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An Adaptive Full Order Sliding Mode Controller for Mismatched Uncertain Systems

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International Journal of Automation and computing 2017年第2期14卷 191-201页

作者： Sanjoy Mondal jawhar ghommam Maarouf Saad Department of Electrical Engineering Ecole de technologie superieure Montreal Canada-H3C1K3 Canada

In this paper, an adaptive full order sliding mode （FOSM） controller is proposed for strict feedback nonlinear systems with mismatched uncertainties. The design objective of the controller is to track a specified trajectory in presence of significant mismatched uncertainties. In the first step the dynamic model for the first state is considered by the desired tracking signal. After the first step the desired dynamic model for each state is defined by the previous one. An adaptive tuning law is developed for the FOSM controller to deal with the bounded system uncertainty. The major advantages offered by this adaptive FOSM controller are that advanced knowledge about the upper bound of the system uncertainties is not a necessary requirement and the proposed method is an effective solution for the chattering elimination from the control signal. The controller is designed considering the full-order sliding surface. System robustness and the stability of the controller are proved by using the Lyapunov technique. A systematic adaptive step by step design method using the full order sliding surface for mismatched nonlinear systems is presented, Simulation results validate the effectiveness of the proposed control law.

关键词： Full order sliding mode adaptive sliding mode finite time convergence reference tracking mismatched uncertainty.

维普期刊数据库

Distributed active fault tolerant control design against actuator faults for multiple mobile robots

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Control Theory and Technology 2019年第4期17卷 367-381页

作者： Mahmoud HUSSEIN jawhar ghommam Azeddine GHODBANE Maarouf SAAD Vahe NERGUIZIAN Department of Electrical Engineering Ecole de Technologie Superieure1100rue Notre-Dame OuestMontrealQuebecH3C 1K3Canada Department of Electrical and Computer Engineering Sultan Qaboos UniversityP.O.Box 37Al-Khoud 123Sultanate of Oman

This paper investigates the active fault tolerant cooperative control problem for a team of wheeled mobile robots whose actuators are subjected to partial or severe faults during the team *** cooperative robots network only requires the interaction between local neighbors over the undirected graph and does not assume the existence of leaders in the *** assume that the communication exists all the time during the *** avoid the system's deterioration in the event of a fault,a set of extended Kalman filters(EKFs)are employed to monitor the actuators'behavior for each ***,based on the online information given by the EKFs,a reconfigurable sliding mode control is proposed to take an appropriate action to accommodate that *** this research study,two types of faults are *** first type is a partial actuator fault in which the faulty actuator responds to a partial of its control input,but still has the capability to continue the mission when the control law is *** addition,the controllers of the remaining healthy robots are reconfigured simultaneously to move within the same capability of the faulty *** second type is a severe actuator fault in which the faulty actuator is subjected to a large loss of its control input,and that lead the exclusion of that faulty robot from the team ***,the remaining healthy robots update their reference trajectories and form a new formation shape to achieve the rest of the team mission.

关键词： Distributed control non-holonomic mobile robot extended Kalman filter(EKF) sliding mode control fault tolerant control

Erratum to:Distributed active fault tolerant control design against actuator faults for multiple mobile robots

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Control Theory and Technology 2020年第1期18卷 110-110页

作者： Mahmoud HUSSEIN jawhar ghommam Azeddine GHODBANE Maarouf SAAD Vahe NERGUIZIAN Department of Electrical Engineering Ecole de Technologie Superieure1100rue Notre-Dame QuestMontrealQuebecH3C 1K3Canada Department of Electrical and Computer Engineering Sultan Qaboos UniversityP.O.Box 31Al-Khoud 123Sultanate of Oman

Erratum to:Control Theory and Technology,2019,17(4),367-381 DOI https://***/10.1007/s11768-019-9076-7 In the published article there are two typesetting errors:1)the paragraph below equation(27)at Page 375:"The differentiation of(26)is given by...."should be"The differentiation of(27)is given by....";and 2)the paragraph below equation(36)at Page 375:"Based on Gersgorin Circle Criterion[20],the eigenvalues of the Laplacian matrix in(38)are in the left-half *** implies that...the end of the proof".should be"Based on Gersgorin Circle Criterion[20],the eigenvalues of the Laplacian matrix in(36)are in the left-half *** implies that...the end of the proof."

关键词： implies Criterion proof

QoS Support in TDMA-Based Mobile Ad Hoc Networks

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Journal of Computer Science & Technology 2005年第6期20卷 797-810页

作者： Imad jawhar 吴杰 Department of Computer Science and Engineering Florida Atlantic University Boca Raton FL 33431 U.S.A.

Mobile ad hoc networks （MANETs） are gaining a lot of attention in research lately due to their importance in enabling mobile wireless nodes to communicate without any existing wired or predetermined infrastructures. Furthermore, in order to support the growing need for multimedia and realtime applications, quality of service （QoS） support by the networking protocol is required. Several important QoS parameters that are needed by such applications can be identified. They include bandwidth, end-to-end delay, delay jitter, and bit error rate. A good amount of research has been developed in this area covering different issues and challenges such as developing routing protocols that support bandwidth reservation and delay management. In this paper, the current state of research for QoS support in TDMA-based MANETs at different layers of the networking model is presented and categorized. In addition, the current issues and future challenges involved in this exciting area of research are also included.

关键词： mobile ad hoc networks (MANETs) quality of service (QoS) routing time division multiple access (TDMA)

m-DABDT金属有机骨架电子性质和应变调控效应的第一性原理研究

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原子与分子物理学报 2025年第2期42卷 124-134页

作者：刘金宝结文·乃比崔恩豪姚晓龙新疆大学物理科学与技术学院新疆固态物理与器件自治区重点实验室乌鲁木齐830017

金属有机骨架材料具有低密度,高孔隙率和充分暴露的活性位点等结构特点,在光电探测、分子识别和分离以及催化等等领域具有良好的应用前景.合理地选择金属中心是新型金属有机骨架材料设计及性能调控的有效策略.本文利用基于密度泛函理论... 详细信息

金属有机骨架材料具有低密度,高孔隙率和充分暴露的活性位点等结构特点,在光电探测、分子识别和分离以及催化等等领域具有良好的应用前景.合理地选择金属中心是新型金属有机骨架材料设计及性能调控的有效策略.本文利用基于密度泛函理论的第一性原理计算方法,研究了五种不同金属中心的一维链状金属有机骨架m-2,5-二氨基-1,4-苯二硫醇(DABDT)(m=Fe,Co,Ni,Cu,Zn)的电子性质.计算结果表明:考虑自旋极化条件下的HSE06杂化泛函计算的带隙值与实验值最为符合;随着金属中心d轨道占据数增加,能带结构呈现直接-间接-直接带隙的转变过程;当金属中心为Ni和Zn时,应变可诱导m-DABDT发生直接-间接带隙转变且带隙呈单调变化,同时其电子迁移率均大于空穴迁移率;当金属中心为Fe时,外加应变下m-DABDT保持直接带隙且带隙呈非单调变化,同时其空穴迁移率大于电子迁移率.这些研究结果揭示了m-DABDT金属有机骨架电子性质的调控机制,为光电器件的设计提供理论指导.

关键词：金属有机骨架电子性质应变调控金属中心第一性原理

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二维TiS_(2)/TiO_(2)杂化纳米片储钠性质的第一性原理研究

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原子与分子物理学报 2025年第2期42卷 70-78页

作者：结文·乃比刘金宝郑智华姚晓龙新疆大学物理科学与技术学院新疆固态物理与器件自治区重点实验室乌鲁木齐830017

二维TiS_(2)是一种具有较大应用前景的钠离子电池负极材料.然而,二维TiS_(2)负极材料钠离子扩散动力学性能不佳大大限制了其在钠离子电池领域的大规模应用.本文利用基于密度泛函理论的第一性原理计算方法,探究了二维TiO_(2)/TiS_(2)杂... 详细信息

二维TiS_(2)是一种具有较大应用前景的钠离子电池负极材料.然而,二维TiS_(2)负极材料钠离子扩散动力学性能不佳大大限制了其在钠离子电池领域的大规模应用.本文利用基于密度泛函理论的第一性原理计算方法,探究了二维TiO_(2)/TiS_(2)杂化单层上钠原子吸附和扩散的热力学和动力学性质.研究结果表明,二维TiO_(2)/TiS_(2)杂化单层结构具有较高的动力学和热力学稳定性.此外,钠原子倾向于吸附在二维TiO_(2)/TiS_(2)杂化单层硫-硫-氧穴位(S-S-O)的顶部,沿穴位-钛顶位-穴位方向(H_(CC)^(1)-T_(T)-H_(CC)^(1′))具有较低的扩散能垒(0.19 eV).与纯相二维TiS_(2)单层相比,钠原子更容易在二维TiO_(2)/TiS_(2)杂化单层上迁移.本文通过对钠原子在二维TiO_(2)/TiS_(2)杂化单层上的结构稳定性、优选吸附位点和扩散路径的全面研究,揭示了二维TiO_(2)/TiS_(2)杂化单层的结构性质和钠输运特性,为设计高性能的钛基钠离子电池负极材料提供了理论支撑.

关键词：二维TiO_(2) 二维杂化材料钠离子电池扩散第一性原理

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Effects of Carpobrotus edulis Extract on Oxidative Stress and 158N Oligodendrocyte Death

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Biomedical and Environmental Sciences 2019年第4期32卷 291-299页

作者： Amira Zarrouk Mohammed Ali Smach jawhar Hafsa Randa Sghaier Hatem majdoub Mohammed Hammami Bassem Charfeddine Laboratory of Biochemistry Faculty of Medicine Sousse Laboratory UR12ES05 ‘Nutrition Fonctionnels Food & Vascular Health'Faculty of Medicine Monastir Laboratory of Interfaces and Advanced Materials Faculty of Sciences of Monastir

Objective Age-related diseases, including neurodegenerative diseases, are associated with oxidative stress and lipid peroxidation, and increase the levels of cholesterol auto-oxidation products such as 7β-hydroxycholesterol(7β-OHC). Thus, it is imperative to identify agents that can prevent 7β-OHC-induced side-effects. Methods We evaluated the potential protective effects of Carpobrotus edulis ethanol-water extract(EWe) on murine oligodendrocytes(158 N) cultured in the absence or presence of 7β-OHC(20 μg/mL, 24 h). The cells were incubated with EWe(20-200 μg/mL) 2 h before 7β-OHC treatment. Mitochondrial activity and cell growth were evaluated with the MTT assay. Photometric methods were used to analyze antioxidant enzyme [catalase(CAT) and glutathione peroxidase(GPx)] activities and the generation of lipid and protein oxidation products [malondialdehyde(MDA), conjugated diene(CD), and carbonylated proteins(CPs)]. Results Treatment with 7β-OHC induced cell death and oxidative stress(reflected by alteration in CAT and SOD activities). Overproduction of lipid peroxidation products(MDA and CDs) and CPs was also reported. The cytotoxic effects associated with 7β-OHC were attenuated by 160 μg/mL of EWe of C. edulis. Cell death induced by 7β-OHC treatment was ameliorated, GPx and CAT activities were restored to normal, and MDA, CD, and CP levels were reduced following C. edulis extract treatment. Conclusion These data demonstrate the protective activities of C. edulis EWe against 7β-OHC-induced disequilibrium in the redox status of 158 N cells, indicative of the potential role of this plant extract in the prevention of neurodegenerative diseases.

关键词： 7β-hydroxycholesterol 158N oligodendrocytes Lipid peroxidation Antioxidant enzymes Carpobrotus edulis

维普期刊数据库

Sanguinarine-Mediated Sensitization of Cervical Cancer SiHa Cells to TRAIL

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Journal of Cancer Therapy 2017年第6期8卷 624-635页

作者： Eric Romney Whitney Wilson Justin Chen Trung Nguyen Omar jawhar Aniket Mody Shaleen Korch Vinay J Nagaraj Corpus Christi Medical Center Corpus Christi Texas USA John C Lincoln Health Network Phoenix Arizona USA Arizona College of Osteopathic Medicine Midwestern University Glendale Arizona USA Department of Pharmacology Midwestern University Glendale Arizona USA Department of Biochemistry Midwestern University Glendale Arizona USA

Introduction: Cervical cancer is primarily caused by the human papilloma virus (HPV), which transforms normal cervical cells into cancerous cells that are highly resistant to radiation and chemotherapy. Induction of apoptosis in transformed cells is a key strategy in successfully treating HPV-induced cervical cancer. TRAIL (tumor necrosis factor related apoptosis-inducing ligand) has been shown to selectively induce apoptosis in cancer cells by binding to death receptors and activating extrinsic pathways for apoptosis. However, certain cervical cancers—such as the cultured cell line SiHa—are remarkably resistant to TRAIL. In this study, SiHa cells were sensitized to TRAIL by using sanguinarine—derived from the plant Sanguinaria Canadensis—which is known to induce oxidative stress and lead to the upregulation of receptors for TRAIL. Methods: Cultured SiHa cells were exposed to sub-lethal doses of sanguinarine in combination with TRAIL. Cell viability changes as well as the production of reactive oxygen species (ROS) were assessed. The induction of apoptosis was investigated by assays for caspase activation. Flow cytometry was performed to analyze expression of death receptors 4/5. Results: Treatment of SiHa cells with a combination of sanguinarine and TRAIL led to a significant reduction in cell viability. Significant increase in ROS was observed and caspase activation assays confirmed the induction of apoptosis. Conclusions: The observed synergistic effect of sanguinarine and TRAIL on SiHa cells is promising for the treatment of cervical, and possibly other, HPV-induced cancers. Oxidative stress caused by sanguinarine seems to play a central role in this synergy. The precise link between reactive oxygen species and the possible upregulation of death receptors needs further investigation. This knowledge will enable us to devise more effective treatments for those who suffer from this devastating disease.

关键词： Cervical Cancer SiHa Cells Human Papilloma Virus (HPV) Sanguinarine TRAIL (Tumor Necrosis Factor Related Apoptosis-Inducing Ligand)

Prenatal Diagnosis of Fetus in Fetu with a Well Formed Skull: A Rare Case Report

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Open Journal of Obstetrics and Gynecology 2014年第12期4卷 710-715页

作者： Kishor Taori Suresh Dhakate Ramesh Parate jawhar Rathod Amit Disawal Anand Hatgaonkar Rahul Jain Akshat Kasat Dinesh Kumar Government Medical College Nagpur India

Fetus in fetu is an extremely rare condition embryologically arising in monozygotic diamniotic twins with an incidence of 1:500,000 births. To the best of our knowledge, number of reported cases should not be more than 100 with majority of cases presenting in post natal life with only 5 cases detected prenatally. We are presenting a case diagnosed at 24 weeks of gestation on ultrasound with presence of well formed skull, facial skeleton and bony orbit.

关键词： Fetus in Fetu Prenatal Diagnosis