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Nonlinear Longitudinal Attitude Control of an Unmanned Seaplane with Wave Filtering

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International Journal of Automation and computing 2016年第6期13卷 634-642页

作者： Huan Du Guo-Liang Fan jian-qiang yi Institute of Automation Chinese Academy of Sciences

A new longitudinal attitude control system design for an unmanned seaplane in the severe sea states is presented in this paper. We develop a nonlinear passive observer, which is used to achieve wave filtering and state estimation. Moreover, the observer can be extended to achieve adaptive wave filtering in varying sea states. Using the estimated low-frequency states, a backstepping sliding mode controller is designed to keep the longitudinal attitude of the unmanned seaplane stable. The stability of the total closed loop system is analyzed by using Lyapunov theory. Simulations are performed in different wave conditions, including Seastate 3 and Seastate 5. The simulations results show that the proposed longitudinal attitude controller can improve the anti-waves capability effectively. Moreover, adaptive wave filter has a significant advantage over a filter with fixed model parameters in varying sea states.

关键词： observer backstepping unmanned sliding attitude longitudinal guaranteed disturbance filtering desired

Inverse Control of Cable-driven Parallel Mechanism Using Type-2 Fuzzy Neural Network

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自动化学报 2010年第3期36卷 459-464页

作者： LI Cheng-Dong yi jian-qiang YU yi ZHAO Dong-Bin Institute of Automation Chinese Academy of Sciences Beijing100190 P. R. China

The level adjustment of cable-driven parallel mechanism is challenging due to the diffculty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents a type-2 fuzzy neural network(T2FNN)based inverse control scheme for the level adjustment process. The T2FNN, whose consequent interval weights are trained by the iterative least squares estimation method,is used to approximate the inverse dynamics of the process and to handle uncertainties. Finally, the proposed control scheme and its counterpart--type-1 fuzzy neural network based inverse control scheme--are compared and implemented for leveling the cable-driven parallel mechanism

关键词：机器人数学模型最小二乘法动力学

Effect of aliskiren on arterial stiffness, compared with ramipril in patients with mild to moderate essential hypertension

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Chinese Medical Journal 2013年第7期126卷 1242-1246页

作者： GUO jian-qiang WANG Hong-yi SUN Ning-ling Department of Cardiology Peking University People's Hospital Beijing 100044 China

Background Aliskiren is a novel blood pressure-lowering agent acting as an oral direct renin inhibitor. The aim of this study was to assess the effect of aliskiren on arterial stiffness, compared with that of ramipril in mild to moderate essential hypertensive patients. Methods Following a two week placebo run-in period, patients with a mean sitting diastolic blood pressure （ms-DBP）〉95 and 〈110 mmHg （1 mmHg=0.133 kPa）, and a mean sitting systolic blood pressure （ms-SBP）〈180 mmHg were randomly allocated to treatment with aliskiren （150 mg/d, n=20） or ramipril （5 mg/d, n=20） for eight weeks. Blood pressure, plasma renin activity, and the brachial-ankle pulse wave velocity （ba-PWV） were measured before and after eight weeks of treatment. Results Eight weeks of treatment significantly decreased systolic blood pressure and diastolic blood pressure in both the aliskiren group and ramipril group. The hypotensJve effect did not differ between the two groups. Plasma renin activity decreased after aliskiren treatment and increased after ramipril treatment. There was no significant difference in baseline ba-PWV between the aliskiren and ramipril groups （P=-0.892）. The ba-PWV was significantly reduced in both the aliskiren group （1535 （1405-1666） vs. 1464 （1360-1506） cm/s）（P 〈0.01） and the ramipril group （1544 （1433-1673） vs. 1447 （1327-1549） cm/s）（P 〈0.01）. No statistically significant difference was found in the decline of ba-PWV between the two groups （P=0.766）. Conclusions The current study revealed that aliskiren （150 mg/d） could ameliorate arterial stiffness and its effect was similar to ramipril （5 mg/d） in mild to moderate hypertensive patients, indicating that in addition to lowering blood pressure, aliskiren had beneficial effect on vascular protection.

关键词： aliskiren arterial stiffness hypertension ramipril

Effect of Ti Additions on Mechanical and Thermodynamic Properties of W-Ti Alloys: A First-principles Study

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Journal of Wuhan University of Technology(Materials Science) 2025年第1期40卷 246-257页

作者： ZHANG jian NIE Wei HUANG Jin ZHU Ke LIU Ruxia ZHANG Ruizhi LUO Guoqiang SHEN qiang State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China Institute for Carbon Neutrality University of Science and Technology BeijingBeijing 100083China

The mechanical and thermodynamic properties of W-Ti alloys(including W_(15)Ti_(1),W_(14)Ti_(2),W_(12)Ti_(4) and W_(8)Ti_(8) alloys)were investigated by the first-principles approach based on density functional *** results indicate that W-Ti alloys except W_(8)Ti_(8) are thermodynamically *** modulus and hardness of W-Ti alloys are smaller than those of pure tungsten and gradually decrease with increasing Ti ***,their B/G ratios and Poisson's ratios exceed those of pure tungsten,suggesting that the introduction of Ti decreases the mechanical strength while enhancing the ductility of W-Ti *** thermal expansion coefficients for W-Ti alloys all surpass those of pure tungsten,indicating that the introduction of titanium exacerbates the thermal expansion behavior of W-Ti ***,elevated pressure has the capacity to suppress the thermal expansion tendencies in titanium-doped tungsten *** study offers theoretical insights for the design of nuclear materials by exploring the mechanical and thermodynamic properties of W-Ti alloys.

关键词： first-principles mechanical properties thermodynamic properties tungsten-titanium alloys

Stable copper boron–imidazolate cage as Cu-riched enzyme for highly efficient electrocatalytic CO2 reduction to ethylene

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Science China Chemistry 2025年

作者： Jun-qiang Chen Qiao-Hong Li Qin-Long Hong Ping Shao Hai-Xia Zhang jian Zhang State Key Laboratory of Structural Chemistry Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences

Single-atom catalyst has garnered widespread attention to mimic mature enzymes due to its well-defined atomic structure and coordination environments. However, since the carbon–carbon（C–C） coupling reactions require synergistic catalysis of multiple sites, single-atom catalysts suffer from insufficient active sites and unclear reaction mechanisms. Controlling the reaction intermediates in a precisely targeted pocket through careful metal–organic cage design is therefore crucial. Here, we prepare a tetrahedral [Cu6L4]-type boron–imidazolate cage integrating highly active Cu sites and optimized cavity, which exhibits enzyme like specific catalytic performance in electrochemical CO2reduction reaction（CO2RR） to enhance the selectivity of *** analyses and computational calculations suggest that the single Cu site together with neighboring boron–imidazolate ligands provides suitably synergistic effects that enable the energetically favorable formation of an *COCHO intermediate, a key step determining selectivity. As a result, the [Cu6L4]-type cage of BIC-145 achieves a Faradaic efficiency of 28% for C2H4maintaining an average current density of -3.54 mA cm-2over a 5-hour electrolysis period. This work represents the first example for studying single-metal site catalysts with ultra-low coordination numbers through the rational design of metal–organic cages.

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π-Stacking Induced Complexes and Their Luminescent Properties

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π-Stacking Induced Complexes and Their Luminescent Properti...

Mesospheric tide comparisons at low latitudes observed by two collocated meteor radars

中国化学会第五届全国结构化学学术会议

作者： Liu-Chen Gui Yan-Fang Liao Xuan-Feng jiang Qing-Ling Ni Xiu-jian Wang~* Zhuo-Yuan Wang jian-qiang Zeng yi Yang School of Chemical Engineering and Chemistry,Guangxi Normal University,Guilin 541004,Guangxi,

None-covalent interactions such as H-bonding,π-π stacking interaction and electrostatic effect are particularly useful in crystal engineering and supramolecular *** we present five coordination complexes of[Cu(pyraz...

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Earth and Planetary Physics 2025年第1期9卷 54-68页

作者： jian Li Wen yi XiangHui Xue Jie Zeng HaiLun Ye jianYuan Wang JinSong Chen Na Li TingDi Chen Chinese Academy of Sciences(CAS)Key Laboratory of Geospace Environment Department of Geophysics and Planetary SciencesUniversity of Science and Technology of ChinaHefei 230026China CAS Center for Excellence in Comparative Planetology Anhui Mengcheng Geophysics National Observation and Research StationUniversity of Science and Technology of ChinaHefei 230026China Hefei National Laboratory University of Science and Technology of ChinaHefei 230026China Collaborative Innovation Center of Astronautical Science and Technology Harbin 150001China National Key Laboratory of Electromagnetic Environment China Research Institute of Radiowave PropagationQingdao 266107China Yunnan Kunming Electromagnetic Environment National Observation and Research Station Qujing Kunming 655000China

Accurate knowledge of mesospheric winds and waves is essential for studying the dynamics and climate in the mesosphere and lower thermosphere(MLT)*** this study,we conduct a comparative analysis of the mesosphere tidal results obtained from two adjacent meteor radars at low latitudes in Kunming,China,from November 2013 to December *** two radars operate at different frequencies of 37.5 MHz and 53.1 MHz,***,overall good agreement is observed between the two radars in terms of horizontal winds and tide *** results show that the dominant tidal waves of the zonal and meridional winds are diurnal and semidiurnal ***,we conduct an exhaustive statistical analysis to compare the tidal amplitudes and vertical wavelengths recorded by the dual radar systems,which reveals a high degree of alignment in tidal *** investigation includes variances and covariances of tidal amplitudes,which demonstrate remarkable consistency across measurements from both *** finding highlights clear uniformity in the mesospheric tidal patterns observed at low latitudes by the two neighboring meteor *** of the comparative analysis specifically underscore the significant correlation in vertical wavelength measurements,validating the robustness of radar observations for tidal research.

关键词： mesosphere and lower thermosphere region meteor radar mesospheric winds tides

Maintaining moderate levels of hypochlorous acid promotes neural stem cell proliferation and differentiation in the recovery phase of stroke

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Neural Regeneration Research 2025年第3期20卷 845-857页

作者： Lin-Yan Huang yi-De Zhang Jie Chen Hai-Di Fan Wan Wang Bin Wang Ju-Yun Ma Peng-Peng Li Hai-Wei Pu Xin-yian Guo jian-Gang Shen Su-Hua Qi School of Medical Technology Xuzhou Key Laboratory of Laboratory DiagnosticsXuzhou Medical UniversityXuzhouJiangsu ProvinceChina School of Pharmacy Xuzhou Medical UniversityXuzhouJiangsu ProvinceChina Department of Laboratory Medicine Branch Hospital of Huai’an First People’s HospitalHuai’anJiangsu ProvinceChina Department of Laboratory Medicine the Affiliated Hospital of Xuzhou Medical UniversityXuzhouJiangsu ProvinceChina School of Chinese Medicine The University of Hong KongHong Kong Special Administrative RegionChina

It has been shown clinically that continuous removal of ischemia/reperfusion-induced reactive oxygen species is not conducive to the recovery of late ***,previous studies have shown that excessive increases in hypochlorous acid after stroke can cause severe damage to brain *** previous studies have found that a small amount of hypochlorous acid still exists in the later stage of stroke,but its specific role and mechanism are currently *** simulate stroke in vivo,a middle cerebral artery occlusion rat model was established,with an oxygen-glucose deprivation/reoxygenation model established in vitro to mimic *** found that in the early stage(within 24 hours)of ischemic stroke,neutrophils produced a large amount of hypochlorous acid,while in the recovery phase(10 days after stroke),microglia were activated and produced a small amount of hypochlorous ***,in acute stroke in rats,hypochlorous acid production was prevented using a hypochlorous acid scavenger,taurine,or myeloperoxidase inhibitor,4-aminobenzoic acid *** results showed that high levels of hypochlorous acid(200μM)induced neuronal apoptosis after oxygen/glucose deprivation/***,in the recovery phase of the middle cerebral artery occlusion model,a moderate level of hypochlorous acid promoted the proliferation and differentiation of neural stem cells into neurons and *** suggests that hypochlorous acid plays different roles at different phases of cerebral ischemia/reperfusion *** levels of hypochlorous acid(5 and 100μM)promoted nuclear translocation ofβ-*** transfection of single-site mutation plasmids,we found that hypochlorous acid induced chlorination of theβ-catenin tyrosine 30 residue,which promoted nuclear ***,our study indicates that maintaining low levels of hypochlorous acid plays a key role in the recovery of neurological function.

关键词： cell differentiation cerebral ischemia/reperfusion injury chlorination hypochlorous acid microglia neural stem cell neurogenesis nuclear translocation stroke β-catenin

Clinicopathological differences between patients with schistosomal appendicitis and non schistosomal appendicitis:A retrospectively study of past ten years

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World Journal of Clinical Cases 2025年第2期13卷 24-32页

作者： Xiao-yi Wang Yao Hao Zi-jian Wang Xiu-Liang Xu jiang-Hua Yang Department of Infectious Diseases The First Affiliated of Wannan Medical CollegeWuhu 241001Anhui ProvinceChina

BACKGROUND Chronic schistosomiasis causes multiple organ and multiple system diseases,especially the digestive *** eggs are mainly deposited in the stomach,liver and colorectal,but a few eggs are deposited in the appendix and cause *** present,there are few studies on schistosomal *** To explore the differences in epidemiological,clinical and pathological characteristics between schistosomal appendicitis and non-schistosomal appendicitis over the past decade in order to assess the impact of schistosomiasis on *** The differences of general data,clinical data and laboratory examination data of patients with appendicitis from October 2013 to October 2023 were retrospectively *** patients were divided into two groups for *** were 136 patients in schistosomal appendicitis group and 5418 patients in non-schistosomal appendicitis *** Schistosomal appendicitis accounted for 2.45%of all patients with appendicitis,and the annual proportion in the past decade was 2.2%,2.9%,1.8%,1.9%,3.4%,3.1%,1.9%,1.6%,3%,2.6%,*** prevalence of schistosomal appendicitis was middle-aged and elderly males,with an average age of 61.73±15.335 *** main population of non-schistosomal appendicitis was middle-aged men,with an average age of 35.8±24.013 years(P<0.001).The distribution of pathological types of appendicitis was different between the two groups(P<0.001).The incidence of acute suppurative appendicitis in non-schistosomal appendicitis was higher than that in schistosomal appendicitis[odds ratio(OR)=0.504;95%confidence interval(CI):0.349-0.728;P<0.001].The proportion of acute attack of chronic appendicitis in schistosomal appendicitis was higher than that in non-schistosomal appendicitis(OR=2.614;95%CI:1.815-3.763;P<0.001).The proportion of schistosomal appendicitis patients complicated with colorectal cancer was higher than that of nonschistosomal appendicitis patients(OR=5.087;95%CI:1.427-

关键词： Schistosomal appendicitis Schistosomiasis Appendix Colorectal cancer Clinicopathological characteristics