Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots Using Model Predictive Control Subjected to Lyapunov-based Input Constraints

Jing-Jun Zhang,Rui-Zhen Gao,Zhi-Li Fang,Zhong-Qi Zhang,Shao-Bo Zhang 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.5

This paper studies the trajectory tracking control for the nonholonomic wheeled mobile robot (WMR) based on model predictive control (MPC). Concerning overcome stable problem occurred from optimization control of MPC, we develop an MPC controller subjected to Lyapunov-based input constraints (LMPC) to solve the trajectory tracking problem for the nonholonomic WMR. The Lyapunov stable characteristic of the feedback linearization (FL) is utilized to ensure the stability of the control system. The recursive feasibility of input and stability of the control system based on LMPC is analyzed by the contraction constraint of FL. Besides, the paper also demonstrates the stability of the trajectory tracking control by the receding horizon optimized control solution embedded in LMPC. The simulation experiment results significantly verify the validity of the proposed LMPC approach in trajectory tracking.

Aristoyunnolin H attenuates extracellular matrix secretion in cardiac fibroblasts by inhibiting calcium influx

Shao-rui Chen,Wen-ping Zhang,Jing-mei Bao,Zhong-bin Cheng,Sheng Yin 대한약학회 2017 Archives of Pharmacal Research Vol.40 No.1

Aristoyunnolin H is a novel aristophyllenesesquiterpenoid isolated from the traditional Chinese medicineAristolochia yunnanensis Franch. The presentresearch was designed to explore the anti-fibrotic effects ofaristoyunnolin H in adult rat cardiac fibroblasts (CFs)stimulated with angiotensin II (Ang II). Western blotanalysis data showed that aristoyunnolin H reduced theupregulation of fibronectin (FN), connective tissue growthfactor and collagen I(Col I) production induced by Ang II inCFs. By studying the dynamic intracellular changes ofCa2?, we further found that while aristoyunnolin H relievedthe calcium influx, it has no effect on intracellular calciumstore release. Meanwhile, aristoyunnolin H also inhibitedthe Ang II-stimulated phosphorylation of Ca2?/calmodulindependentprotein kinase II. In conclusion, aristoyunnolin Hmay attenuate extracellular matrix secretion in vitro byinhibiting Ang II-induced calcium signaling.

Research into Key Techniques of the Agricultural Greenhouse Monitoring System Based on Internet of Things

Zhong-fu Liu,Jun-xing Zhang,Shao-min Li 보안공학연구지원센터 2016 International Journal of Smart Home Vol.10 No.8

Intelligent greenhouse monitoring technique is an efficient agricultural control technique emerging recently. The threshold value control of the switching value is the most-adopted greenhouse control method. Due to unique characteristics of greenhouse, the existing monitoring style cannot meet the great demand of greenhouse for intensive monitoring. Concerning the monitoring demands of the greenhouse and based on the technique of Internet of Things, this paper introduces the multisensory fusion technique to the intelligent greenhouse monitoring system. The greenhouse environmental monitoring system based on ZigBee is built, and a two-layer fusion method of “sensor+aggregation node” is put forward. The Kalman filtering method and the weighted average method are employed to conduct sensor node fusion and aggregation node fusion, respectively. An experiment is carried out to verify the built model with the experimental results suggesting that the two-layer fusion method can improve the measurement accuracy and stability of the greenhouse environmental monitoring system.

Optical Properties of Zinc-oxide Films Determined Using Spectroscopic Ellipsometry with Various Dispersion Models

Zhong-Hong Dai,Jie Shao,Yi-Ming Chen,Yu-Xiang Zheng,Jia-Da Wu,Liang-Yao Chen,Rong-Jun Zhang 한국물리학회 2009 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.55 No.3

In this work, we have studied the optical properties of wurtizite zinc-oxide films grown on silicon (100) substrates by means of pulsed laser deposition (PLD). Spectroscopic ellipsometry and three dispersion models, namely, the Sellmeier, Cauchy, and Forouhi-Bloomer models, were applied for determining the optical constants of the ZnO thin films. A comparison was made between two samples that were deposited for 30 minutes (sample I) and 60 minutes (sample II), respectively. X-ray diffraction analysis indicates that there are two types of preferred-orientation, i.e., (101) and (100) orientations for sample I and II, respectively. Results show that the Cauchy model gives the best fit for the samples with least root mean square error (RMSE) whereas the Forouhi-Bloomer model is most suitable for the data analysis in both the transparent and the absorption regions. The optical properties extracted from different dispersion models have been compared with the data reported in the literature. The results given in this work show that different dispersion models should be applied to obtain the optical constants In this work, we have studied the optical properties of wurtizite zinc-oxide films grown on silicon (100) substrates by means of pulsed laser deposition (PLD). Spectroscopic ellipsometry and three dispersion models, namely, the Sellmeier, Cauchy, and Forouhi-Bloomer models, were applied for determining the optical constants of the ZnO thin films. A comparison was made between two samples that were deposited for 30 minutes (sample I) and 60 minutes (sample II), respectively. X-ray diffraction analysis indicates that there are two types of preferred-orientation, i.e., (101) and (100) orientations for sample I and II, respectively. Results show that the Cauchy model gives the best fit for the samples with least root mean square error (RMSE) whereas the Forouhi-Bloomer model is most suitable for the data analysis in both the transparent and the absorption regions. The optical properties extracted from different dispersion models have been compared with the data reported in the literature. The results given in this work show that different dispersion models should be applied to obtain the optical constants

Lack of Influence of an XRCC3 Gene Polymorphism on Oral Cancer Susceptibility: Meta-analysis

Zhang, En-Jiao,Cui, Zhi-Gang,Xu, Zhong-Fei,Duan, Wei-Yi,Huang, Shao-Hui,Tan, Xue-Xin,Yin, Zhi-Hua,Sun, Chang-Fu,Lu, Li Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.23

Background: To systematically summarize the association between the X-ray repair cross complementing 3 (XRCC3) gene polymorphism and oral cancer susceptibility by meta-analysis. Materials and Methods: Databases including PubMed, EMbase, CNKI, VIP and WanFang Data were searched to identify case-control studies concerning the association between an XRCC3 gene polymorphism and the risk of oral cancer from the inception to June 2014. Two reviewers independently screened the literature according to the criteria, extracted the data and assessed the quality. Then meta-analysis was performed using Stata 11.0 software. Results: Seven published case-control studies including 775 patients with oral cancer and 1922 controls were selected. Associations between the rs861539 polymorphism and overall oral cancer risk were not statistically significant in all kinds of comparison models (CT vs CC: OR=0.94, 95%CI=0.74-1.18; TT vs CC: OR=0.94, 95%CI=0.64-1.38; dominant model: OR=0.95, 95%CI=0.76-1.18; recessive model: OR=0.94, 95%CI=0.69-1.29; allele T vs C: OR=0.97, 95%CI=0.84-1.11). In the stratified analysis by ethnicity, no significant associations were found among Asians and Caucasians. On stratification by tumor type, no significant associations were found for cancer and oral premalignant lesions. Conclusions: The XRCC3 gene polymorphism was not found to be associated with the risk of oral cancer. Considering the limited quality of the included case-control studies, more high quality studies with large sample size are needed to verify the above conclusion.

Significance of Human Telomerase RNA Gene Amplification Detection for Cervical Cancer Screening

Chen, Shao-Min,Lin, Wei,Liu, Xin,Zhang, You-Zhong Asian Pacific Journal of Cancer Prevention 2012 Asian Pacific journal of cancer prevention Vol.13 No.5

Aim: Liquid-based cytology is the most often used method for cervical cancer screening, but it is relatively insensitive and frequently gives equivocal results. Used as a complementary procedure, the high-risk human papillomavirus (HPV) DNA test is highly sensitive but not very specific. The human telomerase RNA gene (TERC) is the most often amplified oncogene that is observed in cervical precancerous lesions. We assessed genomic amplification of TERC in liquid-based cytological specimens to explore the optimal strategy of using this for cervical cancer screening. Methods: Six hundred and seventy-one residual cytological specimens were obtained from outpatients aged 25 to 64 years. The specimens were evaluated by the Digene Hybrid Capture 2 (HC2) HPV DNA test and fluorescence in situ hybridization (FISH) with a chromosome probe to TERC (3q26). Colposcopic examination and histological evaluation were performed where indicated. Results: The TERC positive rate was higher in the CIN2+ (CIN2, CIN3 and SCC) group than in the normal and CIN 1 groups (90.0% vs. 10.4%, p < 0.01). In comparison with the HC2 HPV DNA test, the TERC amplification test had lower sensitivity but higher specificity (90.0% vs. 100.0%, 89.6% vs. 44.0%, respectively). TERC amplification test used in conjunction with the HC2 HPV DNA test showed a combination of 90.0% sensitivity and 92.2% specificity. Conclusion: The TERC amplification test can be used to diagnose cervical precancerous lesions. TERC and HPV DNA co-testing shows an optimal combination of sensitivity and specificity for cervical cancer screening.

Synthesis of Needle-Like Aragonite Crystals in the Presence of Magnesium Chloride and Their Application in Papermaking

Hu, Zeshan,Shao, Minghao,Li, Huayang,Cai, Qiang,Zhong, Chenghua,Xianming, Zhang,Deng, Yulin The Korean Society for Composite Materials 2009 Advanced composite materials Vol.18 No.4

PCC (precipitated calcium carbonate) and ground calcium carbonate have been widely used in alkaline papermaking. Unfortunately, although increasing filler level in papers can improve the paper properties such as brightness, opacity, stiffness gloss, smoothness, porosity, and printability, as well as decrease cost, some strength of the paper is negatively affected. In this research, needle-like aragonite was synthesized using $Ca(OH)_2$ and $CO_2$ as reactants in the presence of $MgCl_2$ and characterized with scanning electronic microscopy (SEM) and X-ray diffraction (XRD). The physical and optical properties of the paper handsheets containing these needle-like aragonite fillers were evaluated. Results indicated that tensile strength, Z-direction tensile strength and folding endurance of the paper were improved by the needle-like aragonite crystals compared to the paper using commercial PCC (precipitated calcium carbonate) as filler. The stiffness of the paper handsheet on the machine direction was increased, but no evident difference in the cross direction was found. The improvement of paper strength mainly resulted from the twining effect between the aragonite whiskers and paper fibers. The optical properties of the paper were slightly decreased with the use of the needle-like aragonites compared to commercial PCC. These results suggest that paper cost can be decreased by increasing the content of needle-like aragonite filler while paper strength will not be decreased compared to PCC filler.

Establishing a Nomogram for Stage IA-IIB Cervical Cancer Patients after Complete Resection

Zhou, Hang,Li, Xiong,Zhang, Yuan,Jia, Yao,Hu, Ting,Yang, Ru,Huang, Ke-Cheng,Chen, Zhi-Lan,Wang, Shao-Shuai,Tang, Fang-Xu,Zhou, Jin,Chen, Yi-Le,Wu, Li,Han, Xiao-Bing,Lin, Zhong-Qiu,Lu, Xiao-Mei,Xing, H Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.9

Background: This study aimed to establish a nomogram by combining clinicopathologic factors with overall survival of stage IA-IIB cervical cancer patients after complete resection with pelvic lymphadenectomy. Materials and Methods: This nomogram was based on a retrospective study on 1,563 stage IA-IIB cervical cancer patients who underwent complete resection and lymphadenectomy from 2002 to 2008. The nomogram was constructed based on multivariate analysis using Cox proportional hazard regression. The accuracy and discriminative ability of the nomogram were measured by concordance index (C-index) and calibration curve. Results: Multivariate analysis identified lymph node metastasis (LNM), lymph-vascular space invasion (LVSI), stromal invasion, parametrial invasion, tumor diameter and histology as independent prognostic factors associated with cervical cancer survival. These factors were selected for construction of the nomogram. The C-index of the nomogram was 0.71 (95% CI, 0.65 to 0.77), and calibration of the nomogram showed good agreement between the 5-year predicted survival and the actual observation. Conclusions: We developed a nomogram predicting 5-year overall survival of surgically treated stage IA-IIB cervical cancer patients. More comprehensive information that is provided by this nomogram could provide further insight into personalized therapy selection.

A 10-Year Retrospective Analysis of Clinical Profi Les, Laboratory Characteristics and Management of Pyogenic Liver Abscesses in a Chinese Hospital

( Xiao Juan Zhu ),( Shao Hui Wang ),( Ravi Jacob ),( Zhi Ning Fan ),( Fa Ming Zhang ),( Guo Zhong Ji ) 대한소화기기능성질환·운동학회 2011 Gut and Liver Vol.5 No.2

Background/Aims: Pyogenic liver abscess (PLA) is a serious, life threatening condition with a high mortality rate that represents a diagnostic and therapeutic challenge. The aim of this study was to collect demographic data and clinical, laboratory and microbiological characteristics of PLA patients treated between 2000 and 2010. We also aimed to collect information regarding our management experience of these cases. Methods: As a retrospective review, 47 patients with PLA in a tertiary referral center were examined to determine their demographic characteristics, clinical features, and laboratory, imaging, and microbiologic findings as well as the treatment outcome. Results: Cryptogenic PLA was the most frequently identified type of PLA, while benign biliary tract disease was the most frequently identifi able cause of PLA (18/47 patients; 38.3%). Leukocytosis and elevated alanine transaminase were common laboratory findings and were observed in 35 (74.5%) and 22 (46.8%) patients, respectively. Increased fibrinogen was also detected in 11 of 15 investigated cases (73.3%). Notably, infection-induced thrombocytopenia occurred in 8 patients (17%). Diabetes mellitus was associated with the occurrence of infection induced shock when compared to the non-diabetic group (p<0.05). Patients with two or more comorbid diseases had longer hospitalizations when compared to patients with one comorbid disease or those without comorbidities (p<0.001). The number of days needed to establish diagnosis was correlated with the length of hospitalization (p<0.001). The overall hospital mortality rate was 2.1% (1/47). Conclusions: Characteristics of PLA patients from the past 10 years are presented. The number of days needed to establish a PLA diagnosis was correlated with the length of the hospital stay. The hospital stay of PLA patients can be further improved by early diagnosis and effective treatments during the early stages of PLA progression. (Gut Liver 2011;5:221-227)

A prediction model of the sum of container based on combined BP neural network and SVM

Min-jie Ding,Shao-zhong Zhang,Haidong Zhong,Yao-hui Wu,Liang-bin Zhang 한국정보처리학회 2019 Journal of information processing systems Vol.15 No.2

The prediction of the sum of container is very important in the field of container transport. Many influencingfactors can affect the prediction results. These factors are usually composed of many variables, whosecomposition is often very complex. In this paper, we use gray relational analysis to set up a proper forecastindex system for the prediction of the sum of containers in foreign trade. To address the issue of the lowaccuracy of the traditional prediction models and the problem of the difficulty of fully considering all the factorsand other issues, this paper puts forward a prediction model which is combined with a back-propagation (BP)neural networks and the support vector machine (SVM). First, it gives the prediction with the data normalizedby the BP neural network and generates a preliminary forecast data. Second, it employs SVM for the residualcorrection calculation for the results based on the preliminary data. The results of practical examples show thatthe overall relative error of the combined prediction model is no more than 1.5%, which is less than the relativeerror of the single prediction models. It is hoped that the research can provide a useful reference for theprediction of the sum of container and related studies.