A multi-constrained model predictive control （ MPC ） algorithm for trajectory tracking of an autonomous ground vehicle is proposed and tested in this paper. First, to simplify the computa- tion, an active steering l...A multi-constrained model predictive control （ MPC ） algorithm for trajectory tracking of an autonomous ground vehicle is proposed and tested in this paper. First, to simplify the computa- tion, an active steering linear error model is applied in the MPC controller. Then, a control incre- ment constraint and a relaxing factor are taken into account in the objective function to ensure the smoothness of the trajectory, using a softening constraints technique. In addition, the controller can obtain optimal control sequences which satisfy both the actual kinematic constraints and the actuator constraints. The circular trajectory tracking performance of the proposed method is compared with that of another MPC controller. To verify the trajectory tracking capabilities of the designed control- ler at different desired speed, the simulation experiments are carried out at the speed of 3m/s, 5m/ s and 10m/s. The results demonstrate the MPC controller has a good speed adaptability.展开更多
In order to recognize the distribution of dispersed remaining oil,reservoirs should be described in more detail and quantitatively to establish refined and sophisticated 3D quantified reservoir model which can reflect...In order to recognize the distribution of dispersed remaining oil,reservoirs should be described in more detail and quantitatively to establish refined and sophisticated 3D quantified reservoir model which can reflect the detailed variation in the reservoir and its structure.The key point of sophistication and quantification of reservoir characterization is to describe the geo-metry of interwell sandbodies and to estimate their reservoir parameters.展开更多
Objective： To investigate a possible association between common variations of the P2RY12 and the residual clopidogrel on-treatment platelet reactivity after adjusting for the influence of CYP2C19 tested by thromboe- ...Objective： To investigate a possible association between common variations of the P2RY12 and the residual clopidogrel on-treatment platelet reactivity after adjusting for the influence of CYP2C19 tested by thromboe- lastography （TEG）. Methods： One hundred and eighty patients with acute coronary syndrome （ACS） treated with clopJdogrel and aspJdn were included and platelet function was assessed by TEG. Five selected P2RY12 single nu- cleotide polymorphisms （SNPs; rs6798347, rs6787801, rs6801273, rs6785930, and rs2046934）, which cover the common variations in the P2RY12 gene and its regulatory regions, and three CYP2C19 SNPs （ 2, 3, 17） were geno- typed and possible haplotypes were analyzed. Results： The high on-treatment platelet reactivity （HTPR） prevalence defined by a platelet inhibition rate 〈30% by TEG in adenosine diphosphate （ADP）-channel was 69 （38.33%）. Six common haplotypes were inferred from four of the selected P2RY12 SNPs （denoted H0 to H5） according to the linkage disequilibrium R square （except for rs2046934）. Haplotype H1 showed a significantly lower incidence of HTPR than the reference haplotype （H0） in the total study population while haplotypes H1 and H2 showed significantly lower incidences of HTPR than H0 in the nonsmoker subgroup after adjusting for CYP2Clg effects and demographic characteristics. rs2046934 （T744C） did not show any significant association with HTPR. Conclusions： The combination of common P2RY12 variations including regulatory regions rather than rs2046934 （T744C） that related to pharmacodynamics of clopidogrel in patients with ACS was independently associated with residual on-clopidogrel platelet reactivity. This is apart from the established association of the CYP2C19. This association seemed more important in the subgroup defined by smoking.展开更多
基金Supported by the National Natural Science Foundation of China(51275041,61304194)the Doctoral Fund of Ministry of Education of China(20121101120015)the Fundamental Research Funds from Beijing Institute of Technology(20120342011)
文摘A multi-constrained model predictive control （ MPC ） algorithm for trajectory tracking of an autonomous ground vehicle is proposed and tested in this paper. First, to simplify the computa- tion, an active steering linear error model is applied in the MPC controller. Then, a control incre- ment constraint and a relaxing factor are taken into account in the objective function to ensure the smoothness of the trajectory, using a softening constraints technique. In addition, the controller can obtain optimal control sequences which satisfy both the actual kinematic constraints and the actuator constraints. The circular trajectory tracking performance of the proposed method is compared with that of another MPC controller. To verify the trajectory tracking capabilities of the designed control- ler at different desired speed, the simulation experiments are carried out at the speed of 3m/s, 5m/ s and 10m/s. The results demonstrate the MPC controller has a good speed adaptability.
文摘In order to recognize the distribution of dispersed remaining oil,reservoirs should be described in more detail and quantitatively to establish refined and sophisticated 3D quantified reservoir model which can reflect the detailed variation in the reservoir and its structure.The key point of sophistication and quantification of reservoir characterization is to describe the geo-metry of interwell sandbodies and to estimate their reservoir parameters.
基金Project supported by the Beijing Higher Education Young Elite Teacher Project(No.YETP0064),China
文摘Objective： To investigate a possible association between common variations of the P2RY12 and the residual clopidogrel on-treatment platelet reactivity after adjusting for the influence of CYP2C19 tested by thromboe- lastography （TEG）. Methods： One hundred and eighty patients with acute coronary syndrome （ACS） treated with clopJdogrel and aspJdn were included and platelet function was assessed by TEG. Five selected P2RY12 single nu- cleotide polymorphisms （SNPs; rs6798347, rs6787801, rs6801273, rs6785930, and rs2046934）, which cover the common variations in the P2RY12 gene and its regulatory regions, and three CYP2C19 SNPs （ 2, 3, 17） were geno- typed and possible haplotypes were analyzed. Results： The high on-treatment platelet reactivity （HTPR） prevalence defined by a platelet inhibition rate 〈30% by TEG in adenosine diphosphate （ADP）-channel was 69 （38.33%）. Six common haplotypes were inferred from four of the selected P2RY12 SNPs （denoted H0 to H5） according to the linkage disequilibrium R square （except for rs2046934）. Haplotype H1 showed a significantly lower incidence of HTPR than the reference haplotype （H0） in the total study population while haplotypes H1 and H2 showed significantly lower incidences of HTPR than H0 in the nonsmoker subgroup after adjusting for CYP2Clg effects and demographic characteristics. rs2046934 （T744C） did not show any significant association with HTPR. Conclusions： The combination of common P2RY12 variations including regulatory regions rather than rs2046934 （T744C） that related to pharmacodynamics of clopidogrel in patients with ACS was independently associated with residual on-clopidogrel platelet reactivity. This is apart from the established association of the CYP2C19. This association seemed more important in the subgroup defined by smoking.
