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Application of the Improved S-Curve Algorithm in the Speed Control of Shuttle Vehicle
Zhang Helong,Shang Qinghua,Zhao Xinyue,Wang Su 보안공학연구지원센터 2016 International Journal of Multimedia and Ubiquitous Vol.11 No.8
The Smooth of the shuttle vehicle speed control system is the guarantee of the safe operation of the car body, the current shuttle vehicle parking in the start acceleration and deceleration will happen when the shaking phenomenon, It reduces the shuttle car shelf system security and stability. The S-curve to add and subtract in the simplified method is applied to speed regulation system of shuttle car, can reduce the occurrence of this phenomenon. But the S-curve algorithm without considering the bodies weight and load change on the result of speed regulation. In this paper, we improve the S-curve and speed reduction algorithm. Considering the factor of the weight of the vehicle and the load factor, realize the smooth control of shuttle car. This paper introduces the method and principle of the speed control of shuttle car. An improved method for calculating the S curve acceleration and deceleration is presented. And Matlab simulation is carried out. Results of simulation and actual equipment show that the improved algorithm can control the smooth running of the shuttle vehicle.
( Zhenghong Zhang ),( Helong Hao ),( Zhongmei Tang ),( Zhengzheng Zou ),( Keya Zhang ),( Zhiyong Xie ),( Lilia Babe,),Frits Goedegebuur,Xiaogang Gu 한국미생물생명공학회(구 한국산업미생물학회) 2015 Journal of microbiology and biotechnology Vol.25 No.8
Thermolysin and its homologs are a group of metalloproteases that have been widely used in both therapeutic and biotechnological applications. We here report the identification and characterization of a novel thermolysin-like protease, BtsTLP1, from insect pathogen Bacillus thuringiensis serovar Sichuansis strain MC28. BtsTLP1 is extracellularly produced in Bacillus subtilis, and the active protein was purified via successive chromatographic steps. The mature form of BtsTLP1 has a molecule mass of 35.6 kDa as determined by mass spectrometry analyses. The biochemical characterization indicates that BtsTLP1 has an apparent Km value of 1.57 mg/ml for azocasein and is active between 20oC and 80oC. Unlike other reported neutral gram-positive thermolysin homologs with optimal pH around 7, BtsTLP1 exhibits an alkaline pH optimum around 10. The activity of BtsTLP1 is strongly inhibited by EDTA and a group of specific divalent ions, with Zn2+ and Cu2+ showing particular effects in promoting the enzyme autolysis. Furthermore, our data also indicate that BtsTLP1 has potential in cleaning applications.
Design of Android-Based Remote Terminal System for RGV
Shang Qinghua,Zhao Xinyue,Zhang Helong,Wang Su 보안공학연구지원센터 2016 International Journal of Multimedia and Ubiquitous Vol.11 No.7
This paper proposes a new method that utilized Android mobile phone to control the RGV (Rail Guided Vehicle)running through WIFI network to overcome the disadvantages of the traditional remote control can only control one-way communication for RGV in the Logistics and warehousing and realize two-way communication between the RGV and remote controller . The system is based on Android platform, and established a remote terminal system by all Android support resources. In this paper, it described the structure, function, software flow of the RGV remote terminal system and communication protocol between Android client and the RGV. The design is based on the Modbus TCP / IP protocol, to achieve a two-way communication between Android phone and the RGV.