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Robust Experimental Study of Data-driven Optimal Control for an Underactuated Rotary Flexible Joint
Ying Xin,Zhi-Chang Qin,Jian-Qiao Sun 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.5
As an important component of industrial robot, the motion control of rotary flexible joint (RFJ) system is of great significance, especially when the system has unmodeled dynamics or is seriously disturbed. This paper presents an experimental robustness study on a kind data-driven optimal control approach based on an underactuated rotary flexible joint system. The data-driven approach combines the off-policy optimal control algorithm and the popular integral reinforcement learning technique. Through literature review, we find that the key step of the control design lies in that it learns the optimal value function and control policy simultaneously from the input and output (I/O) data. However, the I/O data are often disturbed by the system uncertainty or environmental noise, and then it will indirectly affect the optimal control performance. To investigate the robustness of the data-driven optimal control approach, we artificially set different experimental scenarios and take numerous control experiments on a RFJ experimental setup. The experimental results show that the data-driven optimal control method is quite robust against the system uncertainties in terms of maintaining the stability and delivering satisfactory tracking performance, even when the uncertainty is not a small quantity. In addition, the disturbance originating from environmental noise has certain impact on the controlling of RFJ system, but as long as the noise power is not too large, the control algorithm can converge to a satisfactory result. Finally, we find that the probing signal up has strong influence to this control algorithm, which reminds us to be cautious when selecting the probing signal.
Yingxin Zhao,Li Chen,Heather L. Bruce,Zhenyu Wang,Bimol C. Roy,Xin Li,Dequan Zhang,Wei Yang,Chengli Hou 한국축산식품학회 2022 한국축산식품학회지 Vol.42 No.5
To evaluate the effects of early postmortem vacuum packaging (VP) on meat quality during postmortem chilled storage, hot-boned lamb was vacuum-packaged at 1, 6, 12, 24, and 48 h postmortem and stored around 2℃ until 168 h postmortem, with lamb packaged in plastic wrap as the control (aerobic packaging). Intramuscular pH decline was delayed when lamb was vacuum packaged at 1, 6, and 12 h postmortem (p<0.05). The lamb vacuum-packaged at 1 h postmortem (VP-1h group) had significantly lower shear force values and purge losses accompanied by lower free thiol group values than other treatments during postmortem storage and was also higher in extractable calpain-1 activity by 6 h postmortem (p<0.05). Free thiol group concentrations were significantly higher after VP at 6 and 12 h postmortem (p<0.05). Packaging lamb under vacuum very early postmortem produced the lowest shear force and purge loss, likely by slowing heat loss and muscle temperature decline, implying that lamb quality is improved by VP when applied very early postmortem. This was at the expense of protein oxidation, which was unrelated to other meat quality measurements, most likely because potential contracture during hot boning confounded its impact. Further research is required to understand the implications of the interaction between protein oxidation, VP, and hot boning on the acceptability of lamb.
Research on Group Emotional Intelligence Effects on Group Decision-making under Emergency
Yingxin Chen 보안공학연구지원센터 2014 International Journal of Hybrid Information Techno Vol.7 No.6
After various types of emergencies, victims and rescuers will have negative psychological and mental reactions, such as stress response, psychological disorder. In this case, making the right group decision is the most important issue. It proposes the concept model of group emotional intelligence, adopts 2x2 factorial design, carries on survival experiment including 52 groups, and analyzes the influence of the group emotional intelligence on intra-group conflict, conflict management, performance, satisfaction and cohesion. Utilizes the statistical software SPSS19.0 for data analysis, and draws reliable conclusions. The conclusions offer references for enhancing emotional management capacity and problem-solving abilities of decision-making groups in emergencies environment.
Yingxin Liu,Zuojun Wei,Tiefeng Xing,Meng Lu,Xiaonian Li 한국공업화학회 2015 Journal of Industrial and Engineering Chemistry Vol.23 No.-
Gold catalysts supported on FeOx–TiO2 with various Fe2O3 contents were prepared by deposition– precipitation method and used for phthalic anhydride hydrogenation to phthalide. The effect of Fe2O3 on the physico-chemical property and the performance of Au/TiO2 were investigated. The reaction conditions were optimized. Adding 5 wt.% Fe2O3 on Au/TiO2 could enhance the activity and stability, which was contributed to the increase in the strength of the catalyst structure and the decrease in the loss of gold from catalyst. Using Au/5%FeOx–TiO2, phthalic anhydride conversion and phthalide selectivity reached 95.4% and 94.5%, respectively, at 190 8C and 3.0 MPa H2 for 7 h.
Yingxin Huang,Xueyong Zhao,Hongxuan Zhang,Wisdom Japhet,Xiaoan Zuo,Yayong Luo,Gang Huang 한국식물학회 2009 Journal of Plant Biology Vol.52 No.3
We monitored the allometric effects for greenhouse- grown Agriophyllum squarrosum plants in response to variations in population density and the availability of soil nutrients and water. Biomass allocations were sizedependent. The plasticity of roots, stems, leaves, and reproductive effort was “true” in response to changes in nutrient content. At a low level of soil minerals, plants allocated more resources to the development of roots and reproductive organs than to leaves, but data for stem allocations were consistent for tradeoffs between the effects of nutrients and plant size. The plasticities of leaf allocation and reproductive effort were “true” whereas those of root and stem allocations were “apparent” in response to fluctuations in soil water, being a function of plant size. Decreasing soil water content was associated with higher leaf allocation and lower reproductive effort. Except for this “apparent” plasticity of leaf allocation, none was detected with population density on biomass allocation. Architectural traits were determinants of the latter. For roots, the determining trait was the ratio of plant height to total biomass; for stems and reproduction, plant height; and for leaves, the ratio of branch numbers to plant height.
GLOBAL STABILITY ANALYSIS FOR A CLASS OF COHEN-GROSSBERG NEURAL NETWORK MODELS
Yingxin Guo 대한수학회 2012 대한수학회보 Vol.49 No.6
By constructing suitable Lyapunov functionals and combining with matrix inequality technique, a new simple sufficient condition is presented for the global asymptotic stability of the Cohen-Grossberg neural network models. The condition contains and improves some of the previous results in the earlier references.
NONTRIVIAL SOLUTIONS FOR BOUNDARY-VALUE PROBLEMS OF NONLINEAR FRACTIONAL DIFFERENTIAL EQUATIONS
Yingxin Guo 대한수학회 2010 대한수학회보 Vol.47 No.1
In this paper, we consider the existence of nontrivial solutions for the nonlinear fractional differential equation boundary-value problem (BVP)−Dα0+u(t) = λ[f(t, u(t)) + q(t)], 0 < t < 1u(0) = u(1) = 0,where λ > 0 is a parameter, 1 < α ≤ 2, Dα0+ is the standard Riemann-Liouville differentiation, f : [0, 1] × R → R is continuous, and q(t) :(0, 1) → [0,+∞) is Lebesgue integrable. We obtain serval sufficient conditions of the existence and uniqueness of nontrivial solution of BVP when λ in some interval. Our approach is based on Leray-Schauder nonlinear alternative. Particularly, we do not use the nonnegative assumption and monotonicity which was essential for the technique used in almost all existed literature on f.