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In this paper, a robust fault tolerant control, which provides a global fixed-time stability, is proposed for robot manipulators. This approach is constructed based on an integration between a fixed-time second-order sliding mode observer (FxTSOSMO) and a fixed-time sliding mode control (FxTSMC) design strategy. First, the FxTSOSMO is developed to estimate the lumped disturbance with a fixed-time convergence. Then, based on the obtained disturbance estimation, the FxTSMC is developed based on a fixed-time sliding surface and a fixed-time reaching strategy to form a global fixed-time convergence of the system. The proposed approach is then applied for fault tolerant control of a PUMA560 robot and compared with other state-of-the-art controllers. The simulation results verify the outstanding fault estimation and fault accommodation capability of the proposed fault diagnosis observer and fault tolerant strategy, respectively. 相似文献
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Dariusz Magier 《Archival Science》2018,18(4):279-290
The communist party had a developed organisational structure which consisted of numerous elements forming a system of mutual dependencies and a very unique office personnel who was in charge of managing the said system. The aim of the article is to describe the system of recording and the flow of information in local structures of communist party in Poland between 1975 and 1989 which were formed from provincial party organisation, meaning provincial party committees and all their subordinate committees and lower-level organisations. It was an enormous bureaucratic system which, in bigger provinces, could be made up from even a few thousand of activists, some involved more, some less in shaping the life of the society, distributing information and producing documentation about the party functioning. 相似文献
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Joanna Orysiak Konrad Witek Agnieszka Zembron-Lacny Barbara Morawin Jadwiga Malczewska-Lenczowska Dariusz Sitkowski 《Journal of sports sciences》2017,35(13):1255-1263
The aim of this study was to examine upper respiratory tract infections (URTI) and their associations with resting saliva and blood immune and endocrine parameters in ice hockey players. Twenty-seven participants (age 16.5 ± 0.5 years) completed the 24-week study period. The counts/concentrations of immune and endocrine markers were compared between healthy-prone athletes (≤2 episodes of URTI during the study period) and illness-prone athletes (≥3 episodes of URTI) and between the URTI state (when athletes had infections) and the healthy state (the time without URTI). There were no differences in concentration/counts of saliva and blood immune and endocrine parameters between the illness-prone and illness-free athletes. Athletes had significantly lower sIgA, sIgA1 and sIgA2 concentrations (sIgA: 119.88 ± 66.88, 144.10 ± 75.0 µg/ml; sIgA1: 90.2 ± 40.64, 108.44 ± 29.8 U; sIgA2: 67.58 ± 30.1, 80.3 ± 25.61 U, respectively) and significantly higher WBC, neutrophil, monocyte and eosinophil count values and IL-1ra concentration at the time when they had symptoms of URTI than in the period without symptoms of infections. There were no differences in salivary cortisol concentration between the period of URTI symptoms and the period without URTI symptoms. In conclusion, we observed lower concentrations of salivary immunoglobulins and higher levels of blood immune parameters during URTI in athletes, which may confirm the suppression of mucosal immunity and initiation responses to pathogenic infections by innate immunity. 相似文献
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