Flight control for a flexible air-breathing hypersonic vehicle based on quasi-continuous high-order sliding mode

The focus of this paper is on control design and simulation for the longitudinal model of a flexible air-breathing hypersonic vehicle（FAHV）.The model of interest includes flexibility effects and intricate couplings between the engine dynamics and flight dynamics.To overcome the analytical intractability of this model,a nominal control-oriented model is constructed for the purpose of feedback control design in the first place.Secondly,the multi-input multi-output（MIMO） quasi-continuous high-order sliding mode（HOSM） controller is proposed to track step changes in velocity and altitude,which is based on full state feedback.The simulation results are presented to verify the effectiveness of the proposed control strategy.

Reference tracking control for flexible air-breathing hypersonic vehicle with actuator delay and uncertainty

This paper considers the problem of reference tracking control for the flexible air-breathing hypersonic flight vehicle with actuator delay and uncertainty.By constructing the Lyapunov functional including the lower and upper bounds of the time-varying delay,the non-fragile controller is designed such that the resulting closed-loop system is asymptotically stable and satisfies a prescribed performance cost index.The simulation results are given to show the effectiveness of the proposed control method,which is validated by excellent output reference altitude and velocity tracking performance.

Catalyst光学体表监测在左侧乳腺癌ABC-DIBH放射治疗中的应用

目的 探讨在应用主动呼吸控制(Active Breathing Control,ABC)技术的左侧乳腺癌深吸气屏气(Deep Inspiration Breath Hold,DIBH)放疗中,使用光学体表追踪技术监测屏气的有效性和体位的重复性效果,以保证患者在放疗中吸气方式一致和体位不变,提高放射治疗的精确性。方法 选取应用ABC技术放疗的23例左侧乳腺癌患者为研究对象,以Catalyst进行治疗中DIBH体位监测,以分次内锥形束计算机断层扫描(Cone Beam Computed Tomography,CBCT)为参考标准,分别记录二者误差数据,应用Pearson法和Bland-Altman法分别评估两组误差的相关性和两种系统的一致性。将光学体表监测值与CBCT配准误差值之间的差值定义为Catalyst体表监测精度。结果 Catalyst监测在左右(x轴)方向、头脚(y轴)方向和前后(z轴)方向误差分别为(0.08±1.04)、(1.44±2.15)、(0.45±1.69)mm,CBCT配准误差分别为(0.15±1.15)、(1.51±2.28)、(0.44±1.81)mm。x轴方向和z轴方向相关系数r值分别为0.60、0.77,呈强相关;y轴方向r值为0.82,呈极强相关。二者95%CI值在x、y与z轴方向分别为[-2.01,1.86]、[-2.69,2.57]、[-2.32,2.34] mm,Catalyst监测精度在x、y、z轴方向分别为(-0.08±0.99)、(-0.06±1.34)、(0.01±1.19)mm。结论 Catalyst可有效监测使用ABC进行治疗左侧乳腺癌患者的屏气状态,能准确且实时监测患者位置,提高治疗精确度,具有临床应用价值。

Prevalence of sleep-disordered breathing in elderly patients with cardiac pacemaker: a case-control study

Objective To investigate the prevalence of sleep-disordered breathing in elderly patients with permanent cardiac pacemaker implantation due to bradyarrhythmias, and the relationship between pacing mode and patients' sleep apnea-hypopnea index.Methods Forty-four elderly patients (＞60 years) with cardiac pacemaker and their 44 controls matched for gender, age, body mass index and cardiovascular morbidity were studied using polysomnography or portable sleep monitoring device. Results Prevalence of sleep-disordered breathing (apnea-hypopnea index ≥5/h) was 44.7% and the mean apnea-hypopnea index was 8.2 ±4.1/h in the cardiac pacemaker group, which were significantly higher than those in control subjects (25% and 4.6±2.4/h, respectively, P＜0.01 and P＜0.05). The mean apnea-hypopnea index of patients with DDD or AAI pacemaker was significantly lower than that of patients with VVI pacemaker. Conclusions Sleep-disordered breathing was more common in patients who had their cardiac pacemaker implanted due to bradyarrhythmias than in their matched controls. Compared with VVI pacing, DDD or AAI pacing may be more beneficial to patients with bradyarrhythmias and sleep-disordered breathing.

Where is the rudder of a fish?:the mechanism of swimming and control of self-propelled fish school

Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- and three-dimensional moving boundary problem, which combines the adaptive multi-grid finite volume method and the methods of immersed boundary and volume of fluid, it is found that due to the interactions of vortices in the wakes, without proper control, a fish school swim with a given flap- ping rule can not keep the fixed shape of a queue. In order to understand the secret of fish swimming, a new feedback con- trol strategy of fish motion is proposed for the first time, i,e., the locomotion speed is adjusted by the flapping frequency of the caudal, and the direction of swimming is controlled by the swinging of the head of a fish. Results show that with this feedback control strategy, a fish school can keep the good order of a queue in cruising, turning or swimming around circles. This new control strategy, which separates the speed control and direction control, is important in the construction of biomimetic robot fish, with which it greatly simplifies the control devices of a biomimetic robot fish.

Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters

A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.

CO_2-triggered gelation for mobility control and channeling blocking during CO_2 flooding processes

CO2 flooding is regarded as an important method for enhanced oil recovery （EOR） and greenhouse gas control. However, the heterogeneity prevalently dis- tributed in reservoirs inhibits the performance of this technology. The sweep efficiency can be significantly reduced especially in the presence of ＂thief zones＂. Hence, gas channeling blocking and mobility control are important technical issues for the success of CO2 injection. Normally, crosslinked gels have the potential to block gas channels, but the gelation time control poses challenges to this method. In this study, a new method for selectively blocking CO2 channeling is proposed, which is based on a type of CO2-sensitive gel system （modified polyacry- lamide-methenamine-resorcinol gel system） to form gel in situ. A CO2-sensitive gel system is when gelation or solidification will be triggered by CO2 in the reservoir to block gas channels. The CO2-sensitivity of the gel system was demonstrated in parallel bottle tests of gel in N2 and CO2 atmospheres. Sand pack flow experiments were con- ducted to investigate the shutoff capacity of the gel system under different conditions. The injectivity of the gel system was studied via viscosity measurements. The results indi- cate that this gel system was sensitive to CO2 and had good performance of channeling blocking in porous media. Advantageous viscosity-temperature characteristics were achieved in this work. The effectiveness for EOR in heterogeneous formations based on this gel system was demonstrated using displacement tests conducted in double sand packs. The experimental results can provide guideli- nes for the deployment of theCO2-sensitive gel system for field applications.

Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy

This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.

Theoretical modeling of airways pressure waveform for dual-controlled ventilation with physiological pattern and linear respiratory mechanics

The present paper describes the theoretical treatment performed for the geometrical optimization of advanced and improved-shape waveforms as airways pressure excitation for controlled breathings in dual-controlled ventilation applied to anaesthetized or severe brain injured patients, the respiratory mechanics of which can be assumed linear. Advanced means insensitive to patient breathing activity as well as to ventilator settings while improved-shape intends in comparison to conventional square waveform for a progressive approaching towards physiological transpulmonary pressure and respiratory airflow waveforms. Such functional features along with the best ventilation control for the specific therapeutic requirements of each patient can be achieved through the implementation of both diagnostic and compensation procedures effectively carried out by the Advance Lung Ventilation System (ALVS) already successfully tested for square waveform as airways pressure excitation. Triangular and trapezoidal waveforms have been considered as airways pressure excitation. The results shows that the latter fits completely the requirements for a physiological pattern of endoalveolar pressure and respiratory airflow waveforms, while the former exhibits a lower physiological behaviour but it is anyhow periodically recommended for performing adequately the powerful diagnostic procedure.

Adaptive neuro-fuzzy interface system for gap acceptance behavior of right-turning vehicles at partially controlled T-intersections

Gap acceptance theory is broadly used for evaluating unsignalized intersections in developed coun tries. Intersections with no specific priority to any move ment, known as uncontrolled intersections, are common in India. Limited priority is observed at a few intersections, where priorities are perceived by drivers based on geom etry, traffic volume, and speed on the approaches of intersection. Analyzing such intersections is complex because the overall traffic behavior is the result of drivers, vehicles, and traffic flow characteristics. Fuzzy theory has been widely used to analyze similar situations. This paper describes the application of adaptive neurofuzzy interface system （ANFIS） to the modeling of gap acceptance behavior of rightturning vehicles at limited priority Tintersections （in India, vehicles are driven on the left side of a road）. Field data are collected using video cameras at four Tintersections having limited priority. The data extracted include gap/lag, subject vehicle type, conflicting vehicle type, and driver＇s decision （accepted/rejected）. ANFIS models are developed by using 80 % of the extracted data （total data observations for major road right turning vehicles are 722 and 1,066 for minor road right turning vehicles） and remaining are used for model vali dation. Four different combinations of input variables are considered for major and minor road right turnings sepa rately. Correct prediction by ANFIS models ranges from 75.17 % to 82.16 % for major road right turning and 87.20 % to 88.62 % for minor road right turning. Themodels developed in this paper can be used in the dynamic estimation of gap acceptance in traffic simulation models.

Analytical Analysis on the Structure of a Typical Fuzzy On - Off Controller

The analytical structure of a typical fuzzy on - off controller that employs three or more triangular Input fuzzy sets, Zadeh fuzzy logic AND operator, fuzzy rules with singleton output fuzzy sets, and the centriod defuzzifier is Investigated in this paper. The analytical expressions of the variable gains of the fuzzy controller are derived. The resulting explicit structure shows that the fuzzy controller is accurately a nonlinear PD - like controller with gains continuously changing with system output in different regions of input space.

Parameter Self - Learning of Generalized Predictive Control Using BP Neural Network

This paper describes the self—adjustment of some tuning-knobs of the generalized predictive controller(GPC).A three feedforward neural network was utilized to on line learn two key tuning-knobs of GPC,and BP algorithm was used for the training of the linking-weights of the neural network.Hence it gets rid of the difficulty of choosing these tuning-knobs manually and provides easier condition for the wide applications of GPC on industrial plants.Simulation results illustrated the effectiveness of the method.

PLC S7-200和CONTROL 2000软件在铁合金循环冷却水系统中的应用

基于西门子PLC S7-200与组态软件CONTROL 2000探讨水泵监测系统,利用组态软件开发人机对话环境,通过人机对话平台实时监测与控制水泵的运行情况。实验证明,PLC可编程控制器和CONTROL 2000组态软件结合,可很好的控制水泵工作时间,达到提高设备工作效率与节约用电成本目的。

Research on A Master - slave Multi - microcomputers Control System for Hollow Spindle Fancy Yarn Spinning Machine

In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.

Attitude control of a rigid spacecraft with one variable-speed control moment gyro

Nonlinear controllability and attitude stabilization are studied for the underactuated nonholonomic dynamics of a rigid spacecraft with one variable-speed control moment gyro （VSCMG）, which supplies only two internal torques. Nonlinear controllability theory is used to show that the dynamics are locally controllable from the equilibrium point and thus can be asymptotically stabilized to the equilibrium point via time-invariant piecewise continuous feedback laws or time-periodic continuous feedback laws. Specifically, when the total angular momentum of the spacecraft-VSCMG system is zero, any orientation can be a controllable equilib- rium attitude. In this case, the attitude stabilization problem is addressed by designing a kinematic stabilizing law, which is implemented through a nonlinear proportional and deriva- tive controller, using the generalized dynamic inverse （GDI） method. The steady-state instability inherent in the GDI con- troller is elegantly avoided by appropriately choosing control gains. In order to obtain the command gimbal rate and wheel acceleration from control torques, a simple steering logic is constructed to accommodate the requirements of attitude sta- bilization and singularity avoidance of the VSCMG. Illustrative numerical examples verify the efficacy of the proposed control strategy.

Eigen-Space Decomposition(ESD)Method for the Design of Internal Model Controller(IMC)from Noisy Input and Output Plant Data

A novel approach to design Internal Model Controller(IMC)is proposed in this paper directly from measuredinput and output plant data,which are assumed to becontaminated by measurement noise.In order to avoidthe complicated structure-identification problem inmost cases,two Finite Impulse Response(FIR)modelsare taken to represent the plant model and the internalmodel controller respectively.Taking account of mea-surement noise both in the plant input and its output,anESD based Total Least Squares(TLS)solution is appliedfor the unbiased identification of the plant model and itsinverse model,the latter constitutes the internal modelcontroller according to the principle that the internalmodel controller approximates the inverse dynamics ofthe plant model.Simulations are given for a testifica-tion.

The Electric-Field Controllable Non-Volatile 35° Rotation of Magnetic Easy Axis in Magnetoelectric CoFeB/(001)-Cut Pb(Mg_(1/3)Nb_(2/3))O_3-25%PbTiO_3 Heterostructure

Using in situ electric-field-modulated anisotropic magnetoresistance measurement, a large reversible and non- volatile in-plane rotation of magnetic easy axis of -35° between the positive and negative electrical poling states is demonstrated in C040Fe40B20//（001）-cut Pb（Mgl/3Nb2/3）O3-25PbTiO3 （PMN-PT）. The specific magneto- electric coupling mechanism therein is experimentally verified to be related to the synchronous in-plane strain rotation induced by 109° ferroelastic domain switching in the （001）-cut PMN-PT substrate.

Pesticide Residue Control in the Years 1983-1985

Levels of organochlorinated, organophosphate, dithiocarbamic, benzimidazolic, and phthalimidic compounds, as well as some other pesticide residues obtained from Regional Laboratories in the years 1983-1985, were assembled and presented as a part of a study aimed at evaluating food contamination. Approximately 2000 samples of vegetables, fruits, cereals, and food of animal origin were analyzed by local laboratories during the years 1983, 1984, and 1985. Samples were randomly obtained from the market, at production levels, or sometimes at custom sites. Approximately 10,000 determinations of single compounds or classes of compounds were carried out. The analytical results are presented and compared with the Italian maximum residue limits. In the majority of the samples analyzed, either there were no residues or the residues were below the permitted level for the specific pesticide in each commodity. High levels of residues were present in a few cases, mainly with respect to some fungicides in fruits and vegetables and chlorinated compounds in some animal products. (c)1989 Academic Press, Inc.

Pesticide Residue Control in the Years 1986-1987

Results of analytical surveys on pesticide residue levels in foods for the years 1986-1987 are presented. Analytical data obtained from regional laboratories are tabulated in terms of various commodity groups (vegetables, fruit, cereals, processed or derived foodstuffs, other commodities, legumes, environmental samples, others) and are compared with maximum legal tolerances established by the ministerial ordinance (Italian Ministry of Health) 6.6. 1985.On a total number of 4715 determinations of classes of compounds or of single compounds made on 1601 commodities samples, only N 53 (1.1 %) violative results appeared. No residue was found at levels exceeding regulatory limits or found in commodities where a tolerance had not been established for a specific pesticide/commodity combination.