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- 저자 : Xiaotian Bai (검색결과 3 건)
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Nonlinear Anti-swing Control of Underactuated Tower Crane Based on Improved Energy Function
Huaitao Shi,Jianqi Huang,Xiaotian Bai,Xiang Huang,Jie Sun 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.12
The control system of tower crane exhibits strong nonlinearity in the process of control execution, which is prone to the problems of inaccurate positioning control of the payload and difficult anti-swing control. Aiming at the problems, this paper proposes a control law based on improved energy coupling analysis for suppressing the payload swing in the tower cranes. A three-dimensional dynamic model of tower crane system with considering friction is established, and an improved energy coupling signal is designed. The coupling relationship of trolley movement and payload swing, jib rotation and payload swing are considered, then a nonlinear anti-swing controller is established in order to reduce the swing. The closed-loop stability of the system with the controller is verified by the Lyapunov method and LaSalle invariance principle, simulations and experimental analyses are performed to verify the controller performance. The control performance of the controller is compared with other classic and typical current control methods, and the proposed controller outperformed other controllers. The anti-swing controller proposed in this paper has accurate positioning, and can achieve precise control when the payload is transported, reaching the set target position in a little time and eliminating residual swing angle. Meanwhile the proposed controller has a good control robustness, which can restore stability in around a very short time when the rope length and payload mass of the system’s inherent property are changed and external interference is added. In addition, when different target position parameters are uncertain, the proposed control law has good robust performance.
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Zinan Wang,Ke Zhang,Zhan Wang,Xiaotian Bai,Qingyuan Wang 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.6
The vibration of ceramic motorized spindle determines the machining quality of CNC machine tools. The dynamic characteristics of a motorized spindle were explored under the influence of interference fit and thermal displacement. Using heat transfer theory and bearing Harris theory, the temperature field model of motorized spindle was established, which aims to find the relationship of thermal displacement and interference. In addition, the dynamic and thermal factors were coupled to the dynamic model of the ceramic motorized spindle rotor system, of which the variation rules of bearing stiffness and rotor vibration characteristics were calculated and analyzed. The accuracy of the motorized spindle rotor system dynamic model was verified by experiments. The results show that the interference fit of shaft and bearing decreases with the rotating speed increase under the combined influence of centrifugal force, load and thermal displacement. The vibration was calculated by the dynamic model of motorized spindle rotor system considering dynamic and thermal factors. The maximum error was 3.9 %, which is well consistent with the experimental results. The dynamic characteristics of ceramic motorized spindle can be improved by appropriately increasing the degree of interference tightness at high speed.
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Ting Xu,Xicheng Wang,Ying Xin,Zhenghang Wang,Jifang Gong,Xiaotian Zhang,Yanyan Li,Congcong Ji,Yu Sun,Feilong Zhao,Depei Huang,Yuezong Bai,Jian Li,Lin Shen 대한암학회 2023 Cancer Research and Treatment Vol.55 No.2
Purpose The human epidermal growth factor receptor 2 (HER2) is an established therapeutic target for various kinds of solid tumors. HER2 amplification occurs in approximately 1% to 6% of colorectal cancer. In this study, we aimed to assess the efficacy and safety of trastuzumab in combination with chemotherapy in HER2-positive metastatic colorectal cancer (mCRC). Materials and Methods An open-label, phase II trial (Clinicaltrials.gov: NCT03185988) was designed to evaluate the antitumor activity of trastuzumab and chemotherapy in HER2-positive digestive cancers excluding gastric cancer in 2017. Patients from this trial with HER2-positive, KRAS/BRAF wild-type, unresectable mCRC were analyzed in this manuscript. Eligible patients were treated with trastuzumab (8 mg/kg loading dose and then 6 mg/kg every 3 weeks) and irinotecan (120 mg/m2 days 1 and 8 every 3 weeks). The primary endpoint was the objective response rate. Results Twenty-one HER2-positive mCRC patients were enrolled in this study. Seven patients (33.3%) achieved an objective res-ponse, and 11 patients (52.4%) had stable disease as their best response. The median progression-free survival (PFS) was 4.3 months (95% confidence interval, 2.7 to 5.9). Four of the 21 patients (19.0%) had grade 3 adverse events, including leukopenia, neutropenia, urinary tract infection, and diarrhea. No treatment-related death was reported. Exploratory analyses revealed that high tumor tissue HER2 copy number was associated with better therapeutic response and PFS. Alterations in the mitogen-activated protein kinase pathway, HER2 gene, phosphoinositide 3-kinase/AKT pathway, and cell cycle control genes were potential drivers of trastuzumab resistance in mCRC. Conclusion Trastuzumab combined with chemotherapy is a potentially effective and well-tolerated therapeutic regimen in mCRC with a high HER2 copy number.
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