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- 저자 : Pengcheng Wen (검색결과 2 건)
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Adaptive Switch Image-based Visual Servoing for Industrial Robots
Ahmad Ghasemi,Pengcheng Li,Wen-Fang Xie 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.5
In this paper, an adaptive switch image-based visual servoing (IBVS) controller for industrial robots is presented. The proposed control algorithm decouples the rotational and translational camera motions and decomposes the IBVS control into three separate stages with different gains. This method can increase the system response speed and improve the tracking performance of IBVS while the proposed adaptive law deals with the uncertainties of the monocular camera in eye-in-hand configuration. The stability of the designed controller is proved using Lyapunov method. Experimental results on a 6 degree of freedom (DOF) robot show the significant enhancement of the control performance over other IBVS methods, in terms of the response time and tracking performance. Also the designed visual servoing controller demonstrates its capability to overcome some of the inherent drawbacks of IBVS, such its inability to perform a 180◦ camera rotation around its center.
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Comparison of the Nutritional Composition of Bullfrog Meat from Different Parts of the Animal
Yanli Zhu,Min Bao,Chong Chen,Xiaoli Yang,Wenliang Yan,Fazheng Ren,Pengjie Wang,Pengcheng Wen 한국축산식품학회 2021 한국축산식품학회지 Vol.41 No.6
The objective of this study was to evaluate the nutritional content of bullfrog meat from different parts of the animal, including fore-chest, thigh and calf. Bullfrog meat was found to be a rich source of proteins, essential amino acids and minerals, but with a low fat content, compared with other aquatic meat products. There was no significant difference (p>0.05) between thigh and calf in mineral content (K, P, Na, Mg, Ca, Zn, Fe, Cu, and Mn), but the contents of K, P, and Mg were higher in thigh and calf than in the fore-chest (p<0.05). The salt-soluble, water-soluble and insoluble protein bands in sodium dodecyl sulphate-polyacrylamide gel electrophoresis (SDS-PAGE) electrophoresis, from fore-chest, thigh and calf were similar, with the most abundant bands being 35 kDa (salt-soluble protein), 35-48 kDa (water-soluble protein) and 48 kDa (insoluble protein). The results showed that the insoluble protein content in the fore-chest meat was higher than that in the thigh meat and calf meat, but the salt-soluble protein fraction was the most abundant in thigh meat. These results showed that the nutrients in different parts of bullfrog meat were different.
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