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This paper presents a new mathematical model of the interactions between a tumor and a immune system by incorporating the danger model. A key feature of the mathematical model is the introducing of the danger signal into the dynamics of immune system, which is rarely considered by previous works. The populations involved are tumor cells, CD8+-cells, natural killer-cells (NK-cells), dendritic cells...
Due to it is difficult to predict the diffusion of city haze, based on the Gaussian plume dispersion model, at first, the paper researches the applicable conditions, and then proposed several methods to amend the model, such as surface roughness, atmospheric stability, secondary pollution and condition of breeze. On this basis, we established the Multi-source haze diffusion model, which is constituted...
In this paper we deal with one of the most challenging control problems - controlling a class of underactuated systems with uncertainties. A synthesized integral sliding mode controller (ISMC) is proposed. The ISMC, constructed with a suitably chosen integral sliding surface, is able to completely nullify the influence from any matched factors, especially the matched uncertainties. As a consequence,...
In this paper we develop a dynamic model to mimic and simulate human falling process when tripping over an obstacle. The work consists of three parts. First a 5-link bipedal model is established, the joint trajectories of knee and hip are generated. Next several constraints are taken into consideration, which take the physical, physiological and environmental constraints into consideration. Hence...
In this work we focus on the analysis and control of a unicycle that consists of a wheel and a saddle, in which only one actuator is used to generate a torque on the wheel, and the saddle is treated as an inverse pendulum. A sliding mode controller (SMC) with a hierarchical switching surfaces is designed such that the unicycle can reach any designated position while keeping the saddle stable. The...
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