During recent years,some notions about tasks have been considered as the major part of analysis in different teaching approaches and teachers are being more interested in the use of taskbased approach both in foreign ...During recent years,some notions about tasks have been considered as the major part of analysis in different teaching approaches and teachers are being more interested in the use of taskbased approach both in foreign and in second language teaching.The main goal of this article is to introduce and discuss some major principles of task-based language teaching and indicates how teachers can apply them in their curriculum.展开更多
A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle systems.T...A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle systems.There is a consensus among experts of this field that the new outcomes in the present complicated systems modeling and control are highly appreciated with respect to state-of-the-art.The control scheme presented here is organized in line with a new integration of the linear-nonlinear control approaches,as long as the angular velocities in the three axes of the system are accurately dealt with in the inner closed loop control.And the corresponding rotation angles are dealt with in the outer closed loop control.It should be noted that the linear control in the present outer loop is first designed through proportional based linear quadratic regulator(PD based LQR) approach under optimum coefficients,while the nonlinear control in the corresponding inner loop is then realized through Lyapunov-based approach in the presence of uncertainties and disturbances.In order to complete the inner closed loop control,there is a pulse-width pulse-frequency(PWPF) modulator to be able to handle on-off thrusters.Furthermore,the number of these on-off thrusters may be increased with respect to the investigated control efforts to provide the overall accurate performance of the system,where the control allocation scheme is realized in the proposed strategy.It may be shown that the dynamics and kinematics of the unmanned aerial vehicle systems have to be investigated through the quaternion matrix and its corresponding vector to avoid presenting singularity of the results.At the end,the investigated outcomes are presented in comparison with a number of potential benchmarks to verify the approach performance.展开更多
A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that th...A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.展开更多
The present research relies on a cascade control approach through the Monte-Carlo based method in the presence of uncertainties to evaluate the performance of the real overactuated space systems.A number of potential ...The present research relies on a cascade control approach through the Monte-Carlo based method in the presence of uncertainties to evaluate the performance of the real overactuated space systems.A number of potential investigations in this area are first considered to prepare an idea with respect to state-of-the-art.The insight proposed here is organized to present attitude cascade control approach including the low thrust in connection with the high thrust to be implemented,while the aforementioned Monte-Carlo based method is carried out to guarantee the approach performance.It is noted that the investigated outcomes are efficient to handle a class of space systems presented via the center of mass and the moments of inertial.And also a number of profiles for the thrust vector and the misalignments as the disturbances all vary in its span of nominal variations.The acquired results are finally analyzed in line with some well-known benchmarks to verify the approach efficiency.The key core of finding in the research is to propose a novel 3-axis control approach to deal with all the mentioned uncertainties of space systems under control,in a synchronous manner,as long as the appropriate models in the low-high thrusts are realized.展开更多
In this paper they deal with the issue of specification and design of parallel communicatingprocesses. A trace-state based model is introduced to describe the behaviour of concurrent programs. They presenta formal sys...In this paper they deal with the issue of specification and design of parallel communicatingprocesses. A trace-state based model is introduced to describe the behaviour of concurrent programs. They presenta formal system based on that model to achieve hierarchical and modular development and verification methods. Anumber of refinement rules are used to decompose the specification into smaller ones and calculate program fromthe展开更多
Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-lin...Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.展开更多
目的:以定量方式分析全球网络新闻语料库(NOW)中与中医药相关的英语新闻文本,探讨中医药文化媒介形象。方法:检索NOW中与中医药相关的英语新闻文本,以字符串查询方式进行检索,分别设定“traditional Chinese medicine(中医)”“acupunct...目的:以定量方式分析全球网络新闻语料库(NOW)中与中医药相关的英语新闻文本,探讨中医药文化媒介形象。方法:检索NOW中与中医药相关的英语新闻文本,以字符串查询方式进行检索,分别设定“traditional Chinese medicine(中医)”“acupuncture(针灸)”“Chinese herbal(中药)”为检索词,设定时间范围为2020年1月1日至2024年4月18日,分别获得含有上述3组检索词的文本,分别为2 535、6 157、327条。通过特征词提取分析文本关键词及其分布特征;对语料的情感向度和主客观度进行分析,初步了解近年来中医药英语新闻传播现状;用潜在狄利克雷分布(LDA)模型抽取新闻主题。结果:词频分析中health(健康)、pain(疼痛)等高频词反映了海内外民众对中医药基本诉求;文本分析的整体情感倾向值为0.099、主客观性倾向值为0.413,考虑医疗类新闻的特殊性,整体呈现积极且客观的传播态势;LDA主题建模获得“卫生服务相关”“体验描述相关”“病症与具体诊疗相关”3个主题,其中卫生服务相关话题在国际新闻中占有相当大的比例,个人体验和具体诊疗相关话题作为中医文化的核心传播点,通过真实故事和医疗实践,具有一定的发展潜力。结论:中医药文化在国际媒体上展现出较为积极客观的媒介形象,中医药卫生服务相关话题在国际新闻传播中占据重要地位,其影响力随时间推移逐渐增强;体验描述和病症治疗作为中医药文化传播的2个关键方面,分别通过个人体验和具体诊疗实践,展现出持续的发展潜力和传播热点。展开更多
Accidents and injuries related to work are major occupational health problems in most of the industrialized countries.Traditional approaches to manage workplace safety in mines have mainly focused on job redesign and ...Accidents and injuries related to work are major occupational health problems in most of the industrialized countries.Traditional approaches to manage workplace safety in mines have mainly focused on job redesign and technical aspects of engineering systems.It is being realized that compliance to rules and regulations of mines is a prerequisite;however,it is not sufficient to achieve further reduction in accident and injury rates in mines.Proactive approaches are necessary to further improve the safety standards in mines.Unsafe conditions and practices in mines lead to a number of accidents,which in turn may cause loss and injury to human lives,damages to property,and loss of production.Hazard identification and risk assessment is an important task for the mining industry which needs to consider all the risk factors at workplaces.Applications of risk management approaches in mines are necessary to identify and quantify potential hazards and to suggest effective solutions.In this paper,the following risk estimation techniques were discussed:(i)DGMS(Directorate General of Mines Safety,India)risk rating criterion,and(ii)a matrix based approach.The proposed tools were demonstrated through an application in an opencast coal mine in India.It was inferred that the risk assessment approach can be used as an effective tool to indentify and control hazards in mines.展开更多
文摘During recent years,some notions about tasks have been considered as the major part of analysis in different teaching approaches and teachers are being more interested in the use of taskbased approach both in foreign and in second language teaching.The main goal of this article is to introduce and discuss some major principles of task-based language teaching and indicates how teachers can apply them in their curriculum.
基金the Islamic Azad University (IAU),South Tehran Branch,Tehran,Iran in support of the present research
文摘A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle systems.There is a consensus among experts of this field that the new outcomes in the present complicated systems modeling and control are highly appreciated with respect to state-of-the-art.The control scheme presented here is organized in line with a new integration of the linear-nonlinear control approaches,as long as the angular velocities in the three axes of the system are accurately dealt with in the inner closed loop control.And the corresponding rotation angles are dealt with in the outer closed loop control.It should be noted that the linear control in the present outer loop is first designed through proportional based linear quadratic regulator(PD based LQR) approach under optimum coefficients,while the nonlinear control in the corresponding inner loop is then realized through Lyapunov-based approach in the presence of uncertainties and disturbances.In order to complete the inner closed loop control,there is a pulse-width pulse-frequency(PWPF) modulator to be able to handle on-off thrusters.Furthermore,the number of these on-off thrusters may be increased with respect to the investigated control efforts to provide the overall accurate performance of the system,where the control allocation scheme is realized in the proposed strategy.It may be shown that the dynamics and kinematics of the unmanned aerial vehicle systems have to be investigated through the quaternion matrix and its corresponding vector to avoid presenting singularity of the results.At the end,the investigated outcomes are presented in comparison with a number of potential benchmarks to verify the approach performance.
文摘A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.
文摘The present research relies on a cascade control approach through the Monte-Carlo based method in the presence of uncertainties to evaluate the performance of the real overactuated space systems.A number of potential investigations in this area are first considered to prepare an idea with respect to state-of-the-art.The insight proposed here is organized to present attitude cascade control approach including the low thrust in connection with the high thrust to be implemented,while the aforementioned Monte-Carlo based method is carried out to guarantee the approach performance.It is noted that the investigated outcomes are efficient to handle a class of space systems presented via the center of mass and the moments of inertial.And also a number of profiles for the thrust vector and the misalignments as the disturbances all vary in its span of nominal variations.The acquired results are finally analyzed in line with some well-known benchmarks to verify the approach efficiency.The key core of finding in the research is to propose a novel 3-axis control approach to deal with all the mentioned uncertainties of space systems under control,in a synchronous manner,as long as the appropriate models in the low-high thrusts are realized.
基金ESPRIT Basic Research ProCoS project 3104 and 7071
文摘In this paper they deal with the issue of specification and design of parallel communicatingprocesses. A trace-state based model is introduced to describe the behaviour of concurrent programs. They presenta formal system based on that model to achieve hierarchical and modular development and verification methods. Anumber of refinement rules are used to decompose the specification into smaller ones and calculate program fromthe
文摘Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.
文摘Accidents and injuries related to work are major occupational health problems in most of the industrialized countries.Traditional approaches to manage workplace safety in mines have mainly focused on job redesign and technical aspects of engineering systems.It is being realized that compliance to rules and regulations of mines is a prerequisite;however,it is not sufficient to achieve further reduction in accident and injury rates in mines.Proactive approaches are necessary to further improve the safety standards in mines.Unsafe conditions and practices in mines lead to a number of accidents,which in turn may cause loss and injury to human lives,damages to property,and loss of production.Hazard identification and risk assessment is an important task for the mining industry which needs to consider all the risk factors at workplaces.Applications of risk management approaches in mines are necessary to identify and quantify potential hazards and to suggest effective solutions.In this paper,the following risk estimation techniques were discussed:(i)DGMS(Directorate General of Mines Safety,India)risk rating criterion,and(ii)a matrix based approach.The proposed tools were demonstrated through an application in an opencast coal mine in India.It was inferred that the risk assessment approach can be used as an effective tool to indentify and control hazards in mines.
