The functional properties of glasses are governed by their formation history and the complex relaxation processes they undergo.However,under extreme conditions,glass behaviors are still elusive.In this study,we employ...The functional properties of glasses are governed by their formation history and the complex relaxation processes they undergo.However,under extreme conditions,glass behaviors are still elusive.In this study,we employ simulations with varied protocols to evaluate the effectiveness of different descriptors in predicting mechanical properties across both low-and high-pressure regimes.Our findings demonstrate that conventional structural and configurational descriptors fail to correlate with the mechanical response following pressure release,whereas the activation energy descriptor exhibits robust linearity with shear modulus after correcting for pressure effects.Notably,the soft mode parameter emerges as an ideal and computationally efficient alternative for capturing this mechanical behavior.These findings provide critical insights into the influence of pressure on glassy properties,integrating the distinct features of compressed glasses into a unified theoretical framework.展开更多
Prosthetic devices designed to assist individuals with damaged or missing body parts have made significant strides,particularly with advancements in machine intelligence and bioengineering.Initially focused on movemen...Prosthetic devices designed to assist individuals with damaged or missing body parts have made significant strides,particularly with advancements in machine intelligence and bioengineering.Initially focused on movement assistance,the field has shifted towards developing prosthetics that function as seamless extensions of the human body.During this progress,a key challenge remains the reduction of interface artifacts between prosthetic components and biological tissues.Soft electronics offer a promising solution due to their structural flexibility and enhanced tissue adaptability.However,achieving full integration of prosthetics with the human body requires both artificial perception and efficient transmission of physical signals.In this context,synaptic devices have garnered attention as next-generation neuromorphic computing elements because of their low power consumption,ability to enable hardware-based learning,and high compatibility with sensing units.These devices have the potential to create artificial pathways for sensory recognition and motor responses,forming a“sensory-neuromorphic system”that emulates synaptic junctions in biological neurons,thereby connecting with impaired biological tissues.Here,we discuss recent developments in prosthetic components and neuromorphic applications with a focus on sensory perception and sensorimotor actuation.Initially,we explore a prosthetic system with advanced sensory units,mechanical softness,and artificial intelligence,followed by the hardware implementation of memory devices that combine calculation and learning functions.We then highlight the importance and mechanisms of soft-form synaptic devices that are compatible with sensing units.Furthermore,we review an artificial sensory-neuromorphic perception system that replicates various biological senses and facilitates sensorimotor loops from sensory receptors,the spinal cord,and motor neurons.Finally,we propose insights into the future of closed-loop neuroprosthetics through the technical integration of soft electronics,including bio-integrated sensors and synaptic devices,into prosthetic systems.展开更多
The control of solute segregation at grain boundaries is of significance in engineering alloy properties.However,there is currently a lack of a physics-informed predictive model for estimating solute segre-gation ener...The control of solute segregation at grain boundaries is of significance in engineering alloy properties.However,there is currently a lack of a physics-informed predictive model for estimating solute segre-gation energies.Here we propose novel electronic descriptors for grain-boundary segregation based on the valence,electronegativity and size of solutes.By integrating the non-local coordination number of surfaces,we build a predictive analytic framework for evaluating the segregation energies across various solutes,grain-boundary structures,and segregation sites.This framework uncovers not only the coupling rule of solutes and matrices,but also the origin of solute-segregation determinants,which stems from the d-and sp-states hybridization in alloying.Our scheme establishes a novel picture for grain-boundary segregation and provides a useful tool for the design of advanced alloys.展开更多
Rotary steering systems(RSSs)have been increasingly used to develop horizontal wells.A static push-the-bit RSS uses three hydraulic modules with varying degrees of expansion and contraction to achieve changes in the p...Rotary steering systems(RSSs)have been increasingly used to develop horizontal wells.A static push-the-bit RSS uses three hydraulic modules with varying degrees of expansion and contraction to achieve changes in the pushing force acting on the wellbore in different sizes and directions within a circular range,ultimately allowing the wellbore trajectory to be drilled in a predetermined direction.By analyzing its mathematical principles and the actual characteristics of the instrument,a vector force closed-loop control method,including steering and holding modes,was designed.The adjustment criteria for the three hydraulic modules are determined to achieve rapid adjustment of the vector force.The theoretical feasibility of the developed method was verified by comparing its results with the on-site application data of an imported rotary guidance system.展开更多
Computational approaches,encompassing both physics-based and machine learning(ML)methodologies,have gained substantial traction in drug repurposing efforts targeting specific therapeutic entities.The human dopamine(DA...Computational approaches,encompassing both physics-based and machine learning(ML)methodologies,have gained substantial traction in drug repurposing efforts targeting specific therapeutic entities.The human dopamine(DA)transporter(hDAT)is the primary therapeutic target of numerous psychiatric medications.However,traditional hDAT-targeting drugs,which interact with the primary binding site,encounter significant limitations,including addictive potential and stimulant effects.In this study,we propose an integrated workflow combining virtual screening based on weighted holistic atom localization and entity shape(WHALES)descriptors with in vitro experimental validation to repurpose novel hDAT-targeting drugs.Initially,WHALES descriptors facilitated a similarity search,employing four benztropine-like atypical inhibitors known to bind hDAT's allosteric site as templates.Consequently,from a compound library of 4,921 marketed and clinically tested drugs,we identified 27 candidate atypical inhibitors.Subsequently,ADMETlab was employed to predict the pharmacokinetic and toxicological properties of these candidates,while induced-fit docking(IFD)was performed to estimate their binding affinities.Six compounds were selected for in vitro assessments of neurotransmitter reuptake inhibitory activities.Among these,three exhibited significant inhibitory potency,with half maximal inhibitory concentration(IC_(50))values of 0.753μM,0.542μM,and 1.210μM,respectively.Finally,molecular dynamics(MD)simulations and end-point binding free energy analyses were conducted to elucidate and confirm the inhibitory mechanisms of the repurposed drugs against hDAT in its inward-open conformation.In conclusion,our study not only identifies promising active compounds as potential atypical inhibitors for novel therapeutic drug development targeting hDAT but also validates the effectiveness of our integrated computational and experimental workflow for drug repurposing.展开更多
Conventional open-loop deep brain stimulation(DBS)systems with fixed parameters fail to accommodate interindividual pathological differences in Parkinson's disease(PD)management while potentially inducing adverse ...Conventional open-loop deep brain stimulation(DBS)systems with fixed parameters fail to accommodate interindividual pathological differences in Parkinson's disease(PD)management while potentially inducing adverse effects and causing excessive energy consumption.In this paper,we present an adaptive closed-loop framework integrating a Yogi-optimized proportional–integral–derivative neural network(Yogi-PIDNN)controller.The Yogi-augmented gradient adaptation mechanism accelerates the convergence of general PIDNN controllers in high-dimensional nonlinear control systems while reducing control energy usage.In addition,a system identification method establishes input–output dynamics for pre-training stimulation waveforms,bypassing real-time parameter-tuning constraints and thereby enhancing closed-loop adaptability.Finally,a theoretical analysis based on Lyapunov stability criteria establishes a sufficient condition for closed-loop stability within the identified model.Computational validations demonstrate that our approach restores thalamic relay reliability while reducing energy consumption by(81.0±0.7)%across multi-frequency tests.This study advances adaptive neuromodulation by synergizing data-driven pre-training with stability-guaranteed real-time control,offering a novel framework for energy-efficient and personalized Parkinson's therapy.展开更多
Retinal Optical Coherence Tomography (OCT) images, a non-invasive imaging technique, have become a standard retinal disease detection tool. Due to disease, there are morphological and textural changes in the layers of...Retinal Optical Coherence Tomography (OCT) images, a non-invasive imaging technique, have become a standard retinal disease detection tool. Due to disease, there are morphological and textural changes in the layers of the retina. Classifying OCT images is challenging, as the morphological manifestations of different diseases may be similar. The OCT images capture the reflectivity characteristics of the retinal tissues. Retinal diseases change the reflectivity property of retinal tissues, resulting in texture variations in OCT images. We propose a hybrid approach to OCT image classification in which the Convolution Neural Network (CNN) model is trained using Multiple Neighborhood Local Ternary Pattern (MNLTP) texture descriptors of the OCT images dataset for a robust disease prediction system. Parallel deep CNN (PDCNN) is proposed to improve feature representation and generalizability. The MNLTP-PDCNN model is tested on two publicly available datasets. The parameter values Accuracy, Precision, Recall, and F1-Score are calculated. The best accuracy obtained specifying the model’s overall performance is 93.98% and 99% for the NEH and OCT2017 datasets, respectively. With the proposed architecture, comparable performance is obtained with a subset of the original OCT2017 data set and a comparatively smaller number of trainable parameters (1.6 million, 1.8 million, and 2.3 million for a single CNN branch, two parallel CNN branches, and three parallel network branches, respectively), compared to off-the-shelf CNN models. Hence, the proposed approach is suitable for real-time OCT image classification systems with fast training of the CNN model and reduced memory requirement for computations.展开更多
This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working...This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working environments and safety requirements.The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm.By introducing the sine function,the problem of excessive control energy of the system can be effectively solved.Moreover,an integral separation design is used to solve the influence of the integral term in conventional PID controllers on the transient performance of the system.In this paper,a common 32.98 m large fiberglass reinforced plastic(FRP)trawler is adopted for simulation research at the winds scale of Beaufort No.7.The results show that the track error is smaller than 3.5 m.The method is safe,feasible,concise and effective and has popularization value in the direction of fishing ship trajectory tracking control.This method can be used to improve the level of informatization and intelligence of fishing ships.展开更多
An optimal fuzzy tracking synthesis for nonlinear discrete-time descriptor systems is discussed through the Parallel Distributed Compensation(PDC)approach and the Proportional-Difference(P-D)feedback framework.Based o...An optimal fuzzy tracking synthesis for nonlinear discrete-time descriptor systems is discussed through the Parallel Distributed Compensation(PDC)approach and the Proportional-Difference(P-D)feedback framework.Based on the Takagi-Sugeno Fuzzy Descriptor Model(T-SFDM),a nonlinear discrete-time descriptor system is represented as several linear fuzzy subsystems,which facilitates the linear P-D feedback technique and streamlines the fuzzy controller design process.Leveraging the P-D feedback fuzzy controller,the closed-loop T-SFDM can be transformed into a standard system that guarantees non-impulsiveness and causality for the nonlinear discrete-time descriptor system.In view of the disturbance problems,a passive performance constraint is incorporated into the fuzzy tracking synthesis to achieve dissipativity of disturbance energy.To achieve a better balance between state and control responses,the H2 performance requirement is considered and a minimization constraint is applied to optimize the H2 index.It is observed that there is a lack of research focusing on both disturbance and control input issues in nonlinear descriptor systems.Extending the Lyapunov theory,a stability analysis method is proposed for the tracking purpose with the combination of the free-weighting matrix to relax the analysis process while complying multiple performance constraints.Finally,two simulation examples are presented to demonstrate the feasibility and applicability of the proposed approach in practical control scenarios for nonlinear descriptor systems.展开更多
Unmanned aerial vehicle laser scanning(ULS)and terrestrial laser scanning(TLS)systems are effective ways to capture forest structures from top and side views,respectively.The registration of TLS and ULS data is a prer...Unmanned aerial vehicle laser scanning(ULS)and terrestrial laser scanning(TLS)systems are effective ways to capture forest structures from top and side views,respectively.The registration of TLS and ULS data is a prerequisite for a comprehensive forest structure representation.Conventional registration methods based on geometric features(e.g.,points,lines,and planes)are likely to fail due to the irregular natural point distributions of forest point clouds.Currently,automatic registration methods for forest point clouds typically rely on tree attributes(such as tree position and stem diameter).However,these methods are often unsuitable for forests with diverse compositions,complex terrains,irregular tree layouts,and insufficient common trees.In this study,an automated method is proposed to register ULS and TLS forest point clouds using ground points as registration primitives,which operates independently of tree attribute extraction and is estimated to reduce processing time by over 50%.A new evaluation method for registration accuracy evaluation is proposed,where transformation parameters from each TLS scan to the ULS obtained by the proposed registration algorithm are used to derive transformation parameters between TLS scans,which are then compared to reference parameters obtained using artificial spherical targets.Conventional ULS-TLS registration evaluation methods mostly rely on the manual corresponding points selection that is subject to inherent subjective errors,or control points in both TLS and ULS data that are difficult to collect.The proposed method presents an objective and accurate solution for ULS-TLS registration accuracy evaluation that effectively eliminates these limitations.The proposed method was tested on 12 plots with diverse stem densities,tree species,and altitudes located in a mountain forest.A total of 124 TLS scans were successfully registered to ULS data.The registration accuracy was assessed using both the conventional evaluation method and the proposed new evaluation method,with average rotation errors of 2.03 and 2.06 mrad,and average translation errors of 7.63 and 6.51 cm,respectively.The registration accuracies demonstrate that the proposed algorithm effectively and accurately registers TLS to ULS point clouds.展开更多
In order to obtain a large number of correct matches with high accuracy,this article proposes a robust wide baseline point matching method,which is based on Scott s proximity matrix and uses the scale invariant featur...In order to obtain a large number of correct matches with high accuracy,this article proposes a robust wide baseline point matching method,which is based on Scott s proximity matrix and uses the scale invariant feature transform (SIFT). First,the distance between SIFT features is included in the equations of the proximity matrix to measure the similarity between two feature points; then the normalized cross correlation (NCC) used in Scott s method,which has been modified with adaptive scale and orientation,...展开更多
This paper considers the design problem of static output feedback H ∞ controllers for descriptor linear systems with linear matrix inequality (LMI) approach. Necessary and sufficient conditions for the existence of...This paper considers the design problem of static output feedback H ∞ controllers for descriptor linear systems with linear matrix inequality (LMI) approach. Necessary and sufficient conditions for the existence of a static output feedback H ∞ controller are given in terms of LMIs. Furthermore, the design method of H ∞ controllers is provided using the solutions to the LMIs.展开更多
基金supported by the National Natural Science Foundation of China (Grant Nos.T2325004 and 52161160330)the National Natural Science Foundation of China (Grants No.12504233)+2 种基金Advanced MaterialsNational Science and Technology Major Project (Grant No.2024ZD0606900)the Talent Hub for “AI+New Materials” Basic Researchthe Key Research and Development Program of Ningbo (Grant No.2025Z088)。
文摘The functional properties of glasses are governed by their formation history and the complex relaxation processes they undergo.However,under extreme conditions,glass behaviors are still elusive.In this study,we employ simulations with varied protocols to evaluate the effectiveness of different descriptors in predicting mechanical properties across both low-and high-pressure regimes.Our findings demonstrate that conventional structural and configurational descriptors fail to correlate with the mechanical response following pressure release,whereas the activation energy descriptor exhibits robust linearity with shear modulus after correcting for pressure effects.Notably,the soft mode parameter emerges as an ideal and computationally efficient alternative for capturing this mechanical behavior.These findings provide critical insights into the influence of pressure on glassy properties,integrating the distinct features of compressed glasses into a unified theoretical framework.
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korean government(MSIT)(No.2020R1C1C1005567)supported by the NAVER Digital Bio Innovation Research Fund,funded by NAVER Corporation(Grant No.[37-2023-0040])+3 种基金supported by Institute of Information&communications Technology Planning&Evaluation(IITP)grant funded by the Korea government(MSIT)(No.2020-0-00261,Development of low power/low delay/self-power suppliable RF simultaneous information and power transfer system and stretchable electronic epineurium for wireless nerve bypass implementation)supported by Institute for Basic Science(IBS-R015-D1,IBSR015-D2)supported by a grant of the Korea-US Collaborative Research Fund(KUCRF)funded by the Ministry of Science and ICT and Ministry of Health&Welfare,Republic of Korea(Grant Number.RS-2024-00467213)。
文摘Prosthetic devices designed to assist individuals with damaged or missing body parts have made significant strides,particularly with advancements in machine intelligence and bioengineering.Initially focused on movement assistance,the field has shifted towards developing prosthetics that function as seamless extensions of the human body.During this progress,a key challenge remains the reduction of interface artifacts between prosthetic components and biological tissues.Soft electronics offer a promising solution due to their structural flexibility and enhanced tissue adaptability.However,achieving full integration of prosthetics with the human body requires both artificial perception and efficient transmission of physical signals.In this context,synaptic devices have garnered attention as next-generation neuromorphic computing elements because of their low power consumption,ability to enable hardware-based learning,and high compatibility with sensing units.These devices have the potential to create artificial pathways for sensory recognition and motor responses,forming a“sensory-neuromorphic system”that emulates synaptic junctions in biological neurons,thereby connecting with impaired biological tissues.Here,we discuss recent developments in prosthetic components and neuromorphic applications with a focus on sensory perception and sensorimotor actuation.Initially,we explore a prosthetic system with advanced sensory units,mechanical softness,and artificial intelligence,followed by the hardware implementation of memory devices that combine calculation and learning functions.We then highlight the importance and mechanisms of soft-form synaptic devices that are compatible with sensing units.Furthermore,we review an artificial sensory-neuromorphic perception system that replicates various biological senses and facilitates sensorimotor loops from sensory receptors,the spinal cord,and motor neurons.Finally,we propose insights into the future of closed-loop neuroprosthetics through the technical integration of soft electronics,including bio-integrated sensors and synaptic devices,into prosthetic systems.
基金support from the National Natural Science Foundation of China(Nos.22173034,11974128,52130101)the Opening Project of State Key Laboratory of High Performance Ceramics and Superfine Microstructure(No.SKL202206SIC)+2 种基金the Program of Innovative Research Team(in Science and Technology)in University of Jilin Province,the Program for JLU(Jilin University)Science and Technology Innovative Research Team(No.2017TD-09)the Fundamental Research Funds for the Central Universitiesthe computing resources of the High Performance Computing Center of Jilin University,China.
文摘The control of solute segregation at grain boundaries is of significance in engineering alloy properties.However,there is currently a lack of a physics-informed predictive model for estimating solute segre-gation energies.Here we propose novel electronic descriptors for grain-boundary segregation based on the valence,electronegativity and size of solutes.By integrating the non-local coordination number of surfaces,we build a predictive analytic framework for evaluating the segregation energies across various solutes,grain-boundary structures,and segregation sites.This framework uncovers not only the coupling rule of solutes and matrices,but also the origin of solute-segregation determinants,which stems from the d-and sp-states hybridization in alloying.Our scheme establishes a novel picture for grain-boundary segregation and provides a useful tool for the design of advanced alloys.
基金supported by the Opening Foundation of China National Logging Corporation(CNLC20229C06)the China Petroleum Technical Service Corporation's science project'Development and application of 475 rotary steering system'(2024T-001001)。
文摘Rotary steering systems(RSSs)have been increasingly used to develop horizontal wells.A static push-the-bit RSS uses three hydraulic modules with varying degrees of expansion and contraction to achieve changes in the pushing force acting on the wellbore in different sizes and directions within a circular range,ultimately allowing the wellbore trajectory to be drilled in a predetermined direction.By analyzing its mathematical principles and the actual characteristics of the instrument,a vector force closed-loop control method,including steering and holding modes,was designed.The adjustment criteria for the three hydraulic modules are determined to achieve rapid adjustment of the vector force.The theoretical feasibility of the developed method was verified by comparing its results with the on-site application data of an imported rotary guidance system.
基金supported by the Natural Science Foundation of China(Grant No.:21505009)the Natural Science Foundation of Chongqing,China(Grant No.:2023NSCQ-MSX0140)the Open Project of Central Nervous System Drug Key Laboratory of Sichuan Province,China(Grant No.:230012-01SZ).
文摘Computational approaches,encompassing both physics-based and machine learning(ML)methodologies,have gained substantial traction in drug repurposing efforts targeting specific therapeutic entities.The human dopamine(DA)transporter(hDAT)is the primary therapeutic target of numerous psychiatric medications.However,traditional hDAT-targeting drugs,which interact with the primary binding site,encounter significant limitations,including addictive potential and stimulant effects.In this study,we propose an integrated workflow combining virtual screening based on weighted holistic atom localization and entity shape(WHALES)descriptors with in vitro experimental validation to repurpose novel hDAT-targeting drugs.Initially,WHALES descriptors facilitated a similarity search,employing four benztropine-like atypical inhibitors known to bind hDAT's allosteric site as templates.Consequently,from a compound library of 4,921 marketed and clinically tested drugs,we identified 27 candidate atypical inhibitors.Subsequently,ADMETlab was employed to predict the pharmacokinetic and toxicological properties of these candidates,while induced-fit docking(IFD)was performed to estimate their binding affinities.Six compounds were selected for in vitro assessments of neurotransmitter reuptake inhibitory activities.Among these,three exhibited significant inhibitory potency,with half maximal inhibitory concentration(IC_(50))values of 0.753μM,0.542μM,and 1.210μM,respectively.Finally,molecular dynamics(MD)simulations and end-point binding free energy analyses were conducted to elucidate and confirm the inhibitory mechanisms of the repurposed drugs against hDAT in its inward-open conformation.In conclusion,our study not only identifies promising active compounds as potential atypical inhibitors for novel therapeutic drug development targeting hDAT but also validates the effectiveness of our integrated computational and experimental workflow for drug repurposing.
基金supported by the National Natural Science Foundation of China(Grant Nos.12372064 and 12172291)the Youth and Middle-Aged Science and Technology Development Program of Shanghai Institute of Technology(Grant No.ZQ2024-10)。
文摘Conventional open-loop deep brain stimulation(DBS)systems with fixed parameters fail to accommodate interindividual pathological differences in Parkinson's disease(PD)management while potentially inducing adverse effects and causing excessive energy consumption.In this paper,we present an adaptive closed-loop framework integrating a Yogi-optimized proportional–integral–derivative neural network(Yogi-PIDNN)controller.The Yogi-augmented gradient adaptation mechanism accelerates the convergence of general PIDNN controllers in high-dimensional nonlinear control systems while reducing control energy usage.In addition,a system identification method establishes input–output dynamics for pre-training stimulation waveforms,bypassing real-time parameter-tuning constraints and thereby enhancing closed-loop adaptability.Finally,a theoretical analysis based on Lyapunov stability criteria establishes a sufficient condition for closed-loop stability within the identified model.Computational validations demonstrate that our approach restores thalamic relay reliability while reducing energy consumption by(81.0±0.7)%across multi-frequency tests.This study advances adaptive neuromodulation by synergizing data-driven pre-training with stability-guaranteed real-time control,offering a novel framework for energy-efficient and personalized Parkinson's therapy.
基金Deanship of Research and Graduate Studies at King Khalid University funded this work through Large Research Project under grant number RGP2/54/45.
文摘Retinal Optical Coherence Tomography (OCT) images, a non-invasive imaging technique, have become a standard retinal disease detection tool. Due to disease, there are morphological and textural changes in the layers of the retina. Classifying OCT images is challenging, as the morphological manifestations of different diseases may be similar. The OCT images capture the reflectivity characteristics of the retinal tissues. Retinal diseases change the reflectivity property of retinal tissues, resulting in texture variations in OCT images. We propose a hybrid approach to OCT image classification in which the Convolution Neural Network (CNN) model is trained using Multiple Neighborhood Local Ternary Pattern (MNLTP) texture descriptors of the OCT images dataset for a robust disease prediction system. Parallel deep CNN (PDCNN) is proposed to improve feature representation and generalizability. The MNLTP-PDCNN model is tested on two publicly available datasets. The parameter values Accuracy, Precision, Recall, and F1-Score are calculated. The best accuracy obtained specifying the model’s overall performance is 93.98% and 99% for the NEH and OCT2017 datasets, respectively. With the proposed architecture, comparable performance is obtained with a subset of the original OCT2017 data set and a comparatively smaller number of trainable parameters (1.6 million, 1.8 million, and 2.3 million for a single CNN branch, two parallel CNN branches, and three parallel network branches, respectively), compared to off-the-shelf CNN models. Hence, the proposed approach is suitable for real-time OCT image classification systems with fast training of the CNN model and reduced memory requirement for computations.
基金supported by Liaoning Provincial Department of Education 2023 Basic Research Projects for Universities and Colleges(Grant No.JYTQN2023131)Liaoning Provincial Science and Technology Program:Cooperative Control and Recognition of Unmanned Vessels for Fishing Vessel Operation Scenarios(Grant No.600024003)Liaoning Provincial Department of Education Scientific Research Funding Project(Grant No.LJKZ0726).
文摘This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working environments and safety requirements.The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm.By introducing the sine function,the problem of excessive control energy of the system can be effectively solved.Moreover,an integral separation design is used to solve the influence of the integral term in conventional PID controllers on the transient performance of the system.In this paper,a common 32.98 m large fiberglass reinforced plastic(FRP)trawler is adopted for simulation research at the winds scale of Beaufort No.7.The results show that the track error is smaller than 3.5 m.The method is safe,feasible,concise and effective and has popularization value in the direction of fishing ship trajectory tracking control.This method can be used to improve the level of informatization and intelligence of fishing ships.
基金founded by the National Science and Technology Council(Taiwan)under contract NSTC113-2221-E-019-032.
文摘An optimal fuzzy tracking synthesis for nonlinear discrete-time descriptor systems is discussed through the Parallel Distributed Compensation(PDC)approach and the Proportional-Difference(P-D)feedback framework.Based on the Takagi-Sugeno Fuzzy Descriptor Model(T-SFDM),a nonlinear discrete-time descriptor system is represented as several linear fuzzy subsystems,which facilitates the linear P-D feedback technique and streamlines the fuzzy controller design process.Leveraging the P-D feedback fuzzy controller,the closed-loop T-SFDM can be transformed into a standard system that guarantees non-impulsiveness and causality for the nonlinear discrete-time descriptor system.In view of the disturbance problems,a passive performance constraint is incorporated into the fuzzy tracking synthesis to achieve dissipativity of disturbance energy.To achieve a better balance between state and control responses,the H2 performance requirement is considered and a minimization constraint is applied to optimize the H2 index.It is observed that there is a lack of research focusing on both disturbance and control input issues in nonlinear descriptor systems.Extending the Lyapunov theory,a stability analysis method is proposed for the tracking purpose with the combination of the free-weighting matrix to relax the analysis process while complying multiple performance constraints.Finally,two simulation examples are presented to demonstrate the feasibility and applicability of the proposed approach in practical control scenarios for nonlinear descriptor systems.
基金supported partially by the National Key Research and Development Program of China(No.2023YFF1303901)the National Natural Science Foundation of China(Nos.32171789,12411530088,and 32371654)the Joint Open Funded Project of State Key Laboratory of Geo-Information Engineering and Key Laboratory of the Ministry of Natural Resources for Surveying and Mapping Science and Geo-spatial Information Technology(No.2022-02-02).
文摘Unmanned aerial vehicle laser scanning(ULS)and terrestrial laser scanning(TLS)systems are effective ways to capture forest structures from top and side views,respectively.The registration of TLS and ULS data is a prerequisite for a comprehensive forest structure representation.Conventional registration methods based on geometric features(e.g.,points,lines,and planes)are likely to fail due to the irregular natural point distributions of forest point clouds.Currently,automatic registration methods for forest point clouds typically rely on tree attributes(such as tree position and stem diameter).However,these methods are often unsuitable for forests with diverse compositions,complex terrains,irregular tree layouts,and insufficient common trees.In this study,an automated method is proposed to register ULS and TLS forest point clouds using ground points as registration primitives,which operates independently of tree attribute extraction and is estimated to reduce processing time by over 50%.A new evaluation method for registration accuracy evaluation is proposed,where transformation parameters from each TLS scan to the ULS obtained by the proposed registration algorithm are used to derive transformation parameters between TLS scans,which are then compared to reference parameters obtained using artificial spherical targets.Conventional ULS-TLS registration evaluation methods mostly rely on the manual corresponding points selection that is subject to inherent subjective errors,or control points in both TLS and ULS data that are difficult to collect.The proposed method presents an objective and accurate solution for ULS-TLS registration accuracy evaluation that effectively eliminates these limitations.The proposed method was tested on 12 plots with diverse stem densities,tree species,and altitudes located in a mountain forest.A total of 124 TLS scans were successfully registered to ULS data.The registration accuracy was assessed using both the conventional evaluation method and the proposed new evaluation method,with average rotation errors of 2.03 and 2.06 mrad,and average translation errors of 7.63 and 6.51 cm,respectively.The registration accuracies demonstrate that the proposed algorithm effectively and accurately registers TLS to ULS point clouds.
基金National High-tech Research and Development Program (2007AA01Z314)National Natural Science Foundation of China (60873085)
文摘In order to obtain a large number of correct matches with high accuracy,this article proposes a robust wide baseline point matching method,which is based on Scott s proximity matrix and uses the scale invariant feature transform (SIFT). First,the distance between SIFT features is included in the equations of the proximity matrix to measure the similarity between two feature points; then the normalized cross correlation (NCC) used in Scott s method,which has been modified with adaptive scale and orientation,...
文摘This paper considers the design problem of static output feedback H ∞ controllers for descriptor linear systems with linear matrix inequality (LMI) approach. Necessary and sufficient conditions for the existence of a static output feedback H ∞ controller are given in terms of LMIs. Furthermore, the design method of H ∞ controllers is provided using the solutions to the LMIs.
