Novel Inverse Kinematic Approaches for Robot Manipulators with Pieper-criterion based Geometry

Huashan Liu,Yang Zhang,Shiqiang Zhu 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.5

In this paper, the inverse kinematics (IK) for robot manipulators with Pieper-Criterion based geometry is investigated from a novel perspective. Different from the traditional inverse transformation method, properties on orthogonal matrix, dot product operation and block matrix are synthetically involved in the proposed schemes to help simplify the IK solving, where the IK matrix equations are transformed into pure algebraic equations without any complex calculations of the inverses for transformation matrices. In the meantime, the linear combinations of related equations in the IK solving ensure the solutions free of extraneous roots, which enhances the computational efficiency further. Moreover, the singularity problem is fully addressed for a specific robot manipulator of such kind. Finally, experimental tests are provided to verify the proposed IK schemes.

Trajectory Planning with Collision Avoidance for Multiple Quadrotor UAVs Using DMPC

Yuhang Jiang,Shiqiang Hu,Christopher Damaren,Lingkun Luo,Bing Liu 한국항공우주학회 2023 International Journal of Aeronautical and Space Sc Vol.24 No.5

Trajectory planning with collision avoidance plays an important role for the safe application of multi-UAV systems in low altitude airspace. Although the synchronous DMPC algorithm had been widely applied in multi-agent systems due to its lower communication and computing cost, it generally suffers from the strict requirements. For example, the additional terminal conditions significantly reduce the maneuverability of the UAV in the fleet, whereas which ensure the stability of the algorithm and the feasibility of recursion. To remedy the raised issues, in this paper, a novel set of terminal conditions is proposed, which effectively reduces the conservativeness of the collision-free trajectories and satisfies the requirements of collision avoidance algorithms simultaneously. In this research, we also leverage the theoretical qualitative analysis, and thus providing initial guesses and related parameter settings for the algorithm. Finally, sufficient numerical simulations are proposed to verify the effectiveness and superiority of the proposed algorithm.

A Study on Construction and Simulation of Agricultural Machinery System Control Model

Wang Ying,Xu Shiyang,Liu Shiqiang,Li Xiaoxue,Ao Changlin 보안공학연구지원센터 2016 International Journal of u- and e- Service, Scienc Vol.9 No.8

In order to study the state-changing and running rules of agricultural machinery system, this paper establishes the control model of agricultural machinery system under the discrete-state space based on control theory, from the perspective of the complex systems and with reference to the actual conditions of agricultural production; conducts the qualitative analysis on the system model, builds the relevant simulation model of agricultural machinery system accordingly, and verifies the running of the simulation model. This control model can provide effective basis and reference for further quantitative studies on state evolution of agricultural machinery system.

A new description of the fractal dimension of particle aggregates in liquid medium

Xing, Jun,Ding, Shiqiang,Liu, Zhengning,Xu, Jirun Korean Association for Particle and Aerosol Resear 2015 Particle and Aerosol Research Vol.11 No.4

The possible existence forms of particle aggregates in liquid medium are classified into four different types according to their morphological characteristics, including the single particles that are separated from each other, the linear aggregates in which all component particles are located in a line, the planar aggregates where all particles are arranged on a plane, and the volumetric aggregates where all particles forms a three-dimensional space. These particle aggregates with different space morphologies have different fractal dimensions and different influence on the rheological phenomena of the solid-liquid system. The effects of various aggregates on the suspension viscosity are analyzed and related with the particle concentration, and then a mathematical model is presented to determine the fractal dimensions of various aggregates by measuring the apparent viscosity of the solid-liquid system. In the model, the viscous fractal dimension is developed as a new concept, the fractal dimensions of different aggregates can be obtained separately and then the relative components of various aggregates experimentally analyzed.

Genome-wide identification and expression analysis of YTH domaincontaining RNA-binding protein family in cucumber (Cucumis sativus)

Yong Zhou,Lifang Hu,Lunwei Jiang,Shiqiang Liu 한국유전학회 2018 Genes & Genomics Vol.40 No.6

YTH domain-containing RNA-binding proteins are involved in post-transcriptional regulation and play important roles in the growth and development as well as abiotic stress responses of plants. However, YTH genes have not been previously studied in cucumber (Cucumis sativus). In this study, a total of five YTH genes (CsYTH1–CsYTH5) were identified in cucumber, which could be mapped on three out of the seven cucumber chromosomes. All CsYTH proteins had highly conserved C-terminal YTH domains, and two of them (CsYTH1 and CsYTH4) harbored extra CCCH and P/Q/N-rich domains. The phylogenesis, conserved motifs and exon–intron structure of YTH genes from cucumber, Arabidopsis and rice were also analyzed. The phylogenetically closely clustered YTHs shared similar gene structures and conserved motifs. An analysis of the cis-acting regulatory elements in the upstream region of these genes resulted in the identification of many cis-elements related to stress, hormone and development. Expression analysis based on the transcriptome data showed that some CsYTHs had development- or tissue-specific expression. In addition, their expression levels were altered under various stresses such as salt, drought, cold, and abscisic acid (ABA) treatments. These findings lay the foundation for the functional analysis of CsYTHs in the future.

Unconventional Flatband Line States in Photonic Lieb Lattices

Xia, Shiqi,Ramachandran, Ajith,Xia, Shiqiang,Li, Denghui,Liu, Xiuying,Tang, Liqin,Hu, Yi,Song, Daohong,Xu, Jingjun,Leykam, Daniel,Flach, Sergej,Chen, Zhigang American Physical Society 2018 Physical review letters Vol.121 No.26

The Prebiotic Lactosucrose Modulates Gut Metabolites and Microbiota in Intestinal Inflammatory Rats

Xiaoli Zhou,Zheng Ruan,Xiaoliu Huang,Yan Zhou,Shiqiang Liu,Yulong Yin 한국식품과학회 2014 Food Science and Biotechnology Vol.23 No.1

The effect of lactosucrose on the short chainfatty acid (SCFA) content, the intestinal flora, the acidity,and the amino nitrogen (NH3-N) content of the intestine ininflammatory bowel disease (IBD) rats was investigated. Dietary lactosucose supplementation increased amounts ofbeneficial bacteria and diminished amounts of pathogenicbacteria. Lactosucrose decreased the NH3-N content in cecaland colonic digesta, compared to inflammatory rats. Lactosucrose increased the acidity in the intestinal lumen,and the acetic acid, propionic acid, and butyric acidcontents in cecal and colonic digesta, compared toinflammatory rats. The butyrate content in the lactosucrosegroup was higher than for the inflammatory, sulfasalazine,and normal groups. Lactosucrose promoted beneficialintestinal health and prevented intestinal inflammation.

Nuciferine modulates the gut microbiota and prevents obesity in high-fat diet-fed rats

Wang Yueping,Yao Weifan,Li Bo,Qian Shiyun,Wei Binbin,Gong Shiqiang,Wang Jing,Liu Mingyan,Wei Minjie 생화학분자생물학회 2020 Experimental and molecular medicine Vol.52 No.-

Gut microbiota dysbiosis has a significant role in the pathogenesis of metabolic diseases, including obesity. Nuciferine (NUC) is a main bioactive component in the lotus leaf that has been used as food in China since ancient times. Here, we examined whether the anti-obesity effects of NUC are related to modulations in the gut microbiota. Using an obese rat model fed a HFD for 8 weeks, we show that NUC supplementation of HFD rats prevents weight gain, reduces fat accumulation, and ameliorates lipid metabolic disorders. Furthermore, 16S rRNA gene sequencing of the fecal microbiota suggested that NUC changed the diversity and composition of the gut microbiota in HFD-fed rats. In particular, NUC decreased the ratio of the phyla Firmicutes/Bacteroidetes, the relative abundance of the LPS-producing genus Desulfovibrio and bacteria involved in lipid metabolism, whereas it increased the relative abundance of SCFA-producing bacteria in HFD-fed rats. Predicted functional analysis of microbial communities showed that NUC modified genes involved in LPS biosynthesis and lipid metabolism. In addition, serum metabolomics analysis revealed that NUC effectively improved HFD-induced disorders of endogenous metabolism, especially lipid metabolism. Notably, NUC promoted SCFA production and enhanced intestinal integrity, leading to lower blood endotoxemia to reduce inflammation in HFD-fed rats. Together, the anti-obesity effects of NUC may be related to modulations in the composition and potential function of gut microbiota, improvement in intestinal barrier integrity and prevention of chronic low-grade inflammation. This research may provide support for the application of NUC in the prevention and treatment of obesity.