Dear Editor,This letter presents a novel approach to the data-driven control of unknown nonlinear systems.By leveraging online sparse identification based on the Koopman operator,a high-dimensional linear system model...Dear Editor,This letter presents a novel approach to the data-driven control of unknown nonlinear systems.By leveraging online sparse identification based on the Koopman operator,a high-dimensional linear system model approximating the actual system is obtained online.The upper bound of the discrepancy between the identified model and the actual system is estimated using real-time prediction error,which is then utilized in the design of a tube-based robust model predictive controller.The effectiveness of the proposed approach is validated by numerical simulation.展开更多
Dear Editor,This letter studies the stabilization control issue of cyber-physical systems with time-varying delays and aperiodic denial-of-service(DoS)attacks.To address the calculation overload issue caused by networ...Dear Editor,This letter studies the stabilization control issue of cyber-physical systems with time-varying delays and aperiodic denial-of-service(DoS)attacks.To address the calculation overload issue caused by networked predictive control(NPC)approach,an event-based NPC method is proposed.Within the proposed method,the negative effects of time-varying delays and DoS attacks on system performance are compensated.Then,sufficient and necessary conditions are derived to ensure the stability of the closed-loop system.In the end,simulation results are provided to demonstrate the validity of presented method.展开更多
Background Both medication and non-medication therapies are effective approaches to control blood pressure (BP) in hypertension patients.However,the association of joint changes in antihypertensive medication use and ...Background Both medication and non-medication therapies are effective approaches to control blood pressure (BP) in hypertension patients.However,the association of joint changes in antihypertensive medication use and healthy lifestyle index (HLI)with BP control among hypertension patients is seldom reported,which needs to provide more evidence by prospective intervention studies.We examined the association of antihypertensive medication use and HLI with BP control among employees with hypertension in China based on a workplace-based multicomponent intervention program.Methods Between January 2013 and December 2014,a cluster randomized clinical trial of a workplace-based multicomponent intervention program was conducted in 60 workplaces across 20 urban areas in China.Workplaces were randomly divided into intervention (n=40) and control (n=20) groups.Basic information on employees at each workplace was collected by trained professionals,including sociodemographic characteristics,medical history,family history,lifestyle behaviors,medication status and physical measurements.After baseline,the intervention group received a 2-year intervention to achieve BP control,which included:(1) a workplace wellness program for all employees;(2) a guidelines-oriented hypertension management protocol.HLI including nonsmoking,nondrinking,adequate physical activity,weight within reference range and balanced diet,were coded on a 5-point scale (range:0-5,with higher score indicating a healthier lifestyle).Antihypertensive medication use was defined as taking drug within the last 2 weeks.Changes in HLI,antihypertensive medication use and BP control from baseline to 24 months were measured after the intervention.Results Overall,4655 employees were included (age:46.3±7.6 years,men:3547 (82.3%)).After 24 months of the intervention,there was a significant improvement in lifestyle[smoking (OR=0.65,95%CI:0.43-0.99;P=0.045),drinking (OR=0.52,95%CI:0.40-0.68;P<0.001),regular exercise (OR=3.10,95%CI:2.53-3.78;P<0.001),excessive intake of fatty food (OR=0.17,95%CI:0.06-0.52;P=0.002),restrictive use of salt (OR=0.26,95%CI:0.12-0.56;P=0.001)].Compare to employees with a deteriorating lifestyle after the intervention,those with an improved lifestyle had a higher BP control.In the intervention group,compared with employees not using antihypertensive medication,those who consistent used (OR=2.34;95%CI:1.16-4.72;P=0.017) or changed from not using to using antihypertensive medication (OR=2.24;95%CI:1.08-4.62;P=0.030) had higher BP control.Compared with those having lower HLI,participants with a same (OR=1.38;95%CI:0.99-1.93;P=0.056) or high (OR=1.79;95%CI:1.27~2.53;P<0.001) HLI had higher BP control.Those who used antihypertensive medication and had a high HLI had the highest BP control (OR=1.88;95%CI:1.32-2.67,P<0.001).Subgroup analysis also showed the consistent effect as the above.Conclusion These findings suggest that adherence to antihypertensive medication treatment and healthy lifestyle were associated with a significant improvement in BP control among employees with hypertension.展开更多
Mason Reset(MR),a groundbreaking invention by Clesson E.Mason in 1930 that later became a part of“the universal approach to process control instrumentation”,is revisited in this paper and is shown to consists of thr...Mason Reset(MR),a groundbreaking invention by Clesson E.Mason in 1930 that later became a part of“the universal approach to process control instrumentation”,is revisited in this paper and is shown to consists of three actions:fast(errorcorrection),medium(negative feedback for expanded proportional band)and slow(reset for zero steady-state error).The focus of the paper is on the reset action,generated from a positive feedback loop,and its underlying principles with profound implications to our understanding and practice of automatic control,both basic and advanced.For example,we note that reset control and integral control,contrary to common belief,differ fundamentally in design principle and in practicality.Such difference comes to a head in the event of integrator windup:while reset windup is a problem of actuator saturation,the integrator windup is a runaway situation due to controller instability.In fact,there is no advantage gained in replacing MR with an integrator.In other words,one should not integrate the error directly as in standard PID,since doing so makes the closed-loop system internally unstable.With MR-based control formulated in this paper,there is no such threat of instability and,therefore,no need for any anti-windup mechanisms.Furthermore,the integral control is made scalable in this framework as a tradeoff between the steady-state accuracy and the controller stability.This leads to a novel MR-based control design,scalable in gain and in time to accommodate various process characteristics and design specifications.Simple in construction and transparent in principle,this MR-based control,as a basic framework of design,is readily deployable in scale.展开更多
RNA interference(RNAi)is a post-transcriptional gene-silencing technique induced by the introduction of double-stranded RNA(dsRNA)or small interfering RNA(siRNA)[1].RNAi-based strategies have been extensively applied ...RNA interference(RNAi)is a post-transcriptional gene-silencing technique induced by the introduction of double-stranded RNA(dsRNA)or small interfering RNA(siRNA)[1].RNAi-based strategies have been extensively applied in the treatment of human diseases and crop protection against insect pests[2-4].With the availability of the full genome sequences of major mosquito vectors,RNAi has become increasingly used as a novel means of mosquito control[5].展开更多
The airborne base station(ABS) can provide wireless coverage to the ground in unmanned aerial vehicle(UAV) cellular networks.When mobile users move among adjacent ABSs,the measurement information reported by a single ...The airborne base station(ABS) can provide wireless coverage to the ground in unmanned aerial vehicle(UAV) cellular networks.When mobile users move among adjacent ABSs,the measurement information reported by a single mobile user is used to trigger the handover mechanism.This handover mechanism lacks the consideration of movement state of mobile users and the location relationship between mobile users,which may lead to handover misjudgments and even communication interrupts.In this paper,we propose an intelligent handover control method in UAV cellular networks.Firstly,we introduce a deep learning model to predict the user trajectories.This prediction model learns the movement behavior of mobile users from the measurement information and analyzes the positional relations between mobile users such as avoiding collision and accommodating fellow pedestrians.Secondly,we propose a handover decision method,which can calculate the users' corresponding receiving power based on the predicted location and the characteristic of air-to-ground channel,to make handover decisions accurately.Finally,we use realistic data sets with thousands of non-linear trajectories to verify the basic functions and performance of our proposed intelligent handover controlmethod.The simulation results show that the handover success rate of the proposed method is 8% higher than existing methods.展开更多
Owing to the dynamics coupling between a free-floating base and a manipulator, the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator＇s motion. The reaction torque acted...Owing to the dynamics coupling between a free-floating base and a manipulator, the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator＇s motion. The reaction torque acted on the satellite base＇s centroid is an important index to measure the satellite base＇s disturbance. In this paper, a comprehensive analysis of the reaction torque is made, and a novel way to derive the analytical form of the reaction torque is proposed. In addition,the reaction torque null-space is derived, in which the manipulator＇s joint motion is dynamically decoupled from the motion of the satellite base, and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space. Furthermore, the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task. Besides, supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control, the reaction torque can be used to realize satellite base attitude control, that is, base attitude adjustment or maintenance. Moreover, because reaction torque-based control is a second-order control scheme, joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control. A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas. Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.展开更多
Role based access control is one of the widely used access control models.There are investigations in the literature that use knowledge representation mechanisms such as formal concept analysis(FCA),description logics...Role based access control is one of the widely used access control models.There are investigations in the literature that use knowledge representation mechanisms such as formal concept analysis(FCA),description logics,and Ontology for representing access control mechanism.However,while using FCA,investigations reported in the literature so far work on the logic that transforms the three dimensional access control matrix into dyadic formal contexts.This transformation is mainly to derive the formal concepts,lattice structure and implications to represent role hierarchy and constraints of RBAC.In this work,we propose a methodology that models RBAC using triadic FCA without transforming the triadic access control matrix into dyadic formal contexts.Our discussion is on two lines of inquiry.We present how triadic FCA can provide a suitable representation of RBAC policy and we demonstrate how this representation follows role hierarchy and constraints of RBAC on sample healthcare network available in the literature.展开更多
The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture ...The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture can be accomplished by the space robot.In this paper,a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed.This strategy can reduce the target's rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller.The rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction precisely.The base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base attitude.The main contributions of this paper are as follows:(1)The compliant control method is adopted to achieve a precise friction control,which can reduce the target angular velocity steadily;(2)The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task;(3)The detumbling strategy of dualarm space robot is designed considering base attitude stabilization,realizing coordinated planning of the base attitude and the arms.The strategy is verified by a dual-arm space robot with two 7-DOF(degrees of freedom)arms.Simulation results show that,target with a rotation velocity of 20(°)/s can be effectively controlled to stop within 30 s,and the final deflection of the base attitude is less than 0.15°without affecting the target capture task,verifying the correctness and effectiveness of the strategy.Except to the tumbling target capture task,the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.展开更多
A photostrictive type of opto-electromechanical actuator activated by high-energy lights can introduce actuation and control effects without hard-wired connections. This paper addresses the controllability aspect in w...A photostrictive type of opto-electromechanical actuator activated by high-energy lights can introduce actuation and control effects without hard-wired connections. This paper addresses the controllability aspect in wireless vibration control of plate structures via photostrictive actuators. A modal force index, which has taken into account the mode number, the spatial distribution, and the dimension of the actuator, is chosen as an objective function to determine the optimal locations of photostrictive actuators. A linear methodology is proposed in this paper and the vibration equation is written in the standard state-space form. A binary-coded GA based combined optimal placement and LQR （linear quadratic regulator） control scheme has been incorporated, which maximizes the modal force index, the closed loop damping and minimizes input light intensity to the actuators. In the present method only three weighting factors have been used to search optimal Q and R matrices using GA, which reduces chromosome length and hence minimizes computational time. Numerical results demonstrate that the use of strategically positioned actuator patches can effectively control the fundamental modes that dominate the structural vibration.展开更多
A dynamic Web application, which can help the departments of enterprise to collaborate with each other conveniently, is proposed. Several popular design solutions are introduced at first. Then, dynamic Web system is c...A dynamic Web application, which can help the departments of enterprise to collaborate with each other conveniently, is proposed. Several popular design solutions are introduced at first. Then, dynamic Web system is chosen for developing the file access and control system. Finally, the paper gives the detailed process of the design and implementation of the system, which includes some key problems such as solutions of document management and system security. Additionally, the limitations of the system as well as the suggestions of further improvement are also explained.展开更多
This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front a...This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front and rear wheel steering angles are controlled simultaneously to follow both the desired sideslip angle and the yaw rate of the reference vehicle model.A nonlinear three degree-of-freedom four wheel steering vehicle model containing lateral, yaw and roll motions is built up, which also takes the dynamic effects of crosswind into consideration.The disturbance observer based control method is provided to cope with ignored nonlinear dynamics and to handle exogenous disturbances. Finally, a simulation experiment is carried out,which shows that the proposed four wheel steering vehicle can guarantee handling stability and present strong robustness against external disturbances.展开更多
Base isolated structures have been found to be at risk in near-fault regions as a result of long period pulses that may exist in near-source ground motions. Various control strategies, including passive, active and se...Base isolated structures have been found to be at risk in near-fault regions as a result of long period pulses that may exist in near-source ground motions. Various control strategies, including passive, active and semi-active control systems, have been investigated to overcome this problem. This study focuses on the development of a semi-active control algorithm based on several performance levels anticipated from an isolated building during different levels of ground shaking corresponding to various earthquake hazard levels. The proposed performance-based algorithm is based on a modified version of the well-known semi-active skyhook control algorithm. The proposed control algorithm changes the control gain depending on the level of shaking imposed on the structure. The proposed control system has been evaluated using a series of analyses performed on a base isolated benchmark building subjected to seven pairs of scaled ground motion records. Simulation results show that the newly proposed algorithm is effective in improving the structural and nonstructural performance of the building for selected earthquakes.展开更多
This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control （DOBC） design. Some critical points raised in the development of the me...This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control （DOBC） design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones （particularly control methods with integral action）.展开更多
This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task prior...This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning,and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task＇s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology.展开更多
In this paper, operator based robust nonlinear control for single-input single-output(SISO) and multi-input multi-output(MIMO) nonlinear uncertain systems preceded by generalized Prandtl-Ishlinskii(PI) hysteresis is c...In this paper, operator based robust nonlinear control for single-input single-output(SISO) and multi-input multi-output(MIMO) nonlinear uncertain systems preceded by generalized Prandtl-Ishlinskii(PI) hysteresis is considered respectively. In detail, by using operator based robust right coprime factorization approach, the control system design structures including feedforward and feedback controllers for both SISO and MIMO nonlinear uncertain systems are given, respectively.In which, the controller design includes the information of PI hysteresis and its inverse, and some sufficient conditions for the controllers in both SISO and MIMO systems should be satisfied are also derived respectively. Based on the proposed conditions, influence from hysteresis is rejected, the systems are robustly stable and output tracking performance can be realized.Finally, the effectiveness of the proposed method is confirmed by numerical simulations.展开更多
Sixteen controlled low-strength material( CLSM)mixtures with various cement-to-sand( C/Sa) ratios and water-to-solid( W/So) ratios were prepared using recycled fine aggregate from urban red brick based construction wa...Sixteen controlled low-strength material( CLSM)mixtures with various cement-to-sand( C/Sa) ratios and water-to-solid( W/So) ratios were prepared using recycled fine aggregate from urban red brick based construction waste.The fluidity and bleeding of the fresh CLSM mixtures were measured via the modified test methods, and the hardened CLSM mixtures were then molded to evaluate their compressive strength and durability. The results showthat the fluidity of the fresh CLSM mixtures is 105 to 227 mm with the corresponding bleeding rate of 3. 7% to 15. 5%, which increases with the increase in fluidity. After aging for 28 d,the compressive strength of the hardened CLSM mixtures reaches 1. 15 to 13. 96 M Pa, and their strength can be further enhanced with longer curing ages. Additionally, the strength increases with the increase of the C/Sa ratio, and decreases with the increase of the W/So ratio under the same curing age. Based on the obtained compressive strength, a fitting model for accurately predicting the compressive strength of the CLSM mixtures was established, which takes into account the above two independent variables( C/Sa and W/So ratios).M oreover, the durability of the hardened CLSM mixtures is enhanced for samples with higher C/Sa ratios.展开更多
Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters acc...Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.展开更多
基金supported by the National Natural Science Foundation of China(62473020).
文摘Dear Editor,This letter presents a novel approach to the data-driven control of unknown nonlinear systems.By leveraging online sparse identification based on the Koopman operator,a high-dimensional linear system model approximating the actual system is obtained online.The upper bound of the discrepancy between the identified model and the actual system is estimated using real-time prediction error,which is then utilized in the design of a tube-based robust model predictive controller.The effectiveness of the proposed approach is validated by numerical simulation.
基金supported by the National Natural Science Foundation of China(61433003,60904003,11602019).
文摘Dear Editor,This letter studies the stabilization control issue of cyber-physical systems with time-varying delays and aperiodic denial-of-service(DoS)attacks.To address the calculation overload issue caused by networked predictive control(NPC)approach,an event-based NPC method is proposed.Within the proposed method,the negative effects of time-varying delays and DoS attacks on system performance are compensated.Then,sufficient and necessary conditions are derived to ensure the stability of the closed-loop system.In the end,simulation results are provided to demonstrate the validity of presented method.
基金supported by grant 2011BAI11B01 from the Projects in the Chinese National Science and Technology Pillar Program during the 12th Five-year Plan Periodby grant 2017-I2M-1-004 from the Chinese Academy of Medical Science Innovation Fund for Medical Sciencesby the Major science and technology special plan project of Yunnan Province (202302AA310045)。
文摘Background Both medication and non-medication therapies are effective approaches to control blood pressure (BP) in hypertension patients.However,the association of joint changes in antihypertensive medication use and healthy lifestyle index (HLI)with BP control among hypertension patients is seldom reported,which needs to provide more evidence by prospective intervention studies.We examined the association of antihypertensive medication use and HLI with BP control among employees with hypertension in China based on a workplace-based multicomponent intervention program.Methods Between January 2013 and December 2014,a cluster randomized clinical trial of a workplace-based multicomponent intervention program was conducted in 60 workplaces across 20 urban areas in China.Workplaces were randomly divided into intervention (n=40) and control (n=20) groups.Basic information on employees at each workplace was collected by trained professionals,including sociodemographic characteristics,medical history,family history,lifestyle behaviors,medication status and physical measurements.After baseline,the intervention group received a 2-year intervention to achieve BP control,which included:(1) a workplace wellness program for all employees;(2) a guidelines-oriented hypertension management protocol.HLI including nonsmoking,nondrinking,adequate physical activity,weight within reference range and balanced diet,were coded on a 5-point scale (range:0-5,with higher score indicating a healthier lifestyle).Antihypertensive medication use was defined as taking drug within the last 2 weeks.Changes in HLI,antihypertensive medication use and BP control from baseline to 24 months were measured after the intervention.Results Overall,4655 employees were included (age:46.3±7.6 years,men:3547 (82.3%)).After 24 months of the intervention,there was a significant improvement in lifestyle[smoking (OR=0.65,95%CI:0.43-0.99;P=0.045),drinking (OR=0.52,95%CI:0.40-0.68;P<0.001),regular exercise (OR=3.10,95%CI:2.53-3.78;P<0.001),excessive intake of fatty food (OR=0.17,95%CI:0.06-0.52;P=0.002),restrictive use of salt (OR=0.26,95%CI:0.12-0.56;P=0.001)].Compare to employees with a deteriorating lifestyle after the intervention,those with an improved lifestyle had a higher BP control.In the intervention group,compared with employees not using antihypertensive medication,those who consistent used (OR=2.34;95%CI:1.16-4.72;P=0.017) or changed from not using to using antihypertensive medication (OR=2.24;95%CI:1.08-4.62;P=0.030) had higher BP control.Compared with those having lower HLI,participants with a same (OR=1.38;95%CI:0.99-1.93;P=0.056) or high (OR=1.79;95%CI:1.27~2.53;P<0.001) HLI had higher BP control.Those who used antihypertensive medication and had a high HLI had the highest BP control (OR=1.88;95%CI:1.32-2.67,P<0.001).Subgroup analysis also showed the consistent effect as the above.Conclusion These findings suggest that adherence to antihypertensive medication treatment and healthy lifestyle were associated with a significant improvement in BP control among employees with hypertension.
文摘Mason Reset(MR),a groundbreaking invention by Clesson E.Mason in 1930 that later became a part of“the universal approach to process control instrumentation”,is revisited in this paper and is shown to consists of three actions:fast(errorcorrection),medium(negative feedback for expanded proportional band)and slow(reset for zero steady-state error).The focus of the paper is on the reset action,generated from a positive feedback loop,and its underlying principles with profound implications to our understanding and practice of automatic control,both basic and advanced.For example,we note that reset control and integral control,contrary to common belief,differ fundamentally in design principle and in practicality.Such difference comes to a head in the event of integrator windup:while reset windup is a problem of actuator saturation,the integrator windup is a runaway situation due to controller instability.In fact,there is no advantage gained in replacing MR with an integrator.In other words,one should not integrate the error directly as in standard PID,since doing so makes the closed-loop system internally unstable.With MR-based control formulated in this paper,there is no such threat of instability and,therefore,no need for any anti-windup mechanisms.Furthermore,the integral control is made scalable in this framework as a tradeoff between the steady-state accuracy and the controller stability.This leads to a novel MR-based control design,scalable in gain and in time to accommodate various process characteristics and design specifications.Simple in construction and transparent in principle,this MR-based control,as a basic framework of design,is readily deployable in scale.
基金supported by grants from the National Key Research and Development Program(2023YFE0113600).
文摘RNA interference(RNAi)is a post-transcriptional gene-silencing technique induced by the introduction of double-stranded RNA(dsRNA)or small interfering RNA(siRNA)[1].RNAi-based strategies have been extensively applied in the treatment of human diseases and crop protection against insect pests[2-4].With the availability of the full genome sequences of major mosquito vectors,RNAi has become increasingly used as a novel means of mosquito control[5].
基金supported in parts by the National Natural Science Foundation of China for Distinguished Young Scholar under Grant 61425012the National Science and Technology Major Projects for the New Generation of Broadband Wireless Communication Network under Grant 2017ZX03001014
文摘The airborne base station(ABS) can provide wireless coverage to the ground in unmanned aerial vehicle(UAV) cellular networks.When mobile users move among adjacent ABSs,the measurement information reported by a single mobile user is used to trigger the handover mechanism.This handover mechanism lacks the consideration of movement state of mobile users and the location relationship between mobile users,which may lead to handover misjudgments and even communication interrupts.In this paper,we propose an intelligent handover control method in UAV cellular networks.Firstly,we introduce a deep learning model to predict the user trajectories.This prediction model learns the movement behavior of mobile users from the measurement information and analyzes the positional relations between mobile users such as avoiding collision and accommodating fellow pedestrians.Secondly,we propose a handover decision method,which can calculate the users' corresponding receiving power based on the predicted location and the characteristic of air-to-ground channel,to make handover decisions accurately.Finally,we use realistic data sets with thousands of non-linear trajectories to verify the basic functions and performance of our proposed intelligent handover controlmethod.The simulation results show that the handover success rate of the proposed method is 8% higher than existing methods.
基金supported in part by the National Program on Key Basic Research Project 973 Program under Grant 2013CB733103the Program for New Century Excellent Talents in University under Grand NCET-10-0058
文摘Owing to the dynamics coupling between a free-floating base and a manipulator, the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator＇s motion. The reaction torque acted on the satellite base＇s centroid is an important index to measure the satellite base＇s disturbance. In this paper, a comprehensive analysis of the reaction torque is made, and a novel way to derive the analytical form of the reaction torque is proposed. In addition,the reaction torque null-space is derived, in which the manipulator＇s joint motion is dynamically decoupled from the motion of the satellite base, and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space. Furthermore, the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task. Besides, supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control, the reaction torque can be used to realize satellite base attitude control, that is, base attitude adjustment or maintenance. Moreover, because reaction torque-based control is a second-order control scheme, joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control. A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas. Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.
基金the financial support from Department of Science and Technology,Government of India under the grant:SR/CSRI/118/2014
文摘Role based access control is one of the widely used access control models.There are investigations in the literature that use knowledge representation mechanisms such as formal concept analysis(FCA),description logics,and Ontology for representing access control mechanism.However,while using FCA,investigations reported in the literature so far work on the logic that transforms the three dimensional access control matrix into dyadic formal contexts.This transformation is mainly to derive the formal concepts,lattice structure and implications to represent role hierarchy and constraints of RBAC.In this work,we propose a methodology that models RBAC using triadic FCA without transforming the triadic access control matrix into dyadic formal contexts.Our discussion is on two lines of inquiry.We present how triadic FCA can provide a suitable representation of RBAC policy and we demonstrate how this representation follows role hierarchy and constraints of RBAC on sample healthcare network available in the literature.
基金co-supported by the National Natural Science Foundation of China(Nos.61403038 and 61573066)the Open Research Fund of Key Laboratory of Space Utilization,Chinese Academy of Sciences(Nos.LSU-2016-05-2 and LSUKJTS-2017-02)。
文摘The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture can be accomplished by the space robot.In this paper,a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed.This strategy can reduce the target's rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller.The rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction precisely.The base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base attitude.The main contributions of this paper are as follows:(1)The compliant control method is adopted to achieve a precise friction control,which can reduce the target angular velocity steadily;(2)The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task;(3)The detumbling strategy of dualarm space robot is designed considering base attitude stabilization,realizing coordinated planning of the base attitude and the arms.The strategy is verified by a dual-arm space robot with two 7-DOF(degrees of freedom)arms.Simulation results show that,target with a rotation velocity of 20(°)/s can be effectively controlled to stop within 30 s,and the final deflection of the base attitude is less than 0.15°without affecting the target capture task,verifying the correctness and effectiveness of the strategy.Except to the tumbling target capture task,the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.
基金National Natural Science Foundation Under Grant No.10872090 & 50830201NUAA Research Funding Under Grant No.NJ2010011
文摘A photostrictive type of opto-electromechanical actuator activated by high-energy lights can introduce actuation and control effects without hard-wired connections. This paper addresses the controllability aspect in wireless vibration control of plate structures via photostrictive actuators. A modal force index, which has taken into account the mode number, the spatial distribution, and the dimension of the actuator, is chosen as an objective function to determine the optimal locations of photostrictive actuators. A linear methodology is proposed in this paper and the vibration equation is written in the standard state-space form. A binary-coded GA based combined optimal placement and LQR （linear quadratic regulator） control scheme has been incorporated, which maximizes the modal force index, the closed loop damping and minimizes input light intensity to the actuators. In the present method only three weighting factors have been used to search optimal Q and R matrices using GA, which reduces chromosome length and hence minimizes computational time. Numerical results demonstrate that the use of strategically positioned actuator patches can effectively control the fundamental modes that dominate the structural vibration.
基金Supported by the National Natural Science Foun-dation of China (60503036)
文摘A dynamic Web application, which can help the departments of enterprise to collaborate with each other conveniently, is proposed. Several popular design solutions are introduced at first. Then, dynamic Web system is chosen for developing the file access and control system. Finally, the paper gives the detailed process of the design and implementation of the system, which includes some key problems such as solutions of document management and system security. Additionally, the limitations of the system as well as the suggestions of further improvement are also explained.
基金supported by the National Natural Science Foundation of China(61573165,61520106008,61703178)
文摘This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front and rear wheel steering angles are controlled simultaneously to follow both the desired sideslip angle and the yaw rate of the reference vehicle model.A nonlinear three degree-of-freedom four wheel steering vehicle model containing lateral, yaw and roll motions is built up, which also takes the dynamic effects of crosswind into consideration.The disturbance observer based control method is provided to cope with ignored nonlinear dynamics and to handle exogenous disturbances. Finally, a simulation experiment is carried out,which shows that the proposed four wheel steering vehicle can guarantee handling stability and present strong robustness against external disturbances.
文摘Base isolated structures have been found to be at risk in near-fault regions as a result of long period pulses that may exist in near-source ground motions. Various control strategies, including passive, active and semi-active control systems, have been investigated to overcome this problem. This study focuses on the development of a semi-active control algorithm based on several performance levels anticipated from an isolated building during different levels of ground shaking corresponding to various earthquake hazard levels. The proposed performance-based algorithm is based on a modified version of the well-known semi-active skyhook control algorithm. The proposed control algorithm changes the control gain depending on the level of shaking imposed on the structure. The proposed control system has been evaluated using a series of analyses performed on a base isolated benchmark building subjected to seven pairs of scaled ground motion records. Simulation results show that the newly proposed algorithm is effective in improving the structural and nonstructural performance of the building for selected earthquakes.
文摘This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control （DOBC） design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones （particularly control methods with integral action）.
基金supported in part by the National Program on Key Basic Research Project (No. 2013CB733103)the Program for New Century Excellent Talents in University (No. NCET-10-0058)
文摘This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning,and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task＇s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology.
基金supported by the National Natural Science Foundation of China(61203229)
文摘In this paper, operator based robust nonlinear control for single-input single-output(SISO) and multi-input multi-output(MIMO) nonlinear uncertain systems preceded by generalized Prandtl-Ishlinskii(PI) hysteresis is considered respectively. In detail, by using operator based robust right coprime factorization approach, the control system design structures including feedforward and feedback controllers for both SISO and MIMO nonlinear uncertain systems are given, respectively.In which, the controller design includes the information of PI hysteresis and its inverse, and some sufficient conditions for the controllers in both SISO and MIMO systems should be satisfied are also derived respectively. Based on the proposed conditions, influence from hysteresis is rejected, the systems are robustly stable and output tracking performance can be realized.Finally, the effectiveness of the proposed method is confirmed by numerical simulations.
基金The National Science and Technology Support Program of China(No.2014BAC07B03)the Science and Technology Project of Transportation Committee of Beijing Government(No.2016-LZJKJ-01-006)the National Natural Science Foundation of China(No.51278016)
文摘Sixteen controlled low-strength material( CLSM)mixtures with various cement-to-sand( C/Sa) ratios and water-to-solid( W/So) ratios were prepared using recycled fine aggregate from urban red brick based construction waste.The fluidity and bleeding of the fresh CLSM mixtures were measured via the modified test methods, and the hardened CLSM mixtures were then molded to evaluate their compressive strength and durability. The results showthat the fluidity of the fresh CLSM mixtures is 105 to 227 mm with the corresponding bleeding rate of 3. 7% to 15. 5%, which increases with the increase in fluidity. After aging for 28 d,the compressive strength of the hardened CLSM mixtures reaches 1. 15 to 13. 96 M Pa, and their strength can be further enhanced with longer curing ages. Additionally, the strength increases with the increase of the C/Sa ratio, and decreases with the increase of the W/So ratio under the same curing age. Based on the obtained compressive strength, a fitting model for accurately predicting the compressive strength of the CLSM mixtures was established, which takes into account the above two independent variables( C/Sa and W/So ratios).M oreover, the durability of the hardened CLSM mixtures is enhanced for samples with higher C/Sa ratios.
文摘Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.
