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Second-order sliding mode attitude controller design of a small-scale helicopter

Science China(Information Sciences) 2016年第11期59卷 128-141页

作者： Shuai TANG Li ZHANG shaoke qian Zhiqiang ZHENG Department of Machinery & Electrical Engineering Logistical Engineering University College of Mechatronic Engineering and Automation National University of Defense Technology

In this paper, the attitude control of a small-scale helicopter is investigated. The main rotor flapping dynamics is explicitly explored to improve the control performance. A two-layer control architecture is adopted:the inner loop controller is designed combining second-order sliding mode control with extended state observer to control the angular rates and yield good robustness properties with respect to model uncertainties; the outer loop controller is used to control the attitude. Experimental results show that the proposed controller yields excellent performance and robustness.

关键词： small-scale helicopter second-order sliding mode extended state observer disturbances robustness

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Height and attitude active disturbance rejection controller design of a small-scale helicopter

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Science China(Information Sciences) 2015年第3期58卷 142-158页

作者： TANG Shuai YANG QiuHui qian shaoke ZHENG Zhiqiang College of Mechatronic Engineering and Automation National University of Defense Technology

Small-scale helicopters are very attractive because of their unique ***,autonomous flight control for small-scale helicopters is still a challenging work because they are naturally unstable,strongly nonlinear,and sensitive to *** this paper,we focus on the design of a height and attitude active disturbance rejection controller(ADRC)for a small-scale helicopter constructed in our ***,a comprehensive nonlinear model for the platform is presented,which is obtained through first principles modeling and system *** controller is designed using backstepping technique incorporated with extended state observer(ESO),which is used to estimate the unknown ***,the estimate is introduced into the control law to compensate for the *** design specifications of military rotorcraft are introduced to guide the controller design to achieve specified control *** the physical limitations,reference models are designed to shape the desired control *** last,several flight simulations are carried out to validate the effectiveness and robustness of the proposed *** results show that the proposed controller works well and Level 1 performance can be achieved.

关键词： small-scale helicopter active disturbance rejection control(ADRC) extended state observer(ESO) backstepping disturbance compensation

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Chain-flip plate triboelectric nanogenerator arranged longitudinally under water for harvesting water wave energy

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Nano Research 2023年第9期16卷 11900-11906页

作者： Yan Du qian Tang shaoke Fu Chuncai Shan Qixuan Zeng Hengyu Guo Chenguo Hu Department of Applied Physics Chongqing UniversityChongqing 400044China

Triboelectric nanogenerator(TENG)is a new cost-effective blue energy harvesting technology for its great performance in low ***,many related energy harvesters operate on water surface,ignoring the ocean’s ***,a chainflipped plate TENG(CFP-TENG),consisting of longitudinally arranged repeating units,is proposed to collect wave *** chain structure design allows the surface wave energy to act effectively on the underwater *** maximum output power per unit ocean area reaches 1.5 W·m^(-2) at a loading resistance of 30 MΩ.Optimization of device parameters and application demonstrations are *** with previous works,the utilization rate of wave energy has been significantly *** work not only provides a new method to optimize the output of TENG but also makes a crucial step in promoting practical applications of TENG in renewable blue energy.

关键词： triboelectric nanogenerator chain-flip plate wave energy blue energy

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A conductive supramolecular hydrogel creates ideal endogenous niches to promote spinal cord injury repair

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Bioactive Materials 2022年第9期7卷 103-119页

作者： Biao Yang Chengzhen Liang Di Chen Feng Cheng Yuang Zhang shaoke Wang Jiawei Shu Xianpeng Huang Jingkai Wang Kaishun Xia Liwei Ying Kesi Shi Chenggui Wang Xuhua Wang Fangcai Li qian Zhao Qixin Chen Department of Orthopedics Surgery The Second Affiliated HospitalSchool of MedicineZhejiang UniversityHangzhou310009ZhejiangChina Orthopedics Research Institute of Zhejiang University Hangzhou310009ZhejiangChina Key Laboratory of Motor System Disease Research and Precision Therapy of Zhejiang Province Hangzhou310009ZhejiangChina Ningbo Research Institute of Zhejiang University Ningbo315100ZhejiangChina State Key Laboratory of Chemical Engineering College of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027ZhejiangChina NHC and CAMS Key Laboratory of Medical Neurobiology MOE Frontier Science Center for Brain Research and Brain-Machine IntegrationSchool of Brain Science and Brain MedicineZhejiang UniversityHangzhou310003ZhejiangChina

The current effective method for treatment of spinal cord injury(SCI)is to reconstruct the biological microenvironment by filling the injured cavity area and increasing neuronal differentiation of neural stem cells(NSCs)to repair ***,the method is characterized by several challenges including irregular wounds,and mechanical and electrical mismatch of the material-tissue *** the current study,a unique and facile agarose/gelatin/polypyrrole(Aga/Gel/PPy,AGP3)hydrogel with similar conductivity and modulus as the spinal cord was developed by altering the concentration of Aga and *** gelation occurred through non-covalent interactions,and the physically crosslinked features made the AGP3 hydrogels *** vitro cultures showed that AGP3 hydrogel exhibited excellent biocompatibility,and promoted differentiation of NSCs toward neurons whereas it inhibited over-proliferation of *** in vivo implanted AGP3 hydrogel completely covered the tissue defects and reduced injured cavity *** vivo studies further showed that the AGP3 hydrogel provided a biocompatible microenvironment for promoting endogenous neurogenesis rather than glial fibrosis formation,resulting in significant functional *** sequencing analysis further indicated that AGP3 hydrogel significantly modulated expression of neurogenesis-related genes through intracellular Ca2+signaling ***,this supramolecular strategy produces AGP3 hydrogel that can be used as favorable biomaterials for SCI repair by filling the cavity and imitating the physiological properties of the spinal cord.

关键词： Conducting polymer Supramolecular hydrogels Biomimetic scaffolds Nerve regeneration Spinal cord injury

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广西地区苯丙氨酸羟化酶基因突变谱和新突变

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中华实用儿科临床杂志 2019年第6期34卷 443-448页

作者：罗静思谢波波范歆阳奇耿国兴钱家乐李川陈少科广西壮族自治区妇幼保健院遗传代谢中心南宁530003

目的探讨广西地区苯丙酮尿症(PKU)患儿苯丙氨酸羟化酶(PAH)基因突变特征,为遗传咨询和产前基因诊断提供依据。方法选取2009年1月至2017年12月在广西壮族自治区妇幼保健院确诊为PKU的37例患儿为研究对象,采集静脉血3 mL,采用聚合酶链反... 详细信息

目的探讨广西地区苯丙酮尿症(PKU)患儿苯丙氨酸羟化酶(PAH)基因突变特征,为遗传咨询和产前基因诊断提供依据。方法选取2009年1月至2017年12月在广西壮族自治区妇幼保健院确诊为PKU的37例患儿为研究对象,采集静脉血3 mL,采用聚合酶链反应技术扩增PAH基因,并采用Sanger测序法对患儿及其父母的PAH基因1~13外显子及其侧翼内含子区域进行基因测序分析。检索国内外相关文献及数据库判断发现的基因突变是否为新突变,同时通过检测100例健康个体为对照组进行基因测序,以证实该突变是否为新突变。结果 37例PKU共检测出68个突变位点,突变检出率为91.89%(68/74个),第7外显子为高频突变区域,包含6种突变,相对突变频率为31.08%,其次为第12外显子(18.92%)、第8外显子(10.81%)及第6外显子(10.81%);共检出PAH基因突变25种,包括错义突变14种(56.00%)、无义突变7种(28.00%)、剪接突变3种(12.00%)、缺失突变1种(4.00%)。其中c.1223G>A(p.R408Q)、c.728G>A(p.R243Q)、c.721C>T(p.R241C)为热点突变,分别占总突变频率的14.86%、13.51%、10.81%。3种突变c.314C>T(p.T105I)、c.583A>G(p.K195E)、c.851G>A(p.C284Y)经国际PAH突变数据库和人类基因突变数据库等数据库比对查新及软件预测,为未报道的PAH基因新突变。结论初步获得广西地区的PAH基因突变图谱,发现3种新突变,为本地区PKU基因诊断、产前诊断积累有价值的资料。

关键词：苯丙酮尿症苯丙氨酸羟化酶基因突变

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