Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

Dynamical analysis,circuit realization,and application in pseudorandom number generators of a fractional-order laser chaotic system

A new five-dimensional fractional-order laser chaotic system (FOLCS) is constructed by incorporating complex variables and fractional calculus into a Lorentz-Haken-type laser system. Dynamical behavior of the system, circuit realization and application in pseudorandom number generators are studied. Many types of multi-stable states are discovered in the system. Interestingly, there are two types of state transition phenomena in the system, one is the chaotic state degenerates to a periodical state, and the other is the intermittent chaotic oscillation. In addition, the complexity of the system when two parameters change simultaneously is measured by the spectral entropy algorithm. Moreover, a digital circuit is design and the chaotic oscillation behaviors of the system are verified on this circuit. Finally, a pseudo-random sequence generator is designed using the FOLCS, and the statistical characteristics of the generated pseudo-random sequence are tested with the NIST-800-22. This study enriches the research on the dynamics and applications of FOLCS.     

Generalized P(N)-graded Lie superalgebras

We generalize the P(N)-graded Lie superalgebras of Martinez-Zelmanov. This generalization is not so restrictive but suffcient enough so that we are able to have a classification for this generalized P(N)-graded Lie superalgebras. Our result is that the generalized P(N)-graded Lie super-algebra L is centrally isogenous to a matrix Lie superalgebra coordinated by an associative superalgebra with a super-involution. Moreover, L is P(N)-graded if and only if the coordinate algebra R is commutative and the super-involution is trivial. This recovers Martinez-Zelmanov's theorem for type P(N). We also obtain a generalization of Kac's coordinatization via Tits-Kantor-Koecher construction. Actually, the motivation of this generalization comes from the Fermionic-Bosonic module construction.     

基于气体浓度定量的嗅觉刺激器优化设计

现有的基于磁共振测量的嗅觉刺激器，通过调节嗅剂液体浓度的方法可以实现不同浓度的嗅觉刺激，但随着实验进行，受到嗅剂挥发以及实验环境（温度、湿度、气流量）变化的影响，很难确保输送至鼻腔的嗅剂气体浓度的稳定性，进而影响实验结果的准确性．本研究对本实验室前期开发的嗅觉刺激装置进行改进，实现了气体浓度精确定量．改进后的嗅觉刺激器主要分为三个部分：控制系统、反馈系统和气路系统．控制系统主要实现气路系统的送气控制和嗅剂气体浓度调节；反馈系统则负责对气体浓度进行测量；气路系统则在原有基础上添加活性炭装置，降低无关因素干扰．装置改进之后，不同气路切换时间为75.2 ms，比原装置减少了1 s，有效提高刺激精度．实验结果显示，气体浓度调节前，300 s内乙醇、吡啶、乙酸戊酯嗅剂气体浓度分别下降6.7%、71.4%、79.2%，嗅剂气体浓度短时间内发生较大改变．加入气体浓度调节功能后，当气体浓度下降至目标浓度的90%时，可通过调节气泵电压改变嗅剂气流与空气气流比例，从而调节嗅剂气体浓度至目标值，其中吡啶、乙酸戊酯用时13 s．     

Stabilization to a positive equilibrium for some reaction–diffusion systems

The aim of this paper is to study the asymptotic behavior of solutions for some reaction–diffusion systems in biology. First, we establish a Liouville type theorem for entire solutions of these reaction–diffusion systems. Based on this theorem, we derive the stabilization of the solutions of the reaction–diffusion system to the unique positive constant state, under the condition that this positive constant state is globally stable in the corresponding kinetic systems. Two specific examples about spreading phenomena from ecology and epidemiology are given to illustrate the application of this theory.     

Topical application of zein-silk sericin nanoparticles loaded with curcumin for improved therapy of dermatitis

Atopic dermatitis is characterized by leukocyte migration into the skin dermis and typically driven by excessive chemokine production at the site of inflammation. Conventional topical formulations such as gels, creams, and ointments are insufficient for this treatment because of low penetration of drug molecules into the targeted skin tissues. Herein, using a simple, green, sustainable strategy, we have developed novel primary zein nanoparticles embedded in curcumin (Cur) and coated with silk sericin (ZHSCs) for the topical delivery of Cur to penetrate into the dermis and exercise anti-dermatitis effects on the lesion with minimal side-effects. Transdermal delivery experiments and porcine skin fluorescence imaging indicated that ZHSCs facilitate the penetration of Cur across the epidermis layer of skin to reach deep-seated sites. Notably, ZHSCs = 1:0.25 (zein-to-silk sericin mass ratios of 1:0.25) markedly elevated the skin permeability and cumulative turnover of Cur transferred, which were provided a greater than a 3.8-fold increase relative to free Cur. The special nanoparticles of ZHS = 1:0.25 possessed the deepest localization depth and experience a transition of the particle structure and core-shell separation after penetrating into the dermis of skin. In a cell model of dermatitis induced by tumor necrosis factor α/interferon γ co-stimulation, compared with free Cur, Cur-loaded ZHS nanoparticles down-regulated the generation of inflammatory cytokines and chemokines in keratinocytes through suppression of the nuclear translocation of NF-κBp65 and hence exerted an anti-dermatitis effect. This strategy may provide new avenues and direction for the demanding issues of valid topical delivery systems.     

配合参数对单晶炉驱动系统的影响分析

光伏产业的发展使得对硅材料的需求日益增加,同时硅单晶生产行业竞争也日趋激烈。作为生产硅单晶的重要装备,单晶炉的稳定性和可靠性关系到硅单晶生产效率的提升和成本的下降,因此其驱动系统的设计和优化成为装备制造的关键环节。本文以NVT-HG2000-V1型硅单晶生长炉的驱动系统为研究对象,用SolidWorks三维建模实现虚拟装配,采用ADAMS建立其动力学仿真模型,并对驱动系统的运动过程进行仿真模拟。采用控制变量法定量分析了铜套与升降轴的配合间隙及丝杠参数对驱动力和驱动力矩的影响规律,进而在提高硅单晶生长炉装备稳定性和可靠性方面给出合理的技术建议。结果表明,铜套与升降轴的配合间隙达到0.071 mm后能有效降低驱动系统运行所需驱动力矩,丝杠倾斜度、螺纹螺距与螺纹间摩擦系数的增大均会导致驱动系统运行所需力矩大幅增加。