A PID Sliding Mode Control for Ropeless Elevator Maglev Guiding System

In this paper, three different controllers are proposed and simulated for maglev guiding systems to have convenient and smooth elevator motion. The proposed controllers are PID, sliding mode, and PID sliding mode controllers. The advantages and disadvantages of the proposed controllers are discussed. Although, PID controller is fast, its response affected considerably by external disturbances. Unlike PID, the sliding mode controller is so robust, but its transient is unsuitable based on application conditions. However, an acceptable controller for ropeless elevator guiding system should guaranty the passengers safety and convenient. Consequently, the response of the system should be fast, robust, and without considerable overshoots and oscillations. These required advantages are compromised in the proposed parallel PID sliding mode controller. The affectivity of the introduced controllers for maglev guiding system is investigated through conducted simulations in MATLAB/Simulink environment. The obtained results illustrate that PID sliding mode controller is a so fast and robust controller for a ropeless elevator maglev guiding system.

Adaptive energy-preserving algorithms for guiding center system

We develop two types of adaptive energy preserving algorithms based on the averaged vector field for the guiding center dynamics,which plays a key role in magnetized plasmas.The adaptive scheme is applied to the Gauss Legendre’s quadrature rules and time stepsize respectively to overcome the energy drift problem in traditional energy-preserving algorithms.These new adaptive algorithms are second order,and their algebraic order is carefully studied.Numerical results show that the global energy errors are bounded to the machine precision over long time using these adaptive algorithms without massive extra computation cost.

Intraoperative application of three-dimensional printed guides in total hip arthroplasty: A systematic review

BACKGROUND Acetabular component positioning in total hip arthroplasty(THA)is of key importance to ensure satisfactory post-operative outcomes and to minimize the risk of complications.The majority of acetabular components are aligned freehand,without the use of navigation methods.Patient specific instruments(PSI)and three-dimensional(3D)printing of THA placement guides are increasingly used in primary THA to ensure optimal positioning.AIM To summarize the literature on 3D printing in THA and how they improve acetabular component alignment.METHODS PubMed was used to identify and access scientific studies reporting on different 3D printing methods used in THA.Eight studies with 236 hips in 228 patients were included.The studies could be divided into two main categories;3D printed models and 3D printed guides.RESULTS 3D printing in THA helped improve preoperative cup size planning and post-operative Harris hip scores between intervention and control groups(P=0.019,P=0.009).Otherwise,outcome measures were heterogeneous and thus difficult to compare.The overarching consensus between the studies is that the use of 3D guidance tools can assist in improving THA cup positioning and reduce the need for revision THA and the associated costs.CONCLUSION The implementation of 3D printing and PSI for primary THA can significantly improve the positioning accuracy of the acetabular cup component and reduce the number of complications caused by malpositioning.

Exploration and Practice of“Guiding Interactive”Teaching in Advanced Geochemistry Courses from the Perspective of Constructivist Theory

The construction of geochemical disciplines has brought new vitality to the development of traditional geology.In the new round of“Double First-Class”discipline construction at Central South University,the course of Advanced Geochemistry has effectively stimulated students’interest in learning and further improved their scientific thinking and research innovation skills through the implementation of“Guiding Interactive”teaching reform measures,which has important theoretical significance and practical value.

Beam guiding system geometric arrangement in the target area of high-power laser drivers

With the increasing number of laser beams, the main difficulty in arranging beam guiding systems(BGSs) involves determining the corresponding relationships between the output and input ports to realize the identified light path length of all beams. Given the basic constraints of geometric arrangement, a BGS model is established, and a base-line algorithm is proposed to address the difficulty mentioned above. Boundary conditions of target area and target chamber are discussed to increase the number of laser beams, and a maximum value exists for a specific target area. Finally, the compatibility of a cylindrical hohlraum target chamber with a spherical hohlraum is analyzed, and a moveable final optics assembly is proposed to execute the switch between the two different targets.

Application of Automated Guided Vehicles in Smart Automated Warehouse Systems:A Survey

Automated Guided Vehicles(AGVs)have been introduced into various applications,such as automated warehouse systems,flexible manufacturing systems,and container terminal systems.However,few publications have outlined problems in need of attention in AGV applications comprehensively.In this paper,several key issues and essential models are presented.First,the advantages and disadvantages of centralized and decentralized AGVs systems were compared;second,warehouse layout and operation optimization were introduced,including some omitted areas,such as AGVs fleet size and electrical energy management;third,AGVs scheduling algorithms in chessboardlike environments were analyzed;fourth,the classical route-planning algorithms for single AGV and multiple AGVs were presented,and some Artificial Intelligence(AI)-based decision-making algorithms were reviewed.Furthermore,a novel idea for accelerating route planning by combining Reinforcement Learning(RL)andDijkstra’s algorithm was presented,and a novel idea of the multi-AGV route-planning method of combining dynamic programming and Monte-Carlo tree search was proposed to reduce the energy cost of systems.

Propagation Characteristics of Ultrasonic Guided Waves in Grouted Rockbolt Systems with Bond Defects under Different Confining Conditions

A rockbolt acting in the rock mass is subjected to the combined action of the pull-out load and confining pressure, and the bond quality of the rockbolt directly affects the stability of the roadway and cavern. Therefore, in this study, confining pressure and pull-out load are applied to grouted rockbolt systems with bond defects by a numerical simulation method, and the rockbolt is detected by ultrasonic guided waves to study the propagation law of ultrasonic guided waves in defective rockbolt systems and the bond quality of rockbolts under the combined action of pull-out load and confining pressure. The numerical simulation results show that the length and location of bond defects can be detected by ultrasonic guided waves under the combined action of pull-out load and confining pressure. Under no pull-out load, with increasing confining pressure, the low-frequency part of the guided wave frequency in the rockbolt increases, the high-frequency part decreases, the weakening effect of the confining pressure on the guided wave propagation law increases, and the bond quality of the rockbolt increases. The existence of defects cannot change the strengthening effect of the confining pressure on the guided wave propagation law under the same pull-out load or the weakening effect of the pull-out load on the guided wave propagation law under the same confining pressure.

A Novel Prescribed-Performance Path-Following Problem for Non-Holonomic Vehicles

The issue of achieving prescribed-performance path following in robotics is addressed in this paper,where the aim is to ensure that a desired path within a specified region is accu-rately converged to by the controlled vehicle.In this context,a novel form of the prescribed performance guiding vector field is introduced,accompanied by a prescribed-time sliding mode con-trol approach.Furthermore,the interdependence among the pre-scribed parameters is discussed.To validate the effectiveness of the proposed method,numerical simulations are presented to demonstrate the efficacy of the approach.

GUIDE FOR AUTHORS

Article Article types Articles commonly fall into one of three main categories:Full-length articles,Review articles and Short communications.Full-length articles are original,unpublished primary research.Extensions of work that has been published previously in short form such as a Communication are usually acceptable.

GUIDE FOR AUTHORS

Introduction Types of paper Contributions falling into the following categories will be considered for publication: Original research papers, reviews, Research Notes, Short Communication, New technologies, News and Views, Commentary on significant events and topics in global horticultural fields with international interests.

Detection of internal crack growth in polyethylene pipe using guided wave ultrasonic testing

Despite the success of guided wave ultrasonic inspection for internal defect detection in steel pipes,its application on polyethylene(PE)pipe remains relatively unexplored.The growth of internal cracks in PE pipe severely affects its pressure-holding capacity,hence the early detection of internal cracks is crucial for effective pipeline maintenance strategies.This study extends the scope of guided wave-based ultrasonic testing to detect the growth of internal cracks in a natural gas distribution PE pipe.Laboratory experiments and a finite element model were planned to study the wave-crack interaction at different stages of axially oriented internal crack growth with a piezoceramic transducer-based setup arranged in a pitch-catch configuration.Mode dispersion analysis supplemented with preliminary experiments was performed to isolate the optimal inspection frequency,leading to the selection of the T(0,1)mode at 50-kHz for the investigation.A transmission index based on the energy of the T(0,1)mode was developed to trace the extent of simulated crack growth.The findings revealed an inverse linear correlation between the transmission index and the crack depth for crack growth beyond 20%crack depth.

On the eigenvalues and eigendisplacement of the critical mode in horizontally layered media

Wave propagation in horizontally layered media is a classical problem in seismic-wave theory.In semi-infinite space,a nondispersive Rayleigh wave mode exists,and the eigendisplacement decays exponentially with depth.In a layered model with increasing layer velocity,the phase velocity of the Rayleigh wave varies between the S-wave velocity of the bottom half-space and that of the classical Rayleigh wave propagated in a supposed half-space formed by the parameters of the top layer.If the phase velocity is the same as the P-or S-wave velocity of the layer,which is called the critical mode or critical phase velocity of surface waves,the general solution of the wave equation is not a homogeneous(expressed by trigonometric functions)or inhomogeneous(expressed by exponential functions)plane wave,but one whose amplitude changes linearly with depth(expressed by a linear function).Theories based on a general solution containing only trigonometric or exponential functions do not apply to the critical mode,owing to the singularity at the critical phase velocity.In this study,based on the classical framework of generalized reflection and transmission coefficients,the propagation of surface waves in horizontally layered media was studied by introducing a solution for the linear function at the critical phase velocity.Therefore,the eigenvalues and eigenfunctions of the critical mode can be calculated by solving a singular problem.The eigendisplacement characteristics associated with the critical phase velocity were investigated for different layered models.In contrast to the normal mode,the eigendisplacement associated with the critical phase velocity exhibits different characteristics.If the phase velocity is equal to the S-wave velocity in the bottom half-space,the eigendisplacement remains constant with increasing depth.

Arbitrary skin metallization by pencil-writing inspired solid-ink rubbing for advanced energy storage and harvesting

The development of a durable metallic coating on diverse substrates is both intriguing and challenging,particularly in the research of metal-conductive materials for applications such as batteries,soft electronics,and beyond.Herein,by learning from the pencil-writing process,a facile solid-ink rubbing technology(SIR-tech)is invented to address the above challenge.The solid-ink is exampled by rational combination of liquid metal and graphite particles.By harnessing the synergistic effects between rubbing and adhesion,controllable metallic skin is successfully formed onto metals,woods,ceramics,and plastics without limitation in size and shape.Moreover,outperforming pure liquid-metal coating,the composite metallic skin by SIR-tech is very robust due to the self-lamination of graphite nanoplate exfoliated by liquid-metal rubbing.The critical factors controlling the structures-properties of the composite metallic skin have been systematically investigated as well.For applications,the SIR-tech is demonstrated to fabricate high-performance composite current collectors for next-generation batteries without traditional metal foils.Meanwhile,advanced skin-electrodes are further demonstrated for stable triboelectricity generation even under temperature fluctuation from-196 to 120℃.This facile and highly-flexible SIR-tech may work as a powerful platform for the studies on functional coatings by liquid metals and beyond.

GUIDE FOR AUTHORS

INTRODUCTION Types of paper Contributions falling into the following categories will be considered for publication:Original research papers,reviews and short communications.Please ensure that you select the appropriate article type from the list of options when making your submission.Authors contributing to special issues should ensure that they select the special issue article type from this list.

GUIDE FOR AUTHORS

INTRODUCTION.Types of paper.Contributions falling into the following categories will be considered for publication:Original research papers,reviews and short communications.Please ensure that you select the appropriate article type from the list of options when making your submission.Authors contributing to special issues should ensure that they select the special issue article type from this list.

不确定情景下AGV系统调度算法的仿真平台

不确定情境下的完整自动引导车(automated guided vehicle,AGV)系统调度算法,除了要包含常见的任务指派策略和路径规划算法之外,还需要包含冲突应对策略。由于存在随机性,这样的调度算法难以从理论上分析其特性,相关研究也较少。基于离散事件仿真技术,设计并开发了一个AGV系统仿真平台,可以灵活地设置调度问题,并选择调度算法中的任务指派策略、路径规划算法和路径冲突应对策略进行仿真。该平台具有可视化的界面,可以直观地观察AGV的运行状态和调度算法的表现,也可以输出最终的仿真实验统计数据。实验表明:该平台可以准确有效地对不确定情景下的调度算法进行评估与比较。

GUIDE FOR AUTHORS

Introduction Types of paper Contributions falling into the following categories will be considered for publication:Original research papers,Reviews,Short communication.Please ensure that you select the appropriate article type from the list of options when making your submission.Authors contributing to special issues should ensure that they select the special issue article type from this list.

Study of Axisymmetric Infinite Guide Lined with Locally Reacting Material without Flow Using DtN Operators

The present work proposed a new method for the modeling by the finite element method of the acoustic propagation problems in infinite axisymmetric cylindrical guides lined with locally reacting absorbent materials without flow. The method deals with the development of an efficient transparent boundary condition based on DtN operators. The method developed in this study is successfully applied to a straight axisymmetric lined guide by imposing a mode on one of the artificial boundaries of the truncated guide. The results are in good agreement with analytical solutions. Applying the method for a non-uniform axisymmetric lined guide which is a complex case, proved its effectiveness and the results compared to those of PML layers are in very good agreement.

脑状态解码的可解释深度学习新框架

针对功能磁共振成像(functionmagneticresonanceimage,fMRI)的脑状态解码未充分挖掘fMRI的时间特征,且需要依赖专家知识进行特征提取的问题,从深度学习可解释性的角度提出一种基于任务态fMRI的智能脑状态解码新框架,先设计基于Inception结构的三维卷积神经网络(Inception-CNN)对任务态fMRI进行分类,再结合类激活映射算法解释分类结果与大脑不同脑区的功能相关性,并提出改进的细粒度类激活算法GuidedScore-CAM,采用遮掩校验法验证类激活映射可视化算法的有效性。对所提出的解码框架在4种不同的任务态功能磁共振成像数据中进行测试,结果表明:Inception-CNN分类模型准确度达98%,类激活可视化能够准确映射到分类结果对应的功能脑区,可有效解码大脑任务状态。

Application of the Guiding Template Designed by Three-dimensional Printing Data for the Insertion of Sacroiliac Screws:a New Clinical Technique

This study is aimed to explore the clinical application of the guiding template designed by three-dimensional printing data for the insertion of sacroiliac screws.A retrospective study of 7 cases (from July 2016 to December 2016),in which the guiding template printed by the three-dimensional printing technique was used for the insertion of sacroiliac screws of patients with posterior ring injuries of pelvis,was performed.Totally,4 males and 3 females were included in template group,aged from 38to 65years old (mean 50.86±8.90).Of them,5 had sacral fractures (3 with Denis type Ⅰ and 2 with type Ⅱ)and 2 the separation of sacroiliac joint.Guiding templates were firstly made by the three-dimensional printing technique based on the pre-operative CT data. Surgical operations for the stabilization of pelvic ring by applying the guiding templates were carried out.A group of 8 patients with sacroiliac injuries treated by percutaneous sacroiliac screws were analyzed as a control group retrospectively.The time of each screw insertion,volume of intra-operative blood loss,and the exposure to X ray were analyzed and the Matta's radiological criteria were used to evaluate the reduction quality.The Majeed score was used to evaluate postoperative living quality.The visual analogue scale (VAS)was applied at different time points to judge pain relief of coccydynia.All the 7 patients in the template group were closely followed up radiographically and clinically for 14 to 20 months,mean (16.57±2.44)months.Totally 9 sacroiliac screws for the S 1 and S2 vertebra were inserted in the 7 patients.The time length for each screw insertion ranged from 450 to 870 s,mean (690.56±135.68)s,and the number of times of exposure to X ray were 4 to 8,mean (5.78±1.20).The intra-operative blood loss ranged from 45to 120 mL,mean (75±23.32)mL.According to Matta's radiology criteria,the fracture and dislocation reduction were excellent in 6cases and good in 1.The pre-operative VAS score ranged from 5.2 to 8.1,mean (7.13±1.00).The average one-week/six-month post-operative VAS was (5.33±0.78)and (1.33±0.66),respectively (P<0.05 when compared with pre-operative VAS).The 12-month post-operative Majeed score ranged from 86 to 92,mean (90.29±2.21).The three-dimensional printed guiding template for sacroiliac screw insertion,which could significantly shorten the operation time,provide a satisfied outcome of the stabilization of the pelvic ring,and protect doctors and patients from X-ray exposure,might be a practical and valuable new clinical technique.