Grey Wolf Optimization Based Tuning of Terminal Sliding Mode Controllers for a Quadrotor

The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and miniaturization.In this paper,a Grey Wolf Optimization(GWO)algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode(FTSM)controllers for a quadrotor UAV.A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone.Controllers for altitude,attitude,and position dynamics become separately designed and tuned.To work around the repetitive and time-consuming trial-error-based procedures,all FTSM controllers’parameters for only altitude and attitude dynamics are systematically tuned thanks to the proposed GWO metaheuristic.Such a hard and complex tuning task is formulated as a nonlinear optimization problem under operational constraints.The performance and robustness of the GWO-based control strategy are compared to those based on homologous metaheuristics and standard terminal sliding mode approaches.Numerical simulations are carried out to show the effectiveness and superiority of the proposed GWO-tuned FTSM controllers for the altitude and attitude dynamics’stabilization and tracking.Nonparametric statistical analyses revealed that the GWO algorithm is more competitive with high performance in terms of fastness,non-premature convergence,and research exploration/exploitation capabilities.

Optimizing SUS 304 wire drawing process by grey relational analysis utilizing Taguchi method

In the stainless steel 304 （SUS 304） wire drawing process, optimizing the die life and wire tensile strength, which are the larger-the-better quality characteristics （QCH） types, is of main interest. Three control factors, involving reduction ratio, lubricant temperature, and drawing speed, were investigated utilizing L9（34） orthogonal array （OA）. The grey relational analysis was conducted for the normalized signal-to-noise （S/N） ratios. The ordinal value of the grey grade was then used to decide optimal factor levels. The anticipated improvements in die life and wire tensile strength were estimated 25.31 h and 22.50 kg/mm2, respectively. To decide the significant factor which had effect on each QCH and predict the average value of each QCH, analysis of variance （ANOVA） was performed for S/N ratio and QCH. Confirmation experiments were then conducted, where a good overlap was noticed between the predicted and confirnation intervals for each QCH. The Hotelling T2 and the sample generalized variance control charts were finally utilized in controlling and monitoring future production. In conclusion, the grey relational analysis utilizing Taguchi method is an effective approach for optimizing the die life and wire tensile strength for SUS wire drawing process. 2008 University of Science and Technology Beijing. All rights reserved.

怎样洗香菇

怎样洗香菇首先把香菇倒进６０℃左右的温水中浸泡１小时，然后用手朝一个方向旋搅约１０分钟，让香菇的＂鳃页＂慢慢张开，使沙粒随之徐徐落下。注意，只能朝一个方面旋搅，否则，沙粒落下来，还会紧包在里面。最后，将香菇捞出，用清水冲洗几遍，即可烹食。怎样洗香菇...

The Implementation Effects of a Nationwide Sloping Farmland Soil Erosion Control Project in China

To understand implementation of a nationwide sloping farmland soil erosion comprehensive control project during China＇s 12 th Five-Year Plan we used data collection and expert consultation. We selected 24 indexes across three aspects including project management, engineering construction and implementation benefit and used AHP-grey correlation analysis methods. We found that the scores for engineering construction were greater than 0.65 in most of the provinces, autonomous regions and municipalities. These scores are high and scores for project management and implementation benefit are between 0.45–0.65; however, overall scores are low. The comprehensive evaluation results are normally distributed. The composite scores for Sichuan, Yunnan and Guizhou are 0.71, 0.68 and 0.68 respectively, indicating that the implementation effects are good. The scores for Jilin and Liaoning are 0.38 and 0.42 respectively, indicating that the implementation effects need improvement. Scores for other provinces are between 0.45–0.65 and the effects are medium. The evaluation results show certain zonal rules spatially and the implementation effect in karst regions of Southwest China is the highest, followed by the purple soil region in Southwest China, Loess Plateau region of Northwest China, earth-rock mountain region of North China and red soil hilly region of South China. The implementation effect in the black soil region of Northeast China suggests that improvement is needed in this region.