Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle

Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of quad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online adaptive error compensation support vector machine (SVM) is proposed for stabilizing quad-rotor UAV system. Sliding mode controller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline SVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and noises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately. The control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process, so that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV that joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed method that is proved has the better control effect in the UAV system

Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle

Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of quad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online adaptive error compensation support vector machine (SVM) is proposed for stabilizing quad-rotor UAV system. Sliding mode controller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline SVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and noises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately. The control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process, so that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV that joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed method that is proved has the better control effect in the UAV system. Document type: Articl

One Amino Acid Change of Angiotensin II Diminishes Its Effects on Abdominal Aortic Aneurysm

Angiotensin (Ang) A is formed by the decarboxylation of the N terminal residue of AngII. The present study determined whether this one amino acid change impacted effects of AngII on abdominal aortic aneurysm (AAA) formation in mice. Computational analyses implicated that AngA had comparable binding affinity to both AngII type 1 and 2 receptors as AngII. To compare effects of these two octapeptides in vivo, male low-density lipoprotein receptor (Ldlr) or apolipoprotein E (Apoe) deficient mice were infused with either AngII or AngA (1 μg/kg/min) for 4 weeks. While AngII infusion induced AAA consistently in both mouse strains, the equivalent infusion rate of AngA did not lead to AAA formation. We also determined whether co-infusion of AngA would influence AngII-induced aortic aneurysm formation in male Apoe−/− mice. Co-infusion of the same infusion rate of AngII and AngA did not change AngII-induced AAA formation. Since it was reported that a 10-fold higher concentration of AngA elicited comparable vasoconstrictive responses as AngII, we compared a 10-fold higher rate (10 μg/kg/min) of AngA infusion into male Apoe−/− mice with AngII (1 μg/kg/min). This rate of AngA led to abdominal aortic dilation in three of ten mice, but no aortic rupture, whereas the 10-fold lower rate of AngII infusion led to abdominal aortic dilation or rupture in eight of ten mice. In conclusion, AngA, despite only being one amino acid different from AngII, has diminished effects on aortic aneurysmal formation, implicating that the first amino acid of AngII has important pathophysiological functions

CCCCC pentadentate chelates with planar Möbius aromaticity and unique properties

本课题充分发挥了厦门大学多学科协同研究优势，通讯作者为夏海平教授（合成、表征）、刘刚教授（生物医学应用）和吕鑫教授（理论计算）。合成实验和结构表征由朱从青（第一作者，目前在麻省理工学院、2005年诺贝尔化学奖得主Richard Schrock教授课题组从事博士后研究）完成；生物医学应用由杨彩霞（共同第一作者）、林凎、杨宇惠、王晓勇合作完成；理论计算由朱军、王永恒、朱从青完成。美国NIH的陈小元教授参与了生物医学应用的讨论。该研究工作得到国家自然科学基金委、科技部项目的支持。The coordinating atoms in polydentate chelates are primarily heteroatoms. We present the first examples of pentadentate chelates with all binding atoms of the chelating agent being carbon atoms, denoted as CCCCC chelates. Having up to five metal-carbon bonds in the equatorial plane has not been previously observed in transition metal chemistry. Density functional theory calculations showed that the planar metallacycle has extended Craig-Möbius aromaticity arising from 12-center–12-electron dπ-pπ π-conjugation. These planar chelates have broad absorption in the ultraviolet-visible–near-infrared region and, thus, notable photothermal performance upon irradiation by an 808-nm laser, indicating that these chelates have potential applications in photothermal therapy. The combination of facile synthesis, high stability, and broad absorption of these complexes could make the polydentate carbon chain a novel building block in coordination chemistry.the National Basic Research Program of China (nos. 2012CB821600 and 2014CB744503) , the National Science Foundation of China (nos. 21332002, 81422023, 51273165, 21490573, and 21573179)

Chaotic Vibration Prediction of a Free-Floating Flexible Redundant Space Manipulator

The dynamic model of a planar free-floating flexible redundant space manipulator with three joints is derived by the assumed modes method, Lagrange principle, and momentum conservation. According to minimal joint torque’s optimization (MJTO), the state equations of the dynamic model for the free-floating redundant space manipulator are described. The PD control using the tracking position error and velocity error in the manipulator is introduced. Then, the chaotic dynamic behavior of the manipulator is analyzed by chaotic numerical methods, in which time series, phase plane portrait, Poincaré map, and Lyapunov exponents are used to analyze the chaotic behavior of the manipulator. Under certain conditions for the joint torque optimization and initial values, chaotic vibration motion of the space manipulator can be observed. The chaotic time series prediction scheme for the space manipulator is presented based on the theory of phase space reconstruction under Takens’ embedding theorem. The trajectories of phase space can be reconstructed in embedding space, which are equivalent to the original space manipulator in dynamics. The one-step prediction model for the chaotic time series and the chaotic vibration was established by using support vector regression (SVR) prediction model with RBF kernel function. It has been proved that the SVR prediction model has a good performance of prediction. The experimental results show the effectiveness of the presented method

Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle

Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of quad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online adaptive error compensation support vector machine (SVM) is proposed for stabilizing quad-rotor UAV system. Sliding mode controller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline SVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and noises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately. The control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process, so that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV that joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed method that is proved has the better control effect in the UAV system

Identification of a uranium-rhodium triple bond in a heterometallic cluster

International audienceThe chemistry of d-block metal-metal multiple bonds has been extensively investigated in the past 5 decades. However, the synthesis and characterization of species with f-block metal-metal multiple bonds are significantly more challenging and such species remain extremely rare. Here, we report the identification of a uranium-rhodium triple bond in a heterometallic cluster, which was synthesized under routine conditions. The uranium-rhodium triple-bond length of 2.31 angstrom in this cluster is only 3% longer than the sum of the covalent triple-bond radii of uranium and rhodium (2.24 angstrom). Computational studies reveal that the nature of this uranium-rhodium triple bond is 1 covalent bond with 2 rhodium-to-uranium dative bonds. This heterometallic cluster represents a species with f-block metal-metal triple bond structurally authenticated by X-ray diffraction. These studies not only demonstrate the authenticity of the uranium-metal triple bond, but also provide a possibility for the synthesis of other f-block metal-metal multiple bonds. We expect that this work may further our understanding of the bonding between uranium and transition metals, which may help to design new d-f heterometallic catalysts with uranium-metal bonds for small-molecule activation and to promote the utilization of abundant depleted uranium resources

Facile Dinitrogen and Dioxygen Cleavage by a Uranium(III) Complex: Cooperativity Between the Non-Innocent Ligand and the Uranium Center

International audienceActivation of dinitrogen (N-2, 78 %) and dioxygen (O-2, 21 %) has fascinated chemists and biochemists for decades. The industrial conversion of N-2 into ammonia requires extremely high temperatures and pressures. Herein we report the first example of N-2 and O-2 cleavage by a uranium complex, [N((CH2CH2NPPr2)-Pr-i)(3)U](2)(TMEDA), under ambient conditions without an external reducing agent. The N-2 triple bond breaking implies a U-III-P-III six-electron reduction. The hydrolysis of the N-2 reduction product allows the formation of ammonia or nitrogen-containing organic compounds. The interaction between U-III and P-III in this molecule allows an eight-electron reduction of two O-2 molecules. This study establishes that the combination of uranium and a low-valent nonmetal is a promising strategy to achieve a full N-2 and O-2 cleavage under ambient conditions, which may aid the design of new systems for small molecules activation

Dinitrogen cleavage and hydrogenation to ammonia with a uranium complex

International audienceThe Haber–Bosch process produces ammonia (NH3) from dinitrogen (N2) and dihydrogen (H2), but requires high temperature and pressure. Before iron-based catalysts were exploited in the current industrial Haber–Bosch process, uranium-based materials served as effective catalysts for production of NH3 from N2. Although some molecular uranium complexes are known to be capable of combining with N2, further hydrogenation with H2 forming NH3 has not been reported to date. Here, we describe the first example of N2 cleavage and hydrogenation with H2 to NH3 with a molecular uranium complex. The N2 cleavage product contains three uranium centers that are bridged by three imido μ2-NH ligands and one nitrido μ3-N ligand. Labeling experiments with 15N demonstrate that the nitrido ligand in the product originates from N2. Reaction of the N2-cleaved complex with H2 or H+ forms NH3 under mild conditions. A synthetic cycle has been established by the reaction of the N2-cleaved complex with trimethylsilyl chloride. The isolation of this trinuclear imido-nitrido product implies that a multi-metallic uranium assembly plays an important role in the activation of N2