Active Disturbance Rejection Control for Teleoperation Systems with Actuator Saturation

In this paper, stabilization of a nonlinear bilateral teleoperation system with time delays and actuator saturation is investigated via active disturbance rejection control (ADRC). An linear extended state observer is introduced to deal with the lumped system uncertainties. Lyapunov functions are given to prove the stabilization of the closed‐loop bilateral teleoperation system. Two Phantom Premium 1.5 HighForce (HF) robot manipulators are used in experiments to demonstrate the effectiveness of the proposed method in this paper.     

Dynamical Comparison of Several Third-Order Iterative Methods for Nonlinear Equations

There are several ways that can be used to classify or compare iterative methods for nonlinear equations, for instance; order of convergence, informational efficiency, and efficiency index. In this work, we use another way, namely the basins of attraction of the method. The purpose of this study is to compare several iterative schemes for nonlinear equations. All the selected schemes are of the third-order of convergence and most of them have the same efficiency index. The comparison depends on the basins of attraction of the iterative techniques when applied on several polynomials of different degrees. As a comparison, we determine the CPU time (in seconds) needed by each scheme to obtain the basins of attraction, besides, we illustrate the area of convergence of these schemes by finding the number of convergent and divergent points in a selected range for all methods. Comparisons confirm the fact that basins of attraction differ for iterative methods of different orders, furthermore, they vary for iterative methods of the same order even if they have the same efficiency index. Consequently, this leads to the need for a new index that reflects the real efficiency of the iterative scheme instead of the commonly used efficiency index.     

Trap trees for elm bark beetles

European elm bark beetles,Scolytus multistriatus (Marsh.), were strongly attracted to American elms,Ulmus americana L., baited with theS. multistriatus attractant, multilure, or killed by injection of the arboricide, cacodylic acid; a combination of the two treatments was most attractive. Comparisons of beetle catches on sticky bands affixed to the trees with samples of bark from the same trees showed that the number of beetles landing on cacodylic acid-treated trees was approximately 40 times greater than the number boring into them. Spraying the bark with the insecticide chlorpyrifos had no direct effect on attraction. No live bark beetle brood was found in trees that had been treated with cacodylic acid or chlorpyrifos, but trees that were only baited or left untreated (check) were attacked, killed, and colonized. We suggest that the contribution of the cacodylic acid trap tree technique to Dutch elm disease control will be enhanced by baiting treated trees with multilure and spraying their lower boles with 0.5% chlorpyrifos. This treatment will eliminate diseased and unwanted elms as potential breeding material and kill large numbers of elm bark beetles that might otherwise innoculate healthy elms with the Dutch elm disease fungus.     

创新与经济长波之间的关系研究

经济波动是供给和需求这一对矛盾运动的必然结果。经济波动是以长波为基础的短经济周期叠加上去的波动形态。自市场经济产生以来,推动经济长波的力量除了在自然经济阶段已具有的3种力量外,又增加了市场竞争力,它促进了经济长波的进一步缩短。竞争力推动了创新,创新成果的形成和扩散,推动了经济结构的调整和经济结构的转换。创新的过程实际是质量发展的过程。技术创新应分为6种形态。技术创新的实质就是通过质量创新来增加使用价值和实现交换价值。     

Response to Host Volatiles by Native and Introduced Populations of Dendroctonus valens (Coleoptera: Curculionidae, Scolytinae) in North America and China

Bark beetles (Coleoptera: Curculionidae, Scolytinae) have specialized feeding habits, and commonly colonize only one or a few closely related host genera in their geographical ranges. The red turpentine beetle, Dendroctonus valens LeConte, has a broad geographic distribution in North America and exploits volatile cues from a wide variety of pines in selecting hosts. Semiochemicals have been investigated for D. valens in North America and in its introduced range in China, yielding apparent regional differences in response to various host volatiles. Testing volatiles as attractants for D. valens in its native and introduced ranges provides an opportunity to determine whether geographic separation promotes local adaptation to host compounds and to explore potential behavioral divergence in native and introduced regions. Furthermore, understanding the chemical ecology of host selection facilitates development of semiochemicals for monitoring and controlling bark beetles, especially during the process of expansion into new geographic ranges. We investigated the responses of D. valens to various monoterpenes across a wide range of sites across North America and one site in China, and used the resulting information to develop an optimal lure for monitoring populations of D. valens throughout its Holarctic range. Semiochemicals were selected based on previous work with D. valens: (R)-(+)-α-pinene, (S)-(−)-α-pinene, (S)-(−)-β-pinene, (S)-(+)-3-carene, a commercially available lure [1:1:1 ratio of (R)-(+)-α-pinene:(S)-(−)-β-pinene:(S)-(+)-3-carene], and a blank control. At the release rates used, (+)-3-carene was the most attractive monoterpene tested throughout the native range in North America and introduced range in China, confirming results from Chinese studies. In addition to reporting a more effective lure for D. valens, we present a straightforward statistical procedure for analysis of insect trap count data yielding cells with zero counts, an outcome that is common but makes the estimation of the variance with a Generalized Linear Model unreliable because of the variability/mean count dependency.     

Analysis of Multiple Bonded Patch Interaction Simple Design Guidelines for Multiple Bonded Repairs in Close Proximity

The use of bonded composite patches to extend the life of aging metal airframes continues to grow as air forces and airline companies operate larger fleets beyond their original design lives. The crack-slowing power of bonded composite patches is well-known; often the process can be accomplished at a few percent of the cost of replacing the damaged component. However, care must be taken in the design of repairs to multiple site fatigue and corrosion damage so the repairs in close proximity do not create additional structural problems by inducing high stresses into the area of the repair.The current paper discusses recent modeling efforts to quantify the effects of multiple bonded composite patches in close proximity. It is well-established that a single structural repair attracts load into the locally stiffened area around the patch; further, single-sided repairs induce significant bending in the skin. The paper addresses the situation when two or more structural repairs occur near each other, and illustrates with simple design rules the acceptable practices for this case.     

离线鲁棒预测控制器综合方法的改进方案

对离线鲁棒预测控制器综合方法进行改进.离线鲁棒预测控制算法离线确定一个控制律序列,对应一组吸引域;在线根据当前状态位于哪个吸引域内部(或哪两个吸引域之间)选择相应的一个控制律(或相邻的两个控制律的线性插值).引入参数Lyapunov函数得到多包椭圆型吸引域和多包二次稳定的离线控制律,改进了控制器的可行性和最优性.改进的控制器保持了稳定性以及控制律关于系统状态的连续性.     

基于约束区域的BSB联想记忆模型

提出一种根据联想记忆点设计基于约束区域的ＢＳＢ（Ｂｒａｉｎ－Ｓｔａｔｅ－ｉｎｍ－ａ－Ｂｏｘ）神经网络模型,它保证了渐近稳定的平衡点集与样本点集相同,不渐近稳定的平衡点恰为实际的拒识状态,并且吸引域分布合理,从而将ＥＳＢ完善为理想的联想记忆器。     

Controller design for Markov jumping systems subject to actuator saturation

In this paper, the stochastic stabilization problem for a class of Markov jumping linear systems (MJLS) subject to actuator saturation is considered. The concept of domain of attraction in mean square sense is used to analyze the closed-loop stability. When the jumping mode is available, a mode-dependent state feedback controller is developed. Otherwise, we give a less conservative approach to design the mode-independent state feedback controller. Both design procedures can be converted into a set of linear matrix inequalities (LMIs). Finally, a numerical example is provided to show the effectiveness of the techniques.     

Analysis and design of output feedback control systems with actuator saturation

A dynamic output feedback controller design approach based on cone complementary linearisation procedure is proposed for linear time-invariant （LTI） systems with actuator saturation. First, the estimation of the domain of attraction is given. Then, a design method to find a larger estimation of the domain of attraction is presented. In the process of design, nonconvex conditions are obtained, so a cone complementary linearisation procedure is exploited to solve the nonconvex feasibility problem. Two examples are given to illustrate the efficiency of the design method.