This study proposes an improved extended state observer (ESO) to eliminate the effects of disturbances on the speed control system of an aerial camera lateral swing. First, a mechatronics model of lateral swing, which includes a rotating mechanism, principal axis, and motor, is constructed. Meanwhile, a mathematical model of the motor speed loop is built to design the improved ESO. Second, a new nonlinear function that exhibits better continuity and smoothness than previously available functions is proposed to reduce high-frequency ?utter. The improved ESO is designed based on the new nonlinear function. The nonlinear dynamics, model uncertainty, and external disturbances of the speed control system are extended to a new state, and the improved ESO is implemented to observe this state. The overtime variation of the speed control system is predicted and compensated for in real time using the improved ESO. The improved ESO sufficiently eliminates the disturbances on the speed control system of the aerial camera lateral swing. Third, the parameters of the improved ESO are determined, and its convergence is analyzed. Finally, simulation experiments and discussions were conducted and results show that the speed control system with the improved ESO exhibits better performance. 相似文献
This study introduces a robust variant of the well-known dynamic maximal covering location problem (DMCLP) and proposes an integer linear programming formulation of the robust DMCLP. A hybrid approach for solving both deterministic and robust variant of the DMCLP is developed, which is based on hybridization of a Variable neighborhood search and a linear programming technique. The main idea is to split the problem into subproblems and to combine optimal solutions of the obtained subproblems in order to construct solution of the initial problem. The results of the proposed hybrid approach on instances of the deterministic DMCLP are presented and compared with the results of the state-of-the-art approach from the literature and with the results of commercial CPLEX solver. The presented computational analysis shows that the proposed hybrid algorithm outperforms other approaches for the DMCLP. In addition, the algorithm was tested on the instances of the robust variant of DMCLP, and obtained results are discussed in detail.
A new approach is proposed for the robust optimization of concrete strength estimation using response surface methodology and Monte Carlo simulation. The essence of the suggested procedure lies in the reliable prediction of concrete strength as a simple function of unit mass, water/cement ratio, age and superplasticizer content. The derived model provides sufficiently accurate results for the calibration and verification phases, the latter of which is conducted using data that were not used for model development. The results of additional analysis indicate that residuals in the calibration and verification stages have a normal distribution. Is its also shown that the uncertainty of estimated coefficient values has a statistically insignificant effect on concrete strength, confirming the reliability of the proposed model. Moreover, analysis of the effect of laboratory measurement errors indicates the robustness of concrete compressive strength against the variation in measured parameter values. 相似文献
One of the most important problems in nanoencapsulation of extremely hydrophobic drugs is poor drug loading due to rapid drug crystallization outside the polymer core. The effort to use nanoprecipitation, as a simple one-step procedure with good reproducibility and FDA approved polymers like Poly(lactic-co-glycolic acid) (PLGA) and Polycaprolactone (PCL), will only potentiate this issue. Considering that drug loading is one of the key defining characteristics, in this study we attempted to examine whether the nanoparticle (NP) core composed of two hydrophobic polymers will provide increased drug loading for 7-Ethyl-10-hydroxy-camptothecin (SN-38), relative to NPs prepared using individual polymers. D-optimal design was applied to optimize PLGA/PCL ratio in the polymer blend and the mode of addition of the amphiphilic copolymer Lutrol®F127 in order to maximize SN-38 loading and obtain NPs with acceptable size for passive tumor targeting. Drug/polymer and polymer/polymer interaction analysis pointed to high degree of compatibility and miscibility among both hydrophobic polymers, providing core configuration with higher drug loading capacity. Toxicity studies outlined the biocompatibility of the blank NPs. Increased in vitro efficacy of drug-loaded NPs compared to the free drug was confirmed by growth inhibition studies using SW-480 cell line. Additionally, the optimized NP formulation showed very promising blood circulation profile with elimination half-time of 7.4?h. 相似文献
Micro/nanostructured systems based on metallic oxide (ZnO) with noble metal (Ag) on the surface (Ag/ZnO) are synthesized by solvothermal method from zinc nitrate hexahydrate (Zn(NO3)2·6H2O), zinc acetate dehydrate (Zn(CH3COO)2·2H2O), zinc acetylacetonate hydrate (Zn(C5H7O2)2·xH2O) and silver nitrate (Ag(NO3)) as precursors. In these systems, polyvinylpyrrolidone (PVP) is used as surfactant for controlling particle morphology, size and dispersion. The obtained materials are characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), high-resolution transmission electron microscopy (HR-TEM), UV–vis diffuse reflectance spectroscopy (DRS), N2 gas adsorption–desorption (BET) and Raman spectroscopy (RS). By XRD results, all major peaks are indexed to the hexagonal wurtzite-type structure of the ZnO and samples with noble metal, extra diffraction peaks are detected which correspond to the face-centered-cubic (fcc) structure of the metallic Ag. Depending on used precursor, different morphologies have been obtained. Mainly, ZnO prims-like rods – NRs (with 0.8 ? aspect ratio ? 3.4) – have been observed. Quasi-spherical particles of metallic Ag (with diameters between 558 ± 111 μm and 22 ± 1 nm) have been detected on the ZnO surface. Photocatalytic results (all samples studied >30% MB degradation) verify the important effect of surfactant and the viability of synthesized Ag/ZnO micro/nanocomposites for environmental applications. 相似文献
Synthesis and subsequent deposition of sub-micron spherical RuO2/TiO2 particles onto titanium were performed by continuous process in two connected reactors, exclusively applied for this purpose. Synthesis of particles was achieved by ultrasonic spray pyrolysis method in the first reactor. The deposition of thus produced RuO2/TiO2 onto an expanded titanium substrate was performed at 500 °C afterwards in the second, specially constructed, reactor equipped by high-voltage electrostatic field. Basic electrochemical properties of the obtained RuO2/TiO2 particles were checked in a form of the coating on Ti deposited from the suspension of the material produced in the first reactor. Thus prepared anode was investigated by cyclic voltammetry (CV), polarization measurements in O2 (OER) and Cl2 (CER) evolution and the accelerated stability test in diluted chloride solution. The morphology and composition of the deposited RuO2/TiO2 were checked by scanning electron microscopy/energy dispersive X-ray spectroscopy analysis. Analysis of the results obtained for OER and CER showed that Tafel slopes for these reactions were in accordance with the values for this kind of material. The CV response was of usual characteristics too. The accelerated stability test revealed acceptable anode stability. 相似文献