Contract Mechanism of Water Environment Regulation for Small and Medium Sized Enterprises Based on Optimal Control Theory

The small and scattered enterprise pattern in the county economy has formed numerous sporadic pollution sources, hindering the centralized treatment of the water environment, increasing the cost and difficulty of treatment. How enterprises can make reasonable decisions on their water environment behavior based on the external environment and their own factors is of great significance for scientifically and effectively designing water environment regulation mechanisms. Based on optimal control theory, this study investigates the design of contractual mechanisms for water environmental regulation for small and medium-sized enterprises. The enterprise is regarded as an independent economic entity that can adopt optimal control strategies to maximize its own interests. Based on the participation of multiple subjects including the government, enterprises, and the public, an optimal control strategy model for enterprises under contractual water environmental regulation is constructed using optimal control theory, and a method for calculating the amount of unit pollutant penalties is derived. The water pollutant treatment cost data of a paper company is selected to conduct empirical numerical analysis on the model. The results show that the increase in the probability of government regulation and public participation, as well as the decrease in local government protection for enterprises, can achieve the same regulatory effect while reducing the number of administrative penalties per unit. Finally, the implementation process of contractual water environmental regulation for small and medium-sized enterprises is designed.

Technical Regulations for Comprehensive Control Weeding in Millet Field

According to experiments in many years in Hebei Province, the research explored weed comprehensive control technology on millet fields in terms of application range, prevention rules, prevention object, agricultural control, physical control, and chemical control and proposed specific methods and technological indices in order to provide technological references for comprehensive control on weeds of millet fields.

Control design for the nonlinear benchmark problem via the output regulation method

The problem of designing a feedback controller to achieve asymptotic disturbance rejection / attenuation while maintaining good transient response in the RTAC system is known as a benchmark nonlinear control problem, which has been an intensive research subject since 1995. In this paper, we will further investigate the solvability of the robust disturbance rejection problem of the RTAC system by the measurement output feedback control based on the robust output regulation method. We have obtained a design by overcoming two major obstacles: find a closed-form solution of the regulator equations; and devise a nonlinear internal model to account for non-polynomial nonlinearities.

Asymptotic regulation of cascade systems with unknown control directions and nonlinear parameterization

A robust partial-state feedback asymptotic regulating control scheme is developed for a class of cascade systems with both nonlinear uncertainties and unknown control directions. A parameter separation technique is introduced to separate the time-varying uncertainty and the unmeasurable state from nonlinear functions. Then, the Nussbaum-type gain method together with the idea of changing supply functions is adopted in the design of a smooth partial-state regulator that can ensure all the signals of the closed-loop system are globally uniformly bounded. Especially, the system state asymptotically converges to zero. The design procedure is illustrated through an example and the simulation results show that the controller is feasible and effective.

Notch signaling controls chondrocyte hypertrophy via indirect regulation of Sox9

RBPjk-dependent Notch signaling regulates both the onset of chondrocyte hypertrophy and the progression to terminal chondrocyte maturation during endochondral ossification. It has been suggested that Notch signaling can regulate Sox9 transcription, although how this occurs at the molecular level in chondrocytes and whether this transcriptional regulation mediates Notch control of chondrocyte hypertrophy and cartilage development is unknown or controversial. Here we have provided conclusive genetic evidence linking RBPjk-dependent Notch signaling to the regulation of Sox9 expression and chondrocyte hypertrophy by examining tissuespecific Rbpjk mutant（Prx1Cre;Rbpjkf/f）, Rbpjk mutant/Sox9 haploinsufficient（Prx1Cre;Rbpjkf/f;Sox9f/1）,and control embryos for alterations in SOX9 expression and chondrocyte hypertrophy during cartilage development. These studies demonstrate that Notch signaling regulates the onset of chondrocyte maturation in a SOX9-dependent manner, while Notch-mediated regulation of terminal chondrocyte maturation likely functions independently of SOX9. Furthermore, our in vitro molecular analyses of the Sox9 promoter and Notch-mediated regulation of Sox9 gene expression in chondrogenic cells identified the ability of Notch to induce Sox9 expression directly in the acute setting, but suppresses Sox9 transcription with prolonged Notch signaling that requires protein synthesis of secondary effectors.

Robust Non-fragile PID Controller Design for the Stroke Regulation of Metering Pumps

This job focuses on the stroke regulation of a class of high-precision metering pumps.A parametertuning method of robust non-fragile PID（proportional-integral-derivative）controllers is proposed with the assumption that a PID controller has additive gain perturbations.An H-infinite robust PID controller can be obtained by solving a linear matrix inequality.This approach can guarantee that the closed-loop control systems is asymptotically stable and the H-infinite norm of the transfer function from the disturbance to the output of a controlled system is less than a given constant to attenuate disturbances.The simulation case shows that the control performance of the proposed strategy is significantly better than the traditional PID approach in the situation with perturbations of controller parameters.

Pressure Regulation for Earth Pressure Balance Control on Shield Tunneling Machine by Using Adaptive Robust Control

Most current studies about shield tunneling machine focus on the construction safety and tunnel structure stability during the excavation. Behaviors of the machine itself are also studied, like some tracking control of the machine. Yet, few works concern about the hydraulic components, especially the pressure and flow rate regulation components. This research focuses on pressure control strategies by using proportional pressure relief valve, which is widely applied on typical shield tunneling machines. Modeling of a commercial pressure relief valve is done. The modeling centers on the main valve, because the dynamic performance is determined by the main valve. To validate such modeling, a frequency-experiment result of the pressure relief valve, whose bandwidth is about 3 Hz, is presented as comparison. The modeling and the frequency experimental result show that it is reasonable to regard the pressure relief valve as a second-order system with two low corner frequencies. PID control, dead band compensation control and adaptive robust control（ARC） are proposed and simulation results are presented. For the ARC, implements by using first order approximation and second order approximation are presented. The simulation results show that the second order approximation implement with ARC can track 4 Hz sine signal very well, and the two ARC simulation errors are within 0.2 MPa. Finally, experiment results of dead band compensation control and adaptive robust control are given. The results show that dead band compensation had about 30° phase lag and about 20% off of the amplitude attenuation. ARC is tracking with little phase lag and almost no amplitude attenuation. In this research, ARC has been tested on a pressure relief valve. It is able to improve the valve＇s dynamic performances greatly, and it is capable of the pressure control of shield machine excavation.

Adaptive Optimal Output Regulation of Interconnected Singularly Perturbed Systems With Application to Power Systems

This article studies the adaptive optimal output regulation problem for a class of interconnected singularly perturbed systems(SPSs) with unknown dynamics based on reinforcement learning(RL).Taking into account the slow and fast characteristics among system states,the interconnected SPS is decomposed into the slow time-scale dynamics and the fast timescale dynamics through singular perturbation theory.For the fast time-scale dynamics with interconnections,we devise a decentralized optimal control strategy by selecting appropriate weight matrices in the cost function.For the slow time-scale dynamics with unknown system parameters,an off-policy RL algorithm with convergence guarantee is given to learn the optimal control strategy in terms of measurement data.By combining the slow and fast controllers,we establish the composite decentralized adaptive optimal output regulator,and rigorously analyze the stability and optimality of the closed-loop system.The proposed decomposition design not only bypasses the numerical stiffness but also alleviates the high-dimensionality.The efficacy of the proposed methodology is validated by a load-frequency control application of a two-area power system.

Event-triggered robust cooperative output regulation for a class of linear multi-agent systems with an unknown exosystem

This paper investigates the robust cooperative output regulation problem for a class of heterogeneousuncertain linear multi-agent systems with an unknown exosystem via event-triggered control (ETC). By utilizingthe internal model approach and the adaptive control technique, a distributed adaptive internal model isconstructed for each agent. Then, based on this internal model, a fully distributed ETC strategy composed ofa distributed event-triggered adaptive output feedback control law and a distributed dynamic event-triggeringmechanism is proposed, in which each agent updates its control input at its own triggering time instants. It isshown that under the proposed ETC strategy, the robust cooperative output regulation problem can be solvedwithout requiring either the global information associated with the communication topology or the bounds ofthe uncertain or unknown parameters in each agent and the exosystem. A numerical example is provided toillustrate the effectiveness of the proposed control strategy.

Flexural Property of String Beam of Pre-Stressed Glulam Based on Influence of Regulation and Control

Applying pre-stress in glulam beam can reduce its deformation and make full use of the compressive strength of wood.However,when the glulam with low strength and the pre-stressed steel with high strength form combined members,materials of high strength can’t be fully utilized.Therefore,this study puts forward the idea of regulating and controlling string beam of pre-stressed glulam.By regulating and controlling the pre-stress,a part of the load borne by the wood is allocated to the pre-stressed tendon,which is equivalent to completing a redistribution of internal force,thus realizing the repeated utilization of the wood strength and the full utilization of the strength of the high-strength pre-stressed tendon.The bending experiments of 10 beams under 5 working conditions are carried out.The failure mode,bearing capacity and deformation of the beams are analyzed.The results show that 90%of beams are deformed under compression.The ultimate load of the regulated and controlled beam is obviously larger than that of the unregulated beam,and the ultimate load of the beam increases with the increase of the degree of regulation and control.Compared with that of the unregulated beams,the ultimate load of beams regulated by 7.5%-30%increases by 25.42%-65.08%,and the regulated and controlled effect is obvious.With the increase of the regulation and control amplitude of pre-stress,the stiffness of string beam of pre-stressed glulam increases.In addition,with the increase of the regulation and control amplitude,the compression height of the beam increases before the failure,and it reaches the state of full-section compression at the time of failure,giving full play to the compressive property of the glulam.At the end of the experiment,the constitutive relation which can reflect the anisotropy of the wood is established combined with the experimental data.The finite element analysis of the beam under 7 working conditions is carried out by using ABAQUS finite element program,and the influence of the regulation and control amplitude on the stress distribution and ultimate bearing capacity of the beam is discussed.

Distributed Robust Containment Control of Linear Heterogeneous Multi-Agent Systems:An Output Regulation Approach

In this paper,we consider the robust output containment problem of linear heterogeneous multi-agent systems under fixed directed networks.A distributed dynamic observer based on the leaders’measurable output was designed to estimate a convex combination of the leaders’states.First,for the case of followers with identical state dimensions,distributed dynamic state and output feedback control laws were designed based on the state-coupled item and the internal model compensator to drive the uncertain followers into the leaders’convex hull within the output regulation framework.Subsequently,we extended theoretical results to the case where followers have nonidentical state dimensions.By establishing virtual errors between the dynamic observer and followers,a new distributed dynamic output feedback control law was constructed using only the states of the compensator to solve the robust output containment problem.Finally,two numerical simulations verified the effectiveness of the designed schemes.

Impact of environmental regulations on the efficient control of industrial pollution in China

The continuous progress of industrialization is a fundamental cause of China’s increasingly severe environmental pollution problem.Improving the efficiency of industrial pollution control is an inevitable choice to effectively decrease pollution emissions,thus winning the battle of pollution prevention and control.In this paper,we used the stochastic frontier analysis(SFA)model to measure the provincial efficiency of industrial pollution control based on the input and output data of industrial pollution control of 29 administrative provinces in China from 2000 to 2017.On this basis,a spatial econometric model was used to explore the influence of environmental regulation intensity on the efficiency of industrial pollution control.In addition,the spatial spillover effect of pollution reduction was thoroughly examined.The results show that:(1)The efficiency of industrial pollution control in China has improved year by year,but the overall efficiency is still low,with the average value increasing from 0.165 in 2000 to 0.309 in 2017.Furthermore,there is significant regional heterogeneity with the highest efficiency level in the east and lowest efficiency level in the west.(2)By increasing the financial and material input,the efficiency of industrial pollution control has increased.However,the increase of human input has not been so helpful.(3)The global Moran’s I index is significantly greater than zero,indicating a strong spatial correlation and agglomeration in the efficiency of industrial pollution control,which is reflected in high-high agglomeration in the eastern region and low-low agglomeration in the western region.(4)Stringent environmental regulation has a positive effect on improving the efficiency of industrial pollution control.It also imposes a positive spatial spillover effect,indicating a strategic interaction and coordination of regional pollution control.In line with this,related proposals have been made to optimize the investment structure for environmental pollution control,establish a flow mechanism for the factor market,and strengthen the environmental responsibility awareness of state-owned enterprises.On this basis,we expect to provide a policy for improving the efficiency of industrial pollution control and promoting regional joint pollution control in China.

Feedback Attitude Sliding Mode Regulation Control of Spacecraft Using Arm Motion

The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields.Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance,so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints.Thus,sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process.Due to the switching effects of the variable structure controller,once the tracking error reaches the designed hyper-plane,it will be restricted to this plane permanently even with the existence of external disturbances.Thus,precise attitude regulation can be achieved.Furthermore,taking the non-zero initial tracking errors and chattering phenomenon into consideration,saturation functions are used to replace sign functions to smooth the control torques.The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller.Mathematical models of free-floating space manipulator are established and simulations are conducted in the end.The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm,the steady state error is 0.000 2 rad.In addition,the joint tracking trajectory is smooth,the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input.The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion,and improves the precision of the spacecraft attitude regulation.

Technical Regulations for Integrated Prevention and Control of Weeds in Millet Fields in Hebei Province

According to the summary of experiments for many years, application scope, prevention and control principle and objects of technical regulation for integrated prevention and control of weeds in millet fields, as well as integrated control technologies including agricultural control, physical control and chemical control were studied, and the specific methods and technical indicators were determined.

Investigating the Effectiveness of Dialectical Behavior Therapy in Clinical Symptoms, Anger Control and Emotional Regulation of Bully Children

The present study aims to investigate the effectiveness of dialectical behavior therapy in clinical symptoms, anger control and emotional regulation of bully children. This research is a pretest-posttest quasi-experimental study design with a nonequivalent control group. The research sample comprises 24 bully children who were purposefully selected from among the students who had responded positively to the researcher’s call. The participants were randomly assigned into two experimental and control groups. Group therapy intervention was conducted on the experimental group during ten sessions. The tools applied in this study consisted of Cognitive Emotion Regulation Questionnaire by Garnefski et al., State-Trait Anger Expression Inventory by Spielberger and Bullying Scale by Illinois, Espelage and Holt and the subjects answered to their questions in the stage of pretest and posttest. In this research, the data was analyzed based on the analysis of covariance test and with the aid of SPSS software. The findings demonstrated that dialectical behavior therapy has a significant impact on clinical symptoms, anger control and its components and emotional regulation and its components (P < 0.01).

Attitude Regulation With Bounded Control in the Presence of Large Disturbances With Bounded Moving Average

The attitude regulation problem with bounded control for a class of satellites in the presence of large disturbances,with bounded moving average,is solved using a Lyapunov-like design.The analysis and design approaches are introduced in the case in which the underlying system is an integrator and are then applied to the satellite attitude regulation problem.The performance of the resulting closed-loop systems are studied in detail and it is shown that trajectories are ultimately bounded despite the effect of the persistent disturbance.Simulation results on a model of a small satellite subject to large,but bounded in moving average,disturbances are presented.

Stochastic Differential Game Model for Decentralized Power Control with Wisdom Regulation Factor in Wearable Audio-Oriented BodyNets

In this study, aiming at the characteristics of randomness and dynamics in Wearable Audiooriented BodyNets （WA-BodyNets）, stochastic differential game theory is applied to the investigation of the problem of transmitted power control inconsumer electronic devices. First, astochastic differential game model is proposed for non-cooperative decentralized uplink power control with a wisdom regulation factor over WA-BodyNets with a onehop star topology.This model aims to minimize the cost associated with the novel payoff function of a player, for which two cost functions are defined： functions of inherent power radiation and accumulated power radiation darmge. Second, the feedback Nash equilibrium solution of the proposed model and the constraint of the Quality of Service （QoS） requirement of the player based on the SIR threshold are derived by solving the Fleming-Bellman-Isaacs partial differential equations. Furthermore, the Markov property of the optimal feedback strategies in this model is verified.The simulation results show that the proposed game model is effective and feasible for controlling the transmitted power of WA-BodyNets.

Containment control for heterogeneous multi-agent systems with time delay via an output regulation approach

This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output regulation.The leaders are treated as exosystems and an modified output regulation error is designed,which can deal with more than one leader in containment control,then the containment problem will be turned into an output regulation problem.A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal,which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the leaders.The system stability for time-delay containment is proved by the output regulation method instead of the Lyapunov method.Finally,a numerical example is given to illustrate the validity of the theoretical results.

The flood control and regulation of Three Gorges Project

The important role of Three Gorges Project (TGP) in the flood management of the Yangtze River Basin is summarized.The Optimal Regulation Schemes of the Three Gorge Reservoir is briefly described.The flood regulation effect of TGP is analyzed.Typical issues related to reservoir operation for flood regulation are discussed and suggestions are put forward for the future work.

Regulations for the Manufacture and Control of Live Poliovirus Vaccine: International Experience and China’s Path

The eradication of poliomyelitis is a landmark achievement in the history of public health, providing strong protection for children’s health. The introduction of the Chinese Regulations for the Manufacture and Control of Live Poliovirus Vaccine is a prerequisite and safeguard for the large-scale production and use of domestically produced live poliovirus vaccines, serving as an indispensable component of vaccine safety. This article, based on archival documents, letters, collections of essays, and oral interviews, examines the historical experience of the development of Chinese Regulations for the Manufacture and Control of Live Poliovirus Vaccine. It contends that the emphasis on localization and the active engagement in international cooperation are critical factors in the swift introduction of Chinese Regulations for the Manufacture and Control of Live Poliovirus Vaccine.