Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

Observer-based dynamic event-triggered control for distributed parameter systems over mobile sensor-plus-actuator networks

We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.

Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems

This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.

Normothermic regional perfusion mobile teams in controlled donation after circulatory death pathway: Evidence and peculiarities

To facilitate the implementation of controlled donation after circulatory death(cDCD)programs even in hospitals not equipped with a local Extracorporeal Membrane Oxygenation(ECMO)team(Spokes),some countries and Italian Regions have launched a local cDCD network with a ECMO mobile team who move from Hub hospitals to Spokes for normothermic regional perfusion(NRP)implantation in the setting of a cDCD pathway.While ECMO teams have been clearly defined by the Extracorporeal Life Support Organization,regarding composition,responsibilities and training programs,no clear,widely accepted indications are to date available for NRP teams.Although existing NRP mobile networks were developed due to the urgent need to increase the number of cDCDs,there is now the necessity for transplantation medicine to identify the peculiarities and responsibility of a NRP team for all those centers launching a cDCD pathway.Thus,in the present manuscript we summarized the character-istics of an ECMO mobile team,highlighting similarities and differences with the NRP mobile team.We also assessed existing evidence on NRP teams with the goal of identifying the characteristic and essential features of an NRP mobile team for a cDCD program,especially for those centers who are starting the program.Differences were identified between the mobile ECMO team and NRP mobile team.The common essential feature for both mobile teams is high skills and experience to reduce complications and,in the case of cDCD,to reduce the total warm ischemic time.Dedicated training programs should be developed for the launch of de novo NRP teams.

In-situ pressure-preserved coring for deep exploration:Insight into the rotation behavior of the valve cover of a pressure controller

In-situ pressure-preserved coring(IPP-Coring)is considered to be the most reliable and efficient method for the identification of the scale of oil and gas resources.During IPP-Coring,because the rotation behavior of the pressure controller valve cover in different medium environments is unclear,interference between the valve cover and inner pipe may occur and negatively affect the IPP-Coring success rate.To address this issue,we conducted a series of indoor experiments employing a high-speed camera to gain greater insights into the valve cover rotation behavior in different medium environments,e.g.,air,water,and simulated drilling fluids.The results indicated that the variation in the valve cover rotation angle in the air and fluid environments can be described by a one-phase exponential decay function with a constant time parameter and by biphasic dose response function,respectively.The rotation behavior in the fluid environments exhibited distinct elastic and gravitational acceleration zones.In the fluid environments,the density clearly impacted the valve cover closing time and rotation behavior,whereas the effect of viscosity was very slight.This can be attributed to the negligible influence of the fluid viscosity on the drag coefficient found in this study;meanwhile,the density can increase the buoyancy and the time period during which the valve cover experienced a high drag coefficient.Considering these results,control schemes for the valve cover rotation behavior during IPP-Coring were proposed for different layers and geological conditions in which the different drilling fluids should be used,e.g.,the use of a high-density valve cover in high-pore pressure layers.

A Multi-mode Electronic Load Sensing Control Scheme with Power Limitation and Pressure Cut-off for Mobile Machinery

In mobile machinery,hydro-mechanical pumps are increasingly replaced by electronically controlled pumps to improve the automation level,but diversified control functions(e.g.,power limitation and pressure cut-off)are integrated into the electronic controller only from the pump level,leading to the potential instability of the overall system.To solve this problem,a multi-mode electrohydraulic load sensing(MELS)control scheme is proposed especially considering the switching stability from the system level,which includes four working modes of flow control,load sensing,power limitation,and pressure control.Depending on the actual working requirements,the switching rules for the different modes and the switching direction(i.e.,the modes can be switched bilaterally or unilaterally)are defined.The priority of different modes is also defined,from high to low:pressure control,power limitation,load sensing,and flow control.When multiple switching rules are satisfied at the same time,the system switches to the control mode with the highest priority.In addition,the switching stability between flow control and pressure control modes is analyzed,and the controller parameters that guarantee the switching stability are obtained.A comparative study is carried out based on a test rig with a 2-ton hydraulic excavator.The results show that the MELS controller can achieve the control functions of proper flow supplement,power limitation,and pressure cut-off,which has good stability performance when switching between different control modes.This research proposes the MELS control method that realizes the stability of multi-mode switching of the hydraulic system of mobile machinery under different working conditions.

Novel ARC-Fuzzy Coordinated Automatic Tracking Control of Four-Wheeled Mobile Robot

Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure.The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots.However,there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion.As a result,the mobile robot has lim-ited performance,such as chattering during curved movement.In this research work,a three-tiered adaptive robust control with fuzzy parameter estimation,including dynamic modeling,direct torque control and wheel slip control is pro-posed.Fuzzy logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller(ARC)parameters and tracking the trajectories with less tracking error as well as high tracking accuracy.This research considers the O type and 8 type trajectories for performance analysis of the proposed novel control technique.Our suggested approach outperforms the existing control methods such as Fuzzy,proportional–integral–derivative(PID)and adaptive robust controller with discrete projection(ARC–DP).The experimental results show that the scheduled performance index decreases by 2.77%and 4.76%.All the experimen-tal simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches.

Interference management via access control and mobility prediction in two-tier heterogeneous networks

Abstract： Two-tier heterogeneous networks （HetNets）, where the current cellular networks, i.e., macrocells, are overlapped with a large number of randomly distributed femtocells, can potentially bring significant benefits to spectral utilization and system capacity. The interference management and access control for open and closed femtocells in two-tier HetNets were focused. The contributions consist of two parts. Firstly, in order to reduce the uplink interference caused by MUEs （macrocell user equipments） at closed femtocells, an incentive mechanism to implement interference mitigation was proposed. It encourages femtoeells that work with closed-subscriber-group （CSG） to allow the interfering MUEs access in but only via uplink, which can reduce the interference significantly and also benefit the marco-tier. The interference issue was then studied in open-subscriber-group （OSG） femtocells from the perspective of handover and mobility prediction. Inbound handover provides an alternative solution for open femtocells when interference turns up, while this accompanies with PCI （physical cell identity） confusion during inbound handover. To reduce the PCI confusion, a dynamic PCI allocation scheme was proposed, by which the high handin femtocells have the dedicated PCI while the others share the reuse PCIs. A Markov chain based mobility prediction algorithm was designed to decide whether the femtoeell status is with high handover requests. Numerical analysis reveals that the UL interference is managed well for the CSG femtocell and the PCI confusion issue is mitigated greatly in OSG femtocell compared to the conventional approaches.

Gas/water foams stabilized with a newly developed anionic surfactant for gas mobility control applications

Carbon dioxide(CO2) flooding is one of the most globally used EOR processes to enhance oil recovery.However,the low gas viscosity and density result in gas channeling and gravity override which lead to poor sweep efficiency.Foam application for mobility control is a promising technology to increase the gas viscosity,lower the mobility and improve the sweep efficiency in the reservoir.Foam is generated in the reservoir by co-injection of surfactant solutions and gas.Although there are many surfactants that can be used for such purpose,their performance with supercritical CO2(ScCO2) is weak causing poor or loss of mobility control.This experimental study evaluates a newly developed surfactant(CNF) that was introduced for ScCO2 mobility control in comparison with a common foaming agent,anionic alpha olefin sulfonate(AOS) surfactant.Experimental work was divided into three stages:foam static tests,interfacial tension measurements,and foam dynamic tests.Both surfactants were investigated at different conditions.In general,results show that both surfactants are good foaming agents to reduce the mobility of ScCO2 with better performance of CNF surfactant.Shaking tests in the presence of crude oil show that the foam life for CNF extends to more than 24 h but less than that for AOS.Moreover,CNF features lower critical micelle concentration(CMC),higher adsorption,and smaller area/molecule at the liquid-air interface.Furthermore,entering,spreading,and bridging coefficients indicate that CNF surfactant produces very stable foam with light crude oil in both deionized and saline water,whereas AOS was stable only in deionized water.At all conditions for mobility reduction evaluation,CNF exhibits stronger flow resistance,higher foam viscosity,and higher mobility reduction factor than that of AOS surfactant.In addition,CNF and ScCO2 simultaneous injection produced 8.83% higher oil recovery than that of the baseline experiment and 7.87% higher than that of AOS.Pressure drop profiles for foam flooding using CNF was slightly higher than that of AOS indicating that CNF is better in terms of foam-oil tolerance which resulted in higher oil recovery.

Mobility of Various Intervariant Interfaces in 18R Martensite in a Cu-Zn-Al Alloy Part Ⅰ: In-situ Observations

The motion of intervariant intedeces under the action of applied stress in the internally faulted 18R martensite in a Cu-Zn-Al shape memory alloy has been studied. Transmission electron microscopy in situ observations show that the interfaces between 24 martensite variants have different reaction to applied stress. The A/C type and A/B type interfaces have good mobil-ity, the A/D type interface has bad mobiIity, and the different-group-intervariant interfaces are basically immobile.

Enhancement of a foaming formulation with a zwitterionic surfactant for gas mobility control in harsh reservoir conditions

This work presents the design of a robust foam formulation that tolerates harsh reservoir conditions(high salinity,high divalent ion concentration,high temperature,light oil,and hydrocarbon injection gas)in a sandstone reservoir.For this,we selected anionic Alpha Olefin Sulfonate(AOS)surfactants and studied their synergistic effects in mixtures with zwitterionic betaines to enhance foam performance.The laboratory workflow used to define the best formulation followed a de-risking approach in three consecutive phases.First,(phase 1)the main surfactant(AOS)was selected among a series of commercial candidates in static conditions.Then,(phase 2)the betaine booster to be combined with the previously selected AOS was chosen and their ratio optimized in static conditions.Subsequently,(phase 3)the surfactant/booster ratio was optimized under dynamic conditions in a porous medium in the absence and the presence of oil.As a result of this study,a mixture of an AOS C14-C16 and cocamidopropyl hydroxysultaine(CAPHS)was selected as the one having the best performance.The designed formulation was proven to be robust in a wide range of conditions.It generated a strong and stable foam at reservoir conditions,overcoming variations in salinity and foam quality,and tolerated the presence of oil.

Mechanism analysis of regulating Turing instability and Hopf bifurcation of malware propagation in mobile wireless sensor networks

A dynamical model is constructed to depict the spatial-temporal evolution of malware in mobile wireless sensor networks(MWSNs). Based on such a model, we design a hybrid control scheme combining parameter perturbation and state feedback to effectively manipulate the spatiotemporal dynamics of malware propagation. The hybrid control can not only suppress the Turing instability caused by diffusion factor but can also adjust the occurrence of Hopf bifurcation induced by time delay. Numerical simulation results show that the hybrid control strategy can efficiently manipulate the transmission dynamics to achieve our expected desired properties, thus reducing the harm of malware propagation to MWSNs.

A Practical Study of Intelligent Image-Based Mobile Robot for Tracking Colored Objects

Object tracking is one of the major tasks for mobile robots in many real-world applications.Also,artificial intelligence and automatic control techniques play an important role in enhancing the performance of mobile robot navigation.In contrast to previous simulation studies,this paper presents a new intelligent mobile robot for accomplishing multi-tasks by tracking red-green-blue(RGB)colored objects in a real experimental field.Moreover,a practical smart controller is developed based on adaptive fuzzy logic and custom proportional-integral-derivative(PID)schemes to achieve accurate tracking results,considering robot command delay and tolerance errors.The design of developed controllers implies some motion rules to mimic the knowledge of experienced operators.Twelve scenarios of three colored object combinations have been successfully tested and evaluated by using the developed controlled image-based robot tracker.Classical PID control failed to handle some tracking scenarios in this study.The proposed adaptive fuzzy PID control achieved the best accurate results with the minimum average final error of 13.8 cm to reach the colored targets,while our designed custom PID control is efficient in saving both average time and traveling distance of 6.6 s and 14.3 cm,respectively.These promising results demonstrate the feasibility of applying our developed image-based robotic system in a colored object-tracking environment to reduce human workloads.

Demagnetization Analysis and Velocity Tracking Control of In-wheel Motor

The error caused by irreversible demagnetization damages the accurate velocity tracking of an in-wheel motor in a mobile robot.A current feedforward vector control system based on ESO is proposed to compensate it for the demagnetization motor.A demagnetization mathematical model is established to describe a permanent magnet synchronous motor,which took the change of permanent magnet flux linkage parameters as a factor to count the demagnetization error in velocity tracking.The uncertain disturbance estimation model of the control system is built based on ESO,which eliminates the system error by the feedforward current compensation.It is compared with the vector control method in terms of control accuracy.The simulation results show that the current feedforward vector control method based on ESO reduces the velocity tracking error greatly in conditions of motor demagnetization less than 30%.It is effective to improve the operation accuracy of the mobile robot.

Association between glucose levels of children with type 1 diabetes and parental economic status in mobile health application

BACKGROUND The glycemic control of children with type 1 diabetes(T1D)may be influenced by the economic status of their parents.AIM To investigate the association between parental economic status and blood glucose levels of children with T1D using a mobile health application.METHODS Data from children with T1D in China's largest T1D online community,Tang-TangQuan■.Blood glucose levels were uploaded every three months and parental economic status was evaluated based on annual household income.Children were divided into three groups:Low-income(<30000 Yuan),middle-income(30000-100000 Yuan),and high-income(>100000 yuan)(1 Yuan=0.145 United States Dollar approximately).Blood glucose levels were compared among the groups and associations were explored using Spearman’s correlation analysis and multivariable logistic regression.RESULTS From September 2015 to August 2022,1406 eligible children with T1D were included(779 female,55.4%).Median age was 8.1 years(Q1-Q3:4.6-11.6)and duration of T1D was 0.06 years(0.02-0.44).Participants were divided into three groups:Low-income(n=320),middle-income(n=724),and high-income(n=362).Baseline hemoglobin A1c(HbA1c)levels were comparable among the three groups(P=0.072).However,at month 36,the low-income group had the highest HbA1c levels(P=0.036).Within three years after registration,glucose levels increased significantly in the low-income group but not in the middle-income and high-income groups.Parental economic status was negatively correlated with pre-dinner glucose(r=-0.272,P=0.012).After adjustment for confounders,parental economic status remained a significant factor related to pre-dinner glucose levels(odds ratio=13.02,95%CI:1.99 to 126.05,P=0.002).CONCLUSION The blood glucose levels of children with T1D were negatively associated with parental economic status.It is suggested that parental economic status should be taken into consideration in the management of T1D for children.

Foaming supramolecular surfactants for gas mobility control in naturally fractured carbonate reservoirs at high temperature,salinity,and hardness

Oil production and mainte nance are essential issues in naturally fractured reservoirs because they are the largest and most productive on earth.However,they present early water and gas channeling but could be remediated by using foaming agents to control these phenomena through blocking channeling areas.In Mexico these reservoirs have pressure up to 5,500 psi,high temperature up to 200℃,salinity up to400,000 ppm,and hardness up to 250,000 ppm;due to these thermodynamic conditions,there has been no available technology to form stable enough foams.In this work,a foaming supramolecular surfactant with the capability to chelate Ca^(2+)ions is examined.As a result,surfactant monomers are bridged by captured Ca^(2+)cations leading to the formation of high-molecular-weight oligomers,which significantly increment the viscosity of the solution improving the foam stability,and since at this manner the Ca2+cations are no longer available to precipitate as components of solid salts,the foaming supramolecular surfactant also performs as antiscalant.These observations are explained through quantum theoretical modeling.The foam is stable,effectively blocking the gas channels,whereas in presence of oil the foam is broken leading the oil to pass into the wellbore.The characteristic rheological properties of the foam allow its injection into the formation at a range of flow rates,foam qualities,and shear stress to achieve the flooding and the blocking of a variety of fractured carbonate formations,and the change of the wettability of the matrix,which is a desirable behavior in a huff and puff process,as reported in a previous publication about a successful pilot test of this foam.

Mobility Conscious Medium Access Control Scheme for Wireless Sensor Networks: A Conceptual Approach

Mobility in Wireless Sensor Network (WSN) presents distinctive challenges in Medium Access Control (MAC) scheme. Numerous MAC protocols for sensor networks assume that sensor nodes are static and focus primarily on energy efficiency. This work seeks to develop an improved mobility conscious medium access control scheme for wireless sensor networks with a view to enhance energy conservation on mobile sensor nodes. On this note, mobility patterns of different scenarios are modelled using Gauss Markov Mobility Model (GMMM) to determine the position and distance of the sensor nodes and how they are correlated in time.

Adaptive and distance-driven power control scheme in mobile ad hoc networks

In order to save the energy and reduce the latency of the end-to-end transmission in mobile ad hoc networks an adaptive and distance-driven power control ADPC scheme is proposed by means of distance research in random geometrics. Through mathematical proof the optimal number of relay nodes and the optimal location of each node for data transmission can be obtained when a distance is given.In the ADPC first the source node computes the optimal number and the sites of the relay nodes between the source and the destination nodes.Then it searches feasible relay nodes around the optimal virtual relay-sites and selects one link with the minimal total transmission energy consumption for data transmission.Simulation results show that the ADPC can reduce both the energy dissipation and the end-to-end latency of the transmission.

Admission Control Based on QoS for Third Generation Broadband Mobile Communication Systems

In this paper, a novel admission scheme is proposed which provides high degrees of quality of service (QoS) guarantees for multimedia traffic carried in mobile networks. The proposed scheme combines the admission control and bandwidth reservation to guarantee QoS requirements. It considers both local information and remote information to determine whether to accept or reject a connection. In order to embody the characteristics of the algorithms proposed in the article, two traditional algorithms of admission control are used for comparison. In the end of the paper the simulation analyses are given and the results show that the proposed algorithm can adjust the bandwidth according to the current status of networks and decrease the probability of connections forcibly dropped. The most important thing is that the algorithm is based on the multimedia communications and can guarantee the QoS of real time connections through decreasing the bandwidth of non real time connections.