A New Model-free Robust Adaptive Control of Cable-driven Robots

Yaoyao Wang,Lufang Liu,Mingxing Yuan,Qingxun Di,Bai Chen,Hongtao Wu 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.9

For high performance control of cable-driven robots, a new model-free robust adaptive control is proposed using adaptive proportional-integral-derivative nonsingular fast terminal sliding mode (PID-NFTSM) in this paper. The designed control scheme has three elements, which are time-delay estimation (TDE) and a new PIDNFTSM manifold and a combined adaptive reaching law. The TDE element is applied to achieve the lumped system dynamics and hence founds a practical model-free structure. Meanwhile, a new PID-NFTSM manifold is designed to inherit the advantages of the NFTSM and high-order SM (HOSM) and integral SM (ISM) controls. Because of this design, the PID-NFTSM manifold can effectively ensure the non-singularity and high comprehensive control performance. Then, by combining the fast-TSM-type reaching law and a constant speed one with adaptive gain, we design a new combined adaptive reaching law for performance reinforcement. Benefiting from above three parts, our proposed control is model-free, highly precise and strongly robust. Stability is analyzed using Lyapunov theory. The effectiveness of our control is proved by comparative simulation studies. For high performance control of cable-driven robots, a new model-free robust adaptive control is proposed using adaptive proportional-integral-derivative nonsingular fast terminal sliding mode (PID-NFTSM) in this paper. The designed control scheme has three elements, which are time-delay estimation (TDE) and a new PIDNFTSM manifold and a combined adaptive reaching law. The TDE element is applied to achieve the lumped system dynamics and hence founds a practical model-free structure. Meanwhile, a new PID-NFTSM manifold is designed to inherit the advantages of the NFTSM and high-order SM (HOSM) and integral SM (ISM) controls. Because of this design, the PID-NFTSM manifold can effectively ensure the non-singularity and high comprehensive control performance. Then, by combining the fast-TSM-type reaching law and a constant speed one with adaptive gain, we design a new combined adaptive reaching law for performance reinforcement. Benefiting from above three parts, our proposed control is model-free, highly precise and strongly robust. Stability is analyzed using Lyapunov theory. The effectiveness of our control is proved by comparative simulation studies.

Endophytes from Natural Festuca spp. in Southwest China and Their Compatibility with Tall Fescue Cultivars

Yaoyao Wang,Yongji Du,Liebao Han,Deying Li 한국잔디학회 2009 Weed & Turfgrass Science Vol.23 No.1

Investigating endophyte distribution, naturally occurring in native grasses, is important for understanding endophyte-grass associations and using the beneficial effects of endophytes in cultivated plants. The goal of this study was to investigate endophytes from natural Festuca spp. in Yunnan, Guizhou, and Sichuan Provinces of China, and to study the compatibility between the endophytes and turf type tall fescue (Festuca arundinacea) which is widely used for lawn and athletic fields in that region. Of 628 accessions in F. ovina, 421 had endophytes identified in leaf sheath from on-site microscopic examination. From Festuca spp, three isolates were obtained from the seeds and ninety isolates were obtained from seedlings established from the collected seeds. The isolates from F. ovina and F. stapfii were tentatively identified as Neotyphodium typhinum and Neotyphodiumstarii, respectively. We tested compatibility of the two fungal species with seven tall fescue cultivars, Little Hero, Sub Boy, Eldorado, Arid III, Millennium, Crossfire, and Fawn. N. typhinum or N. starii did not infect ‘Fawn’with either seed injection or seed soaking method. The highest infection rate byboth N. typhinum and N. starii was in ‘Sun Boy’ and ‘Eldorado’. There were significant interaction effects between tall fescue cultivar and type of endophyte on infection. Investigating endophyte distribution, naturally occurring in native grasses, is important for understanding endophyte-grass associations and using the beneficial effects of endophytes in cultivated plants. The goal of this study was to investigate endophytes from natural Festuca spp. in Yunnan, Guizhou, and Sichuan Provinces of China, and to study the compatibility between the endophytes and turf type tall fescue (Festuca arundinacea) which is widely used for lawn and athletic fields in that region. Of 628 accessions in F. ovina, 421 had endophytes identified in leaf sheath from on-site microscopic examination. From Festuca spp, three isolates were obtained from the seeds and ninety isolates were obtained from seedlings established from the collected seeds. The isolates from F. ovina and F. stapfii were tentatively identified as Neotyphodium typhinum and Neotyphodiumstarii, respectively. We tested compatibility of the two fungal species with seven tall fescue cultivars, Little Hero, Sub Boy, Eldorado, Arid III, Millennium, Crossfire, and Fawn. N. typhinum or N. starii did not infect ‘Fawn’with either seed injection or seed soaking method. The highest infection rate byboth N. typhinum and N. starii was in ‘Sun Boy’ and ‘Eldorado’. There were significant interaction effects between tall fescue cultivar and type of endophyte on infection.

Sliding Mode Control of A Newly Designed Cable-Driven Manipulator with Time Delay Estimation

Yaoyao Wang,Surong Jiang,Fei Yan,Bai Chen 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

To ensure satisfactory control performance for the newly designed cable-driven manipulator with complex unknown lumped disturbance, a sliding mode control (SMC) method based on time delay estimation (TDE) is proposed and investigated in this paper. The proposed method mainly has two elements, the TDE element used to properly estimate and compensate the lumped unknown dynamics of the system, and the SMC element used to ensure satisfactory control performance under complex disturbance. The proposed method is model-free and easy to use in practical applications thanks to TDE, and has good robustness benefiting from SMC. Corresponding stability of the closed-loop control system is analyzed using Lyapunov stability theory. Finally, the effectiveness of our proposed control method was demonstrated by some experiments.

Molecular cloning and expression analysis of the transcription factor CobHLH40 from Cornus officinalis on the basis of de novo transcriptome sequencing

Hou Dianyun,Wang Wenbin,Yang Mengmeng,Li Zhihong,Xu Jingya,Wang Long,Fan Zhenjie,Wang Yaoyao 한국식물생명공학회 2020 Plant biotechnology reports Vol.14 No.4

Cornus officinalis is a traditional Chinese herbal medicine rich in active substances, such as iridoid glycosides, esters, polysaccharides, and tannins. C. officinalis replenishes the liver and kidney and retracts and removes phlegm. In this study, the candidate transcription factor bHLH40 from C. officinalis (CobHLH40) was predicted to be involved in iridoid glycoside biosynthesis. CobHLH40 was cloned from C. officinalis. Bioinformatics analysis was performed using the Protparatam, the ProtScale, and the SOPMA. CobHLH40 had a cDNA length of 2100 bp and a relative molecular mass of 63.32 kDa, and encoded 573 amino acids. The subcellular localization analysis indicated that CobHLH40 may be located in the nucleus. The comparison of multiple sequence alignments and phylogenetic relationships showed that the CobHLH40 was similar to the MYC2 of other plants, and that CobHLH40 had high homology with the MYC2 of Sesamum indicum. A prokaryotic expression vector was successfully constructed and transformed into the DE3 cells. The induction and expression of the fusion protein of CobHLH40 need further confirmation. The cloning and bioinformatics analysis results of CobHLH40, which may be related to iridoid glycoside synthesis, were screened and predicted for the first time on the basis of C. officinalis transcriptome sequencing. The temporal and spatial expression patterns of C. officinalis were also established. The CobHLH40 prokaryotic expression system provides a basis to further study its function.

Active control of amplitude and phase of high-power RF systems in EAST ICRF heating experiments

Zhu Guanghui,Liu Lunan,Mao Yuzhou,Zhang Xinjun,Guo Yaoyao,Ai Lin,Jiang Runhao,Qin Chengming,Zhang Wei,Yang Hua,Yuan Shuai,Wang Lei,Ju Songqing,Wang Yongsheng,Sun Xuan,Yang Zhida,Wang Jinxin,Cheng Yan 한국원자력학회 2023 Nuclear Engineering and Technology Vol.55 No.2

The EAST ICRF system operating space has been extended in power and phase control with a low-level RF system for the new double-strap antenna. Then the multi-step power and periodic phase scanning experiment were conducted in L-mode plasma, respectively. In the power scanning experiment, the stored energy, radiation power, plasma impedance and the antenna's temperature all have positive responses during the short ramp-ups of PL;ICRF. The core ion temperature increased from 1 keV to 1.5 keV and the core heating area expanded from jZj 5 cmto jZj 10 cm during the injection of ICRF waves. In the phasing scanning experiment, in addition to the same conclusions as the previous relatively phasing scanning experiment, the superposition effect of the fluctuation of stored energy, radiation power and neutron yield caused by phasing change with dual antenna, resulting in the amplitude and phase shift, was also observed. The active control of RF output facilitates the precise control of plasma profiles and greatly benefits future experimental exploration.

Effect of 2,2-azobis (2-amidinopropane) dihydrochloride oxidized casein on the microstructure and microrheology properties of emulsions

Wang, Jianming,Tan, Yaoyao,Xu, Hui,Niu, Sisi,Yu, Jinghua 한국식품과학회 2016 Food Science and Biotechnology Vol.25 No.5

The impacts of protein oxidation on the droplet size and microrheology properties of casein emulsions with 20% oil content were investigated. The degree of protein oxidation was indicated by carbonyl concentration. The droplets in the emulsions of different-oxidation-degree casein had bimodal distribution, but their size altered due to oxidation. The effects of protein oxidation on the morphology, motion type, viscoelasticity, and stability of droplets were also investigated by microrheology analysis. The droplet motion was blocked by protein oxidation due to mean square displacement slope results. Solid-liquid balance values provided the liquid behavior dominating these emulsions. Oxidation of carbonyl concentration 16.72 raised the primary droplets, increased the elasticity, decreased the viscosity, and promoted the droplet motion rate, resulting in better stability of emulsions. Further oxidation promoted the aggregation of droplets and resulted in poor stability.

Structure of the ArgRS–GlnRS–AIMP1 complex and its implications for mammalian translation

Fu, Yaoyao,Kim, Youngran,Jin, Kyeong Sik,Kim, Hyun Sook,Kim, Jong Hyun,Wang, DongMing,Park, Minyoung,Jo, Chang Hwa,Kwon, Nam Hoon,Kim, Doyeun,Kim, Myung Hee,Jeon, Young Ho,Hwang, Kwang Yeon,Kim, Sungh National Academy of Sciences 2014 PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF Vol.111 No.42

<P><B>Significance</B></P><P>In higher eukaryotes, aminoacyl-tRNA synthetases (ARSs) are assembled to form a multisynthetase complex (MSC), which plays critical roles in translation and nontranslation functions essential for cell growth and survival of organisms. The MSC complex is comprised of nine different ARSs and three accessary proteins. The crystal structure of the arginyl-tRNA synthetase (ArgRS)–glutaminyl-tRNA synthase–aminoacyl tRNA synthetase complex-interacting multifunctional protein 1 (AIMP1) subcomplex reveals that the N-terminal domains of ArgRS and AIMP1 form an extended coiled-coil structure, which provides a central depot for the assembly of a ternary complex. The stability of the N-terminal helix of ArgRS is critical for its ARS activity and noncanonical function of the subcomplex, explaining the significance of the MSC structure in translation and cellular functions.</P><P>In higher eukaryotes, one of the two arginyl-tRNA synthetases (ArgRSs) has evolved to have an extended N-terminal domain that plays a crucial role in protein synthesis and cell growth and in integration into the multisynthetase complex (MSC). Here, we report a crystal structure of the MSC subcomplex comprising ArgRS, glutaminyl-tRNA synthetase (GlnRS), and the auxiliary factor aminoacyl tRNA synthetase complex-interacting multifunctional protein 1 (AIMP1)/p43. In this complex, the N-terminal domain of ArgRS forms a long coiled-coil structure with the N-terminal helix of AIMP1 and anchors the C-terminal core of GlnRS, thereby playing a central role in assembly of the three components. Mutation of AIMP1 destabilized the N-terminal helix of ArgRS and abrogated its catalytic activity. Mutation of the N-terminal helix of ArgRS liberated GlnRS, which is known to control cell death. This ternary complex was further anchored to AIMP2/p38 through interaction with AIMP1. These findings demonstrate the importance of interactions between the N-terminal domains of ArgRS and AIMP1 for the catalytic and noncatalytic activities of ArgRS and for the assembly of the higher-order MSC protein complex.</P>

Case Study of Modified H–B Strength Criterion in Discrimination of Surrounding Rock Loose Circle

Rui Wang,Xianghui Deng,Yaoyao Meng,Dongyang Yuan,Daohong Xia 대한토목학회 2019 KSCE JOURNAL OF CIVIL ENGINEERING Vol.23 No.3

Intermediate principal stress is a significant factor when calculate to determine the surrounding rock loose circles. Based on it, this paper is trying to modify the Hoek–Brown strength criterion, and put forwards a theoretical formula of the loose circle radius. The theoretical formula is applied to Shimen Tunnel, and a comparative analysis between theoretical calculations and field test results is conducted. Here are the results as follows: 1) With an increase of intermediate principal stress, the strength of the rock mass increases and the surrounding rock becomes more difficult to break. Consequently, loose circle thickness is gradually reduced and forms a significant negative linear relationship with the Lode parameter. 2) The results indicate that with a decrease of surrounding rock level in a three-lane hard rock tunnel, the radius of the loose circle increases continuously. 3) The results of the field acoustic wave test show that the theoretical calculation values are consistent with the field measurement results. According to above analysis, the deduced formula is feasible.

Effect of 2,2-azobis (2-amidinopropane) dihydrochloride oxidized casein on the microstructure and microrheology properties of emulsions

Jianming Wang,Yaoyao Tan,Hui Xu,Sisi Niu,Jinghua Yu 한국식품과학회 2016 Food Science and Biotechnology Vol.25 No.5

The impacts of protein oxidation on the droplet size and microrheology properties of casein emulsions with 20% oil content were investigated. The degree of protein oxidation was indicated by carbonyl concentration. The droplets in the emulsions of different-oxidation-degree casein had bimodal distribution, but their size altered due to oxidation. The effects of protein oxidation on the morphology, motion type, viscoelasticity, and stability of droplets were also investigated by microrheology analysis. The droplet motion was blocked by protein oxidation due to mean square displacement slope results. Solid–liquid balance values provided the liquid behavior dominating these emulsions. Oxidation of carbonyl concentration 16.72 raised the primary droplets, increased the elasticity, decreased the viscosity, and promoted the droplet motion rate, resulting in better stability of emulsions. Further oxidation promoted the aggregation of droplets and resulted in poor stability.

Flexible GnPs/EPDM with Excellent Thermal Conductivity and Electromagnetic Interference Shielding Properties

Shaowei Lu,Yaoyao Bai,Jijie Wang,Dandan Chen,Keming Ma,Qingshi Meng,Xinmin Liu 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2019 NANO Vol.14 No.6

As the portable device hardware has been increasing at a noticeable rate, ultrathin flexible materials with the combination of high thermal conductivity and excellent electromagnetic interference (EMI) shielding performance are urgently needed. Here, we fabricated ethylene propylene diene monomer rubber with different loading graphene nanoplatelets (GnPs/EPDM) by a cost-efficient approach, which combines mixing, ultrasonication and compression. Further investigation demonstrates that the 8 wt.% GnPs/EPDM with only 0.3 mm in thickness shows excellent electrical conductivity (28.3 S/m), thermal conductivity (0.79 W/mK) and good mechanical properties. Besides, the 8 wt.% GnPs/EPDM exhibits an EMI shielding effectiveness (SE) up to 33 dB in the X-band (8.2–12.4 GHz) and 35 dB in the Ku-band (12.4–18 GHz), superior to most of the reported rubber matrix. Additionally, the GnPs/EPDM shows excellent flexibility and stability with 95% and 94% retention of EMI SE even after repeated bending for 5000 times and corrosion (under 5% NaCl environment) for a week. Our flexible EMI shielding material will benefit the fast-growing next-generation commercial portable flexible electrons.