Multi-circular formation control with reinforced transient profiles for nonholonomic vehicles:A path-following framework

This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.

A Novel Prescribed-Performance Path-Following Problem for Non-Holonomic Vehicles

The issue of achieving prescribed-performance path following in robotics is addressed in this paper,where the aim is to ensure that a desired path within a specified region is accu-rately converged to by the controlled vehicle.In this context,a novel form of the prescribed performance guiding vector field is introduced,accompanied by a prescribed-time sliding mode con-trol approach.Furthermore,the interdependence among the pre-scribed parameters is discussed.To validate the effectiveness of the proposed method,numerical simulations are presented to demonstrate the efficacy of the approach.

缺乏位置信息的视觉移动机器人leader-following编队控制

针对视觉移动机器人编队在缺乏位置信息情况下的控制问题,提出一种基于视觉的leader-following编队反馈控制方法。该方法利用leader标志物特征点在follower摄像机像平面上的坐标信息设计了观测器,对leader与follower间的相对位置进行估计,基于相对位置估计量与它们速度的关系,设计出leader-following编队反馈控制器,通过Lyapunov理论证明了闭环系统的稳定性。仿真结果表明,该控制方法能有效解决缺乏位置信息情况下视觉移动机器人编队的控制问题。

Leader-following多自主体系统时变编队跟踪控制

考虑时变时延,研究了高阶leader-following多自主体系统的分布式时变编队跟踪控制问题.针对连续高阶多自主体系统,设计了基于观测器的时变编队跟踪控制协议,通过状态变换,将系统的时变编队跟踪控制问题,转变为误差系统的稳定性问题.然后利用图论及李雅普诺夫稳定定理,研究了系统实现时变编队跟踪控制的充分条件,并且指出时变编队参考函数与时变时延无关.最后,数据仿真结果证明了所设计的协议能使follower自主体实现时变编队,并且跟踪leader自主体的轨迹.

Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.

Constrained Moving Path Following Control for UAV With Robust Control Barrier Function

This paper studies the moving path following(MPF)problem for fixed-wing unmanned aerial vehicle(UAV)under output constraints and wind disturbances.The vehicle is required to converge to a reference path moving with respect to the inertial frame,while the path following error is not expected to violate the predefined boundaries.Differently from existing moving path following guidance laws,the proposed method removes complex geometric transformation by formulating the moving path following problem into a second-order time-varying control problem.A nominal moving path following guidance law is designed with disturbances and their derivatives estimated by high-order disturbance observers.To guarantee that the path following error will not exceed the prescribed bounds,a robust control barrier function is developed and incorporated into controller design with quadratic program based framework.The proposed method does not require the initial position of the UAV to be within predefined boundaries.And the safety margin concept makes error-constraint be respected even if in a noisy environment.The proposed guidance law is validated through numerical simulations of shipboard landing and hardware-in-theloop(HIL)experiments.

LSTM-DPPO based deep reinforcement learning controller for path following optimization of unmanned surface vehicle

To solve the path following control problem for unmanned surface vehicles(USVs),a control method based on deep reinforcement learning(DRL)with long short-term memory(LSTM)networks is proposed.A distributed proximal policy opti-mization(DPPO)algorithm,which is a modified actor-critic-based type of reinforcement learning algorithm,is adapted to improve the controller performance in repeated trials.The LSTM network structure is introduced to solve the strong temporal cor-relation USV control problem.In addition,a specially designed path dataset,including straight and curved paths,is established to simulate various sailing scenarios so that the reinforcement learning controller can obtain as much handling experience as possible.Extensive numerical simulation results demonstrate that the proposed method has better control performance under missions involving complex maneuvers than trained with limited scenarios and can potentially be applied in practice.

Mechanical responses of anchoring structure under triaxial cyclic loading

Dynamic load on anchoring structures(AS)within deep roadways can result in cumulative damage and failure.This study develops an experimental device designed to test AS under triaxial loads.The device enables the investigation of the mechanical response,failure mode,instability assessment criteria,and anchorage effect of AS subjected to combined cyclic dynamic-static triaxial stress paths.The results show that the peak bearing strength is positively correlated with the anchoring matrix strength,anchorage length,and edgewise compressive strength.The bearing capacity decreases significantly when the anchorage direction is severely inclined.The free face failure modes are typically transverse cracking,concave fracturing,V-shaped slipping and detachment,and spallation detachment.Besides,when the anchoring matrix strength and the anchorage length decrease while the edgewise compressive strength,loading rate,and anchorage inclination angle increase,the failure intensity rises.Instability is determined by a negative tangent modulus of the displacement-strength curve or the continued deformation increase against the general downward trend.Under cyclic loads,the driving force that breaks the rock mass along the normal vector and the rigidity of the AS are the two factors that determine roadway stability.Finally,a control measure for surrounding rock stability is proposed to reduce the internal driving force via a pressure relief method and improve the rigidity of the AS by full-length anchorage and grouting modification.

Knowledge,perceptions,and practice towards adverse events following immunization surveillance among vaccination workers in Zhejiang province,China

Objective:To access the level of knowledge,perceptions,and practice towards adverse events following immunization(AEFI)surveillance among vaccination workers in Zhejiang province,China.Methods:This was a cross-sectional survey involving 768 vaccination workers.Data were collected using self-administered questionnaires and analyzed by using SAS 9.3 software.Knowledge,perceptions,and practice on AEFI surveillance were summarized using frequency tables.The mean±SD value was used as the cut-off for defining good(values≥mean)and poor(values<mean)knowledge,perceptions or practice.Binary logistic regression analysis was used to determine sociodemographic variables associated with knowledge,perceptions,and practice towards AEFI.Results:The proportions of good knowledge,perceptions and practice on AEFI surveillance were 78.13%,57.81%and 66.15%,respectively.Having a higher education background,longer years of experience,previous training on AEFI and≥30 years of age were factors associated with good knowledge,perceptions and practice on AEFI surveillance among vaccination workers.Conclusions:Over half of the respondents had good knowledge,perceptions and practice on AEFI surveillance work.Interventions on improving the vaccination workers’knowledge,perceptions and practice on AEFI surveillance should be considered in order to develop a more effective surveillance system.

A drug-loaded flexible substrate improves the performance of conformal cortical electrodes

Cortical electrodes are a powerful tool for the stimulation and/or recording of electrical activity in the nervous system.However,the inevitable wound caused by surgical implantation of electrodes presents bacterial infection and inflammatory reaction risks associated with foreign body exposure.Moreover,inflammation of the wound area can dramatically worsen in response to bacterial infection.These consequences can not only lead to the failure of cortical electrode implantation but also threaten the lives of patients.Herein,we prepared a hydrogel made of bacterial cellulose(BC),a flexible substrate for cortical electrodes,and further loaded antibiotic tetracycline(TC)and the anti-inflammatory drug dexamethasone(DEX)onto it.The encapsulated drugs can be released from the BC hydrogel and effectively inhibit the growth of Gram-negative and Gram-positive bacteria.Next,therapeutic cortical electrodes were developed by integrating the drug-loaded BC hydrogel and nine-channel serpentine arrays;these were used to record electrocorticography(ECoG)signals in a rat model.Due to the controlled release of TC and DEX from the BC hydrogel substrate,therapeutic cortical electrodes can alleviate or prevent symptoms associated with the bacterial infection and inflammation of brain tissue.This approach facilitates the development of drug delivery electrodes for resolving complications caused by implantable electrodes.

Reinforcing effects of polypropylene on energy absorption and fracturing of cement-based tailings backfill under impact loading

Polypropylene(PP)fiber-reinforced cement-based tailings backfill(FRCTB)is a green compound material with superior crack resistance and has good prospects for application in underground mining.However,FRCTB exhibits susceptibility to dynamic events,such as impact ground pressure and blast vibrations.This paper investigates the energy and crack distribution behavior of FRCTB under dynamic impact,considering the height/diameter(H/D)effect.Split Hopkinson pressure bar,industrial computed tomography scan,and scanning electron microscopy(SEM)experiments were carried out on six types of FRCTB.Laboratory outcomes confirmed fiber aggregation at the bottom of specimens.When H/D was less than 0.8,the proportion of PP fibers distributed along theθangle direction of80°-90°increased.For the total energy,all samples presented similar energy absorption,reflectance,and transmittance.However,a rise in H/D may cause a rise in the energy absorption rate of FRCTB during the peak phase.A positive correlation existed between the average strain rate and absorbed energy per unit volume.The increase in H/D resulted in a decreased crack volume fraction of FRCTB.When the H/D was greater than or equal to 0.7,the maximum crack volume fraction of FRCTB was observed close to the incidence plane.Radial cracks were present only in the FRCTB with an H/D ratio of 0.5.Samples with H/D ratios of 0.5 and 0.6 showed similar distributions of weakly and heavily damaged areas.PP fibers can limit the emergence and expansion of cracks by influencing their path.SEM observations revealed considerable differences in the bonding strengths between fibers and the FRCTB.Fibers that adhered particularly well to the substrate were attracted together with the hydration products adhering to surfaces.These results show that FRCTB is promising as a sustainable and green backfill for determining the design properties of mining with backfill.

Evolution of HBV Viral Load during Clinical and Biological Follow-Up of Chronic Hepatitis B Patients at the Saint Camille Hospital in Ouagadougou

Hepatitis B virus (HBV) infection is a major public health problem worldwide. The aim of this study was to document the dynamics of HBV viral load during the follow-up of chronic hepatitis B patients at the Saint Camille Hospital in Ouagadougou (HOSCO) from 2017 to 2021. This descriptive retrospective study was carried out in the Hepato-Gastro-Enterology Department of HOSCO and focused on patients who were undergoing treatment for chronic viral hepatitis B. A total of 260 cases of chronic hepatitis B were included in the study. The most affected age group was 21 to 30 years, accounting for 48.08% of the cases. Lifestyle factors included alcohol consumption (3.08%) and tobacco use (2.69%). Major risk factors for transmission included lack of vaccination (98.46%), family history of HBV infection (68.00%) and engagement in high-risk activities (28.00%). Patients requiring treatment were prescribed Tenofovir 300 mg tablets. FibroScan® showed the presence of stage F3-F4 fibrosis (2.14%) and S3 steatosis (13.33%). After one year of follow-up, 6.92% of patients achieved an undetectable viral load with normalized transaminase levels. The majority of other patients had a detectable viral load but below 20,000 IU/mL. The prevalence of viral hepatitis B remains significant worldwide. Although effective and well-monitored treatment can lead to undetectable viremia, prevention remains the most effective strategy for successful management of this disease.

Conservation genomic investigation of an endangered conifer,Thuja sutchuenensis,reveals low genetic diversity but also low genetic load

Endangered species generally have small populations with low genetic diversity and a high genetic load.Thuja sutchuenensis is an endangered conifer endemic to southwestern China.It was once considered extinct in the wild,but in 1999 was rediscovered.However,little is known about its genetic load.We collected 67 individuals from five wild,isolated T.sutchuenensis populations,and used 636,151 SNPs to analyze the level of genetic diversity and genetic load in T.sutchuenensis to delineate the conservation units of T.sutchuenensis,based on whole transcriptome sequencing data,as well as target capture sequencing data.We found that populations of T.sutchuenensis could be divided into three groups.These groups had low levels genetic diversity and were moderately genetically differentiated.Our findings also indicate that T.sutchuenensis suffered two severe bottlenecks around the Last Glaciation Period and Last Glacial Maximum.Among Thuja species,T.sutchuenensis presented the lowest genetic load and hence might have purged deleterious mutations efficiently through purifying selection.However,distribution of fitness effects analysis indicated a high extinction risk for T.sutchuenensis.Multiple lines of evidence identified three management units for T.sutchuenensis.Although T.sutchuenensis possesses a low genetic load,low genetic diversity,suboptimal fitness,and anthropogenic pressures all present an extinction risk for this rare conifer.This might also hold true for many endangered plant species in the mountains all over the world.

Damage evolution of rock-encased-backfill structure under stepwise cyclic triaxial loading

Rock-encased-backfill(RB)structures are common in underground mining,for example in the cut-andfill and stoping methods.To understand the effects of cyclic excavation and blasting activities on the damage of these RB structures,a series of triaxial stepwise-increasing-amplitude cyclic loading experiments was conducted with cylindrical RB specimens(rock on outside,backfill on inside)with different volume fractions of rock(VF=0.48,0.61,0.73,and 0.84),confining pressures(0,6,9,and 12 MPa),and cyclic loading rates(200,300,400,and 500 N/s).The damage evolution and meso-crack formation during the cyclic tests were analyzed with results from stress-strain hysteresis loops,acoustic emission events,and post-failure X-ray 3D fracture morphology.The results showed significant differences between cyclic and monotonic loadings of RB specimens,particularly with regard to the generation of shear microcracks,the development of stress memory and strain hardening,and the contact forces and associated friction that develops along the rock-backfill interface.One important finding is that as a function of the number of cycles,the elastic strain increases linearly and the dissipated energy increases exponentially.Also,compared with monotonic loading,the cyclic strain hardening characteristics are more sensitive to rising confining pressures during the initial compaction stage.Another finding is that compared with monotonic loading,more shear microcracks are generated during every reloading stage,but these microcracks tend to be dispersed and lessen the likelihood of large shear fracture formation.The transition from elastic to plastic behavior varies depending on the parameters of each test(confinement,volume fraction,and cyclic rate),and an interesting finding was that the transformation to plastic behavior is significantly lower under the conditions of 0.73 rock volume fraction,400 N/s cyclic loading rate,and 9 MPa confinement.All the findings have important practical implications on the ability of backfill to support underground excavations.

Liquefaction susceptibility and deformation characteristics of saturated coral sandy soils subjected to cyclic loadings-a critical review

Coral sandy soils widely exist in coral island reefs and seashores in tropical and subtropical regions.Due to the unique marine depositional environment of coral sandy soils,the engineering characteristics and responses of these soils subjected to monotonic and cyclic loadings have been a subject of intense interest among the geotechnical and earthquake engineering communities.This paper critically reviews the progress of experimental investigations on the undrained behavior of coral sandy soils under monotonic and cyclic loadings over the last three decades.The focus of coverage includes the contractive-dilative behavior,the pattern of excess pore-water pressure(EPWP)generation and the liquefaction mechanism and liquefaction resistance,the small-strain shear modulus and strain-dependent shear modulus and damping,the cyclic softening feature,and the anisotropic characteristics of undrained responses of saturated coral sandy soils.In particular,the advances made in the past decades are reviewed from the following aspects:(1)the characterization of factors that impact the mechanism and patterns of EPWP build-up;(2)the identification of liquefaction triggering in terms of the apparent viscosity and the average flow coefficient;(3)the establishment of the invariable form of strain-based,stress-based,or energy-based EPWP ratio formulas and the unique relationship between the new proxy of liquefaction resistance and the number of cycles required to reach liquefaction;(4)the establishment of the invariable form of the predictive formulas of small strain modulus and strain-dependent shear modulus;and(5)the investigation on the effects of stress-induced anisotropy on liquefaction susceptibility and dynamic deformation characteristics.Insights gained through the critical review of these advances in the past decades offer a perspective for future research to further resolve the fundamental issues concerning the liquefaction mechanism and responses of coral sandy sites subjected to cyclic loadings associated with seismic events in marine environments.

Lateral earth pressure of granular backfills on retaining walls with expanded polystyrene geofoam inclusions under limited surcharge loading

Existing studies have focused on the behavior of the retaining wall equipped with expanded polystyrene(EPS)geofoam inclusions under semi-infinite surcharge loading rather than limited surcharge loading.In this paper,the failure mode and the earth pressure acting on the rigid retaining wall with EPS geofoam inclusions and granular backfills(henceforth referred to as EPS-wall),under limited surcharge loading are investigated through two-and three-dimensional model tests.The testing results show that different from the sliding of almost all the backfill in the EPS-wall under semi-infinite surcharge loading,only an approximately triangular backfill slides in the wall under limited surcharge loading.The distribution of the lateral earth pressure on the EPS-wall under limited surcharge loading is non-linear,and the distribution changes from the increase of the wall depth to the decrease with the increase of the limited surcharge loading.An approach based on the force equilibrium of a differential element is developed to predict the lateral earth pressure behind the EPS-wall subjected to limited surcharge loading,and its performance was fully validated by the three-dimensional model tests.

In situ formation of multiple catalysts for enhancing the hydrogen storage of MgH_(2) by adding porous Ni_(3)ZnC_(0.7)/Ni loaded carbon nanotubes microspheres

MgH_(2) is considered one of the most promising hydrogen storage materials because of its safety,high efficiency,high hydrogen storage quantity and low cost characteristics.But some shortcomings are still existed:high operating temperature and poor hydrogen absorption dynamics,which limit its application.Porous Ni_(3)ZnC_(0.7)/Ni loaded carbon nanotubes microspheres(NZC/Ni@CNT)is prepared by facile filtration and calcination method.Then the different amount of NZC/Ni@CNT(2.5,5.0 and 7.5 wt%)is added to the MgH_(2) by ball milling.Among the three samples with different amount of NZC/Ni@CNT(2.5,5.0 and 7.5 wt%),the MgH_(2)-5 wt%NZC/Ni@CNT composite exhibits the best hydrogen storage performances.After testing,the MgH_(2)-5 wt%NZC/Ni@CNT begins to release hydrogen at around 110℃ and hydrogen absorption capacity reaches 2.34 wt%H_(2) at 80℃ within 60 min.Moreover,the composite can release about 5.36 wt%H_(2) at 300℃.In addition,hydrogen absorption and desorption activation energies of the MgH_(2)-5 wt%NZC/Ni@CNT composite are reduced to 37.28 and 84.22 KJ/mol H_(2),respectively.The in situ generated Mg_(2)NiH_(4)/Mg_(2)Ni can serve as a"hydrogen pump"that plays the main role in providing more activation sites and hydrogen diffusion channels which promotes H_(2) dissociation during hydrogen absorption process.In addition,the evenly dispersed Zn and MgZn2 in Mg and MgH_(2) could provide sites for Mg/MgH_(2) nucleation and hydrogen diffusion channel.This attempt clearly proved that the bimetallic carbide Ni_(3)ZnC_(0.7) is a effective additive for the hydrogen storage performances modification of MgH_(2),and the facile synthesis of the Ni_(3)ZnC_(0.7)/Ni@CNT can provide directions of better designing high performance carbide catalysts for improving MgH_(2).

Optimal dispatching strategy for residential demand response considering load participation

To facilitate the coordinated and large-scale participation of residential flexible loads in demand response(DR),a load aggregator(LA)can integrate these loads for scheduling.In this study,a residential DR optimization scheduling strategy was formulated considering the participation of flexible loads in DR.First,based on the operational characteristics of flexible loads such as electric vehicles,air conditioners,and dishwashers,their DR participation,the base to calculate the compensation price to users,was determined by considering these loads as virtual energy storage.It was quantified based on the state of virtual energy storage during each time slot.Second,flexible loads were clustered using the K-means algorithm,considering the typical operational and behavioral characteristics as the cluster centroid.Finally,the LA scheduling strategy was implemented by introducing a DR mechanism based on the directrix load.The simulation results demonstrate that the proposed DR approach can effectively reduce peak loads and fill valleys,thereby improving the load management performance.

Transformer-based correction scheme for short-term bus load prediction in holidays

To tackle the problem of inaccurate short-term bus load prediction,especially during holidays,a Transformer-based scheme with tailored architectural enhancements is proposed.First,the input data are clustered to reduce complexity and capture inherent characteristics more effectively.Gated residual connections are then employed to selectively propagate salient features across layers,while an attention mechanism focuses on identifying prominent patterns in multivariate time-series data.Ultimately,a pre-trained structure is incorporated to reduce computational complexity.Experimental results based on extensive data show that the proposed scheme achieves improved prediction accuracy over comparative algorithms by at least 32.00%consistently across all buses evaluated,and the fitting effect of holiday load curves is outstanding.Meanwhile,the pre-trained structure drastically reduces the training time of the proposed algorithm by more than 65.75%.The proposed scheme can efficiently predict bus load results while enhancing robustness for holiday predictions,making it better adapted to real-world prediction scenarios.