Fuzzy Sliding Mode Active Disturbance Rejection Control of an Autonomous Underwater Vehicle-Manipulator System

In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.

Development of a Hand Exoskeleton System for Index Finger Rehabilitation

In order to overcome the drawbacks of traditional rehabilitation method,the robot-aided rehabilitation has been widely investigated for the recent years.And the hand rehabilitation robot,as one of the hot research fields,remains many challenging issues to be investigated.This paper presents a new hand exoskeleton system with some novel characteristics.Firstly,both active and passive rehabilitative motions are realized.Secondly,the device is elaborately designed and brings advantages in many aspects.For example,joint motion is accomplished by a parallelogram mechanism and high level motion control is therefore made very simple without the need of complicated kinematics.The adjustable joint limit design ensures that the actual joint angles don＇t exceed the joint range of motion（ROM） and thus the patient safety is guaranteed.This design can fit to the different patients with different joint ROM as well as to the dynamically changing ROM for individual patient.The device can also accommodate to some extent variety of hand sizes.Thirdly,the proposed control strategy simultaneously realizes the position control and force control with the motor driver which only works in force control mode.Meanwhile,the system resistance compensation is preliminary realized and the resisting force is effectively reduced.Some experiments were conducted to verify the proposed system.Experimentally collected data show that the achieved ROM is close to that of a healthy hand and the range of phalange length（ROPL） covers the size of a typical hand,satisfying the size need of regular hand rehabilitation.In order to evaluate the performance when it works as a haptic device in active mode,the equivalent moment of inertia（MOI） of the device was calculated.The results prove that the device has low inertia which is critical in order to obtain good backdrivability.The experiments also show that in the active mode the virtual interactive force is successfully feedback to the finger and the resistance is reduced by one-third;for the passive control mode,the desired trajectory is realized satisfactorily.

Structural Probing on the Sn-C(C5 ring)Bond of the Sn(Ⅱ)Metallocenes in Both the Solid State and the Temperature-dependent Solution Relaxation State

Various bond modes of the M-C（C5 ring） exist in metallocene compounds of group 14 heavier elements,mostly due to an intricate interaction between the lone electron pairs at the M center and the 6 p-electrons of the C5 ring.The tin（Ⅱ） metallocene complexes LSn R（L = HC[CMe（N-2,6-iPr2C6H3）]2,R = cyclopentadienyl,C5H5（1）; indenyl,C9H7（2）; fluorenyl,C（13）H9（3）） stabilized by the β-diketiminato ligand were prepared and utilized in the study on their solid and solution state structures.X-ray single-crystal diffraction data revealed an η~1-mode of the Sn-C（C5 ring） bond in each 1~3.However,the room temperature ~1H NMR spectral studies disclosed such a fluxional bonding mode in solution.The 119 Sn NMR studies suggested a quadruple coordination nature of the Sn center in 1 while the triple coordination manner was for the Sn atom in both 2 and 3.Then the variable-temperature（25~–75 ℃） ~1H NMR spectral studies for each 1~3 were performed,which detected the relaxation state structures of 1~3 at lower temperature.All of these results indicate a stereochemical activity of the lone electron pairs at the tin（Ⅱ） atom that definitely has an electronic interaction with the 6 p-electrons of the C5 ring.The observed Sn-C（C5 ring） bond modes appear influenced by either the metallocene size or the compound state existed.

Multi-label active learning by model guided distribution matching

Multi-label learning is an effective framework for learning with objects that have multiple semantic labels, and has been successfully applied into many real-world tasks, In contrast with traditional single-label learning, the cost of la- beling a multi-label example is rather high, thus it becomes an important task to train an effective multi-label learning model with as few labeled examples as possible. Active learning, which actively selects the most valuable data to query their labels, is the most important approach to reduce labeling cost. In this paper, we propose a novel approach MADM for batch mode multi-label active learning. On one hand, MADM exploits representativeness and diversity in both the feature and label space by matching the distribution between labeled and unlabeled data. On the other hand, it tends to query predicted positive instances, which are expected to be more informative than negative ones. Experiments on benchmark datasets demonstrate that the proposed approach can reduce the labeling cost significantly.

Decadal Variation of the Northern Hemisphere Annular Mode and Its Influence on the East Asian Trough

We analyze the decadal variation of the stratosphere troposphere coupled system around the year 2000 by using the NCEP reanalysis-2 data.Specifically,the relationship between the Northern Hemisphere Annular Mode（NAM） and the tropospheric East Asian trough is investigated in order to find the effective stratospheric signals during cold air outbreaks in China.Statistical analyses and dynamic diagnoses both indicate that after 2000,increased stratospheric polar vortex disturbances occur and the NAM is mainly in negative phase.The tropospheric polar areas are directly affected by the polar vortex,and in the midlatitudes,the Ural blocking high and East Asian trough are more active,which lead to enhanced cold air activities in eastern and northern China.Further investigation reveals that under this circulation pattern,downward propagations of negative NAM index are closely related to the intensity variation of the East Asian trough.When negative NAM anomalies propagate down to the upper troposphere and reach a certain intensity（standardized NAM index less than 1）,they result in apparent reinforcement of the East Asian trough,which reaches its maximum intensity about one week later.The northerly wind behind the trough transports cold air southward and eastward,and the range of influence and the intensity are closely associated with the trough location.Therefore,the NAM index can be used as a measure of the signals from the disturbed stratosphere to give some indication of cold air activities in China.

Researches on active structural acoustic control by radiation modes

Based on the radiation modes, an active control strategy is presented for sound radiation from elastic structures with an example of simply supported rectangular panel. The physical characteristics and mathematical meaning of the radiation modes are analyzed. The radiation efficiency of radiation mode falls off very rapidly with the increase of modes order at low frequency. A new control strategy is developed in which by canceling the adjoint coef- ficient of the first k radiation modes, the sound powers of the first k radiation modes is zero theoratically. The numerical calculation is made by using point force actuators as control forces.

Co-regulated Protein Functional Modules with Varying Activities in Dynamic PPI Networks

Current methods for the detection of differential gene expression focus on finding individual genes that may be responsible for certain diseases or external irritants. However, for common genetic diseases, multiple genes and their interactions should be understood and treated together during the exploration of disease causes and possible drug design. The present study focuses on analyzing the dynamic patterns of co-regulated modules during biological progression and determining those having remarkably varying activities, using the yeast cell cycle as a case study. We first constructed dynamic active protein-protein interaction networks by modeling the activity of proteins and assembling the dynamic co-regulation protein network at each time point. The dynamic active modules were detected using a method based on the Bayesian graphical model and then the modules with the most varied dispersion of clustering coefficients, which could be responsible for the dynamic mechanism of the cell cycle, were identified. Comparison of results from our functional module detection with the state-of-art functional module detection methods and validation of the ranking of activities of functional modules using GO annotations demonstrate the efficacy of our method for narrowing the scope of possible essential responding modules that could provide multiple targets for biologists to further experimentally validate.

A hierarchical path-segmentation movement ecology framework

This paper lays out a hierarchical,appropriate-complexity framework for conceptualizing movement-path segments at different spatiotemporal scales in a way that facilitates comparative analyses and bridges behavior and mathematical concepts.It then outlines a process for generating a multimode,multiscale stochastic simulation model that can be used to test animal movement hypotheses and make predictions of movement responses to management and global change.Many methods for analyzing movement data begin by generating step-length(SL)and turning-angle(TA)distributions from relocation time-series data,some of which are linked to ecological,landscape,and environmental covariates.The frequency at which these data are collected may vary from sub-seconds to several hours.The kinds of questions that may be asked of these data,however,are very much scale dependent.The hierarchical path-segmentation(HPS)framework presented here clarifies how the scale at which SL and TA data are collected relates to other sub-and super-diel scales.Difficulties arise because the information contained in SL and TA time series are often not directly relatable to the physiological,ecological,and sociological factors that drive the structure of movement paths at longer scales.These difficulties are overcome by anchoring the classification of movement types around the concept of fixed-period(24 h)diel activity routines and providing a bridge between behavioral/ecological and stochastic-walk concepts(means,variances,correlations,individual-state and local environmental covariates).This bridge is achieved through the generation of relatively short segments conceived as characteristic sequences of fundamental movement elements.These short segments are then used to characterize longer canonical-activity-mode segments that emerge through movement at behaviorally relevant sub-diel scales.HPS thus provides a novel system for integrating sub-minute movement sequences into canonical activity modes(CAMs)that,in turn,can be strung together into various types of diel activity routines(DARs).These DARs both vary among individuals within a given day,and for any given individual across time and under the influence of landscape factors.An understanding of how DARs are influenced by environmental inputs will help us predict the response of supra-diel lifetime movement phases(LiMPs)of individuals,as well as their complete lifetime tracks(LiTs),to anthropogenically induced global change.