control group and 26 in the observation group,using computer-generated random grouping.All participants underwent conventional treatment and rehabilitation training.In addition to these,the control group received repetitive transcranial magnetic pseudo-stimulation therapy+motor control training,while the observation group received repetitive transcranial magnetic stimulation therapy+motor control training.The balance function and gait parameters of both groups were compared before and after the interventions and assessed the satisfaction of the interventions in both groups.Results:Before the invention,there were no significant differences in balance function scores and each gait parameter between the two groups(P>0.05).However,after the intervention,the observation group showed higher balance function scores compared to the control group(P<0.05).The observation group also exhibited higher step speed and step frequency,longer step length,and a higher overall satisfaction level with the intervention compared to the control group(P<0.05).Conclusion:The combination of repetitive transcranial magnetic stimulation and motor control training in the treatment of stroke-induced hemiplegia has demonstrated positive effects.It not only improves the patient’s balance function and gait but also contributes to overall physical rehabilitation.
基金supported by the National Key Research and Development Project (2021YFA1201404)National Natural Science Foundation of China Major Project (81991514)+6 种基金General Project (82272530, 82372459)Jiangsu Province Medical Innovation Center of Orthopedic Surgery (CXZX202214)Jiangsu Provincial Key Medical Center FoundationJiangsu Provincial Medical Outstanding Talent FoundationJiangsu Provincial Medical Youth Talent FoundationJiangsu Provincial Key Medical Talent Foundationthe Fundamental Research Funds for the Central Universities (14380493, 14380494)
文摘Osteoporosis represents a prevalent and debilitating comorbidity in patients diagnosed with type 2 diabetes mellitus(T2DM),which is characterized by suppressed osteoblast function and disrupted bone microarchitecture.In this study,we utilized male C57BL/6 J mice to investigate the role of SIRT3 in T2DM.Decreased SIRT3 expression and impaired mitochondrial quality control mechanism are observed in both in vitro and in vivo models of T2DM.Mechanistically,SIRT3 suppression results in hyperacetylation of FOXO3,hindering the activation of the PINK1/PRKN mediated mitophagy pathway and resulting in accumulation of dysfunctional mitochondria.Genetical overexpression or pharmacological activation of SIRT3 restores deacetylation status of FOXO3,thus facilitating mitophagy and ameliorating osteogenic impairment in T2DM.Collectively,our findings highlight the fundamental regulatory function of SIRT3 in mitochondrial quality control,crucial for maintaining bone homeostasis in T2DM.These insights not only enhance our understanding of the molecular mechanisms underlying diabetic osteoporosis but also identify SIRT3 as a promising therapeutic target for diabetic osteoporosis.
基金supported by the National Natural Science Foundation of China(62073094)the Fundamental Research Funds for the Central Universities(3072024GH0404)
文摘Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a nonlinear state dependence function (NSDF) that transforms the state of each AUV in the formation.
基金supported by the National Natural Science Foundation of China(Nos.51775021,52302511)the Fundamental Research Funds for the Central Universities,China(Nos.501JCGG2024129003,501JCGG2024129005,501JCGG2024129006),the Fundamental Research Funds for the Central Universities,China(No.YWF-24-JC-09)the National Key Research and Development Program of China(No.2018YFC1506401)。
文摘This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bounded gain is proposed by using a new time-varying scaling function.Moreover,a same-side performance function and a novel barrier Lyapunov function are incorporated into the control algorithm,which can compress the feasible domain of tracking error to minimize the overshoot and solve the difficult in tracking error not converging to zero simultaneously.The proposed scheme guarantees the airship capable of operating autonomously with satisfactory transient performance and tracking accuracy,where the performance parameters can be designed artificially and link to the physical process directly.Finally,the effectiveness of the proposed control scheme is verified by theoretical analysis and numerical simulation.
