This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a...This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.展开更多
This paper reports the development of an optical power regulator based on surface-micromachined variable optical attenuators (VOAs). By use of closed-loop control circuits, each VOA module implements the functions of ...This paper reports the development of an optical power regulator based on surface-micromachined variable optical attenuators (VOAs). By use of closed-loop control circuits, each VOA module implements the functions of power setpoint tracking, disturbance rejection and ripple suppression.展开更多
In the fifth generation(5G)wireless system,a closed-loop power control(CLPC)scheme based on deep Q learning network(DQN)is introduced to intelligently adjust the transmit power of the base station(BS),which can improv...In the fifth generation(5G)wireless system,a closed-loop power control(CLPC)scheme based on deep Q learning network(DQN)is introduced to intelligently adjust the transmit power of the base station(BS),which can improve the user equipment(UE)received signal to interference plus noise ratio(SINR)to a target threshold range.However,the selected power control(PC)action in DQN is not accurately matched the fluctuations of the wireless environment.Since the experience replay characteristic of the conventional DQN scheme leads to a possibility of insufficient training in the target deep neural network(DNN).As a result,the Q-value of the sub-optimal PC action exceed the optimal one.To solve this problem,we propose the improved DQN scheme.In the proposed scheme,we add an additional DNN to the conventional DQN,and set a shorter training interval to speed up the training of the DNN in order to fully train it.Finally,the proposed scheme can ensure that the Q value of the optimal action remains maximum.After multiple episodes of training,the proposed scheme can generate more accurate PC actions to match the fluctuations of the wireless environment.As a result,the UE received SINR can achieve the target threshold range faster and keep more stable.The simulation results prove that the proposed scheme outperforms the conventional schemes.展开更多
Fish in nature exhibit a variety of swimming modes such as forward swimming,backward swimming,turning,pitching,etc.,enabling them to swim in complex scenes such as coral reefs.It is still difficult for a robotic fish ...Fish in nature exhibit a variety of swimming modes such as forward swimming,backward swimming,turning,pitching,etc.,enabling them to swim in complex scenes such as coral reefs.It is still difficult for a robotic fish to swim autonomously in a confined area as a real fish.Here,we develop an untethered robotic manta as an experimental platform,which consists of two flexible pectoral fins and a tail fin,with three infrared sensors installed on the front,left,and right sides of the head to sense the surrounding obstacles.To generate multiple swimming modes of the robotic manta and online switching of different modes,we design a closed-loop Central Pattern Generator(CPG)controller based on distance information and use a combination of phase difference and amplitude of the CPG model to achieve stable and rapid adjustment of yaw angle.To verify the autonomous swimming ability of the robotic manta in complex scenes,we design an experimental scenario with a concave obstacle.The experimental results show that the robotic manta can achieve forward swimming,backward swimming,in situ turning within the concave obstacle,and finally exit from the area safely while relying on the perception of external obstacles,which can provide insight into the autonomous exploration of complex scenes by the biomimetic robotic fish.Finally,the swimming ability of the robotic manta is verified by field tests.展开更多
This paper provides an adaptive closed-loop strategy for suppressing the pathological oscillations of the basal ganglia based on a variable universe fuzzy algorithm.The pathological basal ganglia oscillations in the t...This paper provides an adaptive closed-loop strategy for suppressing the pathological oscillations of the basal ganglia based on a variable universe fuzzy algorithm.The pathological basal ganglia oscillations in the theta(4-9 Hz)and beta(12-35 Hz)frequency bands have been demonstrated to be associated with the tremor and rigidity/bradykinesia symptoms in Parkinson’s disease(PD).Although the clinical application of open-loop deep brain stimulation(DBS)is effective,the stimulation waveform with the fixed parameters cannot be self-adjusted as the disease progresses,and thus the stimulation effects go poor.To deal with this difficult problem,a variable universe fuzzy closed-loop strategy is proposed to modulate different PD states.We establish a cortico-basal ganglia-thalamocortical network model to simulate pathological oscillations and test the control effect.The results suggest that the proposed closed-loop control strategy can accommodate the variation of brain states and symptoms,which may become an alternative method to administrate the symptoms in PD.展开更多
The constant winding tension can make the filament arranged in order. The stress distribution between the filament balance fully gives play to the enhancement of filament, and increases the intensive workload of the c...The constant winding tension can make the filament arranged in order. The stress distribution between the filament balance fully gives play to the enhancement of filament, and increases the intensive workload of the composite winding material. This paper conducts the mechanical analysis for the unwinding roller and tension measuring roller of the cylindrical winding machine so that gets the mechanical model, gives error compensation formula caused by the radius change of the yarn group in the unwinding side, designs the closed-loop control system and utilizes the dynamical- integral PID control strategy to achieve the tension control during the process of the cylindrical winding.展开更多
A vector control based on the extended equivalent circuit and virtual circuits is proposed for the single-phase inverter.By the extended circuit,the other two phase voltages can be extended by the output voltage of th...A vector control based on the extended equivalent circuit and virtual circuits is proposed for the single-phase inverter.By the extended circuit,the other two phase voltages can be extended by the output voltage of the single-phase inverter so as to construct the voltage vector.The voltage outer-loop is to control the voltage vector in dq coordinate system,and the output voltage can track the target value without deviation in steady state.By designing the virtual circuit,the voltage inner-loop can achieve approximate decoupling and improve the dynamic response under the changeable load.Compared with the traditional dual closed-loop control,the proposed dual closed-loop control scheme only needs to detect and control the voltage without the current.It not only can achieve good control effect,but also reduce the complexity of the hardware.Finally,the simulation and experimental results show that the single-phase inverter has good static and dynamic characteristics regardless of stable load or changeable load.展开更多
Traffic signal control is essential to the efficiency of the road network’s operation.In recent years,more and more detailed detection data provide potential data support for traffic signal control,such as license pl...Traffic signal control is essential to the efficiency of the road network’s operation.In recent years,more and more detailed detection data provide potential data support for traffic signal control,such as license plate recognition(LPR)data.This study aims to develop a traffic signal control optimization method based on model predictive control(MPC)and LPR data.The proposed framework of a closed-loop control system is described in detail.First,the control objectives and queue prediction model for signalized intersection are determined.Then,online optimization and feedback compensation are discussed and implemented.Calculations of the arrival rate at the downstream are based on the LPR data detected at the upstream intersection,and dynamic optimization method of the offset is proposed for a coordinated control.The model is validated using the LPR data of two consecutive intersections with a traffic simulation platform.Results demonstrate that the model can restrain extreme long queuing,improve intersection capacity,and reduce intersection average delay.The developed model promotes the system operating efficiency and shows the general advantage of real-time optimization,feedback,and control.The proposed framework can be potentially applied by local traffic management centers to improve the quality of traffic signal control.展开更多
Ultra-compact serpentine inlet faces serve inlet-engine compatibility issues due to flow distortion.To ensure inlet-engine compatibility over a wide range of Mach number,novel active flow control techniques with the a...Ultra-compact serpentine inlet faces serve inlet-engine compatibility issues due to flow distortion.To ensure inlet-engine compatibility over a wide range of Mach number,novel active flow control techniques with the ability of being opened or adjusted as needed draw many attentions in recent years.In this paper,a feedback control system was developed based on the method of microjet blowing.The proposed system includes a pressure adjusting valve to adjust the control effort,a dynamic pressure sensor to sense the inlet distortion intensity,a signal processing instrument to calculate the Root-Mean-Squared(RMS)pressure,and a controller to implement feedback control.To achieve high quality closed-loop controls at dynamic conditions,a novel nondimensional feedback method was developed.The advantage of this nondimensional method was validated at both off-design and arbitrarily changing Mach number conditions.With a sectional PI control law,the RMS control error reduced more than 56%at arbitrary changing conditions.Works in this paper also showed that the dynamics of this nondimensional system can be simplified as a stable second-order overdamped system.展开更多
Variable-rate technology(VRT)has been paid more attentions by farmers in an attempt to match inputs to local growing conditions efficiently.Farmers in every country are highly encouraged to adopt this practice rather ...Variable-rate technology(VRT)has been paid more attentions by farmers in an attempt to match inputs to local growing conditions efficiently.Farmers in every country are highly encouraged to adopt this practice rather than uniform-rate application(URA).However,the standard methods and design used to quantify application accuracy for VRT remain lacking.Therefore,a variable-rate liquid fertilization control system was designed to meet accurate fertilization demand.The designed control system could enable the real-time proportion and mixture of three kinds of liquid fertilizers,namely,N,P and K,in accordance with decision support subsystem.The task controller reads related information and sends such data to the control system,which is responsible for fertilization operation.The controller could realize liquid fertilizer adjusting through the electromagnetic flow control valves.A high-precision flow meter could measure the fertilization amount,which is sent as feedback to the controller to form a closed-loop control system based on the improved proportional-integral-derivative(PID)control algorithm that could enhance the stability and accuracy of precision variable-rate liquid fertilization control systems.Comparisons between the actual and planned application rates indicated good performance for both static and field experimental trials.Mathematical models and transfer functions for some functional modules were then constructed by classical theories to derive a system characteristic equation.To verify the static and dynamic performances,the control system was simulated using the Simulink module on Matlab.Results showed that the variable-rate fertilization was in accordance with the planned data and that the signal trace effect was good.The error was less than 5%for fertilization amount and fertilizer proportion,respectively,and the control response time was 6 s.展开更多
The combination of single particle detection and ultrafast laser pulses is an instrumental method to track dynamics at the femtosecond time scale in single molecules,quantum dots and plasmonic nanoparticles.Optimal co...The combination of single particle detection and ultrafast laser pulses is an instrumental method to track dynamics at the femtosecond time scale in single molecules,quantum dots and plasmonic nanoparticles.Optimal control of the extremely short-lived coherences of these individual systems has so far remained elusive,yet its successful implementation would enable arbitrary external manipulation of otherwise inaccessible nanoscale dynamics.In ensemble measurements,such control is often achieved by resorting to a closed-loop optimization strategy,where the spectral phase of a broadband laser field is iteratively optimized.This scheme needs long measurement times and strong signals to converge to the optimal solution.This requirement is in conflict with the nature of single emitters whose signals are weak and unstable.Here we demonstrate an effective closed-loop optimization strategy capable of addressing single quantum dots at room temperature,using as feedback observable the two-photon photoluminescence induced by a phase-controlled broadband femtosecond laser.Crucial to the optimization loop is the use of a deterministic and robust-against-noise search algorithm converging to the theoretically predicted solution in a reduced amount of steps,even when operating at the few-photon level.Full optimization of the single dot luminescence is obtained within~100 trials,with a typical integration time of 100 ms per trial.These times are faster than the typical photobleaching times in single molecules at room temperature.Our results show the suitability of the novel approach to perform closed-loop optimizations on single molecules,thus extending the available experimental toolbox to the active control of nanoscale coherences.展开更多
In laser powder bed fusion(LPBF),it is common practice to select process parameters to achieve high density parts starting from simple geometries such as cubes or cylinders.However,additive manufacturing is usually ad...In laser powder bed fusion(LPBF),it is common practice to select process parameters to achieve high density parts starting from simple geometries such as cubes or cylinders.However,additive manufacturing is usually adopted to producevery complex geometries,where parameters should be tuned locally,depending on the local features to be processed.In fact,geometrical features,such as overhangs,acute corners,and thin walls may lead to over-or under-heating conditions,which may result in geometrical inaccuracy,high roughness,volumetric errors(i.e.,porosity)oreven job failure due to surfacecollapse.This work proposes a layer-wise control strategy to improve the geometrical precision of overhanging regions using a coaxial melt pool monitoring system.The meltpool images acquired at each layer are used in a controlloop toadapt theprocess parameters locally at the next layer in order to minimize surface defects.In particular,the laser duty cycle is used as a controllable parameterto correct the energy density.This work presents the main architecture of the proposed approach,the control strategy and the experimental procedure that need to be applied to design the control parameters.The layer-wise control strategy was tested on AISI 316L stainless steel using an open LPFB platform.The results showed that the proposed layer-wise control solution results in a constant melt pool observed via the laser heated area size starting from the second layer onward,leading to a significant improvement in the geometrical accuracy of 5 mm-long bridge geometries.展开更多
Objective High Energy Photon Source-Test Facility(HEPS-TF)is a pre-research project for the construction of high energy synchrotron radiation source in the 12th five-year plan period.The purpose is to research the key...Objective High Energy Photon Source-Test Facility(HEPS-TF)is a pre-research project for the construction of high energy synchrotron radiation source in the 12th five-year plan period.The purpose is to research the key technology and develop the key equipment of high energy synchrotron radiation source.Superconducting 3W1 magnet is the first self-developed superconducting wiggler magnet in China,and it is also one of the key research topics of HEPS.The author has completed a new digital closed-loop control algorithm for the superconducting 3W1 magnet with large load time constant and the nonlinear characteristics of inductance increasing with current,namely three-branch structure algorithm.In the face of the rapid development of high energy accelerator technology,the application of intelligent technology has become an inevitable development trend in the field of accelerator magnet power supply technology.Although the digital control of accelerator magnet power supply has been widely used,it is the first time to apply the new closed-loop control algorithm to realize fast adjustment and precision tracking in accelerator superconducting magnet power supply in China.Method According to the nonlinear characteristics of inductance and output current of superconducting magnet,a new digital closed-loop control algorithm for the load of superconducting magnet power supply with large time constant is proposed.Conclusion This algorithm is quite different from the traditional algorithm and can attain the independent tracking and adjust-ment of the control target.Finally,by testing the ripple,error and stability of superconducting 3W1 magnet power supply,the correctness,practicability and reliability of power supply system as well as the digital control algorithm are verified.The results provide a new idea for the control of accelerator magnet power supply.展开更多
The bionic joints composed of pneumatic muscles(PMs)can simulate the motion of biological joints.However,the PMs themselves have non-linear characteristics such as hysteresis and creep,which make it difficult to achie...The bionic joints composed of pneumatic muscles(PMs)can simulate the motion of biological joints.However,the PMs themselves have non-linear characteristics such as hysteresis and creep,which make it difficult to achieve high-precision trajectory tracking control of PM-driven robots.In order to effectively suppress the adverse effects of non-linearity on control performance and improve the dynamic performance of PM-driven legged robot,this study designs a double closed-loop control structure based on neural network.First,according to the motion model of the bionic joint,a mapping model between PM contraction force and joint torque is proposed.Second,a control strategy is designed for the inner loop of PM contraction force and the outer loop of bionic joint angle.In the inner control loop,a feedforward neuron Proportional-Integral-Derivative controller is designed based on the PM three-element model.In the control outer loop,a sliding mode robust controller with local model approximation is designed by using the radial basis function neural network approximation capability.Finally,it is verified by simulation and physical experiments that the designed control strategy is suitable for humanoid motion control of antagonistic PM joints,and it can satisfy the requirements of reliability,flexibility,and bionics during human–robot collaboration.展开更多
With the increasing scale of information technology(IT)service system,traditional thresholdbased static service level management(SLM)solution appears to be inadequate to meet current increasingly management requiremen...With the increasing scale of information technology(IT)service system,traditional thresholdbased static service level management(SLM)solution appears to be inadequate to meet current increasingly management requirement of SLM.Due to the stochastic service request rate,the random inherent failure and load surge of IT devices during service operating stage of large scaled IT system,service level objective(SLO)maintenance issue has become a realistic and important issue in dynamic SLM.This paper proposes a closed-loop feedback control mechanism to adaptively maintain SLO that service provider(SP)guaranteed at service operation stage.The mechanism can automatically tune the capacity of IT infrastructure according to service performance dispersion and reduce SLO violations.Considering that the tuning operations also affect service performance,fuzzy control is applied to alleviate the negative effect caused by tuning operations.In the dynamic SLM system that is applied with this mechanism compared with the traditional threshold-based solution,it is proved that the amount of SLO violations obviously decreases,the reliability of the service system increases relatively,and the resource utilization of IT infrastructure is optimized.展开更多
基金supported by the Strategic Priority Research Program of the Chinese Academy of Sciences(class A)(Grant No.XDA22040203)the Fundamental Research Funds for the Central Universities(Grant No.2019XX01)+1 种基金GDNRC[2020]031the Natural Science Foundation of Guangdong Province(Grant No.2020A1515010621).
文摘This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.
文摘This paper reports the development of an optical power regulator based on surface-micromachined variable optical attenuators (VOAs). By use of closed-loop control circuits, each VOA module implements the functions of power setpoint tracking, disturbance rejection and ripple suppression.
文摘In the fifth generation(5G)wireless system,a closed-loop power control(CLPC)scheme based on deep Q learning network(DQN)is introduced to intelligently adjust the transmit power of the base station(BS),which can improve the user equipment(UE)received signal to interference plus noise ratio(SINR)to a target threshold range.However,the selected power control(PC)action in DQN is not accurately matched the fluctuations of the wireless environment.Since the experience replay characteristic of the conventional DQN scheme leads to a possibility of insufficient training in the target deep neural network(DNN).As a result,the Q-value of the sub-optimal PC action exceed the optimal one.To solve this problem,we propose the improved DQN scheme.In the proposed scheme,we add an additional DNN to the conventional DQN,and set a shorter training interval to speed up the training of the DNN in order to fully train it.Finally,the proposed scheme can ensure that the Q value of the optimal action remains maximum.After multiple episodes of training,the proposed scheme can generate more accurate PC actions to match the fluctuations of the wireless environment.As a result,the UE received SINR can achieve the target threshold range faster and keep more stable.The simulation results prove that the proposed scheme outperforms the conventional schemes.
基金supported by the National Key Research and Development Program(Grant No.2020YFB1313200,2022YFC2805200)the National Natural Science Foundation of China(Grant No.52001260,52201381)Ningbo Natural Science Foundation(Grant No.2022J062).
文摘Fish in nature exhibit a variety of swimming modes such as forward swimming,backward swimming,turning,pitching,etc.,enabling them to swim in complex scenes such as coral reefs.It is still difficult for a robotic fish to swim autonomously in a confined area as a real fish.Here,we develop an untethered robotic manta as an experimental platform,which consists of two flexible pectoral fins and a tail fin,with three infrared sensors installed on the front,left,and right sides of the head to sense the surrounding obstacles.To generate multiple swimming modes of the robotic manta and online switching of different modes,we design a closed-loop Central Pattern Generator(CPG)controller based on distance information and use a combination of phase difference and amplitude of the CPG model to achieve stable and rapid adjustment of yaw angle.To verify the autonomous swimming ability of the robotic manta in complex scenes,we design an experimental scenario with a concave obstacle.The experimental results show that the robotic manta can achieve forward swimming,backward swimming,in situ turning within the concave obstacle,and finally exit from the area safely while relying on the perception of external obstacles,which can provide insight into the autonomous exploration of complex scenes by the biomimetic robotic fish.Finally,the swimming ability of the robotic manta is verified by field tests.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.62173241 and 62171312)the Natural Science Foundation of Tianjin,China(Grant Nos.20JCQNJC01160 and 19JCZDJC36500)the financial support provided by Opening Foundation of Key Laboratory of Opto-technology and Intelligent Control(Lanzhou Jiaotong University),Ministry of Education,China(Grant No.KFKT2020-01)
文摘This paper provides an adaptive closed-loop strategy for suppressing the pathological oscillations of the basal ganglia based on a variable universe fuzzy algorithm.The pathological basal ganglia oscillations in the theta(4-9 Hz)and beta(12-35 Hz)frequency bands have been demonstrated to be associated with the tremor and rigidity/bradykinesia symptoms in Parkinson’s disease(PD).Although the clinical application of open-loop deep brain stimulation(DBS)is effective,the stimulation waveform with the fixed parameters cannot be self-adjusted as the disease progresses,and thus the stimulation effects go poor.To deal with this difficult problem,a variable universe fuzzy closed-loop strategy is proposed to modulate different PD states.We establish a cortico-basal ganglia-thalamocortical network model to simulate pathological oscillations and test the control effect.The results suggest that the proposed closed-loop control strategy can accommodate the variation of brain states and symptoms,which may become an alternative method to administrate the symptoms in PD.
文摘The constant winding tension can make the filament arranged in order. The stress distribution between the filament balance fully gives play to the enhancement of filament, and increases the intensive workload of the composite winding material. This paper conducts the mechanical analysis for the unwinding roller and tension measuring roller of the cylindrical winding machine so that gets the mechanical model, gives error compensation formula caused by the radius change of the yarn group in the unwinding side, designs the closed-loop control system and utilizes the dynamical- integral PID control strategy to achieve the tension control during the process of the cylindrical winding.
基金This work was supported in part by the National Natural Science Foundation of China under Grant 61773006.
文摘A vector control based on the extended equivalent circuit and virtual circuits is proposed for the single-phase inverter.By the extended circuit,the other two phase voltages can be extended by the output voltage of the single-phase inverter so as to construct the voltage vector.The voltage outer-loop is to control the voltage vector in dq coordinate system,and the output voltage can track the target value without deviation in steady state.By designing the virtual circuit,the voltage inner-loop can achieve approximate decoupling and improve the dynamic response under the changeable load.Compared with the traditional dual closed-loop control,the proposed dual closed-loop control scheme only needs to detect and control the voltage without the current.It not only can achieve good control effect,but also reduce the complexity of the hardware.Finally,the simulation and experimental results show that the single-phase inverter has good static and dynamic characteristics regardless of stable load or changeable load.
基金The National Key Research and Development Program of China(No.2018YFB1601000)Key Program of National Natural Science Foundation of China(Grant No.U21B2089).
文摘Traffic signal control is essential to the efficiency of the road network’s operation.In recent years,more and more detailed detection data provide potential data support for traffic signal control,such as license plate recognition(LPR)data.This study aims to develop a traffic signal control optimization method based on model predictive control(MPC)and LPR data.The proposed framework of a closed-loop control system is described in detail.First,the control objectives and queue prediction model for signalized intersection are determined.Then,online optimization and feedback compensation are discussed and implemented.Calculations of the arrival rate at the downstream are based on the LPR data detected at the upstream intersection,and dynamic optimization method of the offset is proposed for a coordinated control.The model is validated using the LPR data of two consecutive intersections with a traffic simulation platform.Results demonstrate that the model can restrain extreme long queuing,improve intersection capacity,and reduce intersection average delay.The developed model promotes the system operating efficiency and shows the general advantage of real-time optimization,feedback,and control.The proposed framework can be potentially applied by local traffic management centers to improve the quality of traffic signal control.
基金supported by the National Natural Science Foundation of China (No.11602291)。
文摘Ultra-compact serpentine inlet faces serve inlet-engine compatibility issues due to flow distortion.To ensure inlet-engine compatibility over a wide range of Mach number,novel active flow control techniques with the ability of being opened or adjusted as needed draw many attentions in recent years.In this paper,a feedback control system was developed based on the method of microjet blowing.The proposed system includes a pressure adjusting valve to adjust the control effort,a dynamic pressure sensor to sense the inlet distortion intensity,a signal processing instrument to calculate the Root-Mean-Squared(RMS)pressure,and a controller to implement feedback control.To achieve high quality closed-loop controls at dynamic conditions,a novel nondimensional feedback method was developed.The advantage of this nondimensional method was validated at both off-design and arbitrarily changing Mach number conditions.With a sectional PI control law,the RMS control error reduced more than 56%at arbitrary changing conditions.Works in this paper also showed that the dynamics of this nondimensional system can be simplified as a stable second-order overdamped system.
文摘Variable-rate technology(VRT)has been paid more attentions by farmers in an attempt to match inputs to local growing conditions efficiently.Farmers in every country are highly encouraged to adopt this practice rather than uniform-rate application(URA).However,the standard methods and design used to quantify application accuracy for VRT remain lacking.Therefore,a variable-rate liquid fertilization control system was designed to meet accurate fertilization demand.The designed control system could enable the real-time proportion and mixture of three kinds of liquid fertilizers,namely,N,P and K,in accordance with decision support subsystem.The task controller reads related information and sends such data to the control system,which is responsible for fertilization operation.The controller could realize liquid fertilizer adjusting through the electromagnetic flow control valves.A high-precision flow meter could measure the fertilization amount,which is sent as feedback to the controller to form a closed-loop control system based on the improved proportional-integral-derivative(PID)control algorithm that could enhance the stability and accuracy of precision variable-rate liquid fertilization control systems.Comparisons between the actual and planned application rates indicated good performance for both static and field experimental trials.Mathematical models and transfer functions for some functional modules were then constructed by classical theories to derive a system characteristic equation.To verify the static and dynamic performances,the control system was simulated using the Simulink module on Matlab.Results showed that the variable-rate fertilization was in accordance with the planned data and that the signal trace effect was good.The error was less than 5%for fertilization amount and fertilizer proportion,respectively,and the control response time was 6 s.
基金funded by the European Commission(ERC Adv.Grant 247330-NanoAntennas and ERC Adv.Grant 670949-LightNet)Spanish Severo Ochoa Programme for Centres of Excellence in R&D(SEV-2015-0522)+3 种基金Plan Nacional Project FIS2012-35527,co-funded by FEDER,the Catalan AGAUR(2014 SGR01540)Fundació CELLEX(Barcelona)support from Spanish Government MINECO-FPI grant and European Science Foundation under the PLASMON-BIONANOSENSE Exchange Grant programsupport from grants MICINN TEC2011-22422 and MINECO TEC2014-52642-C2-1-R.
文摘The combination of single particle detection and ultrafast laser pulses is an instrumental method to track dynamics at the femtosecond time scale in single molecules,quantum dots and plasmonic nanoparticles.Optimal control of the extremely short-lived coherences of these individual systems has so far remained elusive,yet its successful implementation would enable arbitrary external manipulation of otherwise inaccessible nanoscale dynamics.In ensemble measurements,such control is often achieved by resorting to a closed-loop optimization strategy,where the spectral phase of a broadband laser field is iteratively optimized.This scheme needs long measurement times and strong signals to converge to the optimal solution.This requirement is in conflict with the nature of single emitters whose signals are weak and unstable.Here we demonstrate an effective closed-loop optimization strategy capable of addressing single quantum dots at room temperature,using as feedback observable the two-photon photoluminescence induced by a phase-controlled broadband femtosecond laser.Crucial to the optimization loop is the use of a deterministic and robust-against-noise search algorithm converging to the theoretically predicted solution in a reduced amount of steps,even when operating at the few-photon level.Full optimization of the single dot luminescence is obtained within~100 trials,with a typical integration time of 100 ms per trial.These times are faster than the typical photobleaching times in single molecules at room temperature.Our results show the suitability of the novel approach to perform closed-loop optimizations on single molecules,thus extending the available experimental toolbox to the active control of nanoscale coherences.
文摘In laser powder bed fusion(LPBF),it is common practice to select process parameters to achieve high density parts starting from simple geometries such as cubes or cylinders.However,additive manufacturing is usually adopted to producevery complex geometries,where parameters should be tuned locally,depending on the local features to be processed.In fact,geometrical features,such as overhangs,acute corners,and thin walls may lead to over-or under-heating conditions,which may result in geometrical inaccuracy,high roughness,volumetric errors(i.e.,porosity)oreven job failure due to surfacecollapse.This work proposes a layer-wise control strategy to improve the geometrical precision of overhanging regions using a coaxial melt pool monitoring system.The meltpool images acquired at each layer are used in a controlloop toadapt theprocess parameters locally at the next layer in order to minimize surface defects.In particular,the laser duty cycle is used as a controllable parameterto correct the energy density.This work presents the main architecture of the proposed approach,the control strategy and the experimental procedure that need to be applied to design the control parameters.The layer-wise control strategy was tested on AISI 316L stainless steel using an open LPFB platform.The results showed that the proposed layer-wise control solution results in a constant melt pool observed via the laser heated area size starting from the second layer onward,leading to a significant improvement in the geometrical accuracy of 5 mm-long bridge geometries.
基金the Accelerator Centre of Insti-tute of High Energy Physics for financial support
文摘Objective High Energy Photon Source-Test Facility(HEPS-TF)is a pre-research project for the construction of high energy synchrotron radiation source in the 12th five-year plan period.The purpose is to research the key technology and develop the key equipment of high energy synchrotron radiation source.Superconducting 3W1 magnet is the first self-developed superconducting wiggler magnet in China,and it is also one of the key research topics of HEPS.The author has completed a new digital closed-loop control algorithm for the superconducting 3W1 magnet with large load time constant and the nonlinear characteristics of inductance increasing with current,namely three-branch structure algorithm.In the face of the rapid development of high energy accelerator technology,the application of intelligent technology has become an inevitable development trend in the field of accelerator magnet power supply technology.Although the digital control of accelerator magnet power supply has been widely used,it is the first time to apply the new closed-loop control algorithm to realize fast adjustment and precision tracking in accelerator superconducting magnet power supply in China.Method According to the nonlinear characteristics of inductance and output current of superconducting magnet,a new digital closed-loop control algorithm for the load of superconducting magnet power supply with large time constant is proposed.Conclusion This algorithm is quite different from the traditional algorithm and can attain the independent tracking and adjust-ment of the control target.Finally,by testing the ripple,error and stability of superconducting 3W1 magnet power supply,the correctness,practicability and reliability of power supply system as well as the digital control algorithm are verified.The results provide a new idea for the control of accelerator magnet power supply.
基金Zhejiang Province Key Research and Development Project of China,Grant/Award Number:2021C01069。
文摘The bionic joints composed of pneumatic muscles(PMs)can simulate the motion of biological joints.However,the PMs themselves have non-linear characteristics such as hysteresis and creep,which make it difficult to achieve high-precision trajectory tracking control of PM-driven robots.In order to effectively suppress the adverse effects of non-linearity on control performance and improve the dynamic performance of PM-driven legged robot,this study designs a double closed-loop control structure based on neural network.First,according to the motion model of the bionic joint,a mapping model between PM contraction force and joint torque is proposed.Second,a control strategy is designed for the inner loop of PM contraction force and the outer loop of bionic joint angle.In the inner control loop,a feedforward neuron Proportional-Integral-Derivative controller is designed based on the PM three-element model.In the control outer loop,a sliding mode robust controller with local model approximation is designed by using the radial basis function neural network approximation capability.Finally,it is verified by simulation and physical experiments that the designed control strategy is suitable for humanoid motion control of antagonistic PM joints,and it can satisfy the requirements of reliability,flexibility,and bionics during human–robot collaboration.
基金Acknowledgements This work was partly supported by the State Key Development Program for Basic Research of China(No.2007CB310703)the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.60821001)the National High Technology Research and Development Program of China(No.2008AA01Z201).
文摘With the increasing scale of information technology(IT)service system,traditional thresholdbased static service level management(SLM)solution appears to be inadequate to meet current increasingly management requirement of SLM.Due to the stochastic service request rate,the random inherent failure and load surge of IT devices during service operating stage of large scaled IT system,service level objective(SLO)maintenance issue has become a realistic and important issue in dynamic SLM.This paper proposes a closed-loop feedback control mechanism to adaptively maintain SLO that service provider(SP)guaranteed at service operation stage.The mechanism can automatically tune the capacity of IT infrastructure according to service performance dispersion and reduce SLO violations.Considering that the tuning operations also affect service performance,fuzzy control is applied to alleviate the negative effect caused by tuning operations.In the dynamic SLM system that is applied with this mechanism compared with the traditional threshold-based solution,it is proved that the amount of SLO violations obviously decreases,the reliability of the service system increases relatively,and the resource utilization of IT infrastructure is optimized.
基金supported by Beijing Natural Science Foundation(JQ20038)the Strategic Priority Research Program of the Chinese Academy of Sciences(XDA16021101)the National Natural Science Foundation of China(T2125003,61875015,and 81971770)。
