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A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics

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IET Cyber-Systems and Robotics 2022年第3期4卷 153-162页

作者： Zhe Xu Tao Yan Simon X.Yang S.andrew gadsden School of Engineering University of GuelphGuelphOntarioCanada Department of Mechanical Engineering McMaster UniversityHamiltonOntarioCanada

Tracking control has been a vital research topic in *** paper presents a novel hybrid control strategy for an unmanned underwater vehicle(UUV)based on a bio-inspired neural dynamics *** enhanced backstepping kinematic control strategy is first developed to avoid sharp velocity jumps and provides smooth velocity commands relative to conventional ***,a novel sliding mode control is proposed,which is capable of providing smooth and continuous torque commands free from *** comparative studies,the proposed combined hybrid control strategy has ensured control signal smoothness,which is critical in real‐world applications,especially for a UUV that needs to operate in complex underwater environments.

关键词： backstepping bioinspired neural dynamics sliding mode control unmanned underwater vehicle

Model-Based Fault Detection of a Battery System in a Hybrid Electric Vehicle

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Journal of Energy and Power Engineering 2013年第7期7卷 1344-1351页

作者： S. andrew gadsden Saeid R. Habibi Department of Mechanical Engineering MeMaster University Hamilton L8S 4L7 Ontario Canada

Recently, a new type of IMM （interacting multiple model） method was introduced based on the relatively new SVSF （smooth variable structure filter）, and is referred to as the IMM-SVSF. The SVSF is a type of sliding mode estimator that is formulated in a predictor-corrector fashion. This strategy keeps the estimated state bounded within a region of the true state trajectory, thus creating a stable and robust estimation process. The IMM method may be utilized for fault detection and diagnosis, and is classified as a model-based method. In this paper, for the purposes of fault detection, the IMM-SVSF is applied through simulation on a simple battery system which is modeled from a hybrid electric vehicle.

关键词： Battery system fault detection and diagnosis interacting multiple model smooth variable structure filter Kalman filter.

Bioinspired backstepping sliding mode control and adaptive sliding innovation filter of quadrotor unmanned aerial vehicles

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Biomimetic Intelligence & Robotics 2023年第3期3卷 49-58页

作者： Zhe Xu Tao Yan Simon X.Yang Sandrew gadsden School of Engineering University of GuelphGuelph N1G 2V7Canada Department of Mechanical Engineering McMaster UniversityHamilton L8S 4L8Canada

Quadrotor unmanned aerial vehicles have become the most commonly used flying robots with wide applications in recent *** paper presents a bioinspired control strategy by integrating the backstepping sliding mode control technique and a bioinspired neural dynamics *** effects of both disturbances and system and measurement noises on the quadrotor unmanned aerial vehicle control performance have been addressed in this *** proposed control strategy is robust against disturbances with guaranteed stability proven by the Lyapunov stability *** addition,the proposed control strategy is capable of providing smooth control inputs under *** the modeling uncertainties,the adaptive sliding innovation filter is integrated with the proposed control to provide accurate state estimates to improve tracking ***,the simulation results demonstrate that the proposed control strategy provides satisfactory tracking performance for a quadrotor unmanned vehicle operating under disturbances and noises.

关键词： Trajectory tracking Backstepping sliding mode Sliding innovation filter Unmanned aerial vehicle

T cell immune responses to SARS-CoV-2 and variants of concern(Alpha and Delta)in infected and vaccinated individuals

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Cellular & Molecular Immunology 2021年第11期18卷 2554-2556页

作者： Stanley C.Jordan Bong-Ha Shin Terry-Ann M.gadsden Maggie Chu Anna Petrosyan Catherine N.Le Rachel Zabner Jillian Oft Isabel Pedraza Susan Cheng Ashley Vo Noriko Ammerman Jasmine Plummer Shili Ge Max Froch Anders Berg Mieko Toyoda Ruan Zhang Comprehensive Transplant Center Transplant Immunology LaboratoryCedars-Sinai Medical CenterLos AngelesCAUSA Division of Infectious Diseases Cedars-Sinai Medical CenterLos AngelesCAUSA Department of Cardiology Cedars-Sinai Medical CenterLos AngelesCAUSA Department of Bioinformatics&Functional Genomics Cedars-Sinai Medical CenterLos AngelesCAUSA Department of Pathology&Laboratory Medicine Cedars-Sinai Medical CenterLos AngelesCAUSA

Our understanding of immune responses to SARS-CoV-2 and variants of concern(VOCs)has been primarily acquired through analysis of Spike-specific IgG ***,a more comprehensive understanding of the breadth and longevity of immune responses after infection and vaccination requires analysis of cellular ***,we report on T cell immunity in infected and vaccinated individuals,identifying CD4+/CD8+T cell cytokine responses to SARS-CoV-2 and variant peptides(Alpha,B.1.1.7 and Delta,B.1.617.2).

关键词： Alpha infected immunity

1．5％甲哌卡因与0．5％布比卡因混合液对超声引导下肌间沟神经阻滞起效时间及镇痛时间的作用

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麻醉与镇痛 2012年第3期8卷 23-28页

作者： Jeff gadsden, MD Admir Hadzic, MD, PhD, Kishor Gandhi, MD, MPH, Ali Shariat, MD Daquan Xu, MB, MPH, Thomas Maliakal, MD, Vijay Patel, MD 安光惠(译) 李士通(校) St. Luke's-Roosevelt Hospital Center New York New York. Kishor Gandhi is currently affiliated with Thomas Jefferson University Hospital Philadelphia Pennsylvania 不详

背景一般采用短效与长效局麻药混合使用来达到神经阻滞起效快维持时间长的效果。但是，有关混合使用局麻药优点的数据报道并不多见。我们假设使用甲哌卡因与布比卡因的混合液进行区域阻滞比单纯使用布比卡因起效更快，且比单纯使用甲哌... 详细信息

背景一般采用短效与长效局麻药混合使用来达到神经阻滞起效快维持时间长的效果。但是，有关混合使用局麻药优点的数据报道并不多见。我们假设使用甲哌卡因与布比卡因的混合液进行区域阻滞比单纯使用布比卡因起效更快，且比单纯使用甲哌卡因时效更长。方法研究对象为64例行肩关节镜的患者（18-65岁，ASAⅠ-Ⅱ级），采用超声引导下肌间沟臂丛神经阻滞。受试者随机分配接受3种麻醉药物方案中的1种：1．5％甲哌卡因30ml、0．5％布比卡因30ml、1．5％甲哌卡因15ml与0．5％布比卡因15ml混合液。记录运动和感觉被阻滞的起效时间和维持时间。结果3组腋神经分布区（上干）的感觉阻滞的起效时间相同[甲哌卡因组（8．7±4．3）分钟、布比卡因组（10．0±5．1）分钟、混合液组（11．3±5．3）分钟，组间P=0．21]。运动神经阻滞的持续时间混合液组[（11．5±4．7）小时]位于布比卡因组[（16．4±9．4）小时]和甲哌卡因组[（6．0±4．2）小时]之间。镇痛维持时效最短的是甲哌卡因[（4．9±2．4）小时]，最长的是布比卡因组[（14．0±6．2）小时]，中间组是混合液组[（10．3±4．9）小时]（甲哌卡因组与混合液组相比，P〈0．001，布比卡因组与混合液组相比，P=0．01）。结论超声引导下肌间沟臂丛神经阻滞时，使用1．5％甲哌卡因与0．5％布比卡因混合液的起效时间与单独使用其中任何一种药物相近，平均阻滞时间明显比单独使用甲哌卡因长，但比布比卡因短。

关键词：肌间沟臂丛神经阻滞布比卡因混合液阻滞起效时间甲哌卡因超声引导镇痛时间运动神经阻滞长效局麻药