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Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier

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IEEE/CAA Journal of Automatica Sinica 2021年第1期8卷 86-93页

作者： Mostafa Bagheri Iasson Karafyllis Peiman Naseradinmousavi miroslav Krstić the Department of Mechanical and Aerospace Engineering University of California San Diego and San Diego State UniversityLa JollaCA 92037 USA the Department of Mathematics National Technical University of AthensAthina 10682Greece the Department of Mechanical Engineering San DiegoCA 92182 USA the Department of Mechanical and Aerospace Engineering University of California San DiegoLa JollaCA 92037 USA

We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled *** manipulators are widely used in telemanipulation systems where they are subject to model and environmental *** conventional control algorithms on such systems can cause not only poor control performance,but also expensive computational costs and catastrophic ***,system uncertainties need to be estimated through designing a computationally efficient adaptive control *** focus on robot manipulators as an example of a highly nonlinear *** a case study,a 2-DOF manipulator subject to four parametric uncertainties is ***,the dynamic equations of the manipulator are derived,and the corresponding regressor matrix is constructed for the unknown *** a general nonlinear system,a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parameters'***,simulation results are discussed for a two-link manipulator,and the performance of the proposed scheme is thoroughly evaluated.

关键词： Backstepping least-square identifier robot manipulators trigger-based adaptive control

Bellman Systems with Mean Field Dependent Dynamics

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Chinese Annals of Mathematics,Series B 2018年第3期39卷 461-486页

作者： Alain BENSOUSSAN miroslav BULICEK Jens FREHSE Jindal School of Management International Center for Decision and Risk Analysis University of Texas at Dallas800 W.Campbell RdSM 30 RichardsonTX 75080-3021USA Department SEEM City University of Hong Kong Hung HomKowloonHong KongChina Mathematical Institute Faculty of Mathematics and PhysicsCharles UniversitySokolovska 8318675 Praha 8Czech Republic Institute for Applied Mathematics Department of Applied AnalysisEndenicher Allee 6053115 BonnGermany

The authors deal with nonlinear elliptic and parabolic systems that are the Bellman like systems associated to stochastic differential games with mean field dependent *** key novelty of the paper is that they allow heavily mean field dependent *** in particular leads to a system of PDE's with critical growth,for which it is rare to have an existence and/or regularity *** the paper,they introduce a structural assumptions that cover many cases in stochastic differential games with mean field dependent dynamics for which they are able to establish the existence of a weak *** addition,the authors present here a completely new method for obtaining the maximum/minimum principles for systems with critical growths,which is a starting point for further existence and also qualitative analysis.

关键词： Stochastic games Bellman equation Mean field equation Nonlinearelliptic equations Weak solution Maximum principle

Host preference of the major strains of Plum pox virus--Opinions based on regional and world-wide sequence data

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Journal of Integrative Agriculture 2017年第3期16卷 510-515页

作者： Nina Sihelská miroslav Glasa Zdeno W Subr Biomedical Research Center Institute of Virology Slovak Academy of Sciences Bratislava 84505 Slovak Republic

Plum pox virus（PPV）causes sharka-the most serious viral disease of stone fruit *** is wide spread in Europe and Mediterranean Basin,its incidence has been further approved in Asia and both *** PPV strains have been recognized until now（PPV-D,PPV-M,PPV-Rec,PPV-EA,PPV-C,PPV-T,PPV-W,PPV-CR,and PPV-An）,forming molecularly distinct entities,however,only partially differentiable by their biological or epidemiological *** most strict virus-host linkages under natural conditions have been detected for strains naturally infecting cherries（PPV-C and PPV-CR）.However,although less stringent but still clear host preference is observed also for three epidemiologically most important strains（PPV-D/plum/apricot,PPV-M/peach,and PPV-Rec/plum）.So far no genetic marker has been mapped in the PPV genome,which responsibility for the host specificity/preference could be explicitly *** this review,we focus on the host preference of three major PPV strains as evidenced by analysis of an extensive dataset of PPV isolates of Slovak and world-wide ***,we discuss several performed relevant experiments and further possible research procedures aimed to better understand the genetic determinants and mechanisms of the host preference of this potyvirus.

关键词： sharka Prunus virus-host interactions

Seismic fragility assessment of low-rise stone masonry buildings

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Earthquake Engineering and Engineering Vibration 2013年第1期12卷 87-97页

作者： Ahmad Abo-El-Ezz Marie-José Nollet miroslav Nastev Department of Construction Engineering école de technologie supérieureUniversity of Québec MontréalQCH3C 1K3Canada Geological Survey of Canada Natural Resources Canada490Rue de la CouronneQuébecQCG1K 9A9Canada

Many historic buildings in old urban centers in Eastern Canada are made of stone masonry reputed to be highly vulnerable to seismic *** risk assessment of stone masonry buildings is therefore the first step in the risk mitigation process to provide adequate planning for retrofit and preservation of historical urban *** paper focuses on development of analytical displacement-based fragility curves reflecting the characteristics of existing stone masonry buildings in Eastern *** old historic center of Quebec City has been selected as a typical study *** standard fragility analysis combines the inelastic spectral displacement,a structure-dependent earthquake intensity measure,and the building damage state correlated to the induced building *** proposed procedure consists of a three-step development process：（1） mechanics-based capacity model,（2） displacement-based damage model and（3） seismic demand *** damage estimation for a uniform hazard scenario of 2% in 50 years probability of exceedance indicates that slight to moderate damage is the most probable damage experienced by these stone masonry *** is also made with fragility curves implicit in the seismic risk assessment tools Hazus and *** shows the highest probability of the occurrence of no to slight damage,whereas the highest probability of extensive and complete damage is predicted with *** comparison shows the importance of the development of fragility curves specific to the generic construction characteristics in the study area and emphasizes the need for critical use of regional risk assessment tools and generated results.

关键词： seismic risk assessment fragility analysis stone masonry

Concept of the integrative aspects of the forest ecosystem services with case study on recreation services assessment in Slovakia

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Ecological Processes 2014年第1期3卷 136-141页

作者： Vladimir Caboun miroslav Kovalcik Zuzana Sarvasova Department of Forest Ecology and Landscape National Forest Centre-Forest Research Institute ZvolenT.G.Masaryka 22ZvolenSK-96092Slovakia Department of Forest Policy Economics and Forest ManagementNational Forest Centre-Forest Research Institute ZvolenT.G.Masaryka 22SK-96092 ZvolenSlovakia

Introduction:This paper presents basic information on the research,classification,and application of the functions of tree species and their communities(mainly forest)in *** main aim is a scientific assessment of acquired knowledge regarding the functional effects of forests under real ecological,forest management and socio-economic conditions from various regions in Slovakia;the most up-to-date findings concerning the ecology and economics of natural resources will be applied *** second part of the paper presents methodological possibilities for valuation of outdoor recreation in *** methods and methodological approaches suitable to a valuation of recreation based on various principles and criteria(preference and non-preference methods,cost-based methods,revenue-based methods,and direct and indirect methods)are analyzed.A practical application of one indirect preference method(travel cost method)is made to evaluate outdoor recreation in forests in *** and conclusions:A new classification system and a methodology of integrative utilization of forest functions for the forest ecosystem services are *** recreation in forests,besides recreational forests and areas,assumes the character of a public good:its use by individuals has some influence on utilization by other individuals,and single users cannot be excluded from its ***,some stimulation for its production is *** principle,there are no markets for these kinds of public goods and *** total value of outdoor recreation in forests in Slovakia amounted to€163.4 million;if opportunity time costs were included,this amounted to as much as€825.7 million.

关键词： Classification of forest functions Forest functions Outdoor recreation in forests Utilization of the functions of forest tree species

Thoracic aortic rupture due to airbag deployment

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World Journal of Emergency Medicine 2021年第4期12卷 327-329页

作者： Michal Plodr miroslav Safr Ivo Novak Department of Emergency Medicine and Military General Medicine Faculty of Military Health SciencesUniversity of DefenceHradec Kralove 50001Czech Republic Emergency Medical Services of the Hradec Kralove Region Hradec Kralove 50002Czech Republic Department of Forensic Medicine University Hospital Hradec KraloveHradec Kralove 50005Czech Republic

Dear editor,Airbags are an example of passive preventive measures reducing the risk of severe injury or death from a motor vehicle accident. However, airbags have also been described as a source of injuries related to airbag deployment. Typical airbag-related injuries are eye injuries, cervical spine injuries, rib fractures, cardiac injuries, extremity injuries, and thoracic aortic rupture(TAR).[1-3] Approximately one-third of patients with TAR who survive till hospital admission die before surgical treatment.[4] We present a patient with TAR after a lowspeed motor vehicle accident with rapidly deteriorating vital signs and subsequent death on the scene.

关键词： injuries rupture editor

Oxidation state specific analysis of arsenic species in tissues of wild-type and arsenic(+3 oxidation state)methyltransferase-knockout mice

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Journal of Environmental Sciences 2016年第11期28卷 104-112页

作者： Jenna M.Currier Christelle Douillet Zuzana Drobná miroslav Styblo Curriculum in Toxicology University of North Carolina at Chapel Hill Department of Nutrition Gillings School of Global Public Health University of North Carolina at Chapel Hill

Arsenic methyltransferase（As3mt） catalyzes the conversion of inorganic arsenic（i As） to its methylated metabolites, including toxic methylarsonite（MAs~Ⅲ） and dimethylarsinite（DMAs~Ⅲ）. Knockout（KO） of As3 mt was shown to reduce the capacity to methylate i As in mice. However, no data are available on the oxidation states of As species in tissues of these mice. Here, we compare the oxidation states of As species in tissues of male C57BL/6 As3mt-KO and wild-type（WT） mice exposed to arsenite（iA s~Ⅲ） in drinking water. WT mice were exposed to50 mg/L As and As3mt-KO mice that cannot tolerate 50 mg/L As were exposed to 0, 15, 20, 25 or30 mg/L As. iA s~Ⅲaccounted for 53% to 74% of total As in liver, pancreas, adipose, lung, heart, and kidney of As3mt-KO mice; tri- and pentavalent methylated arsenicals did not exceed 10% of total As. Tissues of WT mice retained iA s and methylated arsenicals： iA s~Ⅲ, MAs~Ⅲand DMAs~Ⅲ represented 55%‐68% of the total As in the liver, pancreas, and brain. High levels of methylated species, particularly MAs~Ⅲ, were found in the intestine of WT, but not As3mt-KO mice,suggesting that intestinal bacteria are not a major source of methylated As. Blood of WT mice contained significantly higher levels of As than blood of As3mt-KO mice. This study is the first to determine oxidation states of As species in tissues of As3mt-KO mice. Results will help to design studies using WT and As3mt-KO mice to examine the role of iA s methylation in adverse effects of iA s exposure.

关键词： Arsenic speciation analysis Hydride generation-cryotrapping-atomic absorption spectrometry Arsenic(+ 3 oxidation state) methyltransferase As3mt knockout mice

Influence of Magnetic Field and Lighting during the Creation Process of Nanohybrid Semiconductor-Nematic Structures on Their Impedance and Photo Response

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Journal of Materials Science & Technology 2011年第11期27卷 973-978页

作者： Fedir Ivashchyshyn Ivan Grygorchak Olena Sudakova Igor Bordun miroslav Micov Lviv Polytechnic National University 12 Bandera Str. Lviv 79013 Ukraine

In this work, for the first time, photosensitive nanostructures with alternate semiconductor and magnetic oriented nematic molecular nanolayers were obtained. The established dependency on the ordering type of kinetic and optical properties is deserving attention. For the first time, the notion of ＇rotary＇ polaron in such structures is introduced and microscopic model is created, which explains band structure transformation. The model is well coordinated with experimental optical data, which, at the same time, indicate the prospects of application of materials obtained due to the intercalation engineering for photoenergetics.

关键词： Nanocomposites Heterostructures Intercalation Liquid crystals Impedancespectroscopy Photoelectromotive force

Period variations of Algol-type eclipsing binaries AD And, TW Cas and IV Cas

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Research in Astronomy and Astrophysics 2018年第4期18卷 115-122页

作者： Stefan Parimucha Pavol Gajdos Viktor Kudak miroslav Fedurco Martin Vanko Institute of Physics Faculty of Science University of E J. Safarik 044 01 Kosice Slovakia Astronomical Institute Slovak Academy of Sciences 059 60 Tatranska Lomnica Slovakia

We present new analyses of variations in O-C diagrams of three Algol-type eclipsing binary stars：AD And,TW Cas and IV *** have used all published minima times（including visual and photographic）as well as newly determined ones from our and Super Wasp *** determined orbital parameters of 3^（rd） bodies in the systems with statistically significant errors,using our code based on genetic algorithms and Markov chain Monte Carlo *** confirmed the multiple nature of AD And and the triple-star model of TW Cas,and we proposed a quadruple-star model of IV Cas.

关键词： binaries close — binaries eclipsing — techniques photometric — stars individual(AD And TW Cas IV Cas)