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IEEE International Conference on Robotics and Biomimetics

作者： Xuefeng Zhou Zerong Su Dan Huang Hong Zhang Taobo Cheng Junjun Wu Guangdong Key Laboratory of Modern Control Technology Guangdong Institute of Intelligent Manufacturing Guangzhou China School of Electro-mechanical Engineering Guangdong University of Technology Guangzhou China Department of Mechatronics Foshan University Foshan China

ISBN: (纸本)9781728103785;9781728103778

Global localization is a challenging problem of using sensor data to estimate the pose of a robot in an environment when the starting pose is unknowm. The conventional probabilistic algorithms called Monte Carlo Positioning (MCL) is one of the most popular methods to solve this problem. MCL algorithms use a set of weighted particles to approximate the distribution probability of where the robot is located and it requires a wandering motion to converge to a single, high likelihood pose during global localization. Sometimes this wandering motion is not allowed in actual industrial applications. This paper presents a framework which incorporates image-based localization module into a conventional MCL algorithm. The core module in our proposed approach is called Double Re-localization Decision Process (DRDP) by performing two selection of relocation decisions before and after the pose update process with two different sensor sources. A compact global descriptor is used for fast image association and a scan matching using vanilla ICP (Iterative Closest Point) of Point-to-line metric is applied to obtain further pose of the proposal candidate. Several experiments are designed to verify the effectiveness of the our approach in indoor environment.

关键词： Robot sensing systems Visualization Proposals Clustering algorithms Optimization Databases

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Effects of chronic heat stress on granulosa cell apoptosis and follicular atresia in mouse ovary

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Journal of Animal Science and Biotechnology 2017年第1期8卷 57-66页

作者： Jieyun Li Hui Gao Zhen Tian Yi Wu Yingzheng Wang Yuan Fang Lu Lin Ying Han Shuaishuai Wu Ihtesham Ul Haq Shenming Zeng Laboratory of Animal Embryonic Biotechnology National Engineering Laboratory for Animal Breeding Key Laboratory of Animal Genetics Breeding and Reproduction of the Ministry of Agriculture College of Anima Science and Technology China Agricultural University Beijing 100193 China State Key Laboratory of Reproductive Biology Institute of Zoology Chinese Academy of Sciences Beijing 100101 China

Background： Heat stress is known to alter follicular dynamics and granulosa cell function and may contribute to the diminished reproductive efficiency commonly observed in mammals during the summer. Although several investigators have studied heat-induced ovarian injury, few reports have focused on the effects of chronic heat stress on ovarian function and the molecular mechanisms through which it induces ovarian ***： In Exp. 1, 48 female mice were assigned to a control or heat-stressed treatment. After exposure to a constant temperature of 25 ℃ for 7, 14, 21 or 28 d（n = 6） or to 42 ℃ for 3 h per d for 7, 14, 21 or 28 d（n = 6）, the mice were euthanized and their ovaries were analyzed for follicular atresia, granulosa cell apoptosis, changes in the abundance of HSP70 protein and serum concentrations of estradiol. In Exp. 2, the expression of HSP70 and aromatase was quantified in antral follicles cultured in vitro at 37 or 42 ℃ for 24 h. In Exp. 3, granulosa cells from ovaries maintained at 37 or 41 ℃ for 2 h were analyzed for their expression of HSP70, Bim, caspase-3 and cleaved ***： In Exp. 1, body weight and food intake of heat-stressed mice decreased（P 〈 0.05） compared with control mice while the concentration of estradiol in serum was lower（P 〈 0.05） in heat-stressed mice than in control mice. Compared with control mice, the percentage of atretic follicles and the number of antral follicles with severe apoptotic signals were increased（P 〈 0.05） after 21 d of heat-stressed treatment. HSP70 protein was more abundant（P 〈 0.05） in heat-stressed mice than control mice. In Exp. 2, heat stress increased HSP70 and decreased aromatase proteins（P 〈 0.05） in antral follicles. In Exp. 3, TUNEL-positive granulosa cells from heat-stressed ovaries were observed concomitant with a significant increase in HSP70, Bim and cleaved caspase-3 ***： Heat-stress in mice decrease estradiol in serum and aromatase in antral follicles but increased num

关键词： Apoptosis Atresia Follicle Granulosa cells Heat stress Mice

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Two-Layer Distributed Formation-Containment control of Multiple Euler-Lagrange Systems by Output Feedback

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IEEE Transactions on Cybernetics 2018年第2期49卷 675-687页

作者： Li, Dongyu Zhang, Wei He, Wei Li, Chuanjiang Ge, Shuzhi Sam Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China Shanghai Institute of Satellite Engineering Shanghai Key Laboratory of Deep Space Exploration Technology Shanghai201109 China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Department of Electrical and Computer Engineering National University of Singapore Singapore117576 Singapore

This paper addresses the distributed formation-containment (DFC) problem for multiple Euler-Lagrange systems with model uncertainties via output feedback in both constant and time-varying formation cases. First, a novel definition of the DFC problem is proposed using a two-layer framework. Since only parts of the followers can acquire the states of the dynamic leader, we design a distributed finite-time sliding-mode estimator to obtain accurate estimations of the desired position and velocity for each agent. Next, to deal with the absence of velocity sensors, we propose two DFC control laws combined with the high-gain observer for the leaders and the followers, respectively, while the time-varying formation in the first layer and the leader-based containment in the second layer can be achieved. Further, the adaptive neural networks are applied to deal with the model uncertainties due to their superior approximation capability. The uniform ultimate boundedness of all the state errors can be guaranteed by Lyapunov stability theory. In addition, a unified framework is given which can be transformed to four other basic distributed problems. Finally, simulation examples are presented to illustrate the feasibility of the theoretical results. © 2013 IEEE.

关键词： Lagrange multipliers

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Adaptive Dynamic Programming Based Decentralized Tracking control for Unknown Large-scale Systems 36

Adaptive Dynamic Programming Based Decentralized Tracking Co...

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第36届中国控制会议

作者： Bo Zhao Derong Liu Yuanchun Li Qinglai Wei Ruizhuo Song The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Automation Guangdong University of Technology Department of Control Science and Engineering Changchun University of Technology School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (纸本)9781538629185

This paper investigates decentralized tracking control（DTC） problem for unknown large-scale systems via adaptive dynamic *** DTC consists of local desired control and local tracking error *** replacing the actual states of coupled subsystems in interconnection terms with their desired states,the norm-boundedness assumption can be *** on local neural network（NN） observers,unknown subsystems can be *** helps to obtain the local desired control with corresponding desired *** establishing a proper local cost function,the local tracking error control is derived via local critic NN and the identified input gain *** the entire error caused by replacement,identification and critic NN approximation,an adaptive robust term is added to construct the robust local cost function that reflects the entire error,regulation and control ***,the asymptotic stability can be guaranteed for the closed-loop tracking system via Lyapunov stability *** demonstrate the effectiveness of the proposed DTC,simulation on a hard spring connected parallel inverted pendulum system is given.

关键词： Adaptive dynamic programming Unknown large-scale systems Decentralized tracking control Neural networks Observer

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Progress on scanning beam interference lithography tool with high environmental robustness for patterning large size grating with nanometre accuracy 17

Progress on scanning beam interference lithography tool with...

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17th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2017

作者： Wang, Leijie Zhang, Ming Zhu, Yu Lu, Sen Yang, Kaiming Lan, Bin State Key Laboratory of Tribology Beijing Key Lab. of Precision/Ultra-precision Manufacturing Equipments and Control Department of Mechanical Engineering Tsinghua University Beijing100084 China School of Mechatronics Engineering University of Electronic Science and Technology Chengdu611731 China

ISBN: (纸本)9780995775107

The novel tool mainly consists of a homodyne frequency-shifting interference pattern phase locking system and a substrate stage with a grating interferometer system for XY displacement measurement. The phase locking system employs a special self-made homodyne redundant phase measuring interferometer (HRPMI) as the sensor and two acousto-opto modulators (AOM) as the actuator. By this configure, the phase locking system is very simplified and the power in several tens of micro-Watt is enough. The grating interferometer system works by combining four interferometer arrays on the fixed metrology frame and four grating rulers on the moving substrate stage. Due to the short dead optical path, the system is very environmental robust even if in a large environmental enclosure without demanding stability. The errors of the tool caused by different kinds of sources and imperfections are very complicated and can be separated into several categories. Detail error evaluation for two categories has been done for the initial experimental setup and both errors are several nanometres (3a, A=251.1nm). controlling accuracy of the initial experimental setup achieves ±4.17nm (3a, A=251.1nm).

关键词： Interferometers

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Passivity-based Fault Detection for semi-Markov Jump Systems with Time-varying Delays

Passivity-based Fault Detection for semi-Markov Jump Systems...

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Chinese Automation Congress (CAC)

作者： Yidao Ji Wei Wu School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing P.R. China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing P.R. China

This paper investigates the passivity-based fault detection of semi-Markov jump systems with time-varying delays. By constructing the filter type residual generator and model transformation, the augmented error system is first established. Then, by means of Lyapunov-Krasovskii approach, fault detection conditions are given such that the augmented error systems can satisfy the passivity performance. The desired fault detection gains can be obtained with the help of matrix techniques. The simulation example is presented to show the validity of the design method.

关键词： Fault detection Generators Radio frequency Delays Stability criteria Symmetric matrices Time-varying systems

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UKF based Fault Detection and state Estimation for Nonlinear Systems with Correlated Noise 36

UKF based Fault Detection and State Estimation for Nonlinear...

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第36届中国控制会议

作者： Hongxue Chen Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao Guangzheng Hu Huifang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

state estimation and fault diagnosis are essential topics for dynamic *** Kalman fllter（UKF） has been widely applied in nonlinear *** classical UKF algorithm is built on the premise that process noise and measurement noise is *** practical problems,this assumption is not always *** addition,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen ***,it is very important to study the state estimation of nonlinear systems with unreliable measurements and correlated *** this paper,an UKF based state estimation algorithm with unreliable observations under correlated noise is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： fault detection state estimation correlated noise nonlinear system

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New Strategy for Further Improving the Detection Sensitivity of Direct Analysis in Real Time-Mass Spectrometry

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Journal of Analysis and Testing 2017年第1期1卷 17-22页

作者： Ze Li Jialing Zhang Yiwei Zhang Yu Bai Huwei Liu Institute of Analytical Chemistry College of Chemistry and Molecular EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Petroleum Pollution Control CNPC Research Institute of Safety and Environmental TechnologyBeijing 102206China

Ambient mass spectrometry facilitates surface detection under ambient conditions and has quickly found its applications in various ***,the sensitivity of AMS methods is usually not as good as that of encapsulated ion sources due to less efficient ion *** this work,a briefly machined external ion funnel(threepole electrostatic lens)was adopted and installed between direct analysis in real time and the mass spectrometer inlet to increase detection *** investigation with SIMION version 8.0 was employed to calculate electric fields and to simulate the trajectories of charged particles in the electric *** the geometrical parameters of the ion funnel and the electric parameters were studied to obtain the optimal ion focusing results,which demonstrated the ion funnel equipment would greatly improve the ion transmission *** equipment showed good prospect in direct analysis in real time-mass spectrometry analysis in the future.

关键词： Ambient mass spectrometry Direct analysis in real time-mass spectrometry Ion focusing Sensitivity

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Inland port location planning based on user equilibrium 17

Inland port location planning based on user equilibrium

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17th COTA International Conference of Transportation Professionals: Transportation Reform and Change - Equity, Inclusiveness, Sharing, and Innovation, CICTP 2017

作者： Wei, Jingyi Tian, Daxin Rong, Hui Guo, Peng Wang, Wenyang Gong, Jinfeng Wang, Yunpeng Liu, He Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang Univ. Beijing100191 China Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang Univ. Beijing100191 China Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies Nanjing210096 China Automotive Engineering Research Institute China Automotive Technology and Research Center Tianjin300300 China Quartermaster Equipment Institute of the General Logistics Dept. Of CPLA Beijing100010 China

ISBN: (数字)9780784480915

ISBN: (纸本)9780784480915

With stable development of container transportation in shipping industry, the transit shipment from road to railway of inland ports plays a significant role in multimodal transport. This paper presents the method of inland port location planning based on user equilibrium. In the study, the virtual connection simulating the process of transfer in inland ports is conducted to measure the fitness of inland port location through the cargo volume on virtual connection. At last, the methodology was applied into practical experiment with the results showing that the method can locate the suit inland port location. © ASCE.

关键词： Location

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Solar‐Driven Nitrogen Fixation Catalyzed by Stable Radical‐Containing MOFs: Improved Efficiency Induced by a Structural Transformation

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Angewandte Chemie 2020年第46期132卷

作者： Kong‐Qiu Hu Peng‐Xiang Qiu Li‐Wen Zeng Shu‐Xian Hu Lei Mei Shu‐Wen An Zhi‐Wei Huang Xiang‐He Kong Jian‐Hui Lan Ji‐Pan Yu Zhi‐Hui Zhang Zhong‐Fei Xu John K. Gibson Zhi‐Fang Chai Yun‐Fei Bu Wei‐Qun Shi Laboratory of Nuclear Energy Chemistry Institute of High Energy Physics Chinese Academy of Sciences Beijing 100049 China Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control (AEMPC) Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CIC-AEET) School of Environmental Science and Engineering Nanjing University of Information Science and Technology Nanjing 210044 China Department of Physics University of Science and Technology Beijing Beijing 100083 China Jiangsu Key Laboratory of Advanced Catalytic Materials and Technology Advanced Catalysis and Green Manufacturing Collaborative Innovation Center Changzhou University Changzhou 213164 China Chemical Sciences Division Lawrence Berkeley National Laboratory (LBNL) Berkeley California 94720 USA Engineering Laboratory of Advanced Energy Materials Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo 315201 China

Herein we present a new viologen‐based radical‐containing metal–organic framework (RMOF) Gd‐IHEP‐7, which upon heating in air undergoes a single‐crystal‐to‐single‐crystal transformation to generate Gd‐IHEP‐8. Both RMOFs exhibit excellent air and water stability as a result of favorable radical‐radical interactions, and their long‐lifetime radicals result in wide spectral absorption in the range 200–2500 nm. Gd‐IHEP‐7 and Gd‐IHEP‐8 show excellent activity toward solar‐driven nitrogen fixation, with ammonia production rates of 128 and 220 μmol h −1 g −1 , respectively. Experiments and theoretical calculations indicate that both RMOFs have similar nitrogen fixation pathways. The enhanced catalytic efficiency of Gd‐IHEP‐8 versus Gd‐IHEP‐7 is attributed to intermediates stabilized by enhanced hydrogen bonding.

关键词： hydrogen bonds photocatalytic nitrogen fixation radical-containing MOFs single-crystal-to-single-crystal viologen

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