The paper proposes a nonlinear optimal control approach for the model of the vertical take off and landing(VTOL)aircraft.This aerial drone receives as control input a directed thrust,as well as forces acting on its wi...The paper proposes a nonlinear optimal control approach for the model of the vertical take off and landing(VTOL)aircraft.This aerial drone receives as control input a directed thrust,as well as forces acting on its wing tips.The latter forces are not perpendicular to the body axis of the drone but are tilted by a small angle.The dynamic model of the VTOL undergoes ap-proximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method.For the approximately linearized model,an H-infinity feedback controller is designed.The linearization procedure relies on the computation of the Jacobian matrices of the state-space model of the VTOL aircraft.The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of the aerial drone,under model uncertainties and external per-turbations.For the computation of the contollr's feedback gains,an algebraic Riccati equation is solved at each time-step of the control method.The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the VTOL aircnaft,under moderate variations of the control inputs.The stability properties of the control scheme are proven through Lyapunov analysis.展开更多
In this paper,two smoothed particle hydrodynamics(SPH)models,namely SPH-W and SPH-C were used to evaluate the motion response of a point absorber wave energy converter(WEC).In the SPH-W model,a long wave flume was con...In this paper,two smoothed particle hydrodynamics(SPH)models,namely SPH-W and SPH-C were used to evaluate the motion response of a point absorber wave energy converter(WEC).In the SPH-W model,a long wave flume was constructed and a long simulation was performed to obtain the motion response of the WEC.In the SPH-C model,the SPH method is only used to find the hydrodynamic coefficients of the device by analysing a few seconds of free-decaying motion of WEC in calm water in a much smaller numerical flume.Then,these coefficients were inserted in the equation of motion of a heaving WEC that was solved using a 4th order Runge-Kutta(ODE45)solver in MATLAB.First,the energy conservation property of the WCSPH model was examined through a standing wave benchmark test.Then,the wavepoint absorber interaction was simulated.While the simulation time for SPH-C model is much smaller than that of SPH-W,it gave almost similar results for the motion response of WEC.These two models were used to evaluate the effects of the control force and the draft of a cone-cylinder point absorber on its hydrodynamic responses.The results showed that compared to the effect of the supplementary inertia,changes in the draft of the WEC have a small influence on its hydrodynamic responses.The buoy draft has an inverse relationship with both added mass and damping coefficients.However,increasing the supplementary mass increases the added mass and decreases the hydrodynamic damping coefficients.展开更多
Objective:To assess the larvicidal and irritant activities of the hexane extracts of leaves of Citrus sinensis(C.sinensis)against the early fourth instars and female adults of Aedes aegypti(Ae.aegypti).Methods:The lar...Objective:To assess the larvicidal and irritant activities of the hexane extracts of leaves of Citrus sinensis(C.sinensis)against the early fourth instars and female adults of Aedes aegypti(Ae.aegypti).Methods:The larvicidal potential of the prepared leaf extract was evaluated against early fourth instar larvae of Ae.aegypli using WHO protocol.The mortality counts were made after 24 h and LC_(50)and LG_(50)values were calculated.The efficacy of extract as mosquito irritant was assessed by contact irritancy assays.Extract-impregnated paper was placed on a glass plate over which a perspex funnel with a hole on the top was kept inverted.Single female adult,3-day old unfed/blood-fed,was released inside the funnel.After 3 min of acclimatization time,the time taken for the first take-off and total number of flights undertaken during 15 min were scored.Results:The citrus leaf extracts from hexane possessed moderate larvicidal efficiency against dengue vector.The bioassays resulted in an LC_(50)and LC_(90)value of 446.84 and 1370.96 ppm,respectively after 24 h of exposure.However,the extracts were proved to be remarkable irritant against adults Ae.aegypti,more pronounced effects being observed on blood-fed females than unfed females.The extract-impregnated paper was thus proved to be 7-11 times more irritable as compared with the control paper.Conclusions:The hexane extracts from C.sinensis leaves are proved to be reasonably larvicidal But remarkably irritant against dengue vector.Further studies are needed to identify the possible role of extract as adulticide,oviposition deterrent and ovicidal agent.The isolation of active ingredient from the extract could help in formulating strategies for mosquito control.展开更多
The take-over control(ToC)of human–machine interaction is a hotspot.From automatic driving to manual driving,some factors affecting driver response time have not been considered in existing models,and little attentio...The take-over control(ToC)of human–machine interaction is a hotspot.From automatic driving to manual driving,some factors affecting driver response time have not been considered in existing models,and little attention has been paid to its effects on mixed traffic flow.This study establishes a ToC model of response based on adaptive control of thought-rational cognitive architecture(CAR-ToC)to investigate the effects of driver response time on traffic flow.A quantification method of driver’s situation cognition uncertainty is also proposed.This method can directly describe the cognitive effect of drivers with different cognitive characteristics on vehicle cluster situations.The results show that when driver response time in ToC is 4.2 s,the traffic state is the best.The greater the response time is,the more obvious the stop-and-go waves exhibit.Besides,crashes happen when manual vehicles hit other types of vehicles in ToC.Effects of driver response time on traffic are illustrated and verified from various aspects.Experiments are designed to verify that road efficiency and safety are increased by using a dynamic take-over strategy.Further,internal causes of effects are revealed and suggestions are discussed for the safety and efficiency of autonomous vehicles.展开更多
文摘The paper proposes a nonlinear optimal control approach for the model of the vertical take off and landing(VTOL)aircraft.This aerial drone receives as control input a directed thrust,as well as forces acting on its wing tips.The latter forces are not perpendicular to the body axis of the drone but are tilted by a small angle.The dynamic model of the VTOL undergoes ap-proximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method.For the approximately linearized model,an H-infinity feedback controller is designed.The linearization procedure relies on the computation of the Jacobian matrices of the state-space model of the VTOL aircraft.The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of the aerial drone,under model uncertainties and external per-turbations.For the computation of the contollr's feedback gains,an algebraic Riccati equation is solved at each time-step of the control method.The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the VTOL aircnaft,under moderate variations of the control inputs.The stability properties of the control scheme are proven through Lyapunov analysis.
文摘In this paper,two smoothed particle hydrodynamics(SPH)models,namely SPH-W and SPH-C were used to evaluate the motion response of a point absorber wave energy converter(WEC).In the SPH-W model,a long wave flume was constructed and a long simulation was performed to obtain the motion response of the WEC.In the SPH-C model,the SPH method is only used to find the hydrodynamic coefficients of the device by analysing a few seconds of free-decaying motion of WEC in calm water in a much smaller numerical flume.Then,these coefficients were inserted in the equation of motion of a heaving WEC that was solved using a 4th order Runge-Kutta(ODE45)solver in MATLAB.First,the energy conservation property of the WCSPH model was examined through a standing wave benchmark test.Then,the wavepoint absorber interaction was simulated.While the simulation time for SPH-C model is much smaller than that of SPH-W,it gave almost similar results for the motion response of WEC.These two models were used to evaluate the effects of the control force and the draft of a cone-cylinder point absorber on its hydrodynamic responses.The results showed that compared to the effect of the supplementary inertia,changes in the draft of the WEC have a small influence on its hydrodynamic responses.The buoy draft has an inverse relationship with both added mass and damping coefficients.However,increasing the supplementary mass increases the added mass and decreases the hydrodynamic damping coefficients.
基金supported by University Grants Commission[grant No.F.35-74/2009(SR)]
文摘Objective:To assess the larvicidal and irritant activities of the hexane extracts of leaves of Citrus sinensis(C.sinensis)against the early fourth instars and female adults of Aedes aegypti(Ae.aegypti).Methods:The larvicidal potential of the prepared leaf extract was evaluated against early fourth instar larvae of Ae.aegypli using WHO protocol.The mortality counts were made after 24 h and LC_(50)and LG_(50)values were calculated.The efficacy of extract as mosquito irritant was assessed by contact irritancy assays.Extract-impregnated paper was placed on a glass plate over which a perspex funnel with a hole on the top was kept inverted.Single female adult,3-day old unfed/blood-fed,was released inside the funnel.After 3 min of acclimatization time,the time taken for the first take-off and total number of flights undertaken during 15 min were scored.Results:The citrus leaf extracts from hexane possessed moderate larvicidal efficiency against dengue vector.The bioassays resulted in an LC_(50)and LC_(90)value of 446.84 and 1370.96 ppm,respectively after 24 h of exposure.However,the extracts were proved to be remarkable irritant against adults Ae.aegypti,more pronounced effects being observed on blood-fed females than unfed females.The extract-impregnated paper was thus proved to be 7-11 times more irritable as compared with the control paper.Conclusions:The hexane extracts from C.sinensis leaves are proved to be reasonably larvicidal But remarkably irritant against dengue vector.Further studies are needed to identify the possible role of extract as adulticide,oviposition deterrent and ovicidal agent.The isolation of active ingredient from the extract could help in formulating strategies for mosquito control.
基金thankful to National Key Research and Development Plan(Grant No.2018YFB1600500)。
文摘The take-over control(ToC)of human–machine interaction is a hotspot.From automatic driving to manual driving,some factors affecting driver response time have not been considered in existing models,and little attention has been paid to its effects on mixed traffic flow.This study establishes a ToC model of response based on adaptive control of thought-rational cognitive architecture(CAR-ToC)to investigate the effects of driver response time on traffic flow.A quantification method of driver’s situation cognition uncertainty is also proposed.This method can directly describe the cognitive effect of drivers with different cognitive characteristics on vehicle cluster situations.The results show that when driver response time in ToC is 4.2 s,the traffic state is the best.The greater the response time is,the more obvious the stop-and-go waves exhibit.Besides,crashes happen when manual vehicles hit other types of vehicles in ToC.Effects of driver response time on traffic are illustrated and verified from various aspects.Experiments are designed to verify that road efficiency and safety are increased by using a dynamic take-over strategy.Further,internal causes of effects are revealed and suggestions are discussed for the safety and efficiency of autonomous vehicles.
