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Robust Multi-mode Flight Control Design for an Unmanned Helicopter Based on Multi-loop Structure
Hong-qiang Wang,Dao-bo Wang,Hai-bin Duan,Ashfaq Ahmad Mian 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.5
In this paper, a novel multi-mode flight control strategy for unmanned helicopter, in presence of model uncertainty, atmospheric disturbances and handling qualities specification requirements (as in ADS-33E), based on multi-loop control structure combining robust H-infinity and PI control is presented. In inner loop H-infinity optimal control technique is utilized ensuring the stability of flight control system in case of change of helicopter dynamics, model uncertainties and eliminates effect of gust disturbance on helicopter states and collective/cyclic inputs. PI control in outer loop is used to improve the dynamic and static operation characteristics. Attitude control and attitude holding flight mode with satisfactory command response and decoupling characteristics is designed using the proposed control strategy. Analysis and simulation results show that Level 1 handling requirements as defined in ADS-33E are accomplished even when helicopter is under constant wind circumstance.
Wang, Chao,Ma, Hong-Xi,Jin, Mei-Shan,Zou, Ya-Bin,Teng, Yong-Liang,Tian, Zhuang,Wang, Hai-Ying,Wang, Yin-Ping,Duan, Xiu-Mei Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.10
Matrix metalloproteinase (MMP)-2 and MMP-9 are important proteases involved in invasion and metastasis of various tumors. Extra-gastrointestinal stromal tumors (EGISTs) are rare neoplasms. This study was performed to assess MMP-2 and MMP-9 expression in EGIST tissue samples for association with clinicopathological data from the patients. Twenty-one surgical EGIST tissue specimens were collected for analysis of MMP-2 and MMP-9 expression using immunohistochemistry. MMP-2 and MMP-9 proteins were expressed in all of the epithelial cell types of EGISTs, whereas they were only expressed in 75% of the spindle cell type, although there was no statistically significant difference (p>0.05). Expression of MMP-2 and MMP-9 proteins was associated with tumor size, mitotic rate, tumor necrosis, and distant metastasis (p<0.05). MMP-2 expression was linked with MMP-9 levels (p<0.05). However, there was no correlation between MMP-9 expression and age, sex, primary site, or cell morphology in any of these 21 EGIST patients (p>0.05). Moreover, expression of MMP-2 and MMP-9 proteins increased with the degree of EGIST risk. This study provided evidence of an association of MMP-2 and MMP-9 expression with advanced EGIST behavior.