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A flight controller based on extend state observer for quadrotor aerial vehicles

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A flight controller based on extend state observer for quadr...

Early Cenozoic paleontological assemblages and provenance evolution of the Lishui Sag,East China Sea

第36届中国控制会议

作者： Shangjing Wu Ke Lu Zhengzhong Wang zhenghua liu Science & Technology on Rotorcraft Aeromechanics Laboratory China Helicopter Research and Development Institute College of Automation Engineering Nanjing University of Aeronautics and Astronautics School of Automation Science and Electrical Engineering Beihang University

ISBN: (纸本)9781538629185

In order to solve the problems of parameter uncertainty and sensitivity to external disturb,a flight control system for quadrotor based on extend state observer was ***,the flight dynamic model for quadrotor was ***,the effect resulted from parameter uncertainty and external disturb was taken as general system disturb so it could be estimated online by extend state ***,the error feedback was designed to ensure the control system ***,simulations verify the controller.

关键词： Quadrotor extend state observer flight control system robustness

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Acta Oceanologica Sinica 2023年第3期42卷 113-122页

作者： Yingzhao Zhang Yiming Jiang zhenghua liu Shuai Li Ning Li Jinshui liu Peijun Qiao Kai Zhong Shuhui Chen Thian Lai Goh Shanghai Branch of China National Offshore Oil Corporation(CNOOC)Co. Ltd.Shanghai 200335China Shanghai Natural History Museum(Branch of Shanghai Science&Technology Museum) Shanghai 200041China State Key Laboratory of Marine Geology Tongji UniversityShanghai 200092China Shenzhen Branch of China National Offshore Oil Corporation(CNOOC)Co. Ltd.Shenzheng 518000China Department of Earth Sciences and Environment Faculty of Science and TechnologyUniversity Kebangsaan MalaysiaBangi 43600SelangorMalaysia

The East China Sea Shelf Basin generated a series of back-arc basins with thick successions of marine-and terrestrial-facies sediments during *** is enriched with abundant oil and gas resources and is of great significance to the petroleum exploration ***,the Lishui Sag formed fan delta,fluvial delta and littoral-to-neritic facies sediments during Paleocene–Eocene,and the research on its sedimentary environment and sediment source was *** study analyzed the paleontological combination characteristics,and conducted a source-to-sink comparative analysis to restore the sedimentary environment and provenance evolution of the Lishui Sag during Paleocene–Eocene based on the integration of detrital zircon U-Pb age spectra patterns with paleontological *** results indicated that Lishui Sag was dominated by littoral and neritic-facies environment during time corroborated by large abundance of foraminifera,calcareous nannofossils and *** analysis of detrital zircon U-Pb revealed that there were significant differences in sediment sources between the east and west area of the Lishui *** western area was featured by deeper water depths in the Paleocene–Eocene,and the sediment was characterized by a single Yanshanian peak of zircon U-Pb age spectra,and mainly influenced from Yanshanian magmatic rocks of South China Coast and the surrounding ***,its eastern area partly showed Indosinian *** particular,the upper Eocene Wenzhou sediments were featured by increasingly plentiful Precambrian zircons in addition to the large Indosinian-Yanshanian peaks,indicating a possible impact from the Yushan Low Uplift to the ***,it is likely that the eastern Lishui Sag generated large river systems as well as deltas during *** to the Yuquan Movement,the Lishui Sag experienced uplifting and exhumation in the late stage of the late Eocene and was not deposited with sediment

关键词： East China Sea Lishui Sag paleontological assemblages sedimentary provenance hydrocarbon exploration

基于路段单元的公路地质灾害风险气象预警系统

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安全与环境工程 2024年第1期31卷 163-171页

作者：张义顺梁梦姣肖常贵陈丽霞李烨刘正华陈卫群殷坤龙浙江省地质院浙江杭州310007 自然资源部浙江地质灾害野外科学观测研究站浙江杭州310007 中国地质大学(武汉)地球物理与空间信息学院湖北武汉430074 中国地质大学(武汉)工程学院湖北武汉430074 磐安县自然资源和规划局浙江磐安322300

面向山区交通风险管控需求,以公路为承灾体对象的地质灾害风险气象预警研究具有重要意义。以浙江省磐安县方前镇为研究区,考虑道路等级、斜坡单元、边坡类型和边坡稳定性现状4个方面,研究确定公路地质灾害预警单元的划分方法;考虑历史... 详细信息

面向山区交通风险管控需求,以公路为承灾体对象的地质灾害风险气象预警研究具有重要意义。以浙江省磐安县方前镇为研究区,考虑道路等级、斜坡单元、边坡类型和边坡稳定性现状4个方面,研究确定公路地质灾害预警单元的划分方法;考虑历史地质灾害的发育规律,将公路边坡分为土质、岩质和土岩混合质边坡3种类型,分别建立不同类型边坡地质灾害易发性评价体系,并通过层次分析法计算各指标权重及分值;在确定各预警单元所辖边坡地质灾害易发性等级的基础上,结合研究区四级气象预警判据建立基于路段单元的公路地质灾害风险气象预警模型,采用Java语言开发预警系统。经与2021年“烟花”台风期新生公路地质灾害点验证发现,预警成功率为100%。研究结果提供了公路地质灾害风险气象预警单元的划分方法和系统研发思路,能够为山区公路地质灾害风险气象预警提供借鉴与参考。

关键词：公路边坡预警单元地质灾害易发性评价气象预警系统

维普期刊数据库博看期刊

Influence of syngas components and ash particles on the radiative heat transfer in a radiant syngas cooler

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Chinese Journal of Chemical Engineering 2024年第4期68卷 203-215页

作者： Chen Han Youmin Situ Huaxing Zhu Jianliang Xu zhenghua Dai Guangsuo Yu Haifeng liu National Energy Coal Gasification Technology Research and Development Center East China University of Science and TechnologyShanghai 200237China Shanghai Engineering Research Center of Coal Gasification East China University of Science and TechnologyShanghai 200237China

Radiant syngas cooler(RSC)is widely used as a waste heat recovery equipment in industrial *** this work,an RSC with radiation screens is established and the impact of gaseous radiative property models,gas components,and ash particles on heat transfer is investigated by the numerical simulation *** the syngas components and the pressure environment of the RSC,a modified weighted-sum-of-gray-gases model was *** modified model shows high accuracy in *** computational fluid dynamics simulation,the calculated steam production is only 0.63%in error with the industrial *** with Smith's model,the temperature decay along the axial direction calculated by the modified model is *** components are of great significance to heat recovery capacity,especially when the absorbing gas fraction is less than 10%.After considering the influence of particles,the outlet temperature and the proportion of radiative heat transfer are less affected,but the difference in steam output reaches 2.7 t·h^(-1).The particle deposition on the wall greatly reduces the heat recovery performance of an RSC.

关键词： Radiant syngas cooler Weighted-sum-of-gray-gases model Numerical simulation Particle radiation

CHEMOTHERAPEUTIC POLYMERS ⅩⅩⅢ SYNTHESIS AND ANTITUMOR ACTIVITY OF POLYPHOSPHATES CONTAINING BOTH NUCLEIC ACID BASE AND PHOSPHONOACETIC ACID ETHYL ESTER

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Chinese Journal of Polymer Science 1989年第2期7卷 179-182页

作者：卓仁禧刘振华李立 Department of Chemistry Wuhan UniversityWuhan

Eight new polyphosphates containing both nucleic acid base and phosphonoacetic acid ethyl ester were synthesized by the polycondensation of P, P-dichloride of phosphonoacetic acid ethyl ester with 1, 3-dihydroxyalkyl-5-fluorouracil, 1,3-dihydroxyalkyl-uracil and 1,3-dihydroxyalkylthymine. These polyphosphates were tested against Ehrlich Ascites Carcinoma in mice. Polymer IIa and IIc exhibited excellent antitumor activity. IIc also showed lower toxicity.

关键词： Antitumor 5-fluorouracil Phosphonoacetic acid polyphosphate.

Effect of CeO_(2) nanoparticle sizes on catalytic performances of sulfated CeO_(2)/Al_(2)O_(3) catalyst in NH_(3)-SCR reaction

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Journal of Rare Earths 2024年第3期42卷 515-522,I0004页

作者： zhenghua Hu Dongqi An Lei Zhang Xuping Wang Siyong Fang Xinyun Tian liu Qiu Jingfang Sun Tingzhen Li Lin Dong School of Environmental and Chemical Engineering Chongqing Three Gorges UniversityChongqing404000China Key Laboratory of Water Environment Evolution and Pollution Control in the Three Gorges Reservoir Chongqing Three Gorges UniversityChongqing404000China Jiangsu Key Laboratory of Vehicle Emissions Control Center of Modern AnalysisNanjing UniversityNanjing210093China

The sulfated CeO_(2)/Al_(2)O_(3) catalysts with different sizes of CeO_(2)nanoparticles were prepared by using pure H_2O or acetic acid solution as impregnation solvent, and the influence of sizes of CeO_(2) nanoparticles on the catalytic performances of the sulfated CeO_(2)/Al_(2)O_(3) catalyst was studied. The catalytic performance tests show that the sulfated CeO_(2)/Al_(2)O_(3) catalyst using acetic acid solution as impregnation solvent has better catalytic activity and the resistance to K+poisoning than the sulfated CeO_(2)/Al_(2)O_(3) catalyst using pure H_(2)O as impregnation solvent. The excellent catalytic performances can be ascribed to the smaller sizes of CeO_(2) nanoparticles in CeO_(2)/Al_(2)O_(3) catalyst using acetic acid solution, which results in larger amount of adsorbed sulfate species, surface acid sites, surface active oxygen species and excellent redox property. These features are helpful for improving the catalytic performances of sulfated CeO_(2)/Al_(2)O_(3) catalyst using smaller amount of CeO_(2) to cut the costs.

关键词： Cerium-based catalyst Nanoscale effect NH_(3)selective catalytic reaction Sulfation process Alkali metal poisoning Rare earths

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滑模干扰观测器在低速光电跟踪系统中的应用

北京航空航天大学学报 2013年第6期39卷 835-840页

作者：任彦刘正华周锐北京航空航天大学自动化科学与电气工程学院北京100191

针对摩擦等非线性干扰因素对光电跟踪伺服系统低速性能的影响,系统设计分为两部分完成.将各种干扰信号等效成控制输入端的等效输入干扰(EID,Equivalent In-put Disturbance),针对系统名义模型搭建滑模干扰观测器,利用系统的状态观测误... 详细信息

针对摩擦等非线性干扰因素对光电跟踪伺服系统低速性能的影响,系统设计分为两部分完成.将各种干扰信号等效成控制输入端的等效输入干扰(EID,Equivalent In-put Disturbance),针对系统名义模型搭建滑模干扰观测器,利用系统的状态观测误差推导出系统的等效输入干扰,并采用Lyapunov函数推导出该观测器稳定收敛的条件,通过设计增益矩阵与反馈矩阵,调整观测器跟踪系统状态的收敛速度,最终实现抑制系统跟踪过程中的干扰信号;针对系统的动态部分设计了自适应加速度稳定控制器,进一步补偿了干扰估计的不足问题,保证了系统动态跟踪的精度与稳定性,增强了控制系统的鲁棒自适应能力.仿真和实验结果证明了该方法的有效性.

关键词：等效输入干扰滑模干扰观测器鲁棒性光电跟踪系统低速性

Constructing an EMS mutant library of wheat cultivar Xinong 2000 and screening the seedlings' drought resistance

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Gas-propelled nanomotors alleviate colitis through the regulation of intestinal immunoenvironment-hematopexis-microbiota circuits

第十四届全国植物基因组学大会

作者： Jin Zhang zhenghua liu Ran Han Huixian Zhao College of Life Science Northwest A&F University

In this study,a wheat mutant library with EMS was constructed for laying a foundation for wheat drought resistance *** was used as chemical mutagen to build the mutant library with wheat cultivar Xinong *** mutant lib... 详细信息

关键词： wheat EMS mutant library drought resistance

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Acta Pharmaceutica Sinica B 2024年第6期14卷 2732-2747页

作者： Bo Xiao Yuqi Liang Ga liu Lingshuang Wang Zhan Zhang Libin Qiu Haiting Xu Sean Carr Xiaoxiao Shi Rui LReis Subhas CKundu zhenghua Zhu Department of Gastroenterology the First Affiliated Hospital of Nanchang UniversityNanchang 330006China College of Sericulture Textileand Biomass SciencesSouthwest UniversityChongqing 400715China Department of Neurology School of MedicineEmory UniversityAtlantaGA 30322USA Atlanta Veterans Affairs Medical Center DecaturGA 30033USA Department of Surgery School of MedicineEmory UniversityAtlantaGA 30322USA Bs Research Group I3Bs—Research Institute on BiomaterialsBiodegradables and BiomimeticsUniversity of MinhoHeadquarters of the European Institute of Excellence on Tissue Engineering and Regenerative MedicineAveParkBarcoGuimaraes 4805-017Portugal

The progression of ulcerative colitis(UC)is associated with immunologic derangement,intestinal hemorrhage,and microbiota *** traditional medications mainly focus on mitigating inflammation,it remains challenging to address multiple ***,a versatile gas-propelled nanomotor was constructed by mild fusion of post-ultrasonic CaO_(2) nanospheres with Cu_(2)O *** resulting CaO_(2)–Cu_(2)O possessed a desirable diameter(291.3 nm)and a uniform size *** could be efficiently internalized by colonic epithelial cells and macrophages,scavenge intracellular reactive oxygen/nitrogen species,and alleviate immune reactions by pro-polarizing macrophages to the anti-inflammatory M2 *** nanomotor was found to penetrate through the mucus barrier and accumulate in the colitis mucosa due to the driving force of the generated oxygen *** administration of CaO_(2)–Cu_(2)O could stanch the bleeding,repair the disrupted colonic epithelial layer,and reduce the inflammatory responses through its interaction with the genes relevant to blood coagulation,anti-oxidation,wound healing,and ***,it restored intestinal microbiota balance by elevating the proportions of beneficial bacteria(e.g.,Odoribacter and Bifidobacterium)and decreasing the abundances of harmful bacteria(e.g.,Prevotellaceae and Helicobacter).Our gas-driven CaO_(2)–Cu_(2)O offers a promising therapeutic platform for robust treatment of UC via the rectal route.

关键词： Nanomotor Anti-inflammation Blood coagulation Immune regulation Hematopexis Microbiota rebalance Ulcerative colitis Rectal administration