This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance ...This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.展开更多
针对非线性船舶航向控制系统,将Line of Sight(LOS)引导律与滑模控制算法相结合,设计一种航向保持滑模控制算法,通过设计合理的李雅普诺夫函数及利用其稳定性理论对系统的稳定性进行了分析,并利用"育龙"轮运动数学模型进行计...针对非线性船舶航向控制系统,将Line of Sight(LOS)引导律与滑模控制算法相结合,设计一种航向保持滑模控制算法,通过设计合理的李雅普诺夫函数及利用其稳定性理论对系统的稳定性进行了分析,并利用"育龙"轮运动数学模型进行计算机模拟仿真,验证设计思想的可行性和控制算法的合理性及有效性。仿真结果表明,控制算法可以保证航向控制系统的渐近收敛及稳定,根据该控制算法所设计的控制器,能够使船舶航向精确的保持在预定航向上,具有优良的控制效果。展开更多
Diabetes has become a growing concern in Japan, both medically and financially. The medical cost of diabetes was estimated at 1215 billion yen for fiscal year 2011. We analyzed the length of stay (LOS) in a hospital f...Diabetes has become a growing concern in Japan, both medically and financially. The medical cost of diabetes was estimated at 1215 billion yen for fiscal year 2011. We analyzed the length of stay (LOS) in a hospital for type 2 diabetes mellitus patients who participated in educational programs to determine factors affecting LOS. Data on 991 patients obtained from 28 Red Cross hospitals in 2008 were used. For the analysis, we used the Box-Cox transformation model and Hausman test. The results revealed that patients aged 75 years and above and those with comorbidities and complications were prone to longer LOS. The analysis also revealed significant differences in LOS across the hospitals, even after controlling for patient characteristics. Finally, we applied the least squares method to determine the effects of hospital and regional factors and revealed that patients’ LOS was affected by the region’s average LOS. Regional corporations and networks appeared to be important in improving educational programs.展开更多
Japanese medical expenditures have increased rapidly in recent years and are predicted to continue rising. Indeed, it remains uncertain whether the current Japanese medical system can be sustained. In this paper, we a...Japanese medical expenditures have increased rapidly in recent years and are predicted to continue rising. Indeed, it remains uncertain whether the current Japanese medical system can be sustained. In this paper, we analyzed the medical expenditures for educational hospitalization of patients with type 2 diabetes. A dataset of 6173 patients from 36 hospitals was used in the analysis. The sample period was from July 2008 to March 2012. We analyzed the medical expenditures in two ways. First, we analyzed the length of hospital stay (LOS). Next, we analyzed the daily expenditure per patient. The Box-Cox transformation model was used in the first analysis and the ordinary least squares method in the second. Comorbidities and complications prolonged LOS and increased daily expenditures. The LOS was significantly different among hospitals. On the other hand, the differences in daily expenditures among hospitals were relatively small, such that LOS was the main determinant of medical expenditures. Previous studies suggested that LOS could be shortened without degradation of medical quality. Moreover, LOS could be controlled by introducing proper critical paths and improving and standardizing educational programs. Hence, it would be possible to control the medical expenditures for this disease.展开更多
The multiple input multiple output(MIMO) systems using serial infrared(SIR),return to zero-inverted(RZI) and on off keying(OOK) modulation were studied. Also, by analyzing experimental results, curve fitting models we...The multiple input multiple output(MIMO) systems using serial infrared(SIR),return to zero-inverted(RZI) and on off keying(OOK) modulation were studied. Also, by analyzing experimental results, curve fitting models were established. Three infrared MIMO systems with 2X2, 2X4 and 4X4 MIMO channels using RZI and OOK modulation were designed and tested. Based on the experimental results, evaluations between BER, distance and displacement were discussed.展开更多
基金supported in part by the National Natural Science Foundation of China(61825305,62171274,U1933125,U2241228,62273019)the Shanghai Science and Technology Major Project(2021SHZDZX)+2 种基金the National Natural Science Foundation of China through the Main Research Projecton Machine Behavior and Human-Machine Collaborated Decision Making Methodology(72192820)the Third Research Projecton Human Behavior in HumanMachine Collaboration(72192822)the China Postdoctoral Science Foundation(2022M710093)。
文摘This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.
文摘针对非线性船舶航向控制系统,将Line of Sight(LOS)引导律与滑模控制算法相结合,设计一种航向保持滑模控制算法,通过设计合理的李雅普诺夫函数及利用其稳定性理论对系统的稳定性进行了分析,并利用"育龙"轮运动数学模型进行计算机模拟仿真,验证设计思想的可行性和控制算法的合理性及有效性。仿真结果表明,控制算法可以保证航向控制系统的渐近收敛及稳定,根据该控制算法所设计的控制器,能够使船舶航向精确的保持在预定航向上,具有优良的控制效果。
文摘Diabetes has become a growing concern in Japan, both medically and financially. The medical cost of diabetes was estimated at 1215 billion yen for fiscal year 2011. We analyzed the length of stay (LOS) in a hospital for type 2 diabetes mellitus patients who participated in educational programs to determine factors affecting LOS. Data on 991 patients obtained from 28 Red Cross hospitals in 2008 were used. For the analysis, we used the Box-Cox transformation model and Hausman test. The results revealed that patients aged 75 years and above and those with comorbidities and complications were prone to longer LOS. The analysis also revealed significant differences in LOS across the hospitals, even after controlling for patient characteristics. Finally, we applied the least squares method to determine the effects of hospital and regional factors and revealed that patients’ LOS was affected by the region’s average LOS. Regional corporations and networks appeared to be important in improving educational programs.
文摘Japanese medical expenditures have increased rapidly in recent years and are predicted to continue rising. Indeed, it remains uncertain whether the current Japanese medical system can be sustained. In this paper, we analyzed the medical expenditures for educational hospitalization of patients with type 2 diabetes. A dataset of 6173 patients from 36 hospitals was used in the analysis. The sample period was from July 2008 to March 2012. We analyzed the medical expenditures in two ways. First, we analyzed the length of hospital stay (LOS). Next, we analyzed the daily expenditure per patient. The Box-Cox transformation model was used in the first analysis and the ordinary least squares method in the second. Comorbidities and complications prolonged LOS and increased daily expenditures. The LOS was significantly different among hospitals. On the other hand, the differences in daily expenditures among hospitals were relatively small, such that LOS was the main determinant of medical expenditures. Previous studies suggested that LOS could be shortened without degradation of medical quality. Moreover, LOS could be controlled by introducing proper critical paths and improving and standardizing educational programs. Hence, it would be possible to control the medical expenditures for this disease.
基金Supported by the Strategic Priority Research Program of Chinese Academy of Sciences(Grant No.XDA17040401)
文摘The multiple input multiple output(MIMO) systems using serial infrared(SIR),return to zero-inverted(RZI) and on off keying(OOK) modulation were studied. Also, by analyzing experimental results, curve fitting models were established. Three infrared MIMO systems with 2X2, 2X4 and 4X4 MIMO channels using RZI and OOK modulation were designed and tested. Based on the experimental results, evaluations between BER, distance and displacement were discussed.
