A Time-Varying Lookahead Distance of ILOS Path Following for Unmanned Surface Vehicle

Dong-Dong Mu,Guo-Feng Wang,Yun-Sheng Fan 대한전기학회 2020 Journal of Electrical Engineering & Technology Vol.15 No.5

This paper is concerned with the path following control for an unmanned surface vessel subject to unknown dynamics and external disturbance. Firstly, an integral Line-of-Sight navigation strategy based on a fuzzy strategy to optimize lookahead distance to achieve faster convergence speed is proposed. Then a novel adaptive course control law based on trajectory linearization control technology is proposed, which is combined with the integral Line-of-Sight navigation strategy to form a complete unmanned surface vessel path following strategy. From the author’s point of view, this is the fi rst time that trajectory linearization control technology has been applied to the path following scheme by controlling the course. At the same time, in order to improve the robustness of the path following system, the unknown dynamics, external disturbance, and error in the system are compensated by neural network minimum learning parameter method with less computational complexity and a robust term, respectively. Furthermore, hyperbolic tangent function, Nussbaum function, and neural shunting model are introduced into the design of control law to solve the potential input saturation problem. Finally, the numerical simulation experiments of straight line and curve path following are given to prove the feasibility and universality of the whole set of path following scheme.

Formation Control Strategy for Underactuated Unmanned Surface Vehicles Subject to Unknown Dynamics and External Disturbances with Input Saturation

Dong-Dong Mu,Guo-Feng Wang,Yun-Sheng Fan 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.11

This paper addresses the formation tracking control problem of multiple underactuated unmanned surface vehicles. Considering many actual situations, a practical formation control scheme, which is performed by using a leader-follower approach, minimum learning parameter technique, adaptive technology and so on. Firstly, a virtual unmanned surface vehicle is designed according to the location information of the leader unmanned surface vehicle to estimate the leader’s speed information while reducing the communication bandwidth. Secondly, a formationcontrol law is designed to make the follower underactuated unmanned surface vehicles track the leader. Unknown dynamics and external disturbances are regarded as a whole and compensated by the minimum learning parameter technique instead of multi-layer neural network and the neural shunt model can handle multiple derivation problems of virtual control laws. Meanwhile, the robustness of the controlled system is improved through adaptive technology. Besides, an auxiliary design system is employed to constrain the output range of the control law. Finally, numerical simulations are implemented to prove the feasibility of the formation tracking control strategy.

Design of Adaptive Neural Tracking Controller for Pod Propulsion Unmanned Vessel Subject to Unknown Dynamics

Dong-Dong Mu,Guo-Feng Wang,Yun-Sheng Fan 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.6

This paper addresses two interrelated problems concerning the tracking control of pod propulsion unmanned surface vessel (USV), namely, the modeling of pod propulsion USV, and tracking controller design. First, based on MMG modeling theory, the model of pod propulsion USV is derived. Furthermore, a practical adaptive neural tracking controller is proposed by backstepping technique, neural network approximation and adaptive method. Meanwhile, unlike some existing tracking methods for surface vessel whose control algorithms suffer from “explosion of complexity”, a novel neural shunting model is introduced to solve the problem. Using a Lyapunov functional, it is proven that all error signals in the system are uniformly ultimately bounded. The advantages of the paper are that first, the underactuated characteristic of pod propulsion USV is proved; second, the neural shunting model is used to solve the problem of “explosion of complexity”, and this is a combination of knowledge in the field of biology and engineering; third, the developed controller is able to capture the uncertainties without the exact information of hydrodynamic damping structure and the sea disturbances. Numerical examples have been given to illustrate the performance and effectiveness of the proposed scheme.

Tracking Control of Podded Propulsion Unmanned Surface Vehicle with Unknown Dynamics and Disturbance Under Input Saturation

Dong-Dong Mu,Guo-Feng Wang,Yun-Sheng Fan 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4

This paper addresses two interrelated problems concerning the tracking control of podded propulsion unmanned surface vehicle (USV), namely, the modeling of podded propulsion USV, and trajectory tracking controller design. Based on the force analysis, the separation model of podded propulsion USV is established. Furthermore, a practical adaptive neural tracking controller is proposed by backstepping technique, neural network minimum parameter learning method, neural shunting model and auxiliary dynamic system without the exact information of hydrodynamic damping structure and the sea disturbances. Using Lyapunov stability analysis theory, it is proven that all error signals in the system are uniformly ultimately bounded. The advantages of the paper are that first, the underactuated characteristic of podded propulsion USV is demonstrated; then, neural shunting model and neural network minimum parameter learning method are introduced to cope with the problem of "explosion of complexity" and uncertainty factors, respectively; third, auxiliary dynamic system is introduced into controller design to reduce the risk of actuator saturation. Taking into account the above practical problems is helpful to engineering implementation in the marine practice. Finally, numerical simulation has been given to demonstrate the effectiveness of the proposed scheme.

Design of Adaptive Neural Tracking Controller for Pod Propulsion Unmanned Vessel Subject to Unknown Dynamics

Mu, Dong-Dong,Wang, Guo-Feng,Fan, Yun-Sheng The Korean Institute of Electrical Engineers 2017 Journal of Electrical Engineering & Technology Vol.12 No.6

This paper addresses two interrelated problems concerning the tracking control of pod propulsion unmanned surface vessel (USV), namely, the modeling of pod propulsion USV, and tracking controller design. First, based on MMG modeling theory, the model of pod propulsion USV is derived. Furthermore, a practical adaptive neural tracking controller is proposed by backstepping technique, neural network approximation and adaptive method. Meanwhile, unlike some existing tracking methods for surface vessel whose control algorithms suffer from "explosion of complexity", a novel neural shunting model is introduced to solve the problem. Using a Lyapunov functional, it is proven that all error signals in the system are uniformly ultimately bounded. The advantages of the paper are that first, the underactuated characteristic of pod propulsion USV is proved; second, the neural shunting model is used to solve the problem of "explosion of complexity", and this is a combination of knowledge in the field of biology and engineering; third, the developed controller is able to capture the uncertainties without the exact information of hydrodynamic damping structure and the sea disturbances. Numerical examples have been given to illustrate the performance and effectiveness of the proposed scheme.

Pre-transplant Dementia is Associated with Poor Survival After Hematopoietic Stem Cell Transplantation: A Nationwide Cohort Study with Propensity Score Matched Control

Sheng-Min Wang,Sung-Soo Park,See Hyun Park,Nak-Young Kim,Dong Woo Kang,Hae-Ran Na,Young-Yi Bae,Jong Wook Lee,Seunghoon Han,Hyun Kook Lim 대한정신약물학회 2021 CLINICAL PSYCHOPHARMACOLOGY AND NEUROSCIENCE Vol.19 No.2

Objective: No previous study examined impact of dementia in the outcome of allogeneic hematopoietic stem cell trans-plantation (HSCT). We aimed to investigate overall survival (OS) of patients with dementia after receiving HSCT. Methods: Among 8,230 patients who underwent HSCT between 2002 and 2018, 5,533 patients younger than 50 years were first excluded. Remaining patients were divided into those who were and were not diagnosed with dementia before HSCT (dementia group: n = 31; no dementia: n = 2,666). Thereafter, among 2,666 participants without dementia, 93 patients were selected via propensity-matched score as non-dementia group. Patients were followed from the day they received HSCT to the occurrence of death or the last follow-up day (December 31, 2018), whichever came first. Results: With median follow-up of 621 days for dementia group and 654 days for non-dementia group, 2 year-OS of dementia group was lower than that of non-dementia group (53.3% [95% confidence interval, 95% CI, 59.0−80.2%] vs. 68.8% [95% CI, 38.0−68.2%], p = 0.076). In multivariate analysis, dementia had significant impacts on OS (hazard risk = 2.539, 95% CI, 1.166−4.771, p = 0.017). Conclusion: Our results indicated that patients diagnosed with dementia before HSCT have 2.539 times higher risk of mortality after transplantation than those not having dementia. With number of elderly needing HSCT is increasing, further work to establish treatment guidelines for the management of HSCT in people with dementia is needed.

The role of Jacalin-related lectin gene AOL_s00083g511 in the development and pathogenicity of the nematophagous fungus Arthrobotrys oligospora

Dong Xinyuan,Si Jiali,Zhang Guanghui,Shen Zhen,Zhang Li,Sheng Kangliang,Wang Jingmin,Kong Xiaowei,Zha Xiangdong,Wang Yongzhong 한국미생물학회 2021 The journal of microbiology Vol.59 No.8

Arthrobotrys oligospora is a model species of nematophagous fungi and has great potential for the biological control of nematode diseases. Lectin is a protein that binds to carbohydrates and their complexes with high specificity, which mediates recognition events in various physiological and pathological processes. This study aimed to investigate the role of the Jacalin-related lectin (JRL) gene, AOL_s00083g511, in A. oligospora development. Through a homology recombination approach, we obtained the AOL_s00083g511 knockout mutant strain (Δg511). Next, the biological characteristics of the Δg511 mutant strain, including growth rate, conidia germination rate, adaptation to environmental stresses, and nematocidal activity, were compared with those of the wild-type (WT) strain. The results showed that the JRL gene AOL_ s00083g511 did not affect fungal growth, conidia germination, 3D-trap formation, and the ability of A. oligospora to prey on nematodes significantly. We speculate that this phenomenon may be caused by a loss of the key β1–β2 loops in the AOL_ s00083g511-encoded JRL domain and an intrinsic genetic compensation of AOL_s00083g511 in this fungus. The growth rates of both strains on high salt or surfactant media were similar; however, in the strong oxidation medium, the growth rate of the Δg511 mutant was significantly lower than that of the WT strain, indicating that AOL_s00083g511 might play a role in oxidative stress resistance. These findings provide a basis for further analysis of the related functions of the JRL gene in A. oligospora and their potential roles in the biological control of nematodes in the future.

Effect of SMall Heterodimer Partner Interacting LEucine Zipper Protein (SMILE) as an Inhibitor in BMP2-Induced Osteoblast Differentiation by Suppressing Runx2

Dong-Hwan Kim,Hyoung-Joo Kim,Jin-Seop Ahn,Wu-Sheng Sun,Ga-Ram Kim,Seong-Hong Jang,Jeong-Woong Lee 한국동물생명공학회(구 한국동물번식학회) 2015 발생공학 국제심포지엄 및 학술대회 Vol.2015 No.10

Fibulin-5 is a Prognostic Marker that Contributes to Proliferation and Invasion of Human Glioma Cells

Sheng, Xu-Dong,Chen, Hu,Wang, Hui,Ding, Zhi-Bin,Xu, Gang-Zhu,Zhang, Jun-Feng,Lu, Wen-Chao,Wu, Tao,Zhao, Ling Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.2

Fibulin-5 has recently been considered as a potential tumor suppressor in human cancers. Several studies have shown that it is down-regulated in a variety of tumor types and inhibits tumor growth and metastasis. This study was aimed to investigate the clinical significance of fibulin-5 in glioma and its role in cell proliferation and invasion. We found that the expression of fibulin-5 in glioma tissues was significantly lower than those in normal brain (NB) tissues. Negative expression was significantly correlated with advanced clinical stage (grade III+IV). Furthermore, Fibulin-5 negative expression was correlated with a shorter overall survival of glioma patients. Multivariate Cox repression analysis indicated that fibulin-5 was an independent factor for predicting overall survival of glioma patients. Overexpression obviously inhibited cell proliferation in U251 and U87 cells. Furthermore, it significantly reduced the number of migrating and invading glioma cells. In conclusion, impaired expression of fibulin-5 is correlated with the advanced tumor stage in glioma. Otherwise, Fibulin-5 is an independent prognostic marker for predicting overall survival of glioma patients. Mechanistically, it may function as a tumor suppressor via inhibiting cell proliferation and invasion in gliomas.

IDEMPOTENCE PRESERVING MAPS ON SPACES OF TRIANGULAR MATRICES

Sheng, Yu-Qiu,Zheng, Bao-Dong,Zhang, Xian 한국전산응용수학회 2007 Journal of applied mathematics & informatics Vol.25 No.1

Suppose F is an arbitrary field. Let ${\mid}F{\mid}$ be the number of the elements of F. Let $T_{n}(F)$ be the space of all $n{\times}n$ upper-triangular matrices over F. A map ${\Psi}\;:\;T_{n}(F)\;{\rightarrow}\;T_{n}(F)$ is said to preserve idempotence if $A-{\lambda}B$ is idempotent if and only if ${\Psi}(A)-{\lambda}{\Psi}(B)$ is idempotent for any $A,\;B\;{\in}\;T_{n}(F)$ and ${\lambda}\;{\in}\;F$. It is shown that: when the characteristic of F is not 2, ${\mid}F{\mid}\;>\;3$ and $n\;{\geq}\;3,\;{\Psi}\;:\;T_{n}(F)\;{\rightarrow}\;T_{n}(F)$ is a map preserving idempotence if and only if there exists an invertible matrix $P\;{\in}\;T_{n}(F)$ such that either ${\Phi}(A)\;=\;PAP^{-1}$ for every $A\;{\in}\;T_{n}(F)\;or\;{\Psi}(A)=PJA^{t}JP^{-1}$ for every $P\;{\in}\;T_{n}(F)$, where $J\;=\;{\sum}^{n}_{i-1}\;E_{i,n+1-i}\;and\;E_{ij}$ is the matrix with 1 in the (i,j)th entry and 0 elsewhere.