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A Linear Domain System Identification for Small Unmanned Aerial Rotorcraft Based on Adaptive Genetic Algorithm

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Journal of Bionic Engineering 2010年第2期7卷 142-149页

作者： Xusheng Lei,Yuhu Du School of the Instrumentation science and Opto-Electronic Engineering,Beihang university,beijing 100191,P.R.china [a] School of the Instrumentation science Opto-Electronic Engineering Beihang University Beijing 100191 P. R. China

This paper proposes a new adaptive linear domain system identification method for small unmanned aerial *** the flash memory integrated into the micro guide navigation control module, system records the data sequences of flighttests as inputs (control signals for servos) and outputs (aircraft’s attitude and velocity information).After data preprocessing, thesystem constructs the horizontal and vertical dynamic model for the small unmanned aerial rotorcraft using adaptive *** identified model is verified by a series of simulations and *** between flight data and the one-stepprediction data obtained from the identification model shows that the dynamic model has a good estimation for real unmannedaerial rotorcraft *** on the proposed dynamic model, the small unmanned aerial rotorcraft can perform hovering,turning, and straight flight tasks in real flight tests.

关键词： small unmanned aerial rotorcraft dynamic space model model identification adaptive genetic algorithm

The regular representation and regular covariant representation of crossed products of Woronowicz C^(*)-algebras

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science china Mathematics 2005年第9期48卷 1245-1259页

作者： ZHANG Xiaoxia~(1,2) & GUO Maozheng~(1,3) 1. School of Mathematical sciences,peking university,beijing 100871,china 2. Department of Mathematics,Yantai university,Yantai 264005,china 3. LMAM,peking university,beijing 100871,china 1. School of Mathematical sciences Peking University 100871 Beijing China 2. Department of Mathematics Yantai University 264005 Yantai China 3. LMAM Peking University 100871 Beijing China

In this paper,it is shown that the regular representation and regular covariant representation of the crossed products A×α G correspond to the twisted multiplicative unitary operators,where A is a Woronowicz C~*-algebra acted upon by a discrete group ***,it is also shown that the regular covariant C~*-algebra is the Woronowicz C~*-algebra which corresponds to a multiplicative ***,an explicit description of the multiplicative unitary operator for C(SU_q(2) )×α (?) is given in terms of those of the Woronowicz C~*-algebra C(SU_q(2) ) and the discrete group G.

关键词： multiplicative unitary operator, Woronowicz C*-algebra, crossed product.

Quasi-equality constrained risk-sensitive filtering for nonlinear discrete-time systems

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控制理论与应用（英文版） 2012年第2期10卷 229-235页

作者： Linfeng SHEN, Yan LIN School of Automation science and Electrical Engineering, beijing university of Aeronautics and Astronautics, beijing 100191, china School of Automation science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China

More and more data fusion models contain state constraints with valuable information in the filtering process. In this study, an optimal filter of risk sensitive with quasi-equality constraints is formulated using the reference probability method. Through recursion processes of probability density acquired from the probability measure change, the derived algorithm is optimal in the sense of the risk sensitive parameter. The system and constraint models are Consistent in statistics. Simulation results show that it is more robust and efficient than projection filters for the worst-case of noises and model uncertainty.

关键词： Optimal estimation Risk-sensitive filtering Constraints

SYNTHESIS AND PROPERTIES OF NEW MESOGEN-JACKETED LIQUID CRYSTALLINE POLYMERS

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Chinese Journal of Polymer science 2000年第2期18卷 139-148页

作者： Qi-ding Mi Qi-feng Zhou Department of Polymer science & Engineering, College of Chemistry peking university, beijing 100871, china peking Univ Coll Chem Dept Polymer Sci & Engn Beijing 100871 Peoples R China

Some new mesogen-jacketed liquid crystalline polymers (MJLCP) with polymer backbones, spacers, and mesogenic units of different structures were synthesized by radical polymerization. The mesomorphic behavior of these polymers was examined using differential scanning calorimetry (DSC) and polarizing optical microscopy (POM). Their liquid crystallinity is influenced by the variation of polymer backbone, spacer, mesogenic unit and its terminal groups. The results show that 1) a more flexible polymer main-chain is more favorable to the formation of a liquid crystal phase, while 2) a flexible spacer will decrease the 'Jacket Effect' and the liquid crystallinity and 3) a subtle modification of the terminal groups on the mesogenic unit may also have a significant influence on properties of the polymers.

关键词： mesogen-jacketed liquid crystalline polymers polymer backbones spacers mesogenic units liquid crystallinity

Cu(Ⅱ) Potentiation of Alzheimer Aβ1-40 Cytotoxicity and Transition on its Secondary Structure

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Acta Biochimica et Biophysica Sinica 2006年第11期38卷 765-772页

作者： Xue-Ling DAI~1 Ya-Xuan SUN~2 Zhao-Feng JIANG~2* 1 College of Life science,Capital Normal university,beijing 100037,china 2 College of Applied sciences and Humanities,beijing Union university,beijing 100083,china College of Life science Capital Normal UniversityBeijing 100037 China College of Applied sciences and Humanities Beijing Union UniversityBeijing 100083 China

Mounting evidence has shown that dyshomeostasis of the redox-active biometals such as Cuand Fe can lead to oxidative stress,which plays a key role in the neuropathology of Alzheimer's disease（AD）.Here we demonstrate that with the formation of Cu（Ⅱ）·Aβ1-40 complexes,copper markedly potentiatesthe neurotoxicity exhibited by β-amyloid peptide （Aβ）.A greater amount of hydrogen peroxide was releasedwhen Cu（Ⅱ）·Aβ1-40 complexes was added to the xanthine oxidase/xanthine system detected by potassiumiodide *** bound to Aβ1-40 was observed by electron paramagnetic resonance（EPR） *** dichroism （CD） studies indicated that copper chelation could cause a structuraltransition of Aβ.The addition of copper to Aβ introduced an increase on β-sheet as well as α-helix,whichmay be responsible for the aggregation of Aβ.We hypothesized that Aβ aggregation induced by copper maybe responsible for local injury in *** interaction between Cu2+and Aβ also provides a possible mechanismfor the enrichment of metal ions in amyloid plaques in the AD brain.

关键词： Alzheimer’s disease Cu(Ⅱ)·Aβ1-40 complex neuron injury Aβ secondary structure

Pattern phenomena in an rf discharge dusty plasma system

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science china(Physics,Mechanics & Astronomy) 2006年第5期49卷 588-596页

作者： HUANG Feng1,2, YE Maofu2 & WANG Long2 1. College of science, china Agricultural university, beijing 100083, china 2. institute of Physics, Chinese Academy of sciences, beijing 100080, china 1. College of science China Agricultural University Beijing 100083 China 2. institute of Physics Chinese Academy of Sciences Beijing 100080 China

Various dust patterns are observed in an rf discharge dusty plasma system. According to the dust growth process from small to large in size, the formation of different dust patterns can be divided into two stages: the small-particle stage (or dust cloud stage), and the large-particle stage (or dust crystal stage). The evolution relations between different dust patterns with gas pressure changing are investigated. Dust voids, dust acoustic waves and strong turbulence modes are presented at the small-particle stage. The self-organized dust lattices and dust clusters are investigated at the large-particle stage. The static structure of a dust lattice is characterized by means of the pair correlation function. Dust clusters formed by particles with different numbers and the regular evolution of the clusters with gas pressure are also investigated. The packing sequences of dust clusters are verified through two-dimensional confined molecular dynamics simulations.

关键词： dusty plasma dust patterns

Application of output feedback sliding mode control to active flutter suppression of two-dimensional airfoil

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science china(Technological sciences) 2010年第5期53卷 1338-1348页

作者： YANG Chao,SONG Chen,WU ZhiGang & XIE ChangChuan School of Aeronautic science and Engineering,beijing university of Aeronautics & Astronautics,beijing 100191,china 1. School of Aeronautic science and Engineering Beijing University of Aeronautics & Astronautics Beijing 100191 China

The effectiveness of the sliding mode control(SMC) method for active flutter suppression(AFS) and the issues concerning control system discretization and control input constraints were studied using a typical two-dimensional *** airfoil has a trailing-edge flap for flutter *** aeroelastic system involves a two-degrees-of-freedom motion(pitch and plunge),and the equations were constructed by utilizing quasi-steady aerodynamic *** control system,designed by the output feedback SMC method,was incorporated to suppress the pitch-plunge ***,the system discretization and the flap deflection constraints were ***,a classical Runge-Kutta(RK) algorithm was utilized for numerical *** results indicated that the close-loop system with the SMC system could be stable at a speed above the flutter ***,when the flap deflection limits are reached,the close-loop system with the simple discretized control system loses ***,control compensation developed by theoretical analysis was proposed to make the system stable *** parameter perturbations and the time delay effects were also discussed in this paper.

关键词： aeroelasticity flutter airfoil sliding mode control output feedback control

Adaptive RBF neural network control of robot with actuator nonlinearities

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控制理论与应用（英文版） 2010年第2期8卷 249-256页

作者： Jinkun LIU, Yu LU (School of Automation science and Electrical Engineering, beijing university of Aeronautics and Astronautics, beijing 100191, china) School of Automation science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China

In this paper, an adaptive neural network control scheme for robot manipulators with actuator nonlinearities is presented. The control scheme consists of an adaptive neural network controller and an actuator nonlinearities compensator. Since the actuator nonlinearities are usually included in the robot driving motor, a compensator using radial basis function (RBF) network is proposed to estimate the actuator nonlinearities and eliminate their effects. Subsequently, an adaptive neural network controller that neither requires the evaluation of inverse dynamical model nor the time-consuming training process is given. In addition, GL matrix and its product operator are introduced to help prove the stability of the closed control system. Considering the adaptive neural network controller and the RBF network compensator as the whole control scheme, the closed-loop system is proved to be uniformly ultimately bounded (UUB). The whole scheme provides a general procedure to control the robot manipulators with actuator nonlinearities. Simulation results verify the effectiveness of the designed scheme and the theoretical discussion.

关键词： Adaptive control RBF neural network Actuator nonlinearity Robot manipulator Deadzone

On 3D simulation of moving objects in a digital earth system

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science china(Technological sciences) 2008年第S2期51卷 123-132页

作者： WENG JingNong1,WU Lun2,HUANG Jian1,WANG Yang1,YANG Xue1 & HU Bin1 1 College of Software,Beihang university,beijing 100191,china 2 institute of Geographical Information System and Remote Sensing,peking university,beijing 100871,china College of Software Beihang University Beijing 100191 China institute of Geographical Information System and Remote Sensing Peking University Beijing 100871 China

"How do the rescue helicopters find out an optimized path to arrive at the site of a disaster as soon as possible?" or "How are the flight procedures over mountains and plateaus simulated?" and so *** this paper a script language on spatial moving objects is presented by abstracting 3D spatial moving objects' behavior when implementing moving objects simulation in 3D digital Earth scene,which is based on a platform of digital china named "chinaStar".The definition of this script language,its morphology and syntax,its compiling and mediate language generating,and the behavior and state control of spatial moving objects are discussed *** addition,the language's applications and implementation are also discussed.

关键词： Digital Earth chinaStar moving object script language