The method to design sliding-mode observers for systems with unknown inputs and measurement disturbances is presented in the paper. An augmented system is constructed by viewing the measurement disturbances as unknow ...The method to design sliding-mode observers for systems with unknown inputs and measurement disturbances is presented in the paper. An augmented system is constructed by viewing the measurement disturbances as unknow inputs. For such an augmented system, the so-called observer matching condition is not satisfied. Based on the construction of auxiliary outputs, the observer matching condition may be satisfied. High-order sliding-mode differentiators are developed to obtain the estimates of those unmeasurable variables contained in the auxiliary output vector. Employing the estimate of auxiliary output vector, a sliding-mode observer is designed. The simulation results to a real model show that the proposed method is effective.展开更多
Safety automation of complex mobile systems is a current topic issue in industry and research laboratories,especially in aeronautics.The dynamic models of these systems are nonlinear,Multi-Input Multi-Output(MIMO)and ...Safety automation of complex mobile systems is a current topic issue in industry and research laboratories,especially in aeronautics.The dynamic models of these systems are nonlinear,Multi-Input Multi-Output(MIMO)and tightly coupled.The nonlinearity resides in the dynamic equations and also in the aerodynamic coefficients’variability.This paper is devoted to developing the piloting law based on the combination of the robust differentiator with a dynamic adaptation of the gains and the robust controller via second order sliding mode,by using an aircraft in virtual simulated environments.To deal with the design of an autopilot controller,we propose an environment framework based on a Software In the Loop(SIL)methodology and we use Microsoft Flight Simulator(FS-2004)as the environment for plane simulation.The first order sliding mode control may be an appropriate solution to this piloting problem.However,its implementation generates a chattering phenomenon and a singularity problem.To overcome these problems,a new version of the adaptive differentiators for second order sliding modes is proposed and used for piloting.For the sliding mode algorithm,higher gains values may be used to improve accuracy;however this leads to an amplification of noise in the estimated signals.A good tradeoff between these two criteria(accuracy,robustness to noise ratio)is difficult to achieve.On the one hand,these values must increase the gains in order to derive a signal sweeping of some frequency ranges.On the other hand,low gains values have to be imposed to reduce noise amplification.So,our goal is to develop a differentiation algorithm in order to have a good compromise between error and robustness to noise ratio.To fit this requirement,a new version of differentiators with a higher order sliding modes and a dynamic adaptation of the gains,is proposed:the first order differentiator for the control of longitudinal speed and the second order differentiator for the control of the Euler angles.展开更多
针对轮式移动机器人的轨迹跟踪控制问题,在分析了机器人运动学模型的基础上,构建多机器人的领航-追随模型;采用跟踪微分器在输入输出两端安排过渡过程,设计了一种基于多变量解耦的非线性PID轨迹跟踪控制器;搭建以Arduino Mega 1280控制...针对轮式移动机器人的轨迹跟踪控制问题,在分析了机器人运动学模型的基础上,构建多机器人的领航-追随模型;采用跟踪微分器在输入输出两端安排过渡过程,设计了一种基于多变量解耦的非线性PID轨迹跟踪控制器;搭建以Arduino Mega 1280控制板为核心的移动机器人实验平台,采用速度PID控制器以满足机器人驱动电机的实时调速要求,基于ROS提出一种结构化和模块化的多机器人控制系统;在此基础上进行实验,并将实验结果与传统PID方法控制的实验结果进行对比;实验结果验证了文章所提算法的有效性,控制器易于实现且具有一定的鲁棒性。展开更多
To explore the way to induce mesenchymal stem cells (MSCs) to differentiate into dopaminergic neurons in vitro. Methods MSCs were obtained from rat bone marrow, cultured and passaged. MSCs used in this experi...To explore the way to induce mesenchymal stem cells (MSCs) to differentiate into dopaminergic neurons in vitro. Methods MSCs were obtained from rat bone marrow, cultured and passaged. MSCs used in this experiment had multipotency, which was indirectly proved by being induced to differentiate into chondrocytes and adipocytes. MSCs were cultured in medium containing 0.5 mmol/L IBMX for 2 days. Then the medium was replaced with induction medium, which contained GDNF, IL-1β, mesencephalic glial-cell-conditioned medium and flash-frozen mesencephalic membrane fragments. The surface markers of the differentiated neurons, such as NSE, nestin, MAP-2a, b and TH were detected by immunocytochemistry and Western blot after MSCs were cultured in induction medium for 7 days and 15 days. Results MSCs differentiated into neural progenitors and expressed nestin after MSCs were incubated with medium containing IBMX for 2 d. After the medium was replaced with induction medium containing many inducing agents, MSCs differentiated into neuron-like cells and dopaminergic neuron-like cells and expressed NSE, MAP-2a, b and TH. The percentage of NSE-positive cells, MAP-2a, b-positive cells and TH-positive cells was 30.032±2.489%, 41.580±5.101% and 34.958±5.534%, respectively after MSCs were induced in medium containing GDNF, IL-1β, mesencephalic glial-cell-conditioned medium and flash-frozen mesencephalic membrane fragments for 15 days. Conclusion MSCs can differentiate into dopaminergic neuron-like cells and are a new cell source for the treatment of neurodegeneration diseases and have a great potential for wide application展开更多
Background: Postoperative preablative stimulated thyroglobulin (ps-Tg) has been evaluated in predicting prognosis and success of ablation regarding differentiated thyroid cancer (DTC); however, its relationship w...Background: Postoperative preablative stimulated thyroglobulin (ps-Tg) has been evaluated in predicting prognosis and success of ablation regarding differentiated thyroid cancer (DTC); however, its relationship with recurrence risk and radioiodine decision-making remains uncertain, especially in Chinese DTC patients. We aimed to evaluate the association between ps-Tg and recurrence risk stratification in DTC, to provide incremental values for ps-Tg in postoperative assessment and radioiodine management. Methods: Seven hundred and seven patients with DTC were included; low-risk (L; n = 90), intermediate-risk (I; n = 283), and high-risk (H; n = 334, 117 with distant metastasis [M 1 ]) patients were divided according to recurrence risk stratification. The M 1 group was further analyzed regarding evidence of metastasis. Cut-off values of ps-Tg were obtained using receiver operating characteristic analysis. Results: Patients with more advanced disease at initial risk stratification were more likely to have higher ps-Tg levels (I vs. L: P 〈 0.05; H vs. 1: P 〈 0.001; H vs. L: P 〈 0.001). The corresponding cut-off value of ps-Tg for distinguishing sensitivity and specificity in each of the two groups was 2.95 ng/ml (1 vs. L: 61.5%, 63.3%), 29.5 ng/ml (H vs, I: 41.9%, 92.6%), 47.1 ng/ml (M1 vs. M0 in the H group: 79.5%, 88.9%) and 47.1 ng/ml (MI vs. M0 in all patients: 79.5%, 93.7%). With the cut-offvalue at 47.1 ng/ml, ps-Tg was the only factor that could be used to identify distant metastases, and consequently if measured before radioiodine therapy would prevent 10.26% of patients with M1 from undertreatment, Conclusions: Ps-Tg, as an ongoing reassessment marker, favors differential recurrence risk grading and provides incremental values for radioiodine treatment decision-making.展开更多
基金Funded by the National Natural Science Foundation(No.61203299/F030506)
文摘The method to design sliding-mode observers for systems with unknown inputs and measurement disturbances is presented in the paper. An augmented system is constructed by viewing the measurement disturbances as unknow inputs. For such an augmented system, the so-called observer matching condition is not satisfied. Based on the construction of auxiliary outputs, the observer matching condition may be satisfied. High-order sliding-mode differentiators are developed to obtain the estimates of those unmeasurable variables contained in the auxiliary output vector. Employing the estimate of auxiliary output vector, a sliding-mode observer is designed. The simulation results to a real model show that the proposed method is effective.
文摘Safety automation of complex mobile systems is a current topic issue in industry and research laboratories,especially in aeronautics.The dynamic models of these systems are nonlinear,Multi-Input Multi-Output(MIMO)and tightly coupled.The nonlinearity resides in the dynamic equations and also in the aerodynamic coefficients’variability.This paper is devoted to developing the piloting law based on the combination of the robust differentiator with a dynamic adaptation of the gains and the robust controller via second order sliding mode,by using an aircraft in virtual simulated environments.To deal with the design of an autopilot controller,we propose an environment framework based on a Software In the Loop(SIL)methodology and we use Microsoft Flight Simulator(FS-2004)as the environment for plane simulation.The first order sliding mode control may be an appropriate solution to this piloting problem.However,its implementation generates a chattering phenomenon and a singularity problem.To overcome these problems,a new version of the adaptive differentiators for second order sliding modes is proposed and used for piloting.For the sliding mode algorithm,higher gains values may be used to improve accuracy;however this leads to an amplification of noise in the estimated signals.A good tradeoff between these two criteria(accuracy,robustness to noise ratio)is difficult to achieve.On the one hand,these values must increase the gains in order to derive a signal sweeping of some frequency ranges.On the other hand,low gains values have to be imposed to reduce noise amplification.So,our goal is to develop a differentiation algorithm in order to have a good compromise between error and robustness to noise ratio.To fit this requirement,a new version of differentiators with a higher order sliding modes and a dynamic adaptation of the gains,is proposed:the first order differentiator for the control of longitudinal speed and the second order differentiator for the control of the Euler angles.
文摘针对轮式移动机器人的轨迹跟踪控制问题,在分析了机器人运动学模型的基础上,构建多机器人的领航-追随模型;采用跟踪微分器在输入输出两端安排过渡过程,设计了一种基于多变量解耦的非线性PID轨迹跟踪控制器;搭建以Arduino Mega 1280控制板为核心的移动机器人实验平台,采用速度PID控制器以满足机器人驱动电机的实时调速要求,基于ROS提出一种结构化和模块化的多机器人控制系统;在此基础上进行实验,并将实验结果与传统PID方法控制的实验结果进行对比;实验结果验证了文章所提算法的有效性,控制器易于实现且具有一定的鲁棒性。
基金This work was supported by a grant from the National Natural Science Foundation of China (No.39970741) a grant from the the Scienceand Technology Foundation of Jilin Health Administration (No. 200131) and a grant from the Youth Teacher Foundation o
文摘To explore the way to induce mesenchymal stem cells (MSCs) to differentiate into dopaminergic neurons in vitro. Methods MSCs were obtained from rat bone marrow, cultured and passaged. MSCs used in this experiment had multipotency, which was indirectly proved by being induced to differentiate into chondrocytes and adipocytes. MSCs were cultured in medium containing 0.5 mmol/L IBMX for 2 days. Then the medium was replaced with induction medium, which contained GDNF, IL-1β, mesencephalic glial-cell-conditioned medium and flash-frozen mesencephalic membrane fragments. The surface markers of the differentiated neurons, such as NSE, nestin, MAP-2a, b and TH were detected by immunocytochemistry and Western blot after MSCs were cultured in induction medium for 7 days and 15 days. Results MSCs differentiated into neural progenitors and expressed nestin after MSCs were incubated with medium containing IBMX for 2 d. After the medium was replaced with induction medium containing many inducing agents, MSCs differentiated into neuron-like cells and dopaminergic neuron-like cells and expressed NSE, MAP-2a, b and TH. The percentage of NSE-positive cells, MAP-2a, b-positive cells and TH-positive cells was 30.032±2.489%, 41.580±5.101% and 34.958±5.534%, respectively after MSCs were induced in medium containing GDNF, IL-1β, mesencephalic glial-cell-conditioned medium and flash-frozen mesencephalic membrane fragments for 15 days. Conclusion MSCs can differentiate into dopaminergic neuron-like cells and are a new cell source for the treatment of neurodegeneration diseases and have a great potential for wide application
基金This study was supported by grants from the National Natural Science Foundation of China,the Ministry of Health Industry Special Scientific Research Project
文摘Background: Postoperative preablative stimulated thyroglobulin (ps-Tg) has been evaluated in predicting prognosis and success of ablation regarding differentiated thyroid cancer (DTC); however, its relationship with recurrence risk and radioiodine decision-making remains uncertain, especially in Chinese DTC patients. We aimed to evaluate the association between ps-Tg and recurrence risk stratification in DTC, to provide incremental values for ps-Tg in postoperative assessment and radioiodine management. Methods: Seven hundred and seven patients with DTC were included; low-risk (L; n = 90), intermediate-risk (I; n = 283), and high-risk (H; n = 334, 117 with distant metastasis [M 1 ]) patients were divided according to recurrence risk stratification. The M 1 group was further analyzed regarding evidence of metastasis. Cut-off values of ps-Tg were obtained using receiver operating characteristic analysis. Results: Patients with more advanced disease at initial risk stratification were more likely to have higher ps-Tg levels (I vs. L: P 〈 0.05; H vs. 1: P 〈 0.001; H vs. L: P 〈 0.001). The corresponding cut-off value of ps-Tg for distinguishing sensitivity and specificity in each of the two groups was 2.95 ng/ml (1 vs. L: 61.5%, 63.3%), 29.5 ng/ml (H vs, I: 41.9%, 92.6%), 47.1 ng/ml (M1 vs. M0 in the H group: 79.5%, 88.9%) and 47.1 ng/ml (MI vs. M0 in all patients: 79.5%, 93.7%). With the cut-offvalue at 47.1 ng/ml, ps-Tg was the only factor that could be used to identify distant metastases, and consequently if measured before radioiodine therapy would prevent 10.26% of patients with M1 from undertreatment, Conclusions: Ps-Tg, as an ongoing reassessment marker, favors differential recurrence risk grading and provides incremental values for radioiodine treatment decision-making.