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RISS 인기검색어
- 검색키워드
- 저자 : Xuewei Wu (검색결과 5 건)
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Xuewei Wu,Congqing Wang 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1
This paper presents a model-free optimal tracking control algorithm for an aircraft skin inspection robot with constrained-input and input time-delay. To tackle the input time-delay problem, the original system is transformed into a delay-free system with constrained-input and unknown input coupling term. In order to overcome the optimal control problem subject to constrained-input,a discounted value function is employed. In general, it is known that the HJB equation does not admit a classical smooth solution. Moreover, since the input coupling term of the delay-free system is unknown, a model-free integral reinforcement learning(IRL) algorithm which only requires the system sampling data generated by arbitrary different control inputs and external disturbances is proposed. The model-free IRL method is implemented on an actor-critic neural network (NN) structure. A system sampling data set is utilized to learn the value function and control policy. Finally, the simulation verifies the effectiveness of the proposed algorithm.
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Wu Pingxian,Chen Dejuan,Wang Kai,Wang Shujie,Liu Yihui,Jiang Anan,Xiao Weihang,Jiang Yanzhi,Zhu Li,Xu Xu,Qiu Xiaotian,Li Xuewei,Tang Guoqing 아세아·태평양축산학회 2023 Animal Bioscience Vol.36 No.1
Objective: Pigs, an ideal biomedical model for human diseases, suffer from about 50% early embryonic and fetal death, a major cause of fertility loss worldwide. However, identifying the causal variant remains a huge challenge. This study aimed to detect single nucleotide polymorphisms (SNPs) and candidate genes for the number of mummified (NM) piglets using the imputed whole-genome sequence (WGS) and validate the potential candidate genes. Methods: The imputed WGS was introduced from genotyping-by-sequencing (GBS) using a multi-breed reference population. We performed genome-wide association studies (GWAS) for NM piglets at birth from a Landrace pig populatiGWAS peak located on SSC11: 0.10 to 7.11 Mbp (Top SNP, SSC11:1,889,658 bp; p = 9.98E-13) was identified in cyclin dependent kinase on. A total of 300 Landrace pigs were genotyped by GBS. The whole-genome variants were imputed, and 4,252,858 SNPs were obtained. Various molecular experiments were conducted to determine how the genes affected NM in pigs. Results: A strong GWAS peak located on SSC11: 0.10 to 7.11 Mbp (Top SNP, SSC11:1,889,658 bp; p = 9.98E-13) was identified in cyclin dependent kinase 8 (CDK8) gene, which plays a crucial role in embryonic retardation and lethality. Based on the molecular experiments, we found that Y-box binding protein 1 (YBX1) was a crucial transcription factor for CDK8, which mediated the effect of CDK8 in the proliferation of porcine ovarian granulosa cells via transforming growth factor beta/small mother against decapentaplegic signaling pathway, and, as a consequence, affected embryo quality, indicating that this pathway may be contributing to mummified fetal in pigs. Conclusion: A powerful imputation-based association study was performed to identify genes associated with NM in pigs. CDK8 was suggested as a functional gene for the proliferation of porcine ovarian granulosa cells, but further studies are required to determine causative mutations and the effect of loci on NM in pigs.
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Coat colour phenotype of Qingyu pig is associated with polymorphisms of melanocortin receptor 1 gene
Xiaoqian Wu,Zhendong Tan,Linyuan Shen,Qiong Yang,Xiao Cheng,Kun Liao,Lin Bai,Surong Shuai,Mingzhou Li,Xuewei Li,Shunhua Zhang,Li Zhu 아세아·태평양축산학회 2017 Animal Bioscience Vol.30 No.7
Objective: Qingyu pig, a Chinese indigenous pig breed, exhibits two types of coat colour phenotypes, including pure black and white with black spotting respectively. Melanocortin receptor 1 (MC1R) and agouti signaling protein (ASIP) are two widely reported pivotal genes that significantly affect the regulation of coat colour. The objectives of this study were to investigate whether the polymorphisms of these two genes are associated with coat colour and analyze the molecular mechanism of the coat colour separation in Qingyu pig. Methods: We studied the phenotype segregation and used polymerase chain reaction amplification and Sanger sequencing to investigate the polymorphism of MC1R and ASIP in 121 Qingyu pigs, consisting of 115 black and 6 white with black spotted pigs. Results: Coat colour of Qingyu pig is associated with the polymorphisms of MC1R but not ASIP. We only found 2 haplotypes, EQY and Eqy, based on the 13 observed mutations from MC1R gene. Among which, Eqy presented a recessive inheritance mode in black spotted Qingyu pigs. Further analysis revealed a g.462-463CC insertion that caused a frameshift mutation and a premature stop codon, thus changed the first transmembrane domain completely and lost the remaining six transmembrane domains. Altogether, our results strongly support that the variety of Qingyu pig’s coat colour is related to MC1R. Conclusion: Our findings indicated that black coat colour in Qingyu pig was dominant to white with black spotted phenotype and MC1R gene polymorphism was associated with coat colour separation in Qingyu pig.
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Self-adjusted adsorption strategy for an aircraft skin inspection robot
Jiayue Gu,Congqing Wang,Xuewei Wu 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.6
A self-adjusted adsorption strategy is developed for an aircraft skin inspection robot with double frames to improve adsorption safety and movement stability. The principal aim is to determine the optimal value of adsorption force when the robot slips or overturns on the fuselage. A pneumatic system that consists of suction cup and cylinder control is designed. Static force analysis shows that the adsorption force of the aircraft skin inspection robot is related to the curvature of the fuselage. The relationship between the minimum value of adsorption force and offset angle of the robot barycenter is established with the least-squares support vector regression algorithm. Pulsewidth modulation is then applied to control the pressure difference in the suction cup. Experimental results prove the feasibility of suction cup control with the self-adjusted adsorption strategy.
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Congqing Wang,Junjun Jiang,Xuewei Wu,Linfeng Wu 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.6
In this paper, a backstepping control using switching strategy is proposed for the motion control of the aircraft skin inspection robot with double frame in the presence of external disturbances. The inspection robot equipped with a CCD camera and an ultrasonic sensor can alternately adsorb and move on the aircraft surface. The influence of the external disturbances is obvious in the switching motion. The disturbances are efficiently estimated using a Nussbaum disturbance observer (NDO), and the disturbance observer errors are uniformly ultimately bounded. Then, the backstepping control method is used to design the motion controller. The stability of the closed-loop robot system is proved by Lyapunov analysis through the average dwell time method .The tracking errors and the disturbance observer errors are semi-globally uniformly bounded using the proposed control schemewith NDO,and NDO is compared with Super-twisting disturbance observer. Finally, simulation results illustrate that the proposed control scheme with NDO can achieve satisfactory tracking performance under the external disturbance.
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