A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone

This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.

Vibration Control of A Flexible Marine Riser System Subject to Input Dead Zone and Extraneous Disturbances

An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.

Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.

Influence of heat input on microhardness and microstructure across the welding interface between stainless steel and low alloy steel

The welding interface is crucial to the service safety of dissimilar metal weld(DMW)joints between stainless steel(SS)and low alloy(LA)steel.Different status of welding interfaces was prepared by cladding SS consumables to LA steel substrates with different heat inputs via tungsten inert gas arc welding(TIG),followed by a series of microstructural characterizations and hardness tests.Results showed that a hardening and transition layer(TL)would be generated along the welding interface,and the width and hardening degree of the TL would increase with the heat input.Meanwhile,heavy load hardness tests showed that highly severe inhomogeneous plastic deformation and the microcrack would be generated in the interfacial region and the welding interface respectively in the highest heat input sample(1.03 kJ/mm).These results indicate that the increase in heat input would deteriorate the bonding performance of DMW joints.Further microstructural observations showed that the higher hardening degree of the highest heat input sample was mainly attributed to the stronger grain boundary,solution,and dislocation strengthening effects.

Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.

Geochemical fingerprints and hydrocarbon potential of Paleocene mudrocks in the Tano Basin, Ghana: insights from biomarkers and stable carbon isotopes

The Paleocene mudrocks in Ghana’s Tano Basin have received limited attention despite ongoing efforts to explore hydrocarbon resources.A thorough geochemical analysis is imperative to assess these mudrocks’petroleum generation potential and formulate effective exploration strategies.In this study,a comprehensive geochemical analysis was carried out on ten Paleocene rock cuttings extracted from TP-1,a discovery well within the Tano Basin.Various analytical techniques,including total organic carbon(TOC)analysis,Rock–Eval pyrolysis,gas chromatography-mass spectrometry,and isotope ratio-mass spectrometry,were employed to elucidate their hydrocar-bon potential and organic facies.Thefindings in this study were subsequently compared to existing geochemical data on Paleocene source rocks in the South Atlantic marginal basins.The results indicated that the Paleocene samples have TOC content ranging from 0.68 to 2.93 wt%.The prevalent kerogen types identified in these samples were Type Ⅱ and Type Ⅲ.Molecular and isotope data suggest that the organic matter found in the Paleocene mudrocks can be traced back to land plants and lower aquatic organisms.These mudrocks were deposited in a transi-tional environment withfluctuating water salinity,charac-terized by sub-oxic redox conditions.Maturity indices,both bulk and molecular,indicated a spectrum of maturity levels within the Paleocene mudrocks,spanning from immature to marginally mature,with increasing maturity observed with greater depth.In comparison,the organic composition and depositional environments of Paleocene source rocks in the Tano Basin closely resemble those found in the Niger Delta Basin,Douala,and Kribi-Campo Basins,the Kwanza Formation in Angola,and certain Brazilian marginal basins.However,it is worth noting that Paleocene source rocks in some of the basins,such as the Niger Delta and Brazilian marginal basins,exhibit rela-tively higher thermal maturity levels compared to those observed in the current Paleocene samples from the Tano Basin.In conclusion,the comprehensive geochemical analysis of Paleocene mudrocks within Ghana’s Tano Basin has unveiled their marginal hydrocarbon generation potential.The shared geochemical characteristics between the Paleocene mudrocks in the Tano Basin and those in the nearby South Atlantic marginal basins offer valuable insights into source rock quality,which is crucial for shaping future strategies in petroleum exploration in this region.

Set-Membership Filtering Approach to Dynamic Event-Triggered Fault Estimation for a Class of Nonlinear Time-Varying Complex Networks

The present study addresses the problem of fault estimation for a specific class of nonlinear time-varying complex networks,utilizing an unknown-input-observer approach within the framework of dynamic event-triggered mechanism(DETM).In order to optimize communication resource utilization,the DETM is employed to determine whether the current measurement data should be transmitted to the estimator or not.To guarantee a satisfactory estimation performance for the fault signal,an unknown-input-observer-based estimator is constructed to decouple the estimation error dynamics from the influence of fault signals.The aim of this paper is to find the suitable estimator parameters under the effects of DETM such that both the state estimates and fault estimates are confined within two sets of closed ellipsoid domains.The techniques of recursive matrix inequality are applied to derive sufficient conditions for the existence of the desired estimator,ensuring that the specified performance requirements are met under certain conditions.Then,the estimator gains are derived by minimizing the ellipsoid domain in the sense of trace and a recursive estimator parameter design algorithm is then provided.Finally,a numerical example is conducted to demonstrate the effectiveness of the designed estimator.

Exact controllability of rational expectations model with multiplicative noise and input delay

This paper considers the rational expectations model with multiplicative noise and input delay,where the system dynamics rely on the conditional expectations of future states.The main contribution is to obtain a sufficient condition for the exact controllability of the rational expectations model.In particular,we derive a sufficient Gramian matrix condition and a rank condition for the delay-free case.The key is the solvability of the backward stochastic difference equations with input delay which is derived from the forward and backward stochastic system.

Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

This paper investigates the problem of path tracking control for autonomous ground vehicles(AGVs),where the input saturation,system nonlinearities and uncertainties are considered.Firstly,the nonlinear path tracking system is formulated as a linear parameter varying(LPV)model where the variation of vehicle velocity is taken into account.Secondly,considering the noise effects on the measurement of lateral offset and heading angle,an observer-based control strategy is proposed,and by analyzing the frequency domain characteristics of the derivative of desired heading angle,a finite frequency H_∞index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error.Thirdly,sufficient conditions are derived to guarantee robust H_∞performance of the path tracking system,and the calculation of observer and controller gains is converted into solving a convex optimization problem.Finally,simulation examples verify the advantages of the control method proposed in this paper.

基于Raptor编码的多输入多输出光通信系统设计

为了提高可见光通信(Visible Light Communication,VLC)系统的复用增益,本文提出一种基于多输入多输出(Multiple Input Multiple Output,MIMO)的固定比例像素化VLC系统。系统首先执行空间角度映射,使数据的传送可在角域中进行;同时利用Raptor编码方法来跟踪由于窗口截断而引起的数据信道特性变化;然后对于使用高速相机捕捉到的一系列时变图像,利用散景效应获得所有链路距离上的固定比例图像。实验利用液晶显示器和高速相机,对所提出的VLC系统进行了验证。与传统的像素化MIMO系统相比,本文所提出的系统在未对准朝向的情境下具有更高的鲁棒性,从而在多路复用场景有着广泛的应用前景。

云南省R&D经费投入结构动态研究

为研究云南省“十二五”以来R&D经费投入结构变化,分析R&D经费投入现状,并与全国,东、中、西部地区及临近省份进行了对比;从资金来源和资金配置视角,运用Cobb-Douglas效用函数及其修正模型对R&D经费投入结构展开动态分析。结果表明:云南省R&D经费投入结构不尽合理,资金来源中政府资金占比较低且呈下降趋势,资金配置中基础研究和应用研究投入不足,与最优结构偏离程度较大。针对存在的问题,提出持续加大政府R&D经费投入力度、围绕产业链提升基础研究和应用研究比重的建议。

R&D资本化背景下我国TFP增长率再测算

研究与试验发展(R&D)资本对经济增长和科技创新作用日益凸显,但对于R&D资本的核算亟待完善。本文基于SNA2008和CSNA2016框架,将R&D支出作为资本形成,对我国各省份物质资本存量和R&D资本存量进行规范化测算,使用随机前沿分析法重新估算1991—2019年间的全要素生产率(TFP)增长率。研究发现:第一,我国R&D资本存量规模呈总体递增和地区聚集趋势;第二,1991—2019年间,我国广义TFP增长率年平均增幅为2.10%,对经济增长存在正向作用;第三,将TFP增长率分解为技术进步、前沿技术效率和规模效应,发现技术进步对TFP增长率的贡献最大,是推动我国TFP增长的主导力量,但却呈现逐年递减的趋势;第四,随着我国对R&D投入的不断增加与重视,R&D对我国广义TFP增长率的贡献呈现递增的趋势,R&D的贡献逐渐成为推动我国科技进步的主要力量。

政府R&D资助对OFDI逆向绿色创新的影响机制研究

应用中国分省区层面数据并采用面板门槛模型,实证考察了政府R&D资助影响OFDI逆向绿色创新的动态效应。研究发现,OFDI对国内绿色创新产生了显著的驱动效应,但这种影响呈现出明显的先负后正的“U”型动态演化特征;政府R&D资助会正向调节OFDI逆向绿色创新溢出,且存在最适宜于OFDI逆向绿色创新的政府R&D资助区间(0.366,0.428],过高或过低强度的政府R&D资助均会在一定程度上造成OFDI逆向绿色创新的红利损失;政府R&D资助调节下OFDI对绿色创新的动态影响具有显著时空异质性,即在时空维度上存在“激励效应”与“挤出效应”交替演化的鲜明特征。

2021年副省级城市R&D经费投入分析

2017—2021年,副省级城市的R&D经费投入都保持持续增长的态势。深圳的R&D经费投入在副省级城市中一直处于遥遥领先的地位,西安由于科研院所和高校众多,2017年R&D经费投入总量在副省级城市中排名第四,2021年排名第七,被资源禀赋相似的南京、成都、武汉等城市超越。西安由于GDP总量不高,R&D经费投入强度一直保持在5%左右,2020年被深圳反超。基于数据的可获得性,本文从2021年副省级城市的R&D经费投入总量、R&D经费投入强度等方面进行解读和分析,并结合分析结果提出相关建议,以供参考。

A guidance and control design with reduced information for a dual-spin stabilized projectile

In this paper,an integrated guidance and control method based on an adaptive path-following controller is proposed to control a spin-stabilized projectile with only translational motion information under the constraint of an actuator,uncertainties in aerodynamic parameters and measurements,and control system complexity.Owing to the fairly high rotation speed,the dynamic model of this missile is strongly nonlinear,uncertain and coupled in pitch,yaw and roll channels.A theoretical equivalent resultant force and uncertainty compensation method are comprehensively used to realize decoupling of pitch and yaw.In response to the strong nonlinear and time-varying characteristics of the dynamic system,the quasi-linear model whose parameters are obtained by interpolation of points selected as the segmentation points in the trajectory envelope,is used for calculation in each step.To cope with the system uncertainty caused by model approximation,parameter uncertainty and ballistic interference,an extended state estimator is used to compensate the output feedback according to the test ballistic angle.In order to improve the tracking efficiency and ensure the tracking error convergence with only translational motion information,the virtual guide point,whose derivative is deduced according to the Lyapunov principle,is calculated in real time according to the projection relationship between the real-time position and the reference trajectory,and a virtual line-of-sight angle and the backstepping method are used for the design of the guidance and control system.In order to avoid the influence of control input saturation on the guidance and control performance due to the actuator limitation and improve the robustness of the system,an anti-saturation compensator is designed according to the two-step method.The feasibility and effectiveness of the path-following controller is verified through closed-loop flight simulations with measurement,control,and condition uncertainties.The results indicate that the designed controller can converge to the reference path and evidently decrease the distance between the impact point and target under different uncertainties.

Hydrocarbon generation and organic matter enrichment of limestone in a lacustrine mixed sedimentary environment: A case study of the Jurassic Da'anzhai member in the central Sichuan Basin, SW China

The hydrocarbon generation effectiveness of lacustrine limestone has been gradually proven. The Da'anzhai Member limestone is the most important Jurassic oil-producing layer in the central Sichuan Basin, and the characteristics of limestone organic matter are often overlooked. 175 typical samples of different lithologies from 19 wells were systematically analyzed to determine hydrocarbon generation, controlling factors and formation models by analyses of organic matter, minerals, elements, isotopes and petrography. (1) Lacustrine paleoenvironments can be beneficial for the enrichment of organic matter in limestone. A favorable environment would be a quiet, low-energy zone in a warm and humid climate with an appropriate supply of terrestrial inputs. (2) Lacustrine limestone has a higher organic matter conversion rate, and a lower hydrocarbon generation threshold than argillaceous source rocks, and can be effective source rock. (3) The mud-bearing shell limestone from the forebeach to the lake slope is thick, with a relatively high abundance of organic matter, and its hydrocarbon generation is effective. This study can clarify the effectiveness and enrichment of the limestone organic matters in the study area, and contribute to an understanding of hydrocarbon generation for full-rock system in a lacustrine mixed sedimentary environment.

Estimating the Input Power of a Power Plant Using the Efficiency of the Inverter

The study focuses on estimating the input power of a power plant from available data, using the theoretical inverter efficiency as the key parameter. The paper addresses the problem of missing data in power generation systems and proposes an approach based on the efficiency formula widely documented in the literature. In the absence of input data, this method makes it possible to estimate the plant’s input power using data extracted from the site, in particular that provided by the Ministry of the Environment. The importance of this study lies in the need to accurately determine the input power in order to assess the overall performance of the energy system.

Brain-wide N2cG compensation permits glycoprotein-deleted rabies virus to trace neural circuits across multiple synapses

Rabies-viruses-based retrograde tracers can spread across multiple synapses in a retrograde direction in the nervous system of rodents and primates,making them powerful tools for determining the structure and function of the complicated neural circuits of the brain.However,they have some limitations,such as posing high risks to human health and the inability to retrograde trans-synaptic label inputs from genetically-de¯ned starter neurons.Here,we established a new retrograde trans-multi-synaptic tracing method through brain-wide rabies virus glycoprotein(RVG)compensation,followed by glycoprotein-deleted rabies virus(RV-△G)infection in specific brain regions.Furthermore,in combination with the avian tumor virus receptor A(TVA)controlled by a cell-type-specific promoter,we found that EnvA-pseudotyped RV-△G can mediate e±cient retrograde trans-multi-synaptic transduction from cell-type-specific starter neurons.This study provides new alternative methods for neuroscience researchers to analyze the input neural networks of rodents and nonhuman primates.

Distributed fault diagnosis observer for multi-agent system against actuator and sensor faults

Component failures can cause multi-agent system(MAS)performance degradation and even disasters,which provokes the demand of the fault diagnosis method.A distributed sliding mode observer-based fault diagnosis method for MAS is developed in presence of actuator and sensor faults.Firstly,the actuator and sensor faults are extended to the system state,and the system is transformed into a descriptor system form.Then,a sliding mode-based distributed unknown input observer is proposed to estimate the extended state.Furthermore,adaptive laws are introduced to adjust the observer parameters.Finally,the effectiveness of the proposed method is demonstrated with numerical simulations.

创新驱动发展战略下R&D资本化的统计核算

国家统计局根据国际最新国民经济核算体系对研发支出的核算方法进行改革,在新核算标准下,R&D作为固定资产计入GDP,此举对于我国国民经济核算体系的升级具有重要意义。本文对我国R&D核算方法调整的动因以及在新核算模式下R&D应当依据怎样的标准进行核算做出了相应分析。研究发现,R&D支出资本化的核算会增大经济总量,但也存在“研发泡沫”和因研发的正外部性而低估R&D支出等风险。因此,为规避风险和避免R&D支出低估以及合理推进核算体系升级,应结合我国国情,加大研发支出的核算力度及相关研究的投入,并建立具有中国特色的R&D卫星账户体系。