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Extended time improves reading comprehension test scores for adolescents with ADHD 被引量:1
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作者 Thomas Edwards Brown Philipp Christian Reichel Donald Michael Quinlan 《Open Journal of Psychiatry》 2011年第3期79-87,共9页
Objective: To test the hypotheses that reading comprehension difficulties of adolescent students with ADHD: 1) are related not so much to weak verbal abilities or weak basic reading skills, as to impairments of workin... Objective: To test the hypotheses that reading comprehension difficulties of adolescent students with ADHD: 1) are related not so much to weak verbal abilities or weak basic reading skills, as to impairments of working memory and processing speed characteristic of ADHD;and 2) that extended time on a test of reading comprehension would yield significantly higher reading comprehension scores than would standard time. Method: Charts of 145 adolescents 13-18 years diagnosed with DSM-IV ADHD and no specific reading disorder after a comprehensive clinical and psycho-educational evaluation, were reviewed to extract 1) word reading and word attack subtest scores from the Woodcock-Johnson Achievement Test or the Wechsler Individual Achievement Test;2) Index scores from WISC-IV or WAIS-III IQ tests;3) scores from the Nelson-Denny Reading Test. Results: Mean index scores for verbal comprehension abilities not including reading were in the high average range, but working memory and processing speed index scores were significantly weaker. Under standard time limits 53% were unable to complete the reading comprehension test and only 42.8% were able to score within 1 SD of their IQ verbal comprehension index (VCI). When allowed extended time, 77.9% were able to score within 1 SD of their VCI. T-test comparisons between standard time and extended time were significant at < 0.001. Conclusions: Allowing extended time for adolescents with ADHD to complete tests involving reading may help to compensate for their impairments of working memory and processing speed, allowing them to score closer to their actual verbal abilities. 展开更多
关键词 ADHD Reading COMPREHENSION extendED time Working Memory Processing Speed
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Dynamic Stability Analysis of Linear Time-varying Systems via an Extended Modal Identification Approach 被引量:2
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作者 Zhisai MA Li LIU +3 位作者 Sida ZHOU Frank NAETS Ward HEYLEN Wim DESMET 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2017年第2期459-471,共13页
The problem of linear time-varying(LTV) system modal analysis is considered based on time-dependent state space representations, as classical modal analysis of linear time-invariant systems and current LTV system mo... The problem of linear time-varying(LTV) system modal analysis is considered based on time-dependent state space representations, as classical modal analysis of linear time-invariant systems and current LTV system modal analysis under the "frozen-time" assumption are not able to determine the dynamic stability of LTV systems. Time-dependent state space representations of LTV systems are first introduced, and the corresponding modal analysis theories are subsequently presented via a stabilitypreserving state transformation. The time-varying modes of LTV systems are extended in terms of uniqueness, and are further interpreted to determine the system's stability. An extended modal identification is proposed to estimate the time-varying modes, consisting of the estimation of the state transition matrix via a subspace-based method and the extraction of the time-varying modes by the QR decomposition. The proposed approach is numerically validated by three numerical cases, and is experimentally validated by a coupled moving-mass simply supported beam exper- imental case. The proposed approach is capable of accurately estimating the time-varying modes, and provides anew way to determine the dynamic stability of LTV systems by using the estimated time-varying modes. 展开更多
关键词 Linear time·varying systems · extended modal identification · Dynamic stability analysis · time·varying modes
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Finite Time Ruin Probability with Variable Interest Rate and Extended Regular Variation
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作者 WEIXiao HUYi-jun 《Wuhan University Journal of Natural Sciences》 EI CAS 2004年第6期863-866,共4页
Consider an insurance risk model, in which the surplus process satisfies a recursive equationU n =U n?1(1+r n )?X n forn≥1, whereU 0=x≥0 is the initial surplus, {r n ;n≥1} the interest rate sequence, {X n ;n≥1} th... Consider an insurance risk model, in which the surplus process satisfies a recursive equationU n =U n?1(1+r n )?X n forn≥1, whereU 0=x≥0 is the initial surplus, {r n ;n≥1} the interest rate sequence, {X n ;n≥1} the sequence of i. i. d. real-valued random variables with common distribution functionF, which denotes the gross loss during thenth year. We investigate the ruin probability within a finite time horizon and give the asymptotic result asx→∞. Key words variable interest rate - extend regular variation - finite time ruin probability CLC number O 211.9 Foundation item: Supported by the National Natural Science Foundation of China (10071058, 70273029)Biography: WEI Xiao (1979-), female, Ph. D candidate, research direction: large deviations and its applications, insurance mathematics. 展开更多
关键词 variable interest rate extend regular variation finite time ruin probability
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A novel extended Tsypkin criterion for discrete-time descriptor systems with ferromagnetic hysteresis nonlinear physical phenomenon
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作者 张化光 宋铮 张庆灵 《Chinese Physics B》 SCIE EI CAS CSCD 2010年第12期126-134,共9页
This paper concerns the absolute stability problem of discrete-time descriptor systems with feedback connected ferromagnetic hysteresis nonlinearities. The ferromagnetic hysteresis model satisfies the passivity condit... This paper concerns the absolute stability problem of discrete-time descriptor systems with feedback connected ferromagnetic hysteresis nonlinearities. The ferromagnetic hysteresis model satisfies the passivity conditions of hysteresis operator, that is the input-output relation of the transformed operator is passive. The bound condition of the solution of the ferromagnetic hysteresis model is given. Through the framework of loop transformation, an augmented discrete-time descriptor system model is established for the stability analysis. A new extended Tsypkin criterion for the absolute stability of discrete-time descriptor systems with hysteresis is presented based on the linear matrix inequalities technique. A numerical example is given to illustrate the effectiveness of the extended criterion. 展开更多
关键词 ferromagnetic hysteresis nonlinearity discrete-time descriptor systems extended Tsypkin criterion
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Real-time embedded software testing method based on extended finite state machine 被引量:6
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作者 Yongfeng Yin Bin Liu Hongying Ni 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2012年第2期276-285,共10页
The reliability of real-time embedded software directly determines the reliability of the whole real-time embedded sys- tem, and the effective software testing is an important way to ensure software quality and reliab... The reliability of real-time embedded software directly determines the reliability of the whole real-time embedded sys- tem, and the effective software testing is an important way to ensure software quality and reliability. Based on the analysis of the characteristics of real-time embedded software, the formal method is introduced into the real-time embedded software testing field and the real-time extended finite state machine (RT-EFSM) model is studied firstly. Then, the time zone division method of real-time embedded system is presented and the definition and description methods of time-constrained transition equivalence class (timeCTEC) are presented. Furthermore, the approaches of the testing sequence and test case generation are put forward. Finally, the proposed method is applied to a typical avionics real- time embedded software testing practice and the examples of the timeCTEC, testing sequences and test cases are given. With the analysis of the testing result, the application verification shows that the proposed method can effectively describe the real-time embedded software state transition characteristics and real-time requirements and play the advantages of the formal methods in accuracy, effectiveness and the automation supporting. Combined with the testing platform, the real-time, closed loop and automated simulation testing for real-time embedded software can be realized effectively. 展开更多
关键词 real-time system real-time embedded software for- mal method extended finite state machine (EFSM) testing se- quence test case.
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Dynamics and Long Time Convergence of the Extended Fisher-Kolmogorov Equation under Numerical Discretization
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作者 Wang Jue Ma Fu-ming 《Communications in Mathematical Research》 CSCD 2013年第1期51-60,共10页
We present a numerical study of the long time behavior of approxima- tion solution to the Extended Fisher-Kolmogorov equation with periodic boundary conditions. The unique solvability of numerical solution is shown. I... We present a numerical study of the long time behavior of approxima- tion solution to the Extended Fisher-Kolmogorov equation with periodic boundary conditions. The unique solvability of numerical solution is shown. It is proved that there exists a global attractor of the discrete dynamical system. Furthermore, we obtain the long-time stability and convergence of the difference scheme and the upper semicontinuity d(Ah,τ, .A) → O. Our results show that the difference scheme can effectively simulate the infinite dimensional dynamical systems. 展开更多
关键词 extended Fisher Kolmogorov equation finite difference method global attractor long time stability and convergence
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TIME原则在糖尿病足延伸护理中的应用 被引量:8
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作者 安俊红 韩雪 +2 位作者 朱佳玉 刘娜 张建霞 《全科护理》 2020年第23期3031-3033,共3页
[目的]观察TIME原则在糖尿病足延续护理中的应用效果。[方法]使用TIME原则对53例糖尿病足病人应用延伸护理前后对比,评价此方法的应用价值。[结果]在TIME原则下的实施延伸护理实施后创面愈合总有效率为96.23%,高于实施前的77.36%(P<0... [目的]观察TIME原则在糖尿病足延续护理中的应用效果。[方法]使用TIME原则对53例糖尿病足病人应用延伸护理前后对比,评价此方法的应用价值。[结果]在TIME原则下的实施延伸护理实施后创面愈合总有效率为96.23%,高于实施前的77.36%(P<0.05),护理满意度高于实施前(P<0.05)。[结论]将TIME原则应用于糖尿病延伸护理中可缩短伤口愈合时间,创面愈合效果好,病人满意度高。 展开更多
关键词 time原则 糖尿病足 延伸护理
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基于HTCPN和Extend的装备保障系统建模与仿真 被引量:4
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作者 彭英武 李庆民 +1 位作者 王睿 毛德军 《系统仿真学报》 CAS CSCD 北大核心 2011年第11期2539-2545,共7页
构建支撑装备保障问题分析和决策的仿真平台是装备保障研究和实践的一条必由之路。装备保障系统仿真模型是仿真平台的重要组成部分。针对装备保障系统的运行流程及其层次性特点,基于层次时间着色Petri网(HTCPN)提出了一种建立在层次化... 构建支撑装备保障问题分析和决策的仿真平台是装备保障研究和实践的一条必由之路。装备保障系统仿真模型是仿真平台的重要组成部分。针对装备保障系统的运行流程及其层次性特点,基于层次时间着色Petri网(HTCPN)提出了一种建立在层次化、模块化和标准化基础上的保障系统Petri建模思路,在此基础上,基于Extend平台设计了装备保障系统仿真模型,说明了基本功能组成模块。最后,以舰艇海上巡航任务条件下的装备保障系统为例,实现了仿真模型NEISSM,开展参数敏感性分析仿真试验,获得了较好的结论,证明了仿真模型设计的合理性和可行性。 展开更多
关键词 HTCPN extend 装备保障系统 建模仿真 模型
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Robust controller design for compound control missile with fixed bounded convergence time 被引量:4
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作者 YUN Yuhang TANG Shengjing +1 位作者 GUO Jie SHANG Wei 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2018年第1期116-133,共18页
A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. ... A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. The fixed time convergence theory is incorporated with the sliding mode control technique to ensure that the system tracks the desired command within uniform bounded time under different initial conditions. Unlike previous terminal sliding mode approaches, the bound of settling time is independent of the initial state, which means performance metrics like convergence rate can be predicted beforehand. To reduce the burden of control design in terms of robustness, extended state observer(ESO) is introduced for uncertainty estimation with the output substituted into the controller as feedforward compensation. Cascade control structure is employed with the proposed control law and therein the compound control signal is obtained.Afterwards, control inputs for two kinds of actuators are allocated on the basis of their inherent characteristics. Finally, a number of simulations are carried out and demonstrate the effectiveness of the designed controller. 展开更多
关键词 reaction jet control compound control fixed bounded convergence time sliding mode control extended state observer(ESO)
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Consistency Analysis of EKF-based SLAM by Measurement Noise and Observation Times 被引量:14
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作者 LI Hui-Ping XU De-Min ZHANG Fu-Bin YAO Yao 《自动化学报》 EI CSCD 北大核心 2009年第9期1177-1184,共8页
关键词 稠度分析 同步性 映射 滤波器 噪音
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Dynamical time versus system time in quantum mechanics
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作者 Duan Arsenovi Nikola Buri +1 位作者 Dragomir Davidovi Slobodan Prvanovi 《Chinese Physics B》 SCIE EI CAS CSCD 2012年第7期101-107,共7页
Properties of an operator representing the dynamical time in the extended parameterization invariant formulation of quantum mechanics are studied. It is shown that this time operator is given by a positive operator me... Properties of an operator representing the dynamical time in the extended parameterization invariant formulation of quantum mechanics are studied. It is shown that this time operator is given by a positive operator measure analogously to the quantities that are known to represent various measurable time operators. The relation between the dynamical time of the extended formulation and the best known example of the system time operator, i.e., for the free one- dimensional particle, is obtained. 展开更多
关键词 time operators extended state space positive operator valued measure
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基于时间自动机的动力调度岗位培训仿真机理建模
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作者 罗昌俊 任星倩 +2 位作者 何福 马永一 汤瀑 《兵工自动化》 北大核心 2024年第8期60-63,85,共5页
针对大型风洞群中压空气系统存在调度机理复杂、岗位人员素质要求高、系统实操培训代价大等问题,实施基于时间自动机的动力调度岗位培训仿真机理建模。通过混杂系统理论提出适合大型风洞群中压空气调度的扩展时间自动机模型,基于先来先... 针对大型风洞群中压空气系统存在调度机理复杂、岗位人员素质要求高、系统实操培训代价大等问题,实施基于时间自动机的动力调度岗位培训仿真机理建模。通过混杂系统理论提出适合大型风洞群中压空气调度的扩展时间自动机模型,基于先来先服务策略构建资源申请、机组工作等队列,建立调度器、就地执行器等核心机理模型,并采用UPPAAL工具对模型进行验证。结果表明:该模型的建立不仅为岗位人员掌握设备结构原理、积累实操经验提供有效手段,而且为建立风洞试验调度仿真系统、合理有效实施风洞动力调度岗位培训打下了基础。 展开更多
关键词 风洞群 中压空气资源 调度仿真 岗位培训 扩展时间自动机 UPPAAL
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基于轨迹数据的非机动车左转信号灯安全效应评估
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作者 王正武 谢静怡 +2 位作者 王杰 邢璐 朱全军 《长沙理工大学学报(自然科学版)》 CAS 2024年第1期164-173,共10页
【目的】对城市交叉口采用的左转非机动车信号灯设施进行交通安全性量化评估。【方法】提出一种基于拓展碰撞时间(extended time to collision,ETTC)指标的左转非机动车信号灯安全效应评估方法。针对现有的碰撞时间(time to collision,T... 【目的】对城市交叉口采用的左转非机动车信号灯设施进行交通安全性量化评估。【方法】提出一种基于拓展碰撞时间(extended time to collision,ETTC)指标的左转非机动车信号灯安全效应评估方法。针对现有的碰撞时间(time to collision,TTC)指标不适于评估交叉口左转非机动车冲突的问题,考虑非机动车车辆尺寸与加速度对交通冲突的影响,采用拓展碰撞时间指标,评估交叉口非机动车交通冲突。收集长沙市4个信号交叉口的视频大数据,利用视频软件Tracker提取车辆微观轨迹后,开展案例分析。【结果】左转非机动车信号灯在时间上明确了非机动车的通行权,其设置能显著降低非机动车冲突率,在平峰、高峰时段非机动车冲突率分别降低了40.11%、25.27%。在直行相位末期、左转相位即将启亮时,设置组的左转非机动车在待行区等待,冲突率降为0;而对比组近50%的非机动车违规左转,冲突严重。设置左转非机动车信号灯的改善效果随非机动车流量的增大呈先增加后降低趋势,而随机动车流量的增大呈逐步波动下降趋势。【结论】本研究揭示了非机动车左转信号灯的设置对减少交叉口交通冲突的影响,可为城市交叉口非机动车交通安全管控提供有益参考。 展开更多
关键词 交通工程 交叉口冲突 轨迹数据 非机动车信号灯 拓展碰撞时间
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时效性激励模式下的延伸护理在老年慢性萎缩性胃炎癌前病变患者中的应用效果 被引量:4
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作者 孙丽丽 卢明 +2 位作者 王艳 陈洁 郑亚云 《检验医学与临床》 2024年第3期321-324,共4页
目的探讨时效性激励模式下的延伸护理在老年慢性萎缩性胃炎癌前病变患者中的应用效果。方法选取该院2020年7月至2022年7月收治的老年慢性萎缩性胃炎癌前病变患者100例作为研究对象,按照随机数字表法将其分成观察组与常规组,每组50例。... 目的探讨时效性激励模式下的延伸护理在老年慢性萎缩性胃炎癌前病变患者中的应用效果。方法选取该院2020年7月至2022年7月收治的老年慢性萎缩性胃炎癌前病变患者100例作为研究对象,按照随机数字表法将其分成观察组与常规组,每组50例。常规组采用常规延伸护理,观察组在常规组的基础上采用时效性激励模式下的延伸护理,两组均持续干预3个月。对比两组遵医行为、护理满意度[采用纽卡斯尔护理服务满意度量表(NSNS)评分进行评估],比较两组干预前后自我效能感[采用一般自我效能感量表(GSES)评分进行评估]、应对方式[采用简易应对方式量表(SCSQ)评分进行评估]、健康行为[采用健康促进生活方式量表(HPLP-Ⅱ)评分进行评估]、自我管理能力[采用成年人健康自我管理能力测评表(AHSMSRS)评分进行评估]及生活质量[采用慢性病患者生命质量测定量表体系-慢性胃炎(QLICD-CG)评分进行评估]情况。结果观察组遵医率(98.00%)和护理满意度(100.00%)均高于常规组(84.00%、88.00%),差异均有统计学意义(P<0.05)。干预后,观察组GSES、HPLP-Ⅱ、AHSMSRS、QLICD-CG评分均高于常规组(P<0.05)。与常规组相比,干预后观察组积极应对评分升高,而消极应对评分降低,差异均有统计学意义(P<0.05)。结论时效性激励模式下的延伸护理可提高老年慢性萎缩性胃炎癌前病变患者自我效能感,增强其自我管理能力及遵医行为,提高患者生活质量水平及护理满意度。 展开更多
关键词 时效性激励模式 延伸护理 慢性萎缩性胃炎癌前病变 自我管理能力 遵医行为
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Dynamics of solitons in Bose-Einstein condensate with time-dependent atomic scattering length 被引量:1
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作者 李画眉 《Chinese Physics B》 SCIE EI CAS CSCD 2006年第10期2216-2222,共7页
The evolution of solitons in Bose-Einstein condensates (BECs) with time-dependent atomic scattering length in an expulsive parabolic potential is studied. Based on the extended hyperbolic function method, we success... The evolution of solitons in Bose-Einstein condensates (BECs) with time-dependent atomic scattering length in an expulsive parabolic potential is studied. Based on the extended hyperbolic function method, we successfully obtain the bright and dark soliton solutions. In addition, some new soliton solutions in this model are found. The results in this paper include some in the literature (Phys. Rev. Lett. 94(2005)050402 and Chin. Phys. Lett. 22(2005) 1855). 展开更多
关键词 Gross-Pitaevskii equation soliton solution time-dependent atomic scattering length extended hyperbolic function method
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Self-Reported Adherence after Overnight Switching from Immediate- to Extended-Release Pramipexole in Parkinson’s Disease
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作者 Mutsumi Iijima Mikio Osawa +2 位作者 Kenji Maruyama Shinichiro Uchiyama Kazuo Kitagawa 《Advances in Parkinson's Disease》 2015年第1期13-19,共7页
Background: Drug adherence decreased in patients with Parkinson’ s disease (PD) because of taking many different types of drugs. We evaluated drug adherence after switching from immediate-release (IR) to once-daily e... Background: Drug adherence decreased in patients with Parkinson’ s disease (PD) because of taking many different types of drugs. We evaluated drug adherence after switching from immediate-release (IR) to once-daily extended-release (ER) pramipexole (PPX) in PD. Methods: This study included 35 PD patients (20 men, 15 women);10 were taking oral PPX alone, and 25 were also using another anti-PD drug. PPX-IR was switched overnight to PPX-ER without gradual tapering. One month after switching, improvement in timing adherence and reduction in medication burden were evaluated by a questionnaire using a visual analog scale (VAS) (0: No change;10: Better). Motor function was assessed using part III of the Unified Parkinson’s Disease Rating Scale (UPDRS). Results: The VAS score for improvement in timing adherence was 8.1 ± 0.5 (mean ± standard error), and that for reduction in medication burden was 7.3 ± 0.6. There was a significant negative correlation (ρ = -0.43, p = 0.01) between the VAS score and number of types of medications. The UPDRS part III score improved significantly after switching 展开更多
关键词 Parkinson’s Disease Timing ADHERENCE PRAMIPEXOLE extendED-RELEASE Immediate-Release Motor Function
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Extended trajectory shaping guidance law considering a first-order autopilot lag
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作者 王辉 王江 程振轩 《Journal of Beijing Institute of Technology》 EI CAS 2015年第3期291-297,共7页
To satisfy the terminal position and impact angel constraints,an optimal guidance problem was discussed for homing missiles. For a stationary or a slowly moving target on the ground,an extended trajectory shaping guid... To satisfy the terminal position and impact angel constraints,an optimal guidance problem was discussed for homing missiles. For a stationary or a slowly moving target on the ground,an extended trajectory shaping guidance lawconsidering a first-order autopilot lag( ETSG L-C FAL) was proposed. To derive the ETSG L-C FAL,a time-to-go- nth power weighted objection function was adopted and three different derivation methods were demonstrated while the Schwartz inequality method was mainly demonstrated.The performance of the ETSG L-C FAL and the ETSG L guidance laws was compared through simulation.Simulation results showthat although a first-order autopilot is introduced into the ETSG L-C FAL guidance system,the position miss distance and terminal impact angle error induced by the impact angle is zero for different guidance time. 展开更多
关键词 extended trajectory shaping guidance law time-to-go first-order autopilot guidance performance
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Estimates for the ruin probability of a time-dependent renewal risk model with dependent by-claims 被引量:2
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作者 FU Ke-ang QIU Yu-yang WANG An-ding 《Applied Mathematics(A Journal of Chinese Universities)》 SCIE CSCD 2015年第3期347-360,共14页
Consider a continuous-time renewal risk model, in which every main claim induces a delayed by-claim. Assume that the main claim sizes and the inter-arrival times form a sequence of identically distributed random pairs... Consider a continuous-time renewal risk model, in which every main claim induces a delayed by-claim. Assume that the main claim sizes and the inter-arrival times form a sequence of identically distributed random pairs, with each pair obeying a dependence structure, and so do the by-claim sizes and the delay times. Supposing that the main claim sizes with by-claim sizes form a sequence of dependent random variables with dominatedly varying tails, asymptotic estimates for the ruin probability of the surplus process are investigated, by establishing a weakly asymptotic formula, as the initial surplus tends to infinity. 展开更多
关键词 by-claim dominatedly varying tail extended upper negative dependence quasi-asymptotic independence ruin probability time-depende
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基于Extend的物流运输组织动态仿真
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作者 史 《计算机辅助工程》 2008年第4期85-90,95,共7页
为更好地优化物流运输组织模式并对运输方案进行绩效评估,利用仿真软件Extend开发物流运输组织与运输方案绩效评估系统,实现物流运输组织的动态仿真.该系统采用的变结构模式可根据实际情况灵活确定运输组织模式,实现整个物流运输组织过... 为更好地优化物流运输组织模式并对运输方案进行绩效评估,利用仿真软件Extend开发物流运输组织与运输方案绩效评估系统,实现物流运输组织的动态仿真.该系统采用的变结构模式可根据实际情况灵活确定运输组织模式,实现整个物流运输组织过程的可视化,及时与该系统进行交互的实时跟踪、并行显示和数据传输.以南京到釜山的货物运输为例,说明物流运输组织的动态仿真能够解决物流运输组织模式的实时优化和对运输方案进行实时绩效评估. 展开更多
关键词 物流运输组织 运输方案绩效评估 变结构 实时跟踪 数据传输 extend
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基于有限时间扩张状态观测器的水下机器人精准跟踪控制系统设计
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作者 王坤 《计算机测量与控制》 2024年第9期149-156,共8页
水下机器人在运动过程中极易受到水环境因素的干扰发生运动偏移,为了保证水下机器人的精准、稳定航行,利用有限时间扩张状态观测器优化设计水下机器人精准跟踪控制系统;设计有限时间扩张状态观测器、水下机器人传感器、跟踪控制器和推进... 水下机器人在运动过程中极易受到水环境因素的干扰发生运动偏移,为了保证水下机器人的精准、稳定航行,利用有限时间扩张状态观测器优化设计水下机器人精准跟踪控制系统;设计有限时间扩张状态观测器、水下机器人传感器、跟踪控制器和推进器,强化硬件系统的密封防水设计强度,完成系统硬件设计;根据水下航行任务,规划机器人的航行轨迹,作为系统控制目标;求解机器人位置、姿态角、速度等运动参数,得出水下机器人的跟踪结果;利用有限时间扩张状态观测器检测航行环境参数,结合当前机器人状态的跟踪结果,计算机器人运动控制量,在硬件系统的支持下,完成系统的精准跟踪控制功能;通过系统测试实验得出结论,静力水环境场景下水下机器人的平均位置跟踪误差为14 m、平均角度控制误差为0.10°,航行速度控制误差为0.5 m/s;动力水环境场景下水下机器人的位置跟踪误差最大值为9 m、平均角度控制误差为0.10°、航行速度控制误差为0.5 m/s。 展开更多
关键词 有限时间扩张状态观测器 水下机器人 精准跟踪 机器人控制系统
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