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Efficient Path-Following for Urban Logistics: A Fuzzy control Strategy for Consumer UAVs under Disturbance Constraints

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IEEE Transactions on Consumer Electronics 2025年

作者： Shao, Xingling Du, Jun Xia, Yi Zhang, Zekai Hou, Xiangwang Debbah, Merouane North University of China School of Electrical and Control Engineering Taiyuan030051 China State Key Laboratory of Extreme Environment Optoelecronic Dynamic Measurement Technology and Instrument Taiyuan030051 China Tsinghua University Department of Electronic Engineering Beijing100084 China Tsinghua University State Key laboratory of Space Network and Communications Beijing100084 China National University of Defense Technology College of Intelligence Science and Technology Hunan Changsha410073 China Tsinghua University Tsinghua Shenzhen International Graduate School Shenzhen518055 China Khalifa University of Science and Technology KU6G Research Center Abu Dhabi127788 United Arab Emirates

The adoption of consumer unmanned aerial vehicles (UAVs) for logistics transportation is a key aspect of the emerging low-altitude economy, yet it faces significant challenges. Urban environments introduce complex obstacles, including dense buildings and unpredictable wind disturbances, while existing control methods struggle to balance path-following accuracy, disturbance rejection, and communication efficiency. To meet these demands, this paper proposes a quantized fuzzy learning path-following control for consumer UAVs. Firstly, a hysteresis quantized fuzzy disturbance observer (HQFDO) is proposed where the disturbances are approximately estimated by a neural network. Notably, a hysteresis quantizer is employed to reduce the communication bandwidth occupation by discretizing disturbance observations. Subsequently, a distributed velocity controller and a heading angle controller are designed to tackle the geometric and dynamic tasks separately. Specifically, the velocity controller introduces a projective arc length error to mitigate inefficiencies and safety risks associated with frequent acceleration and deceleration switches. Compared to conventional techniques, the proposed approach improves transient performance, enhances path attractivity, and optimizes communication resource utilization. Theoretical stability analysis is provided, and simulations validate the effectiveness of the proposed control strategy. © 1975-2011 IEEE.

关键词： Target drones

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The study of constant grinding removal rate model of turning-grinding composite machine tool

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key Engineering Materials 2009年 407-408卷 163-166页

作者： Wang, Hongjun Luan, Zhongquan Han, Qiushi Key Laboratory of Modern Measurement and Control Technology Ministry of Education Beijing Information S and T University Beijing 100192 China

ISBN: (纸本)9780878493388

As the key parts of cars, camshafts influences a lot on the quality and durability of cars. Their processing is complicated, time and place consuming and the quality is difficult to guarantee. The turning-grinding composite machine tool (TGCM) for camshafts is studied on basis of 'process integration with one setup' theory in this paper. It presents the structure of the turning-grinding composite machine tool by the analysis of the function of TGCM. The revolving working table is used to transfer the turning and grinding function. It also discusses the constant grinding removal rate mathematic model of the cam contour machining. The opened-CNC system for this machine tool is developed by using the VC++6.0 based on PC and UMAC controller. The constant grinding rate model of the cam contour is verified by the experiment results. © (2009) Trans Tech Publications, Switzerland.

关键词： Grinding (machining)

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Robust Transverse and Axial Flow measurement Using Constrained Dynamic Time Warping and Cumulative Decorrelation of Intravascular Ultrasound Signals

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IEEE Transactions on Instrumentation and measurement 2025年 74卷

作者： Shi, Jiachen Ren, Shangjie Dong, Wenxue Zhao, Shiyong Liu, Bingchen Jiang, Jun Tan, Chao Dong, Feng Tianjin Horimed Technology Company Ltd. Tianjin300308 China Zhejiang University The Second Affiliated Hospital School of Medicine State Key Laboratory of Transvascular Implantation Devices Heart Regeneration and Repair Key Laboratory of Zhejiang Province Department of Cardiology Hangzhou310009 China Tianjin University Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin300072 China Tianjin Renai College School of Information and Intelligent Engineering Tianjin301636 China

The accurate measurement of blood flow velocity is vital for diagnosing and treating various medical conditions. However, precisely measuring transverse and axial blood flow velocities in small, deeply embedded blood vessels remains a significant challenge. This article presents a robust approach that leverages cumulative signal decorrelation for intravascular ultrasound (IVUS) applications. Within the vessel, movement of blood cells induces a phase discrepancy in the signals acquired by microprobes, manifesting as a time lag between corresponding segments of a set of radio frequency (RF) signals. A triangular constrained dynamic time warping (DTW) model is proposed to calculate the time lag, coupled with an empirical formula relating cumulative decorrelation to RF echo signals. This integration enables the estimation of both axial and transverse blood flow velocities, overcoming the limitations of traditional decorrelation methods, such as sensitivity to signal-to-noise ratio (SNR) and cycle hopping, thereby enhancing the accuracy and stability of blood flow velocity measurements. The technique was validated using a 50-MHz IVUS system to measure flow velocities within a microchannel with a 3 mm inner diameter, demonstrating robustness independent of the probe angle. This method effectively measures various blood flow parameters, including transverse and axial velocities and velocity profiles, across a wide range up to 75.5 cm/s. Notably, the spatial resolution achieved for both transverse and axial velocities is up to 10μm, providing an opportunity for highly accurate wall shear rate estimation. © 1963-2012 IEEE.

关键词： Velocity measurement

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Nonlinear dynamic analysis of 2K-H planetary gear transmission system 13

Nonlinear dynamic analysis of 2K-H planetary gear transmissi...

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2017 13th IEEE International Conference on Electronic measurement & Instruments (ICEMI)

作者： Huang Jingnan Wang Shaohong Ma Chao Beijing Information Science &Technology University The Key laboratory of Modern Measurement and Control Technology

ISBN: (纸本)9781509050369;9781509050352

For better understanding the nonlinear dynamic characteristics of 2 K-H planetary gear train, a translation-torsion coupling kinetic model is established. The dimensionless kinematic differential equations of 18 degrees of freedom for the system are then ***, gear's geometric eccentricity error, comprehensive transmission error, time-varying meshing stiffness, sun-planet and planet-ring gear pair's backlashes were taken into *** influence of meshing frequency on gear transmission system is analyzed by phase diagram, Poincare graph and time history *** results show that the system changes between chaotic state and single free cycle state as the meshing frequency *** meshing frequency has an important effect on the planetary gear *** could advise theoretical basis for further study on the influence of system parameters on the dynamic characteristics of planetary gear train. It has great theoretical significance and engineering application value for improving the dynamic performance of the planetary transmission system and the fault diagnosis of gear transmission.

关键词： 2K-H planetary gear train transverse-torsional coupled dynamic characteristics

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Nonlinear dynamics analysis of planetary gear systemin large-scale wind power generation equipment 13

Nonlinear dynamics analysis of planetary gear systemin large...

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2017 13th IEEE International Conference on Electronic measurement & Instruments (ICEMI)

作者： Peng Yumin Luan Zhongquan Ma Chao Wang Shaohong Beijing Information Science ＆Technology University The Key laboratory of Modern Measurement and Control Technology

ISBN: (纸本)9781509050369;9781509050352

The gears in large-scale wind power generation equipment are prone to crack over the years. Objected to the planetary gear transmission system in large-scale wind power generation equipment,considering the gear backlash, synthetic meshing error, damping and time-varying meshing stiffness, a nonlinear transverse-torsional coupled model was established. With the help of phase plane diagrams and the time history diagrams, continues analysis of the relationship between the kinematic response and the meshing frequencyis carried out. And the numerical simulation results showed that asthemeshing frequency is changed from small value to large value, the motion states of the system are changed from the stable single periodic motion to the chaotic motion within a certain range. In order to verify the results of simulation, we conducted an experimental study on a real gearbox. The analysis results of simulation and experimental study were consistent. The research results would have theoretical guidance value for the fault diagnosis in engineering.

关键词： planetary gear train transverse-torsional coupled dynamic characteristics chaos

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Osteoclast-derived exosomal miR-30a-3p promotes lead exposure-induced osteoporosis by triggering osteoblastic pyroptosis

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Clinical Science 2025年第7期139卷 389-410页

作者： Gao, Yue Zhang, Hang Jia, Yinnong Chen, Yuanfang Wang, Luna Ding, Jie Wang, Wen Zhu, Baoli Ouyang, Liu He, Xu An, Yan Yu, Tingting Zhang, Hengdong Xu, Ming Department of Occupational Disease Prevention Jiangsu Provincial Center for Disease Control and Prevention Nanjing 210009 China Jiangsu Province Engineering Research Center of Health Emergency Nanjing 210009 China Gulou District Center for Disease Control and Prevention Nanjing 210003 China Department of Pharmaceutical Sciences School of Pharmaceutical Sciences Kunming Medical University Kunming 650500 China College of Modern biomedical industry Kunming Medical University Kunming 650500 China Yunnan Key Laboratory of Pharmacology for Natural Products Kunming Medical University Kunming 650500 China Engineering Research Center of Health Emergency Jiangsu Provincial Center for Disease Control and Prevention Nanjing 210009 China Taicang Center for Disease Control and Prevention Suzhou 215400 China Department of Toxicology School of Public Health Suzhou Medical College Soochow University Key Laboratory of Geriatric Disease Prevention and Translational Medicine Jiangsu Suzhou 215123 China School of Public Health Nanjing Medical University Nanjing 211166 China Center for Global Health School of Public Health Nanjing Medical University Nanjing 211166 China Department of Orthopaedics Union Hospital Huazhong University of Science and Technology Wuhan 430022 China Department of Orthopaedics Jilin City People’s Hospital Jilin 132001 China Department of Medical Genetics School of Basic Medical Sciences Nanjing Medical University Nanjing 211166 China

High lead (Pb) burden in humans disrupts bone homeostasis and can induce osteoporosis. Here, we report that osteoclast-derived exosomes (OC-Exos) were enriched in the plasma of patients with low bone mineral density and Pb exposure. Osteoclasts (OCs) secrete microRNA-enriched exosomes, through which miR-30a-3p is transferred to osteoblasts (OBs) to induce pyroptosis, leading to the aggravation of bone loss. Mechanistically, OC-Exo-packaged miR-30a-3p triggered pyroptosis in OBs by stimulating the NLRP3 inflammasome, activating the caspase-1 pathway, and up-regulating the expression of IL-1 and IL-18. Depletion of miR-30a-3p abolished the effects of OC-Exo and alleviated the symptoms of Pb-induced osteoporosis. Collectively, our results suggest that miR-30a-3p is highly expressed in exosomes derived from OCs and mediates OB pyroptosis, inhibiting bone formation through cellular communication in Pb-induced osteoporosis. Therefore, OC-Exo-packaged miR-30a-3p may be a novel risk factor for Pb-induced osteoporosis and holds prognostic value in evaluating bone formation. © 2025 The Author(s).

关键词： exosomes miR-30a-3p osteoblasts osteoclasts Pb pyroptosis

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Early faults prediction of running state of electromechanical systems and reconfigurable integration of series safety monitoring systems

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仪器仪表学报 2014年第S2期35卷 224-232页

作者： Xu Xiaoli Zuo Yunbo Chen Tao Liu Xiuli Chen Shanpeng Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University School of Mechanical and Vehicle Engineering Beijing Institute of Technology Department of Environmental Science and Engineering Faculty of Bioresources Mie University

Fault prediction technology of running state of electromechanical systems is one of the key technologies that ensure safe and reliable operation of electromechanical equipment in health state. For multiple types of modern, high-end and key electromechanical equipment, this paper will describe the early faults prediction method for multi-type electromechanical systems, which is favorable for predicting early faults of complex electromechanical systems in non-stationary, nonlinear, variable working conditions and long-time running state; the paper shall introduce the reconfigurable integration technology of series safety monitoring systems based on which the integrated development platform of series safety monitoring systems is built. This platform can adapt to integrated R&D of series safety monitoring systems characterized by high technology, multiple species and low volume. With the help of this platform, series safety monitoring systems were developed, and the Remote Network Security Monitoring Center for Facility Groups was built. Experimental research and engineering applications show that: this new fault prediction method has realized the development trend features extraction of typical electromechanical systems, multi-information fusion, intelligent information decision-making and so on, improving the processing accuracy, relevance and applicability of information; new reconfigurable integration technologies have improved the integration level and R&D efficiency of series safety monitoring systems as well as expanded the scope of application; the series safety monitoring systems developed based on reconfigurable integration platform has already played an important role in many aspects including ensuring safety operation of equipment, stabilizing product quality, optimizing running state, saving energy consumption, reducing environmental pollution, improving working conditions, carrying out scientific maintenance, advancing equipment utilization, saving mainten

关键词： electromechanical systems early faults safety control monitoring systems reconfigurable integration

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Floquet scattering resonances in two dimensions

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Physical Review A 2025年第2期111卷 023328-023328页

作者： Cai-Xia Zhang Shi-Guo Peng Guo-Qing Zhang Hui Yan Key Laboratory of Atomic and Subatomic Structure and Quantum Control (Ministry of Education) Guangdong Basic Research Center of Excellence for Structure and Fundamental Interactions of Matter School of Physics South China Normal University Guangzhou Guangdong 510006 China Guangdong Provincial Key Laboratory of Quantum Engineering and Quantum Materials Guangdong-Hong Kong Joint Laboratory of Quantum Matter Frontier Research Institute for Physics South China Normal University Guangzhou Guangdong 510006 China State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics Innovation Academy for Precision Measurement Science and Technology Chinese Academy of Sciences Wuhan Hubei 430071 China Center for Cold Atom Physics Chinese Academy of Sciences Wuhan Hubei 430071 China Research Center for Quantum Physics Huzhou University Huzhou Zhejiang 313000 China

In this work we establish a general scattering theory for two-dimensional quantum systems with periodically modulated interactions. We show that scattering quantities, such as the scattering cross section, effective scattering length, and effective-range parameter, can be defined in a manner analogous to conventional scattering theory, even in the presence of modulation. Unlike systems with static interactions, the incident wave in our setup can be scattered inelastically into different Floquet channels, absorbing or emitting quanta from the modulation field. A family of Floquet resonances is identified, at which universal recurrence relations are derived for the Floquet scattering amplitudes. These relations are equivalent to a discrete Schrödinger equation describing a pointlike source trapped by an effective potential. The resonance mechanism is explained as the coincidence of the point source's energy with the bound states of the effective potential. We discuss the scattering properties both at and near the resonances, finding that the resonance width and the ratio of the inelastic to elastic cross sections can be effectively controlled through the modulation of the interaction. Our results provide a pathway to precisely manipulate many-body interactions in periodically driven quantum systems.

关键词： Schrodinger equation

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5G Ultra-Dense Network Fingerprint Positioning Method Based on Matrix Completion

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China Communications 2023年第3期20卷 105-118页

作者： Yuexia Zhang Chong Liu Key Laboratory of Information and Communication Systems Ministry of Information IndustryBeijing Information Science and Technology UniversityBeijing 100101China Key Laboratory of Modern Measurement and Control Technology Ministry of EducationBeijing Information Science and Technology UniversityBeijing 100101China

The problem of high-precision indoor positioning in the 5G era has attracted more and more attention.A fingerprint location method based on matrix completion(MC-FPL)is proposed for 5G ultradense networks to overcome the high costs of traditional fingerprint database construction and matching ***,a partial fingerprint database constructed and the accelerated proximal gradient algorithm is used to fill the partial fingerprint database to construct a full fingerprint ***,a fingerprint database division method based on the strongest received signal strength indicator is proposed,which divides the original fingerprint database into several sub-fingerprint ***,a classification weighted K-nearest neighbor fingerprint matching algorithm is *** estimated coordinates of the point to be located can be obtained by fingerprint matching in a sub-fingerprint *** simulation results show that the MC-FPL algorithm can reduce the complexity of database construction and fingerprint matching and has higher positioning accuracy compared with the traditional fingerprint algorithm.

关键词： indoor positioning fingerprint matching matrix completion 5G UDN RSSI

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Degradation Mechanisms Of Bisphenol a in Fe(Iii)/Oxalic Acid/Sodium Percarbonate System: The key Roles of Iron Oxalate Complexes

SSRN

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SSRN 2025年

作者： Xu, Zhimin He, Siyu Wang, Lingzhi Li, Fangfang Gao, Peng Peng, Hongbo Wang, Siyao Chang, Kexin Xiong, Guomei Wang, Yilin Pan, Bo Faculty of Modern Agricultural Engineering Kunming University of Science & Technology Yunnan Kunming650500 China Yunnan Provincial Key Laboratory of Soil Carbon Sequestration and Pollution Control Faculty of Environmental Science & Engineering Kunming University of Science & Technology Yunnan Kunming650500 China Kunming University of Science and Technology Yunnan Kunming650500 China Institute of Traffic Engineering Kunming University of Science and Technology Yunnan Kunming650500 China City College Kunming University of Science & Technology Yunnan Kunming650500 China

Oxalic acid (OA) enhances the reduction of trivalent iron (Fe(III)) in homogeneous Fenton systems, it also increases reactive oxygen species (ROS) production and contaminant degradation. However, due to the coexistence of Fe(II), Fe(III)-OA/hydroperoxide complex, ROS generation pathways and degradation mechanisms of contaminants are ambiguous. In this work, bisphenol A (BPA) was selected as a model contaminant, its degradation mechanisms affected by Fe(II)/Fe(III) and OA were investigated. The degradation ratio of BPA was 95% in the OA/Fe(III)/sodium percarbonate (SPC) system, which was higher than that of individual system ( © 2025, The Authors. All rights reserved.

关键词： Electron spin resonance spectroscopy

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