A stochastic optimal control strategy for partially observable nonlinear quasi Hamiltonian systems is proposed. The optimal control forces consist of two parts. The first part is determined by the conditions under whi...A stochastic optimal control strategy for partially observable nonlinear quasi Hamiltonian systems is proposed. The optimal control forces consist of two parts. The first part is determined by the conditions under which the stochastic optimal control problem of a partially observable nonlinear system is converted into that of a completely observable linear system. The second part is determined by solving the dynamical programming equation derived by applying the stochastic averaging method and stochastic dynamical programming principle to the completely observable linear control system. The response of the optimally controlled quasi Hamiltonian system is predicted by solving the averaged Fokker-Planck-Kolmogorov equation associated with the optimally controlled completely observable linear system and solving the Riccati equation for the estimated error of system states. An example is given to illustrate the procedure and effectiveness of the proposed control strategy.展开更多
Building energy consumption accounts for nearly 40% of global energy consumption, HVAC (Heating, Ventilating, and Air Conditioning) systems are the major building energy consumers, and as one type of HVAC systems, t...Building energy consumption accounts for nearly 40% of global energy consumption, HVAC (Heating, Ventilating, and Air Conditioning) systems are the major building energy consumers, and as one type of HVAC systems, the heat pump air conditioning system, which is more energy-efficient compared to the traditional air conditioning system, is being more widely used to save energy. However, in northern China, extreme climatic conditions increase the cooling and heating load of the heat pump air conditioning system and accelerate the aging of the equipment, and the sensor may detect drifted parameters owing to climate change. This non-linear drifted parameter increases the false alarm rate of the fault detection and the need for unnecessary troubleshooting. In order to overcome the impact of the device aging and the drifted parameter, a Kalman filter and SPC (statistical process control) fault detection method are introduced in this paper. In this method, the model parameter and its standard variance can he estimated by Kalman filter based on the gray model and the real-time data of the air conditioning system. Further, by using SPC to construct the dynamic control limits, false alarm rate is reduced. And this paper mainly focuses on the cold machine failure in the component failure and its soft fault detection. This approach has been tested on a simulation model of the "Sino-German Energy Conservation Demonstration Center" building heat pump air-conditioning system in Shenyang, China, and the results show that the Kalman filter and SPC fault detection method is simple and highly efficient with a low false alarm rate, and it can deal with the difficulties caused by the extreme environment and the non-linear influence of the parameters, and what's more, it provides a good foundation for dynamic fault diagnosis and fault prediction analysis.展开更多
The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is concerned.To take into account the minimal turning radius of UAVs,the Dubins ...The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is concerned.To take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of UAVs.Based on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole problem.Meanwhile,in view of the impact of wind on UAVs' paths,the notion of virtual target is proposed.The application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental equation.Then,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of waypoints.Finally,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational experiments.Numerical results exhibit that the proposed algorithm can produce high quality solutions to the problem.展开更多
[Objective] This research aimed at studying the mechanism of the occurrence of epithelial cell loss in bladders of prenatal and postnatal mice. [Method] Bladder epithelia of 1-2-day-old newborn Kunming mice and mice a...[Objective] This research aimed at studying the mechanism of the occurrence of epithelial cell loss in bladders of prenatal and postnatal mice. [Method] Bladder epithelia of 1-2-day-old newborn Kunming mice and mice at later period of embryonic development were acquired, and paraffin sections of such epithelia were then made for Mallory's coloration and ordinary optical microscopic observation. The acquired bladder epithelia were made into frozen sections, which were then colored by DAPI and labeled in situ by Terminal-deoxynucleoitidyl Transferase Mediated Nick End Labeling(TUNEL) for fluorescent microscopic observation. DNA electrophoresis and TUNEL in situ labeling were conducted on the acquired urine exfoliated cells. [Result] The results showed that the complete three layers of cells occurred in 20-day-old mouse embryos, whereas no superficial cells resided in the bladder epithelia of newborn mice and no cells exfoliating were observed. Cells exfoliating from the bladder epithelia of newborn mice were observed, and they exhibited the phenomenon of apoptosis. There were apoptosis existed in the urine cells of newborn mice. [Conclusion] Therefore, the results showed that a few days before and after their birth, mice witnessed the process of cell exfoliation in their bladder epithelia and the exfoliated cells showed typical characteristics of apoptosis.展开更多
Analyzed the monitor results under current systems concerning game and then pointed out that a way-out to improve chinese coal mine production safety control is to implement system innovation and punish the monitor's...Analyzed the monitor results under current systems concerning game and then pointed out that a way-out to improve chinese coal mine production safety control is to implement system innovation and punish the monitor's lazy behaviors strictly.展开更多
Since the implementation of the rules of the supplement and correction of the defective evidences, there are many problems in the practice. The actual investigations and researches also feedback that the judges also h...Since the implementation of the rules of the supplement and correction of the defective evidences, there are many problems in the practice. The actual investigations and researches also feedback that the judges also have a lot of problems in the face of the definition of the meaning of the defective evidences, the correction application, and the degree restrictions. Behind this reflects the contradiction between the stress of the prosecution organs in the criminal detection and the deepening of the resisting mechanism in the court. And the litigation structure of the "division of responsibilities among three authorities" and the trial mode of "the centralism of the book records of the cases" exacerbated this opposition. On the basis of clarifying the origin and the meanings of the defective evidences, the author of this paper analyzes the essence and its harm of the rule. Through the reflections of the problems existing in the practice, the author further defines the two types of the "defects" that shall not be allowed to correct.展开更多
Objective:The aim of the study was to investigate the efficacy of three-dimensional conformal radiotherapy (3D-CRT) combined with Temozolomide (TMZ) concurrent chemotherapy in treatment of postoperative cerebral gliom...Objective:The aim of the study was to investigate the efficacy of three-dimensional conformal radiotherapy (3D-CRT) combined with Temozolomide (TMZ) concurrent chemotherapy in treatment of postoperative cerebral gliomas by prospective randomized controlled trials. Methods: Sixty-two patients with cerebral glioma who had residual tumor were divided into 3D-CRT group (radiotherapy group, n=31) and 3D-CRT with concurrent chemotherapy group (chemoradiotherapy group, n=31) prospectively. All patients received a dose of 50-60 Gy/25-30 F/5-6 weeks by 6 MV-X ray, three-dimensional conformal radiotherapy, 1 f/d, 5 times a week. Chemotherapy regimen was Temozolomide:75 mg/m2/d, concomitantly with radiotherapy, followed by 150-200 mg/m2/d, 5 days, 28 days per cycle, totally 3-6 cycles. Results: The total response rate was 35.3% (11/31) in radiotherapy group. The response rate was 61.3% (19/31) in chemoradiotherapy group. There was significant difference in curative effect (P=0.042). There was no significant difference in survival comparison of two groups (P=0.263). Stratified analysis showed the patients with grade Ⅲ gliomas of chemoradiotherapy group had better prognosis than ones of radiotherapy group (P=0.043). Conclusion: The 3D-CRT with concurrent chemotherapy can improve the survival of cerebral gliomas with pathological grade Ⅲ.展开更多
This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information...This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.展开更多
This paper is concerned with the aerodynamic functions of fly wings. The free and tethered flight analyses were performed by using a digital high-speed video camera system. A liquid droplet impacting with a wing surfa...This paper is concerned with the aerodynamic functions of fly wings. The free and tethered flight analyses were performed by using a digital high-speed video camera system. A liquid droplet impacting with a wing surface of fly was conducted to examine the wing characteristics. Microscopic observation of fly's wings were also conducted by using a laser beam microscope. The results of a series of observation and measurement revealed the flight characteristics of flies, such as the wing tip velocity, wing path, wing flexibility, wing structure, resistance to rain drops, and so forth.展开更多
Objective: To study the effective computerized image processing of underexposed and overexposed X-rays of bones and joints. Methods: Ninety-nine conventional X-ray images (82 were overexposed and 17 were underexposed)...Objective: To study the effective computerized image processing of underexposed and overexposed X-rays of bones and joints. Methods: Ninety-nine conventional X-ray images (82 were overexposed and 17 were underexposed),scanned by an UMAX Astra 4000U Scanner, were converted into digital images on the basis of their analog images. A computerized imaging processing program consisting of five functional modules such as Contrast Stretch, Fast Flourier Transform (FFT), Image Smoothing Modules, Inverse Fast Flourier Transform (IFFT) and Nonlinear Transform performed image contrast stretch and smoothing. Three senior doctors from hospital image sections made their evaluation of all the processed images. Results: Of 82 overexposed films, 71 met the clinical requirements after image processing, and 11 were unable to be applied to clinical diagnosis, accounting for 87% and 13% respectively. Of the other 17 underexposed X-ray images, 11 met the clinical requirements while 6 were not, making a percentage of 64 and 35. Conclusion: Image contrast stretch and smoothing processing are significantly effective on conventional X-ray images which were inappropriately exposed, and can avoid more X-ray radiation caused by handling of radiological photograph again. This method can decrease hospital cost and provide acute and effective X-ray examinations for the treatment and cure for critical patients.展开更多
This paper proposes the expression of the jigging bed porosity based on the jumping height of the jigging bed and water wave. This kind of expression can help to realize the jigging process automation and intelligence...This paper proposes the expression of the jigging bed porosity based on the jumping height of the jigging bed and water wave. This kind of expression can help to realize the jigging process automation and intelligence. The computer detection system is also developed.展开更多
It has always been very important throughout the centuries for legislative institutions and police organizations to watch over different media and genres as instruments of conspiracy of criminals, members of organized...It has always been very important throughout the centuries for legislative institutions and police organizations to watch over different media and genres as instruments of conspiracy of criminals, members of organized crime, and terroristic groups in order to recognize conspiracy contents and to evaluate them systematically (intelligence work). With the help of special methods-design, it is possible to analyze the functions and strategies of this specific sometimes open or undercover used languages of Rotwelsch, Argot, Fenya, terrorist and Jihadi groups. A very significant example is the history of Jihadi Internet as a cyber-planning tool: single websites (until 2001), expansion and professionalization (2001-2007) and severe surveillance, distrust and new social media (after 2008 especially because of 9/11). Since it has become clear that the National Security Agency (NSA) conducts severe intelligence research in the field of E-mail-traffic and chats, the demand of crypto-programs has grown. It is better in this situation to return to face-to-face-communication. Legislative institutions and police have to study these functions and strategies in order to practice the best fitting counter-action against crime and terrorism.展开更多
基金Project supported by the National Natural Science Foundation ofChina (No. 10332030), the Special Fund for Doctor Programs inInstitutions of Higher Learning of China (No. 20020335092), andthe Zhejiang Provincial Natural Science Foundation (No. 101046),China
文摘A stochastic optimal control strategy for partially observable nonlinear quasi Hamiltonian systems is proposed. The optimal control forces consist of two parts. The first part is determined by the conditions under which the stochastic optimal control problem of a partially observable nonlinear system is converted into that of a completely observable linear system. The second part is determined by solving the dynamical programming equation derived by applying the stochastic averaging method and stochastic dynamical programming principle to the completely observable linear control system. The response of the optimally controlled quasi Hamiltonian system is predicted by solving the averaged Fokker-Planck-Kolmogorov equation associated with the optimally controlled completely observable linear system and solving the Riccati equation for the estimated error of system states. An example is given to illustrate the procedure and effectiveness of the proposed control strategy.
基金Supported by the National Natural Science Foundation Committee of China(61503259)China Postdoctoral Science Foundation Funded Project(2017M611261)+1 种基金Chinese Scholarship Council(201608210107)Hanyu Plan of Shenyang Jianzhu University(XKHY2-64)
文摘Building energy consumption accounts for nearly 40% of global energy consumption, HVAC (Heating, Ventilating, and Air Conditioning) systems are the major building energy consumers, and as one type of HVAC systems, the heat pump air conditioning system, which is more energy-efficient compared to the traditional air conditioning system, is being more widely used to save energy. However, in northern China, extreme climatic conditions increase the cooling and heating load of the heat pump air conditioning system and accelerate the aging of the equipment, and the sensor may detect drifted parameters owing to climate change. This non-linear drifted parameter increases the false alarm rate of the fault detection and the need for unnecessary troubleshooting. In order to overcome the impact of the device aging and the drifted parameter, a Kalman filter and SPC (statistical process control) fault detection method are introduced in this paper. In this method, the model parameter and its standard variance can he estimated by Kalman filter based on the gray model and the real-time data of the air conditioning system. Further, by using SPC to construct the dynamic control limits, false alarm rate is reduced. And this paper mainly focuses on the cold machine failure in the component failure and its soft fault detection. This approach has been tested on a simulation model of the "Sino-German Energy Conservation Demonstration Center" building heat pump air-conditioning system in Shenyang, China, and the results show that the Kalman filter and SPC fault detection method is simple and highly efficient with a low false alarm rate, and it can deal with the difficulties caused by the extreme environment and the non-linear influence of the parameters, and what's more, it provides a good foundation for dynamic fault diagnosis and fault prediction analysis.
基金Project(61120106010)supported by the Projects of Major International(Regional)Joint Research Program Nature Science Foundation of ChinaProject(61304215,61203078)supported by National Natural Science Foundation of China+1 种基金Project(2013000704)supported by the Beijing Outstanding Ph.D.Program Mentor,ChinaProject(61321002)supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China
文摘The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is concerned.To take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of UAVs.Based on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole problem.Meanwhile,in view of the impact of wind on UAVs' paths,the notion of virtual target is proposed.The application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental equation.Then,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of waypoints.Finally,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational experiments.Numerical results exhibit that the proposed algorithm can produce high quality solutions to the problem.
基金Supported by the Key Scientific and Technological Project of Henan Province(162102110092)
文摘[Objective] This research aimed at studying the mechanism of the occurrence of epithelial cell loss in bladders of prenatal and postnatal mice. [Method] Bladder epithelia of 1-2-day-old newborn Kunming mice and mice at later period of embryonic development were acquired, and paraffin sections of such epithelia were then made for Mallory's coloration and ordinary optical microscopic observation. The acquired bladder epithelia were made into frozen sections, which were then colored by DAPI and labeled in situ by Terminal-deoxynucleoitidyl Transferase Mediated Nick End Labeling(TUNEL) for fluorescent microscopic observation. DNA electrophoresis and TUNEL in situ labeling were conducted on the acquired urine exfoliated cells. [Result] The results showed that the complete three layers of cells occurred in 20-day-old mouse embryos, whereas no superficial cells resided in the bladder epithelia of newborn mice and no cells exfoliating were observed. Cells exfoliating from the bladder epithelia of newborn mice were observed, and they exhibited the phenomenon of apoptosis. There were apoptosis existed in the urine cells of newborn mice. [Conclusion] Therefore, the results showed that a few days before and after their birth, mice witnessed the process of cell exfoliation in their bladder epithelia and the exfoliated cells showed typical characteristics of apoptosis.
文摘Analyzed the monitor results under current systems concerning game and then pointed out that a way-out to improve chinese coal mine production safety control is to implement system innovation and punish the monitor's lazy behaviors strictly.
文摘Since the implementation of the rules of the supplement and correction of the defective evidences, there are many problems in the practice. The actual investigations and researches also feedback that the judges also have a lot of problems in the face of the definition of the meaning of the defective evidences, the correction application, and the degree restrictions. Behind this reflects the contradiction between the stress of the prosecution organs in the criminal detection and the deepening of the resisting mechanism in the court. And the litigation structure of the "division of responsibilities among three authorities" and the trial mode of "the centralism of the book records of the cases" exacerbated this opposition. On the basis of clarifying the origin and the meanings of the defective evidences, the author of this paper analyzes the essence and its harm of the rule. Through the reflections of the problems existing in the practice, the author further defines the two types of the "defects" that shall not be allowed to correct.
文摘Objective:The aim of the study was to investigate the efficacy of three-dimensional conformal radiotherapy (3D-CRT) combined with Temozolomide (TMZ) concurrent chemotherapy in treatment of postoperative cerebral gliomas by prospective randomized controlled trials. Methods: Sixty-two patients with cerebral glioma who had residual tumor were divided into 3D-CRT group (radiotherapy group, n=31) and 3D-CRT with concurrent chemotherapy group (chemoradiotherapy group, n=31) prospectively. All patients received a dose of 50-60 Gy/25-30 F/5-6 weeks by 6 MV-X ray, three-dimensional conformal radiotherapy, 1 f/d, 5 times a week. Chemotherapy regimen was Temozolomide:75 mg/m2/d, concomitantly with radiotherapy, followed by 150-200 mg/m2/d, 5 days, 28 days per cycle, totally 3-6 cycles. Results: The total response rate was 35.3% (11/31) in radiotherapy group. The response rate was 61.3% (19/31) in chemoradiotherapy group. There was significant difference in curative effect (P=0.042). There was no significant difference in survival comparison of two groups (P=0.263). Stratified analysis showed the patients with grade Ⅲ gliomas of chemoradiotherapy group had better prognosis than ones of radiotherapy group (P=0.043). Conclusion: The 3D-CRT with concurrent chemotherapy can improve the survival of cerebral gliomas with pathological grade Ⅲ.
文摘This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.
文摘This paper is concerned with the aerodynamic functions of fly wings. The free and tethered flight analyses were performed by using a digital high-speed video camera system. A liquid droplet impacting with a wing surface of fly was conducted to examine the wing characteristics. Microscopic observation of fly's wings were also conducted by using a laser beam microscope. The results of a series of observation and measurement revealed the flight characteristics of flies, such as the wing tip velocity, wing path, wing flexibility, wing structure, resistance to rain drops, and so forth.
文摘Objective: To study the effective computerized image processing of underexposed and overexposed X-rays of bones and joints. Methods: Ninety-nine conventional X-ray images (82 were overexposed and 17 were underexposed),scanned by an UMAX Astra 4000U Scanner, were converted into digital images on the basis of their analog images. A computerized imaging processing program consisting of five functional modules such as Contrast Stretch, Fast Flourier Transform (FFT), Image Smoothing Modules, Inverse Fast Flourier Transform (IFFT) and Nonlinear Transform performed image contrast stretch and smoothing. Three senior doctors from hospital image sections made their evaluation of all the processed images. Results: Of 82 overexposed films, 71 met the clinical requirements after image processing, and 11 were unable to be applied to clinical diagnosis, accounting for 87% and 13% respectively. Of the other 17 underexposed X-ray images, 11 met the clinical requirements while 6 were not, making a percentage of 64 and 35. Conclusion: Image contrast stretch and smoothing processing are significantly effective on conventional X-ray images which were inappropriately exposed, and can avoid more X-ray radiation caused by handling of radiological photograph again. This method can decrease hospital cost and provide acute and effective X-ray examinations for the treatment and cure for critical patients.
文摘This paper proposes the expression of the jigging bed porosity based on the jumping height of the jigging bed and water wave. This kind of expression can help to realize the jigging process automation and intelligence. The computer detection system is also developed.
文摘It has always been very important throughout the centuries for legislative institutions and police organizations to watch over different media and genres as instruments of conspiracy of criminals, members of organized crime, and terroristic groups in order to recognize conspiracy contents and to evaluate them systematically (intelligence work). With the help of special methods-design, it is possible to analyze the functions and strategies of this specific sometimes open or undercover used languages of Rotwelsch, Argot, Fenya, terrorist and Jihadi groups. A very significant example is the history of Jihadi Internet as a cyber-planning tool: single websites (until 2001), expansion and professionalization (2001-2007) and severe surveillance, distrust and new social media (after 2008 especially because of 9/11). Since it has become clear that the National Security Agency (NSA) conducts severe intelligence research in the field of E-mail-traffic and chats, the demand of crypto-programs has grown. It is better in this situation to return to face-to-face-communication. Legislative institutions and police have to study these functions and strategies in order to practice the best fitting counter-action against crime and terrorism.