An on-line learning neural controller for helicopters performing highly nonlinear maneuvers

This paper presents an on-line learning adaptive neural control scheme for helicopters performing highly nonlinear maneuvers. The online learning adaptive neural controller compensates the nonlinearities in the system and uncertainties in the modeling of the dynamics to provide the desired performance. The control strategy uses a neural controller aiding an existing conventional controller. The neural controller is based on a online learning dynamic radial basis function network, which uses a Lyapunov based on-line parameter update rule integrated with a neuron growth and pruning criteria. The online learning dynamic radial basis function network does not require a priori training and also it develops a compact network for implementation. The proposed adaptive law provides necessary global stability and better tracking performance. Simulation studies have been carried-out using a nonlinear (desktop) simulation model similar to that of a BO105 helicopter. The performances of the proposed adaptive controller clearly shows that it is very effective when the helicopter is performing highly nonlinear maneuvers. Finally, the robustness of the controller has been evaluated using the attitude quickness parameters (handling quality index) at different speed and flight conditions. The results indicate that the proposed online learning neural controller adapts faster and provides the necessary tracking performance for the helicopter executing highly nonlinear maneuvers.     

一种新的修正恒模算法

阐述了恒模算法(CMA)、修正恒模算法(MCMA)和判决引导(DD)算法的基本原理。针对CMA和MCMA收敛速度慢,固定步长条件下收敛速度和剩余误差之间存在矛盾的缺陷,在分析CMA误差特性的基础上,利用DD算法误差函数的模值和判决器输出构造新的误差函数,提出了一种新的变步长MCMA。新算法在加快收敛速度的同时保持小的剩余误差。仿真结果表明,新算法比CMA和MCMA收敛速度快,均衡输出剩余码间干扰(ISI)小而且能克服相位偏移,具有很好的实用性。     

基于改进蚁群算法的模糊控制器优化设计

研究控制器优化问题,由于模糊控制系统参数无法同时优化,使得系统选择参数困难,使系统控制效果存在一定的缺陷,安全性和可靠性降低。为解决上述问题,提出了一种多种群进化蚁群算法对模糊控制器优化设计。采用懒蚂蚁效应的改进蚁群算法进行优化,在传统蚁群算法的基础上,采用多个种群并行,对算法的初始化、路径构建以及信息素更新改进,并引入到模糊控制器的隶属函数、模糊规则的优化搜索中,搜索出适应于不同控制阶段的模糊控制器参数及控制规则,并进行仿真。仿真结果证明了改进算法对模糊控制器的参数具有良好的搜索速度和精度,使系统有很强的鲁棒性。     

Vague集的新模糊熵

本文指出了现有Vague集模糊熵定义的不足,分析了其存在不足的根本原因,给出了Vague集模糊熵的公理化定义,提出了一种新的Vague集模糊熵的计算方法,并证明了其合理性和有效性。     

嵌入式软键盘UI一致性与功能差异性的研究

为了解决嵌入式WinCE系统所带软键盘按钮小和嵌入式设备触模操作便捷性要求之间矛盾,本文提出设计软键盘代替WinCE系统所带软键盘。为了解决嵌入式系统中多个数据输入的软键盘界面与嵌入式系统资源有限的矛盾,在设计中,提出了一种将软键盘界面与增加数据功能、删除数据功能、显示数据功能、数据合法性检查功能等键盘处理逻辑分离的技术,不同功能模块调用统一软键盘界面,实现了软键盘UI一致性和功能差异性,从而节省了系统资源;此外,为了减少软键盘按钮数,在小触模屏条件下触模按钮做得更大,提出了系统附加数据单位字符技术,这种技术也提高了用户数据输入速度。综合运用这些技术,完成了基于WinCE平台软键盘开发研制,实际应用表明提高了操作便捷性。     

Parallel depth first search. Part II. Analysis

This paper presents the analysis of a parallel formulation of depth-first search. At the heart of this parallel formulation is a dynamic work-distribution scheme that divides the work between different processors. The effectiveness of the parallel formulation is strongly influenced by the work-distribution scheme and the target architecture. We introduce the concept of isoefficiency function to characterize the effectiveness of different architectures and work-distribution schemes. Many researchers considered the ring architecture to be quite suitable for parallel depth-first search. Our analytical and experimental results show that hypercube and shared-memory architectures are significantly better. The analysis of previously known work-distribution schemes motivated the design of substantially improved schemes for ring and shared-memory architectures. In particular, we present a work-distribution algorithm that guarantees close to optimal performance on a shared-memory/-network-with-message-combining architecture (e.g. RP3). Much of the analysis presented in this paper is applicable to other parallel algorithms in which work is dynamically shared between different processors (e.g., parallel divide-and-conquer algorithms). The concept of isoefficiency is useful in characterizing the scalability of a variety of parallel algorithms.This work was supported by Army Research Office Grant No. DAAG29-84-K-0060 to the Artificial Intelligence Laboratory, and Office of Naval Research Grant N00014-86-K-0763 to the Computer Science Department at the University of Texas at Austin.     

The Landscape of microRNAs in βCell: Between Phenotype Maintenance and Protection

Diabetes mellitus is a group of heterogeneous metabolic disorders characterized by chronic hyperglycaemia mainly due to pancreatic β cell death and/or dysfunction, caused by several types of stress such as glucotoxicity, lipotoxicity and inflammation. Different patho-physiological mechanisms driving β cell response to these stresses are tightly regulated by microRNAs (miRNAs), a class of negative regulators of gene expression, involved in pathogenic mechanisms occurring in diabetes and in its complications. In this review, we aim to shed light on the most important miRNAs regulating the maintenance and the robustness of β cell identity, as well as on those miRNAs involved in the pathogenesis of the two main forms of diabetes mellitus, i.e., type 1 and type 2 diabetes. Additionally, we acknowledge that the understanding of miRNAs-regulated molecular mechanisms is fundamental in order to develop specific and effective strategies based on miRNAs as therapeutic targets, employing innovative molecules.     

Cutting Edge of the Pathogenesis of Atopic Dermatitis: Sphingomyelin Deacylase,the Enzyme Involved in Its Ceramide Deficiency,Plays a Pivotal Role

Atopic dermatitis (AD) is characterized clinically by severe dry skin and functionally by both a cutaneous barrier disruption and an impaired water-holding capacity in the stratum corneum (SC) even in the nonlesional skin. The combination of the disrupted barrier and water-holding functions in nonlesional skin is closely linked to the disease severity of AD, which suggests that the barrier abnormality as well as the water deficiency are elicited as a result of the induced dermatitis and subsequently trigger the recurrence of dermatitis. These functional abnormalities of the SC are mainly attributable to significantly decreased levels of total ceramides and the altered ceramide profile in the SC. Clinical studies using a synthetic pseudo-ceramide (pCer) that can function as a natural ceramide have indicated the superior clinical efficacy of pCer and, more importantly, have shown that the ceramide deficiency rather than changes in the ceramide profile in the SC of AD patients plays a central role in the pathogenesis of AD. Clinical studies of infants with AD have shown that the barrier disruption due to the ceramide deficiency is not inherent and is essentially dependent on postinflammatory events in those infants. Consistently, the recovery of trans-epidermal water loss after tape-stripping occurs at a significantly slower rate only at 1 day post-tape-stripping in AD skin compared with healthy control (HC) skin. This resembles the recovery pattern observed in Niemann–Pick disease, which is caused by an acid sphingomyelinase (aSMase) deficiency. Further, comparison of ceramide levels in the SC between before and after tape-stripping revealed that whereas ceramide levels in HC skin are significantly upregulated at 4 days post-tape-stripping, their ceramide levels remain substantially unchanged at 4 days post-tape-stripping. Taken together, the sum of these findings strongly suggests that an impaired homeostasis of a ceramide-generating process may be associated with these abnormalities. We have discovered a novel enzyme, sphingomyelin (SM) deacylase, which cleaves the N-acyl linkage of SM and glucosylceramide (GCer). The activity of SM deacylase is significantly increased in AD lesional epidermis as well as in the involved and uninvolved SC of AD skin, but not in the skin of patients with contact dermatitis or chronic eczema, compared with HC skin. SM deacylase competes with aSMase and β-glucocerebrosidase (BGCase) to hydrolyze their common substrates, SM and GCer, to yield their lysoforms sphingosylphosphorylcholine (SPC) and glucosylsphingosine (GSP), respectively, instead of ceramide. Consistently, those reaction products (SPC and GSP) accumulate to a greater extent in the involved and uninvolved SC of AD skin compared with chronic eczema or contact dermatitis skin as well as HC skin. Successive chromatographies were used to purify SM deacylase to homogeneity with a single band of ≈43 kDa and with an enrichment of >14,000-fold. Analysis of a protein spot with SM deacylase activity separated by 2D-SDS-PAGE using MALDI-TOF MS/MS allowed its amino acid sequence to be determined and to identify it as the β-subunit of acid ceramidase (aCDase), an enzyme consisting of α- and β-subunits linked by amino-bonds and a single S-S bond. Western blotting of samples treated with 2-mercaptoethanol revealed that whereas recombinant human aCDase was recognized by antibodies to the α-subunit at ≈56 and ≈13 kDa and the β-subunit at ≈43 kDa, the purified SM deacylase was detectable only by the antibody to the β-subunit at ≈43 kDa. Breaking the S-S bond of recombinant human aCDase with dithiothreitol elicited the activity of SM deacylase with an apparent size of ≈40 kDa upon gel chromatography in contrast to aCDase activity with an apparent size of ≈50 kDa in untreated recombinant human aCDase. These results provide new insights into the essential role of SM deacylase as the β-subunit aCDase that causes the ceramide deficiency in AD skin.     

A Random Nonstationary Pulse Train Model

A simple and mathematically tractable model of a nonstationary process is developed.The process is the sum of waves where the parameters of the waves are random. Explicit expressions for the mean and autocorrelation function at each position as a function of time are obtained.In the case of infinite time, the model evolves into a stationary process. The time-frequency distribution at each position is also obtained. An explicit example is given where the initial waves are Gaussian. The case where there is dispersion in the propagation is also discussed.     

惩罚函数结合遗传算法的PID参数优化

针对传统优化算法对PID参数优化时,由于目标函数选择不当出现的超调量过大,从而引起系统的反应速度变慢和稳定性变差的问题,提出以传统遗传算法为基础,引入惩罚函数的方法,根据系统中出现的超调量来构造新的目标函数实现对PID的参数优化。实验表明,该方法可以有效减少系统中的超调量,加快优化以及运行速度的同时保证系统的稳定性,实现对PID参数的优化。