Trajectory Planning with Collision Avoidance for Multiple Quadrotor UAVs Using DMPC

Yuhang Jiang,Shiqiang Hu,Christopher Damaren,Lingkun Luo,Bing Liu 한국항공우주학회 2023 International Journal of Aeronautical and Space Sc Vol.24 No.5

Trajectory planning with collision avoidance plays an important role for the safe application of multi-UAV systems in low altitude airspace. Although the synchronous DMPC algorithm had been widely applied in multi-agent systems due to its lower communication and computing cost, it generally suffers from the strict requirements. For example, the additional terminal conditions significantly reduce the maneuverability of the UAV in the fleet, whereas which ensure the stability of the algorithm and the feasibility of recursion. To remedy the raised issues, in this paper, a novel set of terminal conditions is proposed, which effectively reduces the conservativeness of the collision-free trajectories and satisfies the requirements of collision avoidance algorithms simultaneously. In this research, we also leverage the theoretical qualitative analysis, and thus providing initial guesses and related parameter settings for the algorithm. Finally, sufficient numerical simulations are proposed to verify the effectiveness and superiority of the proposed algorithm.

Fault Tolerant Time Optimization of Switched Systems with Application to Multi-agent Flight Control

Yuhang Xu,Hao Yang,Bin Jiang 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.2

This paper considers the problem of determining optimal switching time for the switched system inthe presence of switching faults, which may result in the deviation of the prescribed switching time from normal. A passive fault-tolerant scheme, which relies on the min-max strategy containing gradient descent algorithm, isproposed to guarantee that the faulty switched system has the minimal upper bound of the cost function. In thecase that the switching faults take place regularly, an active fault-tolerant scheme is further developed which candecrease the minimal upper bound of the cost function, and thus reduce the conservativeness of the passive one. These two new schemes are applied to resolve the route conflict among multi-airplanes in multi-agent flight controlto illustrate their efficiency and applicability.

Ultrasonic Osteotome Assisted Posterior Endoscopic Cervical Foraminotomy in the Treatment of Cervical Spondylotic Radiculopathy Due to Osseous Foraminal Stenosis

Ye Jiang,Chen Li,Lutao Yuan,Cong Luo,Yuhang Mao,Yong Yu 대한신경외과학회 2023 Journal of Korean neurosurgical society Vol.66 No.4

Objective : To investigate the efficacy and safety of the posterior endoscopic cervical foraminotomy (PECF) using ultrasonic osteotome for the treatment of cervical osseous foraminal stenosis,focusing on introduction of the advantages of ultrasonic osteotome in partial pediculectomy and ventral osteophyte resection in PECF. Methods : Nineteen patients with cervical osseous foraminal stenosis who underwent PECF using ultrasonic osteotome in our institution between April 2018 and April 2021 were enrolled in this study. All the patients were followed up more than 12 months. The patients’ medical data, as well as pre- and postoperative radiologic findings were thoroughly investigated. The visual analogue score (VAS), Japanese Orthopaedic Association (JOA) score, cervical dysfunction index (Neck disability index, NDI), and modified MacNab criteria were used to assess the surgical efficacy. Results : All the patients were successfully treated with PECF using ultrasonic osteotome. The pre- and postoperative VAS, NDI, and JOA scores were significantly improved (p<0.05). According to the modified MacNab criteria, 17 patients were assessed as “excellent”, two patients were assessed as “good” at the last follow-up. There was no dura tear, nerve root damage, incision infection, neck deformity, or other complications. Conclusion : Adequate nerve root decompression can be accomplished successfully with the help of ultrasonic osteotome in PECF, which has the advantage of reducing the probability of damage to the nerve root and dura mater, in addition to the original merits of endoscopic surgery.

Cold-induced ginsenosides accumulation is associated with the alteration in DNA methylation and relative gene expression in perennial American ginseng (Panax quinquefolius L.) along with its plant growth and development process

Mengzhen Hao,Yuhang Zhou,Jinhui Zhou,Min Zhang,Kangjiao Yan,Sheng Jiang,Wenshui Wang,Xiaoping Peng,San Zhou 고려인삼학회 2020 Journal of Ginseng Research Vol.44 No.5

Background: Ginsenosides accumulation responses to temperature are critical to quality formation in cold-dependent American ginseng. However, the studies on cold requirement mechanism relevant to ginsenosides have been limited in this species. Methods: Two experiments were carried out: one was a multivariate linear regression analysis between the ginsenosides accumulation and the environmental conditions of American ginseng from different sites of China and the other was a synchronous determination of ginsenosides accumulation, overall DNA methylation, and relative gene expression in different tissues during different developmental stages of American ginseng after experiencing different cold exposure duration treatments. Results: Results showed that the variation of the contents as well as the yields of total and individual ginsenosides Rg1, Re, and Rb1 in the roots were closely associated with environmental temperature conditions which implied that the cold environment plays a decisive role in the ginsenoside accumulation of American ginseng. Further results showed that there is a cyclically reversible dynamism between methylation and demethylation of DNA in the perennial American ginseng in response to temperature seasonality. And sufficient cold exposure duration in winter caused sufficient DNA demethylation in tender leaves in early spring and then accompanied the high expression of flowering gene PqFT in flowering stages and ginsenosides biosynthesis gene PqDDS in green berry stages successively, and finally, maximum ginsenosides accumulation occurred in the roots of American ginseng. Conclusion: We, therefore, hypothesized that cold-induced DNA methylation changes might regulate relative gene expression involving both plant development and plant secondary metabolites in such cold-dependent perennial plant species.

Ink Landscape - Tea Set Design

Zhenxing Wang,Yuhang Jiang 한국디자인학회 2020 한국디자인학회 국제초대전도록 Vol.2020 No.11

Preparation and oxygen desorption performance modi fication of BaCoO3-δ perovskite-type materials via B-site cerium doping

Qiuwan Shen,Zicheng Shao,Yuhang Jiang,Shian Li,Guogang Yang,Naibao Huang,Xinxiang Pan 한양대학교 세라믹연구소 2021 Journal of Ceramic Processing Research Vol.22 No.5

The oxyfuel combustion process is used as a potential technique to CO2 capture and the oxygen carries play a crucial role ofthis technology. Ba-Co based perovskites are promising materials to producing O2/CO2 gas for oxyfuel combustion. In thisstudy, perovskite oxides BaCo0.8M0.2O3-δ (M = Ce, Al, Fe, Cu) were prepared via an EDTA sol-gel method. Scanning electronmicroscope (SEM) was used to study the surface morphology and structure of the fresh and the used perovskite powders. Oxygen adsorption/desorption experiments were carried out in a fixed-bed system; and the oxygen desorption property ofBaCo0.8Ce0.2O3-δ was studied in details. The oxygen production amount of 1g BaCo0.8Ce0.2O3-δ perovskite powders can reach101.07 mg after one adsorption and desorption cycle. SEM results showed that the fresh samples had a porous structure;however the particles were covered by impurities after cycles due to the sintering. Experiments results indicated that theoptimal desorption temperature is 850oC. The optimal volume flow rate of carbon dioxide and partial pressures of carbondioxide were determined to be 200 ml·min1, 100% CO2 partial pressure, respectively. Furthermore, the results of cyclicperformance indicate that BaCo0.8Ce0.2O3-δ perovskite powder shows high cyclic stability for producing O2-enriched CO2stream.

Improved performance of barium cobalt-based perovskites materials: Influence of B-site substitution and metal oxide supported perovskite on oxygen desorption property and reactivity

Shian Li,Rongqiang Wei,Yuhang Jiang,Qiuwan Shen,Guogang Yang,Naibao Huang 한양대학교 세라믹연구소 2020 Journal of Ceramic Processing Research Vol.21 No.1

Oxy-fuel combustion is one of the proposed technologies which have the potential to achieve a zero CO2 emission. To enhancethe oxygen production performance of the oxygen carrier, different LaBO3-δ (B=Co, Ni, Fe, Cr) and metal oxide (CeO2, Al2O3,ZrO2) supported BaCoO3-δ perovskites have been successfully synthesized by the EDTA sol-gel method and further applied forproducing oxygen. The oxygen desorption/production performance of synthesized perovskites were studied in a fixed-bedreactor system. Furthermore, the effects of H2O and air as regeneration gas of metal oxide supported BaCoO3-δ perovskiteoxygen carrier were investigated in detail. Results shows that the oxygen desorption amount of different B-site substitutedLaBO3-δ (B=Co, Ni, Fe, Cr) perovskites decrease in the order of LaNiO3-δ > LaCoO3-δ > LaCrO3-δ > LaFeO3-δ.While comparedwith pure BaCoO3-δ and different metal oxide supported BaCoO3-δ, CeO2 supported BaCoO3-δ features higher productionamount of oxygen. Multiple cycles demonstrated that BaCoO3/CeO2 displays higher stability and regeneration capacity, whichis the key factor to provide stable O2/CO2 gas stream for oxyfuel combustion application. In short, the novel BaCoO3/CeO2oxygen carrier developed in this work exhibits high oxygen desorption capacity and stability. In addition, it provides apromising potential for oxygen production in industrial application.

EID3 Promotes Glioma Cell Proliferation and Survival by Inactivating AMPKα1

Xiang, Yaoxian,Zhu, Lei,He, Zijian,Xu, Lei,Mao, Yuhang,Jiang, Junjian,Xu, Jianguang The Korean Neurosurgical Society 2022 Journal of Korean neurosurgical society Vol.65 No.6

Objective : EID3 (EP300-interacting inhibitor of differentiation) was identified as a novel member of EID family and plays a pivotal role in colorectal cancer development. However, its role in glioma remained elusive. In current study, we identified EID3 as a novel oncogenic molecule in human glioma and is critical for glioma cell survival, proliferation and invasion. Methods : A total of five patients with glioma were recruited in present study and fresh glioma samples were removed from patients. Four weeks old male non-obese diabetic severe combined immune deficiency (NOD/SCID) mice were used as transplant recipient models. The subcutaneous tumor size was calculated and recorded every week with vernier caliper. EID3 and AMP-activated protein kinase α1 (AMPKα1) expression levels were confirmed by real-time polymerase chain reaction and Western blot assays. Colony formation assays were performed to evaluate cell proliferation. Methyl thiazolyl tetrazolium (MTT) assays were performed for cell viability assessment. Trypan blue staining approach was applied for cell death assessment. Cell Apoptosis DNA ELISA Detection Kit was used for apoptosis assessment. Results : EID3 was preferentially expressed in glioma tissues/cells, while undetectable in astrocytes, neuronal cells, or normal brain tissues. EID3 knocking down significantly hindered glioma cell proliferation and invasion, as well as induced reduction of cell viability, apoptosis and cell death. EID3 knocking down also greatly inhibited tumor growth in SCID mice. Knocking down of AMPKα1 could effectively rescue glioma cells from apoptosis and cell death caused by EID3 absence, indicating that AMPKα1 acted as a key downstream regulator of EID3 and mediated suppression effects caused by EID3 knocking down inhibition. These findings were confirmed in glioma cells generated patient-derived xenograft models. AMPKα1 protein levels were affected by MG132 treatment in glioma, which suggested EID3 might down regulate AMPKα1 through protein degradation. Conclusion : Collectively, our study demonstrated that EID3 promoted glioma cell proliferation and survival by inhibiting AMPKα1 expression. Targeting EID3 might represent a promising strategy for treating glioma.

Exogenous Glycinebetaine Application Contributes to Abiotic Stress Tolerance in Maize

Pei Laming,Li Hongmei,Zhou Yuanyuan,Li Weijun,Jiang Yuhang,Li Hui 한국식물학회 2022 Journal of Plant Biology Vol.65 No.6

Plant growth and development are adversely affected by various environmental stresses. In this study, we investigated the possible function of glycinebetaine (GB) in improving abiotic stress tolerance in maize plants by exogenous application. Results indicated that GB application could effectively improve maize germination percentages, biomass weights and grain yield per plant under abiotic stresses. Moreover, GB-treated plants showed higher reactive oxygen species (ROS)-scavenging capacities, therefore less oxidative destruction than control plants under stresses. In addition, abscisic acid (ABA) levels were increased in GB-treated plants compared to control plants. The comparison of transcriptome profile was performed to analyze the possible mechanism underlying the enhanced tolerance mediated by GB. Many differentially expressed genes (DEGs) between GB-treated and control plants were found to be involved in responses to oxidative stress, abiotic stress and ABA. Taken together, these results indicated that GB might enhance abiotic stress tolerance in maize by regulating ROS-scavenging capacities and ABA-mediated stress-responsive pathways.