基于参数预标定的长行程PMLSM无传感器控制

为了解决长行程定子不连续永磁直线同步电机存在的因无法全程安装位置传感器和不同动子和定子之间的电磁参数不固定所造成的控制性能下降的难题,提出一种在每一段定子内先进行参数标定,再进行速度控制的控制系统设计。首先,在动子进入过程中,对电机进行电磁参数标定,根据标定参数对控制器参数进行调整,以达到更好的控制效果。然后,使用无位置传感器控制系统使动子快速达到设定速度值并稳定运行。实验结果表明:动子进入过程参数标定精度分别为0.002Wb和0.000 4H;无位置传感器控制中位置估计精度为0.63mm,速度收敛时间为0.45s,稳态误差为0.02m/s。基本满足永磁直线同步电机用于长行程运输的控制快速性、稳定性等要求。     

A decision fusion based methodology for fault Prognostic and Health Management of complex systems

Prognostic and Health Management (PHM) represents an active field of research and a major scientific challenge in many domains. It usually focuses on the failure time or the Remaining Useful Life (RUL) prediction of a system.This paper presents a generic framework, based on a discrete Bayesian Network (BN), particularly tailored for decision fusion of heterogeneous prognostic methods. The BN parameters are computed according to the fixed prognostic objectives.The effectiveness of the proposed decision fusion based methodology for the prognostic is demonstrated through the RULs estimation of turbofan engines. The application highlights the ability of the approach to estimate RULs which overpasses the performance of most other published results in the literature.     

Optimal interval type-2 fuzzy fractional order super twisting algorithm: A second order sliding mode controller for fully-actuated and under-actuated nonlinear systems

In this paper, a novel interval type-2 fuzzy fractional order super twisting algorithm (IT2FFOSTA) which is essentially a second order sliding mode controller is presented. The proposed IT2FFOSTA enhances fractional order super twisting algorithm (FOSTA) by taking advantage of an interval type-2 fuzzy fractional order sliding surface (IT2FFOSS) for some classes of fully-actuated and under-actuated nonlinear systems in presence of uncertainty. The FOSTA significantly reduces the amount of chattering and the IT2FFOSS results in decreasing the tracking error, control effort, and chattering level. In order to control under-actuated systems, a hierarchical sliding surface is employed. The multi-tracker optimization algorithm is utilized to adjust the controller’s parameters; this leads to an optimal performance for the IT2FFOSTA. To examine the performance of the IT2FFOSTA, some simulation and experimental tests on three examples of different classes of fully-actuated and under-actuated systems, including ball and plate, inverted pendulum, and ball and beam systems are carried out. The simulation and experimental results demonstrate the superiority of the IT2FFOSTA in reducing the amount of chattering, tracking error, and control effort compared to those of the other control methods.     

高速率通信网络下时变系统的有限时域H∞控制

针对高速率通信网络和Round-Robin（RR）协议影响下网络化时变系统的有限时域[H∞]控制问题，考虑到系统中存在乘性噪声、随机时滞和量化效应，提出了一种基于观测器的有限时域[H∞]控制器的设计方法。利用李雅普诺夫稳定性理论和线性矩阵不等式（Linear Matrix Inequality，LMI）技术得到有限时域[H∞]控制器存在的充分条件。基于锥补线性化（Cone Complementarity Linearization，CCL）方法通过求解一组递归矩阵不等式得到观测器和控制器参数。所设计的控制器保证闭环网络化时变系统在给定的时域内稳定，且满足预定的[H∞]性能指标。数值仿真验证了所提方法的有效性。     

Achieving High Electroluminescence Efficiency and High Color Rendering Index for All-Fluorescent White OLEDs Based on an Out-of-Phase Sensitizing System

Sensitizing conventional fluorescence (CF) dopants with thermally activated delayed fluorescence (TADF) materials has achieved considerable progress, by which the advantages of TADF materials and CF dopants can be fully harnessed. However, the usually used co-phase configuration of CF dopant-engaged sensitizing systems often encounters exciton loss due to Dexter energy transfer (DET). Herein, an effective out-of-phase configuration is proposed to sensitize CF dopants in the fabrication of white organic light-emitting diodes (WOLEDs). Based on a new efficient sky-blue TADF luminogen DCP-BP-DPAC which has an electroluminescence (EL) peak at 486 nm and an EL efficiency of 26.6%, a green TADF material BDMAC-XT, and a red CF dopant DBP sensitized by BDMAC-XT through an out-of-phase configuration without interlayer, efficient WOLEDs are successfully fabricated. By further adopting orange TBRB or 4CzTPNBu as intermediate sensitizers, more efficient energy transfer to DBP is achieved via Förster energy transfer. Through step-by-step energy transfer and elimination of excess DET process, high-performance all-fluorescent WOLEDs are achieved, providing excellent EL efficiencies over 23.0%, and highly stable white light with a high color rendering index of 87. The outstanding EL performance and high-quality emission color demonstrate the great potential of the proposed out-of-phase design for sensitizing systems of WOLEDs.     

Recent Advances in Preclinical Research Using PAMAM Dendrimers for Cancer Gene Therapy

Carriers of genetic material are divided into vectors of viral and non-viral origin. Viral carriers are already successfully used in experimental gene therapies, but despite advantages such as their high transfection efficiency and the wide knowledge of their practical potential, the remaining disadvantages, namely, their low capacity and complex manufacturing process, based on biological systems, are major limitations prior to their broad implementation in the clinical setting. The application of non-viral carriers in gene therapy is one of the available approaches. Poly(amidoamine) (PAMAM) dendrimers are repetitively branched, three-dimensional molecules, made of amide and amine subunits, possessing unique physiochemical properties. Surface and internal modifications improve their physicochemical properties, enabling the increase in cellular specificity and transfection efficiency and a reduction in cytotoxicity toward healthy cells. During the last 10 years of research on PAMAM dendrimers, three modification strategies have commonly been used: (1) surface modification with functional groups; (2) hybrid vector formation; (3) creation of supramolecular self-assemblies. This review describes and summarizes recent studies exploring the development of PAMAM dendrimers in anticancer gene therapies, evaluating the advantages and disadvantages of the modification approaches and the nanomedicine regulatory issues preventing their translation into the clinical setting, and highlighting important areas for further development and possible steps that seem promising in terms of development of PAMAM as a carrier of genetic material.     

A Survey of Underwater Multi-Robot Systems

As a cross-cutting field between ocean development and multi-robot system (MRS), the underwater multi-robot system (UMRS) has gained increasing attention from researchers and engineers in recent decades. In this paper, we present a comprehensive survey of cooperation issues, one of the key components of UMRS, from the perspective of the emergence of new functions. More specifically, we categorize the cooperation in terms of task-space, motion-space, measurement-space, as well as their combination. Further, we analyze the architecture of UMRS from three aspects, i.e., the performance of the individual underwater robot, the new functions of underwater robots, and the technical approaches of MRS. To conclude, we have discussed related promising directions for future research. This survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.      

Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems

The paper deals with the consensus problem in a leaderless network of agents that have to reach a common velocity while forming a uniformly spaced string. Moreover, the final common velocity (reference velocity) is determined by the agents in a distributed and leaderless way. Then, the consensus protocol parameters are optimized for networks characterized by a communication topology described by a class of directed graphs having a directed spanning tree, in order to maximize the convergence rate and avoid oscillations. The advantages of the optimized consensus protocol are enlightened by some simulation results and comparison with a protocol proposed in the related literature. The presented protocol can be applied to coordinate agents such as mobile robots, automated guided vehicles (AGVs) and autonomous vehicles that have to move with the same velocity and a common inter-space gap.      

An improved particle swarm optimisation for unit commitment in microgrids with battery energy storage systems considering battery degradation and uncertainties

Using electric storage systems (ESSs) is known as a viable strategy to mitigate the volatility and intermittency of renewable distributed generators (DGs) in microgrids (MGs). Among different electric storage technologies, battery energy storage (BES) is considered as the best option. In unit commitment (UC) module, the set of committed dispatchable DGs along with their power, power exported to/imported from macrogrid and status and power of ESS units are determined. In this paper, BES degradation is considered in UC formulation and an efficient particle swarm optimisation with quadratic transfer function is proposed for solving UC in BES‐integrated MGs, while the uncertainties of demand, renewable generation and market price are considered and dealt with robust optimisation. UC is formulated as a multi‐objective optimisation problem whose objectives are MG operation cost and BES degradation. The resultant multi‐objective optimisation problem is converted into a single‐objective optimisation problem and the effect of weight factors on MG operation cost and BES lifecycle are investigated. The results show that by consideration of BES degradation in objective function, BES lifecycle increases from 350 to 500 and the minimum depth of charge increases from 5.5% to 34%; however, MG operation cost increases from $8717 to $8910.2. The results also show that by consideration of uncertainties, MG's operation cost increases by 8.22%.