Objective: To explore the clinical therapeutic effects and the mechanism on rheumatic arthritis(RA)treated with the combination of the instruments and techniques of acupuncture and moxibusiton.Methods: A total of 60 R...Objective: To explore the clinical therapeutic effects and the mechanism on rheumatic arthritis(RA)treated with the combination of the instruments and techniques of acupuncture and moxibusiton.Methods: A total of 60 RA patients were randomized into an observation group and a control group,30 cases in each one. In the control group, diclofenac sodium sustained release tablets were prescribed for oral administration, 0.3 g each time, twice a day, methotrexate tablets(MTX) for oral administration,10 mg each time, once a week and folic acid tablets for oral administration, 5 mg each time, once a week. In the observation group, besides the treatment with western medicines, simultaneously, the specific acupoints were selected and stimulated with the triple strong-stimulation therapy, in which, the strong bloodletting technique, the strong cupping technique and the strong moxibustion technique were combined together, with different instruments of acupuncture and moxibustion adopted. The treatment was given once every 3 days, consecutively for 10 times. In 30 days of treatment, the therapeutic effects were observed in the two groups. Separately, before and after treatment, the rheumatoid factors(RF),hypersensitive-C reactive protein(hs-CRP) and erythrocyte sedimentation rate(ESR), the scores of joint symptoms and physical signs as well as the disease activity score(DAS-28) were observed in the two groups.Results: Regarding RF, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 248.01 ± 79.81 vs 31.17 ± 29.01,the control group 254.11 ± 72.16 vs 66.42 ± 37.07, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05). Regarding hs-CRP, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 26.12 ± 9.22 vs 8.98 ± 7.66, the control group 23.18 ± 7.18 vs 16.01 ± 5.02, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05). Regarding ESR, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 30.56 ± 11.38 vs 12.58 ± 5.91,the control group 35.52 ± 9.67 vs 21.47 ± 6.91, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05). Regarding DAS-28, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 8.89 ± 2.01 vs 3.01 ± 0.74, the control group 8.14 ± 1.38 vs 4.12 ± 0.96, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05). Regarding the quantitative grading score of symptom, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 7.87 士 1.69 vs 3.82 ±1.96, the control group 7.77 ± 1.68 vs 5.01 ± 11.23, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05).The total effective rate was 96.67%(29/30) in the observation group and was 80.0%(24/30) in the control group, indicating the statistical significant difference between the two groups(P < 0.01).Conclusion: Based on western medications, the triple strong-stimulation therapy of acupuncture and moxibustion at specific acupoints significantly relieves the joint symptoms, reduces the inflammatory reaction indicators and improves the clinical therapeutic effects on RA in the patients.展开更多
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
We investigate the coherent control of spin tunneling for a spin–orbit(SO)coupled boson trapped in a driven triple well.In the high-frequency limit,the quasienergies of the system are obtained analytically and the fi...We investigate the coherent control of spin tunneling for a spin–orbit(SO)coupled boson trapped in a driven triple well.In the high-frequency limit,the quasienergies of the system are obtained analytically and the fine energy band structures are shown.By regulating the driving parameters,we reveal that the directed spin-flipping or spin-conserving tunneling of an SOcoupled boson occurs along different pathways and in different directions.The analytical results are demonstrated by numerical simulations and good agreements are found.Further,an interesting scheme of quantum spin tunneling switch with or without spin-flipping is presented.The results may have potential applications in the design of spintronic devices.展开更多
The concept of neutrosophic statistics is applied to propose two monitoring schemes which are an improvement of the neutrosophic exponentially weighted moving average(NEWMA)chart.In this study,two control charts are d...The concept of neutrosophic statistics is applied to propose two monitoring schemes which are an improvement of the neutrosophic exponentially weighted moving average(NEWMA)chart.In this study,two control charts are designed under the uncertain environment or neutrosophic statistical interval system,when all observations are undermined,imprecise or fuzzy.These are termed neutrosophic double and triple exponentially weighted moving average(NDEWMA and NTEWMA)control charts.For the proficiency of the proposed chart,Monte Carlo simulations are used to calculate the run-length characteristics(such as average run length(ARL),standard deviation of the run length(SDRL),percentiles(P_(25),P_(50),P_(75)))of the proposed charts.The structures of the proposed control charts are more effective in detecting small shifts while these are comparable with the other existing charts in detecting moderate and large shifts.The simulation study and real-life implementations of the proposed charts show that the proposed NDEWMA and NTEWMA charts perform better in monitoring the process of road traffic crashes and electric engineering data as compared to the existing control charts.Therefore,the proposed charts will be helpful in minimizing the road accident and minimizing the defective products.Furthermore,the proposed charts are more acceptable and actual to apply in uncertain environment.展开更多
We study the controlling of the Goos-Hanchen （GH） shifts in reflected and transmitted light beams in the triple coupled InGaAs/GaAs quantum dot （QD） nanostructures with electron tunneling and incoherent pumping fi...We study the controlling of the Goos-Hanchen （GH） shifts in reflected and transmitted light beams in the triple coupled InGaAs/GaAs quantum dot （QD） nanostructures with electron tunneling and incoherent pumping field. It is shown that the lateral shift can become either large negative or large positive, which can be controlled by the electron tunneling and the rate of incoherent pump field in different incident angles. It is also demonstrated that the properties of the OH shifts are strongly dependent on the probe absorption beam of the intracavity medium due to the switching from superluminal light propagation to subluminal behavior or vice versa. Our suggested system can be considered as a new theoretical method for developing a new nano-optoelectronic sensor.展开更多
The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. This paper studies the use of fuzzy control method to study the stability con...The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. This paper studies the use of fuzzy control method to study the stability control problem of a triple inverted pendulum system. By the linear model of the system, the feedback weight matrix of the LQR optimal control and the feedback parameters of the linear optimal control are designed to determine the parameters of the fuzzy controller. The simulation results show that the proposed method can achieve the stability control of the three stage inverted pendulum, and has good dynamic performance with simple parameter selection.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
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
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
AIM:To compare the eradication rates for Helicobacter pylori(H.pylori) and ulcer recurrence of standard triple therapy(STT) and levofloxacin based therapy(LBT).METHODS:Seventy-four patients with perforated duodenal ul...AIM:To compare the eradication rates for Helicobacter pylori(H.pylori) and ulcer recurrence of standard triple therapy(STT) and levofloxacin based therapy(LBT).METHODS:Seventy-four patients with perforated duodenal ulcer treated with simple closure and found to be H.pylori infected on 3 mo follow up were randomized to receive either the STT group comprising of amoxicillin 1 g bid,clarithromycin 500 mg bid and omeprazole 20 mg bid or the LBT group comprising of amoxicillin 1 g bid,levofloxacin 500 mg bid and omeprazole 20 mg bid for 10 d each.The H.pylori eradication rates,side effects,compliance and the recurrence of ulcer were assessed in the two groups at 3 mo follow up.RESULTS:Thirty-four patients in the STT group and 32 patients in the levofloxacin group presented at 3 mo follow up.H.pylori eradication rates were similar with STT and the LBT groups on intention-to-treat(ITT) analysis(69% vs 80%,P = 0.425) and(79% vs 87%,P = 0.513) by per-protocol(PP) analysis respectively.Ulcer recurrence in the STT and LBT groups on ITT analysis was(20% vs 14%,P = 0.551) and(9% vs 6%,P = 1.00) by PP analysis.Compliance and side effects were also comparable between the groups.A complete course of STT costs Indian Rupees(INR) 1060.00,while LBT costs only INR 360.00.CONCLUSION:H.pylori eradication rates and the rate of ulcer recurrence were similar between the STT and LBT.The LBT is a more economical option compared to STT.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
Ultra-compact serpentine inlet faces serve inlet-engine compatibility issues due to flow distortion.To ensure inlet-engine compatibility over a wide range of Mach number,novel active flow control techniques with the a...Ultra-compact serpentine inlet faces serve inlet-engine compatibility issues due to flow distortion.To ensure inlet-engine compatibility over a wide range of Mach number,novel active flow control techniques with the ability of being opened or adjusted as needed draw many attentions in recent years.In this paper,a feedback control system was developed based on the method of microjet blowing.The proposed system includes a pressure adjusting valve to adjust the control effort,a dynamic pressure sensor to sense the inlet distortion intensity,a signal processing instrument to calculate the Root-Mean-Squared(RMS)pressure,and a controller to implement feedback control.To achieve high quality closed-loop controls at dynamic conditions,a novel nondimensional feedback method was developed.The advantage of this nondimensional method was validated at both off-design and arbitrarily changing Mach number conditions.With a sectional PI control law,the RMS control error reduced more than 56%at arbitrary changing conditions.Works in this paper also showed that the dynamics of this nondimensional system can be simplified as a stable second-order overdamped system.展开更多
A type of single neuron adaptive PID regulator with auto-tuning gain is proposed and applied to the work control of fans, waterpumps and air-pressers etc. in Handan Iron & Steel Compel China. The robusthess of ind...A type of single neuron adaptive PID regulator with auto-tuning gain is proposed and applied to the work control of fans, waterpumps and air-pressers etc. in Handan Iron & Steel Compel China. The robusthess of induStrial parameter closed-loop process controlsystems is improved, and the work quality of the systems bettered.展开更多
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
In this paper, we propose a smart step closed-loop power control (SSPC) algorithm and a base station assignment method based on minimizing the transmitter power (BSA-MTP) technique in a direct sequence-code division m...In this paper, we propose a smart step closed-loop power control (SSPC) algorithm and a base station assignment method based on minimizing the transmitter power (BSA-MTP) technique in a direct sequence-code division multiple access (DS-CDMA) receiver with frequency-selective Rayleigh fading. This receiver consists of three stages. In the first stage, with constrained least mean squared (CLMS) algorithm, the desired users’ signal in an arbitrary path is passed and the inter-path interference (IPI) is reduced in other paths in each RAKE finger. Also in this stage, the multiple access interference (MAI) from other users is reduced. Thus, the matched filter (MF) can use for more reduction of the IPI and MAI in each RAKE finger in the second stage. Also in the third stage, the output signals from the matched filters are combined according to the conventional maximal ratio combining (MRC) principle and then are fed into the decision circuit of the desired user. The simulation results indicate that the SSPC algorithm and the BSA-MTP technique can significantly reduce the network bit error rate (BER) compared to the other methods. Also, we observe that significant savings in total transmit power (TTP) are possible with our methods.展开更多
The piezoelectric actuator has been widely used in precision instruments and precision control. However, hysteresis, nonlinearity and creep exist in the actuator, which limit actuator applications and affect accuracy....The piezoelectric actuator has been widely used in precision instruments and precision control. However, hysteresis, nonlinearity and creep exist in the actuator, which limit actuator applications and affect accuracy. This thesis introduces fuzzy control as the algorithm of a closed-loop control system to control the piezoelectric actuator. Fuzzy control can make this closed-looped system not only have high linearity, repeatability, accuracy and few overshoot, but isalso easily used.展开更多
Closed-loop identification is important and necessary to various model-based advanced process control strategies, whose performance depends greatly on the informative property of the data set. Switching control is an ...Closed-loop identification is important and necessary to various model-based advanced process control strategies, whose performance depends greatly on the informative property of the data set. Switching control is an important method in process control. Therefore, this paper studies the informative property of a data set in a single-input single-output (SISO) closed-loop system with a switching controller. It is proved that this data set is informative if the controller switches among at least two modes (i.e., feedback laws). Our result does not require any assumption on the way of switch and removes the constraints on the switching manner required in some classical literature. Finally, simulation case studies based on a continuous stirred-tank reactor (CSTR) process are given to validate the results.展开更多
文摘Objective: To explore the clinical therapeutic effects and the mechanism on rheumatic arthritis(RA)treated with the combination of the instruments and techniques of acupuncture and moxibusiton.Methods: A total of 60 RA patients were randomized into an observation group and a control group,30 cases in each one. In the control group, diclofenac sodium sustained release tablets were prescribed for oral administration, 0.3 g each time, twice a day, methotrexate tablets(MTX) for oral administration,10 mg each time, once a week and folic acid tablets for oral administration, 5 mg each time, once a week. In the observation group, besides the treatment with western medicines, simultaneously, the specific acupoints were selected and stimulated with the triple strong-stimulation therapy, in which, the strong bloodletting technique, the strong cupping technique and the strong moxibustion technique were combined together, with different instruments of acupuncture and moxibustion adopted. The treatment was given once every 3 days, consecutively for 10 times. In 30 days of treatment, the therapeutic effects were observed in the two groups. Separately, before and after treatment, the rheumatoid factors(RF),hypersensitive-C reactive protein(hs-CRP) and erythrocyte sedimentation rate(ESR), the scores of joint symptoms and physical signs as well as the disease activity score(DAS-28) were observed in the two groups.Results: Regarding RF, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 248.01 ± 79.81 vs 31.17 ± 29.01,the control group 254.11 ± 72.16 vs 66.42 ± 37.07, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05). Regarding hs-CRP, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 26.12 ± 9.22 vs 8.98 ± 7.66, the control group 23.18 ± 7.18 vs 16.01 ± 5.02, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05). Regarding ESR, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 30.56 ± 11.38 vs 12.58 ± 5.91,the control group 35.52 ± 9.67 vs 21.47 ± 6.91, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05). Regarding DAS-28, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 8.89 ± 2.01 vs 3.01 ± 0.74, the control group 8.14 ± 1.38 vs 4.12 ± 0.96, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05). Regarding the quantitative grading score of symptom, there were statistical significant differences before and after treatment in the observation group and the control group(the observation group 7.87 士 1.69 vs 3.82 ±1.96, the control group 7.77 ± 1.68 vs 5.01 ± 11.23, both P < 0.05). The result in the observation group was lower significantly than the control group after treatment(P < 0.05).The total effective rate was 96.67%(29/30) in the observation group and was 80.0%(24/30) in the control group, indicating the statistical significant difference between the two groups(P < 0.01).Conclusion: Based on western medications, the triple strong-stimulation therapy of acupuncture and moxibustion at specific acupoints significantly relieves the joint symptoms, reduces the inflammatory reaction indicators and improves the clinical therapeutic effects on RA in the patients.
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 the Scientific Research Foundation of Hunan Provincial Education Department under Grants No.21B0063 and No.18C0027the Hunan Provincial Natural Science Foundation of China under Grants No.2021JJ30435 and No.2017JJ3208the National Natural Science Foundation of China under Grant No.11747034。
文摘We investigate the coherent control of spin tunneling for a spin–orbit(SO)coupled boson trapped in a driven triple well.In the high-frequency limit,the quasienergies of the system are obtained analytically and the fine energy band structures are shown.By regulating the driving parameters,we reveal that the directed spin-flipping or spin-conserving tunneling of an SOcoupled boson occurs along different pathways and in different directions.The analytical results are demonstrated by numerical simulations and good agreements are found.Further,an interesting scheme of quantum spin tunneling switch with or without spin-flipping is presented.The results may have potential applications in the design of spintronic devices.
基金This work was funded by the Deanship of Scientific Research(DSR),King Abdulaziz University,JeddahThe authors,therefore,gratefully acknowledge the DSR technical and financial support.
文摘The concept of neutrosophic statistics is applied to propose two monitoring schemes which are an improvement of the neutrosophic exponentially weighted moving average(NEWMA)chart.In this study,two control charts are designed under the uncertain environment or neutrosophic statistical interval system,when all observations are undermined,imprecise or fuzzy.These are termed neutrosophic double and triple exponentially weighted moving average(NDEWMA and NTEWMA)control charts.For the proficiency of the proposed chart,Monte Carlo simulations are used to calculate the run-length characteristics(such as average run length(ARL),standard deviation of the run length(SDRL),percentiles(P_(25),P_(50),P_(75)))of the proposed charts.The structures of the proposed control charts are more effective in detecting small shifts while these are comparable with the other existing charts in detecting moderate and large shifts.The simulation study and real-life implementations of the proposed charts show that the proposed NDEWMA and NTEWMA charts perform better in monitoring the process of road traffic crashes and electric engineering data as compared to the existing control charts.Therefore,the proposed charts will be helpful in minimizing the road accident and minimizing the defective products.Furthermore,the proposed charts are more acceptable and actual to apply in uncertain environment.
文摘We study the controlling of the Goos-Hanchen （GH） shifts in reflected and transmitted light beams in the triple coupled InGaAs/GaAs quantum dot （QD） nanostructures with electron tunneling and incoherent pumping field. It is shown that the lateral shift can become either large negative or large positive, which can be controlled by the electron tunneling and the rate of incoherent pump field in different incident angles. It is also demonstrated that the properties of the OH shifts are strongly dependent on the probe absorption beam of the intracavity medium due to the switching from superluminal light propagation to subluminal behavior or vice versa. Our suggested system can be considered as a new theoretical method for developing a new nano-optoelectronic sensor.
文摘The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. This paper studies the use of fuzzy control method to study the stability control problem of a triple inverted pendulum system. By the linear model of the system, the feedback weight matrix of the LQR optimal control and the feedback parameters of the linear optimal control are designed to determine the parameters of the fuzzy controller. The simulation results show that the proposed method can achieve the stability control of the three stage inverted pendulum, and has good dynamic performance with simple parameter selection.
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.
文摘AIM:To compare the eradication rates for Helicobacter pylori(H.pylori) and ulcer recurrence of standard triple therapy(STT) and levofloxacin based therapy(LBT).METHODS:Seventy-four patients with perforated duodenal ulcer treated with simple closure and found to be H.pylori infected on 3 mo follow up were randomized to receive either the STT group comprising of amoxicillin 1 g bid,clarithromycin 500 mg bid and omeprazole 20 mg bid or the LBT group comprising of amoxicillin 1 g bid,levofloxacin 500 mg bid and omeprazole 20 mg bid for 10 d each.The H.pylori eradication rates,side effects,compliance and the recurrence of ulcer were assessed in the two groups at 3 mo follow up.RESULTS:Thirty-four patients in the STT group and 32 patients in the levofloxacin group presented at 3 mo follow up.H.pylori eradication rates were similar with STT and the LBT groups on intention-to-treat(ITT) analysis(69% vs 80%,P = 0.425) and(79% vs 87%,P = 0.513) by per-protocol(PP) analysis respectively.Ulcer recurrence in the STT and LBT groups on ITT analysis was(20% vs 14%,P = 0.551) and(9% vs 6%,P = 1.00) by PP analysis.Compliance and side effects were also comparable between the groups.A complete course of STT costs Indian Rupees(INR) 1060.00,while LBT costs only INR 360.00.CONCLUSION:H.pylori eradication rates and the rate of ulcer recurrence were similar between the STT and LBT.The LBT is a more economical option compared to STT.
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.
基金supported by the National Natural Science Foundation of China (No.11602291)。
文摘Ultra-compact serpentine inlet faces serve inlet-engine compatibility issues due to flow distortion.To ensure inlet-engine compatibility over a wide range of Mach number,novel active flow control techniques with the ability of being opened or adjusted as needed draw many attentions in recent years.In this paper,a feedback control system was developed based on the method of microjet blowing.The proposed system includes a pressure adjusting valve to adjust the control effort,a dynamic pressure sensor to sense the inlet distortion intensity,a signal processing instrument to calculate the Root-Mean-Squared(RMS)pressure,and a controller to implement feedback control.To achieve high quality closed-loop controls at dynamic conditions,a novel nondimensional feedback method was developed.The advantage of this nondimensional method was validated at both off-design and arbitrarily changing Mach number conditions.With a sectional PI control law,the RMS control error reduced more than 56%at arbitrary changing conditions.Works in this paper also showed that the dynamics of this nondimensional system can be simplified as a stable second-order overdamped system.
文摘A type of single neuron adaptive PID regulator with auto-tuning gain is proposed and applied to the work control of fans, waterpumps and air-pressers etc. in Handan Iron & Steel Compel China. The robusthess of induStrial parameter closed-loop process controlsystems is improved, and the work quality of the systems bettered.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.
文摘In this paper, we propose a smart step closed-loop power control (SSPC) algorithm and a base station assignment method based on minimizing the transmitter power (BSA-MTP) technique in a direct sequence-code division multiple access (DS-CDMA) receiver with frequency-selective Rayleigh fading. This receiver consists of three stages. In the first stage, with constrained least mean squared (CLMS) algorithm, the desired users’ signal in an arbitrary path is passed and the inter-path interference (IPI) is reduced in other paths in each RAKE finger. Also in this stage, the multiple access interference (MAI) from other users is reduced. Thus, the matched filter (MF) can use for more reduction of the IPI and MAI in each RAKE finger in the second stage. Also in the third stage, the output signals from the matched filters are combined according to the conventional maximal ratio combining (MRC) principle and then are fed into the decision circuit of the desired user. The simulation results indicate that the SSPC algorithm and the BSA-MTP technique can significantly reduce the network bit error rate (BER) compared to the other methods. Also, we observe that significant savings in total transmit power (TTP) are possible with our methods.
文摘The piezoelectric actuator has been widely used in precision instruments and precision control. However, hysteresis, nonlinearity and creep exist in the actuator, which limit actuator applications and affect accuracy. This thesis introduces fuzzy control as the algorithm of a closed-loop control system to control the piezoelectric actuator. Fuzzy control can make this closed-looped system not only have high linearity, repeatability, accuracy and few overshoot, but isalso easily used.
基金Supported by the National Basic Research Program of China (2010CB731800)the National Natural Science Foundation of China (60974059, 60736026, 61021063, 60904044, 61290324)Tsinghua National Laboratory for Information Science and Technology (TNList) Cross-discipline Foundation
文摘Closed-loop identification is important and necessary to various model-based advanced process control strategies, whose performance depends greatly on the informative property of the data set. Switching control is an important method in process control. Therefore, this paper studies the informative property of a data set in a single-input single-output (SISO) closed-loop system with a switching controller. It is proved that this data set is informative if the controller switches among at least two modes (i.e., feedback laws). Our result does not require any assumption on the way of switch and removes the constraints on the switching manner required in some classical literature. Finally, simulation case studies based on a continuous stirred-tank reactor (CSTR) process are given to validate the results.
