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Tracking Control of Wheeled Mobile Robots Using Iterative Learning Controller
Xiaochun Lu,Jumtao Fei 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, an iterative learning control (ILC) strategy is proposed to resolve the trajectory tracking problem of wheeled mobile robots (WMR) based on dynamic model. In the previous study of WMR trajectory tracking, ILC was usually applied to the WMR kinematical model with the assumption that desired velocity can be tracked immediately. However, this assumption can not be realized in the real world at all. The kinematics model and dynamic model of WMR are deduced in the paper, and the novel combination of D-type ILC algorithm and WMR dynamic model is presented. In order to analysis the convergence of the algorithm, the method of contracting mapping which shows that the designed controller can make the state error converge to zero completely when the iteration times tends to infinite, is adopted. The simulation results also demonstrate the effectiveness of D-type ILC in the WMR trajectory tracking problem.
Optimization Model of Reliable Data Storage in Cloud Environment Using Genetic Algorithm
Feng Liu,Haitao Wu,Xiaochun Lu,Xiyang Liu 보안공학연구지원센터 2014 International Journal of Grid and Distributed Comp Vol.7 No.6
Massive data storage is one of the great challenges for cloud computing service, and reliable storage of sensitive data directly affects quality of storage service. In this paper, based on analysis of data storage process in cloud environment, the cost of massive data storage is considered to be comprised of data storage price, data migration and communication; and the storage reliability consists of data transmission reliability and hardware dependability. A multi-objective optimization model for reliable massive storage is proposed, in which storage cost and reliability are the objectives. Then, a genetic algorithm for solving the model is designed. Finally, experimental results indicate that the proposed model is positive and effective.
The Correlation between Thyrotropin and Dyslipidemia in a Population-based Study
Li Lu,Beibei Wang,Zhongyan Shan,Fengwei Jiang,Xiaochun Teng,Yanyan Chen,Yaxin Lai,Jiani Wang,Haibo Xue,Sen Wang,Chenyan Li,He Liu,Ningna Li,Jiashu Yu,Liangfeng Shi,Xin Hou,Qian Xing,Xue Bai,Weiping Te 대한의학회 2011 Journal of Korean medical science Vol.26 No.2
This study investigated the relationship between serum thyrotrophin levels and dyslipidemia in subclinical hypothyroid and euthyroid subjects. A total of 110 subjects with subclinical hypothyroidism and 1,240 euthyroid subjects enrolled in this study. Patients with subclinical hypothyroidism had significantly lower high density lipoprotein cholesterol (HDL-C) levels than those who were euthyroid. The lipid profiles were each categorized and mean thyrotrophin levels were higher in subjects in the dyslipidemia subclasses than subjects in the normal subclasses. Thyrotrophin was positively associated with serum triglyceride and negatively associated with serum HDL-C in women. Thyrotrophin was also positively associated with total cholesterol (TC) in the overweight population along with TC and LDL-C in overweight women. In the euthyroid population, thyrotrophin was positively associated with TC in the overweight population. In conclusion, serum thyrotrophin was correlated with dyslipidemia in subclinical hypothyroid and euthyroid subjects; the correlation was independent of insulin sensitivity.
Pharmaceutical Logistics Forecasting of Beijing : An Exploratory Study
Yanfen Hou,Xiaochun Lu 보안공학연구지원센터 2016 International Journal of u- and e- Service, Scienc Vol.9 No.5
Pharmaceutical logistics is closely linked to national economy and people's livelihood. As the national medicine circulation industry development outline (2011-2015) and the new Good Supply Practice’s (GSP) promulgation and implementation in China, Beijing’s pharmaceutical logistics is facing great challenge. Analyzing the current pharmaceutical logistics service capability and predicting the future medical service demand can help us responding to future changes. In this paper, we have predicted the population of Beijing, analyzing medicine consumption per capita, predicting the demand of pallet spaces of Beijing’s pharmaceutical logistics in the future by using the Crystal Ball. We have come to the conclusion: the current storage capability of pharmaceutical logistics enterprises in Beijing can meet 77% demand. In 2020, pharmaceutical logistics enterprises in Beijing require 54, 7700 pallets for storage space, increasing 9,7700 pallets for warehouse to store medicine. We also find that the population has less influence on forecasting model. The logistics technology improvement will cause forecasting model unsuitable for future situation.
Parallel Distributed Acceleration Based on MPI and OpenMP Technology
Feng Liu,Haitao Wu,Xiaochun Lu,Xiyang Liu 보안공학연구지원센터 2015 International Journal of Grid and Distributed Comp Vol.8 No.6
In order to speed up data processing in a signal monitoring and evaluation system, we need to use a parallel method. It is obvious that the traditional stand-alone store has no ability to satisfy the performance requirements, and the use of single core CPU is unable to content the severe requirement of speed. Consequently, multi-machine parallel acceleration technique based on MPI (cooperated with multi-core parallel acceleration technique based on OpenMP) can effectively solve all above problems. In this paper, a parallel distributed acceleration framework based on MPI and Open MP technology was given. Experimental tests were carried to verify our proposal. Finally, some suggestions to speed up the data processing was given.