This paper studies the reentry attitude tracking control problem for hypersonic vehicles(HSV)equipped with reaction control systems(RCS)and aerodynamic surfaces.The attitude dynamical model of the hypersonic vehicles ...This paper studies the reentry attitude tracking control problem for hypersonic vehicles(HSV)equipped with reaction control systems(RCS)and aerodynamic surfaces.The attitude dynamical model of the hypersonic vehicles is established,and the simplified longitudinal and lateral dynamic models are obtained,respectively.Then,the compound control allocation strategy is provided and the model predictive controller is designed for the pitch channel.Furthermore,considering the complicated jet interaction effect of HSV during RCS is working,an improved model predictive control approach is presented by introducing the online parameter estimation of the jet interaction coefficient for dealing with the uncertainty and disturbance.Moreover,considering the strong coupling effect between the yaw channel and roll channel,a coupled model predictive controller is designed by introducing the feedback of sideslip angle into the roll control channel to eliminate the coupling effect.Finally,the comparison simulations using the classical control method,MPC and IMPC approach are given to demonstrate the effectiveness and efficiency of the presented IMPC scheme.展开更多
A new reaction-controlled phase-transfer catalyst system was designed and synthesized. In this system, heteropolytungstate [C7H7N(CH3)3]9PW9O34 was used for catalytic epoxidation of cyclohexene with H2O2 as the oxida...A new reaction-controlled phase-transfer catalyst system was designed and synthesized. In this system, heteropolytungstate [C7H7N(CH3)3]9PW9O34 was used for catalytic epoxidation of cyclohexene with H2O2 as the oxidant. The conversion of H2O2 was 100% and the yield of cyclohexene oxide was 87.1% based on cyclohexene. Infrared spectra showed that both fresh catalyst and the recovered catalyst do have completely same absorption peak, indicating the structure of catalyst is very stability and can be recycled.展开更多
The disturbance caused by the reaction wheel with a current controller greatly influences the accuracy and stability of the satellite attitude control system. To solve this problem, the idea of speed feedback compensa...The disturbance caused by the reaction wheel with a current controller greatly influences the accuracy and stability of the satellite attitude control system. To solve this problem, the idea of speed feedback compensation control reaction wheel is put forward. This paper introduces the comparison on design and performance of two satellite attitude control systems, which are separately based on the current control reaction wheel and the speed feedback compensation control reaction wheel. Analysis shows that the speed feedback compensation control flywheel system may effectively suppress the torque fluctuation. Simulation results indicate that the satellite attitude control system with the speed feedback compensation control flywheel has improved performance.展开更多
Reaction control system(RCS) is a powerful and efficient actuator for space vehicles attitude control, which is typically characterized as a pulsed unilateral effector only with two states(off/on). Along with inevitab...Reaction control system(RCS) is a powerful and efficient actuator for space vehicles attitude control, which is typically characterized as a pulsed unilateral effector only with two states(off/on). Along with inevitable internal uncertainties and external disturbances in practice, this inherent nonlinear character always hinders space vehicles autopilot from pursuing precise tracking performance. Compared to most of pre-existing methodologies that passively suppress the uncertainties and disturbances, a design based on predictive functional control(PFC) and generalized extended state observer(GESO) is firstly proposed for three-axis RCS control system to actively reject that with no requirement for additional fuel consumption. To obtain a high fidelity predictive model on which the performance of PFC greatly depends, the nonlinear coupling multiple-input multiple-output(MIMO) flight dynamics model is parameterized as a state-dependent coefficient form. And based on that, a MIMO PFC algorithm in state space domain for a plant of arbitrary orders is deduced in this paper.The internal uncertainties and external disturbances are lumped as a total disturbance, which is estimated and cancelled timely to further enhance the robustness. The continuous control command synthesised by above controller-rejector tandem is finally modulated by pulse width pulse frequency modulator(PWPF) to on-off signals to meet RCS requirement. The robustness and feasibility of the proposed design are validated by a series of performance comparison simulations with some prominent methods in the presence of significant perturbations and disturbances, as well as measurement noise.展开更多
Pt-based nanoframes represent a class of promising catalysts towards oxygen reduction reaction. Herein, we, for the first time, successfully prepared Pt-Pd octahedral nanoframes with ultrathin ridges less than 2 nm in...Pt-based nanoframes represent a class of promising catalysts towards oxygen reduction reaction. Herein, we, for the first time, successfully prepared Pt-Pd octahedral nanoframes with ultrathin ridges less than 2 nm in thickness. The Pt-Pd octahedral nanoframes were obtained through site-selected deposition of Pt atoms onto the edge sites of Pd octahedral seeds, followed by selective removal of the Pd octahedral cores via chemical etching. Due to that a combination of three-dimensional opens geometrical structure and Pt-skin surface compositional structure, the Pt-Pd octahedral nanoframes/C catalyst shows a mass activity of 1.15 A/mgPt towards oxygen reduction reaction, 5.8 times enhancement in mass activity relative to commercial Pt/C catalyst （0.20 A/mgPt）. Moreover, even after 8000 cycles of accelerated durability test, the Pt-Pd octahedral nanoframes/C catalyst still exhibits a mass activity which is more than three times higher than that of pristine Pt/C catalyst.展开更多
An adaptive variable structure control method based on backstepping is proposed for the attitude maneuver problem of rigid spacecraft with reaction wheel dynamics in the presence of uncertain inertia matrix and extern...An adaptive variable structure control method based on backstepping is proposed for the attitude maneuver problem of rigid spacecraft with reaction wheel dynamics in the presence of uncertain inertia matrix and external disturbances. The proposed control approach is a combination of the backstepping and the adaptive variable structure control. The cascaded structure of the attitude maneuver control system with reaction wheel dynamics gives the advantage for applying the backstepping method to construct Lyapunov functions. The robust stability to external disturbances and parametric uncertainty is guaranteed by the adaptive variable structure control. To validate the proposed control algorithm, numerical simulations using the proposed approach are performed for the attitude maneuver mission of rigid spacecraft with a configuration consisting of four reaction wheels for actuator and three magnetorquers for momentum unloading. Simulation results verify the effectiveness of the proposed control algorithm.展开更多
To track the rapidly changing temperature profiles of thermal cycling of polymerase chain reaction （PCR） accurately, an innovative feedforward variable structural proportional-integral-derivative （FVSPID） controll...To track the rapidly changing temperature profiles of thermal cycling of polymerase chain reaction （PCR） accurately, an innovative feedforward variable structural proportional-integral-derivative （FVSPID） controller was developed. Based on the step response test data of the heat block, a reduced first order model was estabfished at different operating points. Based on the reduced model, the FVSPID controller combined a feedforward path with the variable structural proportional-integral-derivative （PID） control. The modified feedforward action provided directly the optimal predictive power for the desired setpoint to speed up the dynamic response. To cooperate with the feedforward action, a variable structural PID was applied, where the P mode was used in the case of the largest errors to speed up response, whereas the PD mode was used in the case of larger errors to suppress overshoot, and finally the PID mode was applied for small error conditions to eliminate the steady state offset. Experimental results illustrated that compared to the conventional PID controller, the FVSPID controller can not only reduce the time taken to complete a standard PCR protocol, but also improve the accuracy of gene amplification.展开更多
An adaptive inverse controller for nonliear discrete-time system is proposed in this paper. A compound neural network is constructed to identify the nonlinear system, which includes a linear part to approximate the no...An adaptive inverse controller for nonliear discrete-time system is proposed in this paper. A compound neural network is constructed to identify the nonlinear system, which includes a linear part to approximate the nonlinear system and a recurrent neural network to minimize the difference between the linear model and the real nonlinear system. Because the current control input is not included in the input vector of recurrent neural network (RNN), the inverse control law can be calculated directly. This scheme can be used in real-time nonlinear single-input single-output (SISO) and multi-input multi-output (MIMO) system control with less computation work. Simulation studies have shown that this scheme is simple and affects good control accuracy and robustness.展开更多
For the characteristics of the continuous stirred-tank reactor(CSTR) with coil and jacket cooling system,a CSTR temperature dual control solution based on the analysis of the CSTR exothermic reaction control character...For the characteristics of the continuous stirred-tank reactor(CSTR) with coil and jacket cooling system,a CSTR temperature dual control solution based on the analysis of the CSTR exothermic reaction control characteristic was proposed for an organic material polymerization production.The control solution has passive fault-tolerant ability for the jacket cooling water cutting off fault and active fault-tolerant potential for the coil cooling water cutting off fault,and it has good control ability,high saving energy and reducing consumption performance.Fault detection and diagnosis and fault-tolerant control strategy are designed for the coil cooling fault to achieve the active fault-tolerant control function.The CSTR temperature dual control,process fault detection and diagnosis and active fault-tolerant control were full integrated into the CSTR temperature fault-tolerant control system,which achieve fault tolerance control of CSTR temperature for any severe malfunction of jacket cooling or coil cooling cutting off,and the security for CSTR exothermic reaction is improved.Finally,the effectiveness of this system was validated by semi-physical simulation experiment.展开更多
A series of heteropolytungstates has been synthesized and utilized as catalysts to catalyze oxidation of benzyl alcohol with aqueous hydrogen peroxide. The results indicated that three of these catalysts showed the pr...A series of heteropolytungstates has been synthesized and utilized as catalysts to catalyze oxidation of benzyl alcohol with aqueous hydrogen peroxide. The results indicated that three of these catalysts showed the properties of reaction-controlled phasetransfer catalysis, and they had excellent catalytic ability to the oxidation of benzyl alcohol. No other by-products were detected by gas chromatography. Once the hydrogen peroxide was consumed completely, the catalyst precipitated from solvent, and the results of the catalyst recycle showed that the catalyst had high stability.展开更多
The kinetic model for diffusion-controlled intermolecular reaction of homogenous polymer under steady shear was theoretically studied. The classic formalism and the concept of conformation ellipsoids were integrated t...The kinetic model for diffusion-controlled intermolecular reaction of homogenous polymer under steady shear was theoretically studied. The classic formalism and the concept of conformation ellipsoids were integrated to get a new equation, which directly correlates the rate constant with shear rate. It was found that the rate constant is not monotonic with shear rate. The scale of rate constant is N^-1.5 （N is the length of chains）, which is in consistent with de Gennes＇s result.展开更多
A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method...A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.展开更多
Controlled,guided munitions can reduce dispersion in the shot,while providing the capability of engaging both stationary and maneuvering targets.The Netherlands Organisation for Applied Scientific Research has develop...Controlled,guided munitions can reduce dispersion in the shot,while providing the capability of engaging both stationary and maneuvering targets.The Netherlands Organisation for Applied Scientific Research has developed a fin-less control technology called Stagnation Pressure Reaction Control(SPRC)that takes stagnation pressure air and directs it sideways to control non-spinning projectiles.In a previous study,this technology was demonstrated at Mach 2 wind-tunnel conditions to achieve up to 1.5°controllable angle of incidence for a non-spinning,aerodynamically unstable projectile-like test object.In an operational scenario,the decelerating projectile will experience a decline in control force while the simultaneous forward shift of the center of pressure increases the need for control force.Furthermore,angles of incidence exceeding 1.5°will be experienced under realistic flight conditions,especially against maneuvering targets.This work addresses these challenges and presents an operational feasibility study for a practical application of SPRC in a non-spinning mid-caliber gun-launched projectile,using experiment data on control latency and force of the earlier study.It illustrates the combined effect of the control-and stability dynamics and underlines the potential of an SPRC projectile as a precisionoperation ammunition.This research revealed that SPRC technology can stabilize and control the hypothesized projectile in a direct fire scenario against stationary and maneuvering targets.展开更多
Objective:To systematically evaluate the incidence of adverse reactions to coronavirus disease 2019(COVID-19)vaccination.Methods:We systematically searched PubMed,Embase,The Cochrane Library,Web of Science,CNKI,WanFan...Objective:To systematically evaluate the incidence of adverse reactions to coronavirus disease 2019(COVID-19)vaccination.Methods:We systematically searched PubMed,Embase,The Cochrane Library,Web of Science,CNKI,WanFang Data,and VIP Database from the inception of each database to August 31,2021.Randomized controlled clinical trials(RCTs)on the safety of different types of COVID-19 vaccines were retrieved and analyzed.A random or fixed-effects model was used with an odds ratio as the effect size.The quality of each reference was evaluated.The incidence of the adverse reactions of the placebo group and the vaccination group was compared.Heterogeneity and publication bias were taken care of by meta-regression and sub-group analyses.Results:A total of 13 articles were included,with 81287 subjects.Compared with the placebo group,the vaccination group showed a higher combined risk ratio(RR)of total adverse reactions(RR=1.67,95%CI:1.46-1.91,P<0.01),local adverse reactions(RR=2.86,95%CI:2.11-3.87,P<0.01),systemic adverse reactions(RR=1.25,95%CI:0.92-1.72,P=0.16),pain(RR=2.55,95%CI:1.75-3.70,P<0.01),swelling(RR=4.16,95%CI:1.71-10.17,P=0.002),fever(RR=2.34,95%CI:1.84-2.97,P<0.01),fatigue(RR=1.36,95%CI:1.32-1.41,P<0.01)and headache(RR=1.22,95%CI:1.18-1.26,P<0.01).The subgroup analysis showed the incidence of adverse reactions of the vaccination group after injection of the three COVID-19 vaccines(inactivated viral vaccines,mRNA vaccines and adenovirus vector vaccines)was higher than that of the placebo group,and the difference between the placebo group and the vaccination group in the mRNA vaccine subgroup and the adenovirus vector vaccine subgroup was statistically significant(P<0.01).The incidence of adverse reactions after injection of COVID-19 vaccine in subgroups of different ages was significantly higher than that in the placebo group(P<0.01).Conclusions:COVID-19 vaccines have a good safety,among which adenovirus vector vaccine has the highest incidence of adverse reactions.Both adolescents and adults vaccinated with novel coronavirus vaccine have a certain proportion of adverse reactions,but the symptoms are mild and can be relieved by themselves.Our meta-analysis can help boost global awareness of vaccine safety,promote mass vaccination,help build regional and global immune barriers and effectively curb the recurrency of COVID-19.展开更多
The solid state photochemical reaction of nitrobenzaldehyde with indole was investigated. Seven hey products were identified by IR, MS,^(1)H HMR and elemental analysis.
A new catalytic process for the synthesis of aldehyde from alcohol by oxidation with H202 with high selectivity, was studied. In this system, heteropolymolybdate [C7H7N（CH3）3]3 {PO4[MoO（O2）2]4} was utilized as the...A new catalytic process for the synthesis of aldehyde from alcohol by oxidation with H202 with high selectivity, was studied. In this system, heteropolymolybdate [C7H7N（CH3）3]3 {PO4[MoO（O2）2]4} was utilized as the reaction-controlled phase-transfer catalyst to catalyze oxidation of benzyl and aliphatic alcohols. The molar ratio of H2O2 and alcohol was 0.75, no other by-products were detected by gas chromatography, the results of oxidation reaction indicated that the catalyst has high activity and stability.展开更多
基金National Natural Science Foundation of China under grants NSFC 61603363,61703383,61603056.
文摘This paper studies the reentry attitude tracking control problem for hypersonic vehicles(HSV)equipped with reaction control systems(RCS)and aerodynamic surfaces.The attitude dynamical model of the hypersonic vehicles is established,and the simplified longitudinal and lateral dynamic models are obtained,respectively.Then,the compound control allocation strategy is provided and the model predictive controller is designed for the pitch channel.Furthermore,considering the complicated jet interaction effect of HSV during RCS is working,an improved model predictive control approach is presented by introducing the online parameter estimation of the jet interaction coefficient for dealing with the uncertainty and disturbance.Moreover,considering the strong coupling effect between the yaw channel and roll channel,a coupled model predictive controller is designed by introducing the feedback of sideslip angle into the roll control channel to eliminate the coupling effect.Finally,the comparison simulations using the classical control method,MPC and IMPC approach are given to demonstrate the effectiveness and efficiency of the presented IMPC scheme.
文摘A new reaction-controlled phase-transfer catalyst system was designed and synthesized. In this system, heteropolytungstate [C7H7N(CH3)3]9PW9O34 was used for catalytic epoxidation of cyclohexene with H2O2 as the oxidant. The conversion of H2O2 was 100% and the yield of cyclohexene oxide was 87.1% based on cyclohexene. Infrared spectra showed that both fresh catalyst and the recovered catalyst do have completely same absorption peak, indicating the structure of catalyst is very stability and can be recycled.
文摘The disturbance caused by the reaction wheel with a current controller greatly influences the accuracy and stability of the satellite attitude control system. To solve this problem, the idea of speed feedback compensation control reaction wheel is put forward. This paper introduces the comparison on design and performance of two satellite attitude control systems, which are separately based on the current control reaction wheel and the speed feedback compensation control reaction wheel. Analysis shows that the speed feedback compensation control flywheel system may effectively suppress the torque fluctuation. Simulation results indicate that the satellite attitude control system with the speed feedback compensation control flywheel has improved performance.
文摘Reaction control system(RCS) is a powerful and efficient actuator for space vehicles attitude control, which is typically characterized as a pulsed unilateral effector only with two states(off/on). Along with inevitable internal uncertainties and external disturbances in practice, this inherent nonlinear character always hinders space vehicles autopilot from pursuing precise tracking performance. Compared to most of pre-existing methodologies that passively suppress the uncertainties and disturbances, a design based on predictive functional control(PFC) and generalized extended state observer(GESO) is firstly proposed for three-axis RCS control system to actively reject that with no requirement for additional fuel consumption. To obtain a high fidelity predictive model on which the performance of PFC greatly depends, the nonlinear coupling multiple-input multiple-output(MIMO) flight dynamics model is parameterized as a state-dependent coefficient form. And based on that, a MIMO PFC algorithm in state space domain for a plant of arbitrary orders is deduced in this paper.The internal uncertainties and external disturbances are lumped as a total disturbance, which is estimated and cancelled timely to further enhance the robustness. The continuous control command synthesised by above controller-rejector tandem is finally modulated by pulse width pulse frequency modulator(PWPF) to on-off signals to meet RCS requirement. The robustness and feasibility of the proposed design are validated by a series of performance comparison simulations with some prominent methods in the presence of significant perturbations and disturbances, as well as measurement noise.
基金This work is supported by Collaborative Innovation Center of Suzhou Nano Science and Technology, Ministry of Science and Technology of China （No.2014CB932700）, the National Natural Science Foundation of China （No.21603208, No.21573206, and No.51371164）, the China Postdoctoral Science Foundation （No.2015M580536, No.2016T90569）, Key Research Program of Frontier Sciences, CAS （QYZDBSSW- SLH017）, Strategic Priority Research Program B of the CAS （No.XDB01020000）, Hefei Science Center, CAS （No.2015HSC-UP016）, and Fundamental Research Funds for the Central Universities.
文摘Pt-based nanoframes represent a class of promising catalysts towards oxygen reduction reaction. Herein, we, for the first time, successfully prepared Pt-Pd octahedral nanoframes with ultrathin ridges less than 2 nm in thickness. The Pt-Pd octahedral nanoframes were obtained through site-selected deposition of Pt atoms onto the edge sites of Pd octahedral seeds, followed by selective removal of the Pd octahedral cores via chemical etching. Due to that a combination of three-dimensional opens geometrical structure and Pt-skin surface compositional structure, the Pt-Pd octahedral nanoframes/C catalyst shows a mass activity of 1.15 A/mgPt towards oxygen reduction reaction, 5.8 times enhancement in mass activity relative to commercial Pt/C catalyst （0.20 A/mgPt）. Moreover, even after 8000 cycles of accelerated durability test, the Pt-Pd octahedral nanoframes/C catalyst still exhibits a mass activity which is more than three times higher than that of pristine Pt/C catalyst.
基金Sponsored by the National Natural Science Foundation of China(Grant No.60674101)the Research Fund for the Doctoral Program of Higher Educa-tion of China(Grant No.20050213010)
文摘An adaptive variable structure control method based on backstepping is proposed for the attitude maneuver problem of rigid spacecraft with reaction wheel dynamics in the presence of uncertain inertia matrix and external disturbances. The proposed control approach is a combination of the backstepping and the adaptive variable structure control. The cascaded structure of the attitude maneuver control system with reaction wheel dynamics gives the advantage for applying the backstepping method to construct Lyapunov functions. The robust stability to external disturbances and parametric uncertainty is guaranteed by the adaptive variable structure control. To validate the proposed control algorithm, numerical simulations using the proposed approach are performed for the attitude maneuver mission of rigid spacecraft with a configuration consisting of four reaction wheels for actuator and three magnetorquers for momentum unloading. Simulation results verify the effectiveness of the proposed control algorithm.
基金Supported by the National Natural Science Foundation of China (No.60574038) and the Open Project Program of the State KeyLaboratory of Bioreactor Engineering/ECUST.
文摘To track the rapidly changing temperature profiles of thermal cycling of polymerase chain reaction （PCR） accurately, an innovative feedforward variable structural proportional-integral-derivative （FVSPID） controller was developed. Based on the step response test data of the heat block, a reduced first order model was estabfished at different operating points. Based on the reduced model, the FVSPID controller combined a feedforward path with the variable structural proportional-integral-derivative （PID） control. The modified feedforward action provided directly the optimal predictive power for the desired setpoint to speed up the dynamic response. To cooperate with the feedforward action, a variable structural PID was applied, where the P mode was used in the case of the largest errors to speed up response, whereas the PD mode was used in the case of larger errors to suppress overshoot, and finally the PID mode was applied for small error conditions to eliminate the steady state offset. Experimental results illustrated that compared to the conventional PID controller, the FVSPID controller can not only reduce the time taken to complete a standard PCR protocol, but also improve the accuracy of gene amplification.
基金Supported by the National Natural Science Foundation of China (60575009, 60574036)
文摘An adaptive inverse controller for nonliear discrete-time system is proposed in this paper. A compound neural network is constructed to identify the nonlinear system, which includes a linear part to approximate the nonlinear system and a recurrent neural network to minimize the difference between the linear model and the real nonlinear system. Because the current control input is not included in the input vector of recurrent neural network (RNN), the inverse control law can be calculated directly. This scheme can be used in real-time nonlinear single-input single-output (SISO) and multi-input multi-output (MIMO) system control with less computation work. Simulation studies have shown that this scheme is simple and affects good control accuracy and robustness.
基金Project(2013JM8024)Supported by Natural Science Basic Research Plan in Shaanxi Province of China
文摘For the characteristics of the continuous stirred-tank reactor(CSTR) with coil and jacket cooling system,a CSTR temperature dual control solution based on the analysis of the CSTR exothermic reaction control characteristic was proposed for an organic material polymerization production.The control solution has passive fault-tolerant ability for the jacket cooling water cutting off fault and active fault-tolerant potential for the coil cooling water cutting off fault,and it has good control ability,high saving energy and reducing consumption performance.Fault detection and diagnosis and fault-tolerant control strategy are designed for the coil cooling fault to achieve the active fault-tolerant control function.The CSTR temperature dual control,process fault detection and diagnosis and active fault-tolerant control were full integrated into the CSTR temperature fault-tolerant control system,which achieve fault tolerance control of CSTR temperature for any severe malfunction of jacket cooling or coil cooling cutting off,and the security for CSTR exothermic reaction is improved.Finally,the effectiveness of this system was validated by semi-physical simulation experiment.
文摘A series of heteropolytungstates has been synthesized and utilized as catalysts to catalyze oxidation of benzyl alcohol with aqueous hydrogen peroxide. The results indicated that three of these catalysts showed the properties of reaction-controlled phasetransfer catalysis, and they had excellent catalytic ability to the oxidation of benzyl alcohol. No other by-products were detected by gas chromatography. Once the hydrogen peroxide was consumed completely, the catalyst precipitated from solvent, and the results of the catalyst recycle showed that the catalyst had high stability.
基金This work was financially supported by the National Natural Science Foundation of China (No. 50390090).
文摘The kinetic model for diffusion-controlled intermolecular reaction of homogenous polymer under steady shear was theoretically studied. The classic formalism and the concept of conformation ellipsoids were integrated to get a new equation, which directly correlates the rate constant with shear rate. It was found that the rate constant is not monotonic with shear rate. The scale of rate constant is N^-1.5 （N is the length of chains）, which is in consistent with de Gennes＇s result.
基金supported by the National Natural Science Foundation of China (No.50675016)the Science and Technology Innovation Fund for the Doctor (No.48030)
文摘A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.
文摘Controlled,guided munitions can reduce dispersion in the shot,while providing the capability of engaging both stationary and maneuvering targets.The Netherlands Organisation for Applied Scientific Research has developed a fin-less control technology called Stagnation Pressure Reaction Control(SPRC)that takes stagnation pressure air and directs it sideways to control non-spinning projectiles.In a previous study,this technology was demonstrated at Mach 2 wind-tunnel conditions to achieve up to 1.5°controllable angle of incidence for a non-spinning,aerodynamically unstable projectile-like test object.In an operational scenario,the decelerating projectile will experience a decline in control force while the simultaneous forward shift of the center of pressure increases the need for control force.Furthermore,angles of incidence exceeding 1.5°will be experienced under realistic flight conditions,especially against maneuvering targets.This work addresses these challenges and presents an operational feasibility study for a practical application of SPRC in a non-spinning mid-caliber gun-launched projectile,using experiment data on control latency and force of the earlier study.It illustrates the combined effect of the control-and stability dynamics and underlines the potential of an SPRC projectile as a precisionoperation ammunition.This research revealed that SPRC technology can stabilize and control the hypothesized projectile in a direct fire scenario against stationary and maneuvering targets.
基金funded the Province Natural Science key Foundation of Hainan(No:ZDYFXGFY2020004 and No:ZDYF 2019125)the National Natural Science Foundation of China(No:81960351)Hainan Province Clinical Medical Center.
文摘Objective:To systematically evaluate the incidence of adverse reactions to coronavirus disease 2019(COVID-19)vaccination.Methods:We systematically searched PubMed,Embase,The Cochrane Library,Web of Science,CNKI,WanFang Data,and VIP Database from the inception of each database to August 31,2021.Randomized controlled clinical trials(RCTs)on the safety of different types of COVID-19 vaccines were retrieved and analyzed.A random or fixed-effects model was used with an odds ratio as the effect size.The quality of each reference was evaluated.The incidence of the adverse reactions of the placebo group and the vaccination group was compared.Heterogeneity and publication bias were taken care of by meta-regression and sub-group analyses.Results:A total of 13 articles were included,with 81287 subjects.Compared with the placebo group,the vaccination group showed a higher combined risk ratio(RR)of total adverse reactions(RR=1.67,95%CI:1.46-1.91,P<0.01),local adverse reactions(RR=2.86,95%CI:2.11-3.87,P<0.01),systemic adverse reactions(RR=1.25,95%CI:0.92-1.72,P=0.16),pain(RR=2.55,95%CI:1.75-3.70,P<0.01),swelling(RR=4.16,95%CI:1.71-10.17,P=0.002),fever(RR=2.34,95%CI:1.84-2.97,P<0.01),fatigue(RR=1.36,95%CI:1.32-1.41,P<0.01)and headache(RR=1.22,95%CI:1.18-1.26,P<0.01).The subgroup analysis showed the incidence of adverse reactions of the vaccination group after injection of the three COVID-19 vaccines(inactivated viral vaccines,mRNA vaccines and adenovirus vector vaccines)was higher than that of the placebo group,and the difference between the placebo group and the vaccination group in the mRNA vaccine subgroup and the adenovirus vector vaccine subgroup was statistically significant(P<0.01).The incidence of adverse reactions after injection of COVID-19 vaccine in subgroups of different ages was significantly higher than that in the placebo group(P<0.01).Conclusions:COVID-19 vaccines have a good safety,among which adenovirus vector vaccine has the highest incidence of adverse reactions.Both adolescents and adults vaccinated with novel coronavirus vaccine have a certain proportion of adverse reactions,but the symptoms are mild and can be relieved by themselves.Our meta-analysis can help boost global awareness of vaccine safety,promote mass vaccination,help build regional and global immune barriers and effectively curb the recurrency of COVID-19.
文摘The solid state photochemical reaction of nitrobenzaldehyde with indole was investigated. Seven hey products were identified by IR, MS,^(1)H HMR and elemental analysis.
文摘A new catalytic process for the synthesis of aldehyde from alcohol by oxidation with H202 with high selectivity, was studied. In this system, heteropolymolybdate [C7H7N（CH3）3]3 {PO4[MoO（O2）2]4} was utilized as the reaction-controlled phase-transfer catalyst to catalyze oxidation of benzyl and aliphatic alcohols. The molar ratio of H2O2 and alcohol was 0.75, no other by-products were detected by gas chromatography, the results of oxidation reaction indicated that the catalyst has high activity and stability.
