In order to solve the problem of tracking the orbit of small celestial body detector under the disturbance of unknown external environment, a dynamic model of the orbit of small celestial body detector with unknown disturbance was established. The perturbation observer method was utilized to estimate the disturbance to the external environment of the small celestial body detector, and its dynamic characteristics were observed and compensated by the controller, so that the sliding mode shake amplitude could be reduced. An adaptive law was designed to estimate the bound of disturbance observation error, and the symbol function was replaced by hyperbolic tangent function, thus the buffeting was further eliminated and the control accuracy was improved. At the same time, dynamic surface technology was introduced to solve the differential explosion problem caused by the derivative of virtual control. At the end of the paper, a small object 243Ida was utilized as the target object for simulation verification. In the simulation results, the detector is able to track the desired trajectory and the position and velocity errors are significantly reduced at the time of 70s, and the controller output is smooth. The results show that the proposed method is an effective and reasonable method for the orbit tracking of celestial body detectors.
To further improve the extraction technology of red koji pigment,red kojic rice is taken as a raw material to be tested.Based on the principle of Central-Composite test design,the parameters of red koji pigment extraction were analyzed and simulated with BP neural network,and optimized by genetic algorithm.The optimal extracting conditions were indicated as follows:alcohol concentration 69%,pH4.4,extracting temperature 69℃ and extracting period 75 min.The absorbency of the extract liquid could reach 0.216 under the above conditions.
When torpedo′s wire-guided system releases wires,it needs a length of metal hose to protect the wires.It is hard to test its releasing process and load change due to the high releasing speed.So we establish a model by virtual prototype simula-tion technology,and analyze the dynamic performance of the metal hose during releasing process.Simulation results agree well with real releasing process.This study may offer a method for the design and test of successive dispensers.
Beer yeast was used as raw material and then the immobilization conditions of yeast cells including sodium alginate concentration, CaCl2 concentration and temperature were confirmed through single factor test. Then according to Box-Benhnken center united experimental design principles, the above three factors were studied and analyzed with RSM, and the optimum immobilization conditions were summed up as follows: CaCl2 concentration was 2.05 mol/L, sodium alginate concentration was 2.9 % and the temperature was at 25.3 ℃. The prepared immobilized yeast cells were used in 12?Be wort fermentation at 28 ℃ for 7 d, which could make the sugar consumption rate of the fermenting liquid reach 75.2 %.
Inertial navigation reference units are often thought of as simply a navigation device which must be augmented by another device to damp the Schuler oscillation and characteristic long-term drift. Emerging applications of AUVs, however, demonstrate a need for increasingly sophisticated inertial sensors. These inertial sensors are used not only for navigation, but as importantly, they provide data for sensor stabilization. Inertial systems have also traditionally represented a significant hotel load, been heavy, bulky and a source of acoustic and structure-borne noise. This paper presents an overview of two new inertial systems that are now in production at the Guidance and Control Systems Division of Litton Systems, Inc. These units are small, lightweight, require little power, and are silent. Data are presented that show long-term performance as well as short-term attitude, attitude rate, position, and velocity reference data for the two systems. Attitude, velocity and body axis rate data are required for stabilization of such devices as laser line scanners and long baseline side-scan sonars. The relationship between the characteristics of these sensors and inertial type errors is explored. This analysis shows that it is not sufficient to specify the inertial system only in terms of its navigation CEP. The specification of the inertial unit must also be based on the needs of the sensor payload and include such considerations as the noise content, phase, and bandwidth of the stabilization reference.
Using soybean milk as raw material, through fermentation by lactic acid bacteria (Lactobacillus cacei, Streptococcus lactis et al),produce a kind of plant protein cheese, it has unique taste,and has long storage period,and also used as a material for health and snack food.
The ship podded SSP(Siemens-Schottel-Propulsor, SSP) propulsion motor is a multivariable complex nonlinear plant with strong coupling and time-varying parameters. It is hard to reconcile the contradiction between the performance of anti-interference and response speed by self-adapt PI vector control during rough sea or navigation in harbor. It is difficult to obtain the system parameters accurately due to the load and the sea condition changes in actual. In order to solve this problem, a model-free adaptive vector control (MFA-VC) method is presented in this paper and applied to the ship podded SSP propulsion motor control system. The control design is model-free and just depends on the I/O data of the system, without requiring other priori, this makes it adaptable to various sea situations. The adjustable parameters are few, the computation is little. The proposed controller is compared with traditional PI vector control under the differents sea situations, simulation results illustrate the validity of the presented method.
Objective To observe the effects of the integrated traditional and western treatments on poststroke depression and cognitive impairment in a stroke unit.Methods A total of 105 patients with post-stoke depression (PSD) admitted to the authors' stroke unit were enrolled and randomized into a control group (n =35),a conventional treatment group (n =35) and an integrated treatment group (n =35).All the patients were treated with routine interventions including medications,rehabilitation training,psychological counseling and health education.Meanwhile,the patients in the conventional treatment group were also treated with anti-depressant sertraline,while those in the integrated treatment group were treated with sertraline and Chinese medicine as addition.The rating scales such as Hamilton depression (HAMD),mini-mental state examination (MMSE),the Montreal cognitive assessment (MOCA) were used to evaluate all patients after 8 weeks and 24 weeks of treatment.Results Before treatment,there was no significant difference among the 3 groups with regard to assessment scores of HAMD,MMSE and MoCA (P ＞ 0.05).After 8 weeks of treatment,the conventional treatment group and the integrated treatment group were significantly improved in terms of HAMD [(14.28-± 0.64) and (13.32 ± 0.91) respectively] (P ＜0.05).The scores of HAMD,MMSE and MOCA of the conventional treatment group and the integrated treatment group were significantly improved after 24 weeks of treatment (P ＜ 0.05),and the integrated treatment group improved to a significantly greater extent when compared with the conventional treatment group Conclusion Integrated traditional and western treatment used in the authors' stroke unit can effectively improve post-stroke depression and cognitive impairment.
Key words:
Stroke unit; Integrated traditional and western treatment; Post-stroke depression; Cognitive impairment
The symptoms,treatments and preventive measures of two categories of common faults,physical and logical faults,occurred in PROFIBUS were described.The physical fault is mainly caused by wirings,network plugs,electromagnetic interference,communication-line terminals,repeaters and DP/PA coupler,while logical faults include hardware configuration fault and imcompatible function block responsible for dealing with communication failure.
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