Purpose–The purpose of this paper is to investigate time-optimal control problems for multiple unmanned aerial vehicle(UAV)systems to achieve predefined flying shape.Design/methodology/approach–Two time-optimal prot...Purpose–The purpose of this paper is to investigate time-optimal control problems for multiple unmanned aerial vehicle(UAV)systems to achieve predefined flying shape.Design/methodology/approach–Two time-optimal protocols are proposed for the situations with or without human control input,respectively.Then,Pontryagin’s minimum principle approach is applied to deal with the time-optimal control problems for UAV systems,where the cost function,the initial and terminal conditions are given in advance.Moreover,necessary conditions are derived to ensure that the given performance index is optimal.Findings–The effectiveness of the obtained time-optimal control protocols is verified by two contrastive numerical simulation examples.Consequently,the proposed protocolscan successfully achieve the prescribed flying shape.Originality/value–This paper proposes a solution to solve the time-optimal control problems for multiple UAV systems to achieve predefined flying shape.展开更多
A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver's steering strategy. Based on this functio...A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver's steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control(HS) algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.展开更多
A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In thi...A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.展开更多
The increasing strength of new structural materials and the span of new structures, accompanied by aesthetic requirements for greater slenderness, are resulting in more applications of long-span structures. In this pa...The increasing strength of new structural materials and the span of new structures, accompanied by aesthetic requirements for greater slenderness, are resulting in more applications of long-span structures. In this paper, serviceability control technology and its design theory are studied. First, a novel tuned mass damper (TMD) with controllable stiffness is developed. Second, methods for modeling human-induced loads are proposed, including standing up, walking, jumping and running, and an analysis method for long-span floor response is proposed based on a finite element model. Third, a design method for long-span floors installed with a multiple TMD (MTMD) system considering human comfort is introduced, largely based on a study of existing literature. Finally, a design, analysis and field test is conducted using several large scale buildings in China including the Beijing Olympic Park National Conference Center, Changsha New Railway Station and the Xi'an Northern Railway Station. The analytical and field test results show that the MTMD system designed using the proposed method is capable of effectively mitigating the vertical vibration of long-span floor structures. The study presented in this paper provides an important reference for the analysis of vibration serviceability of similar long-span floors and design of control system for these structures.展开更多
In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems, fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human...In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems, fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human intelligent controller and the hardware with the single-chip microcomputer are designed and the anti-interference measures to the whole system are provided.展开更多
This paper presents some human-inspired strategies for lighting control in a robot system for best scene interpretation,where the main intention is to avoid possible glares or highlights occurring in images. It firstl...This paper presents some human-inspired strategies for lighting control in a robot system for best scene interpretation,where the main intention is to avoid possible glares or highlights occurring in images. It firstly compares the characteristics of human eyes and robot eyes. Then some evaluation criteria are addressed to assess the lighting conditions. A bio-inspired method is adopted to avoid the visual glare which is caused by either direct illumination from large light sources or indirect illumination reflected by smooth surfaces. Appropriate methods are proposed to optimize the pose and optical parameters of the light source and the vision camera.展开更多
This article introduced the vision building concept about human influenza pandemic prevention and control.Different visions were built by creating different shapes of building blocks which also represented different o...This article introduced the vision building concept about human influenza pandemic prevention and control.Different visions were built by creating different shapes of building blocks which also represented different organizations and physical facilities,respectively.The around-view reflection is required to be developed in the process of building so as to search for the ideal pattern.The correlation of all sectors and systems are established to combine different kinds of things,from one family to another,from communities,towns,counties,cities,rural areas, provinces to the state to handle trivial problems.These training objectives have been successfully accomplished,which has not only enriched the knowledge about prevention and control of influenza pandemic between different departments but also clarified the roles and responsibility. It lays the firm foundation for next cooperation between different departments,and make a bridge for the objective and choice of channel over human influenza pandemic prevention and control.展开更多
China is one of the countries with the most serious flooding disasters.In China,above 70% of big cities,50% of population and 75% of industrial and agricultural output value are distributed in eastern coastal areas wi...China is one of the countries with the most serious flooding disasters.In China,above 70% of big cities,50% of population and 75% of industrial and agricultural output value are distributed in eastern coastal areas with serious flooding.Therefore,enhancement of theoretical study and experience summarization of urban flood control is of great theoretical and practical significance.As economy is developing rapidly,urban scale is expanding fast,and urban flood control stand is promoted.Urban flood control calls for new concept and methods.This paper makes a systematic summarization of concept evolution and advanced methods concerning urban flood control at home and abroad.The concept of urban flood control has transformed from simple flood control and drainage to coexistence with and use of flood.Flood control measures have transferred form emphasis upon engineering ones to priority to both engineering and non-engineering ones,with special attention to ecological flood control,such as making full use of ecological revetment,ecological realignment of a river,multi-objective management of urban flood detention region,turning flood into resources and utilization of wetlands.展开更多
It has been known that there are at least three regulatory regions (NCR1. NCR2 and PCR) in the 5'-flanking sequence (from -610 bp to +1 bp) of human β-glohin geneand that the function of PCR is unique to the huma...It has been known that there are at least three regulatory regions (NCR1. NCR2 and PCR) in the 5'-flanking sequence (from -610 bp to +1 bp) of human β-glohin geneand that the function of PCR is unique to the human erythroleukemia (Ksfi2) ceils. Here we have detected a DNA-binding protein factor (termed NFEa) in K562 ceils. which can bind specifically to the PCR of human β-globin gene. The sequence of the binding site is 5'ACTGATG3' (between -222 bp and -216 bp). The NFEa is erythroidspecific and perhaps specific for K562 cells. It seemed that this factor differed from the erythroid-specific transcriptional factor (NFE-1) ,nsing competition assay. The presence of the NFEa further supported that the funciton of the cis-acting element PCR was specitic for K562 cells. and helps us to understand the mechauism of the regulation of the expression of lmman β-globin gene in the human K562 cells.展开更多
This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehi...This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.展开更多
The article discusses several hemispheres of human resource management based on a typical case review. The study presents the main problems of the case from both employees and organizations; the issued problems involv...The article discusses several hemispheres of human resource management based on a typical case review. The study presents the main problems of the case from both employees and organizations; the issued problems involve compensations and benefits,restructuring,job design,and training. Based on the analysis of the case,two alternative solutions state that the potential routes for the organizations to avoid serious negative results. The study introduces a number of recommendations that can be used as a reference for other organizations to avoid similar risks.展开更多
重组人生长激素(recombinant human growth hormone,rhGH)是改善身材矮小的有效治疗药物,目前rhGH可应用于包含生长激素缺乏症在内的多种原因导致的身材矮小,临床应用的扩展使其安全性问题备受关注。基于现有证据,当rhGH规范应用于生理...重组人生长激素(recombinant human growth hormone,rhGH)是改善身材矮小的有效治疗药物,目前rhGH可应用于包含生长激素缺乏症在内的多种原因导致的身材矮小,临床应用的扩展使其安全性问题备受关注。基于现有证据,当rhGH规范应用于生理性替代治疗时,其安全性较好。临床中,应用rhGH进行治疗期间可结合文献证据和临床经验重点关注短期安全性,长期安全性由于rhGH治疗时间不足尚无准确定论。该文梳理了在rhGH治疗过程中有可能出现的不良事件及其风险控制措施,旨在帮助临床医生了解rhGH治疗的整体安全性,改善临床规范化应用。展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos 61602163 and 61471163the Science Fund for Distinguished Young Scholars of Hubei Province under Grant No.2017CFA034the Natural Science Foundation of Hubei Province under 2016CFC735.The Hubei Education Department Science and Technology Research Program for young talents under Grant No.Q20182503.
文摘Purpose–The purpose of this paper is to investigate time-optimal control problems for multiple unmanned aerial vehicle(UAV)systems to achieve predefined flying shape.Design/methodology/approach–Two time-optimal protocols are proposed for the situations with or without human control input,respectively.Then,Pontryagin’s minimum principle approach is applied to deal with the time-optimal control problems for UAV systems,where the cost function,the initial and terminal conditions are given in advance.Moreover,necessary conditions are derived to ensure that the given performance index is optimal.Findings–The effectiveness of the obtained time-optimal control protocols is verified by two contrastive numerical simulation examples.Consequently,the proposed protocolscan successfully achieve the prescribed flying shape.Originality/value–This paper proposes a solution to solve the time-optimal control problems for multiple UAV systems to achieve predefined flying shape.
基金This project is supported by Key Technology R & D Program of China during the 10th 5-year Plan Period(No.2002BA404A21)State Key Laboratory of Automobile Safety and Energy, China(No.KF2005-004).
文摘A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver's steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control(HS) algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.
文摘A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.
基金National Natural Science Foundation of China Under Grant No.51178100Foundation of the Priority Sciences Development Program of Higher Education Institutions of Jiangsu Province Under Grant No.1105007001+1 种基金Teaching and Research Foundation for Excellent Young Teachers of Southeast University Under Grant No.3205001205Scientific Research Foundation the Scientific Research Foundation of Graduate School of Southeast University Under Grant No.YBJJ1006
文摘The increasing strength of new structural materials and the span of new structures, accompanied by aesthetic requirements for greater slenderness, are resulting in more applications of long-span structures. In this paper, serviceability control technology and its design theory are studied. First, a novel tuned mass damper (TMD) with controllable stiffness is developed. Second, methods for modeling human-induced loads are proposed, including standing up, walking, jumping and running, and an analysis method for long-span floor response is proposed based on a finite element model. Third, a design method for long-span floors installed with a multiple TMD (MTMD) system considering human comfort is introduced, largely based on a study of existing literature. Finally, a design, analysis and field test is conducted using several large scale buildings in China including the Beijing Olympic Park National Conference Center, Changsha New Railway Station and the Xi'an Northern Railway Station. The analytical and field test results show that the MTMD system designed using the proposed method is capable of effectively mitigating the vertical vibration of long-span floor structures. The study presented in this paper provides an important reference for the analysis of vibration serviceability of similar long-span floors and design of control system for these structures.
文摘In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems, fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human intelligent controller and the hardware with the single-chip microcomputer are designed and the anti-interference measures to the whole system are provided.
基金supported by the National Natural Science Foundation of China and Microsoft Research Asia ( No.NSFC-61173096 No.61103140),NCET+3 种基金the Science and Technology Department of Zhejiang Province ( No.R1110679 No.2010R10006 No.2010C33095 No.Y1090592)
文摘This paper presents some human-inspired strategies for lighting control in a robot system for best scene interpretation,where the main intention is to avoid possible glares or highlights occurring in images. It firstly compares the characteristics of human eyes and robot eyes. Then some evaluation criteria are addressed to assess the lighting conditions. A bio-inspired method is adopted to avoid the visual glare which is caused by either direct illumination from large light sources or indirect illumination reflected by smooth surfaces. Appropriate methods are proposed to optimize the pose and optical parameters of the light source and the vision camera.
基金supported by a grant form by the World Bank(FIo-016) for China capacity building for highly pathogenic avian influenza prevention and human pandemic influenza preparedness projectgranted by Australia, European Union,and other donor countries
文摘This article introduced the vision building concept about human influenza pandemic prevention and control.Different visions were built by creating different shapes of building blocks which also represented different organizations and physical facilities,respectively.The around-view reflection is required to be developed in the process of building so as to search for the ideal pattern.The correlation of all sectors and systems are established to combine different kinds of things,from one family to another,from communities,towns,counties,cities,rural areas, provinces to the state to handle trivial problems.These training objectives have been successfully accomplished,which has not only enriched the knowledge about prevention and control of influenza pandemic between different departments but also clarified the roles and responsibility. It lays the firm foundation for next cooperation between different departments,and make a bridge for the objective and choice of channel over human influenza pandemic prevention and control.
基金supported by the Ministry of Construction Project,the research of the Code for urban planning on flood control(GB50XXX-20XX)
文摘China is one of the countries with the most serious flooding disasters.In China,above 70% of big cities,50% of population and 75% of industrial and agricultural output value are distributed in eastern coastal areas with serious flooding.Therefore,enhancement of theoretical study and experience summarization of urban flood control is of great theoretical and practical significance.As economy is developing rapidly,urban scale is expanding fast,and urban flood control stand is promoted.Urban flood control calls for new concept and methods.This paper makes a systematic summarization of concept evolution and advanced methods concerning urban flood control at home and abroad.The concept of urban flood control has transformed from simple flood control and drainage to coexistence with and use of flood.Flood control measures have transferred form emphasis upon engineering ones to priority to both engineering and non-engineering ones,with special attention to ecological flood control,such as making full use of ecological revetment,ecological realignment of a river,multi-objective management of urban flood detention region,turning flood into resources and utilization of wetlands.
文摘It has been known that there are at least three regulatory regions (NCR1. NCR2 and PCR) in the 5'-flanking sequence (from -610 bp to +1 bp) of human β-glohin geneand that the function of PCR is unique to the human erythroleukemia (Ksfi2) ceils. Here we have detected a DNA-binding protein factor (termed NFEa) in K562 ceils. which can bind specifically to the PCR of human β-globin gene. The sequence of the binding site is 5'ACTGATG3' (between -222 bp and -216 bp). The NFEa is erythroidspecific and perhaps specific for K562 cells. It seemed that this factor differed from the erythroid-specific transcriptional factor (NFE-1) ,nsing competition assay. The presence of the NFEa further supported that the funciton of the cis-acting element PCR was specitic for K562 cells. and helps us to understand the mechauism of the regulation of the expression of lmman β-globin gene in the human K562 cells.
文摘This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.
文摘The article discusses several hemispheres of human resource management based on a typical case review. The study presents the main problems of the case from both employees and organizations; the issued problems involve compensations and benefits,restructuring,job design,and training. Based on the analysis of the case,two alternative solutions state that the potential routes for the organizations to avoid serious negative results. The study introduces a number of recommendations that can be used as a reference for other organizations to avoid similar risks.
文摘重组人生长激素(recombinant human growth hormone,rhGH)是改善身材矮小的有效治疗药物,目前rhGH可应用于包含生长激素缺乏症在内的多种原因导致的身材矮小,临床应用的扩展使其安全性问题备受关注。基于现有证据,当rhGH规范应用于生理性替代治疗时,其安全性较好。临床中,应用rhGH进行治疗期间可结合文献证据和临床经验重点关注短期安全性,长期安全性由于rhGH治疗时间不足尚无准确定论。该文梳理了在rhGH治疗过程中有可能出现的不良事件及其风险控制措施,旨在帮助临床医生了解rhGH治疗的整体安全性,改善临床规范化应用。