Fault tolerant system based on non-integers order observers: Application in a heat exchanger

This work presents a fault-tolerant (FT) scheme based on the application of non-integer order observers also called fractional observers, the case of study is a double pipe countercurrent heat exchanger (HE). The aim of the FT is to detect sensors faults as soon as possible, and to provide a healthy signal in order to replace the faulty sensor signal by the fractional observer estimation. To develop the FT scheme a bank of high gain fractional order observers (HGFOO) is proposed. The Riemann-Liouville (RL) fractional derivative definition is used to solve each fractional observer. Experimental measures from a HE were used to test the performance of the fractional observers and the control scheme. The results show the robustness of the proposed observers.     

Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay

ABSTRACT

This paper deals with asymptotic stabilisation of a class of nonlinear input-delayed systems via dynamic output feedback in the presence of disturbances. The proposed strategy has the structure of an observer-based control law, in which the observer estimates and predicts both the plant state and the external disturbance. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. Asymptotic stability is achieved if the disturbance or the time delay is constant. The controller design problem is also addressed and a numerical example with an unstable system is provided to illustrate the usefulness of the proposed strategy.     

3D Microstructures of Liquid Crystal Networks with Programmed Voxelated Director Fields

The shape-shifting behavior of liquid crystal networks (LCNs) and elastomers (LCEs) is a result of an interplay between their initial geometrical shape and their molecular alignment. For years, reliance on either one-step in situ or two-step film processing techniques has limited the shape-change transformations from 2D to 3D geometries. The combination of various fabrication techniques, alignment methods, and chemical formulations developed in recent years has introduced new opportunities to achieve 3D-to-3D shape-transformations in large scales, albeit the precise control of local molecular alignment in microscale 3D constructs remains a challenge. Here, the voxel-by-voxel encoding of nematic alignment in 3D microstructures of LCNs produced by two-photon polymerization using high-resolution topographical features is demonstrated. 3D LCN microstructures (suspended films, coils, and rings) with designable 2D and 3D director fields with a resolution of 5 µm are achieved. Different shape transformations of LCN microstructures with the same geometry but dissimilar molecular alignments upon actuation are elicited. This strategy offers higher freedom in the shape-change programming of 3D LCN microstructures and expands their applicability in emerging technologies, such as small-scale soft robots and devices and responsive surfaces.     

A benchmark data set for two-phase Coriolis metering

For more than a decade there has been growing interest in the use of Coriolis mass flow metering applied to two-phase (gas/liquid) and multiphase (oil/water/gas) conditions. It is well-established that the mass flow and density measurements generated from multiphase flows are subject to large errors, and a variety of physical models and correction techniques have been proposed to explain and/or to compensate for these errors. One difficulty is the absence of a common basis for comparing correction techniques, because different flowtube designs and configurations, as well as liquid and gas properties, may result in quite different error curves. Furthermore, some researchers with interests in the modelling aspects of the field may not have suitable multiphase laboratory facilities to generate their own data sets. This paper offers a small data set that may be used by researchers as a benchmark i.e. a common data set for comparing correction techniques. The data set was collected at the UK National Flow Laboratory TUV-NEL, using air and a viscous oil, and provides experimental points over a wide flow range (8:1 turndown) and with Gas Volume Fraction (GVF) values up to 60%. As a first investigation using the benchmark data set, we consider how data sparsity (i.e. the flow rate and GVF spacing in the experimental grid) affects the accuracy of a correction model. A range of neural network models are evaluated, based on different subsets of the benchmark data set. The data set and some exemplary code are provided with the paper. Additional data sets are available on a web site created to support this initiative.     

车载移动测量系统定位准确度测试方法研究

阐述了移动测量系统的定位准确度需求,对圆概率法、均方差法和中误差法三种位置准确度评估方法进行分析比较,并在标准试验场内开展了车载GNSS/INS定位准确度测试。实验证明:中误差法的评估结果最准确,其误差小于1 m,明显优于圆概率法和均方差法。     

Ultrasensitive electrocatalytic detection of COX-2 rs20417: relying on 3D interconnected architecture of Pt-LSSUs@PAA nanostructures for sensor interface modification

Mutated COX-2 has become the new molecular marker of aspirin resistance. However, there is still a technical ‘bottleneck’ for direct and sensitive detection of circulating COX-2 mutant gene. In this work, we reported a simple and ultrasensitive electrochemical method for COX-2–765G/C (rs20417) detection for the first time. Polyallylamine (PAA) functionalised Pt nanostructures with long-spined sea urchin-like morphology (Pt-LSSUs@PAA) was synthesised by a simple chemical method for the construction of nano-sensing interface. Ru(NH₃)₆³⁺ is used as a primary electron acceptor that is electrostatically attracted to peptide nucleic acid modified electrodes and Fe(CN)₆^3? is introduced into the redox system as secondary electron acceptor to regenerate Ru³⁺ after electrochemical reduction for multiple redox cycles. Different pulse voltammetry was applied to record the electrochemical signals. Under optimal conditions, the DNA sensors showed a wide linear relationship, from 10?fM to 1?nM, with detection limits of 3.3?fM (S/N?=?3). This study will provide the basis for the precise use of aspirin, and it has important guiding value for individual drug testing of cardiovascular disease.     

Modeling,tracking, vibration and balance control of an underactuated mobile manipulator (UMM)

This paper presents an underactuated mobile manipulator (UMM) and focuses on solving modeling, tracking, and vibration- and balance-control problems. Although the study has been directed at warehousing applications, the developed techniques are general and can be applied to other applications. The derivation of equations of motion of the UMM, disturbance analysis, and model validation are investigated to reveal the actual system dynamics. Additionally, a simple but effective strategy is also developed to solve the equilibrium point and balance problem. Based on the dynamic model, two control architectures are proposed: Model Predictive Control (MPC) and MPC+Proportional-Integral (PI) with integral actions, respectively, and they can also be applied to other robotic systems. Compared to other MPC-based control strategies, the proposed controllers require less effort to implement in practice. Finally, simulations, experiments, and robustness verification are conducted and discussed, and the results are satisfactory.     

智融标识网络基础研究

现有互联网因其原始设计不足已在服务质量、资源利用率、管控能力等诸多方面暴露出严重弊端，难以支撑起"互联网+"新业态高速发展对通信网络与服务日趋复杂化、多元化的需求.因此，如何设计全新的互联网已成为信息领域最为迫切与核心的研究内容之一，受到学术界与产业界的高度重视.本文基于前期"标识网络"与"智慧标识网络"研究，创造性提出"智融标识网络"体系及其关键机制，通过全网多空间、多维度资源的智慧融合，实现个性化服务的按需供给与灵活化组网的有效支撑，为不同行业与用户提供高效的差异化、定制化通信网络服务，以普遍适用于高铁网络、工业互联网、车联网等各类迥异应用情景.     

基于改进蚁群算法的三维路径规划

针对移动机器人在海水环境中的三维路径规划问题容易陷入局部最优和收敛慢等瑕疵，根据三维环境全局信息来改进蚁群算法以提高实时性和收敛速度。改进蚁群算法的启发函数，采用局部信息和全局信息结合动态地改进信息素更新方式，以及根据三维空间中路径的平坦程度和光滑度二阶微分分别增加了一阶微分和二阶微分来再次修改信息素更新规则。仿真对比实验结果显示改进后的蚁群算法克服了收敛速度慢、容易陷入局部最优的缺点。     

Naturalistic data collection of head posture during smartphone use

Association between smartphone use and head-down tilt posture has not yet been quantitatively evaluated in natural settings. This study aimed to objectively assess the angle and duration of head-down tilt posture of smartphone users during a typical working day via naturalistic data collection. Thirty-one college students conducted their typical school activities while their head posture and smartphone-app usage records were collected simultaneously for 8?hours. Participants spent 125.9?minutes (median usage duration) on their smartphones with significantly larger head-down tilt (p?<?.05) than when they were not using the phone. Head tilt angle greater than 30° was found to be more common when using the phone, while head tilt less than 20° was more common when they were not using the phone. Study findings provide empirical evidence that supports an association between the duration of smartphone use and the intensity of head-down tilt posture.

Practitioner Summary: Head postures of young smartphone users were quantified for 8?hours continuously during a typical workday using a wearable sensor. Participants spent more time in larger head-down tilt postures (greater than 30°) when they were using their smartphones as compared to when they were not using them.