Optimal Control of a Universal Rotating Magnetic Vector for Petal-shaped Capsule Robot in Curve Environment

Steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely.A petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented,and an optimization method with two processes for determining the orientation of a pre-applied universal magnetic spin vector is proposed.To realize quick and non-contact steering swimming,a fuzzy comprehensive evaluation method for optimizing the steering driving angle is presented based on two evaluation indexes including the average steering speed and the average steering trajectory deviation,achieving the initial optimal orientation of a universal magnetic spin vector.To further reduce robotic magnetic vibration,a main target method for optimizing its final orientation,which is used for fine adjustment,is employed under the constrains of the magnetic moments.Swimming experimental results in curve pipe verified the effectiveness of the optimization method,which can be effectively used to realize non-contact steering swimming of the petal-shaped robot and reduce its vibration.

Synthesis of Water Utilization System Using Concentration Interval Analysis Method （ Ⅰ ） Non-Mass-Transfer-Based Operation

A strategy for water and wastewater minimization is developed for continuous water utilization systems involving fixed flowrate(non-mass-transfer-based)operations,based on the fictitious operations that is introduced to represent the water losing and/or generating operations and a modified concentration interval analysis(MCIA) technique.This strategy is a simple,nongraphical,and noniterative procedure and is suitable for the quick yields of targets and the identification of pinch point location.Moreover,on the basis of the target method,a heuristic-based approach is also presented to generate water utilization networks,which could be demonstrated to be optimum ones. The proposed approaches are illustrated with example problems.

Multi-objective optimization of gradient coil for benchtop magnetic resonance imaging system with high-resolution

Significant high magnetic gradient field strength is essential to obtaining high-resolution images in a benchtop mag- netic resonance imaging （BT-MRI） system with permanent magnet. Extending minimum wire spacing and maximum wire width of gradient coils is one of the key solutions to minimize the maximum current density so as to reduce the local heating and generate higher magnetic field gradient strength. However, maximum current density is hard to optimize together with field linearity, stored magnetic energy, and power dissipation by the traditional target field method. In this paper, a new multi-objective method is proposed to optimize the maximum current density, field linearity, stored magnetic energy, and power dissipation in MRI gradient coils. The simulation and experimental results show that the minimum wire spacings are improved by 159% and 62% for the transverse and longitudinal gradient coil respectively. The maximum wire width increases from 0.5 mm to 1.5 mm. Maximum gradient field strengths of 157 mT/m and 405 mT/m for transverse and lon- gitudinal coil are achieved, respectively. The experimental results in BT-MRI instrument demonstrate that the MRI images with in-plane resolution of 50 ~tm can be obtained by using the designed coils.

Target reliability index for serviceability limit state of single piles

The objective is to develop an approach for the determination of the target reliability index for serviceability limit state(SLS) of single piles. This contributes to conducting the SLS reliability-based design(RBD) of piles. Based on a two-parameter,hyperbolic curve-fitting equation describing the load-settlement relation of piles, the SLS model factor is defined. Then, taking into account the uncertainties of load-settlement model, load and bearing capacity of piles, the formula for computing the SLS reliability index(βsls) is obtained using the mean value first order second moment(MVFOSM) method. Meanwhile, the limit state function for conducting the SLS reliability analysis by the Monte Carlo simulation(MCS) method is established. These two methods are finally applied to determine the SLS target reliability index. Herein, the limiting tolerable settlement(slt) is treated as a random variable. For illustration, four load test databases from South Africa are compiled again to conduct reliability analysis and present the recommended target reliability indices. The results indicate that the MVFOSM method overestimates βsls compared to that computed by the MCS method. Besides, both factor of safety(FS) and slt are key factors influencing βsls, so the combination of FS and βsls is welcome to be used for the SLS reliability analysis of piles when slt is determined. For smaller slt, pile types and soils conditions have significant influence on the SLS target reliability indices; for larger slt, slt is the major factor having influence on the SLS target reliability indices. This proves that slt is the most key parameter for the determination of the SLS target reliability index.

Synthesis of Water Utilization System Using Concentration Interval Analysis Method （Ⅱ） Discontinuous Process

The first part of the series of this article proposed a systematic method for the synthesis of continuous water-using system involving both non-mass-transfer-based and mass-transfer-based operations.This article,by ex- tending the method,proposes a time-dependent concentration interval analysis(CIA)method to solve the problems associated with the synthesis of discontinuous or batch water-using systems involving both non-mass-transfer-based and mass-transfer-based operation.This method can effectively identify the possibility of water reuse and the amount of water reused under time constraints for minimizing the consumption of freshwater in single or repeated batch/discontinuous water-using systems.Moreover,on the basis of the heuristic method adapted from concentra- tion interval analysis method for the continuous process network design,the network design for the discontinuous or batch process can be obtained through the designs for every time interval.Case study illustrates that the method presented in this article can simultaneously minimize the freshwater consumption in single or repeated batch/discontinuous water system and can determine a preferable storage tank capacity for some problems.

A New Method for Isolating and Purifying Natural Drug Taxol

A pharmacological interaction target (PIT) method for solving the difficult problem in the separation of taxol from cephalonmanine was proposed. A two-phase extraction technique was used to carry out the PIT separation process. The effects of buffer, temperature and protein on the separation were investigated. Feasible disassembly conditions were also discussed. The final purity of taxol can reach 95% or higher.

Innovation of Super Early-Mature Millet Germplasm with Sweet-Stem and Multi-Spikes

A new millet (Setaria italica Beauv) variety, super early-mature millet No.1, was bred by means of gene bank breedingmethod of target characters. This variety has the following outstanding characters. (1) Super early-mature. This varietyonly needs 1550C effective accumulated temperature and can normally maturate in the Bashang Region in Hebei Provinceof Chi na, which can break through the limit zone of millet cultivation and move the cultivation zone northward greatly. (2)Multi-spikes, in addition to the effect tilling at the top, the nodes in the low-middle part also can produce spikes. (3) Sweetstem have high sugar content. The contents of whole-sugar, soluable sugar and deoxidized sugar are 74.8, 200.5, 237.2%higher than the regular varieties respectively. (4) High gross protein content. The content of gross protein is higher thanthe regular varieties by 3.9-30.4%. (5)Changeable grain color. The grain color of super early-mature millet No.1 is red inShijiazhuang, but yellow in the Bashang region. In addition, this variety is characterized by good quality, high yield, andgood synthetic traits

Improvement of lenvatinib-induced nephrotic syndrome after adaptation to sorafenib in thyroid cancer:A case report

BACKGROUND Target therapy is licensed by United States Food and Drug Administration on certain cancers.Both sorafenib and lenvatinib are tyrosine kinase inhibitor and indicated on radioactive iodine(RAI)-refractory differentiated thyroid cancer(DTC).Lenvatinib is more effective in cancers'control than sorafenib,but causes more nephrotoxicity than sorafenib does.This case is the second published case about the serial adaptions from lenvatinib to sorafenib for improving the proteinuria and,meanwhile,achieving the therapeutic goal.CASE SUMMARY A 56-year-old man suffered from bilateral edematous lower extremities after 1-mo prescription of lenvatinib of 20 mg/d for RAI-refractory DTC.Aside from this symptom,he also developed hypertension.His laboratory showed grade-3 proteinuria(estimated 24-h urine protein:9993 mg),hypoalbuminemia and hypercholesterolemia.Anti-vascular endothelial growth factor(VEGF)therapyinduced nephrotic syndrome was impressed.After reduced dosage of lenvatinib of 10 mg/d and related symptomatic drugs,limited improvement was observed in both adverse effects and caner control.Under this condition,we substituted sorafenib of 400 mg/d for lenvatinib of 10 mg/d.After a 5-mo prescription,not only hypertension and peripheral edema were greatly improved,but also proteinuria was improved from grade three to grade one(estimated 24-h urine protein:962 mg).At the same time the cancer control was achieved,judged from computed tomography and laboratory evidence[thyroglobulin(Tg)before prescription of sorafenib:354.7 ng/m L;Tg after prescription of sorafenib:108.9 ng/m L].CONCLUSION Adaption from lenvatinib to sorafenib is a feasible method to improve the antiVEGF therapy-induced nephrotic syndrome and achieve the therapeutic goal at the same time.

WTV2.0:A high-coverage plant volatilomics method with a comprehensive selective ion monitoring acquisition mode

Volatilomics is essential for understanding the biological functions and fragrance contributions of plant volatiles.However,the annotation coverage achieved using current untargeted and widely targeted volatomics(WTV)methods has been limited by low sensitivity and/or low acquisition coverage.Here,we introduce WTV 2.0,which enabled the construction of a high-coverage library containing 2111 plant volatiles,and report the development of a comprehensive selective ion monitoring(cSIM)acquisition method,including the selection of characteristic qualitative ions with the minimal ion number for each compound and an optimized segmentation method,that can acquire the smallest but sufficient number of ions for most plant volatiles,as well as the automatic qualitative and semi-quantitative analysis of cSIM data.Importantly,the library and acquisition method we developed can be self-expanded by incorporating compounds not present in the library,utilizing the obtained cSIM data.We showed that WTV 2.0 increases the median signal-to-noise ratio by 7.6-fold compared with the untargeted method,doubled the annotation coverage compared with the untargeted and WTV 1.0 methods in tomato fruit,and led to the discovery of menthofuran as a novel flavor compound in passion fruit.WTV 2.0 is a Python library with a user-friendly interface and is applicable to profiling of volatiles and primary metabolites in any species.

Methods for bearings-only underwater target motion analysis

The problem of estimation of underwater target motion parameters via bearings only is the most of ten encountered and most difficult to solve in the underwater target motion analysis.As the bearings-only target motion analysis is a nonlinear and multiextremal global optimization problem, so most classical estimation methods often lead the solution to convergence to one of the local extremes other than the global extreme, especially, when the noise of target bearing observation is added. In this paper we propose to use the Generalized Least Square method on the rough estimation of target motion parameters, and then use the Sequential Uniform Design method to gain a more precise estimation on the bases of rough estimation.The latter ensures that the result convergences to the global extreme. The algorithm based on the above two methods is profitable for the bearings-only target motion analysis even under conditions of large bearing observation error.

A new method of passive ranging for underwater target:distance information extraction based on wave guide invariant

The study of wave guide invariant in underwater acoustics is one of attracted topics in recent 30 years. The interferences of direct wave and reflect wave from sea surface and sea bottom of underwater target radiated noise inherent the information of target distance. Extraction of these distance information will provide a possible new way in passive ranging for underwater target. The theoretical analysis and the results of at sea experiments show that the LOFAR （Low Frequency Analysis Record） figure inherently contains the range and moving information of passive acoustic sources, even in the situation that the receiver is only one single hydrophone. The theoretical analysis of extraction of target distance information by using wave guide invariant is presented in this paper. It is shown that, based on the interference striation pattern of target, the hydrophone array system is possible to extract the distance information with quite high array gain. Although the mathematical constrain conditions in forming interference striation pattern are different for individual array element, but it is proved that the differences of time delays between array elements can be used in compensation of beamforming. The theoretical analysis, system simulation and some results of at sea experiment show a new way in passive ranging and target recognition.

A detecting method for line-spectrum target by fusing output DC jump to fluctuations ratio of sub-band spatial spectrum and beam space

The low frequency line components of the radiated noise from an underwater target usually have both high spectrum level and sustained stability. This feature could be used to increase the detection performance of conventional broadband energy integration method. The required spectrum level is theoretically discussed when the detection performance of the known line detection is better than that of broadband energy integration method. Under the condition of the target can be detected in line spectrum band, the relationship between the line spectrum level and signal to noise ratio （SNR） is also discussed. This paper proposes a line spectrum target detection method that a matrix using DC jump to fluctuations ratios of sub-band spatial spectrum and beam space output is constructed. This matrix acts as a filter that the line spectrum target with certain frequency and azimuth is passed at most. By fusing with the other sub band results, the conventional detection performance can be improved. At the same time, the applicable condition and detection performance are analyzed in the paper. The simulation and the sea trial data processing results show that the algorithm can effectively extract weak goal line spectrum target under the condition of multi-interference. The algorithm doesn＇t need multi-frame statistics and the detection performance is closer to the optimal line spectrum method.

Automatic target recognition method for inverse synthetic aperture sonar imaging

To address the randomness of target aspect angle and the incompleteness of observed target in inverse synthetic aperture sonar（ISAS） imaging,a method for target recognition is proposed based on topology vector feature（TVF） of multiple highlights. Analysis of the projection relationship from 3 D space to 2 D imaging plane in ISAS indicates that the distance between two highlights in the cross-range scale calibrated image is determined by the distance between the corresponding physical scattering centers. Then, TVFs of different targets, which remain stable in various possibilities of target aspect angle, can be built. K-means clustering technique is used to effectively alleviate effect of the point missing due to incompleteness of the observed target. A nearest neighbor classifier is used to realize the target recognition. The ISAS experimental results using underwater scaled models are provided to demonstrate the effectiveness of the proposed method. A classification rate of 84.0% is reached.

A tracking filter method of active sonar subject to unknown target maneuver

A tracking filter algorithm based on the maneuvering detection delay is presented in order to solve the fuzzy problem of target maneuver decision introduced by the measure？ment errors of active sonar. When the maneuvering detection is unclear, two target moving hypotheses, the uniform and the maneuver, derived from the method of multiple hypothesis tracking, are generated to delay the final decision time. Then the hypothesis test statistics is constructed by using the residual sequence. The active sonar？s tracking ability of unknown prior information targets is improved due to the modified sequential probability ratio test and the integration of the advantages of strong tracking filter and the Kalman filter. Simulation results show that the algorithm is able to not only track the uniform targets accurately, but also track the maneuvering targets steadily. The effectiveness of the algorithm for real underwater acoustic targets is further verified by the sea trial data processing results.

Control of orientation for spacecraft formations in the vicinity of the Sun-Earth L2 libration point

Formation flying in the vicinity of the libration point is an important concept for space exploration and demands reliable and accurate techniques for the control of a spacecraft.On the basis of previous works,this paper addresses the problem of relative orientation control of spacecraft formation flying utilizing the framework of the circular restricted three-body problem(CR3BP)with the Sun and Earth as the primary gravitational bodies.Two specific tasks are accomplished in this study.First,the tangent targeting method(TTM),an efficient two-level differential correction algorithm,is exploited to control the Chief/Deputy architecture to maintain a prespecified orientation.The time spent within the orientation error corridor between successive maneuvers is maximized while the relative separation between the vehicles is held constant at each target point.The second task is to further optimize the maneuver intervals by dropping the constraint imposed on the relative vehicle separation.Numerical investigation indicates that the number of maneuvers can be significantly reduced and the length of time between successive maneuvers can be greatly increased by utilizing the TTM.

Designing a Hemispherical Breast RF Coil Array for MRI

. In this paper, an approach to the design of hemispherical breast RF coil array is proposed. The target field method is applied to find the current density distribution on the hemisphere surface, which induces a homogeneous magnetic field in a hemispherical volume. The components of current density are expanded into Fourier series, and the highly ill-conditioned character of the linear equation related to Fourier coefficients is solved using the Tikhonov regularization method with a minimum curvature penalty function. The winding pattern was acquired using the stream function technique. The results indicate that a simple winding pattern with homogeneous magnetic field can be obtained through manually selecting the penalty factor.

FrFT-CSWSF: Estimating cross-range velocities of ground moving targets using multistatic synthetic aperture radar

Estimating cross-range velocity is a challenging task for space-borne synthetic aperture radar（SAR）, which is important for ground moving target indication（GMTI）. Because the velocity of a target is very small compared with that of the satellite, it is difficult to correctly estimate it using a conventional monostatic platform algorithm. To overcome this problem, a novel method employing multistatic SAR is presented in this letter. The proposed hybrid method, which is based on an extended space-time model（ESTIM） of the azimuth signal, has two steps： first, a set of finite impulse response（FIR） filter banks based on a fractional Fourier transform（FrFT） is used to separate multiple targets within a range gate; second, a cross-correlation spectrum weighted subspace fitting（CSWSF） algorithm is applied to each of the separated signals in order to estimate their respective parameters. As verified through computer simulation with the constellations of Cartwheel, Pendulum and Helix, this proposed time-frequency-subspace method effectively improves the estimation precision of the cross-range velocities of multiple targets.

An iteration method for correcting the located coordinates of an underwater target

An iteration method for correcting the target coordinates determined by a locating system with a Cartesian array is reported. Under the complex hydrological condition, the method can give the target position not only accurately but also quickly. The preliminary experimental results show that the correction is effective. An application of the method has been completed.