The space constellation of the BeiDou navigation satellite system(BDS) is a hybrid constellation containing medium earth orbit(MEO) satellites, geostationary earth orbit(GEO) satellites, and inclined geosynchronous or...The space constellation of the BeiDou navigation satellite system(BDS) is a hybrid constellation containing medium earth orbit(MEO) satellites, geostationary earth orbit(GEO) satellites, and inclined geosynchronous orbit(IGSO) satellites. Due to the geosynchronous characteristics of GEO and IGSO, GEO satellites and IGSO satellites often need to perform orbital maneuvers, which can affect the signal-inspace(SIS) availability performance of BeiDou satellites. A two-step detection method for BeiDou satellite orbital maneuvers has been proposed in this paper. The first step is to identify orbital maneuvers based on time series analysis of broadcast ephemeris, and the second step is to verify orbital maneuvers based on bidirectional orbit prediction. The two-step detection method was used to detect the orbital maneuvers of BeiDou satellites in 2019. Through the double guarantees of identification and verification,the detection accuracy of BeiDou satellite orbital maneuvers has been effectively improved. And the orbital maneuver detection results are continued to be used to assess the SIS availability of BeiDou satellites. The results show that the availability loss of GEO satellite orbital maneuvers is about 0.45%-1.07%, and the availability loss of IGSO satellite orbital maneuvers is about 0.12%-0.19%.展开更多
Acute respiratory distress syndrome(ARDS) represents a serious problem in critically ill patients and is associated with in-hospital mortality rates of 33%-52%. Recruitment maneuvers(RMs) are a simple, low-cost, feasi...Acute respiratory distress syndrome(ARDS) represents a serious problem in critically ill patients and is associated with in-hospital mortality rates of 33%-52%. Recruitment maneuvers(RMs) are a simple, low-cost, feasible intervention that can be performed at the bedside in patients with ARDS. RMs are characterized by the application of airway pressure to increase transpulmonary pressure transiently. Once non-aerated lung units are reopened, improvements are observed in respiratory system mechanics, alveolar reaeration on computed tomography, and improvements in gas exchange(functional recruitment). However, the reopening process could lead to vascular compression, which can be associated with overinflation, and gas exchange may not improve as expected(anatomical recruitment). The purpose of this review was to discuss the effects of different RM strategies- sustained inflation, intermittent sighs, and stepwise increases of positive end-expiratory pressure(PEEP) and/or airway inspiratory pressure- on the following parameters: hemodynamics, oxygenation, barotrauma episodes, and lung recruitability through physiological variables and imaging techniques. RMs and PEEP titration are interdependent events for the success of ventilatory management. PEEP should be adjusted on the basis of respiratory system mechanics and oxygenation. Recent systematic reviews and meta-analyses suggest that RMs are associated with lower mortality in patients with ARDS. However, the optimal RM method(i.e., that providing the best balance of benefit and harm) and the effects of RMs on clinical outcome are still under discussion, and further evidence is needed.展开更多
Introduction: Propofol use during endoscopic procedures has become increasingly popular and assessing and maintaining airway patency is a significant challenge. Anesthesiologists often use airway maneuvers to maintain...Introduction: Propofol use during endoscopic procedures has become increasingly popular and assessing and maintaining airway patency is a significant challenge. Anesthesiologists often use airway maneuvers to maintain airway patency and ventilation during procedural sedation. A novel, non-invasive, Respiratory Volume Monitor (RVM) that provided continuous, real-time measurements of minute ventilation (MV), tidal volume (TV) and respiratory rate (RR) was used to monitor respiratory performance before, during, and after endoscopic procedures, quantify MV changes before and after airway maneuvers, and to quantify propofol-induced respiratory depression. Methods: RVM traces were obtained from 25 patients undergoing sedation for endoscopic procedures. Airway maneuvers were performed in 19/25 patients. All 25 patients received propofol as the primary sedative. Results: Forty-five airway maneuvers were performed. During these maneuvers, all respiratory parameters increased relative to pre-maneuver levels. On average, MV increased by 24% ± 5% (mean ± SEM), TV 14% ± 5% and RR: 17% ± 6%. The cohort average MVBASELINE was 9.5 ± 0.7 L/min (TV = 670 ± 60 ml, RR = 15 ± 0.7). Following propofol MV decreased transiently, reaching nadir five minutes after the last dose of propofol at 82% ± 10% of baseline (MV = 7.5 ± 1.0 L/min). The reduction in MV was driven by reduction in TV, not RR. Conclusions: Data demonstrated that RVM was able to track changes in ventilation and was able to quantify respiratory changes following airway maneuvers. All patients had a significant reduction in ventilatory volumes after propofol. Five minutes after the last dose of propofol, MV and TV were significantly reduced while RR was not, suggesting that monitoring respiratory rate alone was not a sufficient indicator of respiratory status.展开更多
In the near future, active safety systems will take more control over the vehicle driving, even up to introducing fully autonomous vehicles. Nowadays, it is expected that the active safety systems will aid avoiding co...In the near future, active safety systems will take more control over the vehicle driving, even up to introducing fully autonomous vehicles. Nowadays, it is expected that the active safety systems will aid avoiding collisions much more efficiently than human drivers. These systems can protect not only the passengers, but also other road users. To mitigate collision, certain maneuvers （e.g., sudden braking, lane change, etc.） need to be done in a reasonably quick time. However, this may lead to low-g energy pulses. The latter fact, may cause unexpected and, in some cases, unwanted occupant body motion resulting even in OOP （out of position） postures. New patterns of occupant reactions in such cases are, to some extent, confirmed experimentally [1-3]. This paper evaluates the limits of standard ATDs （anthropometric test devices） and chosen human models in well established maneuver scenarios. Obtained results are compared with experimental data available in the literature. Drawbacks identify new challenges for the near future simulation based safety engineering. One scenario with combined conditions of emergency braking during lane change has been used as an example of OOP posture after maneuver.展开更多
Patients with acute respiratory distress syndrome (ARDS) are currently treated with a lung protective ventilation strategy and the application of positive end-expiratory pressure (PEEP), sometimes in combination with ...Patients with acute respiratory distress syndrome (ARDS) are currently treated with a lung protective ventilation strategy and the application of positive end-expiratory pressure (PEEP), sometimes in combination with recruitment maneuvers. In this study, the respiratory system elastance and airway resistance of each breath before, during and after a specific recruitment maneuver (PEEP wave maneuver) were analyzed in two patient groups, ARDS and control group. A reduction of elastance after the maneuver was observed in ARDS patients. In addition, only healthy lungs exhibited a reduction of the elastance during the course of the maneuver, while the lungs of ARDS patients didn’t show that reduction of elastance. The capability of PEEP wave maneuvers to improve lung ventilation was shown and the dynamic behavior of the elastance after the maneuver was illustrated. Healthy lungs adapt faster to changes in mechanical ventilation than the lungs of ARDS patients.展开更多
The time courses of wing and body kinematics of two free-flying drone-flies, as they performed saccades, were measured using 3D high-speed video, and the morpho- logical parameters of the wings and body of the insects...The time courses of wing and body kinematics of two free-flying drone-flies, as they performed saccades, were measured using 3D high-speed video, and the morpho- logical parameters of the wings and body of the insects were also measured. The measured wing kinematics was used in a Navier-Stokes solver to compute the aerodynamic forces and moments acting on the insects. The main results are as following. （1） The turn is mainly a 90° change of heading. It is made in about 10 wingbeats （about 55 ms）. It is of interest to note that the number of wingbeats taken to make the turn is approximately the same as and the turning time is only a little different from that of fruitflies measured recently by the same approach, even if the weight of the droneflies is more than 100 times larger than that of the fruitflies. The long axis of body is about 40° from the horizontal during the maneuver. （2） Although the body rotation is mainly about a vertical axis, a relatively large moment around the yaw axis （axis perpendicular to the long axis of body）, called as yaw moment, is mainly needed for the turn, because moment of inertial of the body about the yaw axis is much larger than that about the long axis. （3） The yaw moment is mainly pro- duced by changes in wing angles of attack： in a right turn, for example, the dronefly lets its right wing to have a rather large angle of attack in the downstroke （generally larger than 50°） and a small one in the upstroke to start the turn, and lets its left wing to do so to stop the turn, unlike the fruitflies who generate the yaw moment mainly by changes in the stroke plane and stroke amplitude.展开更多
In order to restrict non-yielding maneuvers of left-turning vehicles,an optimal design of left-lane line extensions is proposed to solve the problem.A field observation was conducted to collect a data set of left-turn...In order to restrict non-yielding maneuvers of left-turning vehicles,an optimal design of left-lane line extensions is proposed to solve the problem.A field observation was conducted to collect a data set of left-turning vehicles at the beginning of a green phase at two similar intersections(one with a permitted phase and the other with a protected phase).The comparative analysis shows no significant difference in the speed distribution using either a permitted phase or a protected phase,but it reveals that a permitted phase can lead to a larger acceleration when the left-turn vehicles pass through the conflict points.Those indicate the existence of non-yielding maneuvers of left-turn vehicles at signalized intersections with a permitted phase.Optimal designed left-lane line extensions contain two types of segments,circular curves and transition curves,and they are only related to four geometry parameters of an intersection.The proposed method is easy to use and it can offer reference for intersection channelization and traffic organization.展开更多
A set of generallied equations which govern the klnematic parameters of helicopters in maneuvering flight is given. Loop and roll maneuvers are specially analysed in detail and the sample calculations are presented. T...A set of generallied equations which govern the klnematic parameters of helicopters in maneuvering flight is given. Loop and roll maneuvers are specially analysed in detail and the sample calculations are presented. The method established in this paper is of practical significance for aerobatic employment and design of armed helicopters.展开更多
This study creates and combines the general maneuver libraries for fixed-wing aircraft to implement tactical maneuvers.First,the generalized maneuver libraries are established by analyzing the characteristics of tacti...This study creates and combines the general maneuver libraries for fixed-wing aircraft to implement tactical maneuvers.First,the generalized maneuver libraries are established by analyzing the characteristics of tactical maneuvers required in battlefields.The 7th order polynomial is applied to both the creation of the maneuver libraries and the generation of the trajectories or flight paths for modal inputs.To track the desired trajectory,we design the Attitude Command Attitude Hold(ACAH)system and the Rate Command Rate Hold(RCRH)system using Model Following Controller(MFC).Moreover,the Line-of-Sight(LOS)guidance law is designed.In particular,the CONDUIT~?is employed to optimize the gains so that the control systems meet the aircraft Handling Qualities(HQ)criteria.Finally,flight simulations are performed for the longitudinal loop,immelmann-turn,and climb-slalom-descent maneuvers to verify that tactical aggressive maneuvers are realizable via the combination of maneuver libraries.This study can contribute to the development of flight techniques for aircraft tactical maneuvers and to the revision of air force operational manuals.展开更多
The BeiDou Navigation Satellite System(BDS)provides global Positioning,Velocity,And Timing(PVT)services that are widely used in various areas.The BDS satellites frequently need the orbit maneuvers due to various pertu...The BeiDou Navigation Satellite System(BDS)provides global Positioning,Velocity,And Timing(PVT)services that are widely used in various areas.The BDS satellites frequently need the orbit maneuvers due to various perturbations to keep satellites in their designed positions.During these maneuvers,PVT services may be abnormal if the data from a maneuvering satellite is used.In this paper we developed an approach to recover the abnormal PVT services.By using BDS observations from multiple tracking stations,the orbital errors of a maneuvering satellite can be in real time obtained and corrected,thereby avoiding any influence on the performance of PVT services.The tests show that the average precision of position,velocity and timing services are improved by 0.8 m,0.1 mm/s and 0.16 ns,respectively,using the developed orbital maneuver recovery approach.In addition,the approach can also be used for the orbital maneuver detection and monitoring.展开更多
Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net...Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net network based on a communication mechanism is introduced into a deep reinforcement learning algorithm to solve the multi-agent problem. A layer of gated recurrent unit(GRU) is added to the actor-network structure to remember historical environmental states. Subsequently,another GRU is designed as a communication channel in the Comm Net core network layer to refine communication information between UAVs. Finally, the simulation results of the algorithm in two sets of scenarios are given, and the results show that the method has good effectiveness and applicability.展开更多
Target maneuver recognition is a prerequisite for air combat situation awareness,trajectory prediction,threat assessment and maneuver decision.To get rid of the dependence of the current target maneuver recognition me...Target maneuver recognition is a prerequisite for air combat situation awareness,trajectory prediction,threat assessment and maneuver decision.To get rid of the dependence of the current target maneuver recognition method on empirical criteria and sample data,and automatically and adaptively complete the task of extracting the target maneuver pattern,in this paper,an air combat maneuver pattern extraction based on time series segmentation and clustering analysis is proposed by combining autoencoder,G-G clustering algorithm and the selective ensemble clustering analysis algorithm.Firstly,the autoencoder is used to extract key features of maneuvering trajectory to remove the impacts of redundant variables and reduce the data dimension;Then,taking the time information into account,the segmentation of Maneuver characteristic time series is realized with the improved FSTS-AEGG algorithm,and a large number of maneuver primitives are extracted;Finally,the maneuver primitives are grouped into some categories by using the selective ensemble multiple time series clustering algorithm,which can prove that each class represents a maneuver action.The maneuver pattern extraction method is applied to small scale air combat trajectory and can recognize and correctly partition at least 71.3%of maneuver actions,indicating that the method is effective and satisfies the requirements for engineering accuracy.In addition,this method can provide data support for various target maneuvering recognition methods proposed in the literature,greatly reduce the workload and improve the recognition accuracy.展开更多
The strategy evolution process of game players is highly uncertain due to random emergent situations and other external disturbances.This paper investigates the issue of strategy interaction and behavioral decision-ma...The strategy evolution process of game players is highly uncertain due to random emergent situations and other external disturbances.This paper investigates the issue of strategy interaction and behavioral decision-making among game players in simulated confrontation scenarios within a random interference environment.It considers the possible risks that random disturbances may pose to the autonomous decision-making of game players,as well as the impact of participants’manipulative behaviors on the state changes of the players.A nonlinear mathematical model is established to describe the strategy decision-making process of the participants in this scenario.Subsequently,the strategy selection interaction relationship,strategy evolution stability,and dynamic decision-making process of the game players are investigated and verified by simulation experiments.The results show that maneuver-related parameters and random environmental interference factors have different effects on the selection and evolutionary speed of the agent’s strategies.Especially in a highly uncertain environment,even small information asymmetry or miscalculation may have a significant impact on decision-making.This also confirms the feasibility and effectiveness of the method proposed in the paper,which can better explain the behavioral decision-making process of the agent in the interaction process.This study provides feasibility analysis ideas and theoretical references for improving multi-agent interactive decision-making and the interpretability of the game system model.展开更多
To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,th...To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.展开更多
With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even elimina...With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.展开更多
Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devo...Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devoted to improving the autonomous decision-making ability of UAV in an interactive environment, where finding the optimal maneuvering decisionmaking policy became one of the key issues for enabling the intelligence of UAV. In this paper, we propose a maneuvering decision-making algorithm for autonomous air-delivery based on deep reinforcement learning under the guidance of expert experience. Specifically, we refine the guidance towards area and guidance towards specific point tasks for the air-delivery process based on the traditional air-to-surface fire control methods.Moreover, we construct the UAV maneuvering decision-making model based on Markov decision processes(MDPs). Specifically, we present a reward shaping method for the guidance towards area and guidance towards specific point tasks using potential-based function and expert-guided advice. The proposed algorithm could accelerate the convergence of the maneuvering decision-making policy and increase the stability of the policy in terms of the output during the later stage of training process. The effectiveness of the proposed maneuvering decision-making policy is illustrated by the curves of training parameters and extensive experimental results for testing the trained policy.展开更多
An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as dron...An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as drones and agile missiles.The probability hypothesis density (PHD) filter, which propagates only the first-order statistical moment of the full target posterior, has been shown to be a computationally efficient solution to multitarget tracking problems. However, the standard PHD filter operates on the single dynamic model and requires prior information about target birth distribution, which leads to many limitations in terms of practical applications. In this paper,we introduce a nonzero mean, white noise turn rate dynamic model and generalize jump Markov systems to multitarget case to accommodate sharply maneuvering dynamics. Moreover, to adaptively estimate newborn targets’information, a measurement-driven method based on the recursive random sampling consensus (RANSAC) algorithm is proposed. Simulation results demonstrate that the proposed method achieves significant improvement in tracking multiple sharply maneuvering targets with adaptive birth estimation.展开更多
This paper explores the application of Model Predictive Control(MPC)to enhance safety and efficiency in autonomous vehicle(AV)navigation through optimized path planning.The evolution of AV technology has progressed ra...This paper explores the application of Model Predictive Control(MPC)to enhance safety and efficiency in autonomous vehicle(AV)navigation through optimized path planning.The evolution of AV technology has progressed rapidly,moving from basic driver-assistance systems(Level 1)to fully autonomous capabilities(Level 5).Central to this advancement are two key functionalities:Lane-Change Maneuvers(LCM)and Adaptive Cruise Control(ACC).In this study,a detailed simulation environment is created to replicate the road network between Nantun andWuri on National Freeway No.1 in Taiwan.The MPC controller is deployed to optimize vehicle trajectories,ensuring safe and efficient navigation.Simulated onboard sensors,including vehicle cameras and millimeterwave radar,are used to detect and respond to dynamic changes in the surrounding environment,enabling real-time decision-making for LCM and ACC.The simulation resultshighlight the superiority of the MPC-based approach in maintaining safe distances,executing controlled lane changes,and optimizing fuel efficiency.Specifically,the MPC controller effectively manages collision avoidance,reduces travel time,and contributes to smoother traffic flow compared to traditional path planning methods.These findings underscore the potential of MPC to enhance the reliability and safety of autonomous driving in complex traffic scenarios.Future research will focus on validating these results through real-world testing,addressing computational challenges for real-time implementation,and exploring the adaptability of MPC under various environmental conditions.This study provides a significant step towards achieving safer and more efficient autonomous vehicle navigation,paving the way for broader adoption of MPC in AV systems.展开更多
A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filte...A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filtering to solve the state of nonlinear mobile target tracking.First,the steps of extended Kalman filtering(EKF)are introduced.Second,the ISO is used to adjust the parameters of the EKF in real time to adapt to the current motion state of the mobile target.Finally,the effectiveness of the algorithm is demonstrated through filtering and tracking using the constant velocity circular motion model(CM).Under the specified conditions,the position and velocity mean square error curves are compared among the snake optimizer(SO)-EKF algorithm,EKF algorithm,and the proposed algorithm.The comparison shows that the proposed algorithm reduces the root mean square error of position by 52%and 41%compared to the SOEKF algorithm and EKF algorithm,respectively.展开更多
基金This research was funded by the Shandong Provincial Natural Science Foundation(ZR2022QD100,ZR2022QE221)the Weifang University of Science and Technology Doctoral Research Startup Fund(2021KJBS16).
文摘The space constellation of the BeiDou navigation satellite system(BDS) is a hybrid constellation containing medium earth orbit(MEO) satellites, geostationary earth orbit(GEO) satellites, and inclined geosynchronous orbit(IGSO) satellites. Due to the geosynchronous characteristics of GEO and IGSO, GEO satellites and IGSO satellites often need to perform orbital maneuvers, which can affect the signal-inspace(SIS) availability performance of BeiDou satellites. A two-step detection method for BeiDou satellite orbital maneuvers has been proposed in this paper. The first step is to identify orbital maneuvers based on time series analysis of broadcast ephemeris, and the second step is to verify orbital maneuvers based on bidirectional orbit prediction. The two-step detection method was used to detect the orbital maneuvers of BeiDou satellites in 2019. Through the double guarantees of identification and verification,the detection accuracy of BeiDou satellite orbital maneuvers has been effectively improved. And the orbital maneuver detection results are continued to be used to assess the SIS availability of BeiDou satellites. The results show that the availability loss of GEO satellite orbital maneuvers is about 0.45%-1.07%, and the availability loss of IGSO satellite orbital maneuvers is about 0.12%-0.19%.
基金Supported by Brazilian Council for Scientific and Technological Development(CNPq),Carlos Chagas Filho Rio de Janeiro State Research Foundation(FAPERJ),Department of Science and Technology(DECIT)/Brazilian Ministry of HealthCoordination for the Improvement of Higher Level Personnel(CAPES)
文摘Acute respiratory distress syndrome(ARDS) represents a serious problem in critically ill patients and is associated with in-hospital mortality rates of 33%-52%. Recruitment maneuvers(RMs) are a simple, low-cost, feasible intervention that can be performed at the bedside in patients with ARDS. RMs are characterized by the application of airway pressure to increase transpulmonary pressure transiently. Once non-aerated lung units are reopened, improvements are observed in respiratory system mechanics, alveolar reaeration on computed tomography, and improvements in gas exchange(functional recruitment). However, the reopening process could lead to vascular compression, which can be associated with overinflation, and gas exchange may not improve as expected(anatomical recruitment). The purpose of this review was to discuss the effects of different RM strategies- sustained inflation, intermittent sighs, and stepwise increases of positive end-expiratory pressure(PEEP) and/or airway inspiratory pressure- on the following parameters: hemodynamics, oxygenation, barotrauma episodes, and lung recruitability through physiological variables and imaging techniques. RMs and PEEP titration are interdependent events for the success of ventilatory management. PEEP should be adjusted on the basis of respiratory system mechanics and oxygenation. Recent systematic reviews and meta-analyses suggest that RMs are associated with lower mortality in patients with ARDS. However, the optimal RM method(i.e., that providing the best balance of benefit and harm) and the effects of RMs on clinical outcome are still under discussion, and further evidence is needed.
文摘Introduction: Propofol use during endoscopic procedures has become increasingly popular and assessing and maintaining airway patency is a significant challenge. Anesthesiologists often use airway maneuvers to maintain airway patency and ventilation during procedural sedation. A novel, non-invasive, Respiratory Volume Monitor (RVM) that provided continuous, real-time measurements of minute ventilation (MV), tidal volume (TV) and respiratory rate (RR) was used to monitor respiratory performance before, during, and after endoscopic procedures, quantify MV changes before and after airway maneuvers, and to quantify propofol-induced respiratory depression. Methods: RVM traces were obtained from 25 patients undergoing sedation for endoscopic procedures. Airway maneuvers were performed in 19/25 patients. All 25 patients received propofol as the primary sedative. Results: Forty-five airway maneuvers were performed. During these maneuvers, all respiratory parameters increased relative to pre-maneuver levels. On average, MV increased by 24% ± 5% (mean ± SEM), TV 14% ± 5% and RR: 17% ± 6%. The cohort average MVBASELINE was 9.5 ± 0.7 L/min (TV = 670 ± 60 ml, RR = 15 ± 0.7). Following propofol MV decreased transiently, reaching nadir five minutes after the last dose of propofol at 82% ± 10% of baseline (MV = 7.5 ± 1.0 L/min). The reduction in MV was driven by reduction in TV, not RR. Conclusions: Data demonstrated that RVM was able to track changes in ventilation and was able to quantify respiratory changes following airway maneuvers. All patients had a significant reduction in ventilatory volumes after propofol. Five minutes after the last dose of propofol, MV and TV were significantly reduced while RR was not, suggesting that monitoring respiratory rate alone was not a sufficient indicator of respiratory status.
文摘In the near future, active safety systems will take more control over the vehicle driving, even up to introducing fully autonomous vehicles. Nowadays, it is expected that the active safety systems will aid avoiding collisions much more efficiently than human drivers. These systems can protect not only the passengers, but also other road users. To mitigate collision, certain maneuvers （e.g., sudden braking, lane change, etc.） need to be done in a reasonably quick time. However, this may lead to low-g energy pulses. The latter fact, may cause unexpected and, in some cases, unwanted occupant body motion resulting even in OOP （out of position） postures. New patterns of occupant reactions in such cases are, to some extent, confirmed experimentally [1-3]. This paper evaluates the limits of standard ATDs （anthropometric test devices） and chosen human models in well established maneuver scenarios. Obtained results are compared with experimental data available in the literature. Drawbacks identify new challenges for the near future simulation based safety engineering. One scenario with combined conditions of emergency braking during lane change has been used as an example of OOP posture after maneuver.
基金Partial support by the EU-Project-“eTime”-ID:“FP7-PEOPLE-2012-IRSES”is gratefully acknowledged.
文摘Patients with acute respiratory distress syndrome (ARDS) are currently treated with a lung protective ventilation strategy and the application of positive end-expiratory pressure (PEEP), sometimes in combination with recruitment maneuvers. In this study, the respiratory system elastance and airway resistance of each breath before, during and after a specific recruitment maneuver (PEEP wave maneuver) were analyzed in two patient groups, ARDS and control group. A reduction of elastance after the maneuver was observed in ARDS patients. In addition, only healthy lungs exhibited a reduction of the elastance during the course of the maneuver, while the lungs of ARDS patients didn’t show that reduction of elastance. The capability of PEEP wave maneuvers to improve lung ventilation was shown and the dynamic behavior of the elastance after the maneuver was illustrated. Healthy lungs adapt faster to changes in mechanical ventilation than the lungs of ARDS patients.
基金supported by the National Natural Science Foundation of China(10732030)the 111 Project(B07009)
文摘The time courses of wing and body kinematics of two free-flying drone-flies, as they performed saccades, were measured using 3D high-speed video, and the morpho- logical parameters of the wings and body of the insects were also measured. The measured wing kinematics was used in a Navier-Stokes solver to compute the aerodynamic forces and moments acting on the insects. The main results are as following. （1） The turn is mainly a 90° change of heading. It is made in about 10 wingbeats （about 55 ms）. It is of interest to note that the number of wingbeats taken to make the turn is approximately the same as and the turning time is only a little different from that of fruitflies measured recently by the same approach, even if the weight of the droneflies is more than 100 times larger than that of the fruitflies. The long axis of body is about 40° from the horizontal during the maneuver. （2） Although the body rotation is mainly about a vertical axis, a relatively large moment around the yaw axis （axis perpendicular to the long axis of body）, called as yaw moment, is mainly needed for the turn, because moment of inertial of the body about the yaw axis is much larger than that about the long axis. （3） The yaw moment is mainly pro- duced by changes in wing angles of attack： in a right turn, for example, the dronefly lets its right wing to have a rather large angle of attack in the downstroke （generally larger than 50°） and a small one in the upstroke to start the turn, and lets its left wing to do so to stop the turn, unlike the fruitflies who generate the yaw moment mainly by changes in the stroke plane and stroke amplitude.
基金The National Natural Science Foundation of China(No.51278220)
文摘In order to restrict non-yielding maneuvers of left-turning vehicles,an optimal design of left-lane line extensions is proposed to solve the problem.A field observation was conducted to collect a data set of left-turning vehicles at the beginning of a green phase at two similar intersections(one with a permitted phase and the other with a protected phase).The comparative analysis shows no significant difference in the speed distribution using either a permitted phase or a protected phase,but it reveals that a permitted phase can lead to a larger acceleration when the left-turn vehicles pass through the conflict points.Those indicate the existence of non-yielding maneuvers of left-turn vehicles at signalized intersections with a permitted phase.Optimal designed left-lane line extensions contain two types of segments,circular curves and transition curves,and they are only related to four geometry parameters of an intersection.The proposed method is easy to use and it can offer reference for intersection channelization and traffic organization.
文摘A set of generallied equations which govern the klnematic parameters of helicopters in maneuvering flight is given. Loop and roll maneuvers are specially analysed in detail and the sample calculations are presented. The method established in this paper is of practical significance for aerobatic employment and design of armed helicopters.
基金High-Speed Compound Unmanned Rotorcraft(HCUR)research laboratory with the support of Agency for Defense Development(ADD).
文摘This study creates and combines the general maneuver libraries for fixed-wing aircraft to implement tactical maneuvers.First,the generalized maneuver libraries are established by analyzing the characteristics of tactical maneuvers required in battlefields.The 7th order polynomial is applied to both the creation of the maneuver libraries and the generation of the trajectories or flight paths for modal inputs.To track the desired trajectory,we design the Attitude Command Attitude Hold(ACAH)system and the Rate Command Rate Hold(RCRH)system using Model Following Controller(MFC).Moreover,the Line-of-Sight(LOS)guidance law is designed.In particular,the CONDUIT~?is employed to optimize the gains so that the control systems meet the aircraft Handling Qualities(HQ)criteria.Finally,flight simulations are performed for the longitudinal loop,immelmann-turn,and climb-slalom-descent maneuvers to verify that tactical aggressive maneuvers are realizable via the combination of maneuver libraries.This study can contribute to the development of flight techniques for aircraft tactical maneuvers and to the revision of air force operational manuals.
基金the program of National Natural Science Foundation of China(Grant Nos:41674034,41974032,11903040)Chinese Academy of Sciences(CAS)programs of“The Frontier Science Research Project”(Grant No:QYZDB-SSW-DQC028)K.C.Wong Education Foundation.Rui Tu is also supported by the“High Level Talents”of CAS(Grant No:Y923YC1701).
文摘The BeiDou Navigation Satellite System(BDS)provides global Positioning,Velocity,And Timing(PVT)services that are widely used in various areas.The BDS satellites frequently need the orbit maneuvers due to various perturbations to keep satellites in their designed positions.During these maneuvers,PVT services may be abnormal if the data from a maneuvering satellite is used.In this paper we developed an approach to recover the abnormal PVT services.By using BDS observations from multiple tracking stations,the orbital errors of a maneuvering satellite can be in real time obtained and corrected,thereby avoiding any influence on the performance of PVT services.The tests show that the average precision of position,velocity and timing services are improved by 0.8 m,0.1 mm/s and 0.16 ns,respectively,using the developed orbital maneuver recovery approach.In addition,the approach can also be used for the orbital maneuver detection and monitoring.
基金supported in part by the National Key Laboratory of Air-based Information Perception and Fusion and the Aeronautical Science Foundation of China (Grant No. 20220001068001)National Natural Science Foundation of China (Grant No.61673327)+1 种基金Natural Science Basic Research Plan in Shaanxi Province,China (Grant No. 2023-JC-QN-0733)China IndustryUniversity-Research Innovation Foundation (Grant No. 2022IT188)。
文摘Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net network based on a communication mechanism is introduced into a deep reinforcement learning algorithm to solve the multi-agent problem. A layer of gated recurrent unit(GRU) is added to the actor-network structure to remember historical environmental states. Subsequently,another GRU is designed as a communication channel in the Comm Net core network layer to refine communication information between UAVs. Finally, the simulation results of the algorithm in two sets of scenarios are given, and the results show that the method has good effectiveness and applicability.
基金supported by the National Natural Science Foundation of China (Project No.72301293)。
文摘Target maneuver recognition is a prerequisite for air combat situation awareness,trajectory prediction,threat assessment and maneuver decision.To get rid of the dependence of the current target maneuver recognition method on empirical criteria and sample data,and automatically and adaptively complete the task of extracting the target maneuver pattern,in this paper,an air combat maneuver pattern extraction based on time series segmentation and clustering analysis is proposed by combining autoencoder,G-G clustering algorithm and the selective ensemble clustering analysis algorithm.Firstly,the autoencoder is used to extract key features of maneuvering trajectory to remove the impacts of redundant variables and reduce the data dimension;Then,taking the time information into account,the segmentation of Maneuver characteristic time series is realized with the improved FSTS-AEGG algorithm,and a large number of maneuver primitives are extracted;Finally,the maneuver primitives are grouped into some categories by using the selective ensemble multiple time series clustering algorithm,which can prove that each class represents a maneuver action.The maneuver pattern extraction method is applied to small scale air combat trajectory and can recognize and correctly partition at least 71.3%of maneuver actions,indicating that the method is effective and satisfies the requirements for engineering accuracy.In addition,this method can provide data support for various target maneuvering recognition methods proposed in the literature,greatly reduce the workload and improve the recognition accuracy.
文摘The strategy evolution process of game players is highly uncertain due to random emergent situations and other external disturbances.This paper investigates the issue of strategy interaction and behavioral decision-making among game players in simulated confrontation scenarios within a random interference environment.It considers the possible risks that random disturbances may pose to the autonomous decision-making of game players,as well as the impact of participants’manipulative behaviors on the state changes of the players.A nonlinear mathematical model is established to describe the strategy decision-making process of the participants in this scenario.Subsequently,the strategy selection interaction relationship,strategy evolution stability,and dynamic decision-making process of the game players are investigated and verified by simulation experiments.The results show that maneuver-related parameters and random environmental interference factors have different effects on the selection and evolutionary speed of the agent’s strategies.Especially in a highly uncertain environment,even small information asymmetry or miscalculation may have a significant impact on decision-making.This also confirms the feasibility and effectiveness of the method proposed in the paper,which can better explain the behavioral decision-making process of the agent in the interaction process.This study provides feasibility analysis ideas and theoretical references for improving multi-agent interactive decision-making and the interpretability of the game system model.
基金supported by the Funds for the Central Universities。
文摘To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.
文摘With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.
基金supported by the Key Research and Development Program of Shaanxi (2022GXLH-02-09)the Aeronautical Science Foundation of China (20200051053001)the Natural Science Basic Research Program of Shaanxi (2020JM-147)。
文摘Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devoted to improving the autonomous decision-making ability of UAV in an interactive environment, where finding the optimal maneuvering decisionmaking policy became one of the key issues for enabling the intelligence of UAV. In this paper, we propose a maneuvering decision-making algorithm for autonomous air-delivery based on deep reinforcement learning under the guidance of expert experience. Specifically, we refine the guidance towards area and guidance towards specific point tasks for the air-delivery process based on the traditional air-to-surface fire control methods.Moreover, we construct the UAV maneuvering decision-making model based on Markov decision processes(MDPs). Specifically, we present a reward shaping method for the guidance towards area and guidance towards specific point tasks using potential-based function and expert-guided advice. The proposed algorithm could accelerate the convergence of the maneuvering decision-making policy and increase the stability of the policy in terms of the output during the later stage of training process. The effectiveness of the proposed maneuvering decision-making policy is illustrated by the curves of training parameters and extensive experimental results for testing the trained policy.
基金supported by the National Natural Science Foundation of China (61773142)。
文摘An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as drones and agile missiles.The probability hypothesis density (PHD) filter, which propagates only the first-order statistical moment of the full target posterior, has been shown to be a computationally efficient solution to multitarget tracking problems. However, the standard PHD filter operates on the single dynamic model and requires prior information about target birth distribution, which leads to many limitations in terms of practical applications. In this paper,we introduce a nonzero mean, white noise turn rate dynamic model and generalize jump Markov systems to multitarget case to accommodate sharply maneuvering dynamics. Moreover, to adaptively estimate newborn targets’information, a measurement-driven method based on the recursive random sampling consensus (RANSAC) algorithm is proposed. Simulation results demonstrate that the proposed method achieves significant improvement in tracking multiple sharply maneuvering targets with adaptive birth estimation.
基金National Science and Technology Council,Taiwan,for financially supporting this research(Grant No.NSTC 113-2221-E-018-011)Ministry of Education’s Teaching Practice Research Program,Taiwan(PSK1120797 and PSK1134099).
文摘This paper explores the application of Model Predictive Control(MPC)to enhance safety and efficiency in autonomous vehicle(AV)navigation through optimized path planning.The evolution of AV technology has progressed rapidly,moving from basic driver-assistance systems(Level 1)to fully autonomous capabilities(Level 5).Central to this advancement are two key functionalities:Lane-Change Maneuvers(LCM)and Adaptive Cruise Control(ACC).In this study,a detailed simulation environment is created to replicate the road network between Nantun andWuri on National Freeway No.1 in Taiwan.The MPC controller is deployed to optimize vehicle trajectories,ensuring safe and efficient navigation.Simulated onboard sensors,including vehicle cameras and millimeterwave radar,are used to detect and respond to dynamic changes in the surrounding environment,enabling real-time decision-making for LCM and ACC.The simulation resultshighlight the superiority of the MPC-based approach in maintaining safe distances,executing controlled lane changes,and optimizing fuel efficiency.Specifically,the MPC controller effectively manages collision avoidance,reduces travel time,and contributes to smoother traffic flow compared to traditional path planning methods.These findings underscore the potential of MPC to enhance the reliability and safety of autonomous driving in complex traffic scenarios.Future research will focus on validating these results through real-world testing,addressing computational challenges for real-time implementation,and exploring the adaptability of MPC under various environmental conditions.This study provides a significant step towards achieving safer and more efficient autonomous vehicle navigation,paving the way for broader adoption of MPC in AV systems.
基金supported by National Natural Science Foundation of China (Nos.62265010,62061024)Gansu Province Science and Technology Plan (No.23YFGA0062)Gansu Province Innovation Fund (No.2022A-215)。
文摘A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filtering to solve the state of nonlinear mobile target tracking.First,the steps of extended Kalman filtering(EKF)are introduced.Second,the ISO is used to adjust the parameters of the EKF in real time to adapt to the current motion state of the mobile target.Finally,the effectiveness of the algorithm is demonstrated through filtering and tracking using the constant velocity circular motion model(CM).Under the specified conditions,the position and velocity mean square error curves are compared among the snake optimizer(SO)-EKF algorithm,EKF algorithm,and the proposed algorithm.The comparison shows that the proposed algorithm reduces the root mean square error of position by 52%and 41%compared to the SOEKF algorithm and EKF algorithm,respectively.
