Study of Robustness Approximate Time-Optimal System

Xu, Song Yuan,Yao, Li Qiang,Rong, Hong Bing,Xu, Shao Qing 대한전자공학회 1992 HICEC:Harbin International Conference on Electroni Vol.1 No.1

Using the $quot;bang-bang$quot;control the system can obtain the optimal time. But there have the chatter and the bad robustness after considering the practical factors. If we use the chang structure principle, the chatter will be diminated and the system will get the strong robustness. This paper adopted this two kinds of the principles to design the satellite attitute control system and the satisfied results were received.

Metabolic dynamics across prolonged diapause development in larvae of the sawfly, Cephalcia chuxiongica (Hymenoptera: Pamphiliidae)

Xu Rong,Chen Yu-Hui,Xia Ju-Fei,Zeng Ting-Xiao,Li Yong-He,Zhu Jia-Ying 한국응용곤충학회 2021 Journal of Asia-Pacific Entomology Vol.24 No.2

Nutrient metabolism is crucial for the survival of insects through the diapause. However, little is known about the metabolic mechanism of prolonged diapause. The sawfly, Cephalcia chuxiongica (Hymenoptera: Pamphilii�dae), is a notorious defoliator of pine trees in southwest China. One of the distinguishing biological character�istics of this pest is the prolonged diapause of about 1.5 years. In this study, the body lipid, carbohydrate (total body sugar, glycogen, trehalose, and glucose), protein, and glycerol contents were measured in diapausing larvae of C. chuxiongica. The results showed that the changes of biochemical composition in C. chuxiongica are asso�ciated with the diapause initiation, maintenance, and termination phases. During the initiation phase, trehalose, glucose, and glycerol increased significantly, but glycogen decreased sharply. In general, the lipid, carbohydrate, and glycerol levels decreased gradually across the maintenance phase. At termination phase, the contents of glycogen and lipid persistently decreased, while an increase of trehalose, glucose, and glycerol contents were detected. The protein level was significantly higher at maintenance phase than at initiation and termination phases. It was also found that elevation of trehalose, glucose, and glycerol contents occurred in winter. These implies that the metabolites with altered levels in diapausing larvae of C. chuxiongica are responsible for maintaining a prolonged development and overwintering.

A New Approach for Modeling and Computation of Dynamics of Robots Containing Closed Chains

Xu,Xiang-Rong,Ma,Xiang-Feng,Choi,Young-Hyu,Chung,Won-Jee 창원대학교 공작기계기술연구센터 1999 연구업적집 Vol.1 No.1

This paper presents a new recursive algorithm of robot dynamics based on the Kane's dynamic equations and Newton-Euler formulations. Differing from Kane's work, the algorithm is general-propose and can be easily realized on computers. It is suited not only for robots with all rotary joints but also for robots with some prismatic joints Formulations of the algorithm keep the recurrence characteristics of the Newton-Euler formulations, but possess stronger physical significance. Unlike the conventional algorithms, such as the Lagrange and Newton-Euler algorithm, etc, the algorithm can be used to deal with dynamics of robots containing closed chains without cutting the closed chains open. In addition, this paper makes a comparison between the algorithm and those conventional algorithms from the number of multiplications and additions.

A Method for the Analysis of Robot Dynamics

Xu, Xiang-Rong,Choi, Young-Hyu,Chung, Won-Jee,Ma, Xiang-Feng 國立 昌原大學校 産業技術硏究所 1998 産技硏論文集 Vol.12 No.-

이 논문은 Kane의 동역학 방정식에 기초한 로봇 동역학의 새로운 循環 알고리즘을 제시한다. 이 알고리즘은 Kane의 동역학 방정식과 뉴톤-오일러 공식을 이용하여 얻어진다. 라그랑지-오일러(L-E)와 뉴우톤-오일러(N-E) 등과 같은 전통적 알고리즘과는 달리, 제안된 알고리즘은 간단하면서 確然하고, 閉체인을 그대로 포함된 로봇의 동역학을 푸는데 사용되어진다. 또한 이 알고리즘은 循環형태로 표현되어서 컴퓨터상에 구현하기 쉽기 때문에 로봇의 CAD(Computer0Aided Design)에 적합하다.

Choice of Capecitabine or S1 in Combination with Oxaliplatin based on Thymidine Phosphorylase and Dihydropyrimidine Dehydrogenase Expression Status in Patients with Advanced Gastric Cancer

Xu, Rong,He, Xiaolei,Wufuli, Reyina,Su, Ying,Ma, Lili,Chen, Ru,Han, Zhongcheng,Wang, Fang,Liu, Jiang The Korean Gastric Cancer Association 2019 Journal of gastric cancer Vol.19 No.4

Purpose: To study the efficacy of capecitabine or S-1 plus oxaliplatin (CAPOX or SOX) for treating thymidine phosphorylase (TP)- or dihydropyrimidine dehydrogenase (DPD)-positive advanced gastric cancer. Materials and Methods: Eighty-six patients with stage IIIC to IV gastric cancer were assessed for TP and DPD expression by immunohistochemistry. The association between CAPOX or SOX efficacy and TP/DPD expression was retrospectively analyzed. Results: There were no significant differences in the objective remission rate (ORR, 52.27% vs. 47.62%; P>0.05), disease control rate (72.73% vs. 73.81%, P>0.05), progression-free survival (hazard ratio [HR], 1.119; 95% confidence interval [CI], 0.739-1.741; P=0.586), and overall survival (OS; HR, 0.855; 95% CI, 0.481-1.511; P=0.588) between CAPOX and SOX. A higher number of stage IV patients showed TP positivity, while DPD-positive patients predominantly showed intestinal type of gastric cancer. In TP-positive patients, the ORRs associated with CAPOX and SOX treatments were 57.14% and 38.10%, respectively; OS was better with CAPOX than with SOX (HR, 0.447; 95% CI, 0.179-0.978; P=0.046). Among DPD-positive patients, the SOX treatment-associated ORR (60.87%) was significantly higher than the CAPOX treatment-associated ORR (43.48%). Furthermore, SOX treatment resulted in better OS than did CAPOX treatment (HR, 2.020; 95% CI, 1.019-4.837; P=0.049). Conclusions: No significant difference in clinical efficacy was found between CAPOX and SOX. TP-positive patients might respond better to CAPOX while DPD-positive patients may respond better to SOX. Our findings might serve as a guide for personalized chemotherapy for gastric cancer.

Luciferase Assay to Screen Tumour-specific Promoters in Lung Cancer

Xu, Rong,Guo, Long-Jiang,Xin, Jun,Li, Wen-Mao,Gao, Yan,Zheng, You-Xian,Guo, You-Hong,Lin, Yang-Jun,Xie, Yong-Hua,Wu, Ya-Qing,Xu, Rui-An Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.11

Objective: Specific promoters could improve efficiency and ensure the safety of gene therapy. The aim of our study was to screen examples for lung cancer. Methods: The firefly luciferase gene was used as a reporter, and promoters based on serum markers of lung cancer were cloned. The activity and specificity of seven promoters, comprising CEACAM5 (carcinoembryonic antigen, CEA), GRP (Gastrin-Releasing Peptide), KRT19 (cytokeratin 19, KRT), SFTPB (surfactant protein B, SP-B), SERPINB3 (Squamous Cell Carcinoma Antigen, SCCA), SELP (Selectin P, Granule Membrane Protein 140kDa, Antigen CD62, GMP) and DKK1 (Dickkopf-1) promoters were compared in lung cancer cells to obtain cancer-specific examples with strong activity. Results: The CEACAM5, DKK1, GRP, SELP, KRT19, SERPINB3 and SFTPB promoters were cloned. Furthermore, we successfully constructed recombinant vector pGL-CEACAM5 (DKK1, GRP, SELP, KRT19, SERPINB3 and SFTPB) contained the target gene. After cells were transfectedwith recombinant plasmids, we found that the order of promoter activity from high to low was SERPINB3, DKK1, SFTPB, KRT19, CEACAM5, SELP and GRP and the order for promoters regarding specificity and high potential were SERPINB3, DKK1, SELP, SFTPB, CEACAM5, KRT19 and GRP. Conclusion: The approach adopted is feasible to screen for new tumour specific promoters with biomarkers. In addition, the screened lung-specific promoters might have potential for use in lung cancer targeted gene therapy research.

An Improved Variable Step Size MPPT Algorithm Based on INC

Xu, Zhi-Rong,Yang, Ping,Zhou, Dong-Bao,Li, Peng,Lei, Jin-Yong,Chen, Yuan-Rui The Korean Institute of Power Electronics 2015 JOURNAL OF POWER ELECTRONICS Vol.15 No.2

In order to ensure that photovoltaic (PV) systems work at the maximum power point (MPP) and maximize the economic benefits, maximum power point tracking (MPPT) techniques are normally applied to these systems. One of the most widely applied MPPT methods is the incremental conductance (INC) method. However, the choice of the step size still remains controversial. This paper presents an improved variable step size INC MPPT algorithm that uses four different step sizes. This method has the advantages of INC but with the ability to validly adjust the step size to adapt to changes of the PV's power curve. The presented algorithm also simultaneously achieves increased rapidity and accuracy when compared with the conventional fixed step size INC MPPT algorithm. In addition, the theoretical derivation and specific applications of the proposed algorithm are presented here. This method is validated by simulation and experimental results.

Improved Model Predictive Control for H-bridge Cascaded STATCOM

Xu Rong,Yu Yong,Wu Jian,Yang Rongfeng,Xu Dianguo,Chen He,Yu Yannan,Ni Ronggang 전력전자학회 2015 ICPE(ISPE)논문집 Vol.2015 No.6

H-bridge cascaded static synchronous compensator (STATCOM) is often used to compensate the harmonic and reactive current derived from non-linear load. In order to improve the performance of STATCOM, an improved model predictive control (MPC) method is put forward in this paper. In the proposed MPC, the difference equations which are derived from the transfer functions of controlling variables and controlled variables in STATCOM are used as the predictive control model, the error between the output of STATCOM and predictive model is used to design feedback correction controller and rolling optimization controller. Meanwhile, the introduced repetitive controller is used to eliminate the inherent steady error. The actual H-bridge cascaded STATCOM is constructed and a series of verification tests are executed. The experimental results prove that the output voltage and current of H-bridge cascaded STATCOM with the proposed MPC have smaller distortion and better sinusoidal shape than those of the traditional Proportion Integral (PI) control. Moreover, the performance of H-bridge cascaded STATCOM is great in high power experiment.

Trajectory Planning of Robot Manipulators in Cartesian Space

Xu, Xiang-Rong,Choi, Young-Hyu,Chung, Won-Jee,Ma, Xiang-Feng 國立 昌原大學校 産業技術硏究所 1998 産技硏論文集 Vol.12 No.-

이 논문은 Luh의 연구[5]에 기초한 로봇의 CP(Continuous Path) 운동 궤적계획에 대한 알고리즘을 제시한다. 이동 경로는 직각좌표계의 매개변수 방정식 그룹으로 표현된다. 시간간격(0,T)은 m등분으로 분할되고 각 분할부분의 다항식 계수는 순환 형식으로 얻어진다. 본 논문에서는 최소시간 궤적계획 및 m분할 결정에 대한 연구를 하였다. 3차 곡선 스플라인 함수(cubic spline function) 방법과 비교해 보면, 제안된 알고리즘이 컴퓨터 프로그램으로 쉽게 변활될 뿐만 아니라 연산량이 적다.

A New Method for the Dynamic Analysis of Robots with Flexible Links

Xu,Xiang-Rong,Choi,Young-Hyu,Chung,Won-Jee 창원대학교 공작기계기술연구센터 1999 연구업적집 Vol.1 No.1

본 논문은 로봇 매니퓰레이터의 운동학적 탄성동역학 해석을 위한 새로운 방법을 제시한다. 분산 매개변수 방법에 기초하여 유연한 링크를 갖는 로봇 매니퓰레이터의 일반적인 운동 방정식을 유도하였다. 운동방정식의 결과식은 비선형 강체와 탄성운동 커플링 항을 갖는 일반 복합탄성 매니퓰레이터를 모델링하는 데 사용되어질 수 있다. 본 논문에서 제안된 방법은 계산적으로 효과적이며 로봇 매니퓰레이터 및 공간메커니즘의 유연성 해석에 이용될 수 있다.