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.

Saturation evaluation of microporous low resistivity carbonate oil pays in Rub Al Khali Basin in the Middle East

To solve the problem that it is difficult to identify carbonate low resistivity pays(LRPs) by conventional logging methods in the Rub Al Khali Basin, the Middle East, the variation of fluid distribution and rock conductivity during displacement were analyzed by displacement resistivity experiments simulating the process of reservoir formation and production, together with the data from thin sections, mercury injection and nuclear magnetic resonance experiments. In combination with geological understandings, the genetic mechanisms of LRPs were revealed, then the saturation interpretation model was selected, the variation laws and distribution range of the model parameters were defined, and finally an updated comprehensive saturation interpretation technique for the LRPs has been proposed. In the study area, the LRPs have resistivity values of less than 1 Ω·m, similar to or even slightly lower than that of the water layers. Geological research reveals that the LRPs were developed in low-energy depositional environment and their reservoir spaces are controlled by micro-scale pore throats, with an average radius of less than 0.7 μm, so they are typical microporous LRPs. Different from LRPs of sandstone and mudstone, they have less tortuous conductive paths than conventional reservoirs, and thus lower resistivity value under the same saturation. Archie’s formula is applicable to the saturation interpretation of LRPs with a cementation index value of 1.77-1.93 and a saturation index value of 1.82-2.03 that are 0.2-0.4 lower than conventional reservoirs respectively. By using interpretation parameters determined by classification statistics of petrophysical groups(PGs), oil saturations of the LRPs were calculated at bout 30%-50%,15% higher than the results by conventional methods, and basically consistent with the data of Dean Stark, RST, oil testing and production. The 15 wells of oil testing and production proved that the coincidence rate of saturation interpretation is over 90%and the feasibility of this method has been further verified.

Application value of dexmedetomidine in anesthesia for elderly patients undergoing radical colon cancer surgery

BACKGROUND Colon cancer presents a substantial risk to the well-being of elderly people worldwide.With advancements in medical technology,surgical treatment has become the primary approach for managing colon cancer patients.However,due to age-related physiological changes,especially a decline in cognitive function,older patients are more susceptible to the effects of surgery and anesthesia,increasing the relative risk of postoperative cognitive dysfunction(POCD).There-fore,in the surgical treatment of elderly patients with colon cancer,it is of pa-ramount importance to select an appropriate anesthetic approach to reduce the occurrence of POCD,protect brain function,and improve surgical success rates.METHODS One hundred and seventeen patients with colon cancer who underwent elective surgery under general anesthesia were selected and divided into two groups:A and B.Group A received Dex before anesthesia induction,and B group received an equivalent amount of normal saline.Changes in the mini-mental state exami-nation,regional cerebral oxygen saturation(rSO2),bispectral index,glucose uptake rate(GluER),lactate production rate(LacPR),serum S100βand neuron-specific enolase(NSE),POCD,and adverse anesthesia reactions were compared between the two groups.RESULTS Surgical duration,duration of anesthesia,and intraoperative blood loss were comparable between the two groups(P>0.05).The overall dosage of anesthetic drugs used in group A,including propofol and remifentanil,was significantly lower than that used in group B(P<0.05).Group A exhibited higher rSO2 values at the time of endotracheal intubation,30 min after the start of surgery,and immediately after extubation,higher GluER values and lower LacPR values at the time of endotra-cheal intubation,30 min after the start of surgery,immediately after extubation,and 5 min after extubation(P<0.05).Group A exhibited lower levels of serum S100βand NSE 24 h postoperatively and a lower incidence of cognitive dysfunction on the 1st and 5th postoperative days(P<0.05).CONCLUSION The use of Dex in elderly patients undergoing radical colon cancer surgery helps maintain rSO2 Levels and reduce cerebral metabolic levels and the incidence of anesthesia-and surgery-induced cognitive dysfunction.

具有饱和发生率的SIS传染病模型稳定性

考虑了一类具有易感人群饱和发生率的SIS传染病数学模型,定义了基本再生数,证明了地方病平衡点的存在唯一性、局部和全局渐近稳定性,分析了饱和发生率参数对模型动力学行为的影响,并通过数值模拟验证了所得结论的准确性。

一类具有垂直传染的随机SIS模型的稳定性

研究一类具有饱和发生率和垂直传染的随机SIS传染病模型,分别考虑外部环境对于易感者和染病者出生率、死亡率的扰动,证明了模型存在唯一的全局正解,通过构造Lyapunov函数证明了传染病的灭绝,得到疾病持久的充分条件。

Assessment of Groundwater Stability Using Corrosion and Scaling Tendency Indices on Selected Springs in the Manga Region in Nyamira County, Kenya

We present the result of groundwater stability assessment on three major springs in the Manga region in Nyamira County found in Kenya in 2018. These springs are Kiangoso (SP1), Kerongo (SP2) and Tetema (SP3). The corrosion and scaling tendency indices were obtained using the Langelier saturation index (LSI), Ryznar stability index (RSI), and Puckorius scaling index (PSI). The LSI values obtained for SP1, SP2, and SP3 are −3.93, −4.71, and −4.17, respectively, while using RSI, the values obtained for SP1, SP2, and SP3 are 14.15, 14.53, and 13.74, respectively. Using PSI, the values of SP1, SP2, and SP3 are 5.58, 5.45, and 5.58, respectively. From the interpretation of the indices, the groundwater from the three springs in the Manga region using LSI and RSI showed intolerable corrosion;hence, it is unlikely to scale as obtained from PSI.

THE STUDY OF AN ALLOWABLE CALCITE SUPERSATURATION IN LOW TEMPERATURE GEOTHERMAL SYSTEMS

Two geothermal fields with calcite scaling in some wells in Iceland were selected for the study of calcite scaling potential. An allowable supersaturation was found by comparing the degree of calcite supersaturation and actual scaling status in the selected wells.The saturation index,0.37～ 0.48, was the boundary between calcite scaling and no scaling. The information about changes in chloride concentration shows that mixing different waters is the main cause to form calcite scaling in the geothermal wells selected in this study.In this case, the content of chloride can be used as an index of scaling.

Fe对Al-Zn-Mg-Si熔融镀液中Cr含量的影响

以55%Al-Zn-2%Mg-1.6%Si熔融镀液为研究对象,在热镀锌模拟设备锌锅中研究了添加Cr和Fe的实验过程中,Fe对镀液中Cr含量的影响。结果表明,当镀液温度为630℃时,随着Al-10Cr中间合金锭的添加,镀液中Cr含量逐渐升高,在含量约0.15%最终稳定达到饱和,超过其饱和溶解度将形成主要成分为Al-Cr的底渣。在Cr饱和的镀液中加入足量的钢板,镀液的饱和Fe含量约0.53%,而Cr含量由0.15%显著降至0.026%,镀液中形成了Al-(Fe,Cr)-Si金属间化合物,以底渣形式析出。相图计算结果进一步证实,提高Fe含量会降低55%Al-Zn-2%Mg-1.6%Si熔融镀液中Cr的饱和溶解度,从而促使Cr析出形成底渣。

Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation

In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.

The Dynamics of Vector-Host Feeding Contact Rate with Saturation: A Case of Malaria in Western Kenya

In this study, we develop an expression for a saturated mosquito feeding rate in an SIS malaria model to determine its effect on infection and transmission dynamics of malaria in the highlands of Western Kenya. The basic reproduction number is established as a sharp threshold that determines whether the disease dies out or persists in the population. Precisely, if , the disease-free equilibrium is globally asymptotically stable and the disease always dies out and if , there exists a unique endemic equilibrium which is globally stable and the disease persists. The contribution of the saturated contact rate to the basic reproduction number and the level of the endemic equilibrium are also analyzed.

A Delay-Dependent Anti-Windup Compensator for Wide-Area Power Systems With Time-Varying Delays and Actuator Saturation

In this paper, a delay-dependent anti-windup compensator is designed for wide-area power systems to enhance the damping of inter-area low-frequency oscillations in the presence of time-varying delays and actuator saturation using an indirect approach. In this approach, first, a conventional wide-area damping controller is designed by using output feedback with regional pole placement approach without considering time-varying delays and actuator saturation. Then to mitigate the effect of both time-varying delays and actuator saturation, an add-on delay-dependent anti-windup compensator is designed. Based on generalized sector conditions, less conservative delay-dependent sufficient conditions are derived in the form of a linear matrix inequality(LMI) to guarantee the asymptotic stability of the closedloop system in the presence of time-varying delays and actuator saturation by using Lyapunov-Krasovskii functional and Jensen integral inequality. Based on sufficient conditions, the LMI-based optimization problem is formulated and solved to obtain the compensator gain which maximizes the estimation of the region of attraction and minimizes the upper bound of-gain. Nonlinear simulations are performed first using MATLAB/Simulink on a two-area four-machine power system to evaluate the performance of the proposed controller for two operating conditions, e.g.,3-phase to ground fault and generator 1 terminal voltage variation. Then the proposed controller is implemented in real-time on an OPAL-RT digital simulator. From the results obtained it is verified that the proposed controller provides sufficient damping to the inter-area oscillations in the presence of time-varying delays and actuator saturation and maximizes the estimation of the region of attraction.

Gas hydrate saturation model and equation for logging interpretation

Since gas hydrate exists in three different forms at the same time such as pore filling,particle support and separate stratification,the calculation method of hydrate saturation using traditional shaly sand formation interpretation models is equivalent to considering only the simple case that hydrate exists as pore filling,and does not consider other complex states.Based on the analysis of hydrate resistivity experimental data and the general form of the resistivity-oil(gas)saturation relationship,the best simplified formula of hydrate saturation calculation is derived,then the physical meaning of the three items are clarified:they respectively represent the resistivity index-saturation relationship when hydrate particles are completely distributed in the pores of formation rocks,supported in the form of particles,and exist in layers,corresponding quantitative evaluation method of hydrate saturation is built.The field application shows that the hydrate saturation calculated by this method is closer to that obtained by sampling analysis.At the same time,it also provides a logging analysis basis for the effective development after hydrate exploration.

Sub-bandgap refractive indexes and optical properties of Sidopedβ-Ga_(2)O_(3) semiconductor thin films

In this article,we present a theoretical study on the sub-bandgap refractive indexes and optical properties of Sidopedβ-Ga_(2)O_(3) thin films based on newly developed models.The measured sub-bandgap refractive indexes ofβ-Ga_(2)O_(3) thin film are explained well with the new model,leading to the determination of an explicit analytical dispersion of refractive indexes for photon energy below an effective optical bandgap energy of 4.952 eV for theβ-Ga_(2)O_(3) thin film.Then,the oscillatory structures in long wavelength regions in experimental transmission spectra of Si-dopedβ-Ga_(2)O_(3) thin films with different Si doping concentrations are quantitively interpreted utilizing the determined sub-bandgap refractive index dispersion.Meanwhile,effective optical bandgap values of Si-dopedβ-Ga_(2)O_(3) thin films are further determined and are found to decrease with increasing the Si doping concentration as expectedly.In addition,the sub-bandgap absorption coefficients of Si-dopedβ-Ga_(2)O_(3) thin film are calculated under the frame of the Franz–Keldysh mechanism due to the electric field effect of ionized Si impurities.The theoretical absorption coefficients agree with the available experimental data.These key parameters obtained in the present study may enrich the present understanding of the sub-bandgap refractive indexes and optical properties of impurity-dopedβ-Ga_(2)O_(3) thin films.

Saturation states of carbonate minerals in a freshwater-seawater mixing zone of small tropical island’s aquifer

Groundwater is a crucial resource on the Manukan Island as it is the only source of freshwater available on the island. The aquifer has deteriorated to a high degree, during the last decade. Nine domestic wells were sampled from March 2006 to January 2007 to probe the hydrochemical components that influence the water quality. Geochemical data on dissolved major constituents in groundwater samples from the Manukan Island revealed the main processes responsible for their geochemical evolution. The results using statistical analyses, graphical method and numerical model output (PHREEQC) showed that the groundwater was chemically highly enriched in Na and Cl, indicative of seawater intrusion into the aquifer as also supported from the Na-Cl signature on the Piper diagram. From the PHREEQC simulation model, calcite, dolomite and aragonite solubility showed positive values of the saturation indices (SI), indicating supersaturation which led to mineral precipitation condition of water by these minerals.

Investigation of Connecting Wind Turbine to Radial Distribution System on Voltage Stability Using SI Index and λ - V Curves

The growth of wind energy penetration level in distribution system raises the concern about its impact on the operation of the power system, especially voltage stability and power loss. Among the major concerns, this paper studied the impact of connecting wind Turbine (WT) in radial distribution system with different penetration levels and different power factor (lead and lag) on power system voltage stability and power loss reduction. Load flow calculation was carried out using forward-backward sweep method. The analysis proceeds on 9- and 33-bus radial distribution systems. Results show that voltage stability enhancement and power loss reduction should be considered as WT installation objective.

Evaluation of hydro-chemistry in a phreatic aquifer in the Vindhyan Region, India, using entropy weighted approach and geochemical modelling

Groundwater quality monitoring and geochemical characterization in the phreatic aquifer are critical for ensuring universal and equitable access to clean,reliable,and inexpensive drinking water for all.This research was intended to investigate the hydrogeochemical attributes and mechanisms regulating the chemistry of groundwater as well as to assess spatial variation in groundwater quality in Satna district,India.To accomplish this,the groundwater data comprising 13 physio-chemical parameters from thirty-eight phreatic aquifer locations were analysed for May 2020 by combining entropy-weighted water quality index(EWQI),multivariate statistics,geochemical modelling,and geographical information system.The findings revealed that the groundwater is fresh and slightly alkaline.Hardness was a significant concern as 57.89% of samples were beyond the permissible limit of the World Health Organisation.The dominance of ions were in the order of Ca^(2+)> Na^(+)> Mg^(2+)> K^(+) and HCO_(3)^(-)> SO_(4)^(2-)> Cl^-> NO_(3)^(-)> F^(-).Higher concentration of these ions is mainly concentrated in the northeast and eastern regions.Pearson correlation analysis and principal component analysis(PCA) demonstrated that both natural and human factors regulate groundwater chemistry in the region.The analysis of Q-mode agglomerative hierarchical clustering highlighted three significant water clusters.Ca-HCO_3 was the most prevalent hydro-chemical facies in all three clusters.Geochemical modelling through various conventional plots indicated that groundwater chemistry in the research region is influenced by the dissolution of calcite/dolomite,reverse ion exchange,and by silicate and halite weathering.EWQI data of the study area disclosed that 73.69% of the samples were appropriate for drinking.Due to high salinity,Magnesium(Mg^(2+)),Nitrate(NO_(3)^(-)),and Bicarbonate(HCO_(3)^(-)) concentrations,the north-central and north-eastern regions are particularly susceptible.The findings of the study may be accomplished by policymakers and groundwater managers to achieve sustainable groundwater development at the regional scale.

rSO2-BIS监测在儿童肱骨髁上骨折手术中的应用研究

目的 探讨局部脑氧饱和度(regional cerebral oxygen saturation,rSO2)-脑电双频指数(bispectral index,BIS)监测麻醉方式在儿童肱骨髁上骨折手术中的应用。方法 选取江西省儿童医院骨科2020年1月至2022年12月收治的60例肱骨髁上骨折手术患儿,按随机数字表法分为对照组和观察组,每组30例。观察组患儿麻醉后给予rSO2-BIS监测,对照组患儿给予常规麻醉管理。结果 观察组患儿的丙泊酚中/长链脂肪乳和瑞芬太尼注射液用量明显少于对照组(P<0.05);患儿苏醒时各时间点的心率、血氧饱和度及平均动脉压比较,差异无统计学意义(P>0.05);术后镇痛药补救率低于对照组,拔管时间短于对照组(P<0.05);术后不良反应发生率及不良行为率低于对照组(P<0.001)。多因素分析结果发现丙泊酚中/长链脂肪乳和瑞芬太尼注射液的用量是诱发患儿术后出现不良反应和不良行为的独立危险因素,rSO2-BIS监测是减少患儿术后出现不良行为和不良反应的关键因素(P<0.05)。结论 儿童肱骨髁上骨折术中采用rSO2-BIS监测可降低手术患儿术后不良行为和不良反应的发生率,进而改善术后疗效。

氧疗联合俯卧位呼吸治疗急性呼吸衰竭的临床效果

目的:分析急性呼吸衰竭(ARF)应用氧疗联合俯卧位呼吸治疗的效果。方法:选取2022年7月—2023年12月新疆医科大学第六附属医院收治的21例清醒急性呼吸衰竭患者为研究对象。比较分析不同时间患者的心电监测指标和动脉血气指标。结果:初始位、俯卧位0.5h、俯卧位1h患者的心率(HR)、呼吸频率(RR)、平均动脉压(MAP)、氧灌注指数(PI)水平比较,差异均无统计学意义(P>0.05);俯卧位0.5h时患者的血氧饱和度(SpO_(2))与初始位比较,差异无统计学意义(P>0.05);俯卧位1h患者的SpO_(2)与初始位比较,差异有统计学意义(Ρ<0.05);初始位与俯卧位1h时患者的pH值、二氧化碳分压(PaCO_(2))水平比较,差异无统计学意义(P>0.05);但动脉血氧分压(PaO_(2))、氧合指数水平比较,差异有统计学意义(Ρ<0.05)。21例患者中无患者发生血液动力学异常情况。结论:氧疗联合俯卧位呼吸治疗ARF患者疗效显著,可以改善患者氧合状况,可作为基层医疗机构和急诊进行急救的一种方法。

不同麻醉深度指数下拔管在扁桃体低温等离子射频消融术患儿中的应用效果比较

目的:比较不同麻醉深度指数(NT值)下拔管在扁桃体低温等离子射频消融术患儿中的应用效果。方法:选取2021年7月至2022年4月于该院行扁桃体低温等离子射频消融术的76例患儿进行前瞻性研究,按照随机数字表法将其分为对照组和观察组各38例。两组均行气管插管全身麻醉,对照组于NT值为95~100时拔管,观察组于NT值为80~94时拔管。比较两组不同时间[停止麻醉维持即刻(T_(0))、拔管后即刻(T_(1))、拔管后10 min(T_(2))]血流动力学指标(心率、平均动脉压、呼吸频率)水平、不同时间(拔管前、拔管后30 min)应激指标[皮质醇(Cor)、肾上腺素(E)]水平、不同时间(T_(0)、T_(1)、T_(2))局部脑氧饱和度(rSO_(2))水平和不良反应发生率。结果:T_(1)、T_(2)时,两组平均动脉压、心率、呼吸频率均高于T_(0)时,但观察组低于对照组,差异有统计学意义(P<0.05);拔管后30 min,两组Cor、E水平均高于拔管前,但观察组低于对照组,差异有统计学意义(P<0.05);T_(0)、T_(1)、T_(2)时,两组rSO_(2)水平比较,差异均无统计学意义(P>0.05);观察组不良反应发生率为5.26%(2/38),低于对照组的21.05%(8/38),差异有统计学意义(P<0.05)。结论:NT值为80~94时拔管应用于扁桃体低温等离子射频消融术患儿可改善血流动力学指标和应激指标水平,降低不良反应发生率,效果优于NT值为80~94时拔管。

山东北部泥质海岸带白浪河地区地下水水化学演化过程

莱州湾沿岸是中国海(咸)水入侵典型区域之一,受多次海侵海退事件影响,形成了复杂的地下含水系统。为探究其地下水系统水化学特征及演化规律,对比分析白浪河地区内地下水的水化学特征及主要离子的变化规律,研究了不同分区的水化学演化过程。结果表明,内陆的咸水主要由淡水/卤水混合形成,滨海的咸水主要由淡水/海水混合形成。现存卤水在形成过程中发生了淡水的混入,水岩相互作用和阳离子交换在一定程度上改变了卤水的水化学组成。矿物饱和指数结果表明,不同分区的地下水体中,方解石和白云石基本处于饱和状态,岩盐均未达到饱和状态,石膏仅在卤水中达到饱和状态。从陆到海,地下水系统中发生的阳离子交换过程不同,淡水区和微咸水区浅层的地下水主要是水中的Ca^(2+)与含水介质吸附的Na^(+)交换,而其他分区的阳离子交换过程与之相反。