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Innovation-driven disturbance rejection enhancement for robust AUV path tracking 认领 引用
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作者 Wanping Song Mingwei Sun +3 位作者 Zengqiang Chen Qinglin Sun Mikulas Huba Pavol Bistak 《Control Theory and Technology》 EI CSCD 2026年第2期214-229,共16页
Unknown external disturbances and hydrodynamic uncertainties pose significant challenges to accurate path tracking of autonomous underwater vehicles(AUVs).To address this problem,a guidance law ensuring trajectory con... Unknown external disturbances and hydrodynamic uncertainties pose significant challenges to accurate path tracking of autonomous underwater vehicles(AUVs).To address this problem,a guidance law ensuring trajectory convergence is proposed by incorporating position error and AUV dynamics.A deviation compensation disturbance rejection(DCDR)controller is developed by introducing an independent tunable gain to decouple disturbance rejection from state observer dynamics,thereby enabling separate design and coordination of nominal control and robust enhancement.The transfer function-based DCDR implementation is derived to demonstrate a systematic parameter tuning guideline,and the closed-loop stability is established through invariant set analysis.The effectiveness of the proposed method is validated through straight and circular path tracking simulations with and without wave-induced external disturbances.By maintaining an explicit control structure,the proposed DCDR can achieve improved tracking performance and reduced control effort compared with the linear active disturbance rejection control(LADRC)and the compensation function observer-based controller(CFO-C). 展开更多
关键词 Autonomous underwater vehicles Path tracking Active disturbance rejection control Compensation function observer
Nonlinear model predictive control strategy for vehicle path tracking with steering actuator’s dynamic characteristics 认领 引用
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作者 Bin Wang Zhiguo Zhao +1 位作者 Xiwen Yuan Yuyi Wang 《Control Theory and Technology》 EI CSCD 2026年第3期359-373,共15页
The dynamic characteristics of the steering actuator,including response time-delay and calibration deviation,are crucial to a vehicle’s path tracking performance.This study proposes a novel vehicle path tracking cont... The dynamic characteristics of the steering actuator,including response time-delay and calibration deviation,are crucial to a vehicle’s path tracking performance.This study proposes a novel vehicle path tracking control strategy by combining nonlinear model predictive control(NMPC),time-delay model control,and calibration deviation compensation control.In the first stage,the path tracking NMPC strategy is designed without considering the steering actuator’s dynamic characteristics.In the second stage,by combining polynomial fitting with linear matrix inequality(LMI)techniques,a nonlinear time-delay model control algorithm is designed to address the response time-delay.In the third stage,based on the inverse model of the calibration deviation,a nonlinear compensation algorithm is designed for steering actuator’s calibration deviation.Finally,simulation and real vehicle experiment results are provided to illustrate the effectiveness of the proposed vehicle path tracking control strategy. 展开更多
关键词 Nonlinear model predictive control(NMPC) Path tracking Nonlinear time-delay model control Calibration deviation compensation control
Cognitive NFIDC-FRBFNN Control Architecture for Robust Path Tracking of Mobile Service Robots in Hospital Settings 认领 引用
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作者 Huda Talib Najm Ahmed Sabah Al-Araji Nur Syazreen Ahmad 《Computer Modeling in Engineering & Sciences》 SCIE EI 2026年第1期989-1022,共34页
Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This stu... Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller(NFIDC)with a Feedback Radial Basis Function Neural Network(FRBFNN).The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1.The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.A two-stage simulation evaluation was conducted.In the first stage,the controller was tested in a simulated hospital environment under both ideal and non-ideal conditions.In the second,it was benchmarked against four established controllers-Neural Network Model Reference Adaptive(NNMRA),Z-number Fuzzy Logic(Z-FL),Adaptive Dynamic Controller(ADC),and Fuzzy Logic-PID(FL-PID)—using circular and lemniscate trajectories.Across ten runs,the proposed controller achieved the lowest tracking errors under all conditions.Under ideal conditions,it achieved average improvements of 55.24%,75.75%,and 55.20%in integral absolute error(IAE),integral squared error(ISE),and mean absolute error(MAE),respectively,with coefficient of variation(CV)reductions above 55%.Under non-ideal conditions,average improvements exceeded 64%in IAE,77%in ISE,and 66%in MAE,while maintaining CV reductions above 57%.These results confirm that the NFIDC-FRBFNN controller offers superior accuracy,robustness,and consistency for real-time path tracking in healthcare robotics. 展开更多
关键词 Mobile service robot path planning radial basis function neural network trajectory tracking numerical feed forward inverse dynamic controller
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Particle path tracking method in two- and three-dimensional continuously rotating detonation engines 认领 引用 被引量：1
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作者 周蕊 武丹 +1 位作者 刘岩 王健平 《Chinese Physics B》 SCIE EI CAS CSCD 2014年第12期307-315,共9页
The particle path tracking method is proposed and used in two-dimensional（2D） and three-dimensional（3D） numerical simulations of continuously rotating detonation engines（CRDEs）. This method is used to analyze th... The particle path tracking method is proposed and used in two-dimensional（2D） and three-dimensional（3D） numerical simulations of continuously rotating detonation engines（CRDEs）. This method is used to analyze the combustion and expansion processes of the fresh particles, and the thermodynamic cycle process of CRDE. In a 3D CRDE flow field, as the radius of the annulus increases, the no-injection area proportion increases, the non-detonation proportion decreases, and the detonation height decreases. The flow field parameters on the 3D mid annulus are different from in the 2D flow field under the same chamber size. The non-detonation proportion in the 3D flow field is less than in the 2D flow field. In the 2D and 3D CRDE, the paths of the flow particles have only a small fluctuation in the circumferential direction. The numerical thermodynamic cycle processes are qualitatively consistent with the three ideal cycle models, and they are right in between the ideal F–J cycle and ideal ZND cycle. The net mechanical work and thermal efficiency are slightly smaller in the 2D simulation than in the 3D simulation. In the 3D CRDE, as the radius of the annulus increases, the net mechanical work is almost constant, and the thermal efficiency increases. The numerical thermal efficiencies are larger than F–J cycle, and much smaller than ZND cycle. 展开更多
关键词 continuously rotating detonation engine thermodynamic cycle numerical simulation particle path tracking method
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Multi-Objective Parallel Human-machine Steering Coordination Control Strategy of Intelligent Vehicles Path Tracking Based on Deep Reinforcement Learning 认领 引用 被引量：1
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作者 Hongbo Wang Lizhao Feng +2 位作者 Shaohua Li Wuwei Chen Juntao Zhou 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2025年第3期393-411,共19页
In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordinat... In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordination control strategy under a single objective and simple conditions is difficult to adapt to the multi-dimensional state variables’input.In this paper,we propose a deep reinforcement learning algorithm-based multi-objective parallel human-machine steering coordination strategy for path tracking considering driver misoperation and external disturbance.Firstly,the driver steering mathematical model is constructed based on the driver preview characteristics and steering delay response,and the driver characteristic parameters are fitted after collecting the actual driver driving data.Secondly,considering that the vehicle is susceptible to the influence of external disturbances during the driving process,the Tube MPC(Tube Model Predictive Control)based path tracking steering controller is designed based on the vehicle system dynamics error model.After verifying that the driver steering model meets the driver steering operation characteristics,DQN(Deep Q-network),DDPG(Deep Deterministic Policy Gradient)and TD3(Twin Delayed Deep Deterministic Policy Gradient)deep reinforcement learning algorithms are utilized to design a multi-objective parallel steering coordination strategy which satisfies the multi-dimensional state variables’input of the vehicle.Finally,the tracking accuracy,lateral safety,human-machine conflict and driver steering load evaluation index are designed in different driver operation states and different road environments,and the performance of the parallel steering coordination control strategies with different deep reinforcement learning algorithms and fuzzy algorithms are compared by simulations and hardware in the loop experiments.The results show that the parallel steering collaborative strategy based on a deep reinforcement learning algorithm can more effectively assist the driver in tracking the target path under lateral wind interference and driver misoperation,and the TD3-based coordination control strategy has better overall performance. 展开更多
关键词 Path tracking Human-machine co-driving Parallel steering coordination Deep reinforcement learning
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Hierarchical cooperative path planning method using three-dimensional velocity-obstacle strategy for multiple fixed-wing UAVs 认领 引用
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作者 ZHOU Zhenlin LONG Teng +1 位作者 SUN Jingliang LI Junzhi 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2025年第5期1342-1352,共11页
A three-dimensional path-planning approach has been developed to coordinate multiple fixed-wing unmanned aerial vehicles(UAVs)while avoiding collisions.The hierarchical path-planning architecture that divides the path... A three-dimensional path-planning approach has been developed to coordinate multiple fixed-wing unmanned aerial vehicles(UAVs)while avoiding collisions.The hierarchical path-planning architecture that divides the path-planning process into two layers is proposed by designing the velocityobstacle strategy for satisfying timeliness and effectiveness.The upper-level layer focuses on creating an efficient Dubins initial path considering the dynamic constraints of the fixed wing.Subsequently,the lower-level layer detects potential collisions and adjusts its flight paths to avoid collisions by using the threedimensional velocity obstacle method,which describes the maneuvering space of collision avoidance as the intersection space of half space.To further handle the dynamic and collisionavoidance constraints,a priority mechanism is designed to ensure that the adjusted path is still feasible for fixed-wing UAVs.Simulation experiments demonstrate the effectiveness of the proposed method. 展开更多
关键词 three-dimensional path planning Dubins path method velocity obstacle collision avoidance
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Path Tracking Robust Control Strategy for Intelligent Vehicle Based on Force-Driven with MPC and H∞ 认领 引用
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作者 Qiangqiang Yao Yiheng Shi +1 位作者 Peng Hang Ying Tian 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2025年第5期351-361,共11页
Due to errors in vehicle dynamics modeling,uncertainty in model parameters,and disturbances from curvature,the performance of the path tracking controller is poor or even unstable under high-speed and large-curvature ... Due to errors in vehicle dynamics modeling,uncertainty in model parameters,and disturbances from curvature,the performance of the path tracking controller is poor or even unstable under high-speed and large-curvature conditions.Therefore,a path tracking robust control strategy based on force-driven H∞and MPC is proposed.To fully exploit the nonlinear dynamics characteristics of tires,a force-driven state space model of a path tracking system based on a linear time-varying tire model is established;the H∞and MPC methods are used to design a robust controller.Considering disturbance and system state constraints,the robust control constraint model based on LMI is established.Finally,the proposed controller is validated through joint simulations using CarSim and MATLAB.The results show that the maximum lateral deviation is reduced by 17.07%,and the maximum course angle deviation is reduced by 13.04%under large curvature disturbance conditions.The maximum lateral deviation is reduced by 27.85%,and the maximum course angle deviation is reduced by 31.17%under conditions of uncertain road adhesion coefficients.Based on the controller’s performance,the proposed controller effectively mitigates modeling errors,parameter uncertainties,and curvature disturbances. 展开更多
关键词 Intelligent vehicles Model predictive control Robust control Path tracking Force-driven
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Improving Path Tracking Performance of 4WIS Vehicles via Constraint-Oriented Consistent Coordinated Steering 认领 引用
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作者 Zeyu Yang Yusheng Dai +3 位作者 Manjiang Hu Yougang Bian Qingjia Cui Yang Li 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2025年第5期176-190,共15页
Research has shown that when vehicles follow the Ackerman steering principle(ASP),the tire wear can be reduced and the path tracking performance can be improved.However,in the case of four-wheel independent steering(4... Research has shown that when vehicles follow the Ackerman steering principle(ASP),the tire wear can be reduced and the path tracking performance can be improved.However,in the case of four-wheel independent steering(4WIS)vehicles,the steering systems of the four wheels are relatively independent,and there are differences and uncertainties in individual steering dynamics,which lead to challenges for all four wheels in simultaneously satisfying the ASP and may deteriorate the vehicle path tracking performance.In response to this problem,this paper introduces a four-wheel consistent coordinated steering control for 4WIS vehicles.The algorithm innovatively reconfigures the Ackerman steering relationships as coupling constraints among the wheels,and utilizes the constraint-following method to design controller.The controller achieves uniform boundedness(UB)and uniform ultimate boundedness(UUB)of ASP constraint error.The Carsim/Simulink joint simulation results demonstrate that the algorithm guarantees the approximate satisfaction of ASP in both the transient and steady-state of the vehicle path tracking.Also,it significantly improves the path tracking performance. 展开更多
关键词 Four-wheel independent steering Path tracking Constraint-following control Consistent coordinated control Ackerman steering principle Uncertainties
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Left Ventricular Systolic Strain of the Cardiac Allograft Evaluated with Three-dimensional Speckle Tracking Echocardiography 认领 引用 被引量：1
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作者 刘红云 邓又斌 +5 位作者 刘琨 李阳 汤乔颖 魏翔 昌盛 卢峡 《Journal of Huazhong University of Science and Technology(Medical Sciences)》 2013年第5期765-769,共5页
Three-dimensional speckle tracking echocardiography was employed to evaluate the changes of left ventricular systolic strain in 23 heart transplant recipients at 1 st, 3rd, 6th and 12th month after heart transplantati... Three-dimensional speckle tracking echocardiography was employed to evaluate the changes of left ventricular systolic strain in 23 heart transplant recipients at 1 st, 3rd, 6th and 12th month after heart transplantation, and 23 healthy subjects served as controls. The three-dimensional full-volume echocardiographic images of left ventricle were recorded and then were analyzed using EchoPAC software. The strain curves and peak systolic strain values for each segment and overall left ventricular wall were obtained. Left ventricular global peak longitudinal strain （GPSL）, global peak radial strain （GPSR）, global peak circumferential strain （GPSC） and global peak area strain （GPSA） were measured and then statistically analyzed. There were no significant differences in left ventricular ejection fraction （LVEF） and cardiac output （CO） between heart transplant recipients and controls. The GPSL in heart transplant recipients at 1st month after surgery was significantly lower than that in controls, but close to the normal value at 3rd month after surgery and later. The GPSC, GPSA and GPSR were significantly lower in heart transplant recipients at 1 st, 3rd, 6th and 12th month after surgery than those in controls. It is suggested that three-dimensional speckle tracking echocardiography can be used for monitoring changes of left ventricular systolic strains and evaluating left ventricular systolic function in cardiac allograft. 展开更多
关键词 three-dimensional echocardiography speckle tracking imaging heart transplantation
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Application of three-dimensional speckle tracking technique in measuring left ventricular myocardial function in patients with diabetes 认领 引用 被引量：1
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作者 Zheng Li Ying Qian +1 位作者 Chun-Yun Fan Yong Huang 《World Journal of Diabetes》 SCIE 2024年第4期783-792,共10页
BACKGROUND Diabetic cardiomyopathy is considered as a chronic complication of diabetes mellitus(DM).Therefore,early detection of left ventricular systolic function(LVSF)damage in DM is essential.AIM To explore the use... BACKGROUND Diabetic cardiomyopathy is considered as a chronic complication of diabetes mellitus(DM).Therefore,early detection of left ventricular systolic function(LVSF)damage in DM is essential.AIM To explore the use of the three-dimensional speckle tracking technique(3D-STI)for measuring LVSF in DM patients via meta-analysis.METHODS The electronic databases were retrieved from the initial accessible time to 29 April 2023.The current study involved 9 studies,including 970 subjects.We carried out this meta-analysis to estimate myocardial function in DM compared with controls according to myocardial strain attained by 3D-STI.RESULTS Night articles including 970 subjects were included.No significant difference was detected in the left ventricular ejection fraction between the control and the diabetic group(P>0.05),while differences in global longitudinal strain,global circumferential strain,global radial strain,and global area strain were markedly different between the controls and DM patients(all P<0.05).CONCLUSION The 3D-STI could be applied to accurately measure early LVSF damage in patients with DM. 展开更多
关键词 Diabetes mellitus Left ventricular systolic dysfunction Three-dimensional speckle tracking echocardiography Meta analysis
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Evaluation of left ventricular systolic dyssynchrony by two-dimensional speckle tracking imaging and real-time three-dimensional echocardiography 认领 引用 被引量：1
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作者 吕函璐 刘英梅 +1 位作者 韦育林 邱琼 《South China Journal of Cardiology》 CAS 2015年第2期80-87,共8页
Background Two-dimensional speckle tracking imaging （2D-STI） and real-time three-dimensional echocardiography （RT-3DE） have more advantages in evaluating left ventricular （LV） systolic dyssynchrony than traditio... Background Two-dimensional speckle tracking imaging （2D-STI） and real-time three-dimensional echocardiography （RT-3DE） have more advantages in evaluating left ventricular （LV） systolic dyssynchrony than traditional echocardiographic techniques. The study aimed to evaluate LV dyssynchrony parameters by both 2D-STI and RT-3DE, and the correlation between these two techniques. Methods A total of 43 chronic heart failure （CHF） patients and 27 healthy volunteers were enrolled. There were 23 dyssynchrony parameters selected to evaluate left ventricular systolic synchronization, involving 15 from 2D-STI and 8 from RT-3DE. Results Few of the dyssynchrony parametersshowednegative correlations with LV ejection fraction （LVEF） in the CHF group. The difference between time to peak-systolic radial strain of the anteroseptal and posterior segments at the level of papillary muscles [AS-P（RS）] from 2D-STI showed positive correlations with parts of the parameters from RT-3DE （P 〈 0.05）. Conclusions LV systolic dysfunction does not correlate with dyssynchrony. Moreover, there is a weak association between 2D-STI and RT-3DE in assessment of left ventricular dyssynchrony. 展开更多
关键词 heart failure speckle tracking imaging real-time three-dimensional echocardiography dyssynchrony
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Trajectory tracking on the optimal path of two-dimensional quadratic barrier escaping 认领 引用
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作者 Zengxuan Zhao Xiuying Zhang +4 位作者 Pengchen Zhao Chunyang Wang Chunlei Xia Mushtaq Rana Imran Joelous Malamula Nyasulu 《Chinese Physics B》 SCIE EI CAS CSCD 2025年第5期92-95,共4页
The diffusion trajectory of a Brownian particle passing over the saddle point of a two-dimensional quadratic potential energy surface is tracked in detail according to the deep learning strategies.Generative adversari... The diffusion trajectory of a Brownian particle passing over the saddle point of a two-dimensional quadratic potential energy surface is tracked in detail according to the deep learning strategies.Generative adversarial networks(GANs)emanating in the category of machine learning(ML)frameworks are used to generate and assess the rationality of the data.While their optimization is based on the long short-term memory(LSTM)strategies.In addition to drawing a heat map,the optimal path of two-dimensional(2D)diffusion is simultaneously demonstrated in a stereoscopic space.The results of our simulation are completely consistent with the previous theoretical predictions. 展开更多
关键词 trajectory tracking optimal path two-dimensional barrier escaping deep learning
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The Construction of Cultural Ecology in the Youth Version of The Peony Pavilion:A Study Based on the Three-Dimensional Communication Model of University,Society,and International Sphere 认领 引用
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作者 ZHU Chenshu REN Xiaofei 《Journal of Literature and Art Studies》 2026年第6期488-494,共7页
Since its premiere in 2004,the Youth Version of The Peony Pavilion has successfully reversed the aging audience and market contraction of Kunqu Opera through over 20 years of communication practice.Grounded in the the... Since its premiere in 2004,the Youth Version of The Peony Pavilion has successfully reversed the aging audience and market contraction of Kunqu Opera through over 20 years of communication practice.Grounded in the theory of cultural ecology,this study systematically analyzes the ecological correlations among the university,society,and international dimensions in its communication system.The research indicates that universities achieves the cultivation of audiences and inheritors through curriculum institutinalization,industry-education integration,and global dialogue.The society expands the breadth of audience reach via mass media and emerging media combined with digital technologies.In terms of international communication,participation in art festivals and academic dialogues has enhanced its global influence and reinforces cultural confidence at home.The three dimensions reinforce each other,forming a closed-loop ecosystem that offers valuable insights and references for exploring new communication paths for Kunqu Opera,promoting Chinese culture going global,and advancing the building of a community with a shared future for mankind. 展开更多
关键词 Youth Version of The Peony Pavilion three-dimensional communication path cultural ecology
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Assessment of Left Atrial Function by Full Volume Real-time Three-dimensional Echocardiography and Left Atrial Tracking in Essential Hypertension Patients with Different Patterns of Left Ventricular Geometric Models 认领 引用 被引量：9
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作者 Yang Wang Lin Gao +1 位作者 Jian-bai Li Chao Yu 《Chinese Medical Sciences Journal》 CAS CSCD 2013年第3期152-158,共7页
Objective To evaluate left atrial function in essential hypertension patients with different patterns of left ventricular geometric models by real-time three-dimensional echocardiography （RT-3DE） and left atrial tra... Objective To evaluate left atrial function in essential hypertension patients with different patterns of left ventricular geometric models by real-time three-dimensional echocardiography （RT-3DE） and left atrial tracking （EAT）. 展开更多
关键词 essential hypertension left atrial function three-dimensional echocardiography left atrial tracking
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Three-dimensional mesoscale eddy identification and tracking algorithm based on pressure anomalies Liming 认领 引用 被引量：3
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作者 Liming YUAN Fenglin TIAN +2 位作者 Suqin XU Chun ZHOU Jie CHEN 《Journal of Oceanology and Limnology》 SCIE CAS CSCD 2021年第6期2153-2166,共14页
The Kuroshio Extension(KE)is one of the most eddy-energetic regions in the global ocean.However,most mesoscale eddy studies in the region are focused on surface eddies and the structure and characteristics of three-di... The Kuroshio Extension(KE)is one of the most eddy-energetic regions in the global ocean.However,most mesoscale eddy studies in the region are focused on surface eddies and the structure and characteristics of three-dimensional(3-D)eddies require additional research.In this study,we proposed a 3-D eddy identification and tracking algorithm based on pressure anomalies,similar to sea level anomalies(SLAs)for surface eddy identification.We applied this scheme to a 5-year(2008-2012)high-resolution numerical product to develop a 3-D eddy dataset in the KE.The reliability of the numerical product was verified by the 5-year temperature/salinity hydrological characteristics and surface eddy distribution.According to the 3-D eddy tracking dataset,the number of eddies decreased dramatically as the eddy existence-time increased and more anticyclonic eddies(AEs)had an existence-time longer than 1 week than cyclonic eddies(CEs).We presented daily variations in the 3-D structure of two 3-D eddy-tracking trajectories that exhibit a certain jump in depth and a shift toward the west and equator.In addition to the bowl,lens,and cone eddies that have been discovered by previous researchers,we found that there is a cylindrical eddy,and its eddy radii are almost consistent across all layers.CEs cause significant negative temperature anomalies,“negative-positive”salinity anomalies,and sinking current fields in the KE region,while AEs cause positive temperature anomalies,“positive-negative”salinity anomalies,and upward current fields.The four types of eddies have different effects on the temperature/salinity anomalies and current field distribution which are related to their structure. 展开更多
关键词 mesoscale eddy pressure anomalies three-dimensional structure identification tracking
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Value of myocardial function in children with Kawasaki disease by two-dimensional and three-dimensional ultrasound speckle tracking 认领 引用
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作者 Ya-Mei Shen Tao-Min Bai +4 位作者 Xue-Mei Zhang Chun-Miao Kang Xiao-Ni Chang Yan-Hua Gao Xiao-Hua Yan 《Journal of Hainan Medical University》 CAS 2019年第21期58-61,共4页
Objective:To investigate the value of two-dimensional ultrasound speckle tracking(2D-STI)and three-dimensional ultrasound speckle tracking(3D-STI)in evaluating myocardial function in children with Kawasaki disease.Met... Objective:To investigate the value of two-dimensional ultrasound speckle tracking(2D-STI)and three-dimensional ultrasound speckle tracking(3D-STI)in evaluating myocardial function in children with Kawasaki disease.Methods 92 children with Kawasaki disease admitted to our hospital from February 2017 to February 2019 were retrospectively analyzed.50 children who underwent 3D-STI examination were taken as observation group and 42 children who underwent 2D-STI examination were taken as control group.The left ventricular systolic function index,storage time and analysis time of the image,the diameter of coronary artery,the strain difference of left ventricular basal segment,middle segment,apical segment and whole segment were observed.Results The levels of left ventricular end-diastolic volume(LVEDV),left ventricular end-systolic volume(LVESV),left ventricular myocardial mass(LVMI)in the observation group were higher than those in the control group(P0.05).The storage time and analysis time of the image in the observation group were significantly lower than those in the control group(P0.05).The longitudinal peak systolic strain(LS),circumferential peak systolic strain(CS)and radial peak systolic strain(RS)in the observation group were higher than those in the control group(P<0.05).The global longitudinal peak strain(GLS),global circumferential peak strain(GCS)and global radial peak strain(GRS)in the observation group were higher than those in the control group(P<0.05).LS and CS in the middle segment of the observation group were higher than those in the control group(P<0.05).Conclusions Compared with 2D-STI,3D-STI can objectively and accurately reflect the myocardial function of children with Kawasaki disease. 展开更多
关键词 Kawasaki disease two-dimensional ultrasound speckle tracking three-dimensional ultrasound speckle tracking myocardial function left ventricular systolic function
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Correlation between three-dimensional speckle tracking imaging parameter and the cardiotoxicity of chemotherapeutics in patients with lung cancer chemotherapy 认领 引用
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作者 Guang-Li Hou Jian Shen Yu Wang 《Journal of Hainan Medical University》 CAS 2018年第15期77-80,共4页
Objective: To study the correlation between three-dimensional speckle tracking imaging (3D-STI) parameter global area strain (GAS) and the cardiotoxicity of chemotherapeutics in patients with lung cancer chemotherapy.... Objective: To study the correlation between three-dimensional speckle tracking imaging (3D-STI) parameter global area strain (GAS) and the cardiotoxicity of chemotherapeutics in patients with lung cancer chemotherapy. Methods: Patients with lung cancer who underwent chemotherapy in the Second Affiliated Hospital of Xi'an Medical University between February 2016 and May 2017 were selected as the chemotherapy group, the healthy subjects who received physical examination during the same period were selected as the control group, the 3D-STI examination was performed and GAS was calculated;the serum was collected to determine the contents of cardiotoxicity markers as well as apoptosis and oxidative stress indexes, and the peripheral blood was collected to determine the expression of apoptosis and oxidative stress molecules. Results: GAS level, serum ALDH2 and CAT contents as well as peripheral blood Keap1 and Bcl-2 expression intensity of chemotherapy group were lower than those of control group whereas serum Copeptin, CK-MB, cTnI, cMyBP-c, sTWEAK, sFas, MDA and 8-isoPGF2α contents as well as peripheral blood Nrf-2, gp91phox, p22 phox and Caspase-3 expression intensity were significantly higher than those of control group;the GAS level in chemotherapy group was negatively correlated with serum Copeptin, CK-MB, cTnI, cMyBP-c, sTWEAK, sFas, MDA and 8-isoPGF2α contents as well as peripheral blood Nrf-2, gp91phox, p22 phox and Caspase-3 expression intensity, and positively correlated with serum ALDH2 and CAT contents as well as peripheral blood Keap1 and Bcl-2 expression intensity. Conclusion: The changes of 3D-STI parameter GAS in patients with lung cancer chemotherapy can reflect the degree of cardiotoxicity induced by oxidative stress and apoptosis. 展开更多
关键词 Lung cancer Chemotherapy Three-dimensional speckle tracking imaging Cardiotoxicity Apoptosis Oxidative stress
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Correlation between three-dimensional speckle tracking parameters and serum index changes during left ventricular remodeling in patients with coronary heart disease 认领 引用
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作者 Jie-Hong Luo Li-Zhen He 《Journal of Hainan Medical University》 CAS 2018年第11期9-12,共4页
Objective:To study the correlation between three-dimensional speckle tracking parameters and serum index changes during left ventricular remodeling in patients with coronary heart disease. Methods: Patients who were d... Objective:To study the correlation between three-dimensional speckle tracking parameters and serum index changes during left ventricular remodeling in patients with coronary heart disease. Methods: Patients who were diagnosed with coronary heart disease and angina pectoris in our hospital between March 2015 and May 2017 were selected as the CHD group of the study, and the healthy subjects who received medical examination in our hospital during the same period were taken as the control group;the three-dimensional speckle tracking parameters, peripheral blood signal molecule expression as well as serum cytokine and collagen metabolism index levels of the two groups were measured.Results: GLS and AGS levels in CHD group were significantly lower than those in control group whereas GCS and GRS levels were not significantly different from those in control group, and peripheral blood Notch1, Hes1, NF-κB and PKC expression intensity as well as serum sTWEAK, FGF23, TGF-β1, GDF15, sSema4D, CaN, MMP14, PINP and ICTP contents were significantly higher than those of control group;GLS and AGS levels in CHD group were negatively correlated with peripheral blood Notch1, Hes1, NF-κB and PKC expression intensity as well as serum sTWEAK, FGF23, TGF-β1, GDF15, sSema4D, CaN, MMP14, PINP and ICTP contents.Conclusions:The changes of three-dimensional speckle tracking parameters GLS and AGS in patients with coronary heart disease are closely related to the changes in signal pathway function, cytokine secretion and collagen metabolism during left ventricular remodeling. 展开更多
关键词 Coronary heart disease Three-dimensional speckle tracking Left ventricular remodeling Cytokine Collagen metabolism
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MPC-based path tracking with PID speed control for high-speed autonomous vehicles considering time-optimal travel 认领 引用 被引量：40
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作者 CHEN Shu-ping XIONG Guang-ming +1 位作者 CHEN Hui-yan NEGRUT Dan 《Journal of Central South University》 SCIE EI CAS CSCD 2020年第12期3702-3720,共19页
In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering th... In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path. 展开更多
关键词 model predictive control path tracking minimum-time speed profile vehicle dynamics arbitrary path
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Intelligent PID guidance control for AUV path tracking 认领 引用 被引量：16
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作者 李晔 姜言清 +2 位作者 王磊峰 曹建 张国成 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第9期3440-3449,共10页
Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as pl... Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching. 展开更多
关键词 guidance control region search underactuated AUV intelligent PID path tracking
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