The combined effect of polystyrene microplastics (mPS) and dibutyl phthalate (DBP), a common plastic additive, on the microalgae Chlorella pyrenoidosa was investigated in the present study. The 96 ...h-IC50 value of DBP was 2.41 mg L−1. Polystyrene microplastics exhibited size-dependent inhibitory effect to C. pyrenoidosa, with the 96 h-IC50 at 6.90 and 7.19 mg L−1 for 0.1 and 0.55 μm mPS respectively, but little toxicity was observed for 5 μm mPS. The interaction parameter ρ based on the response additive response surface (RARS) model varied from −0.309 to 5.845, indicating the interaction pattern varying with exposure concentrations of chemical mixtures. A modified RARS model (taking ρ as a function of exposure concentration) was constructed and could well predict the combined toxicity of mPS and DBP. More than 20% reduction of DBP was observed at 20 mg L−1 mPS, while 1 mg L−1 mPS had no significant effect on the bioavailability of DBP at different sampling time points. Volume, morphological complexity and chlorophyll fluorescence intensity of microalgal cells were disturbed by both DBP and mPS. The antagonistic effect of high concentrations of mPS might be partially attributed to the combination of hetero- and homo-aggregation and the reduced bioavailability of DBP. The overall findings of the present study profiled the combined toxic effects of mPS and DBP on marine phytoplankton species which will be helpful for further evaluation of ecological risks of mPS and DBP in marine environment.
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•The interaction parameter of RARS model varied with the concentration of mPS-DBP.•The combined effect of mPS and DBP was variable at different concentration ranges.•mPS could reduce the bioavailability of DBP.•C. pyrenoidosa formed hetero- and homo-aggregates with mPS.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
The challenging issue of "human-machine copilot" opens up a new frontier to enhancing driving safety. However, driver-machine conflicts and uncertain driver/external disturbances are significant ...problems in cooperative steering systems, which degrade the system's path-tracking ability and reduce driving safety. This paper proposes a novel stochastic game-based shared control framework to model the steering torque interaction between the driver and the intelligent electric power steering (IEPS) system. A six-order driver-vehicle dynamic system, including driver/external uncertainty, is established for path-tracking. Then, the affine linear-quadratic-based path-tracking problem is proposed to model the maneuvers of the driver and IEPS. Particularly, the feedback Nash and Stackelberg frameworks to the affine-quadratic problem are derived by stochastic dynamic programming. Two cases of copilot lane change driving scenarios are studied via computer simulation. The intrinsic relation between the stochastic Nash and Stackelberg strategies is investigated based on the results. And the steering-in-the-loop experiment reveals the potential of the proposed shared control framework in handling driver-IEPS conflicts and uncertain driver/external turbulence. Finally, the copiloting experiments with a human driver further demonstrate the rationality of the game-based pattern between both the agents.
This study investigates the effects of treadmill control algorithms on spatiotemporal variables when walking on a self-paced (SP) treadmill. Ten healthy subjects walked at their preferred walking ...speed for 15 min under three different treadmill control modes. Stride time, stride length, and stride speed were measured using an inertial measurement unit. The mean, coefficient of variance, Poincaré descriptors, and gait dynamics were calculated for each parameter. The mean values of stride length and stride speed were significantly increased when the treadmill had a quick response speed to the user’s walking behavior. The long-term variability of stride length and stride speed was significantly affected by the treadmill control algorithms. A reduced strength of long-range correlations of stride time and stride speed was found when walking on the SP treadmill with suppressed treadmill accelerations and small velocity variations. We suggest that the suppression of treadmill acceleration provides more adaptability and less constraint to the user during SP treadmill walking. Although further research is required, the present work provides a basis for interpreting the influence of treadmill control algorithms on human gait.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
This paper develops a data-driven decoupling feedforward control scheme with iterative tuning to meet the challenge of the crosstalk problem in multiple-input multiple-output (MIMO) motion control ...systems. In contrast to model-based approaches, iterative tuning fully utilizes the available data to address the practical difficulty in obtaining an accurate dynamic model. The MIMO feedforward signal is iteratively updated by minimizing the developed crosstalk criterion. Specifically, to make the optimal problem convex, the MIMO feedforward controller is structuralized with a finite impulse response (FIR) filter and is parameterized by corresponding coefficients. A data-driven unbiased gradient approximation based on the Toeplitz matrix is then developed for updating the parameter vector. Furthermore, to deal with the Hessian inverse problem encountered in the numerical calculation of the update law, a stable inversion method combined with singular value decomposition is employed. The basic characteristics of the proposed scheme, including convergence accuracy and convergence rate, are illustrated through simulation. Finally, the proposed data-driven decoupling control scheme is applied to a developed ultraprecision motion stage, and the results show that the approach can significantly attenuate the servo error caused by the crosstalk problem. This simplicity and accuracy oriented control method without need of dynamic modeling is definitely suitable for industrial applications.
In precision motion control, well-designed feedforward control can effectively compensate the reference-induced tracking error. To achieve excellent tracking performance such as nanometer accuracy ...regardless of reference variations, an integrated model-data-based zero-phase error tracking feedforward control (ZPETFC) strategy is synthesized for precision motion systems with complex and nonminimum phase (NMP) dynamics. The feedforward controller comprises a conventional ZPETFC controller and a gain compensation filter structured with symmetric finite impulse response (FIR) filter. Especially, the conventional ZPETFC is predesigned based on the plant model, and consequently, the feedforward controller is parameterized by the gain compensation filter coefficients, which results in excellent capacity for approximating the inverse behavior of the complex and NMP dynamics. In order to compensate the modeling error in the conventional ZPETFC design and improve the tracking performance, a data-based instrumental-variable method with impulse response experiment is developed to obtain the optimal parameter vector under the existence of noise and disturbances. Furthermore, the ridge estimate method using singular value decomposition is employed to guarantee a fast convergent iteration in the case of ill-conditioned Hessian matrix. The proposed ZPETFC strategy enables a convex optimization procedure with the inherent stability in the iterative tuning process, and is finally implemented on a developed ultraprecision wafer stage. Comparative experimental results demonstrate that the strategy is insensitive to reference variations in comparison with iterative learning control, and outperforms preexisting model-based ZPETFC and data-based FIR feedforward control.
Feedforward control has been widely used to improve the tracking performance of precision motion systems. This paper develops a new data‐driven feedforward tuning approach associated with rational ...basis functions. The aim is to obtain the global optimum with optimal estimation accuracy. First, the instrumental variable is employed to ensure the unbiased estimation of the global optimum. Then, the optimal instrumental variable which leads to the highest estimation accuracy is derived, and a new refined instrumental variable method is exploited to estimate the optimal instrumental variable. Moreover, the estimation accuracy of the optimal parameter is further improved through the proposed parameter updating law. Simulations are conducted to test the parameter estimation accuracy of the proposed approach, and it is demonstrated that the global optimum is unbiasedly estimated with optimal parameter estimation accuracy in terms of variance with the proposed approach. Experiments are performed and the results validate the excellent performance of the proposed approach for varying tasks.
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FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
We demonstrated a novel fiber in-line Mach-Zehnder interferometer (MZI) with a large fringe visibility of up to 17 dB, which was fabricated by misaligned splicing a short section of thin core fiber ...between two sections of standard single-mode fiber. Such a MZI could be used to realize simultaneous measurement of tensile strain and temperature. Tensile strain was measured with an ultrahigh sensitivity of -0.023 dB/μɛ via the intensity modulation of interference fringes, and temperature was measured with a high sensitivity of 51 pm/°C via the wavelength modulation of interference fringe. That is, the MZI-based sensor overcomes the cross-sensitivity problem between tensile strain and temperature by means of different demodulation methods. Moreover, this proposed sensor exhibits the advantages of low-cost, extremely simple structure, compact size (only about 10 mm), and good repeatability.
Wafer stage is an important mechatronic unit of industrial lithography tool for manufacturing integrated circuits. This paper presents a novel state/model-free variable-gain discrete sliding mode ...control (DSMC) to suppress the unmolded position-dependent dynamics and disturbances in the nanopositioning wafer stage. The proposed DSMC is essentially composed of feedforward control term, linear feedback control term, and nonlinear switching control term, which can be designed separately. The gain of the switching control term is meaningfully designed to be variable to balance the tradeoff between the robustness and the chattering. Data-driven parameter optimization approach is employed to achieve the optimal controller parameters of the typically nonlinear controller, where off-line parameter updating is iteratively carried out based on the input/output data to minimize a predefined objective function. This scheme facilitates a rapid implementation without either a parameter model or a state observer, and excellent tracking performance with the optimal controller parameters. Moreover, the closed-loop stability is analyzed, and the proposed DSMC is finally implemented on an ultraprecision wafer stage developed in our lab. Comparative experimental results demonstrate that it not only achieves nanoscale tracking accuracy but also possesses promising robustness to position-dependent dynamics and disturbances.
Micromanipulation and biological, material science, and medical applications often require to control or measure the forces asserted on small objects. Here, we demonstrate for the first time the ...microprinting of a novel fiber-tip-polymer clamped-beam probe micro-force sensor for the examination of biological samples. The proposed sensor consists of two bases, a clamped beam, and a force-sensing probe, which were developed using a femtosecond-laser-induced two-photon polymerization (TPP) technique. Based on the finite element method (FEM), the static performance of the structure was simulated to provide the basis for the structural design. A miniature all-fiber micro-force sensor of this type exhibited an ultrahigh force sensitivity of 1.51 nm μN
, a detection limit of 54.9 nN, and an unambiguous sensor measurement range of ~2.9 mN. The Young's modulus of polydimethylsiloxane, a butterfly feeler, and human hair were successfully measured with the proposed sensor. To the best of our knowledge, this fiber sensor has the smallest force-detection limit in direct contact mode reported to date, comparable to that of an atomic force microscope (AFM). This approach opens new avenues towards the realization of small-footprint AFMs that could be easily adapted for use in outside specialized laboratories. As such, we believe that this device will be beneficial for high-precision biomedical and material science examination, and the proposed fabrication method provides a new route for the next generation of research on complex fiber-integrated polymer devices.
Wafer stage is an important mechatronic unit of industrial lithography tool for manufacturing integrated circuits. To overcome the inherent limitations of fix-gain feedback control and improve the ...servo performance, a performance-oriented variable-gain control strategy with accelerated iterative parameter tuning is proposed for an ultra-precision wafer stage. The variable-gain controller comprises a fix-gain proportional-integral-derivative (PID) controller and add-on variable-gain elements, which are the focus of this paper. Specifically, the add-on variable-gain elements are significantly designed based on the main tracking error sources and error frequency of different reference trajectory phases. A weighted two-norm regarding the performance indexes of wafer stages, i.e., moving average (MA) and moving standard deviation (MSD) of the tracking error, is synthesized as the objective function, and the data-driven Levenberg-Marquardt-based iterative parameter tuning scheme is employed to find the optimal parameter values of the proposed variable-gain controller. Furthermore, to improve the convergence rate, a multiparameter accelerated iterative method is developed based on Aitken's method. Finally, the proposed variable-gain control strategy is implemented on an ultra-precision wafer stage developed in our laboratory. Comparative experimental results demonstrate that the strategy performs best and achieves excellent improvement on both MA and MSD. During the scanning phase, MA and MSD are less than 1.02 and 2.35 nm, respectively. The proposed variable-gain control strategy is also suitable for other industrial applications.
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