Purpose–The purpose of this paper is to investigate time-optimal control problems for multiple unmanned aerial vehicle(UAV)systems to achieve predefined flying shape.Design/methodology/approach–Two time-optimal prot...Purpose–The purpose of this paper is to investigate time-optimal control problems for multiple unmanned aerial vehicle(UAV)systems to achieve predefined flying shape.Design/methodology/approach–Two time-optimal protocols are proposed for the situations with or without human control input,respectively.Then,Pontryagin’s minimum principle approach is applied to deal with the time-optimal control problems for UAV systems,where the cost function,the initial and terminal conditions are given in advance.Moreover,necessary conditions are derived to ensure that the given performance index is optimal.Findings–The effectiveness of the obtained time-optimal control protocols is verified by two contrastive numerical simulation examples.Consequently,the proposed protocolscan successfully achieve the prescribed flying shape.Originality/value–This paper proposes a solution to solve the time-optimal control problems for multiple UAV systems to achieve predefined flying shape.展开更多
A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this functio...A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control（HS） algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.展开更多
A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In thi...A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.展开更多
The increasing strength of new structural materials and the span of new structures, accompanied by aesthetic requirements for greater slenderness, are resulting in more applications of long-span structures. In this pa...The increasing strength of new structural materials and the span of new structures, accompanied by aesthetic requirements for greater slenderness, are resulting in more applications of long-span structures. In this paper, serviceability control technology and its design theory are studied. First, a novel tuned mass damper （TMD） with controllable stiffness is developed. Second, methods for modeling human-induced loads are proposed, including standing up, walking, jumping and running, and an analysis method for long-span floor response is proposed based on a finite element model. Third, a design method for long-span floors installed with a multiple TMD （MTMD） system considering human comfort is introduced, largely based on a study of existing literature. Finally, a design, analysis and field test is conducted using several large scale buildings in China including the Beijing Olympic Park National Conference Center, Changsha New Railway Station and the Xi＇an Northern Railway Station. The analytical and field test results show that the MTMD system designed using the proposed method is capable of effectively mitigating the vertical vibration of long-span floor structures. The study presented in this paper provides an important reference for the analysis of vibration serviceability of similar long-span floors and design of control system for these structures.展开更多
The aim of this paper is to define the nature, present the possibilities, and discuss the problems of using human resource controlling in small and medium-sized building companies. This paper is based on the assumptio...The aim of this paper is to define the nature, present the possibilities, and discuss the problems of using human resource controlling in small and medium-sized building companies. This paper is based on the assumption that expedient human resource controlling is an effective human resource management tool that achieves the required performance of employees and expected competitiveness of a building company. This paper uses the results of a questionnaire survey conducted in November 2013 to analyze human resource management in building companies in the Czech Republic and specify the organization and conditions of human resource management. Some 81 small （less than 50 employees） and 66 medium-sized （50-249 employees） building companies operating in the Czech Republic took part in the questionnaire survey. The results of the questionnaire survey showed the lack of concept and random nature of human resource management in most small and medium-sized building companies. Of course, in terms of the present economic trend, it is above all important for small and medium-sized companies to develop their adaptability to the building market and to be able to deal with a variety of construction works. It is effective human resource management supported by expedient human resources that serves this purpose.展开更多
In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems, fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human...In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems, fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human intelligent controller and the hardware with the single-chip microcomputer are designed and the anti-interference measures to the whole system are provided.展开更多
This article introduced the vision building concept about human influenza pandemic prevention and control.Different visions were built by creating different shapes of building blocks which also represented different o...This article introduced the vision building concept about human influenza pandemic prevention and control.Different visions were built by creating different shapes of building blocks which also represented different organizations and physical facilities,respectively.The around-view reflection is required to be developed in the process of building so as to search for the ideal pattern.The correlation of all sectors and systems are established to combine different kinds of things,from one family to another,from communities,towns,counties,cities,rural areas, provinces to the state to handle trivial problems.These training objectives have been successfully accomplished,which has not only enriched the knowledge about prevention and control of influenza pandemic between different departments but also clarified the roles and responsibility. It lays the firm foundation for next cooperation between different departments,and make a bridge for the objective and choice of channel over human influenza pandemic prevention and control.展开更多
This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot...This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot-specific inner loop, which is a neuroadaptive controller, learns the robot dynamics online and makes the robot respond like a prescribed impedance model. This loop uses no task information, including no prescribed trajectory. A task-specific outer loop takes into account the human operator dynamics and adapts the prescribed robot impedance model so that the combined human-robot system has desirable characteristics for task performance. This design is based on model reference adaptive control, but of a nonstandard form. The net result is a controller with both adaptive impedance characteristics and assistive inputs that augment the human operator to provide improved task performance of the human-robot team. Simulations verify the performance of the proposed controller in a repetitive point-to-point motion task. Actual experimental implementations on a PR2 robot further corroborate the effectiveness of the approach.展开更多
This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehi...This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.展开更多
The article discusses several hemispheres of human resource management based on a typical case review. The study presents the main problems of the case from both employees and organizations; the issued problems involv...The article discusses several hemispheres of human resource management based on a typical case review. The study presents the main problems of the case from both employees and organizations; the issued problems involve compensations and benefits,restructuring,job design,and training. Based on the analysis of the case,two alternative solutions state that the potential routes for the organizations to avoid serious negative results. The study introduces a number of recommendations that can be used as a reference for other organizations to avoid similar risks.展开更多
Human umbilical cord mesenchymal stem cells(hUC-MSCs)support revascularization,inhibition of inflammation,regulation of apoptosis,and promotion of the release of beneficial factors.Thus,they are regarded as a promisin...Human umbilical cord mesenchymal stem cells(hUC-MSCs)support revascularization,inhibition of inflammation,regulation of apoptosis,and promotion of the release of beneficial factors.Thus,they are regarded as a promising candidate for the treatment of intractable spinal cord injury(SCI).Clinical studies on patients with early chronic SCI(from 2 months to 1 year post-injury),which is clinically common,are rare;therefore,we will conduct a prospective,multicenter,randomized,placebo-controlled,single-blinded clinical trial at the Third Affiliated Hospital of Sun Yat-sen University,West China Hospital of Sichuan University,and Shanghai East Hospital,Tongji University School of Medicine,China.The trial plans to recruit 66 early chronic SCI patients.Eligible patients will undergo randomization at a 2:1 ratio to two arms:the observation group and the control group.Subjects in the observation group will receive four intrathecal transplantations of stem cells,with a dosage of 1×106/kg,at one calendar month intervals.Subjects in the control group will receive intrathecal administrations of 10 mL sterile normal saline in place of the stem cell transplantations.Clinical safety will be assessed by the analysis of adverse events and laboratory tests.The American Spinal Injury Association(ASIA)total score will be the primary efficacy endpoint,and the secondary efficacy outcomes will be the following:ASIA impairment scale,International Association of Neural Restoration-Spinal Cord Injury Functional Rating Scale,muscle tension,electromyogram,cortical motor and cortical sensory evoked potentials,residual urine volume,magnetic resonance imaging–diffusion tensor imaging,T cell subtypes in serum,neurotrophic factors and inflammatory factors in both serum and cerebrospinal fluid.All evaluations will be performed at 1,3,6,and 12 months following the final intrathecal administration.During the entire study procedure,all adverse events will be reported as soon as they are noted.This trial is designed to evaluate the clinical safety and efficacy of subarachnoid transplantation of hUC-MSCs to treat early chronic SCI.Moreover,it will establish whether cytotherapy can ameliorate local hostile microenvironments,promote tracking fiber regeneration,and strengthen spinal conduction ability,thus improving overall motor,sensory,and micturition/defecation function in patients with early chronic SCI.This study was approved by the Stem Cell Research Ethics Committee of the Third Affiliated Hospital of Sun Yat-sen University,China(approval No.[2018]-02)on March 30,2018,and was registered with ClinicalTrials.gov(registration No.NCT03521323)on April 12,2018.The revised trial protocol(protocol version 4.0)was approved by the Stem Cell Research Ethics Committee of the Third Affiliated Hospital of Sun Yat-sen University,China(approval No.[2019]-10)on February 25,2019,and released on ClinicalTrials.gov on April 29,2019.展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos 61602163 and 61471163the Science Fund for Distinguished Young Scholars of Hubei Province under Grant No.2017CFA034the Natural Science Foundation of Hubei Province under 2016CFC735.The Hubei Education Department Science and Technology Research Program for young talents under Grant No.Q20182503.
文摘Purpose–The purpose of this paper is to investigate time-optimal control problems for multiple unmanned aerial vehicle(UAV)systems to achieve predefined flying shape.Design/methodology/approach–Two time-optimal protocols are proposed for the situations with or without human control input,respectively.Then,Pontryagin’s minimum principle approach is applied to deal with the time-optimal control problems for UAV systems,where the cost function,the initial and terminal conditions are given in advance.Moreover,necessary conditions are derived to ensure that the given performance index is optimal.Findings–The effectiveness of the obtained time-optimal control protocols is verified by two contrastive numerical simulation examples.Consequently,the proposed protocolscan successfully achieve the prescribed flying shape.Originality/value–This paper proposes a solution to solve the time-optimal control problems for multiple UAV systems to achieve predefined flying shape.
基金This project is supported by Key Technology R & D Program of China during the 10th 5-year Plan Period(No.2002BA404A21)State Key Laboratory of Automobile Safety and Energy, China(No.KF2005-004).
文摘A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control（HS） algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.
文摘A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.
基金National Natural Science Foundation of China Under Grant No.51178100Foundation of the Priority Sciences Development Program of Higher Education Institutions of Jiangsu Province Under Grant No.1105007001+1 种基金Teaching and Research Foundation for Excellent Young Teachers of Southeast University Under Grant No.3205001205Scientific Research Foundation the Scientific Research Foundation of Graduate School of Southeast University Under Grant No.YBJJ1006
文摘The increasing strength of new structural materials and the span of new structures, accompanied by aesthetic requirements for greater slenderness, are resulting in more applications of long-span structures. In this paper, serviceability control technology and its design theory are studied. First, a novel tuned mass damper （TMD） with controllable stiffness is developed. Second, methods for modeling human-induced loads are proposed, including standing up, walking, jumping and running, and an analysis method for long-span floor response is proposed based on a finite element model. Third, a design method for long-span floors installed with a multiple TMD （MTMD） system considering human comfort is introduced, largely based on a study of existing literature. Finally, a design, analysis and field test is conducted using several large scale buildings in China including the Beijing Olympic Park National Conference Center, Changsha New Railway Station and the Xi＇an Northern Railway Station. The analytical and field test results show that the MTMD system designed using the proposed method is capable of effectively mitigating the vertical vibration of long-span floor structures. The study presented in this paper provides an important reference for the analysis of vibration serviceability of similar long-span floors and design of control system for these structures.
文摘The aim of this paper is to define the nature, present the possibilities, and discuss the problems of using human resource controlling in small and medium-sized building companies. This paper is based on the assumption that expedient human resource controlling is an effective human resource management tool that achieves the required performance of employees and expected competitiveness of a building company. This paper uses the results of a questionnaire survey conducted in November 2013 to analyze human resource management in building companies in the Czech Republic and specify the organization and conditions of human resource management. Some 81 small （less than 50 employees） and 66 medium-sized （50-249 employees） building companies operating in the Czech Republic took part in the questionnaire survey. The results of the questionnaire survey showed the lack of concept and random nature of human resource management in most small and medium-sized building companies. Of course, in terms of the present economic trend, it is above all important for small and medium-sized companies to develop their adaptability to the building market and to be able to deal with a variety of construction works. It is effective human resource management supported by expedient human resources that serves this purpose.
文摘In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems, fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human intelligent controller and the hardware with the single-chip microcomputer are designed and the anti-interference measures to the whole system are provided.
基金supported by a grant form by the World Bank(FIo-016) for China capacity building for highly pathogenic avian influenza prevention and human pandemic influenza preparedness projectgranted by Australia, European Union,and other donor countries
文摘This article introduced the vision building concept about human influenza pandemic prevention and control.Different visions were built by creating different shapes of building blocks which also represented different organizations and physical facilities,respectively.The around-view reflection is required to be developed in the process of building so as to search for the ideal pattern.The correlation of all sectors and systems are established to combine different kinds of things,from one family to another,from communities,towns,counties,cities,rural areas, provinces to the state to handle trivial problems.These training objectives have been successfully accomplished,which has not only enriched the knowledge about prevention and control of influenza pandemic between different departments but also clarified the roles and responsibility. It lays the firm foundation for next cooperation between different departments,and make a bridge for the objective and choice of channel over human influenza pandemic prevention and control.
基金The work was supported by the National Science Foundation，the Office of Naval Research grant，the AFOSR (Air Force Office of Scientific Research) EOARD (European Office of Aerospace Research and Development) grant，the U.S. Army Research Office grant
文摘This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot-specific inner loop, which is a neuroadaptive controller, learns the robot dynamics online and makes the robot respond like a prescribed impedance model. This loop uses no task information, including no prescribed trajectory. A task-specific outer loop takes into account the human operator dynamics and adapts the prescribed robot impedance model so that the combined human-robot system has desirable characteristics for task performance. This design is based on model reference adaptive control, but of a nonstandard form. The net result is a controller with both adaptive impedance characteristics and assistive inputs that augment the human operator to provide improved task performance of the human-robot team. Simulations verify the performance of the proposed controller in a repetitive point-to-point motion task. Actual experimental implementations on a PR2 robot further corroborate the effectiveness of the approach.
基金supported by National Natural Science Foundation of China(61104085,51505213)Natural Science Foundation of Jiangsu Province(BK20151463,BK20130744)+2 种基金Innovation Foundation of NJIT(CKJA201409,CKJB201209)sponsored by Jiangsu Qing Lan ProjectJiangsu Government Scholarship for Overseas Studies(JS-2012-051)
文摘This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.
文摘The article discusses several hemispheres of human resource management based on a typical case review. The study presents the main problems of the case from both employees and organizations; the issued problems involve compensations and benefits,restructuring,job design,and training. Based on the analysis of the case,two alternative solutions state that the potential routes for the organizations to avoid serious negative results. The study introduces a number of recommendations that can be used as a reference for other organizations to avoid similar risks.
基金supported by the National Key Research and Development Program of China,No.2017YFA0105403(to LMR)the Key Research and Development Program of Guangdong Province of China,No.2019B020236002(to LMR)+4 种基金The Clinical Innovation Research Program of Guangzhou Regenerative Medicine and Health Guangdong Laboratory of China,No.2018GZR0201006(to LMR)the National Natural Science Foundation of China,Nos.81772349(to BL),31470949(to BL)the Guangzhou Science and Technology Project of China,Nos.201704020221(to LMR),201707010115(to BL)the Natural Science Foundation of Guangdong Province of China,No.2017A030313594(to BL)the Medical Scientific Research Foundation of Guangdong Province of China,No.A2018547(to MP)
文摘Human umbilical cord mesenchymal stem cells(hUC-MSCs)support revascularization,inhibition of inflammation,regulation of apoptosis,and promotion of the release of beneficial factors.Thus,they are regarded as a promising candidate for the treatment of intractable spinal cord injury(SCI).Clinical studies on patients with early chronic SCI(from 2 months to 1 year post-injury),which is clinically common,are rare;therefore,we will conduct a prospective,multicenter,randomized,placebo-controlled,single-blinded clinical trial at the Third Affiliated Hospital of Sun Yat-sen University,West China Hospital of Sichuan University,and Shanghai East Hospital,Tongji University School of Medicine,China.The trial plans to recruit 66 early chronic SCI patients.Eligible patients will undergo randomization at a 2:1 ratio to two arms:the observation group and the control group.Subjects in the observation group will receive four intrathecal transplantations of stem cells,with a dosage of 1×106/kg,at one calendar month intervals.Subjects in the control group will receive intrathecal administrations of 10 mL sterile normal saline in place of the stem cell transplantations.Clinical safety will be assessed by the analysis of adverse events and laboratory tests.The American Spinal Injury Association(ASIA)total score will be the primary efficacy endpoint,and the secondary efficacy outcomes will be the following:ASIA impairment scale,International Association of Neural Restoration-Spinal Cord Injury Functional Rating Scale,muscle tension,electromyogram,cortical motor and cortical sensory evoked potentials,residual urine volume,magnetic resonance imaging–diffusion tensor imaging,T cell subtypes in serum,neurotrophic factors and inflammatory factors in both serum and cerebrospinal fluid.All evaluations will be performed at 1,3,6,and 12 months following the final intrathecal administration.During the entire study procedure,all adverse events will be reported as soon as they are noted.This trial is designed to evaluate the clinical safety and efficacy of subarachnoid transplantation of hUC-MSCs to treat early chronic SCI.Moreover,it will establish whether cytotherapy can ameliorate local hostile microenvironments,promote tracking fiber regeneration,and strengthen spinal conduction ability,thus improving overall motor,sensory,and micturition/defecation function in patients with early chronic SCI.This study was approved by the Stem Cell Research Ethics Committee of the Third Affiliated Hospital of Sun Yat-sen University,China(approval No.[2018]-02)on March 30,2018,and was registered with ClinicalTrials.gov(registration No.NCT03521323)on April 12,2018.The revised trial protocol(protocol version 4.0)was approved by the Stem Cell Research Ethics Committee of the Third Affiliated Hospital of Sun Yat-sen University,China(approval No.[2019]-10)on February 25,2019,and released on ClinicalTrials.gov on April 29,2019.
