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- 저자 : Jiabin (검색결과 44 건)
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A Path Planning Method for Unmanned Surface Vessels in Dynamic Environment
Jiabin Yu,Zhihao Chen,Zhiyao Zhao,Jiping Xu,Yang Lu 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4
A path planning method for unmanned surface vessels (USV) in dynamic environment is proposed to address the impact of dynamic environments on path planning results and the lack of dynamic obstacle avoidance capabilities. First, the considering ocean current rapidly exploring random tree (RRT*) (COC-RRT*) algorithm was proposed for global path planning. The RRT* algorithm has been enhanced with the integration of the virtual field sampling algorithm and ocean current constraint algorithm. The COC-RRT* algorithm optimizes the global planning path by adjusting the path between the parent nodes and child nodes. Second, according to the limitations of the International Regulations for Preventing Collisions at Sea (COLREGs), the improved dynamic window approach (DWA) is applied for local path planning. To enhance the ability of avoid dynamic obstacles, the dist function in the DWA algorithm has been improved. Simulation experiments were conducted in three scenarios to validate the proposed algorithm. The experimental results demonstrate that, in comparison with other algorithms, the proposed algorithm effectively avoids dynamic obstacles and mitigates the influence of the space-varying ocean current environment on the path-planning outcome. Additionally, the proposed algorithm exhibits high efficiency and robustness. The results verified the effectiveness of the proposed algorithm in dynamic environments.
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Research and development of a novel pneumatic-electric hybrid actuator
Jiabin Yang,Xiaoning Li 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.6
A novel pneumatic-electric hybrid actuator is studied and developed to enable precise positioning within a cylinder stroke in industrial automation. The proposed actuator will also allow engineers to overcome the defects of bias torque and structural coupling in the parallel type of pneumatic-electric hybrid actuators. The novel hybrid actuator consists of a coaxial cylinder layout, the motor lead screw pair, and the position sensor; a serial driving pattern is applied. A special reconfigurable positioning structure is designed for both the fixed and moving module; therefore, a decoupling motion can be achieved for the fast pneumatic motion and the electric precise fine-tuning motion without interference. In this paper, the authors presented the structure of this novel pneumatic-electric hybrid actuator and the accompanying mathematical model for pneumatic-electrical driving. Additionally, the control strategy with proportional-fuzzy mode and the subsection frequency control mode are presented. Experimental results show that the pneumatic-electric hybrid actuator has satisfying motion characteristics, including high speed, low overshoot, and small load sensitivity. Its positioning accuracy is ±0.01 mm, with a positioning time within 2 s, which is better than that of current pneumatic localizable actuators and pneumatic-electric hybrid actuators.
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Jiabin Liu,Haiying Zhang,Yun Zhang,Nan Li,Yuku Wen,Fanglei Cao,Hao Ai,Xiaoou Xue 한국분자세포생물학회 2014 Molecules and cells Vol.37 No.12
Premature ovarian failure (POF) is a long-term adverse effect of chemotherapy treatment. However, current available treatment regimens are not optimal. Emerging evidence suggests that bone marrow-derived mesenchymal stem cells (BMSCs) could restore the structure and function of injured tissues, but the homing and restorative effects of BMSCs on chemotherapy injured ovaries are still not clear. In this study, we found that granulosa cell (GC) apoptosis induced by cisplatin was reduced when BMSCs were migrated to granulosa cells (GCs) in vitro. Chemo-therapy-induced POF was induced by intraperitoneal injection of cisplatin in rats. BMSCs labeled with enhanced green fluorescent protein (EGFP) were injected into the rats via the tail vein to investigate the homing and distribution of BMSCs in vivo. The number of BMSCs in the ovarian hilum and medulla was greater than in the cortex, but no BMSCs were found in the follicles and corpus lutea. In addition, the BMSCs treatment group’s antral follicle count and estradiol levels increased after 30 days, compared with the POF group. Hence, our study demonstrates that intravenously delivered BMSCs can home to the ovaries, and restore its structure and function in POF model rats.
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Research on Deep-Hole Drilling of High-Strength Steel Using Slender Gun Dril
Jiabin Liang,Li Jiao,Pei Yan,Minghui Cheng,Tianyang Qiu,Xibin Wang 한국정밀공학회 2022 International Journal of Precision Engineering and Vol.23 No.8
There are a lot of problems in the processing of deep hole gun drilling of high strength steel, such as difficulty in selecting machining parameters, unknown influence mechanism of machining parameters on drilling force, drilling temperature and machining quality. In this paper, 42CrMo high strength steel is selected as the workpiece material. A numerical model of cutting force is established based on the mechanism of gun drill, and then the finite element simulation and processing test are carried out. The results show that the cutting force decreases with the increase of cutting speed, and increases with the increase of feed speed; the error between the theoretical and actual value is less than 10%. The shape and position accuracy of the entrance end is higher than that of the exit end, but the surface quality is the opposite. Cutting speed and feed speed have a great influence on machining quality, and the cutting fluid pressure mainly affects the surface roughness.
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Smooth Path Planning Method for Unmanned Surface Vessels Considering Environmental Disturbance
Jiabin Yu,Zhihao Chen,Zhiyao Zhao,Xiaoyi Wang,Yuting Bai,Jiguang Wu,Jiping Xu 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.10
To solve the problems of unsmooth path planning, insufficient dynamic obstacle avoidance ability, and environmental disturbance effect on the path planning result, this paper proposes a smooth path planning method for unmanned surface vessels (USVs) considering environmental disturbance. First, an improved A* algorithm, which uses the path smoothing method based on the minimum turning radius of a USV, is proposed for global path planning. The binary tree method is used instead of the enumeration method to select a relatively optimal path in the current situation to improve algorithm efficiency. In addition, the dynamic window approach (DWA) with the Convention on the International Regulation for Preventing Collision at Sea (COLREGs) constraints is used for local path planning. The dist function in the DWA algorithm is improved to enhance the DWA algorithm’s ability to avoid dynamic obstacles. Finally, the environmental disturbance function is derived and added to the A* and DWA algorithms to handle the effect of environmental disturbances, such as water flow, on the path planning result, which can significantly improve the path-planning ability of the algorithm in the presence of environmental disturbances. Simulation experiments are performed in three scenarios to verify the proposed algorithm. The experimental results show that compared with the other algorithms, the proposed algorithm can effectively avoid dynamic obstacles and reduce the impact of environmental disturbance on the path planning result. At the same time, the proposed algorithm has high efficiency and strong robustness.
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Building Chinese Request Pattern Graphs for Chinese-Korean Translation
Jiabin Li(이가빈),Changhoe Hwang(황창회),Jeesun Nam(남지순) 언어과학회 2020 언어과학연구 Vol.0 No.95
This paper aims to describe diverse request patterns in Chinese for the automatic classification and the Chinese-Korean translation of music-request sentences in AI assistant platforms. These patterns are formalized by Local-Grammar Graphs (LGGs), a finite-state grammar, and represented under directed acyclic graphs based on the main function categories. The UNITEX graph editor has been used to construct Chinese LGGs, and the request pattern tags that are proposed for Korean sentences based on DECO Korean Electronic dictionaries was applied. The result of this study has been examined and evaluated by comparison with Google Translate results at the end of the paper. Experimental results prove that the LGG grammar constructed in this paper can effectively cover and annotate various request patterns. This will provide the possibility to generate a large-scale bilingual annotation corpus in the field of music listening.
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An Experimental Study on Building A Chinese Domain-Dependent Sentiment Lexicon
Jiabin Li,남지순 한국언어과학회 2020 언어과학 Vol.27 No.4
This study proposes an experimental approach to build a domain-dependent sentiment lexicon that is crucial for sentiment analysis of Chinese texts in the Deco Sentiment Analysis platform developed in Digital Language and Knowledge Contents Research Association (DICORA research center). More than 150,000 hotel review data were trained with word2vec models, and 80 emotional words were first selected as seed words. TF-IDF notion was used to measure the importance of the sentiment vocabulary in hotel reviews. In order to build the feature vector representation of each candidate word, the similarities between a term and the other 80 seed words were calculated and the upcoming step was expanding the lexicon with a double propagation method that requires recognizing feature words related to the sentiment expressions. Through the bootstrap of sentiment terms and features, the expansion of the sentiment lexicon could be performed. The evaluation of the expanded result is confirmed with rates set at 77.4% of precision and 92.6% of recall performance.
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