A Fast Approach for Time Optimal and Smooth Trajectory Planning of Robot Manipulators

In this paper,a fast approach to generate time optimal and smooth trajectory has been developed and tested.Minimum time is critical for the productivity in industrial applications.Meanwhile,smooth trajectories based on cubic splines are desirable for their ability to limit vibrations and ensure the continuity of position,velocity and acceleration during the robot movement.The main feature of the approach is a satisfactory solution that can be obtained by a local modification process among each interval between two consecutive via-points.An analytical formulation simplifies the approach to smooth trajectory and few iterations are enough to determine the correct values.The approach can be applied in many robot manipulators which require high performance on time and smooth.The simulation and application of the approach on a palletizer robot are performed,and the experimental results provide evidence that the approach can realize the robot manipulators more efficiency and high smooth performance.

Comparison of time optimal control for two level quantum systems

The time optimal problem for a two level quantum sys-tem is studied. We compare two different control strategies of bang-bang control and the geometric control, respectively, es-pecial y in the case of minimizing the time of steering the state from North Pole to South Pole on the Bloch sphere with bounded control. The time performances are compared for different param-eters by the individual numerical simulation experiments, and the experimental results are analyzed. The results show that the ge-ometric control spends less time than the bang-bang control does.

Gestational diabetes mellitus:The optimal time of delivery

Gestational diabetes mellitus(GDM)is a common pregnancy complication strongly associated with poor maternal-fetal outcomes.Its incidence and prevalence have been increasing in recent years.Women with GDM typically give birth through either vaginal delivery or cesarean section,and the maternal-fetal outcomes are related to several factors such as cervical level,fetal lung maturity,the level of glycemic control still present,and the mode of treatment for the condition.We categorized women with GDM based on the latter two factors.GDM that is managed without medication when it is responsive to nutrition-and exercise-based therapy is considered diet-and exercise-controlled GDM,or class A1 GDM,and GDM managed with medication to achieve adequate glycemic control is considered class A2 GDM.The remaining cases in which neither medical nor nutritional treatment can control glucose levels or patients who do not control their blood sugar are categorized as class A3 GDM.We investigated the optimal time of delivery for women with GDM according to the classification of the condition.This review aimed to address the benefits and harms of giving birth at different weeks of gestation for women with different classes of GDM and attempted to provide an analytical framework and clearer advice on the optimal time for labor.

Optimal timing for plastic surgical procedures for common congenital anomalies:A review

Apart from listening to the cry of a healthy newborn,it is the declaration by the attending paediatrician in the labour room that the child is normal which brings utmost joy to parents.The global incidence of children born with congenital anomalies has been reported to be 3%-6%with more than 90%of these occurring in low-and middle-income group countries.The exact percentages/total numbers of children requiring surgical treatment cannot be estimated for several reasons.These children are operated under several surgical disciplines,viz,paediatric-,plastic reconstructive,neuro-,cardiothoracic-,orthopaedic surgery etc.These conditions may be life-threatening,e.g.,trachea-oesophageal fistula,critical pulmonary stenosis,etc.and require immediate surgical intervention.Some,e.g.,hydrocephalus,may need intervention as soon as the patient is fit for surgery.Some,e.g.,patent ductus arteriosus need‘wait and watch’policy up to a certain age in the hope of spontaneous recovery.Another extremely important category is that of patients where the operative intervention is done based on their age.Almost all the congenital anomalies coming under care of a plastic surgeon are operated as elective surgery(many as multiple stages of correction)at appropriate ages.There are advantages and disadvantages of intervention at different ages.In this article,we present a review of optimal timings,along with reasoning,for surgery of many of the common congenital anomalies which are treated by plastic surgeons.Obstetricians,paediatricians and general practitioners/family physicians,who most often are the first ones to come across such children,must know to guide the parents appropriately and convincingly impress upon the them as to why their child should not be operated immediately and also the consequences of too soon or too late.

Bang-Bang Principle of Time Optimal Controls and Null Controllability of Fractional Order Parabolic Equations

In this paper, we establish a bang-bang principle of time optimal controls for a controlled parabolic equation of fractional order evolved in a bounded domain Ω of R^n, with a controller w to be any given nonempty open subset of Ω. The problem is reduced to a new controllability property for this equation, i.e. the null controllability of the system at any given time T 〉 0 when the control is restricted to be active in ω× E, where E is any given subset of [0, T] with positive （Legesgue） measure. The desired controllability result is established by means of a sharp observability estimate on the eigenfunctions of the Dirichlet Laplacian due to Lebeau and Robbiano, and a delicate result in the measure theory due to Lions.

Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration

This paper proposes a Bat Algorithm （BA） based Control Parameterization and Time Discretization （BA-CPTD） method to acquire time optimal control law for formation reconfiguration of multi-robots system. In this method, the problem of seeking for time optimal control law is converted into a parameter optimization problem by control parameterization and time discretization, so that the control law can be derived with BA. The actual state of a multi-robots system is then introduced as feedback information to eliminate formation error. This method can cope with the situations where the accurate mathematical model of a system is unavailable or the disturbance from the environment exists. Field experiments have verified the effectiveness of the proposed method and shown that formation converges faster than some existing methods. Further experiment results illustrate that the time optimal control law is able to provide smooth control input for robots to follow, so that the desired formation can be attained rapidly with minor formation error. The formation error will finally be eliminated by using actual state as feedback.

TIME AND NORM OPTIMAL CONTROLS:A SURVEY OF RECENT RESULTS AND OPEN PROBLEMS

We present in this paper a survey of recent results on the relation between time and norm optimality for linear systems and the infinite dimensional version of Pontryagin＇s maximum principle. In particular, we discuss optimality （or nonoptimality） of singular controls satisfying the maximum principle and smoothness of the costate in function of smoothness of the target.

TIME OPTIMAL IMPLUSE CONTROL PROBLEMS

In this paper, a class of time optimal problem with impluse control is considered. Under certain conditions we prove that the optimal impluse control exists and its impluse number is finite. Moreover, it is proved that the minimum time function is locally Lipschitz continuous in its domain and is the unique viscosity solution of the corresponding Hamilton-Jacobi-Bellman system.

Nitrogen and phosphorus changes and optimal drainage time of flooded paddy field based on environmental factors

While many controlled irrigation and drainage techniques have been adopted in China, the environmental effects of these techniques require further investigation. This study was conducted to examine the changes of nitrogen and phosphorus of a flooded paddy water system after fertilizer application and at each growth stage so as to obtain the optimal drainage time at each growth stage. Four treatments with different water level management methods at each growth stage were conducted under the condition of ten-day continuous flooding. Results show that the ammonia nitrogen （ NH4-N ） concentration reached the peak value once the fertilizer was applied, and then decreased to a relatively low level seven to ten days later, and that the nitrate nitrogen （NO^-N） concentration gradually rose to its peak value, which appeared later in subsurface water than in surface water. Continuous flooding could effectively reduce the concentrations of NH^-N , NO3-N, and total phosphorus （TP） in surface water. However, the paddy water disturbance, in the process of soil surface adsorption and nitrification, caused NH]-N to be released and increased the concentrations of NH4-N and NO^-N in surface water. A multi-objective controlled drainage model based on environmental factors was established in order to obtain the optimal drainage time at each growth stage and better guide the drainage practices of farmers. The optimal times for surface drainage are the fourth, sixth, fifth, and sixth days after flooding at the tillering, jointing-booting, heading-flowering, and milking stages, respectively.

Effects of Seed Maturity of Turf-Type Tall Fescue on the Seed Vigor and the Optimal Harvesting Time

By assay of accelerated aging germination, germination index, vigor index, seedling length, seedling weight, electric conductivity, dehydrogenase activity, ATP content and acid phosphoesterase activity during seed development of turf-type tall fescue, the seed vigor of tall fescue were studied. Combining with seed moisture content and yield, the optimal harvesting time of tall fescue was determined. The results indicated that the seed vigor increased continuously along with seed maturity, and the higher seed vigor was achieved at 19th day after perk anthesis and maintained continuously until 31st day after peak anthesis. At 25th day after peak anthesis, the highest yield of 3 533 kg ha-1 and the good quality of seeds of tall fescue were harvested with 32.19% moisture content. From 22nd to 31st day after peak anthesis, the seed yield of 3 300 kg ha-1 and the good quality seeds of tall fescue were harvested with 40 - 12. 43% moisture content, and the span was the optimal harvesting time.

Convergence and Superconvergence of Fully Discrete Finite Element for Time Fractional Optimal Control Problems

In this paper, we consider a fully discrete finite element approximation for time fractional optimal control problems. The state and adjoint state are approximated by triangular linear fi nite elements in space and L1 scheme in time. The control is obtained by the variational discretization technique. The main purpose of this work is to derive the convergence and superconvergence. A numerical example is presented to validate our theoretical results.

Optimal time point for the transplantation of neural stem cells induced to differentiate with retinoic acid

Previous studies have demonstrated that differentiated neural stem cells （NSCs） are more suitable for transplantation than non-differentiated NSCs. In this study, NSCs were expanded in vitro for two passages, induced with retinoic acid to differentiate, and harvested between 1 6 days later. They were subsequently cultured in artificial cerebrospinal fluid for an additional 3 days, dudng which their growth and morphology was monitored. NSCs induced for 4 days exhibited a peak rate of cells differentiating into neurons and robust growth. Our results indicate that the optimal time point for transplanting NSCs is following a 4-day period of induced differentiation.

Optimization method of refracturing timing for old shale gas wells

Based on the elastic theory of porous media,embedded discrete fracture model and finite volume method,and considering the micro-seepage mechanism of shale gas,a fully coupled seepage-geomechanical model suitable for fractured shale gas reservoirs is established,the optimization method of refracturing timing is proposed,and the influencing factors of refracturing timing are analyzed based on the data from shale gas well in Fuling of Sichuan Basin.The results show that due to the depletion of formation pressure,the percentage of the maximum horizontal principal stress reversal area in the total area increases and then decreases with time.The closer the area is to the hydraulic fracture,the shorter the time for the peak of the stress reversal area percentage curve to appear,and the shorter the time for the final zero return(to the initial state).The optimum time of refracturing is affected by matrix permeability,initial stress difference and natural fracture approach angle.The larger the matrix permeability and initial stress difference is,the shorter the time for stress reversal area percentage curve to reach peak and return to the initial state,and the earlier the time to take refracturing measures.The larger the natural fracture approach angle is,the more difficult it is for stress reversal to occur near the fracture,and the earlier the optimum refracturing time is.The more likely the stress reversal occurs at the far end of the artificial fracture,the later the optimal time of refracturing is.Reservoirs with low matrix permeability have a rapid decrease in single well productivity.To ensure economic efficiency,measures such as shut-in or gas injection can be taken to restore the stress,and refracturing can be implemented in advance.

Urgent one-stage endoscopic treatment for choledocholithiasis related moderate to severe acute cholangitis: A propensity scorematched analysis

BACKGROUND During emergency endoscopic retrograde cholangiopancreatography(ERCP),the safety and feasibility of performing one-stage endoscopic treatment for patients with acute cholangitis(AC)due to choledocholithiasis are unclear.AIM To investigate the safety and feasibility of one-stage endoscopic treatment for moderate to severe AC.METHODS We enrolled all patients diagnosed with moderate to severe cholangitis due to common bile duct stones from January 2019 to July 2023.The outcomes were compared in this study between patients who underwent ERCP within 24 h and those who underwent ERCP 24 h later,employing a propensity score(PS)frame-work.Our primary outcomes were intensive care unit(ICU)admission rates,ICU length of stay,and duration of antibiotic use.RESULTS In total,we included 254 patients and categorized them into two groups based on the time elapsed between admission and intervention:The urgent group(≤24 h,n=102)and the elective group(>24 h,n=152).Ninety-three pairs of patients with similar characteristics were selected by PS matching.The urgent ERCP group had more ICU admissions(34.4%vs 21.5%,P=0.05),shorter ICU stays(3 d vs 9 d,P<0.001),fewer antibiotic use(6 d vs 9 d,P<0.001),and shorter hospital stays(9 d vs 18.5 d,P<0.001).There were no significant differences observed in adverse events,in-hospital mortality,recurrent cholangitis occurrence,30-d readmission rate or 30-d mortality.CONCLUSION Urgent one-stage ERCP provides the advantages of a shorter ICU stay,a shorter duration of antibiotic use,and a shorter hospital stay.

Winter Wheat Yield Estimation Based on Sparrow Search Algorithm Combined with Random Forest:A Case Study in Henan Province,China

Precise and timely prediction of crop yields is crucial for food security and the development of agricultural policies.However,crop yield is influenced by multiple factors within complex growth environments.Previous research has paid relatively little attention to the interference of environmental factors and drought on the growth of winter wheat.Therefore,there is an urgent need for more effective methods to explore the inherent relationship between these factors and crop yield,making precise yield prediction increasingly important.This study was based on four type of indicators including meteorological,crop growth status,environmental,and drought index,from October 2003 to June 2019 in Henan Province as the basic data for predicting winter wheat yield.Using the sparrow search al-gorithm combined with random forest(SSA-RF)under different input indicators,accuracy of winter wheat yield estimation was calcu-lated.The estimation accuracy of SSA-RF was compared with partial least squares regression(PLSR),extreme gradient boosting(XG-Boost),and random forest(RF)models.Finally,the determined optimal yield estimation method was used to predict winter wheat yield in three typical years.Following are the findings:1)the SSA-RF demonstrates superior performance in estimating winter wheat yield compared to other algorithms.The best yield estimation method is achieved by four types indicators’composition with SSA-RF)(R^(2)=0.805,RRMSE=9.9%.2)Crops growth status and environmental indicators play significant roles in wheat yield estimation,accounting for 46%and 22%of the yield importance among all indicators,respectively.3)Selecting indicators from October to April of the follow-ing year yielded the highest accuracy in winter wheat yield estimation,with an R^(2)of 0.826 and an RMSE of 9.0%.Yield estimates can be completed two months before the winter wheat harvest in June.4)The predicted performance will be slightly affected by severe drought.Compared with severe drought year(2011)(R^(2)=0.680)and normal year(2017)(R^(2)=0.790),the SSA-RF model has higher prediction accuracy for wet year(2018)(R^(2)=0.820).This study could provide an innovative approach for remote sensing estimation of winter wheat yield.yield.

TIME ASYMPTOTIC BEHAVIOR OF THE BIPOLAR NAVIER-STOKES-POISSON SYSTEM

The bipolar Navier-Stokes-Poisson system （BNSP） has been used to simulate the transport of charged particles （ions and electrons for instance） under the influence of electrostatic force governed by the self-consistent Poisson equation. The optimal L^2 time convergence rate for the global classical solution is obtained for a small initial perturbation of the constant equilibrium state. It is shown that due to the electric field, the difference of the charge densities tend to the equilibrium states at the optimal rate （1 ＋ t）^-3/4 in L^2-norm, while the individual momentum of the charged particles converges at the optimal rate （1 ＋ t）^-1/4 which is slower than the rate （1 ＋ t）^-3/4 for the compressible Navier-Stokes equations （NS）. In addition, a new phenomenon on the charge transport is observed regarding the interplay between the two carriers that almost counteracts the influence of the electric field so that the total density and momentum of the two carriers converges at a faster rate （1 ＋ t）^-3/4＋ε for any small constant ε 〉 0. The above estimates reveal the essential difference between the unipolar and the bipolar Navier-Stokes-Poisson systems.

Influence of water logging time on the growth of Kandelia candel seedlings

Influence of waterlogging time on the growth of Kandelia candel(L.) Druce seedlings grown for 70 d in the artificial- tidal tanks' simulated semidiurnal tide under greenhouse is studied. Sand and soil act as the substrate and artificial seawater with salinity of 15 is used in cultivation. Shorter waterlogging time(inundated for about 2 ~ 4 h) promotes the growth of K. candel seedlings, while longer time(inundated more than 8 h) or no waterlogging(0 h) inhibits their growth. The number and length of aerating roots increase with the increase of waterlogging time. Under existing conditions, the optimal waterlogging time for the growth of K. candel seedlings is about 2 ~ 4 h in every tide cycle. Compared with other treatments, the 2 h sanded treatments obtain the highest biomass of seedlings, have the lowest mass loss of hypocotyl and broaden the photosynthetic area by increasing the area per leaf after 70-d cultivation. And the soil treatments have the similar tendency. However, waterlogging for 8 h in every tide cycle is critical for normal development of seedlings.K. candel seedlings are highly tolerant to waterlogging and a proper waterlogging is beneficial to the growth of K. candel seedlings.

LARGE TIME BEHAVIORS OF THE ISENTROPIC BIPOLAR COMPRESSIBLE NAVIER-STOKES-POISSON SYSTEM

The isentropic bipolar compressible Navier-Stokes-Poisson （BNSP） system is investigated in R3 in the present paper. The optimal time decay rate of global strong solution is established. When the regular initial data belong to the Sobolev space H l（R3） ∩ B˙ s 1,1 （R3） with l ≥ 4 and s ∈ （0, 1], it is shown that the momenta of the charged particles decay at the optimal rate （1＋t） 1 4 s 2 in L2 -norm, which is slower than the rate （1＋t） 3 4 s 2 for the compressible Navier-Stokes （NS） equations [14]. In particular, a new phenomenon on the charge transport is observed. The time decay rate of total density and momentum was both （1 ＋ t） 3 4 due to the cancellation effect from the interplay interaction of the charged particles.

Time Optimization of Multiple Knowledge Transfers in the Big Data Environment

In the big data environment, enterprises must constantly assimilate big dataknowledge and private knowledge by multiple knowledge transfers to maintain theircompetitive advantage. The optimal time of knowledge transfer is one of the mostimportant aspects to improve knowledge transfer efficiency. Based on the analysis of thecomplex characteristics of knowledge transfer in the big data environment, multipleknowledge transfers can be divided into two categories. One is the simultaneous transferof various types of knowledge, and the other one is multiple knowledge transfers atdifferent time points. Taking into consideration the influential factors, such as theknowledge type, knowledge structure, knowledge absorptive capacity, knowledge updaterate, discount rate, market share, profit contributions of each type of knowledge, transfercosts, product life cycle and so on, time optimization models of multiple knowledgetransfers in the big data environment are presented by maximizing the total discountedexpected profits (DEPs) of an enterprise. Some simulation experiments have beenperformed to verify the validity of the models, and the models can help enterprisesdetermine the optimal time of multiple knowledge transfer in the big data environment.

Fault detection and optimization for networked control systems with uncertain time-varying delay

The observer-based robust fault detection filter design and optimization for networked control systems （NOSs） with uncer- tain time-varying delays are addressed. The NCSs with uncertain time-varying delays are modeled as parameter-uncertain systems by the matrix theory. Based on the model, an observer-based residual generator is constructed and the sufficient condition for the existence of the desired fault detection filter is derived in terms of the linear matrix inequality. Furthermore, a time domain opti- mization approach is proposed to improve the performance of the fault detection system. To prevent the false alarms, a new thresh- old function is established, and the solution of the optimization problem is given by using the singular value decomposition （SVD） of the matrix. A numerical example is provided to illustrate the effectiveness of the proposed approach.