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- 저자 : Zhang Kankan (검색결과 4 건)
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Jianming Miao,Xingyu Sun,Kankan Deng,Xi Gong,Chao Peng,Tao Liu,Haosu Zhang 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.3
This paper proposes a novel UDE-based nonlinear path-following (PF) control scheme for the underactuated autonomous underwater vehicle (AUV) with multiple uncertainties and input saturation. Firstly, to overcomethe drawback of dependence on the accurate mathematical model, the unknown time-varying sideslip angular speedin the error dynamic model is treated as kinematic uncertainty, and the linear superposition of parameter uncertainties, environmental perturbations, and other unmodeled dynamics is regarded as lumped dynamic uncertainty. Bothkinematic and dynamic uncertainties are estimated and compensated by the designed uncertainty and disturbanceestimators (UDEs). Secondly, a novel augmented backstepping controller based on the estimates generated by UDEsis proposed to achieve PF control of the underactuated AUV. The nonlinear tracking differentiator (NTD) is adoptedto prevent the “explosion of complexity” inherent in the traditional back-stepping method, and the auxiliary dynamical system is utilized to solve the issue of input saturation. Lastly, the stability analysis of the entire enclosed-loopframework is presented. Simulations and comparative analyses are presented to demonstrate the effectiveness androbustness of the presented strategy
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The prognostic significance of tumor-infiltrating lymphocytes in cervical cancer
Mengdi He,Yiying Wang,Guodong Zhang,Kankan Cao,Moran Yang,Haiou Liu 대한부인종양학회 2021 Journal of Gynecologic Oncology Vol.32 No.3
Objective: To predict the prognosis of cervical cancer, we constructed a novel model with 5specific cell types and identified a potential biomarker. Methods: We employed CIBERSORT and xCell method to evaluate the abundances of 23cells types in tumor microenvironment. Five specific cell types were filtrated to determinedifferent immunotypes by applying least absolute shrinkage and selection operator (LASSO)Cox regression method. The expression of immune checkpoints (ICPs) and effectors werevalidated by immunohistochemistry. Correlation analysis was performed to examine therelevance between PIK3CA mutational status and ICPs. Results: Unsupervised clustering of patients on the basis of tumor infiltrating lymphocytesand fibroblasts identified patients with shorter overall survival (OS) (hazard ratio[HR]=3.0729; 95% confidence interval [CI]=1.5103–6.2522; p=0.0118). An immunoscore(IS) signature consisting of 5 immune cell types infiltrating in tumor core (CD8T, activatedNK cells, neutrophils, activated mast cells, macrophages) was constructed using LASSO Coxregression analysis. Receiver operating characteristic curves confirmed that the area underthe curve of IS was significantly higher to that of International Federation of Gynecology andObstetrics staging alone (0.637 vs. 0.55). Survival analysis revealed patients in high IS groupexhibited a poorer OS (HR=3.0113; 95% CI=1.8746–4.8373; p<0.0001). The multivariateanalysis indicated the IS was an independent prognostic factor. In addition, the lower ISrelated to higher expression of ICPs and neoantigen load. Conclusions: The identification of IS in cervical cancer tissues could facilitate patient riskstratification and selection of immunotherapeutic responses, but more prospective studiesare needed to assess its reliability.
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Kan Kan,Yuan Zheng,Shifeng Fu,Huiwen Liu,Chunxia Yang,Xin Zhang 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.4
Current research on the stability of tubular pumps is mainly concerned with the transient hydrodynamic characteristics. However, the structural response under the influence of fluid-structure interaction hasn’t been taken fully into consideration. The instability of the structure can cause vibration and cracks, which may threaten the safety of the unit. We used bidirectional fluid-structure interaction to comprehensively analyze the dynamic stress characteristics of the impeller blades of the shaft extension tubular pump device. Furthermore, dynamic stress of impeller blade of shaft extension tubular pump device was solved under different lift conditions of 0° blade angle. Based on Reynolds-average N-S equation and SST k-ω turbulence model, numerical simulation was carried out for three-dimensional unsteady incompressible turbulent flow field of the pump device whole flow passage. Meanwhile, the finite element method was used to calculate dynamic characteristics of the blade structure. The blade dynamic stress distribution was obtained on the basis of fourth strength theory. The research results indicate that the maximum blade dynamic stress appears at the joint between root of inlet side of the blade suction surface and the axis. Considering the influence of gravity, the fluctuation of the blade dynamic stress increases initially and decreases afterwards within a rotation period. In the meantime, the dynamic stress in the middle part of inlet edge presents larger relative fluctuation amplitude. Finally, a prediction method for dynamic stress distribution of tubular pump considering fluid-structure interaction and gravity effect was proposed. This method can be used in the design stage of tubular pump to predict dynamic stress distribution of the structure under different operating conditions, improve the reliability of pump impeller and analyze the impeller fatigue life.
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