Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI

Shu-Huan Wen,Wei Zheng,Shi-Dong Jia,Zhi-Xin Ji,Peng-Cheng Hao,Hak-Keung Lam 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.6

This paper investigates the fuzzy position/force hybrid control for a class of 5-degree-of-freedom (DOF) redundantly actuated parallel robots. The position control law is designed based on the proportional-integraldifferential (PID) for the 5-DOF redundantly actuated parallel robot. The fuzzy proportional-integral (PI) redundant actuation force control law is designed based on the position/force hybrid control structure for the 5-DOF redundantly actuated parallel robot. The optimum driving force is obtained in the presence of interference, and the force tracking performance of the fuzzy PI controller is better than the conventional PI controller under the interference condition. Based on the fuzzy position/force hybrid controller, the tracking performance of the closed-loop system for the 5-DOF redundantly actuated parallel robot is improved by using the fuzzy position/force hybrid controller and the interference is eliminated effectively in the control system design. Finally, the co-simulation results of ADAMS and MATLAB/SIMULINK are given to show the effectiveness and advantages of the proposed methodscompared with the conventional PI controller.

Distributed Fuzzy Resilient Tracking for Nonlinear MASs Under DoS Attacks

Shu-Huan Gao,Mengmeng Chen,Chao Deng 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.10

In this paper, the distributed fuzzy resilient tracking problem for a class of second-order nonlinear multiagent systems (MASs) under denial-of-service (DoS) attacks is addressed. Compared with the existing distributed fuzzy tracking results, a more general class of second-order MASs with DoS attacks under combined output observable situation are considered in this paper. Under DoS attacks, the second-order derivative of the traditional distributed observer does not exist, while this signal is necessary to solve the distributed fuzzy tracking problem for second-order MASs when using the backstepping method. To solve the problem, a hierarchical control method that consists of a cooperative resilient observer and a distributed controller is proposed. Specifically, a new distributed resilient observer state with a second-order derivative and also the function of defending network attacks is designed based on a combined output observable condition. By using the backstepping technique, decentralized fuzzy adaptive resilient controllers are designed to achieve distributed tracking under DoS attacks. It is shown that the distributed fuzzy resilient tracking problem can be solved under our designed method. Finally, second-order nonlinear MASs are provided to verify the effectiveness of our method.

OPTIMIZATION DESIGN OF THE DIE OF SYNCHRONIZATION ROLLING AXLE ON CROSSWEDGEROLLING WITH MULTI-WEDGE

Shu Xue dao,Li Chuan min,Hu Zheng huan 한국소성가공학회 2010 기타자료 Vol.2010 No.6

For the rolling axle on Cross-Wedge Rolling with Multi-wedge, the key question is to guarantee the even distortion on each spot of the rolled pieces. In this paper, it has been taken that technological parameters of various wedges and the order of the rolling task completed by the third wedge as the design variable, the final rolled piece of the far even distortion as the research aim. By using method combined with the optimization design and the finite element method, the multi-wedge die of railway axle has been designed, in the meantime, its experimental verification has been given. The findings presents the rationale to realize the economization and the highly effective production on synchronization rolled axle of Cross-Wedge Rolling with Multi-wedge.

Effects of Exercise on Sleep Quality in Pregnant Women: A Systematic Review and Meta-analysis of Randomized Controlled Trials

Shu-Ya Yang,Shou-Jen Lan,Yea-Yin Yen,Yen-Ping Hsieh,Pei-Tseng Kung,Shao-Huan Lan 한국간호과학회 2020 Asian Nursing Research Vol.14 No.1

Purpose: Sleep quality was considered a priority concern facing pregnant women. Conventional wisdom argues that good sleep quality benefits pregnant women and their fetuses. The aim of this study is to assess the effects of a specific exercise program on the sleep quality in pregnant women. Methods: Searches were executed in seven databases since their inceptions until February 28, 2019, for randomized controlled trials evaluating the effects of an exercise program on the sleep quality and insomnia in pregnant women. A random-effects model was applied for meta-analysis, and odds ratio, mean differences (MDs), and 95% confidence intervals (CIs) are shown as parts of outcomes. Results: Seven studies were included for meta-analysis. Compared with their not-exercising counterparts, analyses showed that regularly exercising women had significantly enhanced sleep quality, with an odds ratio of 6.21 (95% CI, 2.02–19.11;p = .001; I2 = 80.2%), with a standardized MD of −0.93 (95% CI, −1.19 to −0.67; p < .001; I2 = 30.0%). However, exercising women showed no significant insomnia improvement, with an standardized MD of −2.85 (95% CI, −7.67 to 1.98; p = .250; I2 = 97.0%), relative to their not-exercising counterparts. Conclusion: This research indicated that exercise has a positive impact on the sleep quality of pregnant women. Despite the aforementioned positive impact on sleep quality, the present study did not find evidence to support that exercise may also improve insomnia for pregnant women.

What Are the Differences in Psychological Outcomes Between People Who Posted COVID-19-Related Content on Social Media and Those Who Did Not?

Shu Zhang,Yanwen Zhang,Dini Xue,Huan Zhang,Miao Chao,Tour Liu 대한신경정신의학회 2023 PSYCHIATRY INVESTIGATION Vol.20 No.1

Objective During the lockdown of cities and home quarantine, media became the only way for people to conveniently get coronavirus disease-2019 (COVID-19)-related information. And media engagement was closely related to psychological outcomes. But fewer researchers took COVID-19-related posting behaviors into consideration. Therefore, the present study aimed at examining the differences in psychological outcomes between people who posted COVID-19-related content on social media and those who did not. Methods The present study included 917 participants (304 males, 613 females) who had answered the questionnaires of media engagement, positive affect, negative affect, depression, anxiety, stress, satisfaction with life, death anxiety, and meaning in life. Results Results of t-tests showed that the Post group had lower levels of negative affect, anxiety, stress, and death anxiety than the Not Post (Npost) group. Network comparison tests indicated that the Npost group’s network and the Post group’s network differed in global strength, two edge-weights, and node centrality indices. Conclusion The results indicated that more attention should be paid to people who did not post any COVID-19-related content, especially when they have higher levels of stress and depression to prevent comorbidities. And for people who posted content, more attention should be paid when they have a higher level of negative affect.

Comparative analysis of type 2 diabetes-associated gut microbiota between Han and Mongolian people

Shu-chun Li,Yao Xiao,Ri-tu Wu,Dan Xie,Huan-hu Zhao,Gang-yi Shen,En-qi Wu 한국미생물학회 2021 The journal of microbiology Vol.59 No.7

Due to the different rates of diabetes in different ethnic groupsand the structural differences in intestinal microbiota, thisstudy evaluated the changes in diabetes-related intestinal microbiotain two ethnic groups. Fifty-six stool samples werecollected from subjects from the Han and Mongolian ethnicgroups in China, including participants without diabetes(non-diabetic, ND) and with type 2 diabetes (T2D). The 16SrDNA gene V3 + V4 area was extracted from microbiota,amplified by PCR, and used to perform high-throughput sequencingand screen differential microbiota associated withethnicity. The results showed that there were 44 T2D-relatedbacterial markers in the Han subjects, of which Flavonifractor,Alistipes, Prevotella, Oscillibacter, Clostridium XlVa,and Lachnospiracea_incertae_sedis were most closely relatedto diabetes. There were 20 T2D-related bacterial markers inthe Mongolian subjects, of which Fastidiosipila and Barnesiellawere most closely related to diabetes. The commonmarkers of T2D bacteria in the two ethnic groups were Papillibacterand Bifidobacterium. There were 17 metabolic pathwayswith significant differences between the ND and T2Dgroups in the Han group, and 29 metabolic pathways in theMongolian group. The glutamatergic metabolic pathway wasthe only common metabolic pathway in two ethnic groups. The composition and function of diabetes-related bacteriawere significantly different among the different ethnic groups,which suggested that the influence of ethnic differences shouldbe fully considered when studying the association betweendiabetes and bacteria. In addition, the common bacterialmarkers found in diabetic patients of different ethnic groupsin this study can be used as potential targets to study the pathogenesisand treatment of diabetes.

Mite Prevalence and Mite Sensitivity in China

Wen, Ting Huan,Cal, Li,Xu, Wei Hing,Wang, Hong,Xiang, Li,Hong, Shou Shu,Zhong, Jiang Min,Zhuang, Yi Jun 대한알레르기학회 1991 천식 및 알레르기 Vol.11 No.2

Adaptive Dynamic Output-feedback Control for Chemical Continuous Stirred Tank Reactor System with Nonlinear Uncertainties and Multiple Time-delays

Wei Zheng,Hong-Bin Wang,Shu-Huan Wen,Hong-Rui Wang,Zhi-Ming Zhang 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4

This paper addresses the dynamic-output-feedback control problem for a class of nonlinear system with nonlinear uncertainties and multiple time-delays. Compared with the previous work, the time delay parameters of the system are both multiple and time-varying, and the results are further extended to the chemical continuous stirred tank reactor (CSTR) case. First, the system is decomposed into two subsystems based on the output and input matrix. Secondly, a dynamic compensator is designed for the first subsystem, and the output feedback controller is further employed based on the second subsystem and the compensator. Moreover, by using the introduced LyapunovKrasovskii functional, it can be seen that the solutions of the resultant closed-loop system converge to an adjustable bounded region. In this paper, the uncertainties are in the nonlinear form and bounded by nonlinear functions with unknown gains. And the control design conditions are relaxed because of the developed dynamic compensator. Finally, the simulations for a chemical (CSTR) case are performed to show the effectiveness of the main results.

Remarkable impact of steam temperature on ginsenosides transformation from fresh ginseng to red ginseng

Xu, Xin-Fang,Gao, Yan,Xu, Shu-Ya,Liu, Huan,Xue, Xue,Zhang, Ying,Zhang, Hui,Liu, Meng-Nan,Xiong, Hui,Lin, Rui-Chao,Li, Xiang-Ri The Korean Society of Ginseng 2018 Journal of Ginseng Research Vol.42 No.3

Background: Temperature is an essential condition in red ginseng processing. The pharmacological activities of red ginseng under different steam temperatures are significantly different. Methods: In this study, an ultrahigh-performance liquid chromatography quadrupole time-of-flight tandem mass spectrometry was developed to distinguish the red ginseng products that were steamed at high and low temperatures. Multivariate statistical analyses such as principal component analysis and supervised orthogonal partial least squared discrimination analysis were used to determine the influential components of the different samples. Results: The results showed that different steamed red ginseng samples can be identified, and the characteristic components were 20-gluco-ginsenoside Rf, ginsenoside Re, ginsenoside Rg1, and malonyl-ginsenoside Rb1 in red ginseng steamed at low temperature. Meanwhile, the characteristic components in red ginseng steamed at high temperature were 20R-ginsenoside Rs3 and ginsenoside Rs4. Polar ginsenosides were abundant in red ginseng steamed at low temperature, whereas higher levels of less polar ginsenosides were detected in red ginseng steamed at high temperature. Conclusion: This study makes the first time that differences between red ginseng steamed under different temperatures and their ginsenosides transformation have been observed systematically at the chemistry level. The results suggested that the identified chemical markers can be used to illustrate the transformation of ginsenosides in red ginseng processing.

Srap Molecular Marker in the Round Shape Trait of Cucumber Fruit

Dan-dan Chai,Zhi-hui Cheng,Huan-wen Meng,Shu-xia Chen,Ya-li Li 한국원예학회 2008 한국원예학회 기타간행물 Vol.- No.-