A Software-in-the-Loop Implementation of Adaptive Formation Control for Fixed-Wing UAVs

This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(e.g.depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.

Fixed-Time Consensus-Based Nash Equilibrium Seeking

Dear Editor,This letter examines the fixed-time stability of the Nash equilibrium(NE)in non-cooperative games.We propose a consensus-based NE seeking algorithm for situations where players do not have perfect information and communicate via a topology graph.The proposed algorithm can achieve NE in a fixed time that does not depend on initial conditions and can be adjusted in advance.

Secure Tracking Control via Fixed-Time Convergent Reinforcement Learning for a UAV CPS

Dear Editor,This letter is concerned with the secure tracking control problem in the unmanned aerial vehicle(UAV) system by fixed-time convergent reinforcement learning(RL). By virtue of the zero-sum game,the false data injection(FDI) attacker and secure controller are viewed as game players.

A Bioequivalence Study of Empagliflozin/Metformin Fixed-Dose Combination in Healthy Subjects under Fasting Conditions

Background: This study evaluated the bioequivalence of empagliflozin 12.5 mg/metformin 1000 mg tablets compared to Synjardy® (Empagliflozin 12.5 mg/metformin 1000 mg) tablets in healthy male subjects under fasting conditions. Methods: This was a phase I, randomized, single-dose, two-period, two-sequence, crossover study to evaluate the bioequivalence (BE) profiles of two fixed-dose combinations (FDCs) of empagliflozin/metformin. Cmax, AUC0-t and AUC0-∞ from test and reference formulations were evaluated to access BE. The plasma concentrations were measured using a validated liquid chromatography-mass spectrometry (LC-MS/MS) method. Of the 24 subjects enrolled, 23 completed both periods of the study. The two formulations test and reference were considered bioequivalent if 90% confidence interval (CI) fell within 80.00% - 125.00% for Cmax, AUC0-t and AUC0-∞. Tolerability and safety were assessed throughout the study. Results: The pharmacokinetic (PK) parameters were similar between the test product (T) and reference product (R) Synjardy®. The 90% CI of the test/reference ratios of log-transformed PK parameters point estimates was Cmax: 89.87% (85.68% - 94.27%), AUC0-t: 87.91% (83.65% - 92.39%) and AUC0-∞: 87.16% (82.80% - 91.75%) to empagliflozin and Cmax: 92.19% (87.95% - 96.65%), AUC0-t: 91.38% (84.42% - 98.91%) and AUC0-∞: 93.78% (83.82% - 104.93%) to metformin respectively (90% CI for all PK parameters fell within 80.00% - 125.00%). Conclusion: Our results demonstrated BE between the test and reference formulations of oral tablets of empagliflozin 12.5 mg/metformin 1000 mg (FDC) in healthy male subjects under fasting conditions.

Effect of the Particle Packing Configuration on Fixed Bed Performance

Fixed-bed reactors are generally considered the optimal choice for numerous multi-phase catalytic reactions due to their excellent performance and stability.However,conventional fixed beds often encounter challenges related to inadequate mass transfer and a high pressure drop caused by the non-uniform void fraction distribution.To enhance the overall performance of fixed beds,the impact of different packing configurations on performance was investigated.Experimental and simulation methods were used to investigate the fluid flow and mass transfer performances of various packed beds under different flow rates.It was found that structured beds exhibited a significantly lower pressure drop per unit length than conventional packed beds.Furthermore,the packing configurations had a critical role in improving the overall performance of fixed beds.Specifically,structured packed beds,particularly the H-2 packing configuration,effectively reduced the pressure drop per unit length and improved the mass transfer efficiency.The H-2 packing configuration consisted of two parallel strips of particles in each layer,with strips arranged perpendicularly between adjacent layers,and the spacing between the strips varied from layer to layer.

Simultaneous Adsorption of Aqueous Pb2+, Cu2+, Zn2+, and Cd2+ Using Surfactant-Modified and Unmodified Activated Carbon in a Fixed Bed Column

The goal of this work is to improve the simultaneous removal of Pb2+, Cu2+, Zn2+, and Cd2+ ions from synthetic wastewater in a fixed bed column by incorporating sodium dodecyl sulfate (SDS) onto the surface of activated carbon made from coconut shells. The activated carbons were characterized using Fourier transform infrared spectroscopy (FT-IR) and scanning electron microscopy-energy dispersive x-ray (SEM-EDX). The adsorption column dynamics were studied by varying the flow rates (5, 10 and 15 mL/min), bed heights (10, 15 and 20 cm), and initial concentrations (50, 150, and 250 mg/L). The activated carbon has a pore volume of 0.715 cm3/g and a BET-specific surface area of 1410 m2/g. Sodium dodecyl sulfate (SDS) surfactant incorporation onto the surface of the activated carbon enhances its capacity for simultaneous adsorption of Pb2+, Cu2+, Zn2+, and Cd2+ from the aqueous medium. The affinity of the heavy metals to both unmodified (AC) and modified (AC-SDS) activated carbons followed the order of Pb2+ > Cu2+ > Zn2+ > Cd2+. The dynamic adsorption of the column depends on the flow rate, bed height, initial metal concentration, and SDS surface modification. With a 5 mL/min flow rate, a 20 cm bed height, and a 50 mg/L initial metal concentration, a maximum break-through time of 150 minutes for the unmodified activated carbon (AC) and 180 minutes for the SDS-modified activated carbon (AC-SDS) was reached.

Radio Controlled “3D Aerobatic Airplanes” as Basis for Fixed-Wing UAVs with VTOL Capability

There are fundamental performance compromises between rotary-wing and fixed-wing UAVs. The general solution to address this well-known problem is the design of a platform with some degree of reconfigurable airframes. For critical missions (civilian or military), it is imperative that mechanical complexity is kept to a minimum to help achieve mission success. This work proposes that the tried-and-true radio controlled (RC) aerobatic airplanes can be implemented as basis for fixed-wing UAVs having both speed and vertical takeoff and landing (VTOL) capabilities. These powerful and highly maneuverable airplanes have non-rotatable nacelles, yet capable of deep stall maneuvers. The power requirements for VTOL and level flight of an aerobatic RC airplane are evaluated and they are compared to those of a RC helicopter of similar flying weight. This work provides quantitative validation that commercially available RC aerobatic airplanes can serve as platform to build VTOL capable fixed-wing UAVs that are agile, cost effective, reliable and easy maintenance.

Correction to:An Efficient Randomized Fixed-Precision Algorithm for Tensor Singular Value Decomposition

Correction to:Communications on Applied Mathematics and Computation(2023)5:1564-1583 https://doi.0rg/10.1007/s42967-022-00218-w Regretfully,due to technical issues encountered during the proofreading process,certain portions of our published paper[1]include some inconsistencies.To dispel any confusion for the readers,we decided to address these technical problems.The corrected version was uploaded on arXiv https://arxiv.org/abs/2207.08307 and the codes are accessible at https:/l github.com/SalmanAhmadi-Asl/Fixed-Precision-t-SVD.Here are the corrections.

A Study on the Internal Control and Countermeasures of Fixed Assets in Private Universities:A Case Study of N College

Fixed assets in universities occupy an important position in university management due to their wide coverage and large amount of money.Due to insufficient funding supply,private universities mainly focus on the allocation and utilization of fixed assets,which reflects the overall characteristics of cautious allocation,maximum utilization,and delayed elimination in the actual management of fixed assets.This article aims to conduct research and analysis on the entire lifecycle process of the allocation,use,and disposal of fixed assets in private universities,summarize the problems existing in the internal control of fixed assets in private universities,and propose corresponding countermeasures and suggestions in a targeted manner.

Design and Optimization of Wing Structure for a Fixed-Wing Unmanned Aerial Vehicle (UAV)

The wing, one of the most important parts of aircraft, always requires sophis-ticated design to increase lift, reduce drag and weight. For modern fixed-wing UAV, extending cruising time is always a requirement for the overall design. Designing a most light wing that can match the requirements of work condi-tions is desired. In this work, according to the work conditions, we compare several types of wing and chose beam-type wing. Then we made the detailed design and optimization to reduce the weight of wing. At last, we draw the 3D model for potential realistic production.

Retarded Harrier Maneuver as a New and Efficient Approach for Fixed-Wing Aircraft to Achieve S/VTOL

Modern day VTOL fixed-wing aircraft based on quadplane design is relatively simple and reliable due to lack of complex mechanical components compared to tilt-wings or tilt-rotors in the pre-80’s era. Radio-controlled aerobatic airplanes have thrust-to-weight ratio of greater than unity and are capable of performing a range of impressive maneuvers including the so-called harrier maneuver. We hereby present a new maneuver known as the retarded harrier that is applicable to un/manned fixed-wing aircraft for achieving VTOL flight with a better forward flight performance than a quadplane in terms of weight, speed and esthetics. An airplane with tandem roto-stabilizers is also presented as an efficient airframe to achieve VTOL via retarded harrier maneuver, and detailed analysis is given for hovering at 45° and 60° and comparison is made against the widely adopted quadplane. This work also includes experimental demonstration of retarded harrier maneuver using a small remotely pilot airplane of wingspan 650 mm.

Nash Equilibrium of a Fixed-Sum Two-Player Game

It is well established that Nash equilibrium exists within the framework of mixed strategies in strategic-form non-cooperative games. However, finding the Nash equilibrium generally belongs to the class of problems known as PPAD (Polynomial Parity Argument on Directed graphs), for which no polynomial-time solution methods are known, even for two-player games. This paper demonstrates that in fixed-sum two-player games (including zero-sum games), the Nash equilibrium forms a convex set, and has a unique expected payoff. Furthermore, these equilibria are Pareto optimal. Additionally, it is shown that the Nash equilibrium of fixed-sum two-player games can theoretically be found in polynomial time using the principal-dual interior point method, a solution method of linear programming.

Integrated Guidance and Control of Homing Missiles Against Ground Fixed Targets

This paper presents a scheme of integrated guidance and autopilot design for homing missiles against ground fixed targets. An integrated guidance and control model in the pitch plane is formulated and further changed into a normal form by nonlinear coordinate transformation. By adopting the sliding mode control approach, an adaptive nonlinear control law of the system is designed so that the missile can hit the target accurately with a desired impact attitude angle. The stability analysis of the closed-loop system is also conducted. The numerical simulation has confirmed the usefulness of the proposed design scheme.

Switching Study of Tafluprost/Timolol Fixed-Combination Ophthalmic Solution, Following Unfixed Combination of Tafluprost Ophthalmic Solution 0.0015% and Timolol Ophthalmic Gel-Forming Solution 0.5%

Purpose: Fixed-combination medication to treat glaucoma can reduce intraocular pressure (IOP) without negative effects of concomitant medication. Tafluprost/timolol fixed-combination ophthalmic solution (TTFC) has been reported to show similar effectiveness in lowering IOP, compared with concomitant use of its component drugs, tafluprost and timolol. However, the difference in IOP-lowering effects between TTFC and concomitant use of tafluprost and gel-forming timolol is unknown. Hence, we conducted this switching study from tafluprost and gel-forming timolol to TTFC in glaucoma patients undergoing multi-drug therapy. Design: Multi-center, open-label, interventional clinical study. Methods: Twenty-eight patients (28 eyes;safety analysis set) with primary open-angle glaucoma and ocular hypertension, who had completed the 4-week-concomitant phase of tafluprost and gel-forming timolol, were treated for 8 weeks with TTFC. IOP, adherence, ocular surface safety, and the usability of ophthalmic solution were compared before and after switching. This study was approved by the ethics committees of Kitasato University Hospital and all other study sites. All patients provided written informed consent to participate. Results: IOP at 8 weeks after switching was significantly lower than before switching (P = 0.0001) in the efficacy analysis set (n = 24). The self-reported adherence rate remained high after switching;moreover, there was no meaningful change in ocular surface safety. Patient questionnaires regarding usability of medication revealed that 85.7% of patients preferred their instillation prescription after switching, including TTFC. Among the safety analysis set (n = 28), no adverse events were reported in relation to the study drug. Conclusion: TTFC showed greater IOP reduction than concomitant therapy. Thus, TTFC may be a better option in glaucoma patients than concomitant therapy.

CyberKnife中Fixed/Iris准直器对肝癌患者治疗计划的影响及评价

目的:探讨及评价不同准直器(Fixed/Iris)的选择对治疗计划剂量学特点的影响。方法:选取12例肝癌患者影像数据,统一给予靶区剂量50 Gy/5 F,在相同条件下分别对每例患者选择Fixed与Iris准直器进行治疗计划设计,通过靶区适形度指数(CI)、均匀性指数(HI)、梯度指数(GI)、正常肝脏平均受量以及治疗时间等参数,分析评估计划优化质量及实施效率。结果:Iris组计划执行的平均治疗时间明显优于Fix组[(48.33±1.92)min vs(51.50±1.88)min,t=4.23,P=0.001],而CI(0.79±0.07 vs 0.80±0.08,t=0.52,P=0.613)、HI(0.42±0.14 vs 0.41±0.14,t=0.35,P=0.733)、GI(3.66±0.61 vs 3.60±0.50,t=1.15,P=0.273)、处方剂量归一值[(76.92±6.55)%vs(77.00±6.34)%,t=0.18,P=0.857]以及正常肝脏平均受量[(5.15±1.25)Gy vs(5.16±1.27)Gy,t=0.63,P=0.542]则无统计学差异。结论:CyberKnife系统中使用Iris相对Fixed准直器而言,除治疗时间明显缩短外,没有显著的剂量学差异。而对于其他部位肿瘤患者的治疗计划有无差异,还需进一步探讨和研究。

一种改进的Fixed-base Comb安全快速算法

本文从分析椭圆曲线上Fixed-baseComb算法出发,根据其特点,利用牺牲乘法操作以降低求逆操作的方法,分别用2kP、2P+Q的快速算法对Fixed-baseComb算法的预计算阶段和赋值阶段进行改进,极大地提高了计算效率:在素数域上预计算阶段提高70%～80%,而赋值阶段提高38%～43%,同时,改进算法通过对k的预处理,使得算法能够抵抗边际信道攻击.

A Generalization of Caristi Fixed Point Theorem

Let X be a metric space with an ordering structure,A: X→X is a operator and x≤Ax for any x∈X. In this paper we prove a new fixed point theorem, which generalizes famous caristi fixed point theorem.

Research of Shaping Law of Electrochemical Perforation with Fixed Cathode

A kind of new idea based on electromagnetic theory is presented, and it is used in research of the shaping law of electrochemical perforation with fixed cathode. The changing laws of the electric field vectors at certain point on the surface of the anode workpiece with machining time, such as the electric field intensity E , the current density j and so on, are introduced. The mathematical model of the perforating velocity is presented, moreover, the experimental result to verify it is given at the end of the paper.

Lazy loading algorithm for traffic assignment of road networks under fixed charge condition

The measures of path charge are important considerations in traffic assignment of road networks. Factors, such as travel time, fixed charge and traffic congestion which affect road users＇ choices of trip paths, are analyzed. Travelers usually decide their trip paths based on their personal habits, preferences and the information at hand. By considering both deterministic and stochastic factors which affect the value of time （VOT） during the process of path choosing, a variational inequality model is proposed to describe the problem of traffic assignment. A lazy loading algorithm for traffic assignment is designed to solve the proposed model, and the calculation steps are given. Numerical experiment results show that compared with the all-or-nothing assignment, the proposed model and the algorithm can provide more optimal traffic assignments for road networks. The results of this study can be used to optimize traffic planning and management.

Performance Analysis of Fixed-Point Simulations on cdma2000-1x Downlink

Based on the physical layer standard of cdma2000, the performance analysis of fixed point simulations is presented in this paper on cdma2000 1x downlink. The effects of quantization and finite wordlength, which have typically been assumed negligible in floating point simulations, become significant for fixed point simulations. The complete fixed point simulation platform for cdma2000 1x downlink is developed by EDA tool - COSSAP. The structure and performance of the key component in cdma2000 systems, the RAKE receiver, are discussed in details. Comparisons of results between floating point and fixed point simulations lead to some important conclusions, which provide certain references for the implementation of practical systems.