A scheme of guidance and control is presented to meet the requirements for automatic landing of unmanned aerial vehicles (UAVs) based on the airborne digital flight control system and radio tracker on ground station. ...A scheme of guidance and control is presented to meet the requirements for automatic landing of unmanned aerial vehicles (UAVs) based on the airborne digital flight control system and radio tracker on ground station. An automatic landing system is realized for an unmanned aerial vehicle. The results of real time simulation and flight test are given to illustrate the effectiveness and availability of the scheme. Results meet all the requirements for automatic landing of the unmanned aerial vehicle.展开更多
The initial copper with large grain sizes of 60-100 μm was processed by six passes asymmetrical accumulative rolling-bond （AARB） and annealing, the ultra-fine-grained （UFG） copper with grain size of 200 nm was ob...The initial copper with large grain sizes of 60-100 μm was processed by six passes asymmetrical accumulative rolling-bond （AARB） and annealing, the ultra-fine-grained （UFG） copper with grain size of 200 nm was obtained, and the microstructures and properties were studied. The results show that there are large sub-structures and also texture component C for the UFG copper obtained by six passes AARB, possessing high strength and microhardness in company with poor elongation and conductivity. Thereafter, the UFG copper was annealed at 220 °C for 35 min, in which the sub-structures disappear, the grain boundaries are composed of big angle grain boundaries, and the textures are composed of a variety of texture components and parts of twins. Compared with the UFG copper obtained by six passes AARB, the tensile strength and yield strength for the UFG copper obtained by six passes AARB and annealing at 220 °C for 35 min are decreased slightly, the elongation and conductivity are improved obviously.展开更多
The feasibility of providing the tank a limited anti helicopter ability with gun launched missile is studied. A type of simulation model of gun launched missile against attack helicopters is established. The simula...The feasibility of providing the tank a limited anti helicopter ability with gun launched missile is studied. A type of simulation model of gun launched missile against attack helicopters is established. The simulation and the parameter optimization of missile control system under various circumstances are done. The gun launched missile can directly hit the helicopters in the typical tracks, all the missdistances are less than 1?m and the maximum overload is less than available overload. Gun launched missile is a feasible choice for tanks against attack helicopters.展开更多
This paper presents the automatic guidance system of an agricultural tractor and the side shift control of the attached row crop cultivator using electro-hydraulic actuators. In order to simulate the dynamic behaviour...This paper presents the automatic guidance system of an agricultural tractor and the side shift control of the attached row crop cultivator using electro-hydraulic actuators. In order to simulate the dynamic behaviour of the tractor along with the attached cultivator, the modified bicycle model was adopted. Steering angle sensor, fibre optic gyroscope （FOG） and RTK-DGPS technologies are assumed for measurements of the steering angle, yaw rate and the lateral position of the tractor, respectively. The kinematics model was used for the implement. In this study four cascade controllers were designed and simulated for tractor guidance which consists ofPD, PD, P and PID controllers. Other PI and PID controllers also had been designed for implement side shifting purpose. Then, these two systems were combined and the performance of the whole system was evaluated through the simulation results. According to the results tractor reaches the desired path after less than 10 seconds. Simulations showed that the maximum deviation of the tractor from the desired path was about 5 cm within this period. And the cultivator blades would follow the predetermined path with steady state error of about 5 cm too.展开更多
In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating c...In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.展开更多
Induction motor is a multi-parameter, non-linear and strong coupling system, which requires efficient control algorithms. In this paper, rotor flux oriented control （FOC） algorithm based on voltage source inverter-f...Induction motor is a multi-parameter, non-linear and strong coupling system, which requires efficient control algorithms. In this paper, rotor flux oriented control （FOC） algorithm based on voltage source inverter-fed is deduced in detail, including stator voltage compensation, closed-loop PI parameters＇ calculation of torque and rotor flux. FOC＇ s Simulink model is setup to simulate torque and rotor flux＇s response. At last, the experimental results are shown.展开更多
Focusing on the speed control problem, this paper presents a study on the stick slip phenomena of cable driven by pipe robot and the critical conditions of stick slip. By dynamics simulation and field experiments, the...Focusing on the speed control problem, this paper presents a study on the stick slip phenomena of cable driven by pipe robot and the critical conditions of stick slip. By dynamics simulation and field experiments, the theoretical analysis has been proved to be practical and valid. The result is of considerable theoretical value in the speed control for pipe robot on receiving and putting line.展开更多
MicroRNA （miRNA） alterations in response to changes in an extracellular microenvironment have been observed and consid- ered as one of the major mechanisms for epigenetic modifications of the cell. While enormous ef...MicroRNA （miRNA） alterations in response to changes in an extracellular microenvironment have been observed and consid- ered as one of the major mechanisms for epigenetic modifications of the cell. While enormous efforts have been made in the understanding of the role of miRNAs in regulating cellular responses to the microenvironment, the mechanistic insight into how extracellular signals can be transduced into miRNA alterations in cells is still lacking. Interestingly, recent studies have shown that ion channels/transporters, which are known to conduct or transport ions across the cell membrane, also exhibit changes in levels of expression and activities in response to changes of extraceUular microenvironment. More importantly, al- terations in expression and function of ion channels/transporters have been shown to result in changes in miRNAs that are known to change in response to alteration of the microenvironment. In this review, we aim to summarize the recent data demonstrating the ability of ion channels/transporters to transduce extracellular signals into miRNA changes and propose a potential link between cells and their microenvironment through ion channels/transporters. At the same time, we hope to pro- vide new insights into epigenetic regulatory mechanisms underlying a number of physiological and pathological processes, in- eluding embryo development and cancer metastasis.展开更多
We propose a formation control strategy for multiple unmanned aerial vehicles （multi-UAV） based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor int...We propose a formation control strategy for multiple unmanned aerial vehicles （multi-UAV） based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, tile cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.展开更多
This paper presents an experimental investigation on flow field induced by a dielectric barrier discharge(DBD) plasma actuator with serrated electrodes in still air to further improve its flow control effectiveness. F...This paper presents an experimental investigation on flow field induced by a dielectric barrier discharge(DBD) plasma actuator with serrated electrodes in still air to further improve its flow control effectiveness. For comparison, the actuator with widely used linear electrodes was also studied. Experiments were carried out using 2D particle image velocimetry. Particular attention was given to the flow topology, discharge phenomenon, and vortex formation mechanism. Results showed that a 2D wall jet was induced by the linear actuators, whereas the plasma actuators with serrated electrode introduced a series of streamwise vorticities, which might benefit flow control(e.g., enhancing the momentum transport in the separated boundary flow). In addition, the mechanism of 3D flow topology induced by the serrated DBD actuator was analyzed in detail.展开更多
文摘A scheme of guidance and control is presented to meet the requirements for automatic landing of unmanned aerial vehicles (UAVs) based on the airborne digital flight control system and radio tracker on ground station. An automatic landing system is realized for an unmanned aerial vehicle. The results of real time simulation and flight test are given to illustrate the effectiveness and availability of the scheme. Results meet all the requirements for automatic landing of the unmanned aerial vehicle.
基金Project (50804018) supported by the National Natural Science Foundation of ChinaProject (ZDS2010015C) supported by Key Lab of Advanced Materials in Rare and Precious and Non-ferrous Metals, Ministry of Education, KMUST, ChinaProject (2010DH025) supported by Yunnan Province Construction Plans of Scientific and Technological Conditions, China
文摘The initial copper with large grain sizes of 60-100 μm was processed by six passes asymmetrical accumulative rolling-bond （AARB） and annealing, the ultra-fine-grained （UFG） copper with grain size of 200 nm was obtained, and the microstructures and properties were studied. The results show that there are large sub-structures and also texture component C for the UFG copper obtained by six passes AARB, possessing high strength and microhardness in company with poor elongation and conductivity. Thereafter, the UFG copper was annealed at 220 °C for 35 min, in which the sub-structures disappear, the grain boundaries are composed of big angle grain boundaries, and the textures are composed of a variety of texture components and parts of twins. Compared with the UFG copper obtained by six passes AARB, the tensile strength and yield strength for the UFG copper obtained by six passes AARB and annealing at 220 °C for 35 min are decreased slightly, the elongation and conductivity are improved obviously.
文摘The feasibility of providing the tank a limited anti helicopter ability with gun launched missile is studied. A type of simulation model of gun launched missile against attack helicopters is established. The simulation and the parameter optimization of missile control system under various circumstances are done. The gun launched missile can directly hit the helicopters in the typical tracks, all the missdistances are less than 1?m and the maximum overload is less than available overload. Gun launched missile is a feasible choice for tanks against attack helicopters.
文摘This paper presents the automatic guidance system of an agricultural tractor and the side shift control of the attached row crop cultivator using electro-hydraulic actuators. In order to simulate the dynamic behaviour of the tractor along with the attached cultivator, the modified bicycle model was adopted. Steering angle sensor, fibre optic gyroscope （FOG） and RTK-DGPS technologies are assumed for measurements of the steering angle, yaw rate and the lateral position of the tractor, respectively. The kinematics model was used for the implement. In this study four cascade controllers were designed and simulated for tractor guidance which consists ofPD, PD, P and PID controllers. Other PI and PID controllers also had been designed for implement side shifting purpose. Then, these two systems were combined and the performance of the whole system was evaluated through the simulation results. According to the results tractor reaches the desired path after less than 10 seconds. Simulations showed that the maximum deviation of the tractor from the desired path was about 5 cm within this period. And the cultivator blades would follow the predetermined path with steady state error of about 5 cm too.
基金Supported by the Heilongjiang Postdoctoral Foundation under Grant No. LH-04010
文摘In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.
文摘Induction motor is a multi-parameter, non-linear and strong coupling system, which requires efficient control algorithms. In this paper, rotor flux oriented control （FOC） algorithm based on voltage source inverter-fed is deduced in detail, including stator voltage compensation, closed-loop PI parameters＇ calculation of torque and rotor flux. FOC＇ s Simulink model is setup to simulate torque and rotor flux＇s response. At last, the experimental results are shown.
文摘Focusing on the speed control problem, this paper presents a study on the stick slip phenomena of cable driven by pipe robot and the critical conditions of stick slip. By dynamics simulation and field experiments, the theoretical analysis has been proved to be practical and valid. The result is of considerable theoretical value in the speed control for pipe robot on receiving and putting line.
基金supported by the Focused Investment Scheme of the Chinese University of Hong KongNational Basic Research Program of China(Grant No. 2012CB944903)+1 种基金GRF-CUHK466111the Fundamental Research Funds for the Central Universities (Jinan University)
文摘MicroRNA （miRNA） alterations in response to changes in an extracellular microenvironment have been observed and consid- ered as one of the major mechanisms for epigenetic modifications of the cell. While enormous efforts have been made in the understanding of the role of miRNAs in regulating cellular responses to the microenvironment, the mechanistic insight into how extracellular signals can be transduced into miRNA alterations in cells is still lacking. Interestingly, recent studies have shown that ion channels/transporters, which are known to conduct or transport ions across the cell membrane, also exhibit changes in levels of expression and activities in response to changes of extraceUular microenvironment. More importantly, al- terations in expression and function of ion channels/transporters have been shown to result in changes in miRNAs that are known to change in response to alteration of the microenvironment. In this review, we aim to summarize the recent data demonstrating the ability of ion channels/transporters to transduce extracellular signals into miRNA changes and propose a potential link between cells and their microenvironment through ion channels/transporters. At the same time, we hope to pro- vide new insights into epigenetic regulatory mechanisms underlying a number of physiological and pathological processes, in- eluding embryo development and cancer metastasis.
基金supported by the National Natural Science Foundation of China(No.61473229)the Special Fund for Basic Scientific Research of Central Colleges,Chang’an University,China(Nos.310832163403 and 310832161012)+1 种基金the Key Science and Technology Program of Shaanxi Province,China(No.2017JQ6060)the Xi’an Science and Technology Plan,China(No.CXY1512-3)
文摘We propose a formation control strategy for multiple unmanned aerial vehicles （multi-UAV） based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, tile cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.
基金supported by the National Natural Science Foundation of China (51222606)
文摘This paper presents an experimental investigation on flow field induced by a dielectric barrier discharge(DBD) plasma actuator with serrated electrodes in still air to further improve its flow control effectiveness. For comparison, the actuator with widely used linear electrodes was also studied. Experiments were carried out using 2D particle image velocimetry. Particular attention was given to the flow topology, discharge phenomenon, and vortex formation mechanism. Results showed that a 2D wall jet was induced by the linear actuators, whereas the plasma actuators with serrated electrode introduced a series of streamwise vorticities, which might benefit flow control(e.g., enhancing the momentum transport in the separated boundary flow). In addition, the mechanism of 3D flow topology induced by the serrated DBD actuator was analyzed in detail.
