Modeling, Identification and Control of a Redundant Planar 2-DOF Parallel Manipulator

Yao-Xin Zhang,Shuang Cong,Wei-Wei Shang,Ze-Xiang Li,Shi-Long Jiang 대한전기학회 2007 International Journal of Control, Automation, and Vol.5 No.5

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

Radio-Sensitization by Piper longumine of Human Breast Adenoma MDA-MB-231 Cells in Vitro

Yao, Jian-Xin,Yao, Zhi-Feng,Li, Zhan-Feng,Liu, Yong-Biao Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.7

Background: The current study investigated the effects of Piper longumine on radio-sensitization of human breast cancer MDA-MB-231 cells and underlying mechanisms. Materials and Methods: Human breast cancer MDA-MB-231 cells were cultured in vitro and those in logarithmic growth phase were selected for experiments divided into four groups: control, X-ray exposed, Piper longumine, and Piper longumine combined with X-rays. Conogenic assays were performed to determine the radio-sensitizing effects. Cell survival curves were fitted by single-hit multi-target model and then the survival fraction (SF), average lethal dose ($D_0$), quasi-threshold dose ($D_q$) and sensitive enhancement ratio (SER) were calculated. Cell apoptosis was analyzed by flow cytometry (FCM). Western blot assays were employed for expression of apoptosis-related proteins (Bc1-2 and Bax) after treatment with Piper longumine and/or X-ray radiation. The intracellular reactive oxygen species (ROS) level was detected by FCM with a DCFH-DA probe. Results: The cloning formation capacity was decreased in the group of piperlongumine plus radiation, which displayed the values of SF2, D0, Dq significantly lower than those of radiation alone group and the sensitive enhancement ratio (SER) of D0 was1.22 and 1.29, respectively. The cell apoptosis rate was increased by the combination treatment of Piper longumine and radiation. Piper longumine increased the radiation-induced intracellular levels of ROS. Compared with the control group and individual group, the combination group demonstrated significantly decreased expression of Bcl-2 with increased Bax. Conclusions: Piper longumine at a non-cytotoxic concentration can enhance the radio-sensitivity of MDA-MB-231cells, which may be related to its regulation of apoptosis-related protein expression and the increase of intracellular ROS level, thus increasing radiation-induced apoptosis.

A Fast Rough Mode Decision Algorithm for HEVC

Yao, Wei-Xin,Yang, Dan,Lu, Gui-Fu,Wang, Jun Korea Information Processing Society 2019 Journal of information processing systems Vol.15 No.3

HEVC is the high efficiency video coding standard, which provides better coding efficiency contrasted with the other video coding standard. But at the same time the computational complexity increases drastically. Thirty-five kinds of intra-prediction modes are defined in HEVC, while 9 kinds of intra prediction modes are defined in H.264/AVC. This paper proposes a fast rough mode decision (RMD) algorithm which adopts the smoothness of the up-reference pixels and the left-reference pixels to decrease the computational complexity. The three step search method is implemented in RMD process. The experimental results compared with HM13.0 indicate that the proposed algorithm can save 39.7% of the encoding time, while Bjontegaard delta bitrate (BDBR) is increased slightly by 1.35% and Bjontegaard delta peak signal-to-noise ratio (BDPSNR) loss is negligible.

PHOTOLUMINESCENT ENHANCEMENT OF HgWO4 NANOFILMS USING TiO2 ADJUSTMENT

XIN-YAO HE,RUNPING JIA,CHUN-FA OUYANG,XIA WANG,JUN-HE YANG 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2007 NANO Vol.2 No.6

As a new nanomaterial, HgWO4 nanofilms are prepared by the self-inventive technique of collodion nanoparticles-dispersal and film-formation. Their photoluminescent properties are enhanced and then controlled through nano-TiO2 doping. These approaches not only ensure film uniformity and fluorescence (FL) enhancement, but also realize a FL increase/decrease conversion effect. The relationships between HgWO4 nanofilms' PL intensities and TiO2 doped amounts are in good agreement with Gaussion function, and maximum PL intensities of HgWO4 nanofilms are located at 3.8% ratio of TiO2 nanoparticles.

Production of syngas from dry reforming of bio-oil model compound in granulated blast furnace slag

Xin Yao,Qingbo Yu,Guowei Xu,Zhengri Han,Qin Qin 한국화학공학회 2019 Korean Journal of Chemical Engineering Vol.36 No.5

The characterization of dry (CO2) reforming of bio-oil model compound (BMC) in granulated BF (blast furnace) slag for syngas production is presented in this study. The effects of temperature, CO2/C (the molar ratio of CO2 to C in the BMC), liquid hourly space velocity (LHSV) and granulated BF slag on the coke yield, combustible gas yield, syngas composition and lower heating value of the dry reforming process were investigated by fixed-bed experiments. The results indicated that using granulated BF slag as the heat carrier, temperature reaching 750 oC, CO2/C of 0.75 and LHSV of 0.45 h1 could be the optimal condition for the dry reforming process, where the combustible gas yield and lower heating value were up to 1.85L/g and 23.00 kJ/g, respectively. Granulated BF slag showed positive effects on the dry reforming process, promoting the combustible gas yield and lower heating value and increasing the compositions of H2 and CO. Granulated BF slag could be used as a superior heat carrier for the dry reforming of BMC.

Solvothermal-Assisted Synthesis of Biomass Carbon Quantum Dots/Bismuth Oxyiodide Microflower for Enhanced Photocatalytic Activity

Xin Yao,CHANGCHANG MA,Hai Huang,Zhi Zhu,Hongjun Dong,Chunxiang Li,Wenli Zhang,Yongsheng Yan,Yang Liu 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2018 NANO Vol.13 No.3

In this paper, the biomass carbon quantum dots (CQDs) modified flower-like BiOI (CQDs/BiOI) composite photocatalyst was synthesized by a facile solvothermal method. Compared with the pristine BiOI, the biomass CQDs/BiOI exhibited outstanding photocatalytic activity for degradation of the typical methylene blue (MB) under visible light irradiation since the biomass CQDs could act as electron acceptors to effectively facilitate the separation efficiency of photon-generated carriers and prolong their lifetime. Furthermore, the mechanism detection experiment showed that the ·O2 - and H+ were major activity species, and the photocatalytic electron transfer mechanism was further investigated. This work provided a new insight into biomass CQDs effects and took an important step toward the development of improving Bi-based semiconductor photocatalyst activity.

Wnt/β-Catenin Promotes the Osteoblastic Potential of BMP9 Through Down-Regulating Cyp26b1 in Mesenchymal Stem Cells

Yao Xin-Tong,Li Pei-pei,Liu Jiang,Yang Yuan-Yuan,Luo Zhen-Ling,Jiang Hai-Tao,He Wen-Ge,Luo Hong-Hong,Deng Yi-Xuan,He Bai-Cheng 한국조직공학과 재생의학회 2023 조직공학과 재생의학 Vol.20 No.5

BACKGROUND: All-trans retinoic acid (ATRA) promotes the osteogenic differentiation induced by bone morphogenetic protein 9 (BMP9), but the intrinsic relationship between BMP9 and ATRA keeps unknown. Herein, we investigated the effect of Cyp26b1, a critical enzyme of ATRA degradation, on the BMP9-induced osteogenic differentiation in mesenchymal stem cells (MSCs), and unveiled possible mechanism through which BMP9 regulates the expression of Cyp26b1. METHODS: ATRA content was detected with ELISA and HPLC–MS/MS. PCR, Western blot, and histochemical staining were used to assay the osteogenic markers. Fetal limbs culture, cranial defect repair model, and micro–computed tomographic were used to evaluate the quality of bone formation. IP and ChIP assay were used to explore possible mechanism. RESULTS: We found that the protein level of Cyp26b1 was increased with age, whereas the ATRA content decreased. The osteogenic markers induced by BMP9 were increased by inhibiting or silencing Cyp26b1 but reduced by exogenous Cyp26b1. The BMP9-induced bone formation was enhanced by inhibiting Cyp26b1. The cranial defect repair was promoted by BMP9, which was strengthened by silencing Cyp26b1 and reduced by exogenous Cyp26b1. Mechanically, Cyp26b1 was reduced by BMP9, which was enhanced by activating Wnt/b-catenin, and reduced by inhibiting this pathway. b-catenin interacts with Smad1/5/9, and both were recruited at the promoter of Cyp26b1. CONCLUSIONS: Our findings suggested the BMP9-induced osteoblastic differentiation was mediated by activating retinoic acid signalling, viadown-regulating Cyp26b1. Meanwhile, Cyp26b1 may be a novel potential therapeutic target for the treatment of bone-related diseases or accelerating bone-tissue engineering.

Mechanical Properties and Microstructure of PVA Fiber Reinforced Cemented Soil

Xin Yao,Geng Huang,Mingming Wang,Xiaoqiang Dong 대한토목학회 2021 KSCE JOURNAL OF CIVIL ENGINEERING Vol.25 No.2

In this work, the experimental study of unconfined compressive strength tests, direct tensile strength tests and three point bending tests were carried out to evaluate the effect of PVA fiber reinforcement on the mechanical behaviour of cemented silty soil. In general, the addition of polyvinyl alcohol (PVA) fiber lead to an increase in compressive strength, and it was observed more significant improvement in tensile strength and flexural strength, moreover, the inclusion of fibers effectively altered the brittle failure pattern of unreinforced cemented soil and improve the toughness and ductility. In addition, the microstructural of interaction between fibers and cemented soil was investigated. The proposal of regression model was utilized for predicting compressive strength, tensile strength and flexural strength.

Conflict, Peace and Ethical Solutions: A Confucian Perspective on War

( Xin Zhong Yao ) 성균관대학교 동아시아학술원 2004 Sungkyun Journal of East Asian Studies Vol.4 No.2

The Confucian perspective on war is based on the universality of the Way, believing that a war that violates the Way is unjust, while an army that is to fulfil the Way will win victory without causing violence. However this paper argues that Confucianism should not be defined as a just war theory, because it has a fundamental inclination towards ethical pacifism, namely, taking moral influence rather than war as the solution of disorder and conflict. Can the Confucian way be transformed so that it will be conducive to the peace and harmony of the world in the twentieth century? Having examined the significance and implications of the early Confucian masters` discussion of conflict, peace and ethical solutions, this paper reaches a positive answer to the question that these remarks are of value for us to seek a way out of conflict and war the world is faced with today.

Isolation and Characterization of an Apple Gene Encoding Cytosolic Malate Dehydrogenase Involved in Malic Acid Biosynthesis

Yao Yu-xin,Hao Yu-jin,Li En-mao,Yi Kai,Liu Zhi,Zhai Heng 한국원예학회 2006 한국원예학회 기타간행물 Vol.- No.-