In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to im...In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.展开更多
Background: To evaluate the care given using Roy’s Adaptation Model. Materials and Methods: A pretest-posttest experimental model with a control group. Study population comprised postpartum women (N = 134;65 in the e...Background: To evaluate the care given using Roy’s Adaptation Model. Materials and Methods: A pretest-posttest experimental model with a control group. Study population comprised postpartum women (N = 134;65 in the experimental group, 69 in the control group) who had caesarean full-term delivery in a Turkish maternity hospital between September 2009 and February 2011. Data were collected from the experimental group during seven home visits and from the control group at the end of the 6th week postpartum. Results: Percentage, chi-square, arithmetic mean, standard deviation, and the McNamer test were used to evaluate data establishing 36 nursing diagnoses: Physiological requirements (22), Self requirements (7), Role Function requirements (4), and Interdependence Mode requirements (3). It was determined that the care given during the postpartum period using Roy’s Adaptation Model resolved or prevented the majority of postpartum problems. The difference between most diagnoses was found to be statistically significant (p p < 0.001) during the last week of data collection. Conclusion: The care given in the postpartum period using Roy’s Adaptation Model resolved or prevented postpartum problems.展开更多
电子海图显示与信息系统(Electronic Chart Display and Information System,简称ECDIS)是以数字形式储存的海图并与多种传感设备、图形显示终端等高度融合的船舶航行综合信息处理系统,而S-57是电子海图国际通用的数据格式。在Linux/Fed...电子海图显示与信息系统(Electronic Chart Display and Information System,简称ECDIS)是以数字形式储存的海图并与多种传感设备、图形显示终端等高度融合的船舶航行综合信息处理系统,而S-57是电子海图国际通用的数据格式。在Linux/Fedora系统下,针对于S-57格式,研究其数据结构模型,从最基本的点、线、面出发,读取海图数据并根据时间和天气数据实现S-57海图数据自动多模式显示,并提出了一种根据物标重要性进行分层显示的方法。展开更多
We report an experiment of adaptive compensation for first-order polarization mode dispersion (PMD) in 10-Gb/s return zero (RZ) optical communication system. The compensated differential group delay (DGD) is up to 30 ...We report an experiment of adaptive compensation for first-order polarization mode dispersion (PMD) in 10-Gb/s return zero (RZ) optical communication system. The compensated differential group delay (DGD) is up to 30 ps. The quasi-real-time, less than one second, PMD compensation is realized. In the experiment, for the first time, the algorithm so-called particle swarm optimization (PSO) is used to control feedback compensation system.展开更多
基金supported in part by the National High Technology Research and Development Program of China(863 Program)(2015AA042307)Shandong Provincial Scientific and Technological Development Foundation(2014GGX103038)+3 种基金Shandong Provincial Independent Innovation and Achievement Transformation Special Foundation(2015ZDXX0101E01)National Natural Science Fundation of China(NSFC)Joint Fund of Shandong Province(U1706228)the Fundamental Research Funds of Shandong University(2015JC027)
文摘In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.
文摘Background: To evaluate the care given using Roy’s Adaptation Model. Materials and Methods: A pretest-posttest experimental model with a control group. Study population comprised postpartum women (N = 134;65 in the experimental group, 69 in the control group) who had caesarean full-term delivery in a Turkish maternity hospital between September 2009 and February 2011. Data were collected from the experimental group during seven home visits and from the control group at the end of the 6th week postpartum. Results: Percentage, chi-square, arithmetic mean, standard deviation, and the McNamer test were used to evaluate data establishing 36 nursing diagnoses: Physiological requirements (22), Self requirements (7), Role Function requirements (4), and Interdependence Mode requirements (3). It was determined that the care given during the postpartum period using Roy’s Adaptation Model resolved or prevented the majority of postpartum problems. The difference between most diagnoses was found to be statistically significant (p p < 0.001) during the last week of data collection. Conclusion: The care given in the postpartum period using Roy’s Adaptation Model resolved or prevented postpartum problems.
文摘电子海图显示与信息系统(Electronic Chart Display and Information System,简称ECDIS)是以数字形式储存的海图并与多种传感设备、图形显示终端等高度融合的船舶航行综合信息处理系统,而S-57是电子海图国际通用的数据格式。在Linux/Fedora系统下,针对于S-57格式,研究其数据结构模型,从最基本的点、线、面出发,读取海图数据并根据时间和天气数据实现S-57海图数据自动多模式显示,并提出了一种根据物标重要性进行分层显示的方法。
基金This work was supported by the National "863"High Technology Prohect of China(No.2001aa122041),and the National Natural Science Foundation of China(No.60072042).
文摘We report an experiment of adaptive compensation for first-order polarization mode dispersion (PMD) in 10-Gb/s return zero (RZ) optical communication system. The compensated differential group delay (DGD) is up to 30 ps. The quasi-real-time, less than one second, PMD compensation is realized. In the experiment, for the first time, the algorithm so-called particle swarm optimization (PSO) is used to control feedback compensation system.
