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Finite-time Backstepping for Attitude Tracking with Disturbances and Input Constraints
Tao Jiang,Fubiao Zhang,Defu Lin 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.6
Backstepping (BS) is an important framework to stabilize the high-order nonlinear system. This work develops a finite-time convergence property for the BS framework combined with an auxiliary input saturation compensator and applies it to address attitude tracking problem of a rigid body subjected to disturbances and input constraints. The finite-time convergence of the tracking error is guaranteed by introducing the fractional power of tracing errors. Meanwhile, the finite-time filters of the target commands and the finite-time disturbance observers inspired by multivariable super-twisting algorithm are employed to construct the finite-time BS framework. Another novelty is to propose a novel auxiliary system to handle the adverse effect of input saturation. The singularity of auxiliary dynamics is avoided by the cubic representation of auxiliary variables. Attitude tracking errors are demonstrated to converge to zeros in finite time despite the presence of input saturation and disturbances through Lyapunov theory. Comparative simulations are conducted to demonstrate the effectiveness and superiority of the proposed control system.
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An Improved Privacy Preserving Construction for Data Integrity Verification in Cloud Storage
( Yingjie Xia ),( Fubiao Xia ),( Xuejiao Liu ),( Xin Sun ),( Yuncai Liu ),( Yi Ge ) 한국인터넷정보학회 2014 KSII Transactions on Internet and Information Syst Vol.8 No.10
The increasing demand in promoting cloud computing in either business or other areas requires more security of a cloud storage system. Traditional cloud storage systems fail to protect data integrity information (DII), when the interactive messages between the client and the data storage server are sniffed. To protect DII and support public verifiability, we propose a data integrity verification scheme by deploying a designated confirmer signature DCS as a building block. The DCS scheme strikes the balance between public verifiable signatures and zero-knowledge proofs which can address disputes between the cloud storage server and any user, whoever acting as a malicious player during the two-round verification. In addition, our verification scheme remains blockless and stateless, which is important in conducting a secure and efficient cryptosystem. We perform security analysis and performance evaluation on our scheme, and compared with the existing schemes, the results show that our scheme is more secure and efficient.
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Shilabant Sen Sribastav,Jun Long,Peiheng He,Wei He,Fubiao Ye,Zemin Li,Jianru Wang,Hui Liu,Hua Wang,Zhaomin Zheng 대한척추외과학회 2018 Asian Spine Journal Vol.12 No.3
Study Design: A prospective cross-sectional study. Purpose: To evaluate the risk factors associated with the severity of pain intensity in patients with non-specific low back pain (NSLBP) in Southern China. Overview of Literature: Low back pain (LBP) is the leading cause of activity limitation and work absence throughout the world, so a firm understanding of the risk factor associated with NSLBP can provide early and prompt interventions that are aimed at attaining long-term results. Methods: Participants were recruited from January 2014 to January 2016 and were surveyed using a self-designed questionnaire. Anonymous assessments included Short Form 36-Item Health Survey (SF-36) and Visual Analogue Scale (VAS). The association between the severity of NSLBP and these potential risk factors were evaluated. Results: A total of 1,046 NSLBP patients were enrolled. The patients with primary school education, high body mass index (BMI), those exposed to sustained durations of driving and sitting, smoking, recurrent LBP had increased VAS and Oswestry Disability Index (ODI) scores with lower SF-36 scores (p <0.01). Workers and drivers compared with waiters and patients who lifted >10 kg objects in a quarter of their work time for >10 years had higher VAS and ODI scores with lower SF-36 scores (p <0.01). Multiple logistic regression showed lower levels of education, LBP for 1–7 days, long-lasting LBP in last year, smoking, long duration driving, and higher BMI were associated with more severe VAS score. Conclusions: The severity of NSLBP is associated with lower levels of education, poor standards of living, heavy physical labor, long duration driving, and sedentary lifestyle. Patients with recurrent NSLBP have more severe pain. Reducing rates of obesity, the duration of heavy physical work, driving or riding, and attenuating the prevalence of sedentary lifestyles and smoking may reduce the prevalence of NSLBP.
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