Coupled Painlev'e III systems with affine Weyl group symmetry of types $B_5^{(1)},D_5^{(1)}
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Seismic Collapse Safety of Reinforced ConcreteBuildings.II:Comparative Assessment of Nonductile and Ductile Moment FramesAbbie B.Liel,M.ASCE 1;Curt B.Haselton,M.ASCE 2;and Gregory G.Deierlein,F.ASCE 3Abstract:This study is the second of two companion papers to examine the seismic collapse safety of reinforced concrete frame buildings,and examines nonductile moment frames that are representative of those built before the mid-1970s in California.The probabilistic assessment relies on nonlinear dynamic simulation of structural response to calculate the collapse risk,accounting for uncertainties in ground-motion characteristics and structural modeling.The evaluation considers a set of archetypical nonductile RC frame structures of varying height that are designed according to the seismic provisions of the 1967Uniform Building Code.The results indicate that nonductile RC frame structures have a mean annual frequency of collapse ranging from 5to 14×10À3at a typical high-seismic California site,which is approximately 40times higher than corresponding results for modern code-conforming special RC moment frames.These metrics demonstrate the effectiveness of ductile detailing and capacity design requirements,which have been introduced over the past 30years to improve the safety of RC buildings.Data on comparative safety between nonductile and ductile frames may also inform the development of policies for appraising and mitigating seismic collapse risk of existing RC frame buildings.DOI:10.1061/(ASCE)ST.1943-541X .0000275.©2011American Society of Civil Engineers.CE Database subject headings:Structural failures;Earthquake engineering;Structural reliability;Reinforced concrete;Concrete structures;Seismic effects;Frames.Author keywords:Collapse;Earthquake engineering;Structural reliability;Reinforced concrete structures;Buildings;Commercial;Seismic effects.IntroductionReinforced concrete (RC)frame structures constructed in Califor-nia before the mid-1970s lack important features of good seismic design,such as strong columns and ductile detailing of reinforce-ment,making them potentially vulnerable to earthquake-induced collapse.These nonductile RC frame structures have incurred significant earthquake damage in the 1971San Fernando,1979Imperial Valley,1987Whittier Narrows,and 1994Northridge earthquakes in California,and many other earthquakes worldwide.These factors raise concerns that some of California ’s approxi-mately 40,000nonductile RC structures may present a significant hazard to life and safety in future earthquakes.However,data are lacking to gauge the significance of this risk,in relation to either the building population at large or to specific buildings.The collapse risk of an individual building depends not only on the building code provisions employed in its original design,but also structuralconfiguration,construction quality,building location,and site-spe-cific seismic hazard information.Apart from the challenges of ac-curately evaluating the collapse risk is the question of risk tolerance and the minimum level of safety that is appropriate for buildings.In this regard,comparative assessment of buildings designed accord-ing to old versus modern building codes provides a means of evalu-ating the level of acceptable risk implied by current design practice.Building code requirements for seismic design and detailing of reinforced concrete have changed significantly since the mid-1970s,in response to observed earthquake damage and an in-creased understanding of the importance of ductile detailing of reinforcement.In contrast to older nonductile RC frames,modern code-conforming special moment frames for high-seismic regions employ a variety of capacity design provisions that prevent or delay unfavorable failure modes such as column shear failure,beam-column joint failure,and soft-story mechanisms.Although there is general agreement that these changes to building code require-ments are appropriate,there is little data to quantify the associated improvements in seismic safety.Performance-based earthquake engineering methods are applied in this study to assess the likelihood of earthquake-induced collapse in archetypical nonductile RC frame structures.Performance-based earthquake engineering provides a probabilistic framework for re-lating ground-motion intensity to structural response and building performance through nonlinear time-history simulation (Deierlein 2004).The evaluation of nonductile RC frame structures is based on a set of archetypical structures designed according to the pro-visions of the 1967Uniform Building Code (UBC)(ICBO 1967).These archetype structures are representative of regular well-designed RC frame structures constructed in California between approximately 1950and 1975.Collapse is predicted through1Assistant Professor,Dept.of Civil,Environmental and Architectural Engineering,Univ.of Colorado,Boulder,CO 80309.E-mail:abbie .liel@ 2Assistant Professor,Dept.of Civil Engineering,California State Univ.,Chico,CA 95929(corresponding author).E-mail:chaselton@csuchico .edu 3Professor,Dept.of Civil and Environmental Engineering,Stanford Univ.,Stanford,CA 94305.Note.This manuscript was submitted on July 14,2009;approved on June 30,2010;published online on July 15,2010.Discussion period open until September 1,2011;separate discussions must be submitted for individual papers.This paper is part of the Journal of Structural Engineer-ing ,V ol.137,No.4,April 1,2011.©ASCE,ISSN 0733-9445/2011/4-492–502/$25.00.492/JOURNAL OF STRUCTURAL ENGINEERING ©ASCE /APRIL 2011D o w n l o a d e d f r o m a s c e l i b r a r y .o r g b y S u l t a n Q a b o o s U n i v e r s i t y o n 06/21/14. C o p y r i g h t A S CE .F o r p e r s o n a l u s e o n l y ; a l l r i g h t s r e s e r v e d .nonlinear dynamic analysis of the archetype nonductile RC frames,using simulation models capable of capturing the critical aspects of strength and stiffness deterioration as the structure collapses.The outcome of the collapse performance assessment is a set of measures of building safety and relating seismic collapse resistance to seismic hazard.These results are compared with the metrics for ductile RC frames reported in a companion paper (Haselton et al.2011b ).Archetypical Reinforced Concrete Frame StructuresThe archetype nonductile RC frame structures represent the expected range in design and performance in California ’s older RC frame buildings,considering variations in structural height,configuration and design details.The archetype configurations explore key design parameters for RC components and frames,which were identified through previous analytical and experimental studies reviewed by Haselton et al.(2008).The complete set of archetype nonductile RC frame buildings developed for this study includes 26designs (Liel and Deierlein 2008).This paper focuses primarily on 12of these designs,varying in height from two to 12stories,and including both perimeter (P )and space (S )frame lateral resisting systems with alternative design details.All archetype buildings are designed for office occupancies with an 8-in.(20-cm)flat-slab floor system and 25-ft (7.6-m)column spacing.The 2-and 4-story buildings have a footprint of 125ft by 175ft (38.1m by 53.3m),and the 8-and 12-story buildings measure 125ft (38.1m)square in plan.Story heights are 15ft (4.6m)in the first story and 13ft (4.0m)in all other stories.Origi-nal structural drawings for RC frame buildings constructed in California in the 1960s were used to establish typical structural configurations and geometry for archetype structures (Liel and Deierlein 2008).The archetypes are limited to RC moment frames without infill walls,and are regular in elevation and plan,without major strength or stiffness irregularities.The nonductile RC archetype structures are designed for the highest seismic zone in the 1967UBC,Zone 3,which at that time included most of California.Structural designs of two-dimensional frames are governed by the required strength and stiffness to satisfy gravity and seismic loading combinations.The designs also satisfy all relevant building code requirements,including maximum and minimum reinforcement ratios and maximum stirrup spacing.The 1967UBC permitted an optional reduction in the design base shear if ductile detailing requirements were employed,however,this reduction is not applied and only standard levels of detailing are considered in this study.Design details for each structure areTable 1.Design Characteristics of Archetype Nonductile and Ductile RC Frames Stucture Design base shear coefficient a,bColumn size c (in :×in.)Column reinforcementratio,ρColumn hoop spacing d,e (in.)Beam size f (in :×in.)Beam reinforcementratios ρ(ρ0)Beam hoop spacing (in.)Nonductile2S 0.08624×240.0101224×240.006(0.011)112P 0.08630×300.0151530×300.003(0.011)114S 0.06820×200.0281020×260.007(0.014)124P 0.06824×280.0331424×320.007(0.009)158S 0.05428×280.0141424×260.006(0.013)118P 0.05430×360.0331526×360.008(0.010)1712S 0.04732×320.025926×300.006(0.011)1712P 0.04732×400.032930×380.006(0.013)184S g 0.06820×200.028 6.720×260.007(0.014)84S h 0.06820×200.0281020×260.007(0.014)1212S g 0.04732×320.025626×300.006(0.011)1112S h 0.04732×320.025926×300.006(0.011)17Ductile2S 0.12522×220.017518×220.006(0.012) 3.52P 0.12528×300.018528×280.007(0.008)54S 0.09222×220.016522×240.004(0.008)54P 0.09232×380.016 3.524×320.011(0.012)58S 0.05022×220.011422×220.006(0.011) 4.58P 0.05026×340.018 3.526×300.007(0.008)512S 0.04422×220.016522×280.005(0.008)512P0.04428×320.0223.528×380.006(0.007)6aThe design base shear coefficient in the 1967UBC is given by C ¼0:05=T ð1=3Þ≤0:10.For moment resisting frames,T ¼0:1N ,where N is the number of stories (ICBO 1967).bThe design base shear coefficient for modern buildings depends on the response spectrum at the site of interest.The Los Angeles site has a design spectrumdefined by S DS ¼1:0g and S D1¼0:60g.The period used in calculation of the design base shear is derived from the code equation T ¼0:016h 0:9n ,where h n isthe height of the structure in feet,and uses the coefficient for upper limit of calculated period (C u ¼1:4)(ASCE 2002).cColumn properties vary over the height of the structure and are reported here for an interior first-story column.dConfiguration of transverse reinforcement in each member depends on the required shear strength.There are at least two No.3bars at every location.eConfiguration of transverse reinforcement in ductile RC frames depends on the required shear strength.All hooks have seismic detailing and use No.4bars (ACI 2005).fBeam properties vary over the height of the structure and are reported here are for a second-floor beam.gThese design variants have better-than-average beam and column detailing.hThese design variants have better-than-average joint detailing.JOURNAL OF STRUCTURAL ENGINEERING ©ASCE /APRIL 2011/493D o w n l o a d e d f r o m a s c e l i b r a r y .o r g b y S u l t a n Q a b o o s U n i v e r s i t y o n 06/21/14. C o p y r i g h t A S CE .F o r p e r s o n a l u s e o n l y ; a l l r i g h t s r e s e r v e d .summarized in Table 1,and complete documentation of the non-ductile RC archetypes is available in Liel and Deierlein (2008).Four of the 4-and 12-story designs have enhanced detailing,as described subsequently.The collapse performance of archetypical nonductile RC frame structures is compared to the set of ductile RC frame archetypes presented in the companion paper (Haselton et al.2011b ).As sum-marized in Table 2,these ductile frames are designed according to the provisions of the International Building Code (ICC 2003),ASCE 7(ASCE 2002),and ACI 318(ACI 2005);and meet all gov-erning code requirements for strength,stiffness,capacity design,and detailing for special moment frames.The structures benefit from the provisions that have been incorporated into seismic design codes for reinforced concrete since the 1970s,including an assort-ment of capacity design provisions [e.g.,strong column-weak beam (SCWB)ratios,beam-column and joint shear capacity design]and detailing improvements (e.g.,transverse confinement in beam-column hinge regions,increased lap splice requirements,closed hooks).The ductile RC frames are designed for a typical high-seismic Los Angeles site with soil class S d that is located in the transition region of the 2003IBC design maps (Haselton and Deierlein 2007).A comparison of the structures described in Table 1reflects four decades of changes to seismic design provisions for RC moment frames.Despite modifications to the period-based equation for design base shear,the resulting base shear coefficient is relatively similar for nonductile and ductile RC frames of the same height,except in the shortest structures.More significant differencesbetween the two sets of buildings are apparent in member design and detailing,especially in the quantity,distribution,and detailing of transverse reinforcement.Modern RC frames are subject to shear capacity design provisions and more stringent limitations on stirrup spacing,such that transverse reinforcement is spaced two to four times more closely in ductile RC beams and columns.The SCWB ratio enforces minimum column strengths to delay the formation of story mechanisms.As a result,the ratio of column to beam strength at each joint is approximately 30%higher (on average)in the duc-tile RC frames than the nonductile RC frames.Nonductile RC frames also have no special provision for design or reinforcement of the beam-column joint region,whereas columns in ductile RC frames are sized to meet joint shear demands with transverse reinforcement in the joints.Joint shear strength requirements in special moment frames tend to increase the column size,thereby reducing axial load ratios in columns.Nonlinear Simulation ModelsNonlinear analysis models for each archetype nonductile RC frame consist of a two-dimensional three-bay representation of the lateral resisting system,as shown in Fig.1.The analytical model repre-sents material nonlinearities in beams,columns,beam-column joints,and large deformation (P -Δ)effects that are important for simulating collapse of frames.Beam and column ends and the beam-column joint regions are modeled with member end hinges that are kinematically constrained to represent finite joint sizeTable 2.Representative Modeling Parameters in Archetype Nonductile and Ductile RC Frame Structures Structure Axial load a,b (P =A g f 0c )Initial stiffness c Plastic rotation capacity (θcap ;pl ,rad)Postcapping rotation capacity (θpc ,rad)Cyclicdeterioration d (λ)First mode period e (T 1,s)Nonductile2S 0.110:35EI g 0.0180.04041 1.12P 0.030:35EI g 0.0170.05157 1.04S 0.300:57EI g 0.0210.03333 2.04P 0.090:35EI g 0.0310.10043 2.08S 0.310:53EI g 0.0130.02832 2.28P 0.110:35EI g 0.0250.10051 2.412S 0.350:54EI g 0.0290.06353 2.312P 0.140:35EI g 0.0450.10082 2.84S f 0.300:57EI g 0.0320.04748 2.04S g 0.300:57EI g 0.0210.03333 2.012S f 0.350:54EI g 0.0430.09467 2.312S g 0.350:54EI g 0.0290.06353 2.3Ductile2S 0.060:35EI g 0.0650.100870.632P 0.010:35EI g 0.0750.1001110.664S 0.130:38EI g 0.0570.100800.944P 0.020:35EI g 0.0860.100133 1.18S 0.210:51EI g 0.0510.10080 1.88P 0.060:35EI g 0.0870.100122 1.712S 0.380:68EI g 0.0360.05857 2.112P0.070:35EI g0.0700.1001182.1a Properties reported for representative interior column in the first story.(Column model properties data from Haselton et al.2008.)bExpected axial loads include the unfactored dead load and 25%of the design live load.cEffective secant stiffness through 40%of yield strength.dλis defined such that the hysteretic energy dissipation capacity is given by Et ¼λM y θy (Haselton et al.2008).eObtained from eigenvalue analysis of frame model.fThese design variants have better-than-average beam and column detailing.gThese design variants have better-than-average joint detailing.494/JOURNAL OF STRUCTURAL ENGINEERING ©ASCE /APRIL 2011D o w n l o a d e d f r o m a s c e l i b r a r y .o r g b y S u l t a n Q a b o o s U n i v e r s i t y o n 06/21/14. C o p y r i g h t A S CE .F o r p e r s o n a l u s e o n l y ; a l l r i g h t s r e s e r v e d .effects and connected to a joint shear spring (Lowes and Altoontash 2003).The structural models do not include any contribution from nonstructural components or from gravity-load resisting structural elements that are not part of the lateral resisting system.The model is implemented in OpenSees with robust convergence algorithms (OpenSees 2009).As in the companion paper,inelastic beams,columns,and joints are modeled with concentrated springs idealized by a trilinear back-bone curve and associated hysteretic rules developed by Ibarra et al.(2005).Properties of the nonlinear springs representing beam and column elements are predicted from a series of empirical relation-ships relating column design characteristics to modeling parame-ters and calibrated to experimental data for RC columns (Haselton et al.2008).Tests used to develop empirical relationships include a large number of RC columns with nonductile detailing,and predicted model parameters reflect the observed differences in moment-rotation behavior between nonductile and ductile RC elements.As in the companion paper,calibration of model param-eters for RC beams is established on columns tested with low axial load levels because of the sparse available beam data.Fig.2(a)shows column monotonic backbone curve properties for a ductile and nonductile column (each from a 4-story building).The plastic rotation capacity θcap ;pl ,which is known to have an important influence on collapse prediction,is a function of the amount of column confinement reinforcement and axial load levels,and is approximately 2.7times greater for the ductile RC column.The ductile RC column also has a larger postcapping rotation capacity (θpc )that affects the rate of postpeak strength degradation.Fig.2(b)illustrates cyclic deterioration of column strength and stiffness under a typical loading protocol.Cyclic degradation of the initial backbone curve is controlled by the deterioration parameter λ,which is a measure of the energy dissipation capacity and is smaller in nonductile columns because of poor confinement and higher axial loads.Model parameters are calibrated to the expected level of axial compression in columns because of gravity loads and do not account for axial-flexure-shear interaction during the analysis,which may be significant in taller buildings.Modeling parameters for typical RC columns in nonductile and ductile archetypes are summarized in Table 2.Properties for RC beams are similar and reported elsewhere (Liel and Deierlein 2008;Haselton and Deierlein 2007).All element model properties are calibrated to median values of test data.Although the hysteretic beam and column spring parameters incorporate bond-slip at the member ends,they do not account for significant degradations that may occur because of anchorage or splice failure in nonductile frames.Unlike ductile RC frames,in which capacity design require-ments limit joint shear deformations,nonductile RC frames may experience significant joint shear damage contributing to collapse (Liel and Deierlein 2008).Joint shear behavior is modeled with an inelastic spring,as illustrated in Fig.1and defined by a monotonic backbone and hysteretic rules (similar to those shown in Fig.2for columns).The properties of the joint shear spring are on the basisofFig.1.Schematic of the RC frame structural analysismodel(a)(b)Fig.2.Properties of inelastic springs used to model ductile and non-ductile RC columns in the first story of a typical 4-story space frame:(a)monotonic behavior;(b)cyclic behaviorJOURNAL OF STRUCTURAL ENGINEERING ©ASCE /APRIL 2011/495D o w n l o a d e d f r o m a s c e l i b r a r y .o r g b y S u l t a n Q a b o o s U n i v e r s i t y o n 06/21/14. C o p y r i g h t A S CE .F o r p e r s o n a l u s e o n l y ; a l l r i g h t s r e s e r v e d .selected subassembly data of joints with minimal amounts of trans-verse reinforcement and other nonductile characteristics.Unfortu-nately,available data on nonconforming joints are limited.Joint shear strength is computed using a modified version of the ACI 318equation (ACI 2005),and depends on joint size (b j is joint width,h is height),concrete compressive strength (f 0c ,units:psi),and confinement (γ,which is 12to 20depending on the configu-ration of confining beams)such that V ¼0:7γffiffiffiffif 0c p b j h .The 0.7modification factor is on the basis of empirical data from Mitra and Lowes (2007)and reflects differences in shear strength between seismically detailed joints (as assumed in ACI 318Chap.21)and joints without transverse reinforcement,of the type consid-ered in this study.Unlike conforming RC joints,which are assumed to behave linear elastically,nonductile RC joints have limited duc-tility,and shear plastic deformation capacity is assumed to be 0.015and 0.010rad for interior and exterior joints,respectively (Moehle et al.2006).For joints with axial load levels below 0.095,data from Pantelides et al.(2002)are used as the basis for a linear increase in deformation capacity (to a maximum of 0.025at zero axial load).Limited available data suggest a negative postcapping slope of approximately 10%of the effective initial stiffness is appropriate.Because of insubstantial data,cyclic deterioration properties are assumed to be the same as that for RC beams and columns.The calculated elastic fundamental periods of the RC frame models,reported in Table 2,reflect the effective “cracked ”stiffness of the beams and columns (35%of EI g for RC beams;35%to 80%of EI g for columns),finite joint sizes,and panel zone flexibility.The effective member stiffness properties are determined on the basis of deformations at 40%of the yield strength and include bond-slip at the member ends.The computed periods are signifi-cantly larger than values calculated from simplified formulas in ASCE (2002)and other standards,owing to the structural modeling assumptions (specifically,the assumed effective stiffness and the exclusion of the gravity-resisting system from the analysis model)and intentional conservatism in code-based formulas for building period.Nonlinear static (pushover)analysis of archetype analysis mod-els shows that the modern RC frames are stronger and have greater deformation capacities than their nonductile counterparts,as illus-trated in Fig.3.The ASCE 7-05equivalent seismic load distribu-tion is applied in the teral strength is compared on the basis of overstrength ratio,Ω,defined as the ratio between the ultimate strength and the design base shear.The ductility is com-pared on the basis of ultimate roof drift ratio (RDR ult ),defined as the roof drift ratio at which 20%of the lateral strength of the structure has been lost.As summarized in Table 3,for the archetype designs in this study,the ductile RC frames have approximately 40%more overstrength and ultimate roof drift ratios three times larger than the nonductile RC frames.The larger structural deformation capacity and overstrength in the ductile frames results from (1)greater deformation capacity in ductile versus nonductile RC components (e.g.,compare column θcap ;pl and θpc in Table 2),(2)the SCWB requirements that promote more distributed yielding over multiple stories in the ductile frames,(3)the larger column strengths in ductile frames that result from the SCWB and joint shear strength requirements,and (4)the required ratios of positive and negative bending strength of the beams in the ductile frames.Fig.3(b)illustrates the damage concentration in lower stories,especially in the nonductile archetype structures.Whereas nonlin-ear static methods are not integral to the dynamic collapse analyses,the pushover results help to relate the dynamic collapse analysis results,described subsequently,and codified nonlinear static assessment procedures.Collapse Performance Assessment ProcedureSeismic collapse performance assessment for archetype nonductile RC frame structures follows the same procedure as in the companion study of ductile RC frames (Haselton et al.2011b ).The collapse assessment is organized using incremental dynamic analysis (IDA)of nonlinear simulation models,where each RC frame model is subjected to analysis under multiple ground motions that are scaled to increasing amplitudes.For each ground motion,collapse is defined on the basis of the intensity (spectral acceleration at the first-mode period of the analysis model)of the input ground motion that results in structural collapse,as iden-tified in the analysis by excessive interstory drifts.The IDA is repeated for each record in a suite of 80ground motions,whose properties along with selection and scaling procedures are de-scribed by Haselton et al.(2011b ).The outcome of this assessment is a lognormal distribution (median,standard deviation)relating that structure ’s probability of collapse to the ground-motion inten-sity,representing a structural collapse fragility function.Uncer-tainty in prediction of the intensity at which collapse occurs,termed “record-to-record ”uncertainty (σln ;RTR ),is associated with variation in frequency content and other characteristics of ground-motion records.Although the nonlinear analysis model for RC frames can simulate sidesway collapse associated with strength and stiffness degradation in the flexural hinges of the beams andcolumnsFig.3.Pushover analysis of ductile and nonductile archetype 12-story RC perimeter frames:(a)force-displacement response;and (b)distri-bution of interstory drifts at the end of the analysis496/JOURNAL OF STRUCTURAL ENGINEERING ©ASCE /APRIL 2011D o w n l o a d e d f r o m a s c e l i b r a r y .o r g b y S u l t a n Q a b o o s U n i v e r s i t y o n 06/21/14. C o p y r i g h t A S CE .F o r p e r s o n a l u s e o n l y ; a l l r i g h t s r e s e r v e d .and beam-column joint shear deformations,the analysis model does not directly capture column shear failure.The columns in the archetype buildings in this study are expected to yield first in flexure,followed by shear failure (Elwood and Moehle 2005)rather than direct shear failure,as may be experienced by short,squat nonductile RC columns.However,observed earthquake damage and laboratory studies have shown that shear failure and subsequent loss of gravity-load-bearing capacity in one column could lead to progressive collapse in nonductile RC frames.Column shear failure is not incorporated directly because of the difficulties in accurately simulating shear or flexure-shear failure and subsequent loss of axial load-carrying capacity (Elwood 2004).Collapse modes related to column shear failure are therefore detected by postprocessing dynamic analysis results using compo-nent limit state ponent limit state functions are devel-oped from experimental data on nonductile beam-columns and predict the median column drift ratio (CDR)at which shear failure,and the subsequent loss of vertical-load-carrying capacity,will occur.Here,CDR is defined similarly to interstory drift ratio,but excludes the contribution of beam rotation and joint deforma-tion to the total drift because the functions are established on data from column component tests.Component fragility relationships for columns failing in flexure-shear developed by Aslani and Miranda (2005),building on work by Elwood (2004),are employed in this study.For columns with nonductile shear design and detailing in this study and axial load ratios of P =A g f 0c between 0.03and 0.35,Aslani and Miranda (2005)predict that shear failure occurs at a median CDR between 0.017and 0.032rad,depending on the properties of the column,and the deformation capacity decreases with increasing axial load.Sub-sequent loss of vertical-carrying capacity in a column is predicted to occur at a median CDR between 0.032and 0.10rad,again depending on the properties of the column.Since the loss of vertical-load-carrying capacity of a column may precipitate progressive structure collapse,this damage state is defined as collapse in this assessment.In postprocessing dynamic analysis results,the vertical collapse limit state is reached if,during the analysis,the drift in any column exceeds the median value of that column ’s component fragility function.If the vertical collapse mode is predicted to occur at a smaller ground-motion intensity than the sidesway collapse mode (for a particular record),then the collapse statistics are updated.This simplified approach can be shown to give comparable median results to convolving the probability distribution of column drifts experienced as a function of ground-motion intensity (engineering demands)with the com-ponent fragility curve (capacity).The total uncertainty in the col-lapse fragility is assumed to be similar in the sidesway-only case and the sidesway/axial collapse case,as it is driven by modeling and record-to-record uncertainties rather than uncertainty in the component fragilities.Incorporating this vertical collapse limit state has the effect of reducing the predicted collapse capacity of the structure.Fig.4illustrates the collapse fragility curves for the 8-story RC space frame,with and without consideration of shear failure and axial failure following shear.As shown,if one considers collapse to occur with column shear failure,then the collapse fragility can reduce considerably compared to the sidesway collapse mode.However,if one assumes that shear failure of one column does not constitute collapse and that collapse is instead associated with the loss in column axial capacity,then the resulting collapse capac-ity is only slightly less than calculations for sidesway alone.For the nonductile RC frame structures considered in this study,the limit state check for loss of vertical-carrying capacity reduces the median collapse capacity by 2%to 30%as compared to the sidesway collapse statistics that are computed without this check (Liel and Deierlein 2008).Table 3.Results of Collapse Performance Assessment for Archetype Nonductile and Ductile RC Frame Structures Structure ΩRDR ult Median Sa ðT 1Þ(g)Sa 2=50ðT 1Þ(g)Collapse marginλcollapse ×10À4IDR collapse RDR collapseNonductile 2S 1.90.0190.470.800.591090.0310.0172P 1.60.0350.680.790.85470.0400.0284S 1.40.0160.270.490.541070.0540.0284P 1.10.0130.310.470.661000.0370.0178S 1.60.0110.290.420.68640.0420.0118P 1.10.0070.230.310.751350.0340.00912S 1.90.0100.290.350.83500.0340.00612P 1.10.0050.240.420.561190.0310.0064S a 1.40.0160.350.490.72380.0560.0244S b 1.60.0180.290.490.60890.0610.02612S a 1.90.0120.330.350.93350.0390.00912S b 2.20.0120.460.351.32160.0560.012Ductile 2S 3.50.085 3.55 1.16 3.07 1.00.0970.0752P 1.80.0672.48 1.13 2.193.40.0750.0614S 2.70.047 2.220.87 2.56 1.70.0780.0504P 1.60.038 1.560.77 2.04 3.60.0850.0478S 2.30.028 1.230.54 2.29 2.40.0770.0338P 1.60.023 1.000.57 1.77 6.30.0680.02712S 2.10.0220.830.44 1.914.70.0550.01812P1.70.0260.850.471.845.20.0530.016a These design variants have better-than-average beam and column detailing.bThese design variants have better-than-average joint detailing.JOURNAL OF STRUCTURAL ENGINEERING ©ASCE /APRIL 2011/497D o w n l o a d e d f r o m a s c e l i b r a r y .o r g b y S u l t a n Q a b o o s U n i v e r s i t y o n 06/21/14. C o p y r i g h t A S CE .F o r p e r s o n a l u s e o n l y ; a l l r i g h t s r e s e r v e d .。
二联体亲子鉴定 英语
二联体亲子鉴定英语Duplex Parentage Testing: Understanding the Process and Its Applications.Duplex parentage testing, also known as diploid genotyping, is a highly specialized form of genetic testing that aims to establish the biological relationship between two individuals, typically a child and a putative parent. This process involves the analysis of genetic markers present in the DNA of the individuals involved to determine if they share a common genetic heritage. This article will delve into the details of duplex parentage testing, its scientific principles, applications, and ethical considerations.Scientific Principles of Duplex Parentage Testing.Duplex parentage testing relies on the principles of Mendelian inheritance and modern genetic technology. It typically involves the examination of multiple geneticmarkers, such as single nucleotide polymorphisms (SNPs) or short tandem repeats (STRs), which are passed down from parents to their children. These markers are present in specific locations on the DNA, known as loci. By comparing the genetic markers of the putative parent and child, scientists can determine if there is a genetic match, indicating a biological relationship.The process begins with the collection of DNA samples from the individuals involved. These samples can be obtained through a variety of methods, including buccal swabs, blood samples, or even saliva. Once collected, the DNA is isolated and amplified using polymerase chain reaction (PCR) or other similar techniques. This process produces enough DNA material for detailed analysis.Applications of Duplex Parentage Testing.Duplex parentage testing has a wide range of applications in various scenarios. Some of the most common uses include:1. Paternity Testing: This is one of the most common reasons for seeking duplex parentage testing. It involves determining whether a man is the biological father of a child. Paternity testing can be used in cases of disputed paternity, for example, when a child is born out of wedlock or when a man questions his parental status.2. Maternity Testing: Although less common, duplex parentage testing can also be used to establish maternity, or the biological relationship between a woman and her child. This is particularly useful in cases where the biological mother is unknown or disputed.3. Sibling Relationships: Duplex parentage testing can also be used to determine whether two individuals are siblings. This is achieved by comparing the genetic markers of the potential siblings with each other and with those of their putative parents.4. Adoption: In the context of adoption, duplex parentage testing can help to establish the biological relationship between an adoptive parent and child, orbetween siblings who were separated at birth.Ethical Considerations.While duplex parentage testing offers valuable information in resolving questions of biological relationships, it also raises ethical considerations. One of the most significant ethical issues is the privacy and confidentiality of test results. Strict protocols must be followed to ensure that test results are shared only with the authorized parties and that they are not misused or misinterpreted.Another ethical concern is the potential impact of test results on individuals and families. Positive results can confirm biological relationships, but negative results can cause emotional distress and even family breakdowns. It is, therefore, crucial that testing is conducted with the full knowledge and consent of all parties involved, and that they are provided with appropriate support and counseling throughout the process.Conclusion.Duplex parentage testing is a powerful tool that can provide valuable insights into biological relationships. It relies on the principles of Mendelian inheritance and modern genetic technology to analyze genetic markers and establish whether individuals share a common genetic heritage. From paternity testing to adoption and sibling relationships, duplex parentage testing has a wide range of applications. However, it is crucial to approach this testing with caution, respecting the privacy and confidentiality of test results and providing appropriate support and counseling to all parties involved.While duplex parentage testing can offer answers to complex biological questions, it is only one piece of the puzzle. It is essential to remember that genetic relationships are not the sole determinant of family ties. Emotional, cultural, and social factors play an equally important role in defining our sense of family and belonging. In this sense, duplex parentage testing shouldbe seen as a tool to complement other forms of evidence and understanding, rather than a replacement for them.。
人工智能与医疗英语
02
The Importance and Needs Analysis of Medical English
The demand for medical English in the context of globalization
Increasing international cooperation and exchange in the medical field
Benefits of using standardized medical terminology and expressions in international communication
03
The application of artificial intelligence
in ed diagnosis and its association with
01
Challenges in understanding medical terminology and concepts across languages
02
Impact of language barriers on patient care and safety
Need for accurate translation and interpretation in
International application cases: Abroad, artistic intelligence technology has also been widely used in the medical field For example, in the United States, artistic intelligence has been used to predict the risk of diabetes and assist in the diagnosis and treatment of breast cancer In Europe, artistic intelligence has been used to monitor the health status of the elderly and provide timely warnings and interventions
New Lyapunov–Krasovskii functionals for stability of linear retarded and neutral type systems
x ˙(t ) = y(t );
y(t ) =
i=1
Di y(t − hi ) +
i=0
Ai x(t − hi ):
(2)
The latter can be represented in the form of descriptor system with discrete and distributed delay in the “fast variable” y:
i=1
x(t ) y(t )
+ V 1 + V2 ;
(4)
I 0 ; 0 0
m t t −hi
P=
P1 P2
0 ; P3
T P1 = P1 ¿0;() (6)yT (s)Qi y(s) d s;
Qi ¿0
and
m
V2 =
i=1
0 −hi
t t +Â
yT (s)Ri y(s) d s d Â;
Ri ¿0:
E. Fridman ∗
Department of Electrical Engineering-Systems, Tel Aviv University, Tel Aviv 69978, Israel Received 10 September 2000; received in revised form 14 February 2001
m m m
x ˙(t ) = y(t );
0 = − y(t ) +
i=1
D i y (t − h i ) +
i=0
Ai
x(t ) −
i=1
Ai
t t −hi
y(s) d s:
低频活动漂浮潜水船声探测系统(LFATS)说明书
LOW-FREQUENCY ACTIVE TOWED SONAR (LFATS)LFATS is a full-feature, long-range,low-frequency variable depth sonarDeveloped for active sonar operation against modern dieselelectric submarines, LFATS has demonstrated consistent detection performance in shallow and deep water. LFATS also provides a passive mode and includes a full set of passive tools and features.COMPACT SIZELFATS is a small, lightweight, air-transportable, ruggedized system designed specifically for easy installation on small vessels. CONFIGURABLELFATS can operate in a stand-alone configuration or be easily integrated into the ship’s combat system.TACTICAL BISTATIC AND MULTISTATIC CAPABILITYA robust infrastructure permits interoperability with the HELRAS helicopter dipping sonar and all key sonobuoys.HIGHLY MANEUVERABLEOwn-ship noise reduction processing algorithms, coupled with compact twin line receivers, enable short-scope towing for efficient maneuvering, fast deployment and unencumbered operation in shallow water.COMPACT WINCH AND HANDLING SYSTEMAn ultrastable structure assures safe, reliable operation in heavy seas and permits manual or console-controlled deployment, retrieval and depth-keeping. FULL 360° COVERAGEA dual parallel array configuration and advanced signal processing achieve instantaneous, unambiguous left/right target discrimination.SPACE-SAVING TRANSMITTERTOW-BODY CONFIGURATIONInnovative technology achievesomnidirectional, large aperture acousticperformance in a compact, sleek tow-body assembly.REVERBERATION SUPRESSIONThe unique transmitter design enablesforward, aft, port and starboarddirectional transmission. This capabilitydiverts energy concentration away fromshorelines and landmasses, minimizingreverb and optimizing target detection.SONAR PERFORMANCE PREDICTIONA key ingredient to mission planning,LFATS computes and displays systemdetection capability based on modeled ormeasured environmental data.Key Features>Wide-area search>Target detection, localization andclassification>T racking and attack>Embedded trainingSonar Processing>Active processing: State-of-the-art signal processing offers acomprehensive range of single- andmulti-pulse, FM and CW processingfor detection and tracking. Targetdetection, localization andclassification>P assive processing: LFATS featuresfull 100-to-2,000 Hz continuouswideband coverage. Broadband,DEMON and narrowband analyzers,torpedo alert and extendedtracking functions constitute asuite of passive tools to track andanalyze targets.>Playback mode: Playback isseamlessly integrated intopassive and active operation,enabling postanalysis of pre-recorded mission data and is a keycomponent to operator training.>Built-in test: Power-up, continuousbackground and operator-initiatedtest modes combine to boostsystem availability and accelerateoperational readiness.UNIQUE EXTENSION/RETRACTIONMECHANISM TRANSFORMS COMPACTTOW-BODY CONFIGURATION TO ALARGE-APERTURE MULTIDIRECTIONALTRANSMITTERDISPLAYS AND OPERATOR INTERFACES>State-of-the-art workstation-based operator machineinterface: Trackball, point-and-click control, pull-down menu function and parameter selection allows easy access to key information. >Displays: A strategic balance of multifunction displays,built on a modern OpenGL framework, offer flexible search, classification and geographic formats. Ground-stabilized, high-resolution color monitors capture details in the real-time processed sonar data. > B uilt-in operator aids: To simplify operation, LFATS provides recommended mode/parameter settings, automated range-of-day estimation and data history recall. >COTS hardware: LFATS incorporates a modular, expandable open architecture to accommodate future technology.L3Harrissellsht_LFATS© 2022 L3Harris Technologies, Inc. | 09/2022NON-EXPORT CONTROLLED - These item(s)/data have been reviewed in accordance with the InternationalTraffic in Arms Regulations (ITAR), 22 CFR part 120.33, and the Export Administration Regulations (EAR), 15 CFR 734(3)(b)(3), and may be released without export restrictions.L3Harris Technologies is an agile global aerospace and defense technology innovator, delivering end-to-endsolutions that meet customers’ mission-critical needs. The company provides advanced defense and commercial technologies across air, land, sea, space and cyber domains.t 818 367 0111 | f 818 364 2491 *******************WINCH AND HANDLINGSYSTEMSHIP ELECTRONICSTOWED SUBSYSTEMSONAR OPERATORCONSOLETRANSMIT POWERAMPLIFIER 1025 W. NASA Boulevard Melbourne, FL 32919SPECIFICATIONSOperating Modes Active, passive, test, playback, multi-staticSource Level 219 dB Omnidirectional, 222 dB Sector Steered Projector Elements 16 in 4 stavesTransmission Omnidirectional or by sector Operating Depth 15-to-300 m Survival Speed 30 knotsSize Winch & Handling Subsystem:180 in. x 138 in. x 84 in.(4.5 m x 3.5 m x 2.2 m)Sonar Operator Console:60 in. x 26 in. x 68 in.(1.52 m x 0.66 m x 1.73 m)Transmit Power Amplifier:42 in. x 28 in. x 68 in.(1.07 m x 0.71 m x 1.73 m)Weight Winch & Handling: 3,954 kg (8,717 lb.)Towed Subsystem: 678 kg (1,495 lb.)Ship Electronics: 928 kg (2,045 lb.)Platforms Frigates, corvettes, small patrol boats Receive ArrayConfiguration: Twin-lineNumber of channels: 48 per lineLength: 26.5 m (86.9 ft.)Array directivity: >18 dB @ 1,380 HzLFATS PROCESSINGActiveActive Band 1,200-to-1,00 HzProcessing CW, FM, wavetrain, multi-pulse matched filtering Pulse Lengths Range-dependent, .039 to 10 sec. max.FM Bandwidth 50, 100 and 300 HzTracking 20 auto and operator-initiated Displays PPI, bearing range, Doppler range, FM A-scan, geographic overlayRange Scale5, 10, 20, 40, and 80 kyd PassivePassive Band Continuous 100-to-2,000 HzProcessing Broadband, narrowband, ALI, DEMON and tracking Displays BTR, BFI, NALI, DEMON and LOFAR Tracking 20 auto and operator-initiatedCommonOwn-ship noise reduction, doppler nullification, directional audio。
Bowen家庭治疗系统理论培训课件
Bowen家庭治疗系统理论
24
鲍恩系统家庭治疗的主要 技术
• (一)家谱图 • (二)“教练”技术——去三角化 • (三)关系实验 • (四)过程提问 • (五)使用“主语我”(I Position) • (六)训练 • (七)置换故事
Bowen家庭治疗系统理论
25
(一)家谱图
• 包含三代家庭成员及其配偶、标记出生、死亡、 结婚、离婚等日期、地理位置,学历和工作史, 家庭的重要特质(宗教、种族等)等。
• 通过家谱图可以看到家庭的冲突、情感隔离和 三角关系产生的缘由,以及家庭成员之间的互 动模式。
• 1代表高度融合(自我模糊),5代表高度分化;低于 3分(低分化),依赖,回避冲突;3-4分(中级分 化),关注重要他人的决定;4-5分(高分化),目 标导向,灵活,能忍受冲突和压力。
Bowen家庭治疗系统理论
6
• 家庭系统理论假定:每个人身上都有两股生命力量: 一股是推动个体成为一个情绪独立的人的力量;另一 股是推动个体与他人或家庭保持情绪联系的力量。两 种力量相对抗。
4
鲍恩系统家庭治疗的八个 基本概念
• 1、自我分化 self-differentiation • 2、三角关系triangle relationship • 3.核心家庭情绪过程 • 4.家庭投射过程family projection process • 5.情感隔离emotional cutoff • 6.代际传递 Nhomakorabea14
4.家庭投射过程
• 指父母将自己不成熟与缺乏分化的状态传递给 子女的过程。父母将自己的情绪问题转移到孩 子身上,从而减少焦虑。这增加了孩子的情绪 混淆。
• 分化不佳的父母,自身未成熟,因而会选择他 们所有孩子中最为幼稚的一个作为他们关注的 客体,而不管他或她在家中的出生顺序如何。 这就是家庭投射过程。
预防性治疗对偏头痛患者异常性疼痛影响的研究
・临床论著・ 预防性治疗对偏头痛患者异常性疼痛影响的研究张娜1,2 陈春富2【摘要】目的我们对有无异常性疼痛的偏头痛患者的性别、年龄、发作频率、病程、疼痛严重程度、持续时间等方面比较,判定偏头痛患者发生异常性疼痛的相关临床特征及危险因素。
并通过两种药物组间患者治疗后皮肤疼痛阈值的变化,判断预防性治疗药物对异常性疼痛的影响。
方法 选取山东省立医院专科门诊2014年6月至2015年6月符合入组标准的患者随机分为托吡酯组和氟桂利嗪组,总疗程为6个月。
使用测力计测定压痛,V onFrey测痛仪测定刺痛,3个月测定一次,应用SPSS 17.0软件对资料进行统计分析,应用t检验和χ2检验,比较治疗前后痛觉阈值的变化。
结果 70.4%的患者存在异常性疼痛,女性占76.3%。
异常性疼痛与患者的性别、病程、发作频率密切相关;治疗后异常性疼痛患者例数明显下降,疼痛阈值明显提高,不良反应发生率较低。
结论(1)女性、病程较长、头痛发作频繁、发作持续时间较长的患者易出现异常性疼痛,为异常性疼痛出现的危险因素;(2)偏头痛患者口服托吡酯或氟桂利嗪在较短的治疗时间内有效提高了疼痛阈值,即降低了异常性疼痛,改善了中枢敏化现象,治疗效果确切。
不良反应的发生率低。
【关键词】 偏头痛; 托吡酯; 氟桂利嗪; 异常性疼痛; 中枢敏化Study on the effects of prophylaxis on allodynia in patients with migraine Zhang Na1,2, ChenChunfu2. 1Department of Emergency, Shandong Provincial Qianfoshan Hospital Affiliated to ShandongUniversity, Jinan 250014, China; 2Department of Neurology, Shandong Provincial Hospital Affiliated toShandong University, Jinan 250021, ChinaCorresponding author: Zhang Na, Email: zn804@【Abstract】 Objective The gender, age, frequency of headache, and duration of migraine,severity of headache and duration between migraine with allodynia and without were compared, in order toconclude the clinical characteristics and the risk factors of cutaneous allodynia in migraine. The effect ofdrugs were evaluated through the change of CPT between topiramate and flunarizine groups and thevariation of CA was investigated in order to find the role of classic prophylactic therapy in migraine-relatedallodynia, which is central sensitization. Methods Patients with migraine admitted to our headache clinicfrom June 2014 to June 2015 were recruited. They were randomly allocated to two groups, one group withtopiramate, the other with flunarizine. Pressure allodynia were measured with FORCE GAGE, and prickingwas measured with Electronic V on Frey Anesthesiometer for measuring. Pain threshold was measured perthree months. The total course of treatment was six months. The software SPSS 17.0 had been used forstatistical analysis, the variation of pain threshold after treatment was compared with t test and χ2 test.Results70.4% patients had allodynia, the percent of female was 76.3%. Female gender, the duration ofillness, frequency of migraine attacks per month were significantly associated with allodynia. The rate ofallodynia, the frequency of headache, the number of patients with allodynia declined significantly aftertreatment, the pain thresholds had been improved obviously. The composite side effects of topiramate andflunarizine were low and no very serious were found. Conclusions(1) Allodynia was present especiallyin females who had frequent migraine attacks for long duration. Gender, duration of illness and number ofmigraine attacks per month were the best predictors of allodynia. (2) Oral drugs of topiramate andDOI:10.3877/cma.j.issn.1674-0785.2016.20.008作者单位:250014济南,山东大学附属千佛山医院急诊科1;250021济南,山东大学附属省立医院神经内科2通讯作者:张娜,Email: zn804@flunarizine in patients with migraine in a short treatment time can effectively improve the patients' pain threshold, which can effectively relieving allodynia, improve the central sensitization, they have definite therapeutic effects. The side effects of them were low.【Key words】Migraine; Prophylaxis;Topiramate;Flunarizine;Allodynia;Central sensitization偏头痛是一种临床常见的慢性神经血管性疾病,是一种复杂的大脑功能失调[1],影响了大约总人口的12%[2-4],偏头痛引起了严重的残疾和人类一生中最多产时段较大比例人口的工作丢失[5],发病年龄在25~55岁[6]。
合作英语作文高中
合作英语作文高中In todays rapidly developing society cooperation has become an essential skill for individuals to achieve success and progress. It is a key factor in the development of both personal and professional life. The following essay will explore the importance of cooperation in high school English learning its benefits and the role it plays in fostering a collaborative spirit among students.Title The Significance of Cooperation in High School English LearningIntroductionThe journey of learning English in high school is not only about acquiring language skills but also about developing the ability to work effectively with others. Cooperation plays a pivotal role in this process enabling students to learn from each other share knowledge and enhance their understanding of the language.Body Paragraph 1 The Importance of CooperationCooperation in English learning is crucial for several reasons. Firstly it allows students to engage in peertopeer learning which can be more relatable and effective than learning from a teacher alone. When students work together they can discuss and clarify doubts share different perspectives and learn from each others strengths and weaknesses.Body Paragraph 2 Benefits of Cooperative LearningThe benefits of cooperative learning are manifold. It fosters a sense of community and belonging among students which can lead to increased motivation and engagement in the learning process. Additionally it helps students develop essential skills such as communication problemsolving and critical thinking. By working in groups students can also gain confidence in their English speaking and listening abilities as they practice these skills in a supportive environment.Body Paragraph 3 Enhancing Language ProficiencyCooperative learning activities such as group discussions roleplays and collaborative projects provide ample opportunities for students to practice their English language skills in a reallife context. This not only helps in improving their fluency and accuracy but also in understanding the nuances of the language such as idiomatic expressions and cultural references.Body Paragraph 4 The Role of Teachers in Facilitating CooperationTeachers play a vital role in facilitating cooperative learning in the classroom. They can design activities that encourage collaboration provide guidance and support and ensure that all students participate actively. Teachers can also assess the effectiveness of group work and provide feedback to help students improve their cooperative skills. ConclusionIn conclusion cooperation is a fundamental aspect of high school English learning that contributes significantly to the overall educational experience. It not only enhances language proficiency but also equips students with the interpersonal skills necessary for success in the globalized world. By embracing cooperation students can unlock the full potential of their English learning journey and prepare themselves for future academic and professional challenges.。
铜绿假单胞菌PcrV疫苗的研制现状
• 158 •国际流行病学传染病学杂志2021年4月第48卷第2期Inter J Epidemiol Infect Dis,April 2021,Vol. 48,N〇.2铜绿假单胞菌P c rV疫苗的研制现状李文桂陈雅裳重庆医科大学附属第一医院传染病寄生虫病研究所400016通信作者:李文桂,E m a i l:c q liw e n g u i@163.c o m•综述•【摘要】铜绿假单胞菌是一种院内感染的常见致病菌,采用疫苗防治该菌是当前研究的热点领域之一。
PcrV蛋白作为一种转运蛋白,是重要的免疫调控靶点,可作为一种有效的疫苗候选分子。
本文综述了PcrV蛋白、PcrV抗体、核酸疫苗以及重组鼠伤寒沙门菌疫苗等的研究现状,为新型疫苗研发提供参考。
【关键词】假单胞菌,铜绿;PcrV蛋白;疫苗;转运蛋白;抗体基金项目:国家自然科学基金(30801052、30671835、30500423、30200239)D0I : 10.3760/331340-20200623-00205Recent advances in PcrV vaccine against Pseudomonas aeruginosaLi Wengui, Chen YalongInstitute o f Infectious and Parasitic Diseases^ the First Affiliated Hospital, Chongqing Medical University, Chongqing400016, ChinaCorresponding author \ Li Wengui, Email :******************【Abstract】Pseudomonas aeruginosa is one type of pathogens causing nosocomial infections. It recentlybecomes highlight to control this bacterium by the application of related vaccine. PcrV protein, as a transport protein,is an important target for immune regulation and an effective candidate molecule of vaccine. The review outlines theresearch of PcrV protein, PcrV antibody, nucleic acid vaccine, and recombinant Salmonella typhimurium vaccine, inorder to provide references for the development of novel vaccine.【Key words】aenxgifwwa; PcrV protein; Vaccine; Transport protein; AntibodyFund program:National Natural Science Foundation of China(30801052, 30671835, 30500423, 30200239)DOI : 10.3760/331340-20200623-00205铜绿假单胞菌是一种常见的机会致病菌'I D型分泌系 统(T3SS)是其主要致病因子,可协助其逃避巨噬细胞的吞噬和降解|21。
P3HTMEHPPV
Exciton annihilation and diffusion in semiconducting polymersP. E. Shaw, A. J. Lewis, A. Ruseckas, I. D. W. SamuelOrganic Semiconductor Centre, SUPA, School of Physics and Astronomy, University of St Andrews, North Haugh, St Andrews, Fife KY16 9SS, United KingdomABSTRACTWe show that time-resolved luminescence measurements at high excitation densities can be used to study exciton annihilation and diffusion, and report the results of such measurements on films of P3HT and MEH-PPV. The results fit to an exciton-exciton annihilation model with a time independent annihilation rate γ, which was measured to be γ = (2.8±0.5)x10-8 cm3s-1 in MEH-PPV and γ = (5.2±1)x10-10 cm3s-1 in P3HT. This implies much faster diffusion in MEH-PPV. Assuming a value of 1 nm for the annihilation radius we evaluated the diffusion length for pristine P3HT in one direction to be 3.2 nm. Annealing of P3HT was found to increase the annihilation rate to (1.1±0.2)x10-9 cm3s-1 and the diffusion length to 4.7 nm.Keywords: Annihilation, Diffusion, Time-resolved, Fluorescence, Annealing, P3HT, MEH-PPV1.INTRODUCTIONThe properties of conjugated polymers make them promising materials for use in organic photovoltaic cells 1. Their high absorption coefficient, capability of charge transport, and solution-processing make them versatile materials that can be incorporated into a range of possible device structures. Photoexcitation of the polymer results primarily in singlet exciton formation2 with a relatively high binding energy in the range of 0.3 to 1 eV 3, 4. This factor means that dissociation of the excitons does not readily occur and that a charge-accepting material is required to provide an interface at which separation can occur.In organic solar cells this can be achieved by either depositing the polymer film directly onto a flat layer of charge accepting material,5 or by blending the two together to form a bulk heterojunction 6. This last approach has proved most effective with reported efficiencies of ~5% 7. In either case the performance will depend critically on the ability of the exciton to diffuse to an interface.From the time of generation the exciton diffuses by a random walk process through the polymer matrix. The rate of diffusion is known as the diffusion coefficient and will vary from polymer to polymer. The distance traveled by an exciton during its lifetime is the diffusion length. Longer diffusion lengths are desirable for solar cell materials.An important technique for measuring exciton diffusion is via the diffusion to a quencher method 8-11. Varying thicknesses of the polymer of interest are deposited onto a quenching surface such as a fullerene or TiO2 12. The properties of the quenching surface are essential for the effectiveness of this method. The quencher must be smooth, stable and capable of readily accepting charges in the vicinity. In addition the thickness of the polymer must be determined accurately – for example by spectroscopic ellipsometry.Of all the excitons generated within the polymer by photoexcitation a fraction of these will be close to the interface and likely to be quenched. By varying the thickness of the polymer film the extent of the quenching will also change, the effect of which can be detected by both steady-state and time-resolved measurements of the photoluminescence (PL). In both cases a reference film of the same thickness, deposited onto a non-quenching substrate, is also required for comparison. A value for the diffusion coefficient is typically calculated by fitting to the data with a diffusion model.An alternative technique is via exciton-exciton annihilation. At high exciton densities two excitons may fuse to form a higher energy exciton, which rapidly decays to the original excited state by phonon emission. This process requires the two excitons to be in close proximity to each other; so its rate depends on the density of excitons and how rapidly theyOrganic Photovoltaics VII, edited by Zakya H. Kafafi, Paul A. Lane,Proc. of SPIE Vol. 6334, 63340G, (2006) · 0277-786X/06/$15 · doi: 10.1117/12.681573diffuse. By measuring the rate of decay of photoluminescence as a function of excitation density, exciton annihilation and diffusion can be studied. An advantage of this method is that it does not require a quencher and is therefore less complex. In this paper we apply this technique to study exciton dynamics in the conjugated polymers P3HT and MEH-PPV, which are promising materials for light-emitting devices 13, 14, organic photovoltaics 15, 16 and field effect transistors 17, 18.2.EXPERIMENTAL METHODThe P3HT was supplied by Merck and has a regio-regularity of 98.5%. Solutions were prepared in chloroform and initially heated to 50° C for two hours while stirring to assist the dissolution of the polymer. All films were spin-coated onto fused silica substrates, which had been cleaned in an ultrasonic bath with acetone and propan-2-ol. Annealing was performed in the inert atmosphere of a glove box at 140° C for 2 hours.Time-resolved measurements were performed with the sample stored in a vacuum of ~5x10-5 mbar and excited from the polymer side. For the P3HT measurements excitation was in the form of 100 fs duration pulses of 505 nm wavelength at a frequency of 5 kHz. The low repetition rate ensures there is full relaxation of the excited states in the polymer between successive excitations. Time-resolved PL measurements were captured over the wavelength range of 610-730 nm with a Hamamatsu streak camera coupled with a Chromex imaging spectrograph. The diameter of the excitation spot was measured to be 280 µm with a beam profiler. The absorbance spectra were measured with a Varian Cary 300 spectrophotometer. Film thickness was calculated from the absorbance to be 48 nm.The data for the MEH-PPV was obtained by exciting the film with 100 fs pulses of 400 nm wavelength at a repetition rate of 50 kHz. The diameter of the excitation spot was measured to be 0.5 mm with the emission over the wavelength range 550-680 nm captured by the streak camera. Film thickness was calculated from the absorbance to be 35 nm.3.RESULTSThe structures of the materials studied, together with their absorption spectra are shown in figure 1. The time-resolved PL decays for MEH-PPV for a range of exciton densities are displayed in Fig. 2. The initial excitation density isresults in a single photoexcitation. At the lowest density (5x1016 cm -3) the decay is mono-exponential with a 1/e lifetime of 140 ps, but as the exciton density increases the decay becomes more rapid due to exciton-exciton annihilation. This can be modeled by the following rate equation:2)(n n dtt dn γκ−−= (1)where n(t) is the time dependent exciton density, κ is the exciton decay rate in the absence of annihilation and γ is the annihilation rate. Assuming the annihilation rate is time-independent, the solution to equation (1) is:)]exp(1)[0(1)exp()0()(t n t n t n κκγκ−−+−=(2)eeeP L I n t e n s i t y (n o r m a l i s e d )-3κκκγ−⎟⎟⎠⎞⎜⎜⎝⎛+=)exp()0(1)(1t n t n (3)From equation (3) the 1/n(t) dependence on exp(κt) is expected to be linear, which turns out to be true for MEH-PPV (Fig. 3), confirming that the annihilation rate γ is indeed time-independent. The gradient and intercept of the data give a value for γ = (2.8±0.5)x10-8 cm 3 s -1.1.21.62.02.42.80.05.0x10-181.0x10-171.5x10-172.0x10-171/n (t )Exp (κt)Fig. 3. Linearised annihilation data for a 38 nm MEH-PPV film. Excitation densities are given in cm -3.Time-resolved measurements of the PL decay of P3HT reveal an initial rapid decay component that prevents the full decay from being considered as mono-exponential (Fig. 4). However, the remainder of the decay is close to mono-exponential and so can be fitted to with the model if the initial ~50 ps are omitted. A value for the initial excitation n(0) is required to calculate the annihilation rate γ from the gradient and this was obtained by extrapolating the decay back to t = 0 as illustrated in Fig. 4. This approach yields a value for n(0) consistent with a time independent decay rate, which is what is assumed in the model.1.0x10181.0x1019n (t )Time (ps)Fig. 4. Exciton density as a function of time and initial excitation density for a P3HT film excited with 505 nm pulsesThe linearised results for the pristine film are presented in Fig. 5 with the extrapolated initial excitation densities in the inset. Linear fits agree well with the data and yield consistent values for the annihilation rate, the average of which was (5.2±1)x10-10 cm 3s -1.1/n (t )exp(κt)Fig. 5. Linearised annihilation data for pristine P3HT. The extrapolated n(0) are given in the inset.exp(κt)Fig. 6. Linearised annihilation data for annealed P3HT. The extrapolated n(0) are given in the inset.4. DISCUSSIONThe results reveal that the annihilation rate is faster in MEH-PPV than it is in P3HT by more than an order of magnitude, implying that the exciton diffusion rate must also be faster in MEH-PPV than it is in P3HT.The annihilation rate is related to the diffusion coefficient, D , by equation (4) where R a is the annihilation radius.D R a πγ4= (4)The annihilation radius is a critical variable in the determination of D , however it is one that is not easily measured experimentally. It corresponds to the separation at which the process of annihilation between two excitons is faster than diffusion and therefore likely to occur.The distance that an exciton can diffuse will be limited by its lifetime τ and is the diffusion length L D . For diffusion towards a quenching interface (in one direction):τD L D =(5)For the purpose of all the calculations presented for P3HT the value of R a was set to 1 nm. This is consistent with what others have assumed in the literature 21, 22 for this polymer. For the pristine film this gives D = (4.1±0.8)x10-4 cm 2s -1 and the diffusion length is estimated to be 3.2 nm using this value and the lifetime at low excitation intensities of 250 ps.For the annealed film the diffusion coefficient and diffusion length were calculated to be (8.8±2)x10-4 cm 2s -1 and 4.7 nm respectively, again assuming a value of 1 nm for R a . The doubling of the annihilation rate (and diffusion coefficient) shows that adjustments to processing can be used to enhance exciton diffusion. The benefits of thermally annealing P3HT/PCBM blends have been extensively reported 23, 24 and generally attributed to better mixing of the PCBM and the polymer matrix. The results presented here indicate that a proportion of this enhancement may be due to a reordering of the P3HT.For MEH-PPV the annihilation rate was calculated to be (2.8±0.5)x10-8 cm 3s -1, which gives a diffusion coefficient D = 2.2x10-2 cm 2s -1 for a value of R a of 1 nm. With a lifetime of 140 ps the diffusion length L D is therefore 18 nm. This value is at the high end of what has been reported 25, but the result is strongly influenced by the value assigned to the annihilation radius. It is possible that the annihilation radius of MEH-PPV is much bigger than it is for P3HT and increasing R a to 4 nm yields a diffusion coefficient of (5.6±1.0)x10-3 cm 2s -1 and a value for L D of 8.8 nm. Values reported so far in the literature for MEH-PPV, obtained via diffusion to an interface experiments, suggest a diffusion length in the range of 6-14 nm 11, 25, 26, which would be consistent with a larger value for R a .An estimate for the diffusion length can be obtained from the exciton density at which the onset of annihilation is detected. Assuming a uniform exciton distribution n(0) and that diffusion is isotropic then each exciton can be approximated as a sphere of radius L 3D , where L 3D is the sum of the 3-dimensional diffusion length and the annihilation radius. This calculation provides an upper limit for the diffusion length.1)0(3433=D L n π (6)In MEH-PPV the onset occurred at approximately n(0) = 1017 cm -3, which gives a value of L 3D ~ 13 nm. For P3HT the corresponding value of n(0) is higher at approximately 1018 cm -3, resulting in L 3D ~ 6 nm, which fits with the view that both the diffusion length and the annihilation radius are small and agrees well with the values calculated from the annihilation rate. The calculated diffusion length of 3.2 nm is consistent with that reported by Kroeze et al 22 of 2.6-5.3 nm and that of ~ 5 nm by Theander et al 10 for a similar polythiophene.The calculation of the diffusion coefficient from the annihilation rate is influenced by the value chosen for the annihilation radius and there is no reason why this should be the same for both MEH-PPV as P3HT. The low onset of annihilation may not be due solely to an increase in the diffusion coefficient, but could also be a consequence of a large annihilation radius too.5.CONCLUSIONSWe have shown that exciton annihilation is a useful technique for the study of solar cell materials. Exciton annihilation and diffusion is faster in MEH-PPV than in P3HT. In P3HT the rate of annihilation and diffusion can be doubled by thermal annealing, indicating that refinements to processing can enhance exciton diffusion.ACKNOWLEDGEMENTSThe authors would like to thank EPSRC for financial support.REFERENCES1Nelson, J., Current Opinion in Solid State and Materials Science2002, 6, 87.2Greenham, N. C.; Samuel, I. D. W.; Hayes, G. R.; Phillips, R. T.; Kessener, Y.; Moratti, S. C.; Holmes, A. B.;Friend, R. H., Chemical Physics Letters1995, 241, 89.3Frankevich, E. L.; Lymarev, A. A.; Sokolik, I.; Karasz, F. E.; Blumstengel, S.; Baughman, R. H.; Horhold, H.H., Physical Review B1992, 46, (15), 9320.4Scheidler, M.; Lemmer, U.; Kersting, R.; Karg, S.; Riess, W.; Cleve, B.; Mahrt, R.; Kurz, H.; Bassler, H.;Gobel, E.; Thomas, P., Physical Review B1996, 54, (8), 5536.5Oregan, B. and Gratzel, M., Nature1991, 353, (6346), 737.6Halls, J. J. M.; Walsh, C. A.; Greenham, N. C.; Marseglia, E. A.; Friend, R. H.; Moratti, S. C.; Holmes, A. B., Nature1995, 376, (6540), 498.7Li, G.; Shrotriya, V.; Huang, J. S.; Yao, Y.; Moriarty, T.; Emery, K.; Yang, Y., Nature Materials2005, 4, (11), 864.8Scully, S. R. and McGehee, M. D., Journal of Applied Physics2006, 100, 034907.9Gregg, B.; Sprague, J.; Peterson, M., Journal of Physical Chemistry B1997, 101, (27), 5362.10Theander, M.; Yartsev, A.; Zigmantas, D.; Sundstrom, V.; Mammo, W.; Andersson, M. R.; Inganas, O., Physical Review B2000, 61, (19), 12957.11Markov, D. E.; Hummelen, J. C.; Blom, P. W. M.; Sieval, A. B., Physical Review B2005, 72, 045216.12van Hal, P. A.; Christiaans, M. P. T.; Wienk, M. M.; Kroon, J. M.; Janssen, R. A. J., Journal of Physical Chemistry B1999, 103, (21), 4352.13Nguyen, T.; Kwong, R.; Thompson, M.; Schwartz, B., Applied Physics Letters2000, 76, (17), 2454.14Kim, Y. and Bradley, D. D. C., Current Applied Physics2005, 5, (3), 222.15Kim, Y.; Cook, S.; Tuladhar, S. M.; Choulis, S. A.; Nelson, J.; Durrant, J. R.; Bradley, D. D. C.; Giles, M.;McCulloch, I.; Ha, C.; Ree, M., Nature Materials2006, 5, 197.16Kawata, K.; Burlakov, V. M.; Carey, M. J.; Assender, H. E.; Briggs, G. A. D.; Ruseckas, A.; Samuel, I. D. W., Solar Energy Materials and Solar Cells2005, 87, 715.17Sirringhaus, H.; Tessler, N.; Friend, R., Science1998, 280, (5370), 1741.18Sirringhaus, H.; Brown, P. J.; Friend, R. H.; Nielsen, M. M.; Bechgaard, K.; Langeveld-Voss, B. M. W.;Spiering, A. J. H.; Janssen, R. A. J.; Meijer, E. W.; Herwig, P.; de Leeuw, D. M., Nature1999, 401, (6754),685.19Liu, Y.; Summers, M. A.; Edder, C.; Fréchet, J. M. J.; McGehee, M. D., Advanced Materials2005, 17, (24), 2960.20Kim, Y.; Choulis, S. A.; Nelson, J.; Bradley, D. D. C.; Cook, S.; Durrant, J. R., Applied Physics Letters2005, 86, 063502.21Dicker, G.; de Haas, M. P.; Siebbeles, L. D. A.; Warman, J. M., Physical Review B2004, 70, 045203.22Kroeze, J. E.; Savenije, T. J.; Vermeulen, M. J. W.; Warman, J. M., Journal of Physical Chemistry B2003, 107, (31), 7696.23Kim, Y.; Choulis, S. A.; Nelson, J.; Bradley, D. D. C.; Cook, S.; Durrant, J. R., Journal of Materials Science 2005, 40, (6), 1371.24Li, G.; Shrotriya, V.; Yao, Y.; Yang, Y., Journal of Applied Physics2005, 98, 043704.25Burlakov, V. M.; Kawata, K.; Assender, H. E.; Briggs, G. A. D.; Ruseckas, A.; Samuel, I. D. W., Physical Review B2005, 72, 075206.26Halls, J. J. M.; Pichler, K.; Friend, R. H.; Moratti, S. C.; Holmes, A. B., Applied Physics Letters1996, 68, (22), 3120.。
可爱清新小小仙人掌通用PPT模板
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PART 03
索尼α系摄影机电子产品说明书
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New Characterizations of Input to State Stability
New Characterizations of Input to State StabilityEduardo D.SontagYuan WangAbstract—We present new characterizations of the Input to State Stability property.As a consequence of these re-sults,we show the equivalence between the ISS property and several(apparent)variations proposed in the literature.I.IntroductionThis paper studies stability questions for systems of the general formΣ:˙x=f(x,u),(1) with states x(t)evolving in Euclidean space R n and con-trols u(·)taking values u(t)∈U⊆R m,for some positive integers n and m(in all the main results,U=R m).The questions to be addressed all concern the study of the size of each solution x(t)—its asymptotic behavior as well as maximum value—as a function of the initial condition x(0)and the magnitude of the control u(·).One of the most important issues in the study of control systems is that of understanding the dependence of state trajectories on the magnitude of inputs.This is especially relevant when the inputs in question represent disturbances acting on a system.For linear systems,this leads to the consideration of gains and the operator-theoretic approach, including the formulation of H∞control.For not necessar-ily linear systems,there is no complete agreement as yet regarding what are the most useful formulations of system stability with respect to input perturbations.One candi-date for such a formulation is the property called“input to state stability”(ISS),introduced in[12].Various authors, (see e.g.[4],[5],[6],[10],[17]have subsequently employed this property in studies ranging from robust control and highly nonlinear small-gain theorems to the design of ob-servers and the study of parameterization issues;for expo-sitions see[14]and most especially the textbooks[7],[8]. The ISS property is defined in terms of a decay estimate of solutions,and is known(cf.[15])to be equivalent to the validity of a dissipation inequalitydV(x(t))dt≤σ(|u(t)|)−α(|x(t)|)holding along all possible trajectories(this is reviewed be-low),for an appropriate“energy storage”function V and comparison functionsσ,α.(A dual notion of“output-to-state stability”(OSS)can also be introduced,and leads to the study of nonlinear detectability;see[16].)E.Sontag is with SYCON-Rutgers Center for Systems and Control,Department of Mathematics,Rutgers University,New Brunswick,NJ08903.e-mail:sontag@.This re-search was supported in part by US Air Force Grant F49620-95-1-0101.Y.Wang is with Department of Mathematics,Florida Atlantic Uni-versity,Boca Raton,FL33431.e-mail:ywang@. This research was supported in part by NSF Grants DMS-9457826 and DMS-9403924In some cases,notably in[2],[6],[18],authors have suggested apparent variations of the ISS property,which are more natural when solving particular control problems. The main objective of this paper is to point out that such variations are in fact theoretically equivalent to the orig-inal ISS definition.(This does not in any way diminish the interest of these other authors’contributions;on the contrary,the alternative characterizations are of great in-terest,especially since the actual estimates obtained may be more useful in one form than another.For instance, the“small-gain theorems”given in[6],[2]depend,in their applicability,on having the ISS property expressed in a particular form.This paper merely states that from a the-oretical point of view,the properties are equivalent.For an analogy,the notion of“convergence”in R n is independent of the particular norm used—e.g.all L p norms are equiv-alent—but many problems are more naturally expressed in one norm than another.)One of the main conclusions of this paper is that the ISS property is equivalent to the conjunction of the following two properties:(i)asymptotic stability of the equilibrium x=0of the unforced system(that is,of the system defined by Equation(1)with u≡0)and(ii)every trajectory of(1) asymptotically approaches a ball around the origin whose radius is a function of the supremum norm of the control being applied.We prove this characterization along with many others.Since it is not harder to do so,the results are proved in slightly more generality,for notions relative to an arbitrary compact attractor rather than the equilibrium x=0.A.Basic Definitions and NotationsEuclidean norm in R n or R m is denoted simply as|·|. More generally,we will study notions relative to nonempty subsets A of R n;for such a set A,|ξ|A=d(ξ,A)= inf{d(η,ξ),η∈A}denotes the point-to-set distance from ξ∈R n to A.(So for the special case A={0},|ξ|{0}=|ξ|.) We also let,for eachε>0and each set A:B(A,ε):={ξ||ξ|A<ε},B(A,ε):={ξ||ξ|A≤ε}. Most of the results to be given are new even for A={0}, so the reader may wish to assume this,and interpret|ξ|A simply as the norm ofξ.(We prefer to deal with arbi-trary A because of potential applications to systems with parameters as well as the“practical stability”results given in Section VI.)The map f:R n×R m→R n in(1)is assumed to be locally Lipschitz continuous.By a control or input we mean a measurable and locally essentially bounded function u: I→R m,where I is a subinterval of R which contains theorigin,so that u (t )∈U for almost all t .Given a system with control-value set U ,we often consider the same system but with controls restricted to take values in some subset O ⊆U ;we use M O for the set of all such controls.Given any control u defined on an interval I and any ξ∈R n ,there is a unique maximal solution of the initial value problem ˙x =f (x,u ),x (0)=ξ.This solution is defined on some maximal open subinterval of I ,and it is denoted by x (·,ξ,u ).(For convenience,we allow negative times t in the expression x (t,ξ,u ),even though the interest is in behavior for t ≥0.)A forward complete system is one such that,for each u defined on I =R ≥0,and each ξ,the solution x (t,ξ,u )is defined on the entire interval R ≥0.The L m ∞-norm (possibly infinite)of a control u is denoted by u ∞.That is, u ∞is the smallest number c such that |u (t )|≤c for almost all t ∈I .Whenever the domain I of a control u is not specified,it will be understood that I =R ≥0.A function F :S →R defined on a subset S of R n containing 0is positive definite if F (x )>0for all x ∈S ,x =0,and F (0)=0.It is proper if the preimage F −1(−D,D )is bounded,for each D >0.A function γ:R ≥0→R ≥0is of class N (or an “N function”)if it is continuous and nondecreasing;it is of class N 0(or an “N 0function”)if in addition it satisfies γ(0)=0.A function γ:R ≥0→R ≥0is of class K (or a “K function”)if it is continuous,positive definite,and strictly increasing,and is of class K ∞if it is also unbounded (equivalently,it is proper,or γ(s )→+∞as s →+∞).Finally,recall that β:R ≥0×R ≥0→R ≥0is said to be a function of class KL if for each fixed t ≥0,β(·,t )is of class K and for each fixed s ≥0,β(s,t )decreases to zero as t →∞.(The notations K ,K ∞,and KL are fairly standard;the notations N and N 0are introduced here for convenience.)B.A Catalog of PropertiesWe catalog several properties of control systems which will be compared in this paper.Much of the terminology —except for “ISS”and the names for properties of unforced systems —is not standard,and should be considered ten-tative.A zero-invariant set A for a system Σas in Equation (1)is a subset A ⊆R n with the property that x (t,ξ,0)∈A for all t ≥0and all ξ∈A ,where 0denotes the control which is identically equal to zero on R ≥0.From now on,all definitions are with respect to a given forward-complete system Σas in Equation (1),and a given compact zero-invariant set A for this system.The main definitions follow.We first recall the definition of the (ISS)property:∃γ∈K ,β∈KL st :∀ξ∈R n ∀u (·)∀t ≥0|x (t,ξ,u )|A ≤β(|ξ|A ,t )+γ( u ∞).(ISS)This was the form of the original definition of (ISS)given in [12].It is known that a system is (ISS)if and only if it satisfies a dissipation inequality,that is to say,there exists a smooth V :R n →R ≥0and there are functions αi ∈K ∞,i =1,2,3and σ∈K so thatα1(|ξ|A )≤V (ξ)≤α2(|ξ|A )(2)and∇V (ξ)f (ξ,v )≤σ(|v |)−α3(|ξ|A )(3)for each ξ∈R n and v ∈R m .See [15],[14]for proofs and an exposition,respectively.A very useful modification of this characterization due to [11]is the fact that the (ISS)property is also equivalent to the existence of a smooth V satisfying (2)and Equation (3)replaced by an estimate of the type ∇V (ξ)f (ξ,v )≤−V (ξ)−α3(|ξ|A ).(This can be understood as:“for some positive definite and proper functions y =V (x )and v =W (u )of states and outputs respectively,along all trajectories of the system we have ˙y =−y +v ”.)The main purpose of this paper is to establish further equivalences for the (ISS)property.It will be technically convenient to first introduce a local version of the property (ISS),by requiring only that the estimate hold if the initial state and the controls are small,as follows:∃ρ>0,γ∈K ,β∈KL st :∀|ξ|A ≤ρ,∀ u ∞≤ρ|x (t,ξ,u )|A ≤β(|ξ|A ,t )+γ( u ∞)∀t ≥0.(LISS)Several standard properties of the “unforced”system ob-tained when u ≡0will appear as technical conditions.We review these now.The 0-global attraction property with re-spect to A (0-GATT)holds if every trajectory x (·)of the zero-input system(Σ0):˙x =f (x,0)(4)satisfies lim t →∞|x (t,ξ,0)|A →0;if this is merely requiredof trajectories with initial conditions satisfying |x (0)|A <ρ,for some ρ>0,we have the 0-local attraction property with respect to A (0-LATT).The 0-local stability property with respect to A (0-LS)means that for each ε>0there is a δ>0so that |ξ|A <δimplies that |x (t,ξ,0)|A <εfor all t ≥0.Finally,the 0-asymptotic stability property with respect to A (0-AS)is the conjunction of (0-LATT)and (0-LS),and the 0-global asymptotic stability property with respect to A (0-GAS)is the conjunction of (0-GATT)and (0-LS).Note that (0-GAS)is equivalent to the conjunction of (0-AS)and (0-GATT).It is useful (see e.g.[3],[12],[7])to express these properties in terms of comparison functions:∃β∈KL st :∀ξ∈R n ∀t ≥0|x (t,ξ,0)|A ≤β(|ξ|A ,t ).(0-GAS)and∃ρ>0,β∈KL st :∀|ξ|A <ρ∀t ≥0|x (t,ξ,0)|A ≤β(|ξ|A ,t )(0-AS)respectively.Next we introduce several new concepts.The limit prop-erty with respect to A holds if every trajectory must at some time get to within a distance of A which is a function of the magnitude of the input:∃γ∈N0st:∀ξ∈R n∀u(·)inft≥0|x(t,ξ,u)|A≤γ( u ∞).(LIM) Observe that,if this property holds,then it also holds with someγ∈K∞.However,the caseγ≡0will be of interest, since it corresponds to a notion of attraction for systems in which controls u are viewed as disturbances.The asymptotic gain property with respect to A holds if every trajectory must ultimately stay not far from A, depending on the magnitude of the input:∃γ∈N0st:∀ξ∈R n∀u(·)limt→+∞|x(t,ξ,u)|A≤γ( u ∞).(AG) Again,if the property holds,then it also holds with some γ∈K∞,but the caseγ≡0will be of interest later.The uniform asymptotic gain property with respect to A holds if the limsup in(AG)is attained uniformly with respect to initial states in compacts and all u:∃γ∈N0∀ε>0∀κ>0∃T=T(ε,κ)≥0st:∀|ξ|A≤κsupt≥T|x(t,ξ,u)|A≤γ( u ∞)+ε∀u(·).(UAG)The boundedness property with respect to A holds if bounded initial states and controls produce uniformly bounded trajectories:∃σ1,σ2∈N st:∀ξ∈R n∀u(·)supt≥0|x(t,ξ,u)|A≤max{σ1(|ξ|A),σ2( u ∞)}.(BND)(This is sometimes called the“UBIBS”or“uniform bounded-input bounded-state”property.)The global sta-bility property with respect to A holds if in addition small initial states and controls produce uniformly small trajec-tories:∃σ1,σ2∈N0st:∀ξ∈R n∀u(·)supt≥0|x(t,ξ,u)|A≤max{σ1(|ξ|A),σ2( u ∞)}.(GS)Observe that,if this property holds,then it also holds with bothσi∈K∞.The local stability property with respect to A holds if we merely require a local estimate of this type:∃δ>0,α1,α2∈N0st:∀|ξ|A≤δ∀ u ∞≤δsupt≥0|x(t,ξ,u)|A≤max{α1(|ξ|A),α2( u ∞)}.(LS)If this property holds,then it also holds with bothαi∈K∞,i=1,2Theorem1:Assume given any forward-complete system Σas in Equation(1),with U=R m,and a compact zero-invariant set A for this system.The following properties are equivalent:A.(ISS)B.(LIM)&(0-AS)C.(UAG)D.(LIM)&(0-GAS)E.(AG)&(0-GAS)F.(AG)&(LISS)G.(AG)&(LS)H.(LIM)&(LS)I.(LIM)&(GS)J.(AG)&(GS)This theorem will follow from a several technical facts which are stated in the next section and proved later in the paper.These technical results are of interest in themselves.C.List of Main Technical StepsWe assume given a forward-complete systemΣas in Equation(1),with U=R m,and a compact zero-invariant set A for this system.For ease of reference,wefirst list several obvious implications:(UAG)=⇒(AG).(5)(AG)=⇒(LIM).(6)(ISS)=⇒(0-GAS).(7)(LISS)=⇒(0-AS).(8)(LISS)=⇒(LS).(9) Because(LIM)implies(0-GATT)and(0-GAS)is the same as(0-AS)plus(0-GATT),we have:(LIM)&(0-GAS)⇐⇒(LIM)&(0-AS).(10)It was shown in[15]that(ISS)⇐⇒(UAG)&(LS).(11)It turns out that(LS)is redundant,so(UAG)is in fact equivalent to(ISS):Proposition I.1:(UAG)⇒(LS).This observation generalizes a result which is well-known for systems with no controls(for which see e.g.[1,Theo-rem1.5.28]or[3,Theorem38.1]).It should be noted that the standing hypothesis that A is compact is essential for this implication;in the general case of noncompact sets A, the local stability property with respect to A is not redun-dant.From Proposition I.1and Equation(7),we know then that:(UAG)=⇒(0-GAS).(12) We also prove these results:Lemma I.2:(0-GAS)=⇒(LISS).Lemma I.3:(BND)&(LS)⇐⇒(GS).Lemma I.4:(LIM)&(GS)⇐⇒(AG)&(GS). Lemma I.5:(LIM)⇒(BND).The converse of Lemma I.5is of course false,as illustrated by the autonomous system˙x=0(with n=m=1),which even satisfies(GS)but does not satisfy(LIM).From Lem-mas I.3and I.5,we have that:(LIM)&(LS)⇐⇒(LIM)&(GS).(13)The most interesting technical result will be this: Proposition I.6:(LIM)&(LS)⇒(UAG).We now indicate how the proof of Theorem1follows from all these technical facts.•(A⇐⇒C):by Proposition I.1and Equation(11).•(C⇒E):by(5)and(12).•(E⇒F):by Lemma I.2.•(F⇒G):by Equation(9).•(G⇒H):by Equation(6).•(H⇒I):by Equation(13).•(I⇒J):by Lemma I.4.•(J⇒G):obvious.•(H⇒C):this is Proposition I.6.•(E⇒D):by Equation(6).•(B⇐⇒D):by Equation(10).•(D⇒H):by Lemma I.2and Equation(9).A very particular consequence of the main Theorem is worth focusing upon:A⇐⇒J,i.e.(ISS)is equivalent to having both the global stability property with respect to A and the asymptotic gain property with respect to A. Consider this property:∃γ∈N0st:∀ξ∈R n∀u(·)lim t→+∞|x(t,ξ,u)|A≤γlimt→+∞|u(t)|(14)(the limsup being understood in the“essential”sense,of holding up to a set of measure zero;note also that sinceγis continuous and nondecreasing,the right-hand term equalslim t→+∞γ(|u(t)|)).It is easy to show(see Lemma(II.1))thatthis is equivalent to(AG).The conjunction of(14)and(GS)is the“asymptotic L∞stability property”proposedby Teel and discussed in the survey paper[2](in that paper, A={0});it thus follows that asymptotic L∞stability is precisely the same as(ISS).In[18],Tsinias considered the following property(in thatpaper,A={0}):∃γ∈K st:∀ξ∈R n∀u(·)[|x(t,ξ,u)|A≥γ(|u(t)|)∀t≥0]⇒limt→∞|x(t,ξ,u)|A=0(15)which obviously implies(LIM).The author considered the conjunction of(15)and(LS)(more precisely,the author also assumed a local stability property that implies(LS), namely f(x,u)=Ax+Bu+o(x,u),with A Hurwitz); because of the equivalence A⇐⇒H,this conjunction is also equivalent to(ISS).The outline of the rest of the paper is as follows.In Section II wefirst prove Proposition I.1,Lemmas I.2, I.3,and I.4,and the equivalence between Property(14) and(AG),all of which are elementary.Section III con-tains the proof of the basic technical step needed to prove the main result,as well as a proof of Lemma I.5.After this,Section IV establishes a result showing that uniform global asymptotic stability of systems with disturbances(or equivalently,of an associated differential inclusion)follows from the non-uniform variant of the concept;this would appear to be a rather interesting result in itself,and in any case it is used in Section V to provide the proof of Propo-sition I.6.Finally,in Section VI we make some remarks characterizing so-called“practical”ISS stability in terms of ISS stability with respect to compact sets.II.Some Simple ImplicationsWe start with the proof of Proposition I.1.Proof:We will show the following property,which is equivalent to(LS):∀ε>0∃δ>0st:∀|ξ|A≤δ∀ u ∞≤δsupt≥0|x(t,ξ,u)|A≤ε.(16)Indeed,assume givenε>0.Let T=T(ε/2,1).Pick anyδ1>0so thatγ(δ1)<ε/2.Then:for all|ξ|A≤1and u ∞≤δ1supt≥T|x(t,ξ,u)|A≤ε/2+γ( u ∞)<ε.(17)By continuity(at u≡0and states in A)of solutions with respect to controls and initial conditions,and compactness and zero-invariance of A,there is also someδ2=δ2(ε,T)> 0so that|η|A≤δ2and u ∞≤δ2⇒supt∈[0,T]|x(t,η,u)|A≤ε.Together with(17),this gives the desired property with δ:=min{1,δ1,δ2}.We now prove Lemma I.2.Proof:Wefirst note that the0-global asymptotic sta-bility property with respect to A implies the existence of a smooth function V such thatα1(|ξ|A)≤V(ξ)≤α2(|ξ|A)∀ξ∈R n,for someα1,α2∈K∞,and∇V(ξ)f(ξ,0)≤−α3(|ξ|A)∀ξ∈R n,for someα3∈K∞(this is well-known;see for instance,[9] for one such a converse Lyapunov theorem).Following ex-actly the same steps as in the proof of Lemma3.2in[13], one can show that there exists some functionχ∈K∞such that for allχ(|v|)≤|ξ|A≤1,∇V(ξ)f(ξ,v)≤−α3(|ξ|A)/2.(18) (Here we note that in the proof of Lemma3.2in[13],the function g(s)=1for s∈[0,1].)Using exactly the same arguments used on page441 of[12],one can show that there exist a KL-functionβand a K∞-functionγso that if|x(t,ξ,u)|A≤1for all t∈[0,T) for some T>0,then it holds that|x(t,ξ,u)|A≤max{β(|ξ|A,t),γ( u ∞)}(19) for all t∈[0,T).Letρ=min{κ−1(1/2),γ−1(1/2)},where κ(r)=β(r,0)for r≥0.Note here thatρ≤κ−1(1/2)≤1/2.We now show that the(LISS)property holds with theseβ,γ,andρ.Fix anyξand u with|ξ|A≤ρandu ∞≤ρ.First note that|x(t,ξ,u)|<1for t small enough.Claim:|x(t,ξ,u)|A≤1for all t≥0.Assume the claim is false.Then witht1=inf{t:|x(t,ξ,u)|A≥1},it holds that0<t1<∞.Note then that|x(t,ξ,u)|A<1 for all t∈[0,t1).This then implies that|x(t,ξ,u)|A≤max{β(ρ,0),γ(ρ)}≤1/2∀t∈[0,t1). By continuity,|x(t1,ξ,u)|A<1,contradicting to the defi-nition of t1.This shows that t1=∞,i.e.,|x(t,ξ,u)|A≤1 for all t≥0.Thus the estimate in(19)holds for all t,as desired.Next we prove Lemma I.3:boundedness property with respect to A and local stability property with respect to A implies global stability property with respect to A(the converse is obvious).Proof:Assume that Equations(BND)and(LS)hold, for a given choice ofδ,σ1,σ2,α1,α2.Pick a constant c≥0and two class-K functionsβ1andβ2so that,for each i=1,2,σi(s)≤βi(s)+c for all s≥0.Pick two class-K functionsγ1andγ2so that,for each i=1,2,it holds that:γi(s)≥αi(s)∀0≤s≤δ,γi(s)≥2βi(s)∀s≥0,γi(s)≥2[βi(s)+2c]∀s≥δ.Consider anyξand u.Then Equation(GS)holds.In-deed,if both|ξ|A≤δand u ∞≤δthen this follows from Equation(LS).Assume now that|ξ|A>δ.Thus Equation(BND)implies that,for all t≥0,|x(t,ξ,u)|A≤σ1(|ξ|A)+σ2( u ∞)≤β1(|ξ|A)+c+β2( u ∞)+c≤β1(|ξ|A)+2c+(1/2)γ2( u ∞)≤(1/2)[γ1(|ξ|A)+γ2( u ∞)]≤max{γ1(|ξ|A),γ2( u ∞)}.The case u ∞>δis similar.Lemma I.4says that the limit property with respect to A plus the global stability property with respect to A imply the asymptotic gain property with respect to A;it is shown as follows.Proof:Letσ1,σ2,γ∈Nbe as in(LIM)and(GS). We claim that(AG)holds with:γ(s):=max{(σ1◦γ)(s),σ2(s)}.Pick anyξ,u,and anyε>0.By(LIM),there is some T≥0so that|x(T,ξ,u)|A≤γ( u ∞)+ε.Applying(GS) to the initial state x(T,ξ,u)and the control v(t):=u(t+T) we conclude thatlim t→+∞|x(t,ξ,u)|A≤supt≥T|x(t,ξ,u)|A≤max{σ1(γ( u ∞)+ε),σ2( u ∞)}and takingε→0provides the conclusion.Finally,we show:Lemma II.1:Property(14)is equivalent to(AG).Proof:Sinceγ(limt→+∞|u(t)|)≤γ( u ∞),Property(14)implies(AG),with the sameγ.Conversely,assume that(AG)holds;we next show that Property(14)holds withthe sameγ.Pick anyξ∈R n,control u,andε>0.Letr:=limt→+∞|u(t)|.Let h>0be such thatγ(r+h)−γ(r)<ε.Pick T>0so that|u(t)|≤r+h for almost all t≥T,andconsider the functions z(t):=x(t+T)and v(t):=u(t+T)defined on R≥0.Note that v is a control with v ∞≤r+hand that z(t)=x(t,ζ,v),whereζ=x(T,ξ,u).By thedefinition of the asymptotic gain property with respect toA,applied with initial stateζand control v,limt→+∞|x(t,ξ,u)|A=limt→+∞|z(t,ζ,v)|A≤γ( v ∞)≤γ(r+h)<γ(r)+ε.Lettingε→0gives Property(14).III.Uniform Reachability TimeLet(1)be a forward-complete system.For each subsetO of the input-value space U,each T≥0,and each subsetC⊆R n,we denoteR T O(C):={x(t,ξ,u)|0≤t≤T,u∈M O,ξ∈C}andR O(C):={x(t,ξ,u)|t≥0,u∈M O,ξ∈C}=T≥0R T O(C).In[9,Proposition5.1],it is shown that:Fact III.1:Let(1)be a forward-complete system.Foreach bounded subset O of the input-value space U,eachT≥0,and each bounded subset C⊆R n,R T O(C)isbounded.PGiven afixed system(1)which is forward-complete,apointξ∈R n,a subset S⊆R n,and a control u,one mayconsider the“first crossing time”τ(ξ,S,u):=inf{t≥0|x(t,ξ,u)∈S}with the convention thatτ(ξ,S,u)=+∞if x(t,ξ,u)∈Sfor all t≥0.The following result and its corollary are central.Theystate in essence that,for bounded controls,ifτ(ξ,S,u)isfinite for all u then this quantity is uniformly bounded overu,up to small perturbations ofξand S,and(the Corollary)uniformly on compact sets of initial states as well.(Observethat we are not making the assumption that f is convex oncontrol values and that the set of such values is compactand convex,which would make the result far simpler,bymeans of a routine weak- compactness argument.)Theresult will be mainly applied in the following special case:O is a closed ball in R m,W=R n,and for a given compactset A,C(in the Corollary)is a closed ball of the typeB (A ,2s ),p ∈C ,Ω=B (A ,2s ),and K =B (A ,(3/2)s ).But the general case is not harder to prove,and it is of independent interest.Lemma III.2:Let (1)be a forward-complete system.As-sume given:•an open subset Ωof the state-space R n,•a compact subset K ⊂Ω,•a bounded subset O of the input-value space U ,•a point p ∈R n,and •a neighborhood W of p ,so thatsup u ∈M Oτ(p,Ω,u )=+∞.(20)Then there is some point q ∈W and some v ∈M O suchthatτ(q,K,v )=+∞.(21)Proof:Let p 0=p be as in the hypotheses.Thus for each integer k ≥1we may pick some d k ∈M O so that x (t,p 0,d k )∈Ωfor all 0≤t ≤k .For each j ≥1,we let θj (t )=x (t,p 0,d j ),t ≥0.Consider first {θj (t )}j ≥1as a sequence of functions de-fined on [0,1].From Fact III.1we know that there exists some compact subset S 1of R n such that x (t,p 0,d j )∈S 1for all 0≤t ≤1,for all j ≥1.Let M =sup {|f (ξ,λ)|:ξ∈S 1,λ∈O}.Then d θj (t ) ≤M for all j and almostall 0≤t ≤1.Thus the sequence {θj (t )}j ≥1is uniformly bounded and equicontinuous on [0,1],so by the Arzela-Ascoli Theorem,we may pick a subsequence {σ1(j )}j ≥1of {j }j ≥1with the property that {θσ1(j )(t )}j ≥1converges to a continuous function κ1(t ),uniformly on [0,1].Now we consider {θσ1(j )(t )}j ≥1as a sequence of functions defined on [1,2].Using the same argument as above,one proves that there exists a subsequence {σ2(j )}j ≥1of {σ1(j )}j ≥1such that {θσ2(j )(t )}j ≥1converges uniformly to a func-tion κ2(t )for t ∈[1,2].Since {σ2(j )}is a subsequence of {σ1(j )},it follows that κ2(1)=κ1(1).Repeating the above procedure,one obtains inductively on k ≥1a subse-quence {σk +1(j )}j ≥1of {σk (j )}j ≥1such that the sequence {θσk +1(j )(t )}j ≥1converges uniformly to a continuous func-tion κk +1on [k,k +1].Clearly,κk (k )=κk +1(k )for all k ≥1.Let κbe the continuous function defined by κ(t )=κk (t )for t ∈[k −1,k )for each k ≥1.Then on each interval [k −1,k ],κ(t )is the uniform limit of {θσk (j )(t )}.Since the complement of Ωis closed and the θj ’s have images there,it is clear that κremains outside Ω,and hence outside K .If κwould be a trajectory of the system corresponding to some control v ,the result would be proved (with q =p 0).The difficulty lies,of course,in the fact that there is no reason for κto be a trajectory.However,κcan be well approximated by trajectories,and the rest of the proof consists of carrying out such an approximation.Some more notations are needed.For each control d with values in O ,we will denote by ∆d the control given by ∆d (t )=d (t +1)for each t in the domain of d (so,for instance,the domain of ∆d is [−1,+∞)if the domain of d was R ≥0).We will also consider iterates of the ∆operator,∆k d ,corresponding to a shift by k .Since K is compact and Ωis open,we may pick an r >0such thatB (K,r )⊆Ω.We pick an r 0smaller than r/2and so that the closed ball of radius r 0around p 0is included in the neighborhood W in which q must be found.Finally,let p k =κ(k )for each k ≥1.Observe that both p 0and p 1are in S 1by construction.Next,for each j ≥1,we wish to study the trajectory x (−t,p 1,∆d σ1(j ))for t ∈[0,1].This may be a priori un-defined for all such t .However,since S 1is compact,wemay pick another compact set S1containing B (S 1,r )in its interior,and we may also pick a function f:R n ×R m →R n which is equal to f for all (x,u )∈ S1×O and has compact support;now the system ˙x = f(x,u )is complete,meaning that solutions exist for all t ∈(−∞,∞).We use x (t,ξ,u )to denote solutions of this new system.Observe that foreach trajectory x (t,ξ,u )which remains in S1,x (t,ξ,u )is also defined and coincides with x (t,ξ,u ).In particu-lar, x (−t,θσ1(j )(1),∆d σ1(j ))=x (−t,θσ1(j )(1),∆d σ1(j )),for each j ,since these both equal x (1−t,p 0,d σ1(j )),for each t ∈[0,1].The set of states reached from S 1,using the modified system,in negative times t ∈[−1,0],is in-cluded in some compact set (because the modified system is complete,and again appealing to Fact III.1).Thus,by Gronwall’s estimate,there is some L ≥0so that,for all j ≥1and all t ∈[0,1],x (−t,p 1,∆d σ1(j ))−x (−t,θσ1(j )(1),∆d σ1(j ))≤L p 1−θσ1(j )(1) ,(no “∼”needed in the second solution,since it is also a solution of the original system).Since θσ1(j )(1)→p 1,it follows that there exists some j 1such that for all j ≥j 1,x (−t,p 1,∆d σ1(j ))−x (−t,θσ1(j )(1),∆d σ1(j )) <r 02(22)for all t ∈[0,1].Note that this means in particular thatx (−t,p 1,∆d σ1(j ))∈B (S 1,r/4)⊆ S1for all such t ,for all j ≥j 1,so “∼”can be dropped in Equation (22)for all j ≥j 1.Now let 0<r 1<r 0be such thatx (−t,p,∆d σ1(j 1))−x (−t,p 1,∆d σ1(j 1)) <r 02(23)for all t ∈[0,1],for all p ∈B (p 1,r 1).As this impliesin particular that x (−t,p,∆d σ1(j 1))∈B (S 1,r/2)⊆ S1,again tildes can be bining (22)and (23),it follows that for each p ∈B (p 1,r 1),x (−t,p,∆d σ1(j 1))is defined for all t ∈[0,1]andx (−t,p,∆d σ1(j 1))−x (−t,θσ1(j 1)(1),∆d σ1(j 1)) <r 0(24)for all t ∈[0,1].Let w 1(t )=d σ1(j 1)(t ).Then (24)implies that for each p ∈B (p 1,r 1)it holds that x (−1,p 1,∆w 1)∈B (p 0,r 0),and,since x (−t,θσ1(j 1),∆d σ1(j 1))∈Ωfor all t ∈[0,1],x (−t,p,∆w 1)∈B (K,r/2)∀t ∈[0,1].In what follows we will prove,by induction,that for each i ≥1,there exist 0<r i <r i −1and w i of the form。
罚函数凸优化迭代算法及在无人机路径规划中的应用
Vol. 33 No. 3Mrs. 2221第38卷第3期2021年3月计算机应用研究Application Research of Computers 罚函数凸优化迭代算法及在无人机路径规划中的应用胡锟,张亮(武汉理工大学理学院,武汉430270)摘要:针对无人机路径规划问题,建立了具有定常非线性系统、非仿射等式约束、非凸不等式约束的非凸控制问题模型,并对该模型进行了算法设计和求解。
基于迭代寻优的求解思路,提出了凸优化迭代求解方法和罚函数优 化策略。
前者利用凹凸过程(CCCP)和泰勒公式对模型进行凸化处理,后者将经处理项作为惩罚项施加到目标函 数中以解决初始点可行性限制。
经证明该方法严格收敛到原问题的Karush-Kuhn-Tucker(KKT)点。
仿真实验验证了罚函数凸优化迭代算法的可行性和优越性,表明该算法能够为无人机规划出一条满足条件的飞行路径。
关键词:无人机;路径规划;线性化;凸优化;迭代;罚函数中图分类号:TP301.3 文献标志码:A 文章编号:1021-3695(2221)23-216-2725-24doi :10. 16706/j. isse. 1026-3055.2222.02.0240Peealty function convex optimization iterative algorithm andits application iv UAV path planninaHu Kun, Zhana LiainO(School of Science , Wuhan University of Technology , Wuhan 430272 , China )Abstract : Thin pater estabasheX p non-convex contal monel consists of tine-invariant nonlineac system,non -aPine exualityconstraint ann non-convexconstrain aiminn p S the path plapnina proOlem of unmanneX 86101 vehicle,alonn w:ith analgo C t h m desinneh foc solvinn the aforemexhoneh moOeii Baseh on ne r ahve ontimization ,让 pronoseh the convex ontimization iteration methoO ann pexalth function ontimization shatexy. Thx formxc useh thx conccve-convex process ( CCCP) ann Tayloc formula te convexite the moOel , while the latter andeh the processeh term te the objective function as a pexalte term te solve the feasinilite limt of the initiai point, it is proveh that the pronosed methoO strictla converaes te a Karesh-Kuhn-Tncher( KKT) point of the orivinai proOlem. Simnlation experimehtai results verify the feasinilith anV shperiority of the pexalth function convex ontimization iteration alaoCthm,and it indicates that the pronoseh aioOthm can provine a tight path sahsfyiny the conVihons for the unmanneX aeriai vehime.Keywords : unmanneX aerial vehicle (UAV) ; path plannina ; linearization ; convex ontimization ; iterative ; pexhty function无人机在空中航行障碍少、效率高、成本低,可广泛应用于 民用以及军事领域,譬如通信、物流、导弹等[1\无人机的路径规划问题是其中的核心问题,目标是生成从起点到目标点的实时全局路径,避免与障碍物的碰撞,并在运动动力学约束下使性能指标达到最优⑵。
免疫检查点分子T细胞激活抑制物免疫球蛋白可变区结构域(VISTA)研究进展
免疫检查点分子T细胞激活抑制物免疫球蛋白可变区结构域(VISTA)研究进展①刘婉梅郄称心柳军(中国药科大学新药筛选中心,南京210009)中图分类号R967文献标志码A文章编号1000-484X(2022)10-1263-09[摘要]负性检查点调节因子(NCRs)可调节T细胞活化及免疫应答,在肿瘤和免疫性疾病中发挥重要作用。
T细胞激活抑制物免疫球蛋白可变区结构域(VISTA)属于B7家族成员新型免疫检查点,在骨髓来源细胞中高表达,且可抑制T细胞活化和增殖,在调节先天和适应性免疫应答中发挥重要作用,成为免疫治疗干预的潜在靶标。
本文将对VISTA的结构、表达、功能及其在疾病中的作用进行综述。
[关键词]免疫检查点;T细胞激活抑制物免疫球蛋白可变区结构域;肿瘤免疫;自身免疫Recent developments of V-domain immunoglobulin suppressor of T-cell activation(VISTA)LIU Wanmei,QIE Chenxin,LIU Jun.Center for New Drug Screening of China Pharmaceutical University,Nanjing 210009,China[Abstract]Negative checkpoint regulators(NCRs)can regulate T cell activation and immune response,and play an important role in tumors and immune diseases.V-domain immunoglobulin suppressor of T-cell activation(VISTA)is a new type of immune checkpoint belonging to B7family,who is highly expressed on myeloid cells and can reduced T cell activation and proliferation,which playing an important role in regulating innate and adaptive immune responses,making VISTA a potential target of immunology.This article summarizes structure,expression,function and role of VISTA in diseases.[Key words]Immune checkpoint;V-domain immunoglobulin suppressor of T-cell activation;Tumor immunity;Autoimmunity免疫系统受共刺激信号分子和抑制性分子(即免疫检查点)的双重调节。
法语科技词汇
Trois dimensions:3D技术Trois dimensions ou tridimensionnel ou 3D sont des expressions qui caractérisent l'espace qui nous entoure, tel que perçu par notre vision, en termes de largeur, hauteur et profondeur.Tache solaire : 太阳黑子Une tache solaire est une région sur la surface du Soleil qui est marqueé par une température inférieure àson environement et a une intense activité magnétique(磁性的),qui inhibe(抑制)la convection(对流),formant des zones où la température de surface est réduite.ADN acide désoxyribonucléique:脱氧核苷酸C’est une molécule(分子), retrouvée dans toutes les cellules(细胞)vivantes, qui renferm(comprend)l'ensemble des informations nécessaires au développement et au fonctionnement d'un organisme(机体). Le microprocesseur : 微处理器Un microprocesseur est un processeur dont les composants ont été suffisamment miniaturisés (小型化) pour être regroupés dans un unique circuit intégré. Fonctionnellement, le pro cesseur est la partie d’un ordinateur qui exécute les instructions et traite les données des programmes.Le Réseau informatique: 计算机网络Un réseau informatique est un ensemble d'équipements reliés entre eux pour échanger des informations. Ozone : 臭氧corps simple gazeux, à l’odeur forte, au pouvoir très oxydant(氧化性),dont la molécule (分子)est formée de trois atomes (原子)d’oxygène.Le vaisseau spatial: 宇宙飞船Astronef de grandes dimensions destiné aux vols humains dans l’espace.3G(3G手机):troisième génération de portableLa vitesse de la transmission est plus grande, et il peut offrir un meilleur service de données(数据业务). le clonage : 克隆La manipulation génétique (基因的)permettant d'obtenir, àpartir d'un organisme original, un ou plusieurs organismes possédant le même patrimoine génétique que celui-ci。
CT Bhalla评分评估支气管扩张患者预后的价值
中国医药导报2021年2月第18卷第5期•临床研究-CT Bhalla评分评估支气管扩张患者预后的价值周洁1翁婷2高蔚21.徐州医科大学附属宿迁医院南京鼓楼医院集团宿迁市人民医院影像科,江苏宿迁223800;2.徐州医科大学附属宿迁医院南京鼓楼医院集团宿迁市人民医院呼吸科,江苏宿迁223800[摘要]目的探讨CT Bhalla评分对支气管扩张患者预后的评估价值。
方法纳入南京鼓楼医院集团宿迁市人民医院2016年1月一2018年12月收治的支气管扩张患者80例,患者入院后,均行CT Bhalla评分。
收集患者的临床资料,包括性别、年龄、体重指数、危险分级、吸烟史、病程年限、急性加重次数、铜绿假单胞菌阳性、第1秒用力呼气容积占预计值的百分比(FEV%pred),分析CT Bhalla评分与患者临床特征的关系。
随访12个月,分析患者预后情况,并根据预后情况将其分为良好组(16例)和不良组(64例)。
比较两组CT Bhalla评分,绘制受试者工作特征曲线(ROC)分析CT Bhalla评分对支气管扩张患者预后的预测价值。
结果患者CT Bhalla评分(5~17)分,平均(9.27±1.26)分;不同年龄、危险分级、病程年限、急性加重次数、铜绿假单胞菌阳性、FEV%pred患者CT Bhalla评分比较,差异均有统计学意义(均P<0.05)遥其中高危患者的CT Bhalla评分显著高于中危患者与低危患者冲危患者高于低危患者,且急性加重逸3次/年显著高于急性加重2次/年的患者与急性加重1次/年的患者,急性加重2次/年的患者高于急性加重1次/年的患者,差异均有统计学意义(均P<0.05)遥不良组CT Bhalla评分显著高于良好组,差异有高度统计学意义(P<0.01)遥CT Bhalla评分评价患者预后不良的AUC为0.731(标准误=0.065,95%CI=0.603-0.859,P=0.002),最佳界值为9.490分,敏感度为72.70%,特异性为65.90%■遥结论CT Bhalla评分对支气管扩张患者预后有一定预测价值。
On the Shockley-Read-Hall Model Generation-Recombination in Semiconductors
On the Shockley-Read-Hall Model:Generation-Recombination in SemiconductorsThierry Goudon1,Vera Miljanovi´c2,Christian Schmeiser3January17,2006AbstractThe Shockley-Read-Hall model for generation-recombination of electron-hole pairs insemiconductors based on a quasistationary approximation for electrons in a trappedstate is generalized to distributed trapped states in the forbidden band and to ki-netic transport models for electrons and holes.The quasistationary limit is rigorouslyjustified both for the drift-diffusion and for the kinetic model.Keywords:semiconductor,generation,recombination,drift-diffusion,kinetic modelAMS subject classification:Acknowledgment:This work has been supported by the European IHP network“HYKE-Hyperbolic and Kinetic Equations:Asymptotics,Numerics,Analysis”,contract no.HPRN-CT-2002-00282,and by the Austrian Science Fund,project no.W008(Wissenschaftskolleg ”Differential Equations”).Part of it has been carried out while the second and third authors enjoyed the hospitality of the Universit´e des Sciences et Technologies Lille1.1Team SIMPAF–INRIA Futurs&Labo.Paul Painlev´e UMR8524,CNRS–Universit´e des Sciences et Technologies Lille1,Cit´e Scientifique,F-59655Villeneuve d’Ascq cedex,France.2Wolfgang Pauli Institut,Universit¨a t Wien,Nordbergstraße15C,1090Wien,Austria.3Fakult¨a t f¨u r Mathematik,Universit¨a t Wien,Nordbergstraße15C,1090Wien,Austria&RICAM Linz,¨Osterreichische Akademie der Wissenschaften,Altenbergstr.56,4040Linz,Austria.11IntroductionThe Shockley-Read-Hall (SRH-)model was introduced in 1952[13],[9]to describe the sta-tistics of recombination and generation of holes and electrons in semiconductors occurring through the mechanism of trapping.The transfer of electrons from the valence band to the conduction band is referred to as the generation of electron-hole pairs (or pair-generation process),since not only a free electron is created in the conduction band,but also a hole in the valence band which can contribute to the charge current.The inverse process is termed recombination of electron-hole pairs.The bandgap between the upper edge of the valence band and the lower edge of the conduction band is very large in semiconductors,which means that a big amount of energy is needed for a direct band-to-band generation event.The presence of trap levels within the forbidden band caused by crystal impurities facilitates this process,since the jump can be split into two parts,each of them ’cheaper’in terms of energy.The basic mechanisms are illustrated in Figure 1:(a)hole emission (an electron jumps from the valence band to the trapped level),(b)hole capture (an electron moves from an occupied trap to the valence band,a hole disappears),(c)electron emission (an electron jumps from trapped level to the conduction band),(d)electron capture (an electron moves from the conduction band to an unoccupiedtrap).a b cd conduction band trapped level valence bandE v E ce n e r g y of a n e l e c t r o n ,E E Figure 1:The four basic processes of electron-hole recombination.Models for this process involve equations for the densities of electrons in the conduction band,holes in the valence band,and trapped electrons.Basic for the SRH model are the drift-diffusion assumption for the transport of electrons and holes,the assumption of one trap level in the forbidden band,and the assumption that the dynamics of the trapped electrons is quasistationary,which can be motivated by the smallness of the density of trapped states compared to typical carrier densities.This last assumption leads to the elimination of the density of trapped electrons from the system and to a nonlinear effective recombination-generation rate,reminiscent of Michaelis-Menten kinetics in chemistry.This model is an2important ingredient of simulation models for semiconductor devices(see,e.g.,[10],[12]).In this work,two generalizations of the classical SRH model are considered:Instead of a single trapped state,a distribution of trapped states across the forbidden band is allowed and,in a second step,a semiclassical kinetic model including the fermion nature of the charge carriers is introduced.Although direct band-to-band recombination-generation(see, e.g.,[11])and impact ionization(e.g.,[2],[3])have been modelled on the kinetic level before, this is(to the knowledge of the authors)thefirst attempt to derive a’kinetic SRH model’. (We mention also the modelling discussions and numerical simulations in??.) For both the drift-diffusion and the kinetic models with self consistent electricfields ex-istence results and rigorous results concerning the quasistationary limit are proven.For the drift-diffusion problem,the essential estimate is derived similarly to[6],where the quasi-neutral limit has been carried out.For the kinetic model Degond’s approach[4]for the existence of solutions of the Vlasov-Poisson problem is extended.Actually,the existence theory already provides the uniform estimates necessary for passing to the quasistationary limit.In the following section,the drift-diffusion based model is formulated and nondimension-alized,and the SRH-model is formally derived.Section3contains the rigorous justification of the passage to the quasistationary limit.Section4corresponds to Section2,dealing with the kinetic model,and in Section5existence of global solutions for the kinetic model is proven and the quasistationary limit is justified.2The drift-diffusion Shockley-Read-Hall modelWe consider a semiconductor crystal with a forbidden band represented by the energy interval (E v,E c)with the valence band edge E v and the conduction band edge E c.The constant(in space)number density of trap states N tr is obtained by summing up contributions across the forbidden band:N tr= E c E v M tr(E)dE.Here M tr(E)is the energy dependent density of available trapped states.The position density of occupied traps is given byn tr(f tr)(x,t)= E c E v M tr(E)f tr(x,E,t)dE,where f tr(x,E,t)is the fraction of occupied trapped states at position x∈Ω,energy E∈(E v,E c),and time t≥0.Note that0≤f tr≤1should hold from a physical point of view.The evolution of f tr is coupled to those of the density of electrons in the conduction band, denoted by n(x,t)≥0,and the density of holes in the valence band,denoted by p(x,t)≥0. Electrons and holes are oppositely charged.The coupling is expressed through the following3quantitiesS n=1τn N tr n0f tr−n(1−f tr) ,S p=1τp N tr p0(1−f tr)−pf tr ,(1)R n= E c E v S n M tr dE,R p= E c E v S p M tr dE.(2) Indeed,the governing equations are given by∂t f tr=S p−S n=p0τp N tr+nτn N tr−f tr p0+pτp N tr+n0+nτn N tr ,(3)∂t n=∇·J n+R n,J n=µn(U T∇n−n∇V),(4)∂t p=−∇·J p+R p,J p=−µp(U T∇p+p∇V),(5)εs∆V=q(n+n tr(f tr)−p−C).(6) For the current densities J n,J p we use the simplest possible model,the drift diffusion ansatz,with constant mobilitiesµn,µp,and with thermal voltage U T.Moreover,since the trapped states havefixed positions,noflux appears in(3).By R n and R p we denote the recombination-generation rates for n and p,respectively. The rate constants areτn(E),τp(E),n0(E),p0(E),where n0(E)p0(E)=n i2with the energy independent intrinsic density n i.Integration of(3)yields∂t n tr=R p−R n.(7) By adding equations(4),(5),(7),we obtain the continuity equation∂t(p−n−n tr)+∇·(J n+J p)=0,(8) with the total charge density p−n−n tr and the total current density J n+J p.In the Poisson equation(6),V(x,t)is the electrostatic potential,εs the permittivity of the semiconductor material,q the elementary charge,and C=C(x)the given doping profile.Note that ifτn,τp,n0,p0are independent from E,or if there exists only one trap level E trwith M tr(E)=N trδ(E−E tr),then R n=1τn [n0n trN tr−n(1−n tr N tr)],R p=1τp[p0(1−n tr N tr)−p n tr N tr],and the equations(4),(5)together with(7)are a closed system governing the evolution of n,p,and n tr.We now introduce a scaling of n,p,and f tr in order to render the equations(4)-(6) dimensionless:Scaling of parameters:i.M tr→N tr E c−E v M tr.ii.τn,p→¯ττn,p,where¯τis a typical value forτn andτp.iii.µn,p→¯µµn,p,where¯µis a typical value forµn,p.4iv.(n 0,p 0,n i ,C )→¯C(n 0,p 0,n i ,C ),where ¯C is a typical value of C .Scaling of unknowns:v.(n,p )→¯C(n,p ).vi.n tr →N tr n tr .vii.V →U T V .viii.f tr →f tr .Scaling of independent variables:ix.E →E v +(E c −E v )E .x.x →√¯µU T ¯τx ,where the reference length is a typical diffusion length before recombina-tion.xi.t →¯τt ,where the reference time is a typical carrier life time.Dimensionless parameters:xii.λ= εs q ¯C ¯µ¯τ=1¯x εs U T q ¯C is the scaled Debye length.xiii.ε=N tr ¯C is the ratio of the density of traps to the typical doping density,and will be assumed to be small:ε≪1.The scaled system reads:ε∂t f tr =S p (p,f tr )−S n (n,f tr ),S p =1τpp 0(1−f tr )−pf tr ,S n =1τn n 0f tr −n (1−f tr ) ,(9)∂t n =∇·J n +R n (n,f tr ),J n =µn (∇n −n ∇V ),R n = 10S n M tr dE ,(10)∂t p =−∇·J p +R p (p,f tr ),J p =−µp (∇p +p ∇V ),R p = 10S p M tr dE ,(11)λ2∆V =n +εn tr −p −C ,n tr (f tr )= 10f tr M tr dE ,(12)with n 0(E )p 0(E )=n 2i and 10M tr dE =1.5By lettingε→0in(9)formally,we obtain f tr=τn p0+τp nτn(p+p0)+τp(n+n0),and the reduced systemhas the following form∂t n=∇·J n+R(n,p),(13)∂t p=−∇·J p+R(n,p),(14)R(n,p)=(n i2−np) 10M tr(E)τn(E)(p+p0(E))+τp(E)(n+n0(E))dE,(15)λ2∆V=n−p−C.(16) Note that ifτn,τp,n0,p0are independent from E or if there exists only one trap level,thenwe would have the standard Shockley-Read-Hall model,with R=n i2−npτn(p+p0)+τp(n+n0).Existenceand uniqueness of solutions of the limiting system(13)–(16)under the assumptions(21)–(25) stated below is a standard result in semiconductor modelling.A proof can be found in,e.g., [10].3Rigorous derivation of the drift-diffusion Shockley-Read-Hall modelWe consider the system(9)–(12)with the position x varying in a bounded domainΩ∈R3 (all our results are easily extended to the one-and two-dimensional situations),the energy E∈(0,1),and time t>0,subject to initial conditionsn(x,0)=n I(x),p(x,0)=p I(x),f tr(x,E,0)=f tr,I(x,E)(17) and mixed Dirichlet-Neumann boundary conditionsn(x,t)=n D(x,t),p(x,t)=p D(x,t),V(x,t)=V D(x,t)x∈∂ΩD⊂∂Ω(18) and∂n ∂ν(x,t)=∂p∂ν(x,t)=∂V∂ν(x,t)=0x∈∂ΩN:=∂Ω\∂ΩD,(19)whereνis the unit outward normal vector along∂ΩN.We permit the special cases thateither∂ΩD or∂ΩN are empty.More precisely,we assume that either∂ΩD has positive(d−1)-dimensional measure,or it is empty.In the second situation(∂ΩD empty)we haveto assume total charge neutrality,i.e.,Ω(n+εn tr−p−C)dx=0,if∂Ω=∂ΩN.(20)The potential is then only determined up to a(physically irrelevant)additive constant.The following assumptions on the data will be used:For the boundary datan D,p D∈W1,∞loc(Ω×R+t),V D∈L∞loc(R+t,W1,6(Ω)),(21)6for the initial datan I ,p I ∈H 1(Ω)∩L ∞(Ω),0≤f tr,I ≤1,(22) Ω(n I +εn tr (f tr,I )−p I −C )dx =0,if ∂Ω=∂ΩN ,(23)for the doping profile C ∈L ∞(Ω),(24)for the recombination-generation rate constants n 0,p 0,τn ,τp ∈L ∞((0,1)),τn ,τp ≥τmin >0.(25)With these assumptions,a local existence and uniqueness result for the problem (9)–(12),(17)–(19)for fixed positive εcan be proven by a straightforward extension of the approach in[5](see also [10]).In the following,local existence will be assumed,and we shall concentrate on obtaining bounds which guarantee global existence and which are uniform in εas ε→0.For the sake of simplicity,we consider that the data in (21),(22)and (24)do not depend on ε;of course,our strategy works dealing with sequences of data bounded in the mentioned spaces.The following result is a generalization of [6,Lemma 3.1],where the case of homogeneous Neumann boundary conditions and vanishing recombination was treated.Our proof uses a similar approach.Lemma 3.1.Let the assumptions (21)–(25)be satisfied.Then,the solution of (9)–(12),(17)–(19)exists for all times and satisfies n,p ∈L ∞loc ((0,∞),L ∞(Ω))∩L 2loc ((0,∞),H 1(Ω)))uniformly in εas ε→0as well as 0≤f tr ≤1.Proof.Global existence will be a consequence of the following estimates.Introducing the new variables n =n −n D , p =p −p D , C=C −εn tr −n D +p D the equations (10)–(12)take the following form:∂t n =∇·J n +R n −∂t n D ,J n =µn ∇ n +∇n D −( n +n D )∇V ,(26)∂t p =−∇J p +R p −∂t p D ,J p =−µp ∇ p +∇p D +( p +p D )∇V ,(27)λ2∆V = n − p − C.(28)As a consequence of 0≤f tr ≤1, C∈L ∞((0,∞)×Ω)holds.For q ≥2and even,we multiply (26)by n q −1/µn ,(27)by p q −1/µp ,and add:d dt Ω n q qµn + p q qµp dx =−(q −1) Ω n q −2∇ n ∇n dx −(q −1) Ω p q −2∇ p ∇p dx +(q −1) Ω n q −2n ∇ n − p q −2p ∇ p ∇V dx + Ω n q −1µn (R n −∂t n D )+ Ω p q −1µp (R p −∂t p D )=:I 1+I 2+I 3+I 4+I 5.(29)7Using the assumptions on n D ,p D and |R n |≤C (n +1),|R p |≤C (p +1),we estimate I 4≤C Ω| n |q −1(n +1)dx ≤C Ω n q dx +1 ,I 5≤C Ωp q dx +1 .The term I 3can be rewritten as follows:I 3= Ω n q −1∇ n − p q −1∇ p ]∇V dx + Ω n q −2∇ n (n D ∇V )dx − Ω p q −2∇ p (p D ∇V )dx =−1λ2q Ω[ n q − p q ]( n − p − C )dx −1λ2(q −1) Ω n q −1(∇n D ∇V +n D ( n − p − C ) dx +1λ2(q −1) Ωp q −1(∇p D ∇V +p D ( n − p − C ) dx.The second equality uses integration by parts and (28).The first term on the right hand side is the only term of degree q +1.It reflects the quadratic nonlinearity of the problem.Fortunately,it can be written as the sum of a term of degree q and a nonnegative term.By estimation of the terms of degree q using the assumptions on n D and p D as well as ∇V L q (Ω)≤C ( n L q (Ω)+ p L q (Ω)+ CL q (Ω)),we obtain I 3≤−1λ2q Ω[ n q − p q ]( n − p )dx +C Ω( n q + p q )dx +1 ≤C Ω( n q + p q )dx +1 .The integral I 1can be written as I 1=− Ω n q −2|∇n |2dx + Ω n q −2∇n D ∇n dx.(30)By rewriting the integrand in the second integral asn q −2∇n D ∇n = n q −22∇n n q −22∇n Dand applying the Cauchy-Schwarz inequality,we have the following estimate for (30):I 1≤− Ωn q −2|∇n |2dx +Ω n q −2|∇n |2dx Ω n q −2|∇n D |2dx ≤−12 Ω n q −2|∇n |2dx +C n q −2L q ≤−12 Ωn q −2|∇n |2dx +C Ω n q dx +1 .8For I2,the same reasoning(with n and n D replaced by p and p D,respectively)yields an analogous estimate.Collecting our results,we obtaind dt Ω n q qµn+ p q qµp dx≤−12 Ω n q−2|∇n|2dx−12 Ω p q−2|∇p|2dx+C Ω( n q+ p q)dx+1 .(31)Since q≥2is even,thefirst two terms on the right hand side are nonpositive and the Gronwall lemma givesΩ( n q+ p q)dx≤e qCt Ω( n(t=0)q+ p(t=0)q)dx+1 .A uniform-in-q-and-εestimate for n L q, p L q follows,and the uniform-in-εbound in L∞loc((0,∞),L∞(Ω))is obtained in the limit q→∞.The estimate in L2loc((0,∞),H1(Ω)) is then derived by returning to(31)with q=2.Now we are ready for proving the main result of this section.Theorem3.2.Let the assumptions of Theorem3.1be satisfied.Then,asε→0,for every T>0,the solution(f tr,n,p,V)of(9)–(12),(17)–(19)converges with convergence of f tr in L∞((0,T)×Ω×(0,1))weak*,n and p in L2((0,T)×Ω),and V in L2((0,T),H1(Ω)).The limits of n,p,and V satisfy(13)–(19).Proof.The L∞-bounds for f tr,n,and p,and the Poisson equation(12)imply∇V∈L2((0,T)×Ω).From the definition of J n,J p(see(4),(5)),it then follows that J n,J p∈L2((0,T)×Ω).Then(10)and(11)together with R n,R p∈L∞((0,T)×Ω)imply∂t n,∂t p∈L2((0,T),H−1(Ω)).The previous result and the Aubin lemma(see,e.g.,Simon[14,Corollary 4,p.85])gives compactness of n and p in L2((0,T)×Ω).We already know from the Poisson equation that∇V∈L∞((0,T),H1(Ω)).By taking the time derivative of(12),one obtains∂t∆V=∇·(J n+J p),with the consequence that∂t∇V is bounded in L2((0,T)×Ω).Therefore,the Aubin lemma can again be applied as above to prove compactness of∇V in L2((0,T)×Ω).These results and the weak compactness of f tr are sufficient for passing to the limit in the nonlinear terms n∇V,p∇V,nf tr,and pf tr.Let us also remark that∂t n and∂t p are bounded in L2(0,T;H−1(Ω)),so that n,p are compact in C0([0,T];L2(Ω)−weak).With this remark the initial data for the limit equation makes sense.By the uniqueness result for the limiting problem(mentioned at the end of Section2),the convergence is not restricted to subsequences.94A kinetic Shockley-Read-Hall modelIn this section we replace the drift-diffusion model for electrons and holes by a semiclassical kinetic transport model.It is governed by the system∂t f n+v n(k)·∇x f n+q∇x V·∇k f n=Q n(f n)+Q n,r(f n,f tr),(32)∂t f p+v p(k)·∇x f p−q ∇x V·∇k f p=Q p(f p)+Q p,r(f p,f tr),(33)∂t f tr=S p(f p,f tr)−S n(f n,f tr),(34)εs∆x V=q(n+n tr−p−C),(35) where f i(x,k,t)represents the particle distribution function(with i=n for electrons and i=p for holes)at time t≥0,at the position x∈R3,and at the wave vector(or generalized momentum)k∈R3.All functions of k have the periodicity of the reciprocal lattice of the semiconductor crystal.Equivalently,we shall consider only k∈B,where B is the Brillouin zone,i.e.,the set of all k which are closer to the origin than to any other lattice point,with periodic boundary conditions on∂B.The coefficient functions v n(k)and v p(k)denote the electron and hole velocities,respec-tively,which are related to the electron and hole band diagrams byv n(k)=∇kεn(k)/ ,v p(k)=−∇kεp(k)/ ,where is the reduced Planck constant.The elementary charge is still denoted by q.The collision operators Q n and Q p describe the interactions between the particles and the crystal lattice.They involve several physical phenomena and can be written in the general formQ n(f n)= B Φn(k,k′)[M n f′n(1−f n)−M′n f n(1−f′n)]dk′,(36)Q p(f p)= B Φp(k,k′)[M p f′p(1−f p)−M′p f p(1−f′p)]dk′,(37) with the primes denoting evaluation at k′,with the nonnegative,symmetric scattering cross sections Φn(k,k′)and Φp(k,k′),and with the MaxwelliansM n(k)=c n exp(−εn(k)/k B T),M p(k)=c p exp(−εp(k)/k B T),where k B T is the thermal energy of the semiconductor crystal lattice and the constants c n, c p are chosen such that B M n dk= B M p dk=1.The remaining collision operators Q n,r(f n,f tr)and Q p,r(f p,f tr)model the generation and recombination processes and are given byQ n,r(f n,f tr)= E c E vˆS n(f n,f tr)M tr dE,(38)10withˆS n (f n ,f tr )=Φn (k,E )N tr[n 0M n f tr (1−f n )−f n (1−f tr )],and Q p,r (f p ,f tr )= E c E vˆS p (f p ,f tr )M tr dE ,(39)with ˆS p (f p ,f tr )=Φp (k,E )N tr[p 0M p (1−f p )(1−f tr )−f p f tr ],and where Φn,p are non negative and M tr (x,E )is the density of available trapped states as for the drift diffusion model,except that we allow for a position dependence now.This will be commented on below.The parameter N tr is now determined as N tr =sup x ∈R 3 10M tr (x,E )dE .The right hand side in the equation for the occupancy f tr (x,E,t )of the trapped states is defined byS n (f n ,f tr )= BˆS n dk =λn [n 0M n (1−f n )]f tr −λn [f n ](1−f tr ),(40)with λn [g ]= B Φn g dk ,andS p (f p ,f tr )=BˆS p dk =λp [p 0M p (1−f p )](1−f tr )−λp [f p ]f tr ,(41)with λp [g ]= B Φp g dk .The factors (1−f n )and (1−f p )take into account the Pauli exclusion principle,which therefore manifests itself in the requirement that the values of the distribution function have to respect the bounds 0≤f n ,f p ≤1.The position densities on the right hand side of the Poisson equation (35)are given byn (x,t )= B f n dk ,p (x,t )= B f p dk ,n tr (x,t )=E cE v f tr M tr dE.The following scaling,which is strongly related to the one used for the drift-diffusion model,will render the equations (32)-(35)dimensionless:Scaling of parameters:i.M tr →N tr E v −E cM tr ,ii.(εn ,εp )→k B T (εn ,εp ),with the thermal energy k B T ,iii.(Φn ,Φp )→τ−1rg (Φn ,Φp ),where τrg is a typical carrier life time,iv.( Φn , Φp )→τ−1coll( Φn , Φp ),v.(n 0,p 0,C )→C (n 0,p 0,C ),where C is a typical value of |C |,11vi.(M n,M p)→C−1(M n,M p).Scaling of independent variables:vii.x→k B T√τrgτcoll C−1/3 −1x,viii.t→τrg t,ix.k→C1/3k,x.E→E v+(E c−E v)E,Scaling of unknowns:xi.(f n,f p,f tr)→(f n,f p,f tr),xii.V→U T V,with the thermal voltage U T=k B T/q.Dimensionless parameters:xiii.α2=τcoll,τrgxiv.λ=q√τrgτcoll C1/6 εs k B T,,where again we shall study the situationε≪1.xv.ε=N trCFinally,the scaled system readsα2∂t f n+αv n(k)·∇x f n+α∇x V·∇k f n=Q n(f n)+α2Q n,r(f n,f tr),(42)α2∂t f p+αv p(k)·∇x f p−α∇x V·∇k f p=Q p(f p)+α2Q p,r(f p,f tr),(43)ε∂t f tr=S p(f p,f tr)−S n(f n,f tr),(44)λ2∆x V=n+εn tr−p−C=−ρ,(45) with v n=∇kεn,v p=−∇kεp,with Q n and Q p still having the form(36)and,respectively, (37),with the scaled MaxwelliansM n(k)=c n exp(−εn(k)),M p(k)=c p exp(−εp(k)),(46) and with the recombination-generation termsQ n,r(f n,f tr)= 10ˆS n M tr dE,Q p,r(f p,f tr)= 10ˆS p M tr dE,(47) withˆS=Φn[n0M n f tr(1−f n)−f n(1−f tr)],ˆS p=Φp[p0M p(1−f tr)(1−f p)−f p f tr].(48) n12The right hand side of (44)still has the form (40),(41).The position densities are given byn = B f n dk ,p = B f p dk ,n tr = 1f tr M tr dE.(49)The system (42)–(44)conserves the total charge ρ=p +C −n −εn tr .With the definitionJ n =−1α B v n f n dk ,J p =1α Bv p f p dk ,of the current densities,the following continuity equation holds formally:∂t ρ+∇x ·(J n +J p )=0.Setting formally ε=0in (44)we obtainf tr (f n ,f p )=p 0λp [M p (1−f p )]+λn [f n ]p 0λp [M p (1−f p )]+λp [f p ]+λn [f n ]+n 0λn [M n (1−f n )]Substitution f tr into (47)leads to the kinetic Shockley-Read-Hall recombination-generation operatorsQ n,r (f n ,f p )=g n [f n ,f p ](1−f n )−r n [f n ,f p ]f n ,Q p,r (f n ,f p )=g p [f n ,f p ](1−f p )−r p [f n ,f p ]f p ,(50)withg n =10Φn M n n 0 p 0λp [M p (1−f p )]+λn [f n ] M tr p 0λp [M p (1−f p )]+λp [f p ]+λn [f n ]+n 0λn [M n (1−f n )]dE ,r n =10Φn λp [f p ]+n 0λn [M n (1−f n )] M tr p 0λp [M p (1−f p )]+λp [f p ]+λn [f n ]+n 0λn [M n (1−f n )]dE ,g p =10Φp M p p 0 n 0λn [M n (1−f n )]+λp [f p ] M tr p 0λp [M p (1−f p )]+λp [f p ]+λn [f n ]+n 0λn [M n (1−f n )]dE ,r p = 1Φp λn [f n ]+p 0λp [M p (1−f p )] M trp 0λp [M p (1−f p )]+λp [f p ]+λn [f n ]+n 0λn [M n (1−f n )]dE.Of course,the limiting model still conserves charge,which is expressed by the identityB Q n,r dk = BQ p,r dk.Pairs of electrons and holes are generated or recombine,however,in general not with the same wave vector.This absence of momentum conservation is reasonable since the process involves an interaction with the trapped states fixed within the crystal lattice.135Rigorous derivation of the kinetic Shockley-Read-Hall modelThe limitε→0will be carried out rigorously in an initial value problem for the kineticmodel with x∈R3.Concerning the behaviour for|x|→∞,we shall require the densities tobe in L1and use the Newtonian potential solution of the Poisson equation,i.e.,(45)will bereplaced byE(x,t)=−∇x V=λ−2 R3x−y|x−y|3ρ(y,t)dy.(51) We define Problem(K)as the system(42)–(44),(51)with(36),(37),(47)–(49),(40),and(41),subject to the initial conditionsf n(x,k,0)=f n,I(x,k),f p(x,k,0)=f p,I(x,k),f tr(x,E,0)=f tr,I(x,E).We start by stating our assumptions on the data.For the velocities we assumev n,v p∈W1,∞per(B),(52) where here and in the following,the subscript per denotes Sobolev spaces of functions of ksatisfying periodic boundary conditions on∂B.Further we assume that the cross sectionssatisfyΦn, Φp≥0, Φn, Φp∈W1,∞per(B×B),(53) andΦn,Φp≥0,Φn,Φn∈W1,∞per(B×(0,1)).(54) Afinite total number of trapped states is assumed:M tr≥0,M tr∈W1,∞(R3×(0,1))∩W1,1(R3×(0,1)).The L1-assumption with respect to x is needed for controlling the total number of generatedparticles.For the initial data we assume0≤f n,I,f p,I≤1,f n,I,f p,I∈W1,∞per(R3×B)∩W1,1per(R3×B),0≤f tr,I≤1,f tr,I∈W1,∞per(R3×(0,1)).(55) We also assumen0,p0∈L∞((0,1)),C∈W1,∞(R3)∩W1,1(R3).(56) Finally,we need an upper bound for the life time of trapped electrons:B(Φn min{1,n0M n}+Φp min{1,p0M p})dk≥γ>0.(57)The reason for the various differentiability assumptions above is that we shall constructsmooth solutions by an approach along the lines of[11],which goes back to[4].14An essential tool are the following potential theory estimates[15]:E L∞(R3)≤C ρ 1/3L1(R3) ρ 2/3L∞(R3),(58)∇x E L∞(R3)≤C 1+ ρ L1(R3)+ ρ L∞(R3) 1+log(1+ ∇xρ L∞(R3)) .(59) We start by rewriting the collision and recombination generation operators asQ i(f i)=a i[f i](1−f i)−b i[f i]f i,i=n,p,andQ i,r(f i,f tr)=g i[f tr](1−f i)−r i[f tr]f i,i=n,p,witha i[f i]= B Φi M i f′i dk′,b i[f i]= B Φi M′i(1−f′i)dk′,i=n,pg n[f tr]= 10Φn n0M n f tr M tr dE,g p[f tr]= 10Φp p0M p(1−f tr)M tr dE,r n[f tr]= 10Φn(1−f tr)M tr dE,r p[f tr]= 10Φp f tr M tr dE.In order to construct an approximating sequence(f j n,f j p,f j tr,E j)we begin withf0i(x,k,t)=f i,I(x,k),i=n,p,f0tr(x,E,t)=f tr,I(x,E)(60) Thefield always satisfiesE j(x,t)= R3x−y|x−y|3ρj(y,t)dy(61)Let(f j n,f j p,f j tr,E j)be given.Then the f i j+1are defined as the solutions of the following problem:α2∂t f j+1n +αv n(k)·∇x f j+1n−αE j·∇k f j+1n=(a n[f j n]+α2g n[f j tr])(1−f j+1n)−(b n[f j n]+α2r n[f j tr])f j+1n,α2∂t f j+1p +αv p(k)·∇x f j+1p+αE j·∇k f j+1p=(a p[f j p]+α2g p[f j tr])(1−f j+1p)−(b p[f j p]+α2r p[f j tr])f j+1p,ε∂t f j+1tr =(p0λp[M p(1−f j p)]+λn[f j n])(1−f j+1tr)−(n0λn[M n(1−f j n)]+λp[f j p])f j+1tr,(62)subject to the initial conditionsf j+1 n (x,k,0)=f n,I(x,k),f j+1p(x,k,0)=f p,I(x,k),f j+1tr(x,E,0)=f tr,I(x,E).(63)For the iterative sequence we state the following lemma,which is very similar to the Propo-sition3.1from[11]:15Lemma5.1.Let the assumptions(52)–(56)be satisfied.Then the sequence(f j n,f j p,f j tr,E j), defined by(60)-(63)satisfies for any time T>0a)0≤f i j≤1,i=n,p,tr.b)f j n and f j p are uniformly bounded with respect to j→∞andε→0in L∞((0,T),L1(R3×B).c)E j is uniformly bounded with respect to j andεin L∞((0,T)×R3).Proof.Thefirst two equations in(62)are standard linear transport equations,and the third equation is a linear ODE.Existence and uniqueness for the initial value problems are therefore standard results.Note that the a i,b i,g i,r i,andλi in(62)are nonnegative if we assume that a)holds for j.Then a)for j+1is an immediate consequence of the maximum principle.To estimate the L1-norms of the distributions,we integrate thefirst equation in(62)and obtainf j+1n L1(R3×B)≤ f n,I L1(R3×B)+ t0 a n[f j n]1α2+g n[f j tr] L1(R3×B)(s)ds.(64) The boundedness of Φn,Φn,and f j tr,and the integrability of M tr implya n[f j n] L1(R3×B)≤C f j n L1(R3×B), g n[f j tr] L1(R3×B)≤C.(65) Now this is used in(64).Then an estimate is derived for f j n by replacing j+1by j and using the Gronwall inequality.Finally,it is easily since that this estimate is passed from j to j+1by(64).An analogous argument for f j p completes the proof of b).A uniform-in-ε(L1∩L∞)-bound for the total charge densityρj=n j+εn j tr−p j−C follows from b)and from the integrability of M tr.The statement c)of the lemma is now a consequence of(58).For passing to the limit in the nonlinear terms some compactness is needed.Therefore we prove uniform smoothness of the approximating sequence.Lemma5.2.Let the assumptions(52)–(57)be satisfied.Then for any time T>0:a)f j n and f j p are uniformly bounded with respect to j andεin L∞((0,T),W1,1per(R3×B)∩(R3×B)),W1,∞perb)f j tr is uniformly bounded with respect to j andεin L∞((0,T),W1,∞(R3×(0,1))),c)E j is uniformly bounded with respect to j andεin L∞((0,T),W1,∞(R3)).16。
基于生信分析探究ABCC4在前列腺癌中的免疫及预后价值温林烨1,2陈玮1范蕾1杨艳1秦园媛1任妍慧1
基于生信分析探究ABCC4在前列腺癌中的免疫及预后价值温林烨1,2 陈玮1 范蕾1 杨艳1 秦园媛1 任妍慧1 高峰1发布时间:2023-07-04T09:52:46.874Z 来源:《护理前沿》2023年07期作者:温林烨1,2 陈玮1 范蕾1 杨艳1 秦园媛1 任妍慧1 高峰1 [导读] 目的本文旨在研究ABCC4基因在前列腺癌患者中的免疫和预后意义。
方法从TCGA和UCSC数据库中下载与前列腺癌相关的样本数据,并进行筛选,得出含有一般临床信息、免疫学、预后和基因表达值的样本。
首先分析非配对样本以及配对样本中前列腺癌组织与正常组织的ABCC4基因表达值差异,并通过免疫组化实验验证ABCC4在前列腺癌和癌旁组织中的表达情况。
1.内蒙古医科大学药学院内蒙古自治区呼和浩特 0101102.内蒙古医科大学附属医院药剂部内蒙古自治区呼和浩特 010110摘要:目的本文旨在研究ABCC4基因在前列腺癌患者中的免疫和预后意义。
方法从TCGA和UCSC数据库中下载与前列腺癌相关的样本数据,并进行筛选,得出含有一般临床信息、免疫学、预后和基因表达值的样本。
首先分析非配对样本以及配对样本中前列腺癌组织与正常组织的ABCC4基因表达值差异,并通过免疫组化实验验证ABCC4在前列腺癌和癌旁组织中的表达情况。
之后根据ABCC4基因表达值的中位数,将前列腺癌样本分为ABCC4高表达组和低表达组,分别绘制生存预后指标OS、DSS、PFI和DFI的Kaplan-Meier生存曲线,分析ABCC4的表达对前列腺癌预后的影响。
最后又分析了ABCC4与前列腺癌中多种免疫细胞之间的相关性。
结果前列腺癌中ABCC4的基因表达值在非配对和配对样本中都明显高于正常组织。
根据ABCC4在前列腺癌中的表达构建Kaplan-Meier生存曲线,预后分析发现高表达ABCC4的患者与低生存率密切相关。
进一步的免疫分析表明,ABCC4的表达与前列腺癌中多种免疫细胞相关。
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dy dτ
2
−
d 1 dy 1 + (ay 2 + b) + cy 3 + τ dτ τ y
a = −8,
b = 4(1 − α1 ),
(1)
c = 0,
d nt of symmetry, the Hamiltonian system (11)
7 ∂HIII dq = , dt ∂p
7 We remark that for y = q/τ, t = τ 2 the Hamiltonian system with HIII is the special case of the third Painlev´ e system (see [9]):
D
(1)
(9) with (10)
d2 y 1 = 2 dτ y
3
By Proposition 1.1, we see that each Hamiltonian Hi (i = 1, 2, 3, 4) is equivalent by the transformations (13). The Hamiltonian system with H1 has the first integral. Proposition 1.2. The system with the Hamiltonian H1 (15) has the first integral I : (16) I = q 2 p2 + qp2 − (α0 + α1 )qp − α0 p. dq ∂H1 = , dt ∂p dp ∂H1 =− dt ∂q
Abstract. We find and study four kinds of five-parameter family of six-dimensional (1) (1) coupled Painlev´ e III systems with affine Weyl group symmetry of types D5 , B5 and (2) D6 . We show that each system is equivalent by an explicit birational and symplectic transformation, respectively. We also show that we characterize each system from the viewpoint of holomorphy.
1. Introduction In [3, 4, 5, 6, 7], we presented some types of coupled Painlev´ e systems with various affine Weyl group symmetries. In this paper, we present a 5-parameter family of coupled (1) Painlev´ e III systems with affine Weyl group symmetry of type D5 , which is explicitly given by (1) ∂H dx = , dt ∂y dy ∂H =− , dt ∂x dz ∂H = , dt ∂w
(α0 − α1 + 2α2 = 0),
2000 Mathematics Subjet Classification. Primary 34M55; Secondary 34M45. Key words and phrases. Affine Weyl group, birational symmetry, coupled Painlev´ e system.
1
2
YUSUKE SASANO
(5) q 2 p2 + (1 − 2α2 )qp + tp H2 = H2 (q, p, t; α2) = (α0 − α1 + 2α2 = 0), t (6) q 2 p2 + 2α2 qp − q (α0 − α1 + 2α2 = 0), H3 = H3 (q, p, t; α2) = t (7) q 2 p2 − tq 2 p − (1 − α0 − α1 )qp − α0 tq H4 = H4 (q, p, t; α0, α1 ) = (α0 − α1 + 2α2 = 0), t (8) (1) (1) q 2 p2 + α1 qp + q + tp D7 D7 (α0 + α1 = 1). HIII = HIII (q, p, t; α1) = t
We see that the relation between the Hamiltonian H1 and the first integral I is explicitly given by (17) tH1 = I.
The B¨ acklund transformations of this system satisfy Noumi-Yamada’s universal de(1) scription for D5 root system (see [1]). Since these universal B¨ acklund transformations have Lie theoretic origin, similarity reduction of a Drinfeld-Sokolov hierarchy admits such (1) a B¨ acklund symmetry. The aim of this paper is to introduce the system of type D5 . Our discovery of the system (1) of type D5 W ( D5 ) Drinfeld-Sokolov hierarchy?
´ III SYSTEMS WITH AFFINE WEYL GROUP COUPLED PAINLEVE (1) (1) (2) SYMMETRY OF TYPES B5 , D5 AND D6
YUSUKE SASANO
arXiv:0704.2467v1 [math.AG] 19 Apr 2007
(1)
Noumi-Yamada’s universal description (1) for D5 root system Figure 1.
We also show that this system coincides with some types of 5-parameter family of sixdimensional coupled Painlev´ e III systems with extended affine Weyl group symmetry of (1) (2) types B5 and D6 . Moreover, we show the relationship between the system of type (1) (1) (2) D5 and the system of types B5 and D6 by an explicit birational and symplectic transformation, respectively. This paper is organized as follows. In Section 2, we will introduce the system of type (1) D5 and its B¨ acklund transformations. In Section 3, we will propose two types of a 5parameter family of coupled Painlev´ e III systems in dimension six with extended affine (1) Weyl group symmetry of type B5 . We also show that each of them is equivalent to the system (1) by a birational and symplectic transformation, respectively. In Section 4, we will propose a 5-parameter family of coupled Painlev´ e III systems in dimension six with (2) extended affine Weyl group symmetry of type D6 and its B¨ acklund transformations. We also show that this system is equivalent to the system (1) by a birational and symplectic transformation.
D
(1)
7 The symbols H1 , H2 , H3 , H4 and HIII denote the polynomial Hamiltonians explicitly given as follows:
(4)
H1 = H1 (q, p, t; α0, α1 ) =
q 2 p2 + qp2 − (α0 + α1 )qp − α0 p t
3
the Hamiltonians H1 , H2 , H3 and H4 satisfy the following relations: (14) tr1 (H1 ) = H2 , tr2 ◦ tr1 (H1 ) = H3 ,
tr3 (H1 ) = H4 .
´ III SYSTEMS COUPLED PAINLEVE
D
dp ∂H 7 = − III dt ∂q
(1)
D
(1)