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PATH TRACKING FOR AUTONOMOUS RACE CAR BASED ON G-G DIAGRAM
Miaomiao Fu,Jun Ni,Xueyuan Li,Jibin Hu 한국자동차공학회 2018 International journal of automotive technology Vol.19 No.4
Currently, the autonomous driving technique is attracting increasing research focus from all over the world. Generally, the control systems of an autonomous vehicle include environment perception, path planning and path tracking control systems. In this paper, the path tracking control issue of the autonomous vehicle will be focused on. Few of the previous proposed path tracking controllers consider the vehicle driving and handling limit, which degenerates the potential of the autonomous vehicle to finish the desired path as quick as possible. To this end, this paper proposes a path tracking controller for autonomous vehicle, which aims at pushing it to the driving and handling limit. The limit dynamic performance of the autonomous vehicle is represented by the G-G diagram, which indicates the acceleration capability of the autonomous vehicle. The G-G diagram is obtained by phase portrait method and it is validated by a modified FSAE racing car. Finally, a path tracking controller based on the G-G diagram is proposed. The simulation validation results demonstrate the effectiveness of the proposed controller.
Fasting Blood Glucose, Cholesterol, and Risk of Primary Liver Cancer: The Kailuan Study
Xiangming Ma,Haozhe Cui,Miaomiao Sun,Qian Liu,Xining Liu,Guangjian Li,Yaochen Wei,Qingjiang Fu,Siqing Liu,Liying Cao 대한암학회 2021 Cancer Research and Treatment Vol.53 No.4
Purpose The influence of fasting blood glucose (FBG) and cholesterolemia primary liver cancer (PLC) in China was analyzed via a large prospective cohort study based on a community population, and the combined effects between them were investigated. Materials and Methods Overall, 98,936 staff from the Kailuan Group who participated in and finished physical examinations bet-ween 2006 and 2007 were included in the cohort study. Their medical information was collected and they were followed up after examination. The correlations of serum FBG or total cholesterol (TC) with PLC were analyzed. Then, we categorized all staff into four groups: normal FBG/non-hypocholesterolemia, normal FBG/hypocholesterolemia, elevated FBG/non-hypocholesterolemia, elevated FBG/hypocholesterolemia, and normal FBG/non-hypocholesterolemia was used as a control group. The combined effects of elevated FBG and hypocholesterolemia with PLC were analyzed using the Age-scale Cox proportional hazard regression model. Results During 1,134,843.68 person-years follow-up, a total of 388 PLC cases occurred. We found the elevated FBG and hypocholesterolemia increase the risk for PLC, respectively. Compared with the non-hypocholesterolemia/normal FBG group, the risk of PLC was significantly increased in the non-hypocholesterolemia/elevated FBG group (hazard artio [HR], 1.19; 95% confidence interval [CI], 0.88 to 1.62) and hypocholesterolemia/normal FBG group (HR, 1.53; 95% CI, 1.19 to 1.97), and in the hypocholesterolemia/elevated FBG group (HR, 3.16; 95% CI, 2.13 to 4.69). And, a significant interaction effect was found of FBG and TC on PLC. All results were independent from the influence of liver disease. Conclusion Elevated serum FBG and hypocholesterolemia are risk factors for PLC, especially when combined. Thus, for the prevention and treatment of PLC, serum FBG and TC levels should be investigated.
Yuan Ke,Beibei Ding,Yang Fu,Miaomiao Zhang,Shensheng Xiao,Wenping Ding,Heng Yang,Qingyun Lv,Zhuo Zheng,Xuedong Wang 한국식품과학회 2021 Food Science and Biotechnology Vol.30 No.7
Effects of chitosan oligosaccharide (COS) andhyriopsis cumingii polysaccharide (HCP) on the quality ofwheat flour and corresponding extruded flour productswere investigated in this work. The results showed thatboth COS and HCP are conducive to the improvement ofdough quality. Moreover, compared to control groupsamples, the moisture content, expansion ratio and oilabsorption rate of the samples were increased and thehardness were decreased with the addition of COS. Thesephenomena indicate the quality of extruded flour productsbecame better in the presence of COS as well. However,HCP has little or no effect on the quality of extruded flourproducts may be due to its degradation under high temperatureand pressure extrusion. COS with higher stabilityexhibited better improvement effects on the quality ofextruded flour products and showed a promising prospectfor application in extruded food industry.