Adaptive Backstepping Slide Mode Control of Pneumatic Position Servo System

With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking

Generalized reduced-order synchronization of chaotic system based on fast slide mode

A new kind of generalized reduced-order synchronization of different chaotic systems is proposed in this paper. It is shown that dynamical evolution of third-order oscillator can be synchronized with the canonical projection of a fourth-order chaotic system generated through nonsingular states transformation from a cell neural net chaotic system. In this sense, it is said that generalized synchronization is achieved in reduced-order. The synchronization discussed here expands the scope of reduced-order synchronization studied in relevant literatures. In this way, we can achieve generalized reduced-order synchronization between many famous chaotic systems such as the second-order Drifting system and the third-order Lorenz system by designing a fast slide mode controller. Simulation results are provided to verify the operation of the designed synchronization.

Numerical analysis of downward progressive landslides in long natural slopes with sensitive clay

Landslides occurring in sensitive clay often result in widespread destruction,posing a significant risk to human lives and property due to the substantial decrease in undrained shear strength during deformation.Assessing the consequences of these landslides is challenging and necessitates robust numerical methods to comprehensively investigate their failure mechanisms.While studies have extensively explored upward progressive landslides in sensitive clays,understanding downward progressive cases remains limited.In this study,we utilised the nodal integration-based particle finite element method(NPFEM)with a nonlinear strain-softening model to analyse downward progressive landslides in sensitive clay on elongated slopes,induced by surcharge loads near the crest.We focused on elucidating the underlying failure mechanisms and evaluating the effects of different soil parameters and strainsoftening characteristics.The simulation results revealed the typical pattern for downward landslides,which typically start with a localised failure in proximity to the surcharge loads,followed by a combination of different types of failure mechanisms,including single flow slides,translational progressive landslides,progressive flow slides,and spread failures.Additionally,inclined shear bands occur within spread failures,often adopting distinctive ploughing patterns characterised by triangular shapes.The sensitive clay thickness at the base,the clay strength gradient,the sensitivity,and the softening rate significantly influence the failure mechanisms and the extent of diffused displacement.Remarkably,some of these effects mirror those observed in upward progressive landslides,underscoring the interconnectedness of these phenomena.This study contributes valuable insights into the complex dynamics of sensitive clay landslides,shedding light on the intricate interplay of factors governing their behaviour and progression.

基于Slide的研山铁矿高陡边坡稳定性分析

露天矿山边坡稳定性对采场安全生产至关重要。为探究边坡施工过程中的安全隐患,以研山铁矿高陡边坡为研究对象,考虑爆破震动及地震作用荷载,运用Slide二维边坡数值模拟软件对典型剖面进行稳定性计算。结果表明:在正常工况条件、爆破震动及地震作用下,边坡整体安全系数符合要求,整体处于稳定状态。但在爆破震动及地震作用下,边坡局部安全系数介于临界值,可能存在局部滑坡风险。为保证采场生产安全,提出了相应的边坡管理预防措施,为相关实践工作提供一定参考。

HIL testing of wheel slide protection systems:criteria for continuous updating and validation

Assessment of railway wheel slide protection(WSP) systems involves the execution of complex experimental activities that are quite expensive and time-consuming, since they involve the physical reproduction of degraded adhesion conditions on a real railway line. WSP is devoted to regulating applied braking forces to avoid excessive wheel sliding in case of degraded adhesion conditions between wheel and rail. WSP must be also compliant to safety specifications related to assured braking performances and consumed air. Hardware in the loop(HIL) testing offers an affordable and sustainable way to accelerate these activities optimizing cost, duration and safety of experimental activities performed online. HIL test rigs are subjected to continuous updates, customization and natural ageing of their components. This work investigates the criteria that can be adopted to assure a continuous monitoring and validation of a real WSP test rig, the Italian test rig of Firenze Osmannoro.

Predicting impact forces on pipelines from deep-sea fluidized slides:A comprehensive review of key factors

Deep-sea pipelines play a pivotal role in seabed mineral resource development,global energy and resource supply provision,network communication,and environmental protection.However,the placement of these pipelines on the seabed surface exposes them to potential risks arising from the complex deep-sea hydrodynamic and geological environment,particularly submarine slides.Historical incidents have highlighted the substantial damage to pipelines due to slides.Specifically,deep-sea fluidized slides(in a debris/mud flow or turbidity current physical state),characterized by high speed,pose a significant threat.Accurately assessing the impact forces exerted on pipelines by fluidized submarine slides is crucial for ensuring pipeline safety.This study aimed to provide a comprehensive overview of recent advancements in understanding pipeline impact forces caused by fluidized deep-sea slides,thereby identifying key factors and corresponding mechanisms that influence pipeline impact forces.These factors include the velocity,density,and shear behavior of deep-sea fluidized slides,as well as the geometry,stiffness,self-weight,and mechanical model of pipelines.Additionally,the interface contact conditions and spatial relations were examined within the context of deep-sea slides and their interactions with pipelines.Building upon a thorough review of these achievements,future directions were proposed for assessing and characterizing the key factors affecting slide impact loading on pipelines.A comprehensive understanding of these results is essential for the sustainable development of deep-sea pipeline projects associated with seabed resource development and the implementation of disaster prevention measures.

Three-dimensional CSAMT Forward Modeling of Potential Landslide Sliding Surfaces Using Finite Element Method

Landslides are a type of natural disaster that can cause substantial harm to humanity.Monitoring and predicting the initiation of potential landslides is critical to avoiding losses due to disasters and economic activities.The impact of the controlled-source audio-frequency magnetotelluric method on investigating landslide surfaces is assessed through numerical simulations with a finite element approach.A Dirichlet boundary condition is selected to match the truncated boundary,resulting in a remarkable improvement in simulation efficiency.Rederivation of the formulas for a layered medium adept to the controlled-source audiofrequency magnetotelluric method is necessary to determine the electromagnetic field at any location along the truncated boundary.After the reliability evaluation of the new codes,a landslide model with a slide surface is designed,and the characteristics of its electromagnetic field and the apparent resistivity are studied.Instead of the total electromagnetic field,which is strongly infl uenced by topography variation,the apparent resistivity should be used for sliding surface detection.The normalized pure anomalous electromagnetic field may also be employed to quickly assess the detectability of the sliding surface.Overall,this study demonstrates that the controlled-source audio-frequency magnetotelluric method can be employed for investigating landslides,and recommends survey parameters,including configuration,frequency range,and length of survey line in landslide exploration.

CrossLinkNet: An Explainable and Trustworthy AI Framework for Whole-Slide Images Segmentation

In the intelligent medical diagnosis area,Artificial Intelligence(AI)’s trustworthiness,reliability,and interpretability are critical,especially in cancer diagnosis.Traditional neural networks,while excellent at processing natural images,often lack interpretability and adaptability when processing high-resolution digital pathological images.This limitation is particularly evident in pathological diagnosis,which is the gold standard of cancer diagnosis and relies on a pathologist’s careful examination and analysis of digital pathological slides to identify the features and progression of the disease.Therefore,the integration of interpretable AI into smart medical diagnosis is not only an inevitable technological trend but also a key to improving diagnostic accuracy and reliability.In this paper,we introduce an innovative Multi-Scale Multi-Branch Feature Encoder(MSBE)and present the design of the CrossLinkNet Framework.The MSBE enhances the network’s capability for feature extraction by allowing the adjustment of hyperparameters to configure the number of branches and modules.The CrossLinkNet Framework,serving as a versatile image segmentation network architecture,employs cross-layer encoder-decoder connections for multi-level feature fusion,thereby enhancing feature integration and segmentation accuracy.Comprehensive quantitative and qualitative experiments on two datasets demonstrate that CrossLinkNet,equipped with the MSBE encoder,not only achieves accurate segmentation results but is also adaptable to various tumor segmentation tasks and scenarios by replacing different feature encoders.Crucially,CrossLinkNet emphasizes the interpretability of the AI model,a crucial aspect for medical professionals,providing an in-depth understanding of the model’s decisions and thereby enhancing trust and reliability in AI-assisted diagnostics.

Mixed-mode fast-slow oscillations in the frequency switching Duffing system with a 1:n frequency ratio

Sliding fast-slow oscillations are interesting oscillation patterns discovered recently in the Duffing system with frequency switching.Such oscillations have been obtained with a fixed 1:2 low frequency ratio in the previous work.The present paper aims to explore composite fast-slow dynamics when the frequency ratio is variable.As a result,a novel route to composite fast-slow dynamics is obtained.We find that,when presented with variable frequency ratios in a 1:n fashion,the sliding fast-slow oscillations may turn into the ones characterized by the fact that the clusters of large-amplitude oscillations of relaxational type are exhibited in each period of the oscillations,and hence the mixedmode fast-slow oscillations.Depending on whether the transition of the trajectory is from the upper subsystem via the fold bifurcation or not,these interesting oscillations are divided into two classes,both of which are investigated numerically.Our study shows that,when the frequency ratio n is increased from n=3,newly created boundary equilibrium bifurcation points may appear on the original sliding boundary line,which is divided into smaller parts,showing sliding and downward crossing dynamical characteristics.This is the root cause of the clusters,showing large-amplitude oscillations of relaxational type,resulting in the formation of mixed-mode fast-slow oscillations.Thus,a novel route to composite fast-slow dynamics by frequency switching is explained.Besides,the effects of the forcing on the mixed-mode fast-slow oscillations are explored.The magnitude of the forcing frequency may have some effects on the number of large-amplitude oscillations in the clusters.The magnitude of the forcing amplitude determines whether the fast-slow characteristics can be produced.

Asynchronous Learning-Based Output Feedback Sliding Mode Control for Semi-Markov Jump Systems: A Descriptor Approach

This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning technique.Compared with most literature results that require exact prior knowledge of system state and mode information,an asynchronous output-feedback sliding sur-face is adopted in the case of incompletely available state and non-synchronization phenomenon.The holonomic dynamics of the sliding mode are characterized by a descriptor system in which the switching surface is regarded as the fast subsystem and the system dynamics are viewed as the slow subsystem.Based upon the co-occurrence of two subsystems,the sufficient stochastic admissibility criterion of the holonomic dynamics is derived by utilizing the characteristics of cumulative distribution functions.Furthermore,a recursive learning controller is formulated to guarantee the reachability of the sliding manifold and realize the chattering reduction of the asynchronous switching and sliding motion.Finally,the proposed theoretical method is substantia-ted through two numerical simulations with the practical contin-uous stirred tank reactor and F-404 aircraft engine model,respectively.

Control system design for a pressure-tube-type supercritical water-cooled nuclear reactor via a higher order sliding mode method

Nuclear power plants exhibit non-linear and time-variable dynamics.Therefore,designing a control system that sets the reactor power and forces it to follow the desired load is complicated.A supercritical water reactor(SCWR)is a fourth-generation conceptual reactor.In an SCWR,the non-linear dynamics of the reactor require a controller capable of control-ling the nonlinearities.In this study,a pressure-tube-type SCWR was controlled during reactor power maneuvering with a higher order sliding mode,and the reactor outgoing steam temperature and pressure were controlled simultaneously.In an SCWR,the temperature,pressure,and power must be maintained at a setpoint(desired value)during power maneuvering.Reactor point kinetics equations with three groups of delayed neutrons were used in the simulation.Higher-order and classic sliding mode controllers were separately manufactured to control the plant and were compared with the PI controllers speci-fied in previous studies.The controlled parameters were reactor power,steam temperature,and pressure.Notably,for these parameters,the PI controller had certain instabilities in the presence of disturbances.The classic sliding mode controller had a higher accuracy and stability;however its main drawback was the chattering phenomenon.HOSMC was highly accurate and stable and had a small computational cost.In reality,it followed the desired values without oscillations and chattering.

基于SLIDE软件的某矿山排土场稳定性分析

为研究某矿山排土场稳定性,使用SLIDE软件,采用简化Bishop法、Janbu修正法和Spencer法对该排土场自然工况、降雨工况和地震工况下的安全系数进行计算。结果表明,该排土场边坡在自然和降雨工况下处于稳定,在地震工况下处于基本稳定,由此为该排土场将来的维护和治理作业提供了参考价值。

基于Slide2的某铁矿尾矿库坝体稳定性分析

尾矿库是冶金矿山的重要附属设施,一旦失事将造成严重的环境污染和重大损失,尾矿库安全的核心在于尾矿坝是否稳定。通过采用Slide2软件,根据岩土工程勘察资料,建立山西某铁矿尾矿库坝体典型剖面的二维数值模型,对坝体三种运行工况下的渗流稳定性和坝坡稳定性进行分析,以确定尾矿库的安全性,并分析Slide2软件应用于尾矿坝稳定性分析中的可靠性和功能性。

Observer Based Control for a Class of Systems with Output Deadzone Nonlinearity

In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics are utilized to adaptively estimate the deadzone parameter and a switching function is designed to eliminate the error produced in the adaptive observer dynamics. The overall design of the closed loop system ensures stability in the BIBO criterion.

基于Slide的Webdav服务器的设计与实现

描述了一个支持Webdav协议的文档管理系统，它以Apache的Jakarta项目组中的Slide模块为实现基础，任何支持Webdav协议的客户端都可以方便地使用该系统。

SLIDE在深基坑支护可靠性分析中的应用

基于可靠性分析理论,利用SLIDE软件,对某深基坑复合土钉支护进行了数值模拟,计算了安全系数和可靠性指标。结果表明:SLIDE是基坑可靠性分析的一种有效工具,可在考虑土层参数不确定性的条件下,得出基坑支护的可靠性指标。

ROBUST ADAPTIVE SLIDING MODE CONTROL FOR NONLINEAR UNCERTAIN NEUTRAL DELAY SYSTEM

Robust stabilization for a class of nonlinear uncertain neutral system with time-varying delay is investigated. By applying the Lyapunov stability theorem, an adaptive sliding mode controller （ADSMC） is developed.Based on the sliding mode control technique, the controller can drive the system into a pre-specified sliding hyperplane to obtain the desired dynamic performance. Once the system dynamics reaches the sliding plane, the control system is insensitive to uncertainty. The adaptive technique can overcome the unknown upper bound of uncertainty so that the reaching condition can be satisfied. Furthermore, the controller does not include any delayed state,so such an ADSMC is memoryless. Finally, a numerical example is given to verify the validity of the developed memoryless ADSMC and the globally asymptotic stability is guaranteed for the control scheme.

基于自适应滑模控制器的PMSM调速策略研究

为了提高永磁同步电机的调速性能,滑模控制逐渐取代PI控制被引入控制系统中。但是传统滑模控制中趋近律的趋近速度慢与固有抖振问题制约着滑模控制的发展,为此提出一种改进的滑模趋近律。首先,为了解决传统等速趋近律中趋近速度和抖振难以平衡的问题,在所提趋近律中引入系统状态变量,并在滑模增益中引入指数项,使其在保证趋近速度的同时抑制滑模抖振。其次,由于开关函数在零点附近具有不连续的特性,会引起滑模抖振,为此采用sat函数代替常规开关函数,能够在保证响应速度的前提下抑制滑模抖振。然后,基于所提趋近律,设计永磁同步电机的滑模速度控制器。最后,仿真和实验结果表明,所提趋近律可以提高永磁同步电机调速系统的控制性能。

支气管镜在儿童Slide气管成形术中的应用

目的 总结支气管镜在儿童Slide气管成形术中的作用。方法 回顾性分析2017—2020年湖南省人民医院收治的4例气管狭窄患儿的诊疗经过,总结支气管镜在Slide气管成形术术前评估、术中定位与测量及术后创面评估和治疗中的作用。结果 Slide气管成形术术前支气管镜评估显示,4例患儿中3例存在完全气管环,2例合并肺动脉吊带,2例存在多处狭窄。3例在该院完成Slide气管成形术,术中支气管镜下判断狭窄段中点及测量狭窄段长度,协助离断气管狭窄段,术后灌洗明确病原;1例外院Slide气管成形术术后9个月出现瘢痕牵拉,经支气管镜下介入治疗好转。2例术后第4天支气管镜下发现气管黏膜改变,调整治疗方案;2例术后1个月出现肉芽增生,经支气管镜下冷冻治疗好转。1例因吻合口坏死放弃治疗死亡,存活的3例随访6个月以上,预后可,但均存在气管支气管软化。结论 支气管镜可用于气管狭窄患儿Slide气管成形术的管理,有助于术后康复及随访。

基于Slide的某钨矿尾矿坝稳定性及概率分析

尾矿坝的稳定运行是钨矿山安全生产的重要保障。研究结合某钨矿尾矿库的工程地质特征,采用Slide软件建立坝体的概化模型,通过Bishop法计算尾矿坝在正常、洪水及特殊三种工况下的稳定性,结合瑞典条分法对坝体的抗滑稳定最小安全系数进行校核。同时运用概率分析法,对安全系数在服从正态分布及对数正态分布下开展可靠性指数的计算,并得出坝体的失效概率。综合分析坝体的稳定性和概率分析的结果,认为该尾矿坝在三种工况下能正常运行但存在洪水漫顶和地震液化的隐患,并针对隐患提出相应的整改建议。