Improved Four-channel PBTDPA Control Strategy Using Force Feedback Bilateral Teleoperation System

Xin Gong,Lixiao Wang,Yuanyuan Mou,Haili Wang,Xiaoqian Wei,Wenfeng Zheng,Lirong Yin 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.3

Bilateral teleoperation robots with force feedback enable humans to accomplish these tasks without exposing them to these hazardous environments. Its stability and transparency describe the performance of bilateral teleoperation systems with force feedback. Bilateral teleoperation with force feedback enables humans to combine tactics with optesthesia. However, the force feedback may lead to bilateral teleoperation instability if the communication channels’ time delay exists. The instability of bilateral teleoperation with force feedback, which is brought in by the time delay, has become one of the complicated problems researchers need to solve. Transparency is one of the leading design objectives of the teleoperation system. There are two evaluation criteria for transparency: the accuracy of the position followed by the master mechanical arm and the accuracy of the feedback received by the slave arm from the master arm. The main content of this paper is as follows: 1) This paper researches and summarizes the control structures and control algorithms of several well-developed force-feedback bilateral teleoperation systems and decides to improve the PBTDPA algorithm, which aligns with practical application requirements. 2) The fourchannel structure makes the transparency of force-feedback bilateral teleoperation systems perfect in theory. This paper uses the four-channel structure combined with the PBTDPA algorithm to improve the transparency of the approach. 3) Moreover, the delay predictor is used to improve the four-channel power-based time domain passivity approach (PBTDPA) control strategy. The delay differential predictor is added to the communication channel. The delay change rate differential predictor can estimate the communication channel’s delay change rate instead of the maximum delay change rate to improve transparency. The simulation experiment of the improved control strategy was carried out. The results show the excellent performance of our design.

Outcomes Based on Risk Assessment of Anastomotic Leakage after Rectal Cancer Surgery

Gong, Jian-Ping,Yang, Liu,Huang, Xin-En,Sun, Bei-Cheng,Zhou, Jian-Nong,Yu, Dong-Sheng,Zhou, Xin,Li, Dong-Zheng,Guan, Xin,Wang, Dong-Feng Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.2

Purpose: Anastomotic leakage (AL) is associated with high morbidity and mortality, high reoperation rates, and increased hospital length of stay. Here we investigated the risk factors for AL after anterior resection for rectal cancer with a double stapling technique. Patients and Methods: Data for 460 patients who underwent primary anterior resection with a double stapling technique for rectal carcinoma at a single institution from 2003 to 2007 were prospectively collected. All patients experienced a total mesorectal excision (TME) operation. Clinical AL was defined as the presence of leakage signs and confirmed by diagnostic work-up according to ICD-9 codes 997.4, 567.22 (abdominopelvic abscess), and 569.81 (fistula of the intestine). Univariate and logistic regression analyses of 20 variables were undertaken to determine risk factors for AL. Survival was analysed using the Cox regression method. Results: AL was noted in 35 (7.6%) of 460 patients with rectal cancer. :Median age of the patients was 65 (50-74) and 161 (35%) were male. The diagnosis of AL was made between the 6th and 12th postoperative day (POD; mean 8th POD). After univariate and multivariate analysis, age (p=0.004), gender (p=0.007), tumor site (p<0.001), preoperative body mass index (EMI) (p<0.001), the reduction of TSGF on 5th POD less than 10U/ml (p=0.044) and the pH value of pelvic dranage less than or equal to 6.978 on 3rd POD (p<0.001) were selected as 6 independent risk factors for AL. It was shown that significant differences in survival of the patients were AL-related (p<0.001), high ASA score related (p=0.036), high-level EMI related (p=0.007) and advanced TNM stage related <p<0.001). Conclusions: AL after anterior resection for rectal carcinoma is related to advanced age, low tumor site, male sex, high preoperative EMI, low pH value of pelvic drainage on POD 3 and a significant reduction of TSGF on POD 5. In addition to their high risk of immediate postoperative morbidity and mortality, AL, worse physical status, severe obesity and advanced TNM stage have similarly negative impact on survival.

Comparison of Complications of Peripherally Inserted Central Catheters with Ultrasound Guidance or Conventional Methods in Cancer Patients

Gong, Ping,Huang, Xin-En,Chen, Chuan-Ying,Liu, Jian-Hong,Meng, Ai-Feng,Feng, Ji-Feng Asian Pacific Journal of Cancer Prevention 2012 Asian Pacific journal of cancer prevention Vol.13 No.5

Objective: To compare the complications of peripherally inserted central catheters (PICC) by a modified Seldinger technique under ultrasound guidance or the conventional (peel-away cannula) technique. Methods: From February to December of 2010, cancer patients who received PICC at the Department of Chemotherapy in Jiangsu Cancer Hospital were recruited into this study, and designated UPICC if their PICC lines were inserted under ultrasound guidance, otherwise CPICC if were performed by peel-away cannula technique. The rates of successful placement, hemorrhage around the insertion area, phlebitis, comfort of the insertion arm, infection and thrombus related to catheterization were analyzed and compared on days 1, 5 and 6 after PICC and thereafter. Results: A total of 180 cancer patients were recruited, 90 in each group. The rates of successful catheter placement between two groups differed with statistical significance (P <0.05), favoring UPICC. More phlebitis and finger swelling were detected in the CPICC group (P <0.05). From day 6 to the date the catheter was removed and thereafter, more venous thrombosis and a higher rate of discomfort of insertion arms were also observed in the CPICC group. Conclusion: Compared with CPICC, UPICC could improve the rate of successful insertion, reduce catheter related complications and increase comfort of the involved arm, thus deserving to be further investigated in randomized clinical studies.

Solar-powered electrocoagulation treatment of wet flue gas desulfurization wastewater using dimensionally stable anode and induced electrode

Xin Lin,Junda Gong,Hang Li,Haiyun Zhang,Yang Yu,Wenyi Tan 대한환경공학회 2023 Environmental Engineering Research Vol.28 No.1

Solar-powered electrocoagulation (EC) process is proven to be an alternative option for wet flue gas desulfurization (WFGD) wastewater treatment, due to simultaneous removal of multiple pollutants efficiently and reduce the operation costs significantly. Rapid and stable photoelectricity response is necessary for the removal efficiency of pollutants (eg. COD and turbudity), especially in low solar irradiation intensity. In this paper, dimensionally stable anode (DSA) and operation voltages in EC process driven by solar cells were investigated, for the purpose of the optimized removal of pollutants, including COD, turbidity, (free residual chlorine and chlorine dioxide). The results show that the removal efficiency of COD and turbidity can respectively reach 59.12% and 39.11% within 30 min of illumination time (the enhanced solar radiation = 915.8 W m<SUP>-2</SUP>), when Ti-based plates were adopted. The concentration of free residual chlorine and chlorine dioxide can reach 2.70 and 5.31 mg L<SUP>-1</SUP>, indicating that chlorine ions present in WFGD wastewater have been converted into active chlorine partly. Solar-powered EC equipped with Ti-based plates have a potential prospect in EC process for WFGD wastewater treatment.

The Hash Algorithm of the Network Equipment Performance Evaluation

Xin Zou,Li Zhou,Liangyi Gong 보안공학연구지원센터 2013 International Journal of Future Generation Communi Vol.6 No.2

Structuring and sampling complex conformation space: Weighted ensemble dynamics simulations.

Gong, Linchen,Zhou, Xin Published by the American Physical Society through 2009 Physical review. E, Statistical, nonlinear, and so Vol.80 No.2

<P>Based on multiple simulation trajectories, which started from dispersively selected initial conformations, the weighted ensemble dynamics method is designed to robustly and systematically explore the hierarchical structure of complex conformational space through the spectral analysis of the variance-covariance matrix of trajectory-mapped vectors. The nondegenerate ground state of the matrix directly predicts the ergodicity of simulation data. The ground state could be adopted as statistical weights of trajectories to correctly reconstruct the equilibrium properties, even though each trajectory only explores part of the conformational space. Otherwise, the degree of degeneracy simply gives the number of metastable states of the system under the time scale of individual trajectory. Manipulation on the eigenvectors leads to the classification of trajectories into nontransition ones within the states and transition ones between them. The transition states may also be predicted without a priori knowledge of the system. We demonstrate the application of the general method both to the system with a one-dimensional glassy potential and with the one of alanine dipeptide in explicit solvent.</P>

Color stability and degradation kinetics of anthocyanins in mulberry stirred yoghurt fermented by different starter cultures

Xin Cheng,Jinpeng Zhu,Zhijie Chen,Zhihao Wu,Fuqiang Zhang,Cai-e Wu,Gong-Jian Fan 한국식품과학회 2023 Food Science and Biotechnology Vol.32 No.10

To evaluate the storage stability of anthocyanin in stirred yoghurt, mulberry juice and different starter cultures (S) were added into milk to investigate the color stability and degradation kinetics of anthocyanin. The result showed that the redness value decreased, while the brightness value increased, and the anthocyanin content decreased significantly from 1.47 ~ 1.86 to 1.01 ~ 1.19 mg/g. The degradation kinetics followed a first-order reaction. Principal component analysis showed that S2 and S6 were correlated with anthocyanins, S8 and S4 were correlated with a*. At the later stage, S4, S8 were correlated with a*, while S2, S4, S6 were correlated with anthocyanins. At 28th day, the anthocyanin content of S4 was 1.14 mg/g, which was not the highest, but the total score was the highest. Therefore, S4 was the best choice when the storage period is 28 days. This study provided technical support for the selection of a better starter for stirring yoghurt.

Detection and Quantification of Fusarium oxysporum f. sp. niveum Race 1 in Plants and Soil by Real-time PCR

Xin Zhong,Yang Yang,Jing Zhao,Binbin Gong,Jingrui Li,Xiaolei Wu,Hongbo Gao,Guiyun Lü 한국식물병리학회 2022 Plant Pathology Journal Vol.38 No.3

Fusarium wilt caused by Fusarium oxysporum f. sp. niveum (Fon) is the most serious soil-borne disease in the world and has become the main limiting factor of watermelon production. Reliable and quick detection and quantification of Fon are essential in the early stages of infection for control of watermelon Fusarium wilt. Traditional detection and identification tests are laborious and cannot efficiently quantify Fon isolates. In this work, a real-time polymerase chain reaction (PCR) assay has been described to accurately identify and quantify Fon in watermelon plants and soil. The FONRT-18 specific primer set which was designed based on identified specific sequence amplified a specific 172 bp band from Fon and no amplification from the other formae speciales of Fusarium oxysporum tested. The detection limits with primers were 1.26 pg/μl genomic DNA of Fon, 0.2 pg/ng total plant DNA in inoculated plant, and 50 conidia/g soil. The PCR assay could also evaluate the relationships between the disease index and Fon DNA quantity in watermelon plants and soil. The assay was further used to estimate the Fon content in soil after disinfection with CaCN2. The real-time PCR method is rapid, accurate and reliable for monitoring and quantification analysis of Fon in watermelon plants and soil. It can be applied to the study of disease diagnosis, plantpathogen interactions, and effective management.

Solidification Structure and Segregation of High Magnetic Induction Grain-Oriented Silicon Steel

Xin Li,Min Wang,YanPing Bao,Jian Gong,Xianhui Wang,Pang Weiguang 대한금속·재료학회 2019 METALS AND MATERIALS International Vol.25 No.6

The solidification structure and centerline segregation of high magnetic induction grain-oriented silicon steel slabs werestudied to describe the characteristics of solidification and compare the degree of centerline segregation of continuouslycast slabs. Industrial experiments were conducted to investigate the solidification behavior of slabs by secondary coolingsegment electromagnetic stirring. Three typical slabs were produced by S-EMS with current intensities of 0, 200, and 350 A. Molten steel cast at a low stirring intensity (0 A) resulted in a coarse structure relative to those cast at higher stirring intensities(200 and 350 A). The centerline segregation of carbon and silicon markedly increased with increases in S-EMS currentintensity. Composition distribution by electron probe microanalysis identified segregation spots as the sources of centerlinesegregation. Experimental results indicate that to optimize the centerline segregation of grain-oriented silicon steel slabs,the columnar crystal zone should be enlarged and the equiaxed crystal zone be reduced.

Structural Deformation Sensing Based on Distributed Optical Fiber Monitoring Technology and Neural Network

Gong-Yu Hou,Zi-Xiang Li,Kai-Di Wang,Jin-Xin Hu 대한토목학회 2021 KSCE JOURNAL OF CIVIL ENGINEERING Vol.25 No.11

Structural deformation monitoring is vital to the safety of concrete structures. However, the distributed deformation of structures cannot be easily obtained using existing monitoring methods in civil engineering. To this end, this paper proposes a method to estimate the continuous deformation of concrete beams by utilizing the distributed optical fiber monitoring technology. In this method, optical fibers and a total station are used to obtain the strain and deformation distribution curves of a concrete beam, respectively. Subsequently, these curves are inputted to a back propagation network as training samples to learn their relationships. The results show that the deformation value of trained neural network is very close to that of the total station, with a maximum error of only 2.7% (0.3 mm). The linear regression analysis shows a goodness of fit R2 greater than 0.98, which confirms the reliability of the simulations results.