Adaptive control for mimo uncertain nonlinear systems using recurrent wavelet neural network.

Recurrent wavelet neural network (RWNN) has the advantages such as fast learning property, good generalization capability and information storing ability. With these advantages, this paper proposes an RWNN-based adaptive control (RBAC) system for multi-input multi-output (MIMO) uncertain nonlinear systems. The RBAC system is composed of a neural controller and a bounding compensator. The neural controller uses an RWNN to online mimic an ideal controller, and the bounding compensator can provide smooth and chattering-free stability compensation. From the Lyapunov stability analysis, it is shown that all signals in the closed-loop RBAC system are uniformly ultimately bounded. Finally, the proposed RBAC system is applied to the MIMO uncertain nonlinear systems such as a mass-spring-damper mechanical system and a two-link robotic manipulator system. Simulation results verify that the proposed RBAC system can achieve favorable tracking performance with desired robustness without any chattering phenomenon in the control effort.

Predictors of psychosocial adaptation among elderly residents in long-term care settings.

This cross-sectional descriptive study explored psychosocial adaptation and its determinants among elderly residents of long-term care facilities. A convenience sample of 165 elderly residents was recruited from two nursing homes and two assisted living institutions in the Taichung area. All residents who met the criteria for this study were interviewed individually from April through June 2006. A structured questionnaire was used to collect data on participant demographic characteristics, admission conditions, functional status, perceived family support, life attitudes, and psychosocial adaptation. The adaptation inventory incorporated three aspects of adaptation, including (1) sense of self-value, (2) sense of belonging and (3) sense of continuity. Findings, in general, did not indicate participants had achieved a high level of overall adaptation or significant adaptation in any of the three aspects targeted. Most participants were female. More than half were widowed and unable to fully finance their own institutional care. Nearly one-third was not admitted voluntarily. Having adequate funding for admission, voluntary admission, and number of roommates were the three most influential factors affecting overall adaptation, explaining 54% of variance. Study findings reflect the importance to residents' adaptation of self-determination, autonomy, and pre-institutionalization preparation and are intended to provide guidance for nursing intervention and social welfare policy making.