The present study investigates the quest for a fully distributed Nash equilibrium(NE) in networked non-cooperative games, with particular emphasis on actuator limitations. Existing distributed NE seeking approaches of...The present study investigates the quest for a fully distributed Nash equilibrium(NE) in networked non-cooperative games, with particular emphasis on actuator limitations. Existing distributed NE seeking approaches often overlook practical input constraints or rely on centralized information. To address these issues, a novel edge-based double-layer adaptive control framework is proposed. Specifically, adaptive scaling parameters are embedded into the edge weights of the communication graph, enabling a fully distributed scheme that avoids dependence on centralized or global knowledge. Every participant modifies its strategy by exclusively utilizing local information and communicating with its neighbors to iteratively approach the NE. By incorporating damping terms into the design of the adaptive parameters, the proposed approach effectively suppresses unbounded parameter growth and consequently guarantees the boundedness of the adaptive gains. In addition, to account for actuator saturation, the proposed distributed NE seeking approach incorporates a saturation function, which ensures that control inputs do not exceed allowable ranges. A rigorous Lyapunov-based analysis guarantees the convergence and boundedness of all system variables. Finally, the presentation of simulation results aims to validate the efficacy and theoretical soundness of the proposed approach.展开更多
Soil greenhouse gas(GHG)emissions contribute profoundly to global warming;however,how plant detritus input alters GHG emissions is poorly understood.Here,we used detritus input and removal treatments(i.e.,DIRT:control...Soil greenhouse gas(GHG)emissions contribute profoundly to global warming;however,how plant detritus input alters GHG emissions is poorly understood.Here,we used detritus input and removal treatments(i.e.,DIRT:control,CK;double litter,DL;no roots with double litter,NRDL;no litter,NL;no roots,NR;no roots and no litter,NRNL)to assess the effects of litter and root inputs on soil CO_(2),CH_(4),and N_(2)O fluxes in soils in a coniferous(Pinus yunnanensis)and a broad-leaf forest(Quercus pannosa)in a subalpine region in southwestern China.Litter addition increased CO_(2) emissions on average 22.22%,but did not significantly alter CH_(4) uptake and N_(2)O emission compared to the CK.Litter removal(NL and NRNL)significantly reduced CO_(2) emissions on average 30.22%and N_(2)O emissions on average 31.16%from both forest soils,but did not significantly affect soil CH_(4) uptake.Root removal(NR and NRNL)generally decreased these three soil GHG fluxes.Changes inβ-1,4-glucosidase(BG)involved in C and phospholipid fatty acid(PLFAs)biomass were projected to influence CO_(2) emissions,while soil microclimates(temperature and moisture)combined with BG activity mainly regulated CH_(4) uptake.Alterations in dissolved organic nitrogen,microbial biomass nitrogen and BG were mainly responsible for changes in N_(2)O emissions.Interestingly,coniferous forest soil seemed to promote CH_(4) uptake more than the broad-leaf forest soil,but CO_(2) and N_(2)O fluxes were not significantly affected by the forest types.As expected,litter addition significantly increased the warming potential,while litter removal relatively lowered it.These findings revealed the divergent roles of plant detritus input and forest type in shaping soil GHG fluxes,thereby providing insights into forest management and predicting contributions of subalpine forests to global warming.展开更多
Dear Editor,It is well known that event-triggered control(ETC)is an effective approach in addressing networked control problems for Industry 5.0.Its feasibility,however,is still restricted to canonical nonlinear syste...Dear Editor,It is well known that event-triggered control(ETC)is an effective approach in addressing networked control problems for Industry 5.0.Its feasibility,however,is still restricted to canonical nonlinear systems so far.Considering this,a gradient-based adaptive ETC scheme for noncanonical nonlinear systems is newly developed in this letter,where the hysteresis input constraints are considered also.By proper decomposition,the technical issue of handling ETC-induced measurement errors and hysteresis inputs can be transformed into the robustness problem to bounded disturbance-like terms,which is then addressed by integrating a switching modification strategy in adaptive design and developing a novel augmented error-based analysis framework.Experimental results based on a practical piezoactuator confirm the effectiveness of the proposed scheme.展开更多
Single-phase,non-isolated microinverters used in photovoltaic(PV)systems commonly encounter two persistent challenges:High-frequency leakage current and fluctuating power delivery.This paper presents a novel single-ph...Single-phase,non-isolated microinverters used in photovoltaic(PV)systems commonly encounter two persistent challenges:High-frequency leakage current and fluctuating power delivery.This paper presents a novel single-phase,non-isolated,multi-input microinverter topology with a common-ground structure that effectively eliminates ground leakage current without requiring additional active components.The proposed microinverter architecture integrates a dual-boost configuration and uses only four active switches.This is especially advantageous in terms of the component count,which is beneficial to enhance reliability,reduce cost,and simplify the overall system design.With one,two,or four PV inputs,it can operate without interruption under unbalanced voltage or partial shading and even if some inputs drop to zero.A tailored modulation scheme minimizes conduction losses while maintaining a stable direct-current(DC)-link voltage,and a decoupling capacitor efficiently absorbs the single-phase pulsating power,thus overcoming one major limitation in existing microinverter designs.By validating with a 1-kW GaN-based prototype,both the simulated and experimental results demonstrate its high efficiency,robustness,and practical suitability for cost-effective PV applications,with a peak efficiency value of 94.8%.展开更多
This study investigates the impact of welding heat input on weldments of modified 9Cr-1Mo(P91)steel,a high-strength material that requires high-energy welding processes like submerged arc welding.In the as-welded cond...This study investigates the impact of welding heat input on weldments of modified 9Cr-1Mo(P91)steel,a high-strength material that requires high-energy welding processes like submerged arc welding.In the as-welded condition,P91 steel welds primarily consist of untempered martensite,which transforms into tempered martensite during post-weld heat treatment(PWHT).Electron spectro-scopy analysis reveals the presence of M_(23)C_(6) and MX carbonitride precipitates at grain boundaries.Increasing the heat input leads to greater quantities of precipitates in the prior austenite grain boundaries,which can affect material properties.Weldment hardness profiles exhibit modest improvements,while ultimate tensile strength and toughness decrease with higher welding heat input,poten-tially due to the formation of a ferritic phase.Residual stress distributions are noticeably influenced by the welding heat input level.展开更多
The Internet of Things(IoT)technology provides data acquisition,transmission,and analysis to control rehabilitation robots,encompassing sensor data from the robots as well as lidar signals for trajectory planning(desi...The Internet of Things(IoT)technology provides data acquisition,transmission,and analysis to control rehabilitation robots,encompassing sensor data from the robots as well as lidar signals for trajectory planning(desired trajectory).In IoT rehabilitation robot systems,managing nonvanishing uncertainties and input quantization is crucial for precise and reliable control performance.These challenges can cause instability and reduced effectiveness,particularly in adaptive networked control.This paper investigates networked control with guaranteed performance for IoT rehabilitation robots under nonvanishing uncertainties and input quantization.First,input quantization is managed via a quantization-aware control design,ensur stability and minimizing tracking errors,even with discrete control inputs,to avoid chattering.Second,the method handles nonvanishing uncertainties by adjusting control parameters via real-time neural network adaptation,maintaining consistent performance despite persistent disturbances.Third,the control scheme guarantees the desired tracking performance within a specified time,with all signals in the closed-loop system remaining uniformly bounded,offering a robust,reliable solution for IoT rehabilitation robot control.The simulation verifies the benefits and efficacy of the proposed control strategy.展开更多
In this paper,Desulfovibrio vulgaris corrosion of X80 steel welded joint with different heat inputs was carefully investigated.The results confirmed that in the sterile medium,general corrosion rate and lo-calized cor...In this paper,Desulfovibrio vulgaris corrosion of X80 steel welded joint with different heat inputs was carefully investigated.The results confirmed that in the sterile medium,general corrosion rate and lo-calized corrosion susceptibility of heat affected zone(HAZ)were higher than those of weld zone(WZ)and base metal(BM).In the inoculated medium,the general corrosion rate of HAZ was still higher than that of WZ and BM.However,the number and depth of corrosion pits on WZ and BM surfaces,as well as the localized corrosion susceptibility,were much higher than those in HAZ,which was opposite to that in sterile environment,suggesting that the Desulfovibrio vulgaris corrosion of the welded joint was selective.With heat input increasing from 0.57 kJ/mm to 1.29 kJ/mm,general corrosion rate and localized corrosion susceptibility of HAZ and WZ simultaneously decreased in sterile or inoculated medium.In in-oculated medium,localized corrosion of HAZ decreased more sharply than weld zone.Within the range of heat inputs tested,the study discerned a positive correlation:higher heat inputs correlated with an enhanced corrosion resistance of welded joint,irrespective of environmental conditions being sterile or inoculated.The findings provide a solid basis for the welding parameter determination to steel pipelines in oil and gas transportation.展开更多
To analyze the correlation between the input energy parameters(V_(E))and typical intensity measures(IMs)of offshore ground motions,based on 273 earthquake events recorded by the K-NET in Japan,892 offshore ground moti...To analyze the correlation between the input energy parameters(V_(E))and typical intensity measures(IMs)of offshore ground motions,based on 273 earthquake events recorded by the K-NET in Japan,892 offshore ground motion records with moment magnitudes from 4.0 to 7.0 were used in this study.Residuals obtained through a ground motion model were calculated and analyzed for the correlation between V_(E) and amplitude,duration,frequency content and cumulative IMs.The results indicate that PGV and PGD have strong correlation with the V_(E)(T>0.2 s and T>0.4 s),the duration IMs have weakly negative correlation with the V_(E),Sd_(1) has a strong correlation with the V_(E) in the periods of T>0.4 s,T_(g) has a weak correlation with V_(E) and the cumulative IMs have strong correlation with the V_(E).The parametric predictive equations between typical IMs and V_(E) was proposed,and the differences between the prediction equations from the onshore ground motion records were compared.The differences in parametric predicted equations between offshore and onshore ground motions were confirmed in this study.Proposed correlation equations can be applied to offshore probabilistic seismic hazard analysis and the selection of ground motion records by generalized conditional intensity measures.展开更多
This paper proposes a novel multivalued recurrent neural network model driven by external inputs,along with two innovative learning algorithms.By incorporating a multivalued activation function,the proposed model can ...This paper proposes a novel multivalued recurrent neural network model driven by external inputs,along with two innovative learning algorithms.By incorporating a multivalued activation function,the proposed model can achieve multivalued many-to-one associative memory,and the newly developed algorithms enable effective storage of many-to-one patterns in the coefficient matrix while maintaining the indispensability of inputs in many-to-one associative memory.The proposed learning algorithm addresses a critical limitation of existing models which fail to ensure completely erroneous outputs when facing partial input missing in many-to-one associative memory tasks.The methodology is rigorously derived through theoretical analysis,incorporating comprehensive verification of both the existence and global exponential stability of equilibrium points.Demonstrative examples are provided in the paper to show the effectiveness of the proposed theory.展开更多
Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncerta...Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncertain systems characterized by unknown control directions and time-varying input delay lacks comprehensive solutions.In this paper,we propose an observerbased adaptive tracking controller to address this gap.Neural networks are utilized to handle uncertainty,and a unique coordinate transformation is employed to untangle the coupling between input delay and unknown control directions.Subsequently,a new auxiliary signal counters the impact of time-varying input delay,while a Nussbaum function is introduced to solve the problem of unknown control directions.The leverage of an advanced dynamic surface control technique avoids the“complexity explosion”and reduces boundary layer errors.Synthesizing these techniques ensures that all the closed-loop signals are semi-globally uniformly ultimately bounded(SGUUB),and the tracking error converges to a small region around the origin by selecting suitable parameters.Simulation examples are provided to demonstrate the feasibility of the proposed approach.展开更多
This paper addresses the lane-keeping control problem for autonomous ground vehicles subject to input saturation and uncertain system parameters.An enhanced adaptive terminal sliding mode based prescribed performance ...This paper addresses the lane-keeping control problem for autonomous ground vehicles subject to input saturation and uncertain system parameters.An enhanced adaptive terminal sliding mode based prescribed performance control scheme is proposed,which enables the lateral position error of the vehicle to be kept within the prescribed performance boundaries all the time.This is achieved by firstly introducing an improved performance function into the controller design such that the stringent initial condition requirements can be relaxed,which further allows the global prescribed performance control result,and then,developing a multivariable adaptive terminal sliding mode based controller such that both input saturation and parameter uncertainties are handled effectively,which further ensures the robust lane-keeping control.Finally,the proposed control strategy is validated through numerical simulations,demonstrating its effectiveness.展开更多
The effects of Ti/N ratio on the number densities of nano particles,the size of the prior austenite grain(PAG)and the toughness of the heat-affected zone(HAZ)of Mg-deoxidized steels were studied after high heat input ...The effects of Ti/N ratio on the number densities of nano particles,the size of the prior austenite grain(PAG)and the toughness of the heat-affected zone(HAZ)of Mg-deoxidized steels were studied after high heat input welding of 400 kJ/cm.With increasing the Ti/N ratio from 2.7 to 5.7,the cuboid nano-sized particles are formed,and their number density increases.The area fractions of ductile intragranular acicular ferrites(IAFs)have the highest value and the area fractions of brittle microstructures of ferrite side plates and upper bainites have the lowest value in TN30 steel.With the Ti/N ratio of about 3.0,the HAZ of steel plate has the best low-temperature toughness.With increasing the Ti/N ratio from 2.7 to 5.7,the PAG sizes after the high-temperature laser scanning confocal microscopy observation decrease linearly with increasing the number densities of nano-sized particles.The PAG size of TN30 steel is between 100 and 150μm,which is conducive to the nucleation of IAFs.展开更多
Unknown time-varying periodic disturbances and input delays can degrade control performance and even lead to system instability.This paper presents a novel direct adaptive output feedback controller based on the inter...Unknown time-varying periodic disturbances and input delays can degrade control performance and even lead to system instability.This paper presents a novel direct adaptive output feedback controller based on the internal model principle(IMP)to compensate for the unknown time-varying periodic disturbance in input delay systems.To reduce the design difficulty of the controller,the input delay system is equivalent to an input delay-free system by constructing stable auxiliary systems.Next,all the stabilizing controllers of the input delay system are derived by using the Youla parameterization method.Based on the IMP,an interpolation condition to completely compensate for periodic disturbances is formulated.Then,to compensate for the unknown time-varying periodic disturbance,a parameter adaptive algorithm is designed to update the Q-parameters online.The convergence of adaptive algorithms is analyzed by the Lyapunov function theory.Simulation and experimental results validated the effectiveness of the proposed method.展开更多
This paper investigates the secure impulsive consensus of Lipschitz-type nonlinear multi-agent systems(MASs) with input saturation. According to the coupling of input saturation and denial of service(DoS) attacks, imp...This paper investigates the secure impulsive consensus of Lipschitz-type nonlinear multi-agent systems(MASs) with input saturation. According to the coupling of input saturation and denial of service(DoS) attacks, impulsive control for MASs becomes extremely challenging. Considering general DoS attacks,this paper provides the sufficient conditions for the almost sure consensus of the MASs with input saturation, where the error system can achieve almost sure local exponential stability.Through linear matrix inequalities(LMIs), the relation between the trajectory boundary and DoS attacks is characterized, and the trajectory boundary is estimated. Furthermore, an optimization method of the domain of attraction is proposed to maximize the size. And a non-conservative and practical boundary is proposed to characterize the effect of DoS attacks on MASs. Finally, considering a multi-agent system with typical Chua's circuit dynamic model, an example is provided to illustrate the theorems' correctness.展开更多
Background The Registrar Clinical Encounters in Training(ReCEnT)project is an Australian general practice vocational training programme with integrated and interdependent education and research functions.Trainees(regi...Background The Registrar Clinical Encounters in Training(ReCEnT)project is an Australian general practice vocational training programme with integrated and interdependent education and research functions.Trainees(registrars)contemporaneously document in-consultation clinical experience and actions.Objectives Using a realist lens,we elucidate the mechanisms underpinning project outcomes to answer questions around programme effectiveness,impacts,sustainability and the lessons and findings that are translatable to other primary care training programmes.Methods The context,input,process and product framework was used.As a means to understand the interactions between each of the interdependent components,it allows for inferences regarding causal mechanisms for specific outcomes.Results Context:ReCEnT occurs within an apprenticeship-like model of general practice vocational training entailing a central supervisor/apprentice relationship.ReCEnT has demystified the content and characteristics of registrar consultations.Input:multiple stakeholder involvement is both advantageous and a logistical challenge,with the programme’s success dependent on registrars,practices and training providers providing detailed and accurate data,with prompt subsequent processing.Process:contemporaneous consultation data collection in different stages of training constitutes a component of registrars’programmatic assessment.Product:individualised feedback provides educational benefit through reflection.Clinical and educational research questions can be addressed with resulting research translation feeding back into the programme model and government policy.Clinical behaviour change is also evaluated.Conclusion ReCEnT is unique,globally,in its scope and longevity(2010–present).Creation of meaningful,individualised feedback facilitates reflection and provides both immediate educational benefits and the substrate for further research,programme and policy design and targeted formal teaching and learning.展开更多
Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol ...Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).展开更多
基金supported by the National Natural Science Foundation of China (Grant No.62173009)the National Key Research and Development Program of China (Grant No.2021ZD0112302)。
文摘The present study investigates the quest for a fully distributed Nash equilibrium(NE) in networked non-cooperative games, with particular emphasis on actuator limitations. Existing distributed NE seeking approaches often overlook practical input constraints or rely on centralized information. To address these issues, a novel edge-based double-layer adaptive control framework is proposed. Specifically, adaptive scaling parameters are embedded into the edge weights of the communication graph, enabling a fully distributed scheme that avoids dependence on centralized or global knowledge. Every participant modifies its strategy by exclusively utilizing local information and communicating with its neighbors to iteratively approach the NE. By incorporating damping terms into the design of the adaptive parameters, the proposed approach effectively suppresses unbounded parameter growth and consequently guarantees the boundedness of the adaptive gains. In addition, to account for actuator saturation, the proposed distributed NE seeking approach incorporates a saturation function, which ensures that control inputs do not exceed allowable ranges. A rigorous Lyapunov-based analysis guarantees the convergence and boundedness of all system variables. Finally, the presentation of simulation results aims to validate the efficacy and theoretical soundness of the proposed approach.
基金supported by the National Natural Science Foundation of China(32130069)the National Key Research and Development Program of China(2024YFF1306700)the Scientific Research Foundation of Education Department of Yunnan Province(2024Y004).
文摘Soil greenhouse gas(GHG)emissions contribute profoundly to global warming;however,how plant detritus input alters GHG emissions is poorly understood.Here,we used detritus input and removal treatments(i.e.,DIRT:control,CK;double litter,DL;no roots with double litter,NRDL;no litter,NL;no roots,NR;no roots and no litter,NRNL)to assess the effects of litter and root inputs on soil CO_(2),CH_(4),and N_(2)O fluxes in soils in a coniferous(Pinus yunnanensis)and a broad-leaf forest(Quercus pannosa)in a subalpine region in southwestern China.Litter addition increased CO_(2) emissions on average 22.22%,but did not significantly alter CH_(4) uptake and N_(2)O emission compared to the CK.Litter removal(NL and NRNL)significantly reduced CO_(2) emissions on average 30.22%and N_(2)O emissions on average 31.16%from both forest soils,but did not significantly affect soil CH_(4) uptake.Root removal(NR and NRNL)generally decreased these three soil GHG fluxes.Changes inβ-1,4-glucosidase(BG)involved in C and phospholipid fatty acid(PLFAs)biomass were projected to influence CO_(2) emissions,while soil microclimates(temperature and moisture)combined with BG activity mainly regulated CH_(4) uptake.Alterations in dissolved organic nitrogen,microbial biomass nitrogen and BG were mainly responsible for changes in N_(2)O emissions.Interestingly,coniferous forest soil seemed to promote CH_(4) uptake more than the broad-leaf forest soil,but CO_(2) and N_(2)O fluxes were not significantly affected by the forest types.As expected,litter addition significantly increased the warming potential,while litter removal relatively lowered it.These findings revealed the divergent roles of plant detritus input and forest type in shaping soil GHG fluxes,thereby providing insights into forest management and predicting contributions of subalpine forests to global warming.
文摘Dear Editor,It is well known that event-triggered control(ETC)is an effective approach in addressing networked control problems for Industry 5.0.Its feasibility,however,is still restricted to canonical nonlinear systems so far.Considering this,a gradient-based adaptive ETC scheme for noncanonical nonlinear systems is newly developed in this letter,where the hysteresis input constraints are considered also.By proper decomposition,the technical issue of handling ETC-induced measurement errors and hysteresis inputs can be transformed into the robustness problem to bounded disturbance-like terms,which is then addressed by integrating a switching modification strategy in adaptive design and developing a novel augmented error-based analysis framework.Experimental results based on a practical piezoactuator confirm the effectiveness of the proposed scheme.
基金supported by Libyan Cultural Affair/London,Libya under Grant No.13840.
文摘Single-phase,non-isolated microinverters used in photovoltaic(PV)systems commonly encounter two persistent challenges:High-frequency leakage current and fluctuating power delivery.This paper presents a novel single-phase,non-isolated,multi-input microinverter topology with a common-ground structure that effectively eliminates ground leakage current without requiring additional active components.The proposed microinverter architecture integrates a dual-boost configuration and uses only four active switches.This is especially advantageous in terms of the component count,which is beneficial to enhance reliability,reduce cost,and simplify the overall system design.With one,two,or four PV inputs,it can operate without interruption under unbalanced voltage or partial shading and even if some inputs drop to zero.A tailored modulation scheme minimizes conduction losses while maintaining a stable direct-current(DC)-link voltage,and a decoupling capacitor efficiently absorbs the single-phase pulsating power,thus overcoming one major limitation in existing microinverter designs.By validating with a 1-kW GaN-based prototype,both the simulated and experimental results demonstrate its high efficiency,robustness,and practical suitability for cost-effective PV applications,with a peak efficiency value of 94.8%.
文摘This study investigates the impact of welding heat input on weldments of modified 9Cr-1Mo(P91)steel,a high-strength material that requires high-energy welding processes like submerged arc welding.In the as-welded condition,P91 steel welds primarily consist of untempered martensite,which transforms into tempered martensite during post-weld heat treatment(PWHT).Electron spectro-scopy analysis reveals the presence of M_(23)C_(6) and MX carbonitride precipitates at grain boundaries.Increasing the heat input leads to greater quantities of precipitates in the prior austenite grain boundaries,which can affect material properties.Weldment hardness profiles exhibit modest improvements,while ultimate tensile strength and toughness decrease with higher welding heat input,poten-tially due to the formation of a ferritic phase.Residual stress distributions are noticeably influenced by the welding heat input level.
基金supported in part by the National Natural Science Foundation of China under Grant 62302475in part by the Research Funds of Centre for Leading Medicine and Advanced Technologies of IHM under Grant 2023IHM01081 and 2023IHM01085+1 种基金in part by the Hefei Municipal Natural Science Foundation under Grant 202328partly by the Anhui Science and Technology Innovation Tackling Plan Project under Grant 202423k09020044。
文摘The Internet of Things(IoT)technology provides data acquisition,transmission,and analysis to control rehabilitation robots,encompassing sensor data from the robots as well as lidar signals for trajectory planning(desired trajectory).In IoT rehabilitation robot systems,managing nonvanishing uncertainties and input quantization is crucial for precise and reliable control performance.These challenges can cause instability and reduced effectiveness,particularly in adaptive networked control.This paper investigates networked control with guaranteed performance for IoT rehabilitation robots under nonvanishing uncertainties and input quantization.First,input quantization is managed via a quantization-aware control design,ensur stability and minimizing tracking errors,even with discrete control inputs,to avoid chattering.Second,the method handles nonvanishing uncertainties by adjusting control parameters via real-time neural network adaptation,maintaining consistent performance despite persistent disturbances.Third,the control scheme guarantees the desired tracking performance within a specified time,with all signals in the closed-loop system remaining uniformly bounded,offering a robust,reliable solution for IoT rehabilitation robot control.The simulation verifies the benefits and efficacy of the proposed control strategy.
基金supported by the National Natural Science Foundation of China(Nos.52471096 and 51971191).
文摘In this paper,Desulfovibrio vulgaris corrosion of X80 steel welded joint with different heat inputs was carefully investigated.The results confirmed that in the sterile medium,general corrosion rate and lo-calized corrosion susceptibility of heat affected zone(HAZ)were higher than those of weld zone(WZ)and base metal(BM).In the inoculated medium,the general corrosion rate of HAZ was still higher than that of WZ and BM.However,the number and depth of corrosion pits on WZ and BM surfaces,as well as the localized corrosion susceptibility,were much higher than those in HAZ,which was opposite to that in sterile environment,suggesting that the Desulfovibrio vulgaris corrosion of the welded joint was selective.With heat input increasing from 0.57 kJ/mm to 1.29 kJ/mm,general corrosion rate and localized corrosion susceptibility of HAZ and WZ simultaneously decreased in sterile or inoculated medium.In in-oculated medium,localized corrosion of HAZ decreased more sharply than weld zone.Within the range of heat inputs tested,the study discerned a positive correlation:higher heat inputs correlated with an enhanced corrosion resistance of welded joint,irrespective of environmental conditions being sterile or inoculated.The findings provide a solid basis for the welding parameter determination to steel pipelines in oil and gas transportation.
基金National Natural Science Foundation of China under Grant No.52478568National Key R&D Program of China under Grant Nos.2021YFC3100701 and 2022YFC3003503the Nature Science Foundation of Hubei Province under Grant No.2023AFA030。
文摘To analyze the correlation between the input energy parameters(V_(E))and typical intensity measures(IMs)of offshore ground motions,based on 273 earthquake events recorded by the K-NET in Japan,892 offshore ground motion records with moment magnitudes from 4.0 to 7.0 were used in this study.Residuals obtained through a ground motion model were calculated and analyzed for the correlation between V_(E) and amplitude,duration,frequency content and cumulative IMs.The results indicate that PGV and PGD have strong correlation with the V_(E)(T>0.2 s and T>0.4 s),the duration IMs have weakly negative correlation with the V_(E),Sd_(1) has a strong correlation with the V_(E) in the periods of T>0.4 s,T_(g) has a weak correlation with V_(E) and the cumulative IMs have strong correlation with the V_(E).The parametric predictive equations between typical IMs and V_(E) was proposed,and the differences between the prediction equations from the onshore ground motion records were compared.The differences in parametric predicted equations between offshore and onshore ground motions were confirmed in this study.Proposed correlation equations can be applied to offshore probabilistic seismic hazard analysis and the selection of ground motion records by generalized conditional intensity measures.
基金supported by the National Natural Science Foundation of China(Grant Nos.62376105,12101208,and 61906072)the Fundamental Research Funds for the Central Universities(Grant No.2662022XXQD001).
文摘This paper proposes a novel multivalued recurrent neural network model driven by external inputs,along with two innovative learning algorithms.By incorporating a multivalued activation function,the proposed model can achieve multivalued many-to-one associative memory,and the newly developed algorithms enable effective storage of many-to-one patterns in the coefficient matrix while maintaining the indispensability of inputs in many-to-one associative memory.The proposed learning algorithm addresses a critical limitation of existing models which fail to ensure completely erroneous outputs when facing partial input missing in many-to-one associative memory tasks.The methodology is rigorously derived through theoretical analysis,incorporating comprehensive verification of both the existence and global exponential stability of equilibrium points.Demonstrative examples are provided in the paper to show the effectiveness of the proposed theory.
基金National Natural Science Foundation of China(62373102)Jiangsu Natural Science Foundation(BK20221455)Anhui Provincial Key Research and Development Project(2022i01020013)。
文摘Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncertain systems characterized by unknown control directions and time-varying input delay lacks comprehensive solutions.In this paper,we propose an observerbased adaptive tracking controller to address this gap.Neural networks are utilized to handle uncertainty,and a unique coordinate transformation is employed to untangle the coupling between input delay and unknown control directions.Subsequently,a new auxiliary signal counters the impact of time-varying input delay,while a Nussbaum function is introduced to solve the problem of unknown control directions.The leverage of an advanced dynamic surface control technique avoids the“complexity explosion”and reduces boundary layer errors.Synthesizing these techniques ensures that all the closed-loop signals are semi-globally uniformly ultimately bounded(SGUUB),and the tracking error converges to a small region around the origin by selecting suitable parameters.Simulation examples are provided to demonstrate the feasibility of the proposed approach.
基金supported in part by the National Key Research and Development Program of China under Grant 2023YFA1011803in part by Natural Science Foundation of Chongqing,China under Grant CSTB2023NSCQ-MSX0588+2 种基金in part by the Fundamental Research Funds for the Central Universities,China under Grant 2023CDJKYJH047in part by the National Natural Science Foundation of China under Grant 62273064,Grant 61991400,Grant 61991403,Grant 61933012,Grant 62250710167,Grant 62203078in part by Innovation Support Program for International Students Returning to China under Grant cx2022016.
文摘This paper addresses the lane-keeping control problem for autonomous ground vehicles subject to input saturation and uncertain system parameters.An enhanced adaptive terminal sliding mode based prescribed performance control scheme is proposed,which enables the lateral position error of the vehicle to be kept within the prescribed performance boundaries all the time.This is achieved by firstly introducing an improved performance function into the controller design such that the stringent initial condition requirements can be relaxed,which further allows the global prescribed performance control result,and then,developing a multivariable adaptive terminal sliding mode based controller such that both input saturation and parameter uncertainties are handled effectively,which further ensures the robust lane-keeping control.Finally,the proposed control strategy is validated through numerical simulations,demonstrating its effectiveness.
基金financially supported by the National Natural Science Foundation of China(52474361).
文摘The effects of Ti/N ratio on the number densities of nano particles,the size of the prior austenite grain(PAG)and the toughness of the heat-affected zone(HAZ)of Mg-deoxidized steels were studied after high heat input welding of 400 kJ/cm.With increasing the Ti/N ratio from 2.7 to 5.7,the cuboid nano-sized particles are formed,and their number density increases.The area fractions of ductile intragranular acicular ferrites(IAFs)have the highest value and the area fractions of brittle microstructures of ferrite side plates and upper bainites have the lowest value in TN30 steel.With the Ti/N ratio of about 3.0,the HAZ of steel plate has the best low-temperature toughness.With increasing the Ti/N ratio from 2.7 to 5.7,the PAG sizes after the high-temperature laser scanning confocal microscopy observation decrease linearly with increasing the number densities of nano-sized particles.The PAG size of TN30 steel is between 100 and 150μm,which is conducive to the nucleation of IAFs.
基金supported in part by the National Natural Science Foundation of China(62325302,62203076,62103065,62033001,62303079)the China Postdoctoral Science Foundation(2021M700584)+1 种基金the Natural Science Foundation of Chongqing,China(cstc2020jcyj-zdxmX0014)the Program of Shanghai Academic/Technology Research Leader(21XD1421400).
文摘Unknown time-varying periodic disturbances and input delays can degrade control performance and even lead to system instability.This paper presents a novel direct adaptive output feedback controller based on the internal model principle(IMP)to compensate for the unknown time-varying periodic disturbance in input delay systems.To reduce the design difficulty of the controller,the input delay system is equivalent to an input delay-free system by constructing stable auxiliary systems.Next,all the stabilizing controllers of the input delay system are derived by using the Youla parameterization method.Based on the IMP,an interpolation condition to completely compensate for periodic disturbances is formulated.Then,to compensate for the unknown time-varying periodic disturbance,a parameter adaptive algorithm is designed to update the Q-parameters online.The convergence of adaptive algorithms is analyzed by the Lyapunov function theory.Simulation and experimental results validated the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China(62373302,62333009)
文摘This paper investigates the secure impulsive consensus of Lipschitz-type nonlinear multi-agent systems(MASs) with input saturation. According to the coupling of input saturation and denial of service(DoS) attacks, impulsive control for MASs becomes extremely challenging. Considering general DoS attacks,this paper provides the sufficient conditions for the almost sure consensus of the MASs with input saturation, where the error system can achieve almost sure local exponential stability.Through linear matrix inequalities(LMIs), the relation between the trajectory boundary and DoS attacks is characterized, and the trajectory boundary is estimated. Furthermore, an optimization method of the domain of attraction is proposed to maximize the size. And a non-conservative and practical boundary is proposed to characterize the effect of DoS attacks on MASs. Finally, considering a multi-agent system with typical Chua's circuit dynamic model, an example is provided to illustrate the theorems' correctness.
文摘Background The Registrar Clinical Encounters in Training(ReCEnT)project is an Australian general practice vocational training programme with integrated and interdependent education and research functions.Trainees(registrars)contemporaneously document in-consultation clinical experience and actions.Objectives Using a realist lens,we elucidate the mechanisms underpinning project outcomes to answer questions around programme effectiveness,impacts,sustainability and the lessons and findings that are translatable to other primary care training programmes.Methods The context,input,process and product framework was used.As a means to understand the interactions between each of the interdependent components,it allows for inferences regarding causal mechanisms for specific outcomes.Results Context:ReCEnT occurs within an apprenticeship-like model of general practice vocational training entailing a central supervisor/apprentice relationship.ReCEnT has demystified the content and characteristics of registrar consultations.Input:multiple stakeholder involvement is both advantageous and a logistical challenge,with the programme’s success dependent on registrars,practices and training providers providing detailed and accurate data,with prompt subsequent processing.Process:contemporaneous consultation data collection in different stages of training constitutes a component of registrars’programmatic assessment.Product:individualised feedback provides educational benefit through reflection.Clinical and educational research questions can be addressed with resulting research translation feeding back into the programme model and government policy.Clinical behaviour change is also evaluated.Conclusion ReCEnT is unique,globally,in its scope and longevity(2010–present).Creation of meaningful,individualised feedback facilitates reflection and provides both immediate educational benefits and the substrate for further research,programme and policy design and targeted formal teaching and learning.
基金supported by the National Nature Science Foundation of China(U21A20166)the Science and Technology Development Foundation of Jilin Province(20230508095RC)+2 种基金the Major Science and Technology Projects of Jilin Province and Changchun City(20220301033GX)the Development and Reform Commission Foundation of Jilin Province(2023C034-3)the Interdisciplinary Integration and Innovation Project of JLU(JLUXKJC2020202).
文摘Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).
