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Research on Lyapunov-based Predictive Path Following Control of AGV Based on Time Constraint
Shaobo Zhang,Qinxiang Xia,Gangfeng Xiao,Sizhu Cheng,Mingxing Chen 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.12
Automated Guided Vehicles (AGV) usually takes on the responsibility of material transmission in industrial applications with a wireless computer-controlled differential driving. A Lyapunov-based model predictive control method is proposed for the AGV path following problem with considering the time constraint. The time constraint problem of path following is introduced for industrial scheduling fields, and the reference path is discretized and virtually constructed by the quadratic programming method based on the double integrator technique. The stabilization point control theorem is migrated to solve the path following control, and adopted to track the generated discretized setting reference path points by using the model predictive control method. The predictive following control method is constrained by the Lyapunov function, which ensures the stability of the control of AGV motion. The controller is constrained by Lyapunov stability criteria to demonstrate the local and global convergence of the control system. The comparative results of numerical simulation experiments show that the proven method is effective with better smoothness and stability.
Shaobo Shen,Aiguo Song 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The motion prediction and tracking control problem for nonlinear teleoperation system with time-varying delays are investigated in this paper. A novel model-independent prediction method with an observer-based structure is proposed. The positions of both slave and master robots are estimated by using delayed measurements through two predictors which are located on the another side of the robot to be measured. It is proven that the prediction errors can converge to zero by applying the Lyapunov method. Predictive controllers of both master and slave robots are designed by applying the prediction results instead of delayed measurements. Some sufficient conditions are derived to design suitable parameters of controllers acording to Lyapunov theory. Finally, the effectiveness of proposed predictor and controller is verified by simulations.
Characterization of genes coding for galacturonosyltransferaselike (GATL) proteins in rice
Shaobo Li,Jinlong Liu,Mansi Luo,Xin Yan,Chao Yu 한국유전학회 2016 Genes & Genomics Vol.38 No.10
In the present study, seven galacturonosyltransferase- like (GATL) genes (OsGATLs) in rice (Oryza sativa L.) were genome-widely identified and the chromosomal locations and the gene structures of which were characterized. Under normal condition, OsGATL2 and OsGATL3 are highly expressed in root, while OsGATL4 is highly expressed in stem and leaf. Many cis-elements related to stress response and plant hormone were found in the promoter sequence of each OsGATL. The expression patterns of these OsGATL genes under treatment with abscisic acid (ABA), drought and low temperature were assessed by qRT-PCR. The expression levels of most OsGATLs significantly increased following the treatments with drought or low temperature. In addition, physicochemical properties of OsGATLs and phylogenetic analysis with GATL from rice and several other species were performed. 3D structures and protein–protein interaction (PPI) network of OsGATLs were further predicted by Swiss-model and STRING 9.0 database, respectively. The identification and bioinformatic analysis of GATL family in rice could provide reference data for further study on their biological functions, especially in the responsiveness to hormones and stress signaling.
Li Shaobo,Li Chuanjiang,Zhang Ansi,Yang Lei,Zio Enrico,Pecht Michael,Gryllias Konstantinos 한국CDE학회 2022 Journal of computational design and engineering Vol.9 No.4
As fixed-wing unmanned aerial vehicles (FW-UAVs) are used for diverse civil and scientific missions, failure incidents are on the rise. Recent rapid developments in deep learning (DL) techniques offer advanced solutions for fault diagnosis of unmanned aerial vehicles. However, most existing DL-based diagnostic models only perform well when trained on massive amounts of labeled data, which are challenging to collect due to the complexity of the FW-UAVs systems and service environments. To address these issues, this paper presents a novel framework, Siamese hybrid neural network (SHNN), to achieve few-shot fault diagnosis of FW-UAVs in an intelligent manner. “State map” strategy is firstly proposed to transform raw flight data into similar and dissimilar sample pairs as input. The proposed SHNN framework consists of two identical networks that share weights with each other, and each subnetwork is designed with a hybrid one-dimensional conventional neural network and long short-term memory model as feature encoder, whose generated feature embedding is used to measure the similarity of input pairs via a distance function in the metric space. In comprehensive experiments on a real flight dataset of an FW-UAV, the SHNN framework achieves competitive results compared to other models, demonstrating its effectiveness in both binary and multi-class few-shot fault diagnosis.
Ensemble of Classifiers Constructed on Class-Oriented Attribute Reduction
Min Li,Shaobo Deng,Lei Wang 한국정보처리학회 2020 Journal of information processing systems Vol.16 No.2
Many heuristic attribute reduction algorithms have been proposed to find a single reduct that functions as theentire set of original attributes without loss of classification capability; however, the proposed reducts are notalways perfect for these multiclass datasets. In this study, based on a probabilistic rough set model, we proposethe classoriented attribute reduction (COAR) algorithm, which separately finds a reduct for each target class. Thus, there is a strong dependence between a reduct and its target class. Consequently, we propose a type ofensemble constructed on a group of classifiers based on classoriented reducts with a customized weightedmajority voting strategy. We evaluated the performance of our proposed algorithm based on five real multiclassdatasets. Experimental results confirm the superiority of the proposed method in terms of four generalevaluation metrics.
( Xianxian Wang ),( Shaobo Lv ),( Xing Wang ),( Zhongshan Zhang ) 한국인터넷정보학회 2018 KSII Transactions on Internet and Information Syst Vol.12 No.4
Resource allocation in device-to-device (D2D) aided cellular systems, in which the proximity users are allowed to communicate directly with each other without relying on the intervention of base stations (BSs), is investigated in this paper. A new uplink resource allocation policy is proposed by exploiting the relationship between D2D-access probability and channel gain among variant devices, such as cellular user equipments (CUEs), D2D user equipments (DUEs) and BSs, etc., under the constraints of their minimum signal to interference-plus-noise ratio (SINR) requirements. Furthermore, the proposed resource-allocation problem can be formulated as the cost function of “maximizing the number of simultaneously activated D2D pairs subject to the SINR constraints at both CUEs and DUEs”. Numerical results relying on system-level simulations show that the proposed scheme is capable of substantially improving both the D2D-access probability and the network throughput without sacrificing the performance of conventional CUEs.
Experimental Study on the Damage of Steel Tubular Structural Components by Near-Field Detonations
Wanyue Wang,Shaobo Geng,Hua Wang,Wenqiang Li,Yaling Liu,Jianying Xue,Tingbian Zhan,Ying Gao 대한토목학회 2021 KSCE Journal of Civil Engineering Vol.25 No.2
This paper describes three blast-loading trials on three kinds of steel tubular structural components at the same explosive charge and standoff distance. Specimen one is a hollowsteel tube (HST), another is a HST wrapped with glass fibre-reinforced plastic (GFRP) with epoxy resin and the third is a HST infilled with concrete. The main objective of the trials is to investigate the effect of near-field detonations on circular steel tubular components. The experimental data, such as the overpressure time history, front local deformation, rear residual deflection and strain time history, are all recorded and collected. Analysis of the trial results shows that the experimental peak overpressure values of shot 1-3 are all larger than that of numerical simulation. The failure of these three specimens mainly experiences local damage, at the same time, the HST and HST with GFRP exhibit obvious global deformation. With the initiation point at one end of the cylinder explosive, both the maximum depth deformation on the front surface and the maximum residual deflection on the rear surface are all located on the side of the another end of the cylinder explosive. The blast-resistant approach by covering 10-layer GFRP on the surface of the HST can reduce the local damage, the global deformationand the dynamic strain value to certain extent, while the approach by infilling the steel tube with concrete can greatly decrease the local damage and the dynamic strain value and without any global deformation.