Fault-tolerant Trajectory Tracking Control Based on DDPG Algorithm for Underwater Vehicle With Propeller Faults

Jiao Qin,Maiying Zhong,Wendong Gai,Zhongjun Ding 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4

Due to the complexity of the underwater vehicle itself and its operating environment, it is difficult for fault detection and diagnosis (FDD) unit to obtain accurate fault information in time, which brings difficulties to the implementation of subsequent fault-tolerant control (FTC). Aiming at this question, a novel FTC method is proposed in this paper, which does not rely on FDD units and does not require any prior knowledge of faults. Firstly, a nonlinear continuous time system will be established to describe the underwater vehicle system dynamics with external disturbance, model uncertainties, propeller saturation and unknown propeller faults. To be specific, the nominal controller and fault-tolerant controller are designed respectively. When there is no fault, a nominal controller is used to realize the trajectory tracking control of the underwater vehicle and a quadratic performance index is used to describe and monitor the system performance. Based on the approximation ability of neural networks, a deep deterministic policy gradient (DDPG) algorithm is used to generate the controller compensation signal when the tracking performance degradation caused by propeller fault exceeds the pre-set threshold, so as to realize FTC. Finally, the effectiveness and feasibility of our proposed scheme are verified by simulation.

Contingent Valuation Model Based on Contoured Willingness to Pay and Empirical Analysis

Qin Gao,Changlin Ao,Yang Jiao,Rui Tong 보안공학연구지원센터 2016 International Journal of u- and e- Service, Scienc Vol.9 No.4

The Analysis of the Formation Mechanism of Pakistan’s Strategic Culture

Jiao Nie,Huazhong Tu,Ruijing Qin,Xiang Ma 한국정치사회연구소 2019 한국과 국제사회 Vol.3 No.2

국가가 자주권을 행사하는 것은 전략문화와 강한 상관관계가 있지만 국가의 전략문화의 분류에 대해서는 학자마다 견해가 다르다. 중국 서부의 가장 중요한 인접국가 중 하나인 파키스탄은 중국의 든든한 파트너로서 파키스탄의 전략문화를 이해하는 것은 파키스탄의 국가 정책과 국가가 자주권을 행사하는 행위를 이해하는 데 도움이 될 뿐만 아니라 중국과 파키스탄 양국의 협력관계를 심화시키는 데도 도움이 된다. 저자는 지리, 사회, 경제, 문화, 역사, 군사 등의 관점에서 볼 때 파키스탄의 전략적 문화 형성의 메커니즘은 주로 지정학적 환경, 생산방식, 생활방식, 문화적 전통, 역사적 경험과 대외 관계 등 네 가지 요인의 영향을 받는다. 분석 결과로 파키스탄의 전략 문화는 이슬람에 의해 형성되어 왔고, 대외 지향적인 전략 문화로 분류될 수 있으며 국가가 자주권을 행사하는 거도 이슬람적인 색채가 강하다. The state behavior has a strong consequence with the national strategic culture. However, different scholars hold different views on the classification of the national strategic culture. As one of the most significant land neighbors in West China, Pakistan is China’s all-weather strategic cooperative partner. Understanding Pakistan’s strategic culture will not only help understand Pakistan’s national policies and state behavior, but also help deepen China-Pakistan cooperation. Cutting in from the perspectives of geography, social economy, culture, history and military, the author believes that the formation mechanism of Pakistan’s strategic culture is mainly affected by the following four factors: geopolitical environment, production mode and lifestyle, cultural tradition, historical experience and diplomatic relations. The analysis has found that Pakistan’s strategic culture has been shaped by Islam and can be classified as an outward-oriented strategic culture, the state behavior also shows a strong Islamic identity.

Brain-based Correlations Between Psychological Factors and Functional Dyspepsia

( Jiao Fen Nan ),( Ji Xin Liu ),( Jun Ya Mu ),( Wang Huan Dun ),( Ming Zhang ),( Qiyong Gong ),( Wei Qin ),( Jie Tian ),( Fanrong Liang ),( Fang Zeng ) 대한소화기기능성질환·운동학회 2015 Journal of Neurogastroenterology and Motility (JNM Vol.21 No.1

Background/Aims Increasing evidence shows involvement of psychological disorders in functional dyspepsia (FD), but how psychological factors exert their influences upon FD remains largely unclear. The purpose of the present study was to explore the brain-based correlations of psychological factors and FD. Methods Based on Fluorine-18-deoxyglucose positron emission tomography-computed tomography, the altered cerebral glycometabolism was investigated in 40 FD patients compared with 20 healthy controls during resting state using statistical parametric mapping software. Results FD patients exhibited increased glucose metabolism in multiple regions relative to controls (P < 0.001, family-wise error corrected). After controlling for the dyspeptic symptoms, increased aberrations persisted within the insula, anterior cingulate cortex (ACC), middle cingulate cortex (MCC) and middle frontal cortex (midFC), which was related to anxiety and depression score. Interestingly, FD patients without anxiety/depression symptoms also showed increased glycometabolism within the insula, ACC, MCC and midFC. Moreover, FD patients with anxiety/depression symptoms exhibited more significant hypermetabolism within the above 4 sites compared with patients without anxiety/depression symptoms.Conclusions Our results suggested that the altered cerebral glycometabolism may be in a vicious cycle of psychological vulnerabilities and increased gastrointestinal symptoms.

The Analysis of the Formation Mechanism of Pakistan's Strategic Culture

Nie, Jiao,Tu, Huazhong,Qin, Ruijing,Ma, Xiang Korea Institute of Politics and Society 2019 한국과 국제사회 Vol.3 No.2

국가가 자주권을 행사하는 것은 전략문화와 강한 상관관계가 있지만 국가의 전략문화의 분류에 대해서는 학자마다 견해가 다르다. 중국 서부의 가장 중요한 인접국가 중 하나인 파키스탄은 중국의 든든한 파트너로서 파키스탄의 전략문화를 이해하는 것은 파키스탄의 국가정책과 국가가 자주권을 행사하는 행위를 이해하는 데 도움이 될 뿐만 아니라 중국과 파키스탄 양국의 협력관계를 심화시키는 데도 도움이 된다. 저자는 지리, 사회, 경제, 문화, 역사, 군사 등의 관점에서 볼 때 파키스탄의 전략적 문화 형성의 메커니즘은 주로 지정학적 환경, 생산방식, 생활방식, 문화적 전통, 역사적 경험과 대외 관계 등 네 가지 요인의 영향을 받는다. 분석 결과로 파키스탄의 전략 문화는 이슬람에 의해 형성되어 왔고, 대외 지향적인 전략 문화로 분류될 수 있으며 국가가 자주권을 행사하는 거도 이슬람적인 색채가 강하다. The state behavior has a strong consequence with the national strategic culture. However, different scholars hold different views on the classification of the national strategic culture. As one of the most significant land neighbors in West China, Pakistan is China's all-weather strategic cooperative partner. Understanding Pakistan's strategic culture will not only help understand Pakistan's national policies and state behavior, but also help deepen China-Pakistan cooperation. Cutting in from the perspectives of geography, social economy, culture, history and military, the author believes that the formation mechanism of Pakistan's strategic culture is mainly affected by the following four factors: geopolitical environment, production mode and lifestyle, cultural tradition, historical experience and diplomatic relations. The analysis has found that Pakistan's strategic culture has been shaped by Islam and can be classified as an outward-oriented strategic culture, the state behavior also shows a strong Islamic identity.

Predictive Value of Exercise Blood Pressure Changes for Orthostatic Hypotension in Patients With Parkinson’s Disease

Yi Qin,Zhao-hui Jin,Zhen-ying Zhang,Ke-ke Chen,Xin Yu,Hong-jiao Yan,Rui-dan Wang,Yuan Su,Ai-xian Liu,Jia-ning Xi,Bo-yan Fang 대한신경과학회 2023 Journal of Clinical Neurology Vol.19 No.1

Background and Purpose Orthostatic hypotension (OH) is common in patients with Parkinson’s disease (PD). Early recognition OH is required with sensitive assessments. The purpose of this study was to determine whether blood pressure (BP) changes during exercise can predict the occurrence of OH in PD. Methods This prospective cohort study included 80 consecutive patients with PD. All patients agreed to participate in a baseline evaluation and cardiopulmonary exercise test (CPET). According to the initial active standing test (AST), those without OH (PD-nonOH) at baseline had their AST results followed up for 6 months. The main outcome was defined as whether patients without OH at baseline would develop OH after 6 months. Logistic regression analysis was applied to identify the relevant variables. A nomogram was constructed based on clinical features and identified variables. The concordance index (C-index) and area under the receiver operating characteristic curve (AUC) were used to evaluate the accuracy and predictive ability of the nomogram, respectively. Results CPET results indicated that peak load, peak heart rate, heart rate recovery at 1 min, and systolic BP change (ΔSBP) were lower in those with OH than in the PD-nonOH group (p<0.05) at baseline. Logistic regression analysis indicated that peak load and ΔSBP during CPET had significant effects on OH (p<0.05). Age, sex, peak load, and ΔSBP were used to construct the nomogram model (C-index=0.761). The prediction model had an AUC of 0.782 (95% confidence interval=0.649–0.889) and a specificity and sensitivity of 70.0% and 81.8%, respectively. Conclusions This study has identified predictive factors for OH development in patients with PD. CPET could be used as a complementary examination to identify patients at a high risk of OH.

The Religious Studies in Pakistan: A Review

Nie Jiao,Qin Ruijing,Tu Huazhong 아시아사회과학학회 2020 Jornal of Asia Social Science Vol.1 No.3

Religious issues are an unavoidable theme in the study of Pakistan. Pakistan is an Islamic country lacking a stable political order, which occupies an important position in its domestic politics due to its religious influence. It is of great theoretical and practical significance to study and summarize the religious management mode and experience in Pakistan. At present, academic circles at home and abroad have conducted many studies on Pakistan’s religious issues, but there are relatively few specific studies on Pakistan’s religious management models and experience. Combing and analyzing the existing research results is conducive to grasping the current research trends as a whole, and digging out further problems and directions.

Construction and Empirical Study of Trend Surface for Willingness to Pay Based on Improved Voronoi Method

Yang Jiao,Changlin Ao,Rui Tong,Qin Gao 보안공학연구지원센터 2016 International Journal of Smart Home Vol.10 No.1

The study on spatial attributes of willingness to pay(WTP) is meaningful for cost sharing of environmental goods recovery. This paper forces on the rules of spatial variation of willingness to pay in different areas, by division of sub-area and construction of trend surface. It is divided 71 sub-areas by Voronoi Polygon and constructed trend surface of willingness to pay for each sub-area for the non-use value of Songhua River as a study case. The result shows that high WTP areas spatially aggregated around the environmental goods, as low WTP areas dispersed on both sides of the environment goods uniformly. Which influenced the WTP is not only the distance, but the degree of understanding and the use of environment goods, interpretated by Probit models. It’s an easier and faster method for the trend surface construction, which has a significant value for the study of spatial attributes of willingness to pay.

Propofol enhanced the cell sensitivity to paclitaxel (PTX) in prostatic cancer (PC) through modulation of HOTAIR

Xuesong Yang,Jiao Qin,Chunyu Gong,Jing Yang 한국유전학회 2021 Genes & Genomics Vol.43 No.7

Background PTX is widely used in cancer treatments. Objective In this paper, we explored the role and potential molecular mechanism of propofol in regulating PTX sensitivity in PC cells. Methods Prostatic cancer cell line PC3 was treated using diferent concentrations of PTX (10 nM, 50 nM), propofol (150 μM, 300 μM) or transfected with overexpressed HOTAIR plasmid. HOTAIR expression was analyzed by RT-qPCR. Apoptosis of PC3 cells was observed by fow cytometry method while cell viability was evaluated by CCK-8. Moreover, apoptosis-related genes, Bcl-2 and Bax were detected by Western blot methods. E-cadherin, N-cadherin and Vimentin protein concentrations were monitored by ELISA. Results PTX signifcantly increased apoptosis of PC3 cells and reduced cell viability in a dose-dependent manner. Moreover, Protein expression of Bcl-2 was obviously inhibited while Bax protein expression level was provoked. Furthermore, E-cadherin protein concentration increased while N-cadherin and Vimentin decreased due to increasing PTX treatments. HOTAIR expression dropped due to PTX treatment while overexpression of HOTAIR induced cell viability, EMT and deterred apoptosis. Propofol ignited the PTX function while upregulation of HOTAIR partially reversed this. Conclusion Propofol enhanced paclitaxel sensitivity in prostatic cancer cells through modulation of HOTAIR in vitro.

Reports ; Adrenergic receptor β2 activation by stress promotes breast cancer progression through macrophages M2 polarization in tumor microenvironment

( Jun-fang Qin ),( Feng-jiao Jin ),( Ning Li ),( Hai-tao Guan ),( Lan Lan ),( Hong Ni ),( Yue Wang ) 생화학분자생물학회 2015 BMB Reports Vol.48 No.5

Stress and its related hormones epinephrine (E) and norepinephrine (NE) play a crucial role in tumor progression. Macrophages in the tumor microenvironment (TME) polarized to M2 is also a vital pathway for tumor deterioration. Here, we explore the underlying role of macrophages in the effect of stress and E promoting breast cancer growth. It was found that the weight and volume of tumor in tumor bearing mice were increased, and dramatically accompanied with the rising E level after chronic stress using social isolation. What is most noteworthy, the number of M2 macrophages inside tumor was up-regulated with it. The effects of E treatment appear to be directly related to the change of M2 phenotype is reproduced in vitro. Moreover, E receptor ADRβ2 involved in E promoting M2 polarization was comprehended simultaneously. Our results imply psychological stress is influential on specific immune system, more essential for the comprehensive treatment against tumors. [BMB Reports 2015; 48(5): 295-300]