From the perspective of narratology, this paper explores the contemporary inheritance of the medical legacy of Zhang Zhongjing's practice medicine in the clinic. Its inheritance mode includes: the enrichment of la...From the perspective of narratology, this paper explores the contemporary inheritance of the medical legacy of Zhang Zhongjing's practice medicine in the clinic. Its inheritance mode includes: the enrichment of language and characters and the narratio of romance, the spatial reductive narratio of cultural landscape, the body expressive narratio of ritual behavior. This makes the legend more concerned with the real society, enhances the regional cultural image, develops the local economy, and confidences to the practices role of carrying forward the response and mission of practicing medicine to save people. Compared with the previous academic circle, which previous focus on the textual research of the dispute over its historical authentication, or focus on the retrospective study of its historical origin, this paper is based on the research perspective of historical inheritance, which is constructive to the living inheritance and protection of legends.展开更多
This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sl...This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.展开更多
基金Henan Xing Culture Engineering Culture Research Project(2022XWH231)Zhang Zhongjing's Inheritance and Innovation Project(GZY-KJS-2022-039-1,GZY-KJS-2022-043-1,GZY-KJS-2022-045-3)+2 种基金Special Research Project of Traditional Chinese Medicine in Henan Province(2023ZY2194)Research Project of National Museum of Traditional Chinese Medicine(NMTCM-YJ-2022-22)Research Project on Culture and Management of Traditional Chinese Medicine in Henan Province(TCM2020023).
文摘From the perspective of narratology, this paper explores the contemporary inheritance of the medical legacy of Zhang Zhongjing's practice medicine in the clinic. Its inheritance mode includes: the enrichment of language and characters and the narratio of romance, the spatial reductive narratio of cultural landscape, the body expressive narratio of ritual behavior. This makes the legend more concerned with the real society, enhances the regional cultural image, develops the local economy, and confidences to the practices role of carrying forward the response and mission of practicing medicine to save people. Compared with the previous academic circle, which previous focus on the textual research of the dispute over its historical authentication, or focus on the retrospective study of its historical origin, this paper is based on the research perspective of historical inheritance, which is constructive to the living inheritance and protection of legends.
文摘This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.
