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- 저자 : Zhonghua Miao (검색결과 4 건)
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Zhiyuan Gao,Jiaqi Huang,Zhonghua Miao,Xiaojin Zhu 국제구조공학회 2020 Smart Structures and Systems, An International Jou Vol.25 No.5
Vibration at the tip of various flexible manipulators may affect their operation accuracy and work efficiency. To suppress such vibrations, the feasibility of using MFC actuators and sensors is investigated in this paper. Considering the convergence of the famous filtered-x least mean square (FXLMS) algorithm could not be guaranteed while it is employed for vibration suppression of plants with varying secondary path, this paper proposes a new multiple model switching adaptive control algorithm to implement the real time active vibration suppression tests with a new multiple switching strategy. The new switching strategy is based on a cost function with reconstructed error signal and disturbance signal instead of the error signal from the error sensor. And from a robustness perspective, a new variable step-size sign algorithm (VSSA) based FXLMS algorithm is proposed to improve the convergence rate. A cantilever beam with varying tip mass is employed as flexible manipulator model. MFC layers are attached on both sides of it as sensors and actuators. A co-simulation platform was built using ADAMS and MATLAB to test the feasibility of the proposed algorithms. And an experimental platform was constructed to verify the effectiveness of MFC actuators and sensors and the real-time vibration control performance. Simulation and experiment results show that the proposed FXLMS algorithm based multiple model adaptive control approach has good convergence performance under varying load conditions for the flexible cantilever beam, and the proposed FX-VSSA-LMS algorithm based multiple model adaptive control algorithm has the best vibration suppression performance.
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Xinyi Zhu,Tian Tian,Miao Ruan,Jia Rao,Wentao Yang,Xu Cai,Menghong Sun,Guangqi Qin,Zhonghua Zhao,Jiong Wu,Zhimin Shao,Ruohong Shui,Zhen Hu 한국유방암학회 2018 Journal of breast cancer Vol.21 No.3
Purpose: The characteristic expression of DNA damage response proteins in familial breast cancers with BRCA1, BRCA2, or non-BRCA1/2 mutations has not been analyzed in Chinese patients. Our study aimed to assess the differential expression of microcephalin 1 (BRIT1), ATM serine/threonine kinase (ATM), checkpoint kinase 2 (CHEK2), BRCA1, RAD51 recombinase (RAD51), and poly (ADP-ribose) polymerase 1 (PARP-1) and establish the profile of Chinese familial breast cancers with different mutation status. Methods: We constructed five tissue microarrays from 183 familial breast cancer patients (31 with BRCA1 mutations; 14 with BRCA2 mutations, and 138 with non-BRCA1/2 mutations). The DNA response and repair markers used for immunohistochemistry analysis included BRIT1, ATM, CHEK2, BRCA1, RAD51, and PARP-1. The expressions of these proteins were analyzed in BRCA1/2 mutated tumors. The association between pathologic characteristics with BRCA1/2 mutation status was also analyzed. Results: In familial breast cancer patients, BRCA1 mutated tumors were more frequent with high nuclear grade, estrogen receptor/progesterone receptor/human epidermal growth factor receptor 2 negative, low Ki-67, and positive CK5/6. BRCA1 mutated tumors had lower CHEK2 and higher cytoplasmic BRIT1 expression than BRCA2 and non-BRCA1/2 mutation tumors. BRCA2-associated tumors showed higher CHEK2 and cytoplasmic RAD51 expression than those in other groups. Nuclear PARP-1 expression in BRCA1/2-associated tumors was significantly higher than in non-BRCA1/2 mutation tumors. Moreover, we found quite a few of negative PARP-1 expression cases in BRCA1/2 mutated groups. Conclusion: The clinicopathologic findings of BRCA1-associated Chinese familial breast cancers were similar to the results of other studies. Chinese familial breast cancer patients with BRCA1/2 mutations might have distinctive expression of different DNA damage response proteins. The reduced expression of PARP-1 in Chinese BRCA1/2 mutated breast cancer patients could influence the therapeutic outcome of PARP-1 inhibitors.
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Bin Zheng,Jin Zhou,Jinchen Ji,Zhonghua Miao 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.7
This paper deals with the distributed consensus problem for networked flexible-joint manipulator systems which are formulated by underactuated Euler-Lagrange (EL) dynamics. Based on the energy-shaping scheme of passivity-based control (PBC) with interconnection and damping assignment, a novel decentralized controller is proposed to solve the leaderless and the leader-follower consensus problems. The main feature of the present work is the systematical integration of the energy of the systems composed of underactuated and actuated components and the energy of the controller as a total energy. Then the total energy is formulated as a suitable Lyapunov function to solve distributed consensus problems for the networked underactuated EL systems. The proposed consensus scheme without the need of velocity measurement possesses a relatively simple structure and good robustness. It is shown that interconnection pattern and damping assignment of the PBC are two key factors to affect the cooperative behavior of networked flexible-joint manipulator systems, which will be used to regulate or improve the cooperative performance of networked flexible-joint manipulator systems in practice. Finally, two numerical examples of networked six flexible-joint manipulator systems are presented to validate the correctness of the proposed algorithms.
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Qiankun Ma,Xuyong Wang,Fan Yuan,Liangshen Chen,Jianfeng Tao,Zhonghua Miao 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.8
The friction coefficient between the vane and the slot is one of the most critical factors that affects the performance of a continuous rotary hydraulic cam-rotor vane motor. To study the effects of this coefficient on the torque characteristics of the motor, the mathematical model for the normal force and the disturbing torque between the cam rotors and the vanes of the motor was established by analyzing the forces exerted on the vanes. The mathematical model was simulated with MATLAB, and simulation results show that an increase in the friction coefficient would simultaneously decrease the normal force and increase the disturbing torque, which would negatively affect the performance of the motor. Further experimental research indicated that the low-speed performance of the hydraulic cam-rotor motor was significantly improved when the friction coefficient was reduced by controlling the parallelism tolerance, flatness and roughness between the vanes and the slots.
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