Assembly sketch is not only the visualization of abstract function, but alsothe template of detail design. Two kinds of information are needed to create assembly sketch:structure and assembly constraint. Most research...Assembly sketch is not only the visualization of abstract function, but alsothe template of detail design. Two kinds of information are needed to create assembly sketch:structure and assembly constraint. Most researches are aimed at bow to obtain Structures fromfunction, but the problem of how to obtain assembly constraint from function is ignored. Followingthe definition of assembly unit and the classification of function, a hierarchical mapping methodfrom function to assembly constraint is put forward, and the mapping method includes two steps. Thefirst step is the mapping from function to assembly semantics which is assembly expression andaccordant with engineer's design habit. The second one is the mapping from assembly semantics tobasic assembly constraints that are convenient for computer to handle. The mapping method is appliedto DDMS (design, drafting and management system) successfully.展开更多
An integral constitutive equation and a set of material functions for describing the strain history of polymer melts were formulated in terms of the Cauchy-Green and Finger tensors. A simple memory function and the de...An integral constitutive equation and a set of material functions for describing the strain history of polymer melts were formulated in terms of the Cauchy-Green and Finger tensors. A simple memory function and the dependence of ηo and τt on M3.4 were derived from the theory of non-linear viscoelasticity with constraints of entanglements for polymer melts and substituted into the Oldroye-Walters-Fredickson constitutive equation. An integral constitutive equation for polymer melts was consequently obtained. Some material functions of the constitutive equation related to certain 'test flow' are examined as follows : (1) simple steady shear flow; (2) steady elongation flow; (3) small-amplitude oscillatory shear flow; (4) stress growth upon the inception of steady shear elongation flow; (5) stress relaxation (modulus and compllance). These theoretical relations for simple steady shear flow were compared with experimental data from our laboratory and references for various polymer melts and concentrated solutions. A good agreement between the theory and experiment was achieved.展开更多
Stroke patients with hemiplegia exhibit flexor spasms in the upper limb and extensor spasms in the lower limb, and their movement patterns vary greatly. Constraint-induced movement therapy is an upper limb rehabilitat...Stroke patients with hemiplegia exhibit flexor spasms in the upper limb and extensor spasms in the lower limb, and their movement patterns vary greatly. Constraint-induced movement therapy is an upper limb rehabilitation technique used in stroke patients with hemiplegia; however, studies of lower extremity rehabilitation are scarce. In this study, stroke patients with lower limb hemiplegia underwent conventional Bobath therapy for 4 weeks as baseline treatment, followed by constraint-induced movement therapy for an additional 4 weeks. The 10-m maximum walking speed and Berg balance scale scores significantly improved following treatment, and lower extremity motor function also improved. The results of functional MRI showed that constraint-induced movement therapy alleviates the reduction in cerebral functional activation in patients, which indicates activation of functional brain regions and a significant increase in cerebral blood perfusJon. These results demonstrate that constraint-induced movement therapy promotes brain functional reorganization in stroke patients with lower limb hemiplegia.展开更多
In this paper, the admissibility of multivariate linear regression coefficient with respect to an inequality constraint under balanced loss function is investigated. Necessary and sufficient conditions for admissible ...In this paper, the admissibility of multivariate linear regression coefficient with respect to an inequality constraint under balanced loss function is investigated. Necessary and sufficient conditions for admissible homogeneous and inhomogeneous linear estimators are obtained, respectively.展开更多
The development of the capabilities of computational tools has created up new possibilities for the effective use of a number of classical mathematical methods and algorithms for solving many important problems in the...The development of the capabilities of computational tools has created up new possibilities for the effective use of a number of classical mathematical methods and algorithms for solving many important problems in the power engineering. In particular, a set of algorithms are developed to optimize the modes of electric power systems based on genetic algorithms. At the same time, the issues of taking into account functional constraints in solving such problems by genetic algorithms need to be improved. In accordance with it in this article the problems of taking into account of different constraints in optimization of modes of power systems using genetic algorithms are considered. The algorithm of optimization by genetic algorithm taking into account of functional constraints in forms of equality and inequality by penalty functions is proposed. The results of research of proposed algorithm’s efficiency in example of optimization of mode of power system with 8 buses, 4 thermal power plants and 3 transmission lines with controlled power flow are presented.展开更多
In this study, stroke patients received constraint-induced movement therapy for 3 weeks. Before and after constraint-induced movement therapy, the flexibility of their upper limbs on the affected side was assessed usi...In this study, stroke patients received constraint-induced movement therapy for 3 weeks. Before and after constraint-induced movement therapy, the flexibility of their upper limbs on the affected side was assessed using the Wolf motor function test, and daily use of their affected limbs was assessed using the movement activities log, and cerebral functional reorganization was assessed by functional magnetic resonance imaging. The Wolf motor function test score and the movement activities log quantity and quality scores were significantly increased, while action performance time in the Wolf motor function test was significantly decreased after constraint-induced movement therapy. By functional magnetic resonance imaging examination, only scattered activation points were visible on the affected side before therapy. In contrast, the volume of the activated area was increased after therapy. The activation volume in the sensorimotor area was significantly different before and after therapy, and the activation area increased and appeared adjusted. In addition to the activated area around the lesions being decreased, there were also some new activated areas, including the supplementary movement area, premotor area and the ipsilateral sensorimotor area. Our findings indicate that constraint-induced movement therapy significantly improves the movement ability and daily use of the affected upper limbs in stroke patients and promotes cerebral functional reorganization.展开更多
In this paper, we present an algorithm to solve the inequality constrained multi-objective programming (MP) by using a penalty function with objective parameters and constraint penalty parameter. First, the penalty fu...In this paper, we present an algorithm to solve the inequality constrained multi-objective programming (MP) by using a penalty function with objective parameters and constraint penalty parameter. First, the penalty function with objective parameters and constraint penalty parameter for MP and the corresponding unconstraint penalty optimization problem (UPOP) is defined. Under some conditions, a Pareto efficient solution (or a weakly-efficient solution) to UPOP is proved to be a Pareto efficient solution (or a weakly-efficient solution) to MP. The penalty function is proved to be exact under a stable condition. Then, we design an algorithm to solve MP and prove its convergence. Finally, numerical examples show that the algorithm may help decision makers to find a satisfactory solution to MP.展开更多
Sequence and intensity are two essential components of bird moult.While the moult sequences of remex tracts are highly homogenous across passerines,other tracts apparently show a high variability.Moreover,order of mou...Sequence and intensity are two essential components of bird moult.While the moult sequences of remex tracts are highly homogenous across passerines,other tracts apparently show a high variability.Moreover,order of moult activation among tracts are insufficiently known.Likewise,dynamics of moult intensity as moult progresses remains poorly known.Here,we provide detailed quantitative description of moult sequence and intensity in the House Sparrow(Passer domesticus).To understand their role,we tested two hypotheses on the:1) protection function of moult sequence,and 2) aerodynamic and physiological constraints on moult intensity.We scored percentage growth of 313 captured sparrows using the mass of the feathers of each tract(also length for remiges)to monitor moult intensity throughout the complete moult progress,which is defined as the fraction of new and growing feathers in a moulting bird relative to the total plumage.Moult sequence was highly variable both within wing coverts and among feather tracts,with moult sequence differing among all birds to some degree.We only found support for the protection function between greater coverts and both tertials and secondaries.Remex-moult intensity conformed to theoretical predictions,therefore lending support to the aerodynamic-constraint hypothesis.Furthermore,remex-moult speed plateaued during the central stages of moult progress.However,overall plumage-moult speed did not fit predictions of the physiological-constraint hypothesis,showing that the remex moult is only constrained by aerodynamics.Our results indicate that aerodynamic loss is not simply the inevitable effect of moult,but that moult is finely regulated to reduce aerodynamic loss.We propose that the moult of the House Sparrow is controlled through sequence and intensity adjustments in order to:1) avoid body and wing growth peaks;2) fulfil the protection function between some key feather tracts;3) reduce detrimental effects on flight ability;4) keep remex sequence fixed;and 5) relax remex replacement to last the whole moult duration.展开更多
A new algorithm based on genetic algorithm(GA) is developed for solving function optimization problems with inequality constraints. This algorithm has been used to a series of standard test problems and exhibited good...A new algorithm based on genetic algorithm(GA) is developed for solving function optimization problems with inequality constraints. This algorithm has been used to a series of standard test problems and exhibited good performance. The computation results show that its generality, precision, robustness, simplicity and performance are all satisfactory.展开更多
Estimating the spatial distribution of coseismic slip is an ill-posed inverse problem, and solutions may be extremely oscillatory due to measurement errors without any constraints on the coseismic slip distribution. I...Estimating the spatial distribution of coseismic slip is an ill-posed inverse problem, and solutions may be extremely oscillatory due to measurement errors without any constraints on the coseismic slip distribution. In order to obtain stable solution for coseismic slip inversion, regularization method with smoothness-constrained was imposed. Trade-off parameter in regularized inversion, which balances the minimization of the data misfit and model roughness, should be a critical procedure to achieve both resolution and stability. Then, the active constraint balancing approach is adopted, in which the trade-off parameter is regarded as a spatial variable at each model parameter and automatically determined via the model resolution matrix and the spread function. Numerical experiments for a synthetical model indicate that regularized inversion using active constraint balancing approach can provides stable inversion results and have low sensitivity to the knowledge of the exact character of the Gaussian noise. Regularized inversion combined with active constraint balancing approach is conducted on the 2005 Nias earthquake. The released moment based on the estimated coseismic slip distribution is 9.91×1021 N·m, which is equivalent to a moment magnitude of 8.6 and almost identical to the value determined by USGS. The inversion results for synthetic coseismic uniform-slip model and the 2005 earthquake show that smoothness-constrained regularized inversion method combined with active constraint balancing approach is effective, and can be reasonable to reconstruct coseismic slip distribution on fault.展开更多
OBJECTIVE： The aim of this meta-analysis was to evaluate the clinical efficacy of constraint-induced movement therapy in acute and sub-acute stroke. DATA SOURCES： The key words were stroke, cerebrovascular accident,...OBJECTIVE： The aim of this meta-analysis was to evaluate the clinical efficacy of constraint-induced movement therapy in acute and sub-acute stroke. DATA SOURCES： The key words were stroke, cerebrovascular accident, constraint-induced therapy, forced use, and randomized controlled trial. The databases, including China National Knowledge Infrastructure, WanFang, Weipu Information Resources System, Chinese Biomedical Literature Database, PubMed, Med- line, Embase, the Cochrane Central Register of Controlled Trials, and the Cochrane Database of Systematic Reviews, were searched for studies on randomized controlled trials for treating acute or sub-acute stroke published before March 2016. DATA SELECTION： We retrieved relevant randomized controlled trials that compared constraint-induced movement therapy in treatment of acute or sub-acute stroke with traditional rehabilitation therapy （tradi- tional occupational therapy）. Patients were older than 18 years, had disease courses less than 6 months, and were evaluated with at least one upper extremity function scale. Study quality was evaluated, and data that met the criteria were extracted. Stata 11.0 software was used for the meta-analysis. OUTCOME MEASURES： Fugl-Meyer motor assessment of the arm, the action research-arm test, a motor activity log for amount of use and quality of movement, the Wolf motor function test, and a modified Bar- thel index. RESULTS： A total of 16 prospective randomized controlled trials （379 patients in the constraint-induced movement-therapy group and 359 in the control group） met inclusion criteria. Analysis showed significant mean differences in favor of constraint-induced movement therapy for the Fugl-Meyer motor assessment of the arm （weighted mean difference （WMD） = 10.822; 95% confidence intervals （95% CI）： 7.419-14.226）, the action research-arm test （WMD = 10.718; 95% CI： 5.704-15.733）, the motor activity log for amount of use and quality of movement （WMD = 0.812; 95% CI： 0.331-1.293） and the modified Barthel index （WMD = 10.706; 95% CI： 4.417-16.966）. CONCLUSION： Constraint-induced movement therapy may be more beneficial than traditional rehabili- tation therapy for improving upper limb function after acute or sub-acute stroke.展开更多
A kind of direct methods is presented for the solution of optimal control problems with state constraints. These methods are sequential quadratic programming methods. At every iteration a quadratic programming which i...A kind of direct methods is presented for the solution of optimal control problems with state constraints. These methods are sequential quadratic programming methods. At every iteration a quadratic programming which is obtained by quadratic approximation to Lagrangian function and linear approximations to constraints is solved to get a search direction for a merit function. The merit function is formulated by augmenting the Lagrangian function with a penalty term. A line search is carried out along the search direction to determine a step length such that the merit function is decreased. The methods presented in this paper include continuous sequential quadratic programming methods and discreate sequential quadratic programming methods.展开更多
针对机械臂在运行过程中因输入输出受限、外界未知干扰以及自身动力学参数不确定性导致控制精度低和抗干扰能力差的问题,提出基于时变正切型障碍李雅普诺夫函数的自适应反步滑模控制方法(adaptive backstepping sliding mode control fo...针对机械臂在运行过程中因输入输出受限、外界未知干扰以及自身动力学参数不确定性导致控制精度低和抗干扰能力差的问题,提出基于时变正切型障碍李雅普诺夫函数的自适应反步滑模控制方法(adaptive backstepping sliding mode control for time-varying tangent barrier Lyapunov,TTBLF-ABSMC)。首先,通过设计饱和补偿系统解决输入受限问题,提高控制系统的稳定性;其次,将外界未知干扰与自身动力学参数不确定性视为复合干扰,设计反馈自适应律对其做出准确估计;同时,采用时变正切型障碍李雅普诺夫函数将位置误差和速度误差限制在时变范围内;最后,通过李雅普诺夫理论分析证明闭环控制系统是有界稳定的。仿真实验结果表明:与采取时变对数型障碍李雅普诺夫函数的控制方法相比,该控制方法使机械臂关节1、2的跟踪误差分别降低了58%、33%;相比于未考虑输入受限方法,该控制方法在关节1、2的轨迹跟踪响应速度分别提升了69%、50%,有效的提高了系统的控制精度和抗干扰能力。展开更多
In this article, we focus to study about modified objective function approach for multiobjective optimization problem with vanishing constraints. An equivalent η-approximated multiobjective optimization problem is co...In this article, we focus to study about modified objective function approach for multiobjective optimization problem with vanishing constraints. An equivalent η-approximated multiobjective optimization problem is constructed by a modification of the objective function in the original considered optimization problem. Furthermore, we discuss saddle point criteria for the aforesaid problem. Moreover, we present some examples to verify the established results.展开更多
In this paper, a hybrid predictive controller is proposed for a class of uncertain switched nonlinear systems based on high-order differential state observers and Lyapunov functions. The main idea is to design an outp...In this paper, a hybrid predictive controller is proposed for a class of uncertain switched nonlinear systems based on high-order differential state observers and Lyapunov functions. The main idea is to design an output feedback bounded controller and a predictive controller for each subsystem using high-order differential state observers and Lyapunov functions, to derive a suitable switched law to stabilize the closed-loop subsystem, and to provide an explicitly characterized set of initial conditions. For the whole switched system, based on the high-order differentiator, a suitable switched law is designed to ensure the whole closed-loop’s stability. The simulation results for a chemical process show the validity of the controller proposed in this paper.展开更多
基金This project is supported by National Natural Science Foundation of China (No.50075080, No.50275133)Provincial Natural Science Foundation of Zhejiang (No.602039).
文摘Assembly sketch is not only the visualization of abstract function, but alsothe template of detail design. Two kinds of information are needed to create assembly sketch:structure and assembly constraint. Most researches are aimed at bow to obtain Structures fromfunction, but the problem of how to obtain assembly constraint from function is ignored. Followingthe definition of assembly unit and the classification of function, a hierarchical mapping methodfrom function to assembly constraint is put forward, and the mapping method includes two steps. Thefirst step is the mapping from function to assembly semantics which is assembly expression andaccordant with engineer's design habit. The second one is the mapping from assembly semantics tobasic assembly constraints that are convenient for computer to handle. The mapping method is appliedto DDMS (design, drafting and management system) successfully.
文摘An integral constitutive equation and a set of material functions for describing the strain history of polymer melts were formulated in terms of the Cauchy-Green and Finger tensors. A simple memory function and the dependence of ηo and τt on M3.4 were derived from the theory of non-linear viscoelasticity with constraints of entanglements for polymer melts and substituted into the Oldroye-Walters-Fredickson constitutive equation. An integral constitutive equation for polymer melts was consequently obtained. Some material functions of the constitutive equation related to certain 'test flow' are examined as follows : (1) simple steady shear flow; (2) steady elongation flow; (3) small-amplitude oscillatory shear flow; (4) stress growth upon the inception of steady shear elongation flow; (5) stress relaxation (modulus and compllance). These theoretical relations for simple steady shear flow were compared with experimental data from our laboratory and references for various polymer melts and concentrated solutions. A good agreement between the theory and experiment was achieved.
文摘Stroke patients with hemiplegia exhibit flexor spasms in the upper limb and extensor spasms in the lower limb, and their movement patterns vary greatly. Constraint-induced movement therapy is an upper limb rehabilitation technique used in stroke patients with hemiplegia; however, studies of lower extremity rehabilitation are scarce. In this study, stroke patients with lower limb hemiplegia underwent conventional Bobath therapy for 4 weeks as baseline treatment, followed by constraint-induced movement therapy for an additional 4 weeks. The 10-m maximum walking speed and Berg balance scale scores significantly improved following treatment, and lower extremity motor function also improved. The results of functional MRI showed that constraint-induced movement therapy alleviates the reduction in cerebral functional activation in patients, which indicates activation of functional brain regions and a significant increase in cerebral blood perfusJon. These results demonstrate that constraint-induced movement therapy promotes brain functional reorganization in stroke patients with lower limb hemiplegia.
基金Supported by the National Natural Science Foundation of China (Grant No.11201005)the Natural Science Foundation of Anhui Province (Grant Nos.1308085QA13+2 种基金1208085MA11)the Key Project of Natural Science Foundation of Universities in Anhui Province (Grant No.KJ2012A135)the Key Project of Distinguished Young Talents of Universities in Anhui Province (Grant No.2012SQRL028ZD)
文摘In this paper, the admissibility of multivariate linear regression coefficient with respect to an inequality constraint under balanced loss function is investigated. Necessary and sufficient conditions for admissible homogeneous and inhomogeneous linear estimators are obtained, respectively.
文摘The development of the capabilities of computational tools has created up new possibilities for the effective use of a number of classical mathematical methods and algorithms for solving many important problems in the power engineering. In particular, a set of algorithms are developed to optimize the modes of electric power systems based on genetic algorithms. At the same time, the issues of taking into account functional constraints in solving such problems by genetic algorithms need to be improved. In accordance with it in this article the problems of taking into account of different constraints in optimization of modes of power systems using genetic algorithms are considered. The algorithm of optimization by genetic algorithm taking into account of functional constraints in forms of equality and inequality by penalty functions is proposed. The results of research of proposed algorithm’s efficiency in example of optimization of mode of power system with 8 buses, 4 thermal power plants and 3 transmission lines with controlled power flow are presented.
基金funded by Capital Medical Development Foundation, No. 2009-2098
文摘In this study, stroke patients received constraint-induced movement therapy for 3 weeks. Before and after constraint-induced movement therapy, the flexibility of their upper limbs on the affected side was assessed using the Wolf motor function test, and daily use of their affected limbs was assessed using the movement activities log, and cerebral functional reorganization was assessed by functional magnetic resonance imaging. The Wolf motor function test score and the movement activities log quantity and quality scores were significantly increased, while action performance time in the Wolf motor function test was significantly decreased after constraint-induced movement therapy. By functional magnetic resonance imaging examination, only scattered activation points were visible on the affected side before therapy. In contrast, the volume of the activated area was increased after therapy. The activation volume in the sensorimotor area was significantly different before and after therapy, and the activation area increased and appeared adjusted. In addition to the activated area around the lesions being decreased, there were also some new activated areas, including the supplementary movement area, premotor area and the ipsilateral sensorimotor area. Our findings indicate that constraint-induced movement therapy significantly improves the movement ability and daily use of the affected upper limbs in stroke patients and promotes cerebral functional reorganization.
文摘In this paper, we present an algorithm to solve the inequality constrained multi-objective programming (MP) by using a penalty function with objective parameters and constraint penalty parameter. First, the penalty function with objective parameters and constraint penalty parameter for MP and the corresponding unconstraint penalty optimization problem (UPOP) is defined. Under some conditions, a Pareto efficient solution (or a weakly-efficient solution) to UPOP is proved to be a Pareto efficient solution (or a weakly-efficient solution) to MP. The penalty function is proved to be exact under a stable condition. Then, we design an algorithm to solve MP and prove its convergence. Finally, numerical examples show that the algorithm may help decision makers to find a satisfactory solution to MP.
基金the Natural Sciences Museum of Barcelona(PASSERCAT-2 project)to JQ.
文摘Sequence and intensity are two essential components of bird moult.While the moult sequences of remex tracts are highly homogenous across passerines,other tracts apparently show a high variability.Moreover,order of moult activation among tracts are insufficiently known.Likewise,dynamics of moult intensity as moult progresses remains poorly known.Here,we provide detailed quantitative description of moult sequence and intensity in the House Sparrow(Passer domesticus).To understand their role,we tested two hypotheses on the:1) protection function of moult sequence,and 2) aerodynamic and physiological constraints on moult intensity.We scored percentage growth of 313 captured sparrows using the mass of the feathers of each tract(also length for remiges)to monitor moult intensity throughout the complete moult progress,which is defined as the fraction of new and growing feathers in a moulting bird relative to the total plumage.Moult sequence was highly variable both within wing coverts and among feather tracts,with moult sequence differing among all birds to some degree.We only found support for the protection function between greater coverts and both tertials and secondaries.Remex-moult intensity conformed to theoretical predictions,therefore lending support to the aerodynamic-constraint hypothesis.Furthermore,remex-moult speed plateaued during the central stages of moult progress.However,overall plumage-moult speed did not fit predictions of the physiological-constraint hypothesis,showing that the remex moult is only constrained by aerodynamics.Our results indicate that aerodynamic loss is not simply the inevitable effect of moult,but that moult is finely regulated to reduce aerodynamic loss.We propose that the moult of the House Sparrow is controlled through sequence and intensity adjustments in order to:1) avoid body and wing growth peaks;2) fulfil the protection function between some key feather tracts;3) reduce detrimental effects on flight ability;4) keep remex sequence fixed;and 5) relax remex replacement to last the whole moult duration.
文摘A new algorithm based on genetic algorithm(GA) is developed for solving function optimization problems with inequality constraints. This algorithm has been used to a series of standard test problems and exhibited good performance. The computation results show that its generality, precision, robustness, simplicity and performance are all satisfactory.
基金Projects(41604111,41541036) supported by the National Natural Science Foundation of China
文摘Estimating the spatial distribution of coseismic slip is an ill-posed inverse problem, and solutions may be extremely oscillatory due to measurement errors without any constraints on the coseismic slip distribution. In order to obtain stable solution for coseismic slip inversion, regularization method with smoothness-constrained was imposed. Trade-off parameter in regularized inversion, which balances the minimization of the data misfit and model roughness, should be a critical procedure to achieve both resolution and stability. Then, the active constraint balancing approach is adopted, in which the trade-off parameter is regarded as a spatial variable at each model parameter and automatically determined via the model resolution matrix and the spread function. Numerical experiments for a synthetical model indicate that regularized inversion using active constraint balancing approach can provides stable inversion results and have low sensitivity to the knowledge of the exact character of the Gaussian noise. Regularized inversion combined with active constraint balancing approach is conducted on the 2005 Nias earthquake. The released moment based on the estimated coseismic slip distribution is 9.91×1021 N·m, which is equivalent to a moment magnitude of 8.6 and almost identical to the value determined by USGS. The inversion results for synthetic coseismic uniform-slip model and the 2005 earthquake show that smoothness-constrained regularized inversion method combined with active constraint balancing approach is effective, and can be reasonable to reconstruct coseismic slip distribution on fault.
基金supported by the Natural Science Foundation of Shandong Province of China,No.2014ZRB14502
文摘OBJECTIVE： The aim of this meta-analysis was to evaluate the clinical efficacy of constraint-induced movement therapy in acute and sub-acute stroke. DATA SOURCES： The key words were stroke, cerebrovascular accident, constraint-induced therapy, forced use, and randomized controlled trial. The databases, including China National Knowledge Infrastructure, WanFang, Weipu Information Resources System, Chinese Biomedical Literature Database, PubMed, Med- line, Embase, the Cochrane Central Register of Controlled Trials, and the Cochrane Database of Systematic Reviews, were searched for studies on randomized controlled trials for treating acute or sub-acute stroke published before March 2016. DATA SELECTION： We retrieved relevant randomized controlled trials that compared constraint-induced movement therapy in treatment of acute or sub-acute stroke with traditional rehabilitation therapy （tradi- tional occupational therapy）. Patients were older than 18 years, had disease courses less than 6 months, and were evaluated with at least one upper extremity function scale. Study quality was evaluated, and data that met the criteria were extracted. Stata 11.0 software was used for the meta-analysis. OUTCOME MEASURES： Fugl-Meyer motor assessment of the arm, the action research-arm test, a motor activity log for amount of use and quality of movement, the Wolf motor function test, and a modified Bar- thel index. RESULTS： A total of 16 prospective randomized controlled trials （379 patients in the constraint-induced movement-therapy group and 359 in the control group） met inclusion criteria. Analysis showed significant mean differences in favor of constraint-induced movement therapy for the Fugl-Meyer motor assessment of the arm （weighted mean difference （WMD） = 10.822; 95% confidence intervals （95% CI）： 7.419-14.226）, the action research-arm test （WMD = 10.718; 95% CI： 5.704-15.733）, the motor activity log for amount of use and quality of movement （WMD = 0.812; 95% CI： 0.331-1.293） and the modified Barthel index （WMD = 10.706; 95% CI： 4.417-16.966）. CONCLUSION： Constraint-induced movement therapy may be more beneficial than traditional rehabili- tation therapy for improving upper limb function after acute or sub-acute stroke.
文摘A kind of direct methods is presented for the solution of optimal control problems with state constraints. These methods are sequential quadratic programming methods. At every iteration a quadratic programming which is obtained by quadratic approximation to Lagrangian function and linear approximations to constraints is solved to get a search direction for a merit function. The merit function is formulated by augmenting the Lagrangian function with a penalty term. A line search is carried out along the search direction to determine a step length such that the merit function is decreased. The methods presented in this paper include continuous sequential quadratic programming methods and discreate sequential quadratic programming methods.
文摘针对机械臂在运行过程中因输入输出受限、外界未知干扰以及自身动力学参数不确定性导致控制精度低和抗干扰能力差的问题,提出基于时变正切型障碍李雅普诺夫函数的自适应反步滑模控制方法(adaptive backstepping sliding mode control for time-varying tangent barrier Lyapunov,TTBLF-ABSMC)。首先,通过设计饱和补偿系统解决输入受限问题,提高控制系统的稳定性;其次,将外界未知干扰与自身动力学参数不确定性视为复合干扰,设计反馈自适应律对其做出准确估计;同时,采用时变正切型障碍李雅普诺夫函数将位置误差和速度误差限制在时变范围内;最后,通过李雅普诺夫理论分析证明闭环控制系统是有界稳定的。仿真实验结果表明:与采取时变对数型障碍李雅普诺夫函数的控制方法相比,该控制方法使机械臂关节1、2的跟踪误差分别降低了58%、33%;相比于未考虑输入受限方法,该控制方法在关节1、2的轨迹跟踪响应速度分别提升了69%、50%,有效的提高了系统的控制精度和抗干扰能力。
基金financially supported by the CSIR,New Delhi,India through Grant no.:25(0266)/17/EMR-II
文摘In this article, we focus to study about modified objective function approach for multiobjective optimization problem with vanishing constraints. An equivalent η-approximated multiobjective optimization problem is constructed by a modification of the objective function in the original considered optimization problem. Furthermore, we discuss saddle point criteria for the aforesaid problem. Moreover, we present some examples to verify the established results.
文摘In this paper, a hybrid predictive controller is proposed for a class of uncertain switched nonlinear systems based on high-order differential state observers and Lyapunov functions. The main idea is to design an output feedback bounded controller and a predictive controller for each subsystem using high-order differential state observers and Lyapunov functions, to derive a suitable switched law to stabilize the closed-loop subsystem, and to provide an explicitly characterized set of initial conditions. For the whole switched system, based on the high-order differentiator, a suitable switched law is designed to ensure the whole closed-loop’s stability. The simulation results for a chemical process show the validity of the controller proposed in this paper.
