A multi-modal action control approach is proposed for an autonomous soccer robot when the bottom hardware is unchangeable. Different from existing methods, the proposed control approach defines actions with the princi...A multi-modal action control approach is proposed for an autonomous soccer robot when the bottom hardware is unchangeable. Different from existing methods, the proposed control approach defines actions with the principle of ＂perception-planning-action＂ inspired by human intelligence. Character extraction is used to divide the perception input into different modes. Different control modes are built by combining different control methods for the linear velocity and angular velocity. Based on production rules, the motion control is realized by connecting different perceptions to the corresponding control mode. Simulation and real experiments are conducted with the middle-sized robot Frontier-I, and the proposed method is compared with a proportional-integral-derivative （PID） control method to display its feasibility and performance. The results show that the multi-modal action control method can make robots react rapidly in a dynamic environment.展开更多
Background:Exercise procrastination is prevalent among college students,causing decline in physical fitness.It is imperative to investigate the mechanism affecting college students’physical activity behaviors.This st...Background:Exercise procrastination is prevalent among college students,causing decline in physical fitness.It is imperative to investigate the mechanism affecting college students’physical activity behaviors.This study was aimed at investigating the effect of procrastination on college students’physical exercise behavior,and the chain mediation effects of exercise commitment and action control(AC),to provide a theoretical basis for interventions targeting physical exercise behavior among college students.Methods:A questionnaire survey was conducted using convenience sampling.The General Procrastination Scale,Exercise Commitment Scale,Action Control Scale,and Physical Activity Rating Scale-3 questionnaires were used.Participants were 581 college students(age 19.27±0.94 years;243 males and 338 females).Statistical methods of regression analysis and structural equation modeling(SEM)were applied.Results:Procrastination,exercise commitment,and action control were found to be significant predictors of physical exercise behavior.Among these predictors,exercise commitment and action control showed full mediation effects in the relationship between procrastination and physical exercise behavior,and explained 25.48%and 30.77%of the total variance,respectively.The chain mediation effect of exercise commitment-action control was significant,accounting for 22.60%of the total variance,and the total indirect effect was 79.33%.Conclusion:Therefore,higher procrastination was associated with less participation in physical exercise behavior among college students.Improvements in exercise commitment and volitional decision-making ability for physical exercise behavior promoted physical exercise behavior,and increased exercise commitment promoted volitional decision-making ability among the students.The chain reaction effect of exercise commitment and action control also buffered the negative effects of procrastination on physical exercise behavior,thereby increasing physical exercise behavior among college students.展开更多
Purpose: To test the concept of Statistical Process Control (SPC) as a Quality Assurance (QA) procedure for dose verifications in external beam radiation therapy in conventional and 3D Conformal Radiotherapy (3D-CRT) ...Purpose: To test the concept of Statistical Process Control (SPC) as a Quality Assurance (QA) procedure for dose verifications in external beam radiation therapy in conventional and 3D Conformal Radiotherapy (3D-CRT) treatment of cervical cancer. Materials and Methods: A study of QA verification of target doses of 198 cervical cancer patients undergoing External Beam Radiotherapy (EBRT) treatments at two different cancer treatment centers in Kenya was conducted. The target doses were determined from measured entrance doses by the diode in vivo dosimetry. Process Behavior Charts (PBC) developed by SPC were applied for setting Action Thresholds (AT) on the target doses. The AT set was then proposed as QA limits for acceptance or rejection of verified target doses overtime of the EBRT process. Result and Discussion: Target doses for the 198 patients were calculated and SPC applied to test whether the action limits set by the Process Behavior Charts could be applied as QA for verified doses in EBRT. Results for the two sub-groups of n = 3 and n = 4 that were tested produced action thresholds which are within clinical dose specifications for both conventional AP/PA and 3D-CRT EBRT treatment techniques for cervical cancer. Conclusion: Action thresholds set by SPC were within the clinical dose specification of ±5% uncertainty for both conventional AP/PA and 3D-CRT EBRT treatment techniques for cervical cancer. So the concept of SPC could be applied in setting QA action limits for dose verifications in EBRT.展开更多
Dear Editor,This letter deals with the stabilization problem of nonlinear stochastic systems via self-triggered impulsive control(STIC), where the timing of impulsive control actions is not dependent on continuous sta...Dear Editor,This letter deals with the stabilization problem of nonlinear stochastic systems via self-triggered impulsive control(STIC), where the timing of impulsive control actions is not dependent on continuous state monitoring. In contrast to the existing self-triggered control method, novel self-triggered mechanism(STM) is proposed by incorporating a waiting time for stabilizing impulses. This allows for direct prediction of the next impulsive instant.展开更多
This paper provides a solution to generalize the integrator and the integral control action. It is achieved by defining two function sets to generalize the integrator and the integral control action, respectively, res...This paper provides a solution to generalize the integrator and the integral control action. It is achieved by defining two function sets to generalize the integrator and the integral control action, respectively, resorting to a stabilizing controller and adopting Lyapunov method to analyze the stability of the closed-loop system. By originating a powerful Lyapunov function, a universal theorem to ensure regionally as well as semi-globally asymptotic stability is established by some bounded information. Consequently, the justification of two propositions on the generalization of integrator and integral control action is verified. Moreover, the conditions used to define the function sets can be viewed as a class of sufficient conditions to design the integrator and the integral control action, respectively.展开更多
This paper investigates an analytical optimal pose tracking control problem for chaser spacecraft during the close-range proximity operations with a non-cooperative space target subject to attitude tumbling and unknow...This paper investigates an analytical optimal pose tracking control problem for chaser spacecraft during the close-range proximity operations with a non-cooperative space target subject to attitude tumbling and unknown orbital maneuvering.Firstly,the relative translational motion between the orbital target and the chaser spacecraft is described in the Line-of-Sight(LOS)coordinate frame along with attitude quaternion dynamics.Then,based on the coupled 6-Degree of Freedom(DOF)pose dynamic model,an analytical optimal control action consisting of constrained optimal control value,application time and its duration are proposed via exploring the iterative sequential action control algorithm.Meanwhile,the global closed-loop asymptotic stability of the proposed predictive control action is presented and discussed.Compared with traditional proximity control schemes,the highlighting advantages are that the application time and duration of the devised controller is applied discretely in light of the influence of the instantaneous pose configuration on the pose tracking performance with less energy consumptions rather than at each sample time.Finally,three groups of illustrative examples are organized to validate the effectiveness of the proposed analytical optimal pose tracking control scheme.展开更多
The technology of pressure relief gas drainage is one of the most effective and economic for preventing gas emissions in underground mines.Based on current understanding of strata breakage and fracture development in ...The technology of pressure relief gas drainage is one of the most effective and economic for preventing gas emissions in underground mines.Based on current understanding of strata breakage and fracture development in overlying strata,the current study divides the overlying strata into the following three longitudinal zones in terms of the state of gas flow:a turbulent channel zone,a transitional circulation channel zone and a seepage channel zone.According to the key strata discrimination theory of controlling the overlying strata,the calculation method establishes that the step-type expansion of the mining gas channel corresponds to the advancing distance of working face,and this research also confrms the expanding rule that the mining gas channel in overlying strata follows the advancing distance of mining working face.Based on the geological conditions of Xinjing Coal Mine of Yangquan,this paper researches the expanding rule of mining gas channel as well as the control action of the channel acting on the pressure relief flow under the condition of the remote protective layer,and got the distance using inversion that the step-type expanding of mining gas channel is corresponding to the advancing distance of working face,which verifes the accuracy and feasibility of theoretical calculation method proposed in this study.The research provides the theoretical basis for choosing the technology of pressure relief gas drainage and designing the parameters of construction.展开更多
Rhythmic phenomena are one of the most striking manifestations of dynamic behavior in biological systems. Understanding the mechanisms of biological rhythms, is crucial for understanding the dynamic of life. Each type...Rhythmic phenomena are one of the most striking manifestations of dynamic behavior in biological systems. Understanding the mechanisms of biological rhythms, is crucial for understanding the dynamic of life. Each type of dynamic behaviors may be related to the performance of both normal physiology and pathological. Conductive system of the heart can be stimulated to action as a network of elements and these elements show the oscillatory behavior then can be modeled as nonlinear oscillators. This paper provides the mathematical model of the heart rhythm by considering different states of Vanderpol nonlinear oscillators. Proposed oscillator model is designed in order to reproduce time series of action potential of natural pacemakers cardiac, such as SA or AV nodes. So model of heart is presented by a system of differential equations and to be considered chaotic or nonchaotic for different parameters of the model by using of the 0-1 test. Finally, the model is synchronized by applying an appropriate control signal, if it is needed.展开更多
In this paper, an optimal control scheme for wind turbine output torque and power regulation under the influence of wind disturbances is presented. The system considered is a dynamic mechanical-based model with pitch ...In this paper, an optimal control scheme for wind turbine output torque and power regulation under the influence of wind disturbances is presented. The system considered is a dynamic mechanical-based model with pitch and generator torque actuators for controlling the pitch and generator torque. The performance of linear matrix inequality (LMI) formalism of linear quadratic regulator (LQR);linear quadratic regulator with integral action (LQRI) and model predictive control (MPC) were compared in response to a step change in wind disturbance. It is shown by Matlab simulation that the LQRI outperformed both LQR and MPC controllers.展开更多
In this paper, a class of fire-new general integral control, named general concave integral control, is proposed. It is derived by normalizing the bounded integral control action and concave function gain integrator, ...In this paper, a class of fire-new general integral control, named general concave integral control, is proposed. It is derived by normalizing the bounded integral control action and concave function gain integrator, introducing the partial derivative of Lyapunov function into the integrator and originating a class of new strategy to transform ordinary control into general integral control. By using Lyapunov method along with LaSalle’s invariance principle, the theorem to ensure regionally as well as semi-globally asymptotic stability is established only by some bounded information. Moreover, the highlight point of this integral control strategy is that the integrator output could tend to infinity but the integral control action is finite. Therefore, a simple and ingenious method to design general integral control is founded. Simulation results showed that under the normal and perturbed cases, the optimum response in the whole domain of interest can all be achieved by a set of the same control gains, even under the case that the payload is changed abruptly.展开更多
基金supported by National Natural Science Foundation of China (No.60443004)Science and Technology Project of CQ Education Committee (No.KJ080621)
文摘A multi-modal action control approach is proposed for an autonomous soccer robot when the bottom hardware is unchangeable. Different from existing methods, the proposed control approach defines actions with the principle of ＂perception-planning-action＂ inspired by human intelligence. Character extraction is used to divide the perception input into different modes. Different control modes are built by combining different control methods for the linear velocity and angular velocity. Based on production rules, the motion control is realized by connecting different perceptions to the corresponding control mode. Simulation and real experiments are conducted with the middle-sized robot Frontier-I, and the proposed method is compared with a proportional-integral-derivative （PID） control method to display its feasibility and performance. The results show that the multi-modal action control method can make robots react rapidly in a dynamic environment.
文摘Background:Exercise procrastination is prevalent among college students,causing decline in physical fitness.It is imperative to investigate the mechanism affecting college students’physical activity behaviors.This study was aimed at investigating the effect of procrastination on college students’physical exercise behavior,and the chain mediation effects of exercise commitment and action control(AC),to provide a theoretical basis for interventions targeting physical exercise behavior among college students.Methods:A questionnaire survey was conducted using convenience sampling.The General Procrastination Scale,Exercise Commitment Scale,Action Control Scale,and Physical Activity Rating Scale-3 questionnaires were used.Participants were 581 college students(age 19.27±0.94 years;243 males and 338 females).Statistical methods of regression analysis and structural equation modeling(SEM)were applied.Results:Procrastination,exercise commitment,and action control were found to be significant predictors of physical exercise behavior.Among these predictors,exercise commitment and action control showed full mediation effects in the relationship between procrastination and physical exercise behavior,and explained 25.48%and 30.77%of the total variance,respectively.The chain mediation effect of exercise commitment-action control was significant,accounting for 22.60%of the total variance,and the total indirect effect was 79.33%.Conclusion:Therefore,higher procrastination was associated with less participation in physical exercise behavior among college students.Improvements in exercise commitment and volitional decision-making ability for physical exercise behavior promoted physical exercise behavior,and increased exercise commitment promoted volitional decision-making ability among the students.The chain reaction effect of exercise commitment and action control also buffered the negative effects of procrastination on physical exercise behavior,thereby increasing physical exercise behavior among college students.
文摘Purpose: To test the concept of Statistical Process Control (SPC) as a Quality Assurance (QA) procedure for dose verifications in external beam radiation therapy in conventional and 3D Conformal Radiotherapy (3D-CRT) treatment of cervical cancer. Materials and Methods: A study of QA verification of target doses of 198 cervical cancer patients undergoing External Beam Radiotherapy (EBRT) treatments at two different cancer treatment centers in Kenya was conducted. The target doses were determined from measured entrance doses by the diode in vivo dosimetry. Process Behavior Charts (PBC) developed by SPC were applied for setting Action Thresholds (AT) on the target doses. The AT set was then proposed as QA limits for acceptance or rejection of verified target doses overtime of the EBRT process. Result and Discussion: Target doses for the 198 patients were calculated and SPC applied to test whether the action limits set by the Process Behavior Charts could be applied as QA for verified doses in EBRT. Results for the two sub-groups of n = 3 and n = 4 that were tested produced action thresholds which are within clinical dose specifications for both conventional AP/PA and 3D-CRT EBRT treatment techniques for cervical cancer. Conclusion: Action thresholds set by SPC were within the clinical dose specification of ±5% uncertainty for both conventional AP/PA and 3D-CRT EBRT treatment techniques for cervical cancer. So the concept of SPC could be applied in setting QA action limits for dose verifications in EBRT.
基金supported by the National Natural Science Foundation of China(62403393,12202058,62103118)the China Postdoctoral Science Foundation(2021T140160,2023 T160051)the Natural Science Foundation of Chongqing(CSTB 2023NSCQ-MSX0152)
文摘Dear Editor,This letter deals with the stabilization problem of nonlinear stochastic systems via self-triggered impulsive control(STIC), where the timing of impulsive control actions is not dependent on continuous state monitoring. In contrast to the existing self-triggered control method, novel self-triggered mechanism(STM) is proposed by incorporating a waiting time for stabilizing impulses. This allows for direct prediction of the next impulsive instant.
文摘This paper provides a solution to generalize the integrator and the integral control action. It is achieved by defining two function sets to generalize the integrator and the integral control action, respectively, resorting to a stabilizing controller and adopting Lyapunov method to analyze the stability of the closed-loop system. By originating a powerful Lyapunov function, a universal theorem to ensure regionally as well as semi-globally asymptotic stability is established by some bounded information. Consequently, the justification of two propositions on the generalization of integrator and integral control action is verified. Moreover, the conditions used to define the function sets can be viewed as a class of sufficient conditions to design the integrator and the integral control action, respectively.
基金This study was co-supported by the National Natural Science Foundation of China(Nos.62003371,62373379,62103446,61273351,62073343)the Outstanding Youth Fund of Hunan Provincial Natural Science,China(No.2022JJ20081)the Innovation Driven Project of Central South University,China(No.2023CXQD066).
文摘This paper investigates an analytical optimal pose tracking control problem for chaser spacecraft during the close-range proximity operations with a non-cooperative space target subject to attitude tumbling and unknown orbital maneuvering.Firstly,the relative translational motion between the orbital target and the chaser spacecraft is described in the Line-of-Sight(LOS)coordinate frame along with attitude quaternion dynamics.Then,based on the coupled 6-Degree of Freedom(DOF)pose dynamic model,an analytical optimal control action consisting of constrained optimal control value,application time and its duration are proposed via exploring the iterative sequential action control algorithm.Meanwhile,the global closed-loop asymptotic stability of the proposed predictive control action is presented and discussed.Compared with traditional proximity control schemes,the highlighting advantages are that the application time and duration of the devised controller is applied discretely in light of the influence of the instantaneous pose configuration on the pose tracking performance with less energy consumptions rather than at each sample time.Finally,three groups of illustrative examples are organized to validate the effectiveness of the proposed analytical optimal pose tracking control scheme.
基金the National Basic Research Programs of China (No. 2011CB201204)the National Natural Science Foundation of China (Nos. 51074160)+1 种基金the Fundamental Research Funds for the Central Universities (No. 2010QNA03)Project Funded by the Priority Academic Program Development of Jiangsu Higher Education institutions for their support for this project
文摘The technology of pressure relief gas drainage is one of the most effective and economic for preventing gas emissions in underground mines.Based on current understanding of strata breakage and fracture development in overlying strata,the current study divides the overlying strata into the following three longitudinal zones in terms of the state of gas flow:a turbulent channel zone,a transitional circulation channel zone and a seepage channel zone.According to the key strata discrimination theory of controlling the overlying strata,the calculation method establishes that the step-type expansion of the mining gas channel corresponds to the advancing distance of working face,and this research also confrms the expanding rule that the mining gas channel in overlying strata follows the advancing distance of mining working face.Based on the geological conditions of Xinjing Coal Mine of Yangquan,this paper researches the expanding rule of mining gas channel as well as the control action of the channel acting on the pressure relief flow under the condition of the remote protective layer,and got the distance using inversion that the step-type expanding of mining gas channel is corresponding to the advancing distance of working face,which verifes the accuracy and feasibility of theoretical calculation method proposed in this study.The research provides the theoretical basis for choosing the technology of pressure relief gas drainage and designing the parameters of construction.
文摘Rhythmic phenomena are one of the most striking manifestations of dynamic behavior in biological systems. Understanding the mechanisms of biological rhythms, is crucial for understanding the dynamic of life. Each type of dynamic behaviors may be related to the performance of both normal physiology and pathological. Conductive system of the heart can be stimulated to action as a network of elements and these elements show the oscillatory behavior then can be modeled as nonlinear oscillators. This paper provides the mathematical model of the heart rhythm by considering different states of Vanderpol nonlinear oscillators. Proposed oscillator model is designed in order to reproduce time series of action potential of natural pacemakers cardiac, such as SA or AV nodes. So model of heart is presented by a system of differential equations and to be considered chaotic or nonchaotic for different parameters of the model by using of the 0-1 test. Finally, the model is synchronized by applying an appropriate control signal, if it is needed.
文摘In this paper, an optimal control scheme for wind turbine output torque and power regulation under the influence of wind disturbances is presented. The system considered is a dynamic mechanical-based model with pitch and generator torque actuators for controlling the pitch and generator torque. The performance of linear matrix inequality (LMI) formalism of linear quadratic regulator (LQR);linear quadratic regulator with integral action (LQRI) and model predictive control (MPC) were compared in response to a step change in wind disturbance. It is shown by Matlab simulation that the LQRI outperformed both LQR and MPC controllers.
文摘In this paper, a class of fire-new general integral control, named general concave integral control, is proposed. It is derived by normalizing the bounded integral control action and concave function gain integrator, introducing the partial derivative of Lyapunov function into the integrator and originating a class of new strategy to transform ordinary control into general integral control. By using Lyapunov method along with LaSalle’s invariance principle, the theorem to ensure regionally as well as semi-globally asymptotic stability is established only by some bounded information. Moreover, the highlight point of this integral control strategy is that the integrator output could tend to infinity but the integral control action is finite. Therefore, a simple and ingenious method to design general integral control is founded. Simulation results showed that under the normal and perturbed cases, the optimum response in the whole domain of interest can all be achieved by a set of the same control gains, even under the case that the payload is changed abruptly.
