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Robust adaptive NN-based output feedback control for a dynamic positioning ship using DSC approach

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Science China(Information Sciences) 2014年第10期57卷 254-266页

作者： YANG Yang GUO Chen du jialu Information Science and Technology College Dalian Maritime University

A robust adaptive NN-based output feedback control scheme is presented for a dynamic positioning ship with uncertainties and unknown external disturbances. We tackle the problem that velocity vector of a ship is not available by employing a high-gain observer, and develop the proposed control approach by combing vectorial backstepping with dynamic surface control approach, which is simpler and easier to implement in engineering practice. The neural network(NN) approximation technique is used to compensate for the uncertainties and unknown external disturbances, and it removes the requirement for the prior knowledge about the vessel parameters and external disturbances. Also, it is demonstrated that the proposed control strategy can force the position and yaw angle of a dynamic positioning ship to approach the desired point while guaranteeing all singles of the designed closed-loop dynamic positioning system semi-globally uniformly ultimately bounded by means of the Lyapunov function. Simulation results of a supply ship illustrate the effectiveness of the proposed scheme.

关键词： NN dynamic surface control dynamic positioning output feedback nonlinear system

Design and implementation of vision-based transport for a mobile robot via Kalman filter

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控制理论与应用（英文版） 2011年第4期9卷 529-534页

作者： Shuanghe YU Yuqing CHEN jialu du School of Information Science and Technology Dalian Maritime University Dalian Liaoning 116026 China

A vision-based scheme for object recognition and transport with a mobile robot is proposed in this paper. First, camera calibration is experimentally performed with Zhenyou Zhang＇s method, and a distance measurement method with the monocular camera is presented and tested. Second, Kalman filtering algorithm is used to predict the movement of a target with HSI model as the input and the seed filling algorithm as the image segmentation approach. Finally, the motion control of the pan-tilt camera and mobile robot is designed to fulfill the tracking and transport task. The experiment results demonstrate the robust object recognition and fast tracking capabilities of the proposed scheme.

关键词： Mobile robot Pan-tilt camera, HSI model Kalman filtering

Adaptive Output Feedback Tracking Control of Surface Vessels Under Input Saturation

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Adaptive Output Feedback Tracking Control of Surface Vessels...

Surface matching method for profile inspection with touch probe

第36届中国控制会议

作者： Jian Li jialu du Xin Hu School of Information Science and Technology Dalian Maritime University

ISBN: (纸本)9781538629185

In the presence of unmeasured velocity,unknown dynamic model parameters,unknown time-variant disturbances and input saturation,this paper develops an adaptive output feedback tracking control law for surface vessels using high-gain observer,radial basis function（RBF） neural networks,auxiliary dynamic system and the dynamic surface control（DSC）.The high-gain observer is constructed to provide the estimates of unmeasured velocity vector,the RBF neural networks are employed to approximate the uncertainties of ship dynamics,the adaptive laws are designed to estimate the weights of RBF neural networks and the bounds of unknown time-variant disturbances,respectively,and the auxiliary dynamic system is used to deal with the input *** dynamic surface control makes the designed control law be simple and easy to *** is proved that the designed tracking control law forces the ship to track the reference trajectory,while guaranteeing the uniform ultimate boundedness of all signals in the closed-loop trajectory tracking control system of *** simulation results illustrate the effectiveness of the proposed control law.

关键词： Surface vessels high-gain observer neural networks input saturation dynamic surface control output feedback control

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控制理论与应用（英文版） 2011年第2期9卷 215-219页

作者： Chen, Yuqing Ma, Zi Tian, Yuan du, jialu Automation Research Center Dalian Maritime University Dalian Liaoning 116026 China

This paper presents an efficient method for rigid registration of 3-D point sets,which intends to match the feature points inspected using touch probe with the points on designed CAD *** alignment error is defined as the least square problem,and the sphere radius of the inspection probe is *** this framework,the matching problem is converted into acquiring six Euler variables problem by solving nonlinear ***,a matrix transformation of parameter separation is presented to get the approximate ***,iterative cycles are provided to calculate the nearest points on designed surface corresponding to the inspection *** verification is realized for the presented surface matching method of robot inspection system.

关键词： Point matching Touch probe Parameter separation

基于Apriori和MIE算法分析关节炎中药制剂用药规律及核心药对的潜在作用机制

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中草药 2024年第9期55卷 3027-3040页

作者：翟桐杜佳璐任雪阳孙梦豫黎明霞刘薇和映玉李仙仙邓清月折改梅北京中医药大学中药学院北京100029

目的基于Apriori和MIE算法分析并总结《中国药典》2020年版中关节炎成方和单味制剂的用药规律。方法检索《中国药典》2020年版一部中治疗关节炎的成方制剂和单味制剂的信息。运用WPS Office Excel软件建立数据库,应用IBM SPSS Modeler 1... 详细信息

目的基于Apriori和MIE算法分析并总结《中国药典》2020年版中关节炎成方和单味制剂的用药规律。方法检索《中国药典》2020年版一部中治疗关节炎的成方制剂和单味制剂的信息。运用WPS Office Excel软件建立数据库,应用IBM SPSS Modeler 18.0软件中Apriori算法、MIE算法和Cytoscape 3.9.1进行关联规则分析、药对相关性分析等。选取MIE分析和关联规则分析中置信度和支持度相对较高的核心药物,进行基因本体(gene ontology,GO)功能富集和京都基因与基因组百科全书(Kyoto encyclopedia of genes and genomes,KEGG)通路富集分析,并进行成分-靶点-通路分析。结果共收集102个成方制剂和8个单味制剂,涉及中药271味,包含毒性中药42味,依频次高低排序前6的中药为当归、红花、乳香、没药、防风和独活。功效以祛风湿、补虚、活血化瘀为主,归经以肝经、脾经和肾经为主,四气以温为主,五味以辛为主。其中大毒中药6味,小毒中药19味,有毒中药17味,依频次高低排序前4的毒性中药为制川乌、制草乌、马钱子、樟脑。关联规则分析得到“没药-乳香”“乳香-没药-当归”等配伍最常见。MIE分析得到“党参-白芍”“狗脊-淫羊藿”等强相关潜在药对。其中,MIE分析和关联规则中支持度与置信度较高的药对为“当归-川芎”,药组为“当归-川芎-白芷”。网络药理学分析显示主要潜在活性成分为β-谷甾醇、豆甾醇、杨梅酮、阿魏酸等,核心靶点为PTGS2、HSP90AB1、CASP3、Bcl2、PTGS1、Bax等,主要涉及包含癌症相关通路、花生四烯酸代谢通路、亚油酸通路等。集群分析成方制剂以治疗风寒湿痹症为主。结论关节炎为正虚邪实证,治疗应以扶正驱邪、宣通脏腑、调达经络为主。毒性中药使用较多且用量较大,可增强疗效,但应该严格控制用量,防止中毒现象的发生。核心药对“当归-川芎”、核心药组“当归-川芎-白芷”的活性成分能够通过多种途径作用于多靶点防治关节炎。

关键词：关节炎数据挖掘用药规律毒性中药 MIE 网络药理学当归-川芎当归-川芎-白芷

The short and long-term effect of polystyrene nanoplastics on nitrifying sludge at high nitrite concentrations

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Journal of Environmental Sciences 2024年第1期135卷 222-231页

作者： Xiaolong Wang jialu Huang Zhiqiang Qi Ruiqin Kang Chao du Da Li School of Chemical and Environmental Engineering Anyang Institute of TechnologyAnyang 455000China Henan Licheng Environmental Technology Co. Ltd.Anyang 455000China State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin 150090China

The effect of nanoplastics(NPs)on nitrite oxidation bacteria(NOB)community in treating high-strength wastewater remains unclear,which seriously affects the stability of nitrogen removal *** this study,highly active nitrifying sludge was enriched and exposed to 50nm polystyrene NPs(PS-NPs)for short-term(1,100,500,and 1000 mg/L,1.5 hr)and long-term(1,10,100 mg/L,40 days)at high nitrite *** contrast to previous studies,our results showed that the exposures to PS-NPs had little effect on nitrifying *** long-term exposure,the protein/polysaccharide ratios in extracellular polymeric substances(EPS)were positively correlated with PS-NPs concentrations(0.78–0.99).The produced reactive oxygen species(ROS)were gradually removed,and PS-NPs higher than 10 mg/L caused damage to membrane ***-term exposure for 40 days increased the community diversity and caused significant differences between the control and exposed *** control group were dominated by Nitrobacter and Exiguobacterium,while the exposure group was dominated by Bacillus,Mycobacterium,and Nitrospira.A noticeable shift in the NOB community from Nitrobacter(26.5%to 3.4%)to Nitrospira(1.61%to 14.27%)was observed.A KEGG analysis indicated a decrease in cell growth and death,cell motility and energy *** appeared that NOB could adapt to PS-NPs stress through enhanced secretion and removal of oxidative ***,this study provided new insights into the response mechanism of NOB to PS-NPs exposure.

关键词： Nanoplastics Nitrifying activity Extracellular polymeric substance(EPS) Exposure Community analysis

T细胞活化谱对脓毒症患者病原菌类型的鉴别效果

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中国医刊 2024年第2期59卷 191-195页

作者：李晓宁刘懿林婷邢斌瑜申存毅杜加录西安交通大学第一附属医院外科重症医学科陕西西安710061 西安交通大学第一附属医院检验科陕西西安710061 陕西省榆林市第一医院普外科陕西榆林719000

目的探讨T细胞活化谱鉴别脓毒症不同病原菌感染中的临床价值。方法选取2020年9月至2022年6月于西安交通大学第一附属医院接受治疗的100例脓毒症患者作为脓毒症组,选取同期于门诊进行体检的37例健康志愿者作为对照组。脓毒症组根据患者... 详细信息

目的探讨T细胞活化谱鉴别脓毒症不同病原菌感染中的临床价值。方法选取2020年9月至2022年6月于西安交通大学第一附属医院接受治疗的100例脓毒症患者作为脓毒症组,选取同期于门诊进行体检的37例健康志愿者作为对照组。脓毒症组根据患者入院病原学检查结果分为革兰氏阴性菌组(简称阴性菌组,46例)和革兰氏阳性菌组(简称阳性菌组,54例)。通过流式细胞仪检测患者外周血中T淋巴细胞的活化状态及其表面共刺激分子的表达情况。采用受试者操作特征(ROC)曲线评估CD38^(+)HLA-DR^(+)T细胞区分革兰氏阴性菌脓毒症和革兰氏阳性菌脓毒症的能力。结果阴性菌组和阳性菌组的外周血中CD4^(+)CD38^(+)CD69^(+)T细胞和CD8^(+)CD38^(+)CD69^(+)T细胞计数比较差异无统计学意义(P>0.05),但均高于对照组(P<0.05)。与对照组相比,脓毒症各亚组外周血中CD4^(+)CD38^(+)HLA-DR^(+)、CD8^(+)CD38^(+)HLA-DR^(+)T细胞计数显著增加(P<0.05),并且阴性菌组大于阳性菌组(P<0.05)。鉴别革兰氏阴性菌脓毒症和革兰氏阳性菌脓毒症时,CD4^(+)CD38^(+)HLA-DR^(+)T细胞的ROC曲线下面积(AUC)为0.901(95%CI 0.837~0.965),特异度为0.867,敏感度为0.836;CD8^(+)CD38^(+)HLA-DR^(+)T细胞的AUC为0.927(95%CI 0.872~0.982),特异度为0.778,敏感度为0.933。结论人白细胞DR抗原(HLA-DR)参与了脓毒症患者外周血中T细胞活化的关键免疫反应,并能区分脓毒症不同病原菌感染。

关键词： T细胞活化谱脓毒症病原菌

Robust Adaptive Asymptotic Control for Heave Motion of Surface Effect Ships

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Robust Adaptive Asymptotic Control for Heave Motion of Surfa...

Robust Formation Control of Underactuated Autonomous Underwater Vehicles with Disturbances under Input Saturation

第37届中国控制会议

作者： Xinhao Lu jialu du School of Marine Electrical Engineering Dalian Maritime University

In this paper,a robust adaptive controller is developed for damping heave motion of surface effect ships in the presence of unknown time-varying environmental *** disturbance is modeled as the output of a linear ***,based on this exosystem,we represent the disturbance as the output of a linear model of canonical form by a linear regression *** regressor,which is the state vector of such linear regression model,is observed by constructing a disturbance ***,the disturbance compensation control for surface effect ships is reduced to a parameter adaptive *** employing adaptive backstepping approach,we realize the disturbance compensation and the control design *** some existing control scheme for heave motion of surface effect ships,the proposed controller can regulate the heave motion position asymptotically while guaranteeing the uniform ultimate boundedness of all signals in heave motion closed-loop control ***,simulations on a Norway Navy’s surface effect ship are carried out to demonstrate the effectiveness of the proposed heave motion robust adaptive controller.

关键词： Surface effect ship Heave motion Disturbance observer Adaptive control

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Robust Formation Control of Underactuated Autonomous Underwa...