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- 저자 : ( Xinpeng Tian ) (검색결과 3 건)
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Xinpeng Zhai,Jianyan Tian,Jifu Li 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4
The fusion of the A* and the dynamic windowing algorithm is commonly used for the path planning of mobile robots in dynamic environments. However, the planned path has the problems of redundancy and low security. This paper proposes a path planning algorithm based on the safety distance matrix and adaptive weight adjustment strategy to address the above problems. Firstly, the safety distance matrix and new heuristic function are added to the traditional A* algorithm to improve the safety of global path. Secondly, the weight of the evaluation sub-function in the dynamic window algorithm is adjusted through an adaptive weight adjustment strategy to solve the problem of path redundancy. Then, the above two improved algorithms are fused to make the mobile robot have dynamic obstacle avoidance capability by constructing a new global path evaluation function. Finally, simulations are performed on grid maps, and the fusion algorithm is applied to the actual mobile robot path planning based on the ROS. Simulation and experimental results show that the fusion algorithm achieves optimization of path safety and length, enabling the robot to reach the end point safely with real-time dynamic obstacle avoidance capability.
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Ruoyu Xu,Jianyan Tian,Jifu Li,Xinpeng Zhai 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.10
To ensure the smooth operation of each joint and shorten the joint movement time of a rail inspection robot, a trajectory planning method based on time optimization with a penalty function is proposed. According to the Denavit-Hartenberg (D-H) model of the inspection robot, a kinematic solution is found, and the trajectory of each joint is generated using a mixed polynomial interpolation algorithm. Taking time optimization as the standard, the traditional particle swarm algorithm cannot handle complex constraints, easily falls to local optimum solutions, and has a slow convergence speed. An improved simulated annealing particle swarm algorithm with a penalty function (IPF-SA-PSO) is proposed to optimize the trajectory generated by the mixed polynomial interpolation algorithm. The simulation results show that the proposed algorithm, compared with the mixed polynomial interpolation method, can limit the angular velocity and reduce the running time of each manipulator joint. The two algorithms are experimentally verified based on a rail inspection robot, and the results show that after adopting the optimization algorithm, the angular velocity of each joint is within the angular velocity limit, the run time is shorter, and the operation is smoother, which indicates the effectiveness of the proposed algorithm. The proposed algorithm can optimize the robot running time, improve the smoothness, and be applied to the fields of the automatic tracking of abnormal targets and video acquisition.
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( Hongfei Su ),( Zhimao Mai ),( Jian Yang ),( Yunzhu Xiao ),( Xinpeng Tian ),( Si Zhang ) 한국미생물 · 생명공학회 2016 Journal of microbiology and biotechnology Vol.26 No.6
The gene encoding lipase (Lip98) from Aeromicrobium sp. SCSIO 25071 was cloned and functionally expressed in Escherichia coli. Lip98 amino acid sequence shares the highest (49%) identity to Rhodococcus jostii RHA1 lipase and contains a novel motif (GHSEG), which is different from other clusters in the lipase superfamily. The recombinant lipase was purified to homogeneity with Ni-NTA affinity chromatography. Lip98 showed an apparent molecular mass of 30 kDa on SDS gel. The optimal temperature and pH value for enzymatic activity were recorded at 30°C and 7.5, respectively. Lip98 exhibited high activity at low temperatures with 35% maximum activity at 0°C and good stability at temperatures below 35°C. Its calculated activation energy was 4.12 kcal/mol at the low temperature range of 15-30°C. Its activity was slightly affected by some metal ions such as K(+), Ca(2+), and Na(+). The activity of Lip98 was increased by various organic solvents such as DMSO, ethanol, acetone, and hexane with the concentration of 30% (v/v) and retained more than 30% residual activity in neat organic solvent. The unique characteristics of Lip98 imply that it is a promising candidate for industrial application as a nonaqueous biocatalyst and food additive.
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