A Novel Pre-control Method of Vehicle Dynamics Stability Based on Critical Stable Velocity during Transient Steering Maneuvering

The current research of direct yaw moment control（DYC） system focus on the design of target yaw moment and the distribution of wheel brake force. The differential braking intervention can effectively improve the lateral stability of the vehicle, however, the effect of DYC can be improved a step further by applying the control of vehicle longitudinal velocity. In this paper, the relationship between the vehicle longitudinal velocity and lateral stability is studied, and the simulation results show that a decrease of 5 km/h of longitudinal velocity at a particular situation can bring 100° increasing of stable steering upper limit. A critical stable velocity considering the effect of steering and yaw rate measurement is defined to evaluate the risk of losing steer-ability or stability. A novel velocity pre-control method is proposed by using a hierarchical pre-control logic and is integrated with the traditional DYC system. The control algorithm is verified through a hardware in-the-loop simulation system. Double lane change（DLC） test results on both high friction coefficient（μ） and low μ roads show that by using the pre-control method, the steering effort in DLC test can be reduced by 38% and 51% and the peak value of brake pressure control can be reduced by 20% and 12% respectively on high μ and low μ roads, the lateral stability is also improved. This research proposes a novel DYC system with lighter control effort and better control effect.

Frequency control and pre-tuning of a large aperture 500 MHz 5-cell superconducting RF cavity

The 500 MHz 5-cell superconducting RF(SRF) cavity was designed aiming to be a candidate cavity for high current accelerators. A copper prototype cavity and a niobium cavity were fabricated at SINAP in 2012. In order to ensure these cavities get the desired frequency and a good field flatness higher than 98%, frequency control was implemented in the manufacturing process and pre-tuning has been done using a simple pre-tuning frame based on the bead-pull pre-tuning method. Then, TM010-π mode frequency within 5 kHz from the target frequency was achieved and the field flatness reached 98.9% on the copper prototype cavity. Finally, the same procedure was applied to the niobium cavity to obtain a field flatness better than 98% which benefited the cavity performance in the vertical testing.

Design of a Control Device for Synthetic Making Test Based on Pre-Arcing Current Detection and Phase Control

The synthetic making test has been widely used in evaluating the break ability of high-voltage circuit breaker. However, the test research and application are still inadequate, especially in the condition of rated voltage. According to the realistic conditions of test stations in China, a control device based on pre-arcing current detection and phase control is proposed in this paper. A sample of the control device made up of DSP TMS320LF2407A is fabricated, in which the CPLD MAX7064 is used to transmit signals for EMC design. It can be applied in full voltage synthetic making test at a level of 126kV/63kA. The test results show that, it is accurate to control the making phase of the applied voltage, whether the closing is demanded at voltage peak or zero.

Parameter Self - Learning of Generalized Predictive Control Using BP Neural Network

This paper describes the self—adjustment of some tuning-knobs of the generalized predictive controller(GPC).A three feedforward neural network was utilized to on line learn two key tuning-knobs of GPC,and BP algorithm was used for the training of the linking-weights of the neural network.Hence it gets rid of the difficulty of choosing these tuning-knobs manually and provides easier condition for the wide applications of GPC on industrial plants.Simulation results illustrated the effectiveness of the method.

Clinical Research of Pre-Hospital Emergency Care, Nursing, Infection Prevention and Control for Senile Osteoporotic Vertebral Compression Fracture during Epidemic Period

Background: Novel coronavirus pneumonia (NCP) and osteoporotic vertebral compression fractures (OVCF) are the high incidences of diseases in the elderly. During the epidemic period, if not treated in time, the complications are high and the mortality is high. If we do not pay attention to infection prevention and control in pre-hospital emergency care, it will lead to the first time infection of medical staff and in-hospital cross infection in emergency outpatient receiving area. The correct consideration of both and the establishment of perfect pre-hospital emergency treatment and infection prevention and control synchronous strategy is an important premise to ensure the stable, orderly and safe medical treatment. Objective: To explore the effect of synchronous implementation of pre-hospital emergency care, nursing and infection pre-vention and control for senile OVCF during the epidemic. In order to improve the efficiency of pre-hospital emergency care and prevent the spread of infection. Method: A total of 92 elderly patients with OVCF who received pre-hospital treatment in 18 hospitals in Zhangjiakou City during the epidemic prevention and control period from January 2020 to November 2022 and met the inclusion criteria were selected as research objects, including 24 males and 68 females, aged 65 - 82 (74.2 ± 2.2) years. All patients were associated with concomitant injuries and underlying diseases. All patients in this group underwent predictive pre-hospital rescue and infection prevention and control procedures. Results: All the 92 elderly patients with OVCF received timely pre-hospital treatment during the epidemic period, and no aggravation occurred of the 92 patients, 35 were in the high risk area, 10 were in the medium risk area, and 47 were in the low risk area. Exclude OVCF for NCP Patients were treated according to the conventional diagnosis and treatment principles. Suspected and confirmed cases are transferred to designated surgical hospitals for treatment. All patients were followed up 3 months, 6 months and 12 months after treatment. There was no death rate, high satisfaction of pre-hospital first aid, high diagnostic accuracy, and good curative effect. None of the rescue personnel had any infection rate, and no hospital infection transmission and nosocomial cross infection occurred. Conclusion: It is the first step to safely treat patients and prevent cross infection to establish a perfect synchronous strategy of pre-hospital first aid and infection prevention and control.

HBV PreS2+S/IFN-α融合基因真核表达载体的构建及其表达

构建含HBVPrdS2 +S和IFN α融合基因的真核表达载体pcDNA3.1.S2S/IFN α并在真核细胞中进行表达。应用重叠延伸剪切技术 (splicingbyoverlappingextension ,简称SOE)经两次PCR获得嵌合基因片段S2S/IFN α ,回收后直接克隆到 pcDNA3.1V5 /HisTOPOTA克隆载体 ,得到真核重组载体pcDNA3.1.S2S/IFN α。然后用脂质体法转染VeroE6细胞。对重组载体进行了限制性酶切及PCR鉴定 ,证明连接正确 ;经间接免疫荧光检测证实该重组载体能在真核细胞中表达插入的外源性基因编码的融合蛋白。真核表达载体pcDNA3.1.S2S/IFN α的成功构建及在VeroE6细胞中的有效表达 。

丘陵-平原复合小流域多致灾因子洪涝减灾分析

我国东南沿海地区常因复杂的洪涝致灾因子和复合的地形特征,导致流域行洪不畅而引发洪涝灾害,建立适合此流域特征的洪涝模拟模型,并通过洪涝减灾分析制定有效的防洪减灾手段十分必要。利用流域数字高程数据、河网数据、土地利用数据等资料,建立模拟沿海丘陵-平原复合流域洪涝过程的水文-水动力耦合模型,探讨基于工程调度的降低洪涝风险的方法。选择浙江省沿海城市—临海市的大田港流域作为研究区域,充分考虑研究区丘陵汇流、水库下泄、潮位涨落、河道初始水位、闸门泄洪等流域特征要素,设计模型边界条件,模拟不同设计洪水以及工程调度影响下研究区的洪水演进过程和洪水淹没情况。结果表明,所建立的模型能够较好地模拟丘陵-平原复合小流域的河道洪水演进过程。对于极易造成洪水淹没的重点防洪区域,通过调节内河初始水位和控制流域内的防洪挡潮闸门有效的缓解了大田港下游主城区和灵湖景区的洪水淹没情况。大田港流域东北侧区域与山丘接壤,下游工程调度对该区域洪水淹没的缓解效果延时。情景模拟结果为研究区洪涝灾害的预演、预报、预警以及预案提供了数据支撑,为城市防洪工程和平原排涝工程的进一步推进提供依据,为沿海丘陵-平原复合型小流域多致灾因子导致的洪涝灾害提供了解决思路。

Preβ-1高密度脂蛋白与心血管疾病关系的研究进展

动脉粥样硬化是心血管疾病重要的病理生理基础,延缓和防治动脉粥样硬化对于减少和降低心血管疾病的发病率及病死率具有重要意义。高密度脂蛋白(high density lipoprotein,HDL)通过参与介导胆固醇逆向转运(reverse cholesterol transport,RCT)在抗动脉粥样硬化的形成和进展中发挥了重要作用。Preβ-1高密度脂蛋白(prebeta-1 high density lipoprotein,Preβ-1HDL)作为HDL的一种亚类,是外周细胞移出胆固醇的最初接受体,直接参与了RCT的起始步骤,并在随后的胆固醇酯化及转运中起着重要作用。本文就Preβ-1HDL的结构、代谢及其与心血管疾病的关系作一简要综述。

Civitas Pre-M1xed安全性评价及其对烟草赤星病的防治效果

Civitas Pre-M1xed(简称Civitas)是加拿大石油公司生产的一种食品级合成异链烷烃乳化剂化合物。本研究采用种子萌发和盆栽试验法评估了Civitas的安全性,同时利用菌丝生长速率法测定了烟草赤星病菌Alternaria alternata对Civitas的敏感性,并采取盆栽方式评估了Civitas对烟草赤星病的防治效果。结果表明:相较于对照(种子萌发率82.7%),体积分数为1%和0.1%(体积分数,以下同)的Civitas水溶液对烟草种子的萌发无抑制作用,而5%和10%的Civitas水溶液对种子的萌发有抑制作用,萌发率分别为58.3%和32.1%。20%和10%的Civitas水溶液对团棵期的烟株株高和茎围有一定抑制作用,而5%和1%的Civitas水溶液则无明显影响;尽管不同供试体积分数的Civitas水溶液对现蕾期的烟株株高生长无抑制作用,但20%和10%的Civitas水溶液对该时期烟株的茎围生长有一定的抑制作用。此外,不同体积分数的Civitas水溶液对烟草赤星病菌均表现出一定程度的抑制活性,且随Civitas体积分数的增大而增强,20%的Civitas水溶液抑制率为54.1%。Civitas对烟草赤星病同时具有保护和治疗作用,5%的Civitas水溶液直接喷洒烟叶10 d后,保护作用和治疗作用的防效分别为59.3%和19.6%。相关的研究结果可为Civitas的进一步安全性评价及潜在应用研究提供参考和依据。

Where is the rudder of a fish?:the mechanism of swimming and control of self-propelled fish school

Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- and three-dimensional moving boundary problem, which combines the adaptive multi-grid finite volume method and the methods of immersed boundary and volume of fluid, it is found that due to the interactions of vortices in the wakes, without proper control, a fish school swim with a given flap- ping rule can not keep the fixed shape of a queue. In order to understand the secret of fish swimming, a new feedback con- trol strategy of fish motion is proposed for the first time, i,e., the locomotion speed is adjusted by the flapping frequency of the caudal, and the direction of swimming is controlled by the swinging of the head of a fish. Results show that with this feedback control strategy, a fish school can keep the good order of a queue in cruising, turning or swimming around circles. This new control strategy, which separates the speed control and direction control, is important in the construction of biomimetic robot fish, with which it greatly simplifies the control devices of a biomimetic robot fish.

Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters

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.

Deformation behaviors of 21-6-9 stainless steel tube numerical control bending under different friction conditions

For contact dominated numerical control(NC) bending process of tube, the effect of friction on bending deformation behaviors should be focused on to achieve precision bending forming. A three dimensional(3D) elastic-plastic finite element(FE) model of NC bending process was established under ABAQUS/Explicit platform, and its reliability was validated by the experiment. Then, numerical study on bending deformation behaviors under different frictions between tube and various dies was explored from multiple aspects such as wrinkling, wall thickness change and cross section deformation. The results show that the large friction of wiper die-tube reduces the wrinkling wave ratio η and cross section deformation degree ΔD and increases the wall thinning degree Δt. The large friction of mandrel-tube causes large η, Δt and ΔD, and the onset of wrinkling near clamp die. The large friction of pressure die-tube reduces Δt and ΔD, and the friction on this interface has little effect on η. The large friction of bending die-tube reduces η and ΔD, and the friction on this interface has little effect on Δt. The reasonable friction coefficients on wiper die-tube, mandrel-tube, pressure die-tube and bending die-tube of 21-6-9(0Cr21Ni6Mn9N) stainless steel tube in NC bending are 0.05-0.15, 0.05-0.15, 0.25-0.35 and 0.25-0.35, respectively. The results can provide a guideline for applying the friction conditions to establish the robust bending environment for stable and precise bending deformation of tube bending.

Acceleration feedback control (AFC) enhanced by disturbance observation and compensation (DOC) for high precision tracking in telescope systems

Abstract In this paper, a cascade acceleration feedback control （AFC） enhanced by a disturbance observa- tion and compensation （DOC） method is proposed to improve the tracking precision of telescope systems. Telescope systems usually suffer some uncertain disturbances, such as wind load, nonlinear friction and other unknown disturbances. To ensure tracking precision, an acceleration feedback loop which can in- crease the stiffness of such a system is introduced. Moreover, to further improve the tracking precision, we introduce the DOC method which can accurately estimate the disturbance and compensate it. Furthermore, the analysis of tracking accuracy used by this method is proposed. Finally, a few comparative experimental results show that the proposed control method has excellent performance for reducing the tracking error of a telescope system.

CO_2-triggered gelation for mobility control and channeling blocking during CO_2 flooding processes

CO2 flooding is regarded as an important method for enhanced oil recovery （EOR） and greenhouse gas control. However, the heterogeneity prevalently dis- tributed in reservoirs inhibits the performance of this technology. The sweep efficiency can be significantly reduced especially in the presence of ＂thief zones＂. Hence, gas channeling blocking and mobility control are important technical issues for the success of CO2 injection. Normally, crosslinked gels have the potential to block gas channels, but the gelation time control poses challenges to this method. In this study, a new method for selectively blocking CO2 channeling is proposed, which is based on a type of CO2-sensitive gel system （modified polyacry- lamide-methenamine-resorcinol gel system） to form gel in situ. A CO2-sensitive gel system is when gelation or solidification will be triggered by CO2 in the reservoir to block gas channels. The CO2-sensitivity of the gel system was demonstrated in parallel bottle tests of gel in N2 and CO2 atmospheres. Sand pack flow experiments were con- ducted to investigate the shutoff capacity of the gel system under different conditions. The injectivity of the gel system was studied via viscosity measurements. The results indi- cate that this gel system was sensitive to CO2 and had good performance of channeling blocking in porous media. Advantageous viscosity-temperature characteristics were achieved in this work. The effectiveness for EOR in heterogeneous formations based on this gel system was demonstrated using displacement tests conducted in double sand packs. The experimental results can provide guideli- nes for the deployment of theCO2-sensitive gel system for field applications.

Polyacrylamide hydrogel application in sand control with compressive strength testing

Sand production is one of the major problems in sandstone reservoirs. Different mechanical and chemical methods have been proposed to control sand production. In this paper, we propose a chemical method based on using polyacrylamide/chromium triacetate hydrogel to investigate sand production in a synthetic sandpack system. To this end, a series of bulk experiments including the bottle test and rheological analysis along with compression tests were conducted. Experimental results indicated that the compressive strength of the sandpack was increased as much as 30 times by injecting 0.5 pore volume of hydrogel. Also, it was found that the increases in cross-linker and polymer concentrations exhibited a positive impact on the compressive strength of the sandpack, mostly by cross-linker concentration(48 psi). Hydrogel with a higher value of cross-linker could retain its viscoelastic properties against the strain which was a maximum of 122% for 0.5 weight ratio of cross-linker/polymer. The presence of salts, in particular divalent cations, has a detrimental effect on the hydrogel stability. The maximum strain value applied on hydrogel in the presence of CaCl_2 was only about 201% as compared to 1010% in the presence of distilled water. Finally, thermogravimetric analysis and its derivative showed that the hydrogel could retain its structure up to 300 °C. The results of this study revealed the potential application of the hydrogel to control sand production.

Water hammer prediction and control:the Green's function method

By Green＇s function method we show that the water hammer （WH） can be analytically predicted for both laminar and turbulent flows （for the latter, with an eddy vis- cosity depending solely on the space coordinates）, and thus its hazardous effect can be rationally controlled and mini- mized. To this end, we generalize a laminar water hammer equation of Wang et al. （J. Hydrodynamics, B2, 51, 1995） to include arbitrary initial condition and variable viscosity, and obtain its solution by Green＇s function method. The pre- dicted characteristic WH behaviors by the solutions are in excellent agreement with both direct numerical simulation of the original governing equations and, by adjusting the eddy viscosity coefficient, experimentally measured turbulent flow data. Optimal WH control principle is thereby constructed and demonstrated.

Pre-emergence herbicides affect seedling emergence of tropical forest tree species

Testing techniques to reduce weed infestation is a crucial step in developing direct tree seeding systems. The use of pre-emergence herbicides may be an alternative to manual weeding techniques, but so far, information on how they affect the seeds of native tree species is scarce. We established a greenhouse experiment to evaluate the effects of four pre-emergence herbicides (atrazine, diuron, isoxaflutole and oxyfluorfen) on weed suppression and seedling emergence and early growth of seven tropical forest tree species (Annona coriacea Mart., Citharexylum myrianthum Cham., Cordia ecalyculata Vell., Peltophorum dubium (Spreng.) Taub., Psidium guajava L., Pterogyne nitens Tul. and Schinus terebinthifolia Raddi). The experimental design was a randomized complete block design with five treatments and five replicates. The treatments consisted of a single dose of each pre-emergence herbicide and a control. Throughout the 60 days after sowing we evaluated weed cover and seedling emergence and early growth of tree species. Overall, our results suggest that all tested herbicides reduced weed cover; however, they also negatively affected tree species seedling emergence. Of the four herbicides tested, atrazine and diuron showed the greatest effects on tree seedling emergence, oxyfluorfen was least aggressive towards native species and isoxaflutole was most effective in weed control. Native tree species varied in their responses to herbicides, indicating that future experiments should increase the number of species tested as well as investigate how seed traits can affect the species responses to different herbicides.

Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy

This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.

Stabilization of CSTR w ith Self-tuning Sliding Mode Controller Using T-S Fuzzy Linearization

A self-tuning reaching law based sliding mode control(SMC)theory is proposed to stabilize the nonlinear continuous stirred tank reactor(CSTR).T-S fuzzy logic is used to build a global fuzzy state-space linear model.Combing the traits of SMC and CSTR,three fuzzy rules can meet the requirements of controlled system.The self-tuning switch control law which can drive the state variables to the sliding surface as soon as possible is designed to ensure the robustness of uncertain fuzzy system.Lyapunov equation is applied to proving the stability of the sliding surface.The simulations show that the proposed approach can achieve desired performance with less chattering problem.

Synthesis of Fractional-order PI Controllers and Fractional-order Filters for Industrial Electrical Drives

This paper introduces an electrical drives control architecture combining a fractional-order controller and a setpoint pre-filter. The former is based on a fractional-order proportional-integral(PI) unit, with a non-integer order integral action, while the latter can be of integer or non-integer type. To satisfy robustness and dynamic performance specifications, the feedback controller is designed by a loop-shaping technique in the frequency domain. In particular, optimality of the feedback system is pursued to achieve input-output tracking. The setpoint pre-filter is designed by a dynamic inversion technique minimizing the difference between the ideal synthesized command signal(i.e., a smooth monotonic response) and the prefilter step response. Experimental tests validate the methodology and compare the performance of the proposed architecture with well-established control schemes that employ the classical PIbased symmetrical optimum method with a smoothing pre-filter.