Time-optimal control of multiple unmanned aerial vehicles with human control input

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.

HUMAN-SIMULATING VEHICLE STEERING CONTROL ALGORITHM

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.

Human Interaction Dynamics for Its Use in Mobile Robotics:Impedance Control for Leader-follower Formation

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.

Investigations on serviceability control of long-span structures under human-induced excitation

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.

Human Resource Controlling and Human Resource Management： Practice of Small and Medium-Sized Building Companies in the Czech Republic

The aim of this paper is to define the nature, present the possibilities, and discuss the problems of using human resource controlling in small and medium-sized building companies. This paper is based on the assumption that expedient human resource controlling is an effective human resource management tool that achieves the required performance of employees and expected competitiveness of a building company. This paper uses the results of a questionnaire survey conducted in November 2013 to analyze human resource management in building companies in the Czech Republic and specify the organization and conditions of human resource management. Some 81 small （less than 50 employees） and 66 medium-sized （50-249 employees） building companies operating in the Czech Republic took part in the questionnaire survey. The results of the questionnaire survey showed the lack of concept and random nature of human resource management in most small and medium-sized building companies. Of course, in terms of the present economic trend, it is above all important for small and medium-sized companies to develop their adaptability to the building market and to be able to deal with a variety of construction works. It is effective human resource management supported by expedient human resources that serves this purpose.

Fuzzy Simulation Human Intelligent Control System Design on Gyratory Breaker

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.

Theoretical and practical exploration of vision building in human influenza pandemic prevention & control

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.

考虑人机信任匹配的人机协同控制策略

人机互信水平是影响人机协同系统表现的关键因素之一。提出了一种考虑人机信任匹配的主从博弈协同控制策略。建立评估驾驶人和机器相互信任程度的方法,在此基础上根据人机信任匹配程度进行协同驾驶中的权重分配;采用模型预测控制框架并结合主从博弈进行最优化求解,得出最优的协同控制策略;通过驾驶人在环实验,验证了所提出的协同控制策略的有效性。结果表明,对于不同信任匹配程度的驾驶人,所提出的策略使得驾驶人路径跟踪精度平均提高了70.91%,驾驶负担平均降低了44.03%。所提出的策略能提升车辆的驾驶表现,减轻驾驶人操作负担。

Fractional Order Modeling of Human Operator Behavior with Second Order Controlled Plant and Experiment Research

Modeling human operator's dynamics plays a very important role in the manual closed-loop control system, and it is an active research area for several decades. Based on the characteristics of human brain and behavior, a new kind of fractional order mathematical model for human operator in single-input single-output (SISO) systems is proposed. Compared with the traditional models based on the commonly used quasilinear transfer function method or the optimal control theory method, the proposed fractional order model has simpler structure with only few parameters, and each parameter has explicit physical meanings. The actual data and experiment results with the second-order controlled plant illustrate the effectiveness of the proposed method. © 2014 Chinese Association of Automation.

基于模糊控制的上肢康复机器人变导纳控制

传统固定参数的导纳模型无法对上肢康复机器人的柔顺性实时调节,而现有变参数导纳模型需要结合实际康复需求进行改善。为此,以自主研发的串并混联的末端牵引式上肢康复机器人为研究对象,结合模糊控制与导纳控制,提出了一种面向实际康复需求的新型变导纳控制策略,制定了4条有利于康复效率与安全的模糊规则。该策略利用交互力误差及其变化率作为模糊控制输入,实时改变导纳模型的参数,实现柔顺性自主调节。仿真和实验结果验证了所提出的变导纳模型控制策略可行性和所制定的4条模糊规则的有效性。在患者可适应训练强度的场景中,相较于固定导纳模型,变导纳模型追踪给定路径时产生的冗余路径最多可降低56.13%,提高了康复训练效率;当康复运动超出患者可承受范围时,变导纳模型可提前0.5 s改变追踪路径,提高了康复的安全性。

Matlab Based Human & Hardware-in-Loop Simulation for the Study on Vehicle Stability Control

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.

Human Resource Management:A Case Study of the Air Traffic Controller Strike in 1981

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.

有意义人类控制(MHC)在AI影视创作中的探索与应用

当前AI工具存在自动化程度过高、人类控制不足造成生成结果可控性差的问题,成为其应用于专业影视创作的主要壁垒。本文通过总结自主视频生成流程“墨池”(Inkstone)设计与应用中的经验,结合人工智能(AI)与自动化领域的有意义人类控制(Meaningful Human Con⁃trol,MHC)概念,对比了三种不同的自动化工具设计思路,分析了基于MHC的AI影视创作流程和工具开发具体方式,以及目前加强人类控制的若干可行技术路径。研究表明,加强AI训练和生成过程中的MHC,有望在发挥AI工具优势的前提下,对生成内容进行准确控制,从而使创作能够体现艺术家意图,适应专业影视创作需求。

基于病症模型的经方四妙丸防治高尿酸血症痛风的药效物质探讨

目的探索经方四妙丸防治高尿酸血症痛风的药效物质。方法建立高尿酸血症药理模型,采用超高效液相色谱串联四极杆静电场轨道阱质谱联用技术(UPLC-Q-Exactive-MS)分析四妙丸体内外化学成分;以入血成分为基础,采用网络药理学构建四妙丸调控高尿酸血症痛风“活性成分-靶点-通路”网络;以关键活性成分与高尿酸血症痛风关键靶点尿酸生成酶(XDH),尿酸转运体(ABCG2、GLUT9、OAT1、URAT1)及炎症靶点(PTGS2、TLR2、TLR4)进行分子对接,根据对接结果进行实验验证,探讨四妙丸防治高尿酸血症痛风的关键药效物质。结果UPLC-Q-Exactive-MS法共鉴定四妙丸89个成分,包含74个入血成分,即候选成分;网络药理学构建了“入血成分-靶点-通路”网络,入血成分匹配116个高尿酸靶点和173痛风靶点,涉及调节糖脂代谢、氧化应激、炎症反应、ERK1、ERK2和MAPK级联反应、PI3K信号传导等生物过程;调节血脂与动脉粥样硬化、凋亡、AGE-RAGE、TNF、PI3K-Akt、MAPK、TLRs、JAK-STAT、NF-κB等信号通路,发挥多途径调控高尿酸血症痛风疾病网络的作用。分子对接研究表明小檗碱、黄柏碱、木兰花碱、药根碱、巴马汀、黄柏酮、柠檬苦素、苍术素、花旗松素、白术内酯Ⅲ及β-蜕皮甾酮等成分与尿酸合成酶、尿酸转运体及炎症靶点的亲和力良好,Western Blot验证发现花旗松素具有负调节尿酸盐转运蛋白1(URAT1)表达的作用,其是四妙丸防治高尿酸血症痛风的主要药效物质。结论该研究阐述了四妙丸调控高尿酸血症痛风的主要药效物质,可为四妙丸临床应用、质量评价和标准提升提供科学依据。

基于双传感器的枕式包装机速度自动调节系统

包装机速度调节系统存在进入稳态耗时长、稳态误差大和调节精度低的问题,导致产品破损率高,提出基于双传感器的枕式包装机速度自动调节系统。系统硬件采用温度传感器和位置传感器,结合可编程逻辑控制器(Programmable Logic Controller,PLC)转换和调配各个机构的速度,实现包装机速度自动调节;系统软件采用等时间原则,确定包装盒传输到封端位置和温度的时间,从而匹配速度,根据齿轮传动原理确定速度变化量,实现枕式包装机速度自动调节。实验结果表明,设计系统进入稳态的耗时仅为20 s,包装破损率均低于7.5%,该系统减小了超调量、缩短耗时、提高控制精度,降低了不同尺寸产品包装破损率,具有较好的通用性和可靠性。

基于扇区开合的管制员排班优化

为提高管制员的利用效率和工作满意度,制定出更切合实际运行的管制员排班表,从管制工作的实际需要出发,以人员需求数量最少为目标,在符合民航局各种规章要求的基础上,建立管制员排班模型。在初始模型的基础上,又考虑了人员对工作及休息时间的个性化需求,对模型进行改进。最后以某空中交通管理局区域管制室管制员数据为例进行分析,使用LINGO求解器对模型进行求解。结果表明:与手工编制的排班时间表相比,通过排班优化模型制定出的排班方案减少了执勤人数,避免了人员浪费,并能较为充分地满足管制员的个性化需求。

重组人生长激素临床应用的安全性思考

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。

基于逆模型预测控制的拟人驾驶控制

本文提出一种基于逆模型预测控制的拟人驾驶控制方法,利用模型预测控制产生的实轴轨迹与真实轨迹的损失函数更新控制模块代价函数的权重系数实现拟人化驾驶控制。将拟人驾驶控制构建成一个双层优化问题,在下层利用模型预测控制求解一个典型的最优控制问题产生实轴驾驶轨迹,在上层最小化所产生的实轴轨迹和真实驾驶轨迹的误差更新下层代价函数的权重系数,基于极大值微分原理构造辅助系统求解实轴轨迹关于代价函数权重系数的梯度。实车采集真实驾驶轨迹并进行模仿测试与泛化验证,结果表明:本文所提出的方法相比于两类基于虚轴轨迹的逆最优控制方法,在3个工况下与真实驾驶轨迹最大误差分别平均降低了73.52%和65.03%,驾驶行为更加拟人化,且具备泛化性能。

企业数字化转型的劳动收入分配效应研究

在数字经济和双循环新发展格局大背景下,基于企业数字化转型视角探究收入分配问题具有重要的意义。借助2007—2021年A股上市公司数据实证检验企业数字化转型对劳动收入份额的影响效应,研究结果表明:第一,企业数字化转型有助于提升劳动收入份额,且该结论具有稳健性;第二,融资约束效应、人力资本结构效应及内部控制效应是企业数字化转型提升劳动收入份额的重要渠道;第三,企业数字化转型的劳动收入分配效应存在行业、所有制、科技属性方面的异质性,且对劳动密集型企业、非国有企业及高科技企业产生明显偏好;第四,企业数字化转型存在劳动收入份额提升与企业高质量发展的双重效应,实现了员工福利与企业发展的互利共赢。研究结论可以在微观层面上提供关于技术进步对劳动收入份额影响的证据,为新时期收入分配结构的优化提供了决策参考。

农用地土壤重金属来源解析与健康风险空间分异特征研究——以重庆市巫山县笃坪乡为例

【目的】探明长江上游地区农用地土壤重金属来源及生态风险状况,进行人体健康风险空间分析,有助于提出有效的土壤重金属污染防治建议。【方法】以重庆市巫山县笃坪乡为研究对象,采集表层土壤样品(深度0~20 cm)45件,基于主成分分析/绝对主成分分数(PCA/APCS)受体模型进行土壤重金属(Cd、Hg、Pb、As和Cr)来源定量分析,通过人体健康风险评价模型进行人体健康风险评价,利用地统计法进行人体健康风险空间分析,得出不同区域的风险等级及影响因素,并针对性地提出风险管控建议。【结果】(1)研究区土壤Cd、Hg、Pb、As、Cr平均含量分别是重庆市土壤背景值的10.67、3.18、1.03、2.05、4.22倍,土壤重金属含量存在显著异常;(2)土壤综合环境质量优先保护类、安全利用类和严格管控类点位占比分别为2.23%、44.44%和53.33%,主要影响因子为Cd和Cr,土壤以酸性为主,对农产品质量安全及土壤生态环境的风险较高;(3)土壤Cd含量主要受到农业活动和成土母质的影响,贡献率分别为58.55%和30.30%,土壤Hg和Cr含量主要受到成土母质的影响,贡献率分别为71.55%和75.41%,土壤As含量主要受到农业活动的影响,贡献率为63.12%,土壤Pb含量主要受到道路交通的影响,贡献率为90.90%;(4)成人非致癌健康风险指数HI>1的点位占比为6.67%,总体健康风险较低,高风险区集中在研究区北部和中部地区,主要影响因子为Cr;农业活动与道路交通贡献率的高值区主要分布在研究区北部。【结论】建议研究区加强对农业投入品的监测,积极开展有机肥代替等化肥减量措施,推广使用电动农用车,减少由于农业活动对土壤重金属的输入。