Tracking control for switched linear systems with time‐delay: a state‐dependent switching method

Tracking control for switched linear systems with time‐delay is investigated in this paper. Based on the state‐dependent switching method, sufficient conditions for the solvability of the tracking control problem are given. We use single Lyapunov function technique and a typical hysteresis switching law to design a tracking control law such that the H_∞ model reference tracking performance is satisfied. The controller design problem can be solved efficiently by using linear matrices inequalities. Since convex combination techniques are used to derive the delay independent criteria, some subsystems are allowed to be unstable. It is highly desirable that a non‐switched time‐delay system can not earn such property. Simulation example shows the feasibility and validity of the switching control law. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Simultaneous stabilization for a collection of nonlinear control systems in canonical form

A controller design method is provided to simultaneously stabilize a collection of nonlinear control systems in canonical form. It is shown that, under a mild assumption, any collection of nonlinear systems in canonical form can be simultaneously stabilized by one continuous state feedback controller. A constructive universal formula is presented explicitly. An illustrative example is given to demonstrate the validity of the method. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

A new adaptive backstepping Coulomb friction compensator for servo control systems

A new Coulomb friction compensator is proposed for servo control systems in this paper. The novelty of the new approach lies in its capability of assigning the eigenvalues of the resulting closed loop system while attacking the problem. First, based on the standard backstepping methodology, an implicit Lyapunov function, with part of the components being only symbolically constructed at the very beginning, is utilized. To increase the robustness of the system against disturbance and model inaccuracy, an integral term is employed in the design. Using part of the variable gradient method, we are able to turn the implicit Lyapunov function into an explicit one, which is positive definite, and whose time‐derivative is negative definite. Second, it will be shown that the resulting closed loop error system is a switched linear system with two possible active modes that share the same set of eigenvalues, which is at our disposal. Unlike the common adaptive control design methods, such as the Control Lyapunov Function approach, in which the gains are typically positive but otherwise arbitrary, and are hence difficult to choose and have a lack of connection with the system's performance, our new scheme imposes two further constraints on the gains. It turns out that we can then match these gains with the coefficients of the desired characteristic equation of the closed loop system. In this respect, the gains are linked to the system's overall performance, which is a new and very appealing feature for such a scheme. Finally, a procedure of constructing a common Lyapunov function is provided to prove exponential stability of the aforementioned switched linear system. In addition, using the invariance principle, we will show the convergence of the estimated Coulomb friction coefficient to its real value. Numerical simulations are given to validate the effectiveness of the design and its robustness against friction time‐variations. Compared to existing results, the proposed scheme is much simpler, hence, much more advantageous computationally. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

NCTUns tool for wireless vehicular communication network researches

Several goals such as improving road safety and increasing transport efficiency are being pursued in intelligent transportation systems (ITS). Wireless vehicular communication is one technology to achieve these goals. Conducting vehicular experiments on the roads is an approach to studying the effectiveness of wireless vehicular communication. However, such an approach is costly, hard-to-control (repeat), dangerous, and infeasible when many vehicles and people are involved in the field trial. In contrast, the simulation approach does not have these problems. It is a very useful approach and complements the field trial approach. This paper presents NCTUns, an open source integrated simulation platform, for wireless vehicular communication network researches. This tool tightly integrates network and traffic simulations and provides a fast feedback loop between them. Therefore, a simulated vehicle can quickly change its driving behavior such as moving speed and direction when it receives a message from the wireless vehicular communication network. This capability is required by several novel ITS applications such as active collision avoidance systems. In this paper, we present the design, implementation, validation, and performance of this tool.     

Understanding users and their needs

Gaze-control enables people to control a computer by using eye-gaze to select items on screen. Gaze-control is a necessity for people who have lost all motor control of their body and only have control over eye movements. In addition, gaze-control can be the quickest and least tiring option for a far broader group of people with varying disabilities. This paper reports findings from gaze-control user trials involving users from both groups: people who are totally paralyzed, as well as people with a wide range of complex disabilities. The trials conducted involved four different centres supporting people with disabilities in three different European countries. Several gaze-control systems were trialled by a large number of users with varying needs and abilities. The perceived benefits of gaze-control are described, and recommendations for successful assessment and implementation of gaze-control are provided.     

电子商务实验课程教学体系建设探索

以提高电子商务实验课程实践创新能力为目标,华中科技大学IBM技术中心开展了以电子商务实验课程为主的实践教学改革探索,构建了实验教学三大课堂:基础性教学课堂、创新或创业性课堂、企业实践课堂。本文阐述了创新型实践教学体系分为逐级递进的3个层次,并探讨了实施创新型实践教学的组织形式与评价方法。该研究对于提高学生创新能力和完善本科生创新机制的管理具有积极作用。     

Proteomic analysis of sera of asymptomatic,early‐stage patients with Wilson's disease

Wilson's disease (WD) is characterized by excessive accumulation of intracellular copper in liver and extrahepatic tissues, leading to significant oxidative stress and tissue damage. To date, several diagnostic biomarkers for WD such as serum ceruloplasmin, serum or urine copper levels and copper content in liver have been identified. However, these biomarkers may not be convincing for the diagnosis in some WD patients. To identify additional novel diagnostic biomarkers, we compared the serum protein profiles of asymptomatic childhood WD patients (n=20), without neurologic manifestation or liver cirrhosis, with normal controls (n=13). Fourteen spots, five up‐regulated and nine down‐regulated (>2‐fold), were differentially expressed in WD patients in comparison to normal control on 2‐DE. Among them, three spots were down‐regulated in both male and female WD. MS/MS analysis revealed that the three spots were complement component C3, complement factor B and alpha‐2 macroglobulin. By comparative proteome analysis, complement component C3, complement factor B and alpha‐2 macroglobulin, which are related to oxidative stress and inflammation, turned out to be good candidates for novel diagnostic biomarkers for early stages of WD.     

Solvent effect on ageing of silica gels

The structure of silica gels derived from tetraethoxysilane (TEOS) with molar compositions of TEOSH₂OHNO₃=1100.4 and then aged in various solvents, was studied. The effect of various solvents having different physical properties on the gel structure, as well as the relationship between the solvent properties and the dried gel structure, were investigated. The density, surface area and pore-size distribution were measured. The results of the pore structure and SEM showed the aged gels to have a slit-shaped micropore, narrow pore-size distribution, and homogeneous microstructure. The density, surface area, pore size and pore volume of dried gels changed as the gels were subjected to ageing in various solvents. The surface area could be related to the polarity parameter of the ageing solvent.     

Process simulation and fabrication of advanced multi-step three-dimensional braided preforms

The fundamentals of multi-step braiding for the fabrication of three-dimensional fibre preforms for composites have been studied. To facilitate the understanding of the complex multi-step braiding processes, a computer simulation algorithm has been developed. The simulation acts as a tool to allow the identification of individual yarn paths, number and location of yarn groups, and braid geometry. It was found that individual control of the rows and columns of yarn carriers on a Cartesian braiding bed allows for the fabrication of advanced multi-step braids; the micro-structural possibilities of three-dimensional braids are thus greatly extended. Some basic relationships of the braiding parameters have been identified. It has been concluded that the traditional four-step and two-step braidings are special cases of multi-step braidings. To verify the feasibility of the structures, experimental investigations have also been carried out. Innovative braid architectures have been designed and fabricated using a prototype multi-step braiding machine.     

Kinetic study of the aqueous electropolymerization of acrylamide,acrylonitrile andN,N′-methylene-bisacrylamide on an aluminium alloy cathode

This study concerns the potassium persulphate electroinitiated polymerization of acrylamide, acrylonitrile andN, N-methylene-bisacrylamide on a 5182 aluminium-magnesium alloy. Kinetic studies of the polymerization gave the polymerization as -d[M]/dt=K(CD)^0.99 [Persulphate]^1.12 [M]^2.33, whereCD is current density (mA cm^–2), [M] is monomer concentration (mol cm^–3),K is a constant andt is time (s). It is proposed that the thick swollen polymer coating restricted the diffusion of monomers and initiators to the electrode. The problem of mass transfer by diffusion in the present system was confirmed by measurements of the diffusion coefficient and by electron transfer fraction experiments carried out through the use of a cyclic voltammetry technique.