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Hongbin Wang,Ning Li,Yueling Wang,Bo Su 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.10
To overcome nonlinear, underactuated and external wind disturbances problems for the 6-DOF (degrees of freedom) quadrotor unmanned aerial vehicle (UAV) system, a backstepping sliding mode control algorithm based on high-order extended state observer (ESO) is proposed. Based on the hierarchical control principle, the quadrotor UAV dynamic system is decomposed into position subsystem and attitude subsystem to facilitate the backsteppingcontrol design. Moreover, the EXO is used to estimate the remaining unmeasurable states and the external wind disturbances online. The advantages of the controllers are that they can not only ensure good tracking performance, but also deal with uncertain external disturbances. To imitate the real situation as much as possible, the external wind disturbances are composed of four basic wind models in this paper. The tracking error and estimate error of the design methods are shown to arbitrarily small by using Lyapunov theory. Finally, the effectiveness and superiority of the proposed control algorithm are proved by the simulation.
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Fixed-time Formation of AUVs with Disturbance via Event-triggered Control
Bo Su,Hong-Bin Wang,Yueling Wang,Jing Gao 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.4
This work focuses on the fixed-time event-triggered formation control problem for multi-AUV systems with external uncertainties, which can significantly reduce energy consumption and the frequency of the controller updates. At the same time, the convergence speed of the system is improved. To tackle with the problem of explosion of differentiation terms in backstepping method, a command filter is introduced to represent the derivative of virtual variables. Moreover, the distributed control strategy is considered and the lumped uncertainties are tackled with the super-twisting sliding mode method. It is proved that under the proposed event-triggered control strategies the Zeno behavior is avoided. Further, fixed-time formation control method can be finished within a fixed settling time with arbitrary initial states of the multi-AUV. Finally, simulation is presented to show the effectiveness and validity of the fixed-time event-triggered formation protocols for the multi-AUV systems.
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董娜(Na Dong),王月灵(Yueling Wang) YIXIN 출판사 2023 教育教学研究论丛 Vol.1 No.5
时代发展引起的人才需求变化和英美文学教学的一成不变之间产生了矛盾,导致英美文学课程在高校中逐渐被边缘化,学生的学习体验和教师的授课感受都不理想。同时,在“新文科”建设和课程思政建设中,教育部和学界又都再次明确了英美文学课程在英语专业课程体系中的核心地位和重要价值。因此,英美文学课程亟待革新。KUD 教学模式是“以概念为本”课程建设和教学设计的重要内容,主张建构K(能知)、U(能懂)、D(能做)三个层次上的教学目标,以渐进的、明晰的教学目标统筹整个教学设计。KUD 教学模式不仅能够使得英美文学课程教学目标明确、教学活动紧密围绕学生中心,而且有助于英美文学思政教学的开展和评估。 The changes in the demands of foreign language talents caused by the development of the times are in contradiction with the unchanged teaching pattern of British and American literature teaching, which causes this course to be marginalized gradually and leads to the decreased sense of fulfillment of both students and teachers. However, in the New Arts construction and the course philosophy construction, the importance of this course is explicitly highlighted. Therefore, the course of foreign literature for English majors needs reformation urgently. KUD pattern is important part of Concept-Based Curriculum and Instruction and contends setting teaching objectives of three levels: K (knowledge), U (understanding), and D (doing) to govern the whole teaching plan. KUD pattern can grant foreign literature course for English majors clear teaching objectives, enabling the teaching experiences centered on students and contributing to the course philosophy teaching and evaluation.
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Can Du,Zengchao Geng,Qiang Wang,Tongtong Zhang,Wenxiang He,Lin Hou,Yueling Wang 한국미생물학회 2017 The journal of microbiology Vol.55 No.9
Microbial communities in subsurface soil are specialized for their environment, which is distinct from that of the surface communities. However, little is known about the microbial communities (bacteria and fungi) that exist in the deeper soil horizons. Vertical changes in microbial alpha-diversity (Chao1 and Shannon indices) and community composition were investigated at four soil depths (0–10, 10–20, 20–40, and 40–60 cm) in a natural secondary forest of Betula albosinensis by high-throughput sequencing of the 16S and internal transcribed spacer rDNA regions. The numbers of operational taxonomic units (OTUs), and the Chao1 and Shannon indices decreased in the deeper soil layers. Each soil layer contained both mutual and specific OTUs. In the 40–60 cm soil layer, 175 and 235 specific bacterial and fungal OTUs were identified, respectively. Acidobacteria was the most dominant bacterial group in all four soil layers, but reached its maximum at 40–60 cm (62.88%). In particular, the 40–60 cm soil layer typically showed the highest abundance of the fungal genus Inocybe (47.46%). The Chao1 and Shannon indices were significantly correlated with the soil organic carbon content. Redundancy analysis indicated that the bacterial communities were closely correlated with soil organic carbon content (P = 0.001). Collectively, these results indicate that soil nutrients alter the microbial diversity and relative abundance and affect the microbial composition.
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