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
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
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
Laser directed energy deposition(LDED)is an emerging branch of metal-based additive manufacturing(AM)processes,offering unprecedented capabilities for high-performance fabrication with complex geometries and near-net ...Laser directed energy deposition(LDED)is an emerging branch of metal-based additive manufacturing(AM)processes,offering unprecedented capabilities for high-performance fabrication with complex geometries and near-net shapes.This technology is gathering increasing attention from industries such as biomedical,automotive,and aerospace.However,achieving consistent part quality and desired material properties is challenging due to intricate processing parameters and potential process defects such as dynamic melt-pool behavior and localized heat accumulation.This paper reviews recent advances in on-line quality control,focusing on in-situ measurement and closed-loop control for efficient assurance of LDED-fabricated parts.The quality principles,encompassing accuracy and material performance,are summarized to lay a foundation for understanding the mechanisms of quality defects and influencing factors.This review explores and thoroughly compares advancements in indirect process measurements,such as optical,thermal,and acoustic monitoring with direct quality measurements,including laser-line scanning and operando synchrotron X-ray imaging.Depending on the sensing techniques,this paper highlights a hierarchical control strategy for adaptive parameter regulation on intra-layer and inter-layer scales.The requirements and performance of various state-of-the-art controllers are critically compared to indicate their suitable applications.The importance of machine learning in detecting process anomalies and predicting build quality based on sensory signals is also outlined.Future directions are proposed towards adaptive,automated,and intelligent quality control,with a focus on multi-modal monitoring,physics-informed neural networks for interpretable analysis,and multi-objective control applications.展开更多
High-performance 24CrNiMo steel was fabricated using Laser Powder Bed Fusion (LPBF). Subsequent quenching treatment was applied and the influence of quenching temperatures on micro-structure evolution and properties w...High-performance 24CrNiMo steel was fabricated using Laser Powder Bed Fusion (LPBF). Subsequent quenching treatment was applied and the influence of quenching temperatures on micro-structure evolution and properties was systematically characterised and analysed. The micro-structure of the as-built steel consisted of two parts. The first part comprised martensite with twins combined with ω-Fe nano-particles, and the second part consisted of lower bainite in the molten pool, as well as upper bainite, granular bainite and tempered martensite in the heat-affected zone. With the quenching temperatures varying from 800℃ to 950℃, the micro-structure gradually transformed from acicular ferrite + martensite to tempered martensite +θ-Fe3C carbides, and the grain size exhibited noticeable growth. Moreover, quenching treatments could eliminate the anisotropy and inhomogeneity of the micro-structure. The rod-shaped nanosized η-Fe2C and θ-Fe3C precipitates were clearly observed, which were converted from ω-Fe and distributed at multiple angles in the lath. The size and number of nano-precipitates, triggered by the high self-tempering degree of martensite, gradually increased. The relationships among grain size, the twins, dislocation density and nano-precipitation and the dramatically improved performance of quenched samples were analysed using strengthening mechanisms. After quenching at 850℃, the as-built 24CrNiMo steel attained ultra-high mechanical properties including hardness, Ultimate Tensile Strength (UTS), Elongation (El) and impact energy with values of 480.9 HV_(1), 1611.4 MPa, 9.8% and 42.8 J, respectively. Meanwhile, both the wear and thermal fatigue resistance increased by approximately 40%. This study demonstrated that LPBF-fabricated 24CrNiMo steel, with matching good performances, can be achieved using a subsequent one-step quenching process.展开更多
This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller fo...This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.展开更多
With a three-dimensional semiclassical ensemble method, we theoretically investigated the nonsequential double ionization of Ar driven by the spatially inhomogeneous few-cycle negatively chirped laser pulses. Our resu...With a three-dimensional semiclassical ensemble method, we theoretically investigated the nonsequential double ionization of Ar driven by the spatially inhomogeneous few-cycle negatively chirped laser pulses. Our results show that the recollision time window can be precisely controlled within an isolated time interval of several hundred attoseconds, which is useful for understanding the subcycle correlated electron dynamics. More interestingly, the correlated electron momentum distribution (CEMD) exhibits a strong dependence on laser intensity. That is, at lower laser intensity, CEMD is located in the first quadrant. As the laser intensity increases,CEMD shifts almost completely to the second and fourth quadrants, and then gradually to the third quadrant.The underlying physics governing the CEMD's dependence on laser intensity is explained.展开更多
Influence produced by the heat effect at work of the laser instrument crystal of the semiconductor, the text designs a kind of temperature control system to the crystal of the laser instrument, using the thought and m...Influence produced by the heat effect at work of the laser instrument crystal of the semiconductor, the text designs a kind of temperature control system to the crystal of the laser instrument, using the thought and method of the classical control theory to analyze this temperature control system, and establishes mathematics model. According to mathematics model the text demonstrated the system at S field and time- area, and proposed optimizing basis to the total mark of proportion and differential parameter to con- troller PID, thus proposed a kind of temperature control scheme. And the thermostatically system is simulated by MATLAB.展开更多
The optimum theory and methods were adopted to design the laser beam riding guidance anti tank missile's control system in the short run. Through building the mathematical model of system, selecting a proper meth...The optimum theory and methods were adopted to design the laser beam riding guidance anti tank missile's control system in the short run. Through building the mathematical model of system, selecting a proper method and taking advantage of computer's high speed calculation and logic traits, an optimal controller was designed. Simulation results showed that the designed control system has fair performance and it satisfies the tactical and technical requirements. The results also demonstrate that by the combination of the optimizing methods and the computer the control system could be designed as soon as possible.展开更多
Aβ-solidifying Ti-40 Al-9 V-0.5 Y(at.%)alloy with a high cracking sensitivity has been successfully fabricated by selective laser melting(SLM)in this study.The influence factors for cracking sensitivity,cracking beha...Aβ-solidifying Ti-40 Al-9 V-0.5 Y(at.%)alloy with a high cracking sensitivity has been successfully fabricated by selective laser melting(SLM)in this study.The influence factors for cracking sensitivity,cracking behavior and crack inhibition mechanism were investigated.The results show that the effects of process parameters on cracking sensitivity strongly depend on the cooling rate in molten pool with different heat transfer modes.The conduction mode with higher cooling rates exhibits a higher cracking sensitivity in comparison to the keyhole mode.Microstructure characteristics and phase transformations controlled by cooling rate determine the inherent ductility ofβ-solidifyingγ-Ti Al alloys during SLM.On this basis,the formation and inhibition mechanism of solidification and cold cracking are proposed.Finally,the crackfree Ti-40 Al-9 V-0.5 Y sample with fine equiaxed microstructures and favorable mechanical properties(microhardness of 542±19 HV,yield strength of 1871±12 MPa,ultimate strength of 2106±13 MPa and ultimate compressive strain of 10.89±0.57%)can be produced by SLM.The strengthening mechanism can be attributed to grain refinement and precipitation strengthening.展开更多
A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increme...A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increment. And a feedback loop for the moment increment produced by the deflections of actuators is added to the angular rate loop, then the error between the desired and actual moment increment is the input of the dynamic control allocation. Subsequently, the stability of the closed-loop dynamic control allocation system is analyzed in detail. Especially, the closedloop system stability is also analyzed in the presence of two types of actuator failures： loss of effectiveness and lock-in-place actuator failures, where a fault detection subsystem to identify the actuator failures is absent. Finally, the proposed method is applied to a canard rotor/wing （CRW） aircraft model in fixed-wing mode, which has multiple actuators for flight control. The nonlinear simulation demonstrates that this method can guarantee the stability and tracking performance whether the actuators are healthy or fail.展开更多
Steel matrix composites(SMCs)reinforced with WC particles were fabricated via selective laser melting(SLM)by employing various laser scan strategies.A detailed relationship between the SLM strategies,defect formation,...Steel matrix composites(SMCs)reinforced with WC particles were fabricated via selective laser melting(SLM)by employing various laser scan strategies.A detailed relationship between the SLM strategies,defect formation,microstructural evolution,and mechanical properties of SMCs was established.The laser scan strategies can be manipulated to deliberately alter the thermal history of SMC during SLM processing.Particularly,the involved thermal cycling,which encompassed multiple layers,strongly affected the processing quality of SMCs.Sshaped scan sequence combined with interlayer offset and orthogonal stagger mode can effectively eliminate the metallurgical defects and retained austenite within the produced SMCs.However,due to large thermal stress,microcracks that were perpendicular to the building direction formed within the SMCs.By employing the checkerboard filling(CBF)hatching mode,the thermal stress arising during SLM can be significantly reduced,thus preventing the evolution of interlayer microcracks.The compressive properties of fabricated SMCs can be tailored at a high compressive strength(~3031.5 MPa)and fracture strain(~24.8%)by adopting the CBF hatching mode combined with the optimized scan sequence and stagger mode.This study demonstrates great feasibility in tuning the mechanical properties of SLM-fabricated SMCs without varying the set energy input,e.g.,laser power and scanning speed.展开更多
The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-...The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-coordination) channel, and the acceleration of cross-over frequency was also limited by angular velocity limiter, so the false cues in flight simulation process were clearly perceived by pilots. The paper studied the characteristics of the classical washout algorithm and flight simulator motion platform, tried to redesign the source of cross-over acceleration channel and translation acceleration channel, and transferred the part of cross-over acceleration that was unsimulated sustained acceleration to translation acceleration channel. Comparisons were mainly made between classical washout algorithm and revised algorithm in a longitudinal/pitch direction. The evaluation was based on the implementation of human vestibular perception system. The results demonstrated that the revised algorithm could significantly reduce the phase lag, and improved the spikes tracking performance. Furthermore, sensory angular velocity and the error of sensory acceleration were strictly controlled within the threshold of human perception system, and the displacement was a little broader than the classical washout algorithm. Therefore, it was proved that the new algorithm could diminish the filters parameters and heighten the self-adaptability for the washout algorithm. In addition, the magnitude of false cues was remarkably reduced during flight simulator, and the workspace utilization of the motion platform was developed by "closed-loop" control system.展开更多
The main characteristic feature of deep penetration laser beam welding is a large temperature difference between the plasma cavity(keyhole)in the weld pool centre and the melting/solidification front.Large temperature...The main characteristic feature of deep penetration laser beam welding is a large temperature difference between the plasma cavity(keyhole)in the weld pool centre and the melting/solidification front.Large temperature gradients in the weld pool result in very intensive thermocapillary(Marangoni)convection.The weld pool surface width becomes very large and unstable.However,an externally applied oscillating magnetic field can stabilize the surface of the melt.In the present work this technology was used to stabilize the weld pool surface in partial penetration 4.4 kW Nd:YAG laser beam welding of AW-5754 aluminium alloy in PA position.An AC magnet was mounted on the laser welding head.The oscillating magnetic field was oriented perpendicular to the welding direction.It was found that the AC magnetic field can drastically reduce the surface roughness of welds.X-ray image analysis shows a drastic reduction of welds porosity.This effect can be explained as a result of electromagnetic rectification of the melt.展开更多
This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a...This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.展开更多
According to the disadvantages of traditional mechanical gyro inertial measurement unit('IMU') for steering system not being available for missile attitude control, a concept based on laser gyro IMU is propose...According to the disadvantages of traditional mechanical gyro inertial measurement unit('IMU') for steering system not being available for missile attitude control, a concept based on laser gyro IMU is proposed to realize navigation & positioning and attitude control. The concept will save three single-axis rate gyros compared with traditional missile attitude control system, and is available both for strapdown and platform inertial navigation systems. Firstly, this article analyzes the selection requirements of sensitive device for missile attitude control system, and then analyzes the feasibility of missile attitude control based on laser gyro theoretically, on this basis, from four aspects of error characteristics, anti-vibration characteristics, temperature characteristics and dynamic characteristics, validate the feasibility of the concept practically. Secondly according to the strict requirements of dynamic characteristics on attitude control system, a special design is made for gyro signal filtering used for attitude control. By changing the traditional high order FIR filter to adaptive filter and low order FIR filter, laser gyro's signal phase delay is reduced. The delay time of theoretical design is 1.5 ms. Lastly, this design is validated through an angle vibration test, and test curve indicates that the dynamic characteristics of laser gyro completely meets the requirements of the attitude control system, and the maximum delay time is 1.6144 ms, which satisfies with the attitude update rate of 2 ms per frame. This concept can simplify the missile guidance system design, at the same time, it does not reduce missile guidance accuracy, and also provides reference for the broadening of the application of laser gyro.展开更多
Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop...Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.展开更多
Background: Patients commonly develop postoperative pain after total knee arthroplasty(TKA).Acupuncture-related techniques and low-level laser therapy could be beneficial for pain management for older individuals.Obje...Background: Patients commonly develop postoperative pain after total knee arthroplasty(TKA).Acupuncture-related techniques and low-level laser therapy could be beneficial for pain management for older individuals.Objective: To examine the effect of low-level laser acupuncture(LA) in reducing postoperative pain, painrelated interference in daily life, morphine consumption, and morphine-related side effects in older patients with knee osteoarthritis who underwent TKA.Design, setting, participants and intervention: A single-blind randomized placebo-controlled trial was conducted. Patients(N = 82) were recruited and randomly assigned via a computer-generated list to the LA group or a placebo group. The LA group received low-level laser therapy at Sanyinjiao(SP6), Taixi(KI3),Kunlun(BL60), Fengshi(GB31), Futu(ST32) and Neiguan(PC6) after TKA, while the placebo acupuncture group received the same treatment procedure without laser energy output.Main outcome measures: The primary outcome was postoperative pain intensity, and it was measured at baseline and hours 2, 6, 10, 24, 48 and 72 after TKA. The secondary outcomes, including relative pain,postoperative pain-related interference in daily life and morphine consumption, were measured at hours24, 48 and 72 after TKA.Results: Generalized estimating equations revealed significant between-group differences in pain intensity(P = 0.01), and trend differences in pain intensity for the LA group starting at hours 10 to 72(P < 0.05)and morphine consumption at hours 48 and 72(P < 0.05). The changes in pain-related interference in daily life were significant(P < 0.05) at 72 h, with the exception of the parameters for worst pain, mood,and sleep. Nausea and vomiting side effects from morphine had significant between-group differences at hours 10 and 24(P < 0.05).Conclusion: Low-level LA gradually reduced older patients’ postoperative pain intensity and morphine consumption within the first 72 h after their TKA for osteoarthritis. Low-level LA may have benefits as an adjuvant pain management technique for clinical care.Trial registration: ClinicalTrials.gov registration number NCT03995446.展开更多
The construction and application of traditional high-strength 7075 aluminum alloy(Al7075) through selective laser melting(SLM) are currently restricted by the serious hot cracking phenomenon. To address this critical ...The construction and application of traditional high-strength 7075 aluminum alloy(Al7075) through selective laser melting(SLM) are currently restricted by the serious hot cracking phenomenon. To address this critical issue, in this study, Si is employed to assist the SLM printing of high-strength Al7075. The laser energy density during SLM is optimized, and the eff ects of Si element on solidification path, relative density, microstructure and mechanical properties of Al7075 alloy are studied systematically. With the modified solidification path, laser energy density, and the dense microstructure with refined grain size and semi-continuous precipitates network at grain boundaries, which consists of fine Si, β-MgSi, Q-phase and θ-AlCu, the hot cracking phenomenon and mechanical properties are eff ectively improved. As a result, the tensile strength of the SLM-processed Si-modified Al7075 can reach 486 ± 3 MPa, with a high relative density of ~ 99.4%, a yield strength of 291 ± 8 MPa, fracture elongation of(6.4 ± 0.4)% and hardness of 162 ± 2(HV) at the laser energy density of 112.5 J/mm~3. The main strengthening mechanism with Si modification is demonstrated to be the synergetic enhancement of grain refinement, solution strengthening, load transfer, and dislocation strengthening. This work will inspire more new design of high-strength alloys through SLM.展开更多
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 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supported by Royal Academy of Engineering(IF2223B-125)Royal Society(IECR3213107)。
文摘Laser directed energy deposition(LDED)is an emerging branch of metal-based additive manufacturing(AM)processes,offering unprecedented capabilities for high-performance fabrication with complex geometries and near-net shapes.This technology is gathering increasing attention from industries such as biomedical,automotive,and aerospace.However,achieving consistent part quality and desired material properties is challenging due to intricate processing parameters and potential process defects such as dynamic melt-pool behavior and localized heat accumulation.This paper reviews recent advances in on-line quality control,focusing on in-situ measurement and closed-loop control for efficient assurance of LDED-fabricated parts.The quality principles,encompassing accuracy and material performance,are summarized to lay a foundation for understanding the mechanisms of quality defects and influencing factors.This review explores and thoroughly compares advancements in indirect process measurements,such as optical,thermal,and acoustic monitoring with direct quality measurements,including laser-line scanning and operando synchrotron X-ray imaging.Depending on the sensing techniques,this paper highlights a hierarchical control strategy for adaptive parameter regulation on intra-layer and inter-layer scales.The requirements and performance of various state-of-the-art controllers are critically compared to indicate their suitable applications.The importance of machine learning in detecting process anomalies and predicting build quality based on sensory signals is also outlined.Future directions are proposed towards adaptive,automated,and intelligent quality control,with a focus on multi-modal monitoring,physics-informed neural networks for interpretable analysis,and multi-objective control applications.
基金co-supported by the National Key Research and Development Program of China (No. 2022YFB4600500)the National Natural Science Foundation of China (No. 52235006)
文摘High-performance 24CrNiMo steel was fabricated using Laser Powder Bed Fusion (LPBF). Subsequent quenching treatment was applied and the influence of quenching temperatures on micro-structure evolution and properties was systematically characterised and analysed. The micro-structure of the as-built steel consisted of two parts. The first part comprised martensite with twins combined with ω-Fe nano-particles, and the second part consisted of lower bainite in the molten pool, as well as upper bainite, granular bainite and tempered martensite in the heat-affected zone. With the quenching temperatures varying from 800℃ to 950℃, the micro-structure gradually transformed from acicular ferrite + martensite to tempered martensite +θ-Fe3C carbides, and the grain size exhibited noticeable growth. Moreover, quenching treatments could eliminate the anisotropy and inhomogeneity of the micro-structure. The rod-shaped nanosized η-Fe2C and θ-Fe3C precipitates were clearly observed, which were converted from ω-Fe and distributed at multiple angles in the lath. The size and number of nano-precipitates, triggered by the high self-tempering degree of martensite, gradually increased. The relationships among grain size, the twins, dislocation density and nano-precipitation and the dramatically improved performance of quenched samples were analysed using strengthening mechanisms. After quenching at 850℃, the as-built 24CrNiMo steel attained ultra-high mechanical properties including hardness, Ultimate Tensile Strength (UTS), Elongation (El) and impact energy with values of 480.9 HV_(1), 1611.4 MPa, 9.8% and 42.8 J, respectively. Meanwhile, both the wear and thermal fatigue resistance increased by approximately 40%. This study demonstrated that LPBF-fabricated 24CrNiMo steel, with matching good performances, can be achieved using a subsequent one-step quenching process.
基金support through his Master scholarshipThe Vicerrectoría de Investigación y Estudios de Posgrado(VIEP-BUAP)partially funded this work under grant number 00593-PV/2025.
文摘This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.
基金supported by the National Natural Science Foundation of China (Grant No. 12074329)Nanhu Scholars Program for Young Scholars of Xinyang Normal University。
文摘With a three-dimensional semiclassical ensemble method, we theoretically investigated the nonsequential double ionization of Ar driven by the spatially inhomogeneous few-cycle negatively chirped laser pulses. Our results show that the recollision time window can be precisely controlled within an isolated time interval of several hundred attoseconds, which is useful for understanding the subcycle correlated electron dynamics. More interestingly, the correlated electron momentum distribution (CEMD) exhibits a strong dependence on laser intensity. That is, at lower laser intensity, CEMD is located in the first quadrant. As the laser intensity increases,CEMD shifts almost completely to the second and fourth quadrants, and then gradually to the third quadrant.The underlying physics governing the CEMD's dependence on laser intensity is explained.
文摘Influence produced by the heat effect at work of the laser instrument crystal of the semiconductor, the text designs a kind of temperature control system to the crystal of the laser instrument, using the thought and method of the classical control theory to analyze this temperature control system, and establishes mathematics model. According to mathematics model the text demonstrated the system at S field and time- area, and proposed optimizing basis to the total mark of proportion and differential parameter to con- troller PID, thus proposed a kind of temperature control scheme. And the thermostatically system is simulated by MATLAB.
文摘The optimum theory and methods were adopted to design the laser beam riding guidance anti tank missile's control system in the short run. Through building the mathematical model of system, selecting a proper method and taking advantage of computer's high speed calculation and logic traits, an optimal controller was designed. Simulation results showed that the designed control system has fair performance and it satisfies the tactical and technical requirements. The results also demonstrate that by the combination of the optimizing methods and the computer the control system could be designed as soon as possible.
基金supported financially by the Pre-research Fund Project of Ministry of Equipment and Development of China(No.61409230301)the Fundamental Research Funds for the Central Universities through Program no.2019kfyXMPY005 and no.2019kfyXKJC042.
文摘Aβ-solidifying Ti-40 Al-9 V-0.5 Y(at.%)alloy with a high cracking sensitivity has been successfully fabricated by selective laser melting(SLM)in this study.The influence factors for cracking sensitivity,cracking behavior and crack inhibition mechanism were investigated.The results show that the effects of process parameters on cracking sensitivity strongly depend on the cooling rate in molten pool with different heat transfer modes.The conduction mode with higher cooling rates exhibits a higher cracking sensitivity in comparison to the keyhole mode.Microstructure characteristics and phase transformations controlled by cooling rate determine the inherent ductility ofβ-solidifyingγ-Ti Al alloys during SLM.On this basis,the formation and inhibition mechanism of solidification and cold cracking are proposed.Finally,the crackfree Ti-40 Al-9 V-0.5 Y sample with fine equiaxed microstructures and favorable mechanical properties(microhardness of 542±19 HV,yield strength of 1871±12 MPa,ultimate strength of 2106±13 MPa and ultimate compressive strain of 10.89±0.57%)can be produced by SLM.The strengthening mechanism can be attributed to grain refinement and precipitation strengthening.
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
基金Program for New Century Excellent Talents in University (NCET-10-0032)
文摘A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increment. And a feedback loop for the moment increment produced by the deflections of actuators is added to the angular rate loop, then the error between the desired and actual moment increment is the input of the dynamic control allocation. Subsequently, the stability of the closed-loop dynamic control allocation system is analyzed in detail. Especially, the closedloop system stability is also analyzed in the presence of two types of actuator failures： loss of effectiveness and lock-in-place actuator failures, where a fault detection subsystem to identify the actuator failures is absent. Finally, the proposed method is applied to a canard rotor/wing （CRW） aircraft model in fixed-wing mode, which has multiple actuators for flight control. The nonlinear simulation demonstrates that this method can guarantee the stability and tracking performance whether the actuators are healthy or fail.
基金the National Key Research and Development Program“Additive Manufacturing and Laser Manufacturing”(No.2016YFB1100101)the National Natural Science Foundation of China(No.51735005)+3 种基金the Basic Strengthening Program of Science and Technology(No.2019-JCJQ-JJ-331)the 5th Jiangsu Province 333 High Level Talents Training Project,China(No.BRA2019048)the 15th Batch of“Six Talents Peaks”Innovative Talents Team Program“Laser Precise Additive Manufacturing of Structure-Performance Integrated Lightweight Alloy Components”(No.TD-GDZB-001)and the 2017 Excellent Scientific and Technological Innovation Teams of Universities in Jiangsu“Laser Additive Manufacturing Technologies for Metallic Components”funded by Jiangsu Provincial Department of Education of China(No.51921003).Konrad Kosiba acknowledges the support from DFG under Grant No.KO 5771/1-1.
文摘Steel matrix composites(SMCs)reinforced with WC particles were fabricated via selective laser melting(SLM)by employing various laser scan strategies.A detailed relationship between the SLM strategies,defect formation,microstructural evolution,and mechanical properties of SMCs was established.The laser scan strategies can be manipulated to deliberately alter the thermal history of SMC during SLM processing.Particularly,the involved thermal cycling,which encompassed multiple layers,strongly affected the processing quality of SMCs.Sshaped scan sequence combined with interlayer offset and orthogonal stagger mode can effectively eliminate the metallurgical defects and retained austenite within the produced SMCs.However,due to large thermal stress,microcracks that were perpendicular to the building direction formed within the SMCs.By employing the checkerboard filling(CBF)hatching mode,the thermal stress arising during SLM can be significantly reduced,thus preventing the evolution of interlayer microcracks.The compressive properties of fabricated SMCs can be tailored at a high compressive strength(~3031.5 MPa)and fracture strain(~24.8%)by adopting the CBF hatching mode combined with the optimized scan sequence and stagger mode.This study demonstrates great feasibility in tuning the mechanical properties of SLM-fabricated SMCs without varying the set energy input,e.g.,laser power and scanning speed.
基金Supported by Wuhan Technical College of Communications Fund(Q2018001)China Institute of Communications Education Fund(1602-248)Wuhan Technical College of Communications Innovation Team(CX2018A07)
文摘The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-coordination) channel, and the acceleration of cross-over frequency was also limited by angular velocity limiter, so the false cues in flight simulation process were clearly perceived by pilots. The paper studied the characteristics of the classical washout algorithm and flight simulator motion platform, tried to redesign the source of cross-over acceleration channel and translation acceleration channel, and transferred the part of cross-over acceleration that was unsimulated sustained acceleration to translation acceleration channel. Comparisons were mainly made between classical washout algorithm and revised algorithm in a longitudinal/pitch direction. The evaluation was based on the implementation of human vestibular perception system. The results demonstrated that the revised algorithm could significantly reduce the phase lag, and improved the spikes tracking performance. Furthermore, sensory angular velocity and the error of sensory acceleration were strictly controlled within the threshold of human perception system, and the displacement was a little broader than the classical washout algorithm. Therefore, it was proved that the new algorithm could diminish the filters parameters and heighten the self-adaptability for the washout algorithm. In addition, the magnitude of false cues was remarkably reduced during flight simulator, and the workspace utilization of the motion platform was developed by "closed-loop" control system.
基金Item Sponsored by the German Collaborative Industrial Research Program (IGF) and the German Welding Society (DVS) Under Grant Nr.IGF-17.265 N/DVS-06.078
文摘The main characteristic feature of deep penetration laser beam welding is a large temperature difference between the plasma cavity(keyhole)in the weld pool centre and the melting/solidification front.Large temperature gradients in the weld pool result in very intensive thermocapillary(Marangoni)convection.The weld pool surface width becomes very large and unstable.However,an externally applied oscillating magnetic field can stabilize the surface of the melt.In the present work this technology was used to stabilize the weld pool surface in partial penetration 4.4 kW Nd:YAG laser beam welding of AW-5754 aluminium alloy in PA position.An AC magnet was mounted on the laser welding head.The oscillating magnetic field was oriented perpendicular to the welding direction.It was found that the AC magnetic field can drastically reduce the surface roughness of welds.X-ray image analysis shows a drastic reduction of welds porosity.This effect can be explained as a result of electromagnetic rectification of the melt.
基金supported by the Strategic Priority Research Program of the Chinese Academy of Sciences(class A)(Grant No.XDA22040203)the Fundamental Research Funds for the Central Universities(Grant No.2019XX01)+1 种基金GDNRC[2020]031the Natural Science Foundation of Guangdong Province(Grant No.2020A1515010621).
文摘This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.
基金Sponsored by the National Natural Science Foundation of China(Grant No.50979093)
文摘According to the disadvantages of traditional mechanical gyro inertial measurement unit('IMU') for steering system not being available for missile attitude control, a concept based on laser gyro IMU is proposed to realize navigation & positioning and attitude control. The concept will save three single-axis rate gyros compared with traditional missile attitude control system, and is available both for strapdown and platform inertial navigation systems. Firstly, this article analyzes the selection requirements of sensitive device for missile attitude control system, and then analyzes the feasibility of missile attitude control based on laser gyro theoretically, on this basis, from four aspects of error characteristics, anti-vibration characteristics, temperature characteristics and dynamic characteristics, validate the feasibility of the concept practically. Secondly according to the strict requirements of dynamic characteristics on attitude control system, a special design is made for gyro signal filtering used for attitude control. By changing the traditional high order FIR filter to adaptive filter and low order FIR filter, laser gyro's signal phase delay is reduced. The delay time of theoretical design is 1.5 ms. Lastly, this design is validated through an angle vibration test, and test curve indicates that the dynamic characteristics of laser gyro completely meets the requirements of the attitude control system, and the maximum delay time is 1.6144 ms, which satisfies with the attitude update rate of 2 ms per frame. This concept can simplify the missile guidance system design, at the same time, it does not reduce missile guidance accuracy, and also provides reference for the broadening of the application of laser gyro.
文摘Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.
文摘Background: Patients commonly develop postoperative pain after total knee arthroplasty(TKA).Acupuncture-related techniques and low-level laser therapy could be beneficial for pain management for older individuals.Objective: To examine the effect of low-level laser acupuncture(LA) in reducing postoperative pain, painrelated interference in daily life, morphine consumption, and morphine-related side effects in older patients with knee osteoarthritis who underwent TKA.Design, setting, participants and intervention: A single-blind randomized placebo-controlled trial was conducted. Patients(N = 82) were recruited and randomly assigned via a computer-generated list to the LA group or a placebo group. The LA group received low-level laser therapy at Sanyinjiao(SP6), Taixi(KI3),Kunlun(BL60), Fengshi(GB31), Futu(ST32) and Neiguan(PC6) after TKA, while the placebo acupuncture group received the same treatment procedure without laser energy output.Main outcome measures: The primary outcome was postoperative pain intensity, and it was measured at baseline and hours 2, 6, 10, 24, 48 and 72 after TKA. The secondary outcomes, including relative pain,postoperative pain-related interference in daily life and morphine consumption, were measured at hours24, 48 and 72 after TKA.Results: Generalized estimating equations revealed significant between-group differences in pain intensity(P = 0.01), and trend differences in pain intensity for the LA group starting at hours 10 to 72(P < 0.05)and morphine consumption at hours 48 and 72(P < 0.05). The changes in pain-related interference in daily life were significant(P < 0.05) at 72 h, with the exception of the parameters for worst pain, mood,and sleep. Nausea and vomiting side effects from morphine had significant between-group differences at hours 10 and 24(P < 0.05).Conclusion: Low-level LA gradually reduced older patients’ postoperative pain intensity and morphine consumption within the first 72 h after their TKA for osteoarthritis. Low-level LA may have benefits as an adjuvant pain management technique for clinical care.Trial registration: ClinicalTrials.gov registration number NCT03995446.
基金financially supported by the Joint Fund Project of Equipment Pre-research of Education Ministry(Grant No.6141A02033230)。
文摘The construction and application of traditional high-strength 7075 aluminum alloy(Al7075) through selective laser melting(SLM) are currently restricted by the serious hot cracking phenomenon. To address this critical issue, in this study, Si is employed to assist the SLM printing of high-strength Al7075. The laser energy density during SLM is optimized, and the eff ects of Si element on solidification path, relative density, microstructure and mechanical properties of Al7075 alloy are studied systematically. With the modified solidification path, laser energy density, and the dense microstructure with refined grain size and semi-continuous precipitates network at grain boundaries, which consists of fine Si, β-MgSi, Q-phase and θ-AlCu, the hot cracking phenomenon and mechanical properties are eff ectively improved. As a result, the tensile strength of the SLM-processed Si-modified Al7075 can reach 486 ± 3 MPa, with a high relative density of ~ 99.4%, a yield strength of 291 ± 8 MPa, fracture elongation of(6.4 ± 0.4)% and hardness of 162 ± 2(HV) at the laser energy density of 112.5 J/mm~3. The main strengthening mechanism with Si modification is demonstrated to be the synergetic enhancement of grain refinement, solution strengthening, load transfer, and dislocation strengthening. This work will inspire more new design of high-strength alloys through SLM.
