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Attitude coordination for spacecraft formation with multiple communication delays

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Chinese Journal of Aeronautics 2015年第2期28卷 527-534页

作者： Guo Yaohua lu pingli Liu Xiangdong School of Automation Beijing Institute of Technology

Communication delays are inherently present in information exchange between space- craft and have an effect on the control performance of spacecraft formation. In this work, attitude coordination control of spacecraft formation is addressed, which is in the presence of multiple communication delays between spacecraft. Virtual system-based approach is utilized in case that a constant reference attitude is available to only a part of the spacecraft. The feedback from the virtual systems to the spacecraft formation is introduced to maintain the formation. Using backstepping control method, input torque of each spacecraft is designed such that the attitude of each spacecraft converges asymptotically to the states of its corresponding virtual system. Furthermore, the back- stepping technique and the Lyapunov-Krasovskii method contribute to the control law design when the reference attitude is time-varying and can be obtained by each spacecraft. Finally, effectiveness of the proposed methodology is illustrated by the numerical simulations of a spacecraft formation.

关键词： Attitude coordination Backstepping Delay control systems Formation Lyapunov-Krasovskii

Decentralized Event-Triggered Output Consensus for Heterogeneous Multi-Agent Systems with General Linear Dynamics 36

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Decentralized Event-Triggered Output Consensus for Heterogen...

第36届中国控制会议

作者： Xiangdong Liu Changkun Du Haikuo Liu pingli lu School of Automation Beijing Institute of Technology

ISBN: (纸本)9781538629185

In this paper,we study the event-triggered consensus problem for heterogeneous multi-agent systems with general linear dynamics under a general directed *** the states of each agent are unavailable,we propose a decentralized eventtriggered consensus control strategy based on observer and internal model principle such that the outputs of all agents achieve consensus,without requiring continuous communication among the *** feasibility of the event-triggered strategy is further verified by the exclusion of Zeno behavior,that is,the event would not be triggered ***,simulation is given to illustrate the theoretical analysis.

关键词： Event-triggered consensus control heterogeneous multi-agent systems general linear dynamics

The Application of Impedance Control in Rotation-Traction Manipulation Bionic Robot 36

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The Application of Impedance Control in Rotation-Traction Ma...

第36届中国控制会议

作者： Guancheng Li pingli lu Liwei Shao Chunyu Gao Jian Li School of Automation Beijing Institute of Technology Research Institute of BIT in Zhongshan Department of the Second Spinal Orthopedics Wangjing Hospital of China Academy of Traditional Chinese Medicine Sciences

ISBN: (纸本)9781538629185

This article demonstrates a novel robot applied in the Chinese Traditional Medicine clinical teaching *** an effective therapy towards cervical spondylosis,the rotation-traction manipulation has been adopted extensively in ***,medical malpractice may occur due to the lack of clinical ***,it is crucial to design a simulation robot for practice purpose and evaluate the rotation-traction manipulation as a *** emulator should imitate the motion of a real human neck when interacting directly with a medical clerk,hence,it must be designed according to specific biomechanics and safety protection *** this paper,a position-based impedance control algorithm which is constitutive of force detection and position control is applied to the simulation *** the one hand it has flexible properties,which converts external force signal into position command to simulate a human *** the other hand,it can detect the direction of the traction force,which reflects the accuracy of the rotation-traction ***,a specially designed experiment has been carried out to test the motion characteristics and rotation-traction manipulation evaluation function of the simulation robot.

关键词： robotics position-based impedance control Chinese Traditional Medicine rotation-traction manipulation

Arabidopsis PTD Is Required for Type Ⅰ Crossover Formation and Affects Recombination Frequency in Two Different Chromosomal Regions

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Journal of Genetics and Genomics 2014年第3期41卷 165-175页

作者： pingli lu Asela J.Wijeratne Zhengjia Wang Gregory P.Copenhaver Hong Ma Institute of Plant Biology Institute of GeneticsSchool of Life SciencesFudan University Department of Biology and the Huck Institutes of the Life Sciences Pennsylvania State UniversityUniversity Park Molecular and Cellular Imaging Center(MCIC) Ohio State University/OARDCWooster School of Forestry and Biotechnology Zhejiang A&F University Department of Biology and the Carolina Center for Genome Sciences University of North Carolina at Chapel Hill Lineberger Comprehensive Cancer Center University of North Carolina School of Medicine

In eukaryotes, crossovers together with sister chromatid cohesion maintain physical association between homologous chromosomes, ensuring accurate chromosome segregation during meiosis I and resulting in exchange of genetic information between homologues. The Arabidopsis PTD （Parting Dancers） gene affects the level of meiotic crossover formation, but its functional relationships with other core meiotic genes, such as AtSP011-1, AtRAD51, and AtMSH4, are unclear; whether PTD has other functions in meiosis is also unknown. To further analyze PTD function and to test for epistatic relationships, we compared the meiotic chromosome behaviors ofAtspoll-1 ptd and Atrad51 ptd double mutants with the relevant single mutants. The results suggest that PTD functions downstream of AtSP011-1 and AtRAD51 in the meiotic recombination pathway. Furthermore, we found that meiotic defects in rck pM and Atmsh4 ptd double mutants showed similar meiotic phenotypes to those of the relevant single mutants, providing genetic evidences for roles of PTD and RCK in the type I crossovers pathway. Moreover, we employed a pollen tetrad-based fluorescence method and found that the meiotic crossover frequencies in two genetic intervals were significantly reduced from 6.63% and 22.26% in wild-type to 1.14% and 6.36%, respectively, in the ptd^2 mutant. These results revealed new aspects of PTD function in meiotic crossover formation.

关键词： PTD Meiosis MSH4 Crossover Recombination frequency

Pinpointing Source of Mekong and Measuring Its Length Through Analysis of Satellite Imagery and Field Investigations

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Geo-Spatial Information Science 2007年第1期10卷 51-56页

作者： LIU Shaochuang lu pingli LIU Donghui JIN Peidong Institute of Remote Sensing Applications Chinese Academy of Sciences 3 Datun Road Chaoyang District Beijing 100101 China.

For centuries, explorers and scientists from different countries had made their own conclusions on the source of the Mekong. However, the geographic source of the Mekong is still arguable because of the complexity of the Mekong source water system, inaccessible environment and the varied technologies used by those explorers and scientists. The satellite remote sensing technology has been used to pinpoint the source of the Mekong, associated with the on-the-spot investigations made by the authors in June 1999 and September 2002. The actual length of the Mekong has also been calculated.

关键词： source of Mekong satellite imagery field investigation

Decentralized H∞ control for attitude coordination of spacecraft formation

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Decentralized H∞ control for attitude coordination of space...

第36届中国控制会议

作者： pingli lu Gang Liu Xiangdong Liu School of Automation Beijing Institute of Technology

In this paper, a robust H decentralized controller is proposed for attitude coordination of spacecraft formation flying with external disturbance based on the relative attitudes and angular velocities of neighboring spacecraft. The controller is composed of nonlinear terms for performance enhancement and linear terms for attitude coordination and stabilization. The proposed control method guarantees the attitude alignment with zero final angular velocity and robust disturbance attenuation for spacecraft formation when the communication topology is connected. A feature of the proposed approach is that the robust Hcontroller parameters can be obtained by solving linear matrix inequalities(LMIs), which makes the design more ***, the numerical simulations of a spacecraft formation are provided to show the effectiveness of the proposed consensus algorithm.

关键词： Attitude coordination linear matrix inequality nonlinear H∞ control multiple spacecraft spacecraft formation

Post-transcriptional regulation of grain weight and shape by the RBP-A-J-K complex in rice

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Journal of Integrative Plant Biology 2024年第1期66卷 66-85页

作者： Ding Ren Hui Liu Xuejun Sun Fan Zhang Ling Jiang Ying Wang Ning Jiang Peiwen Yan Jinhao Cui Jinshui Yang Zhikang Li pingli lu Xiaojin luo State Key Laboratory of Genetic Engineering and MOE Engineering Research Center of Gene Technology School of Life SciencesFudan UniversityShanghai 200438China State Key Laboratory of Crop Stress Adaptation and Improvement School of Life SciencesHenan UniversityKaifeng 475004China MOE Key Laboratory of Crop Physiology Ecology and Genetic Breeding College of AgronomyJiangxi Agricultural UniversityNanchang 330045China State Key Laboratory of Crop Gene Resources and Breeding Institute of Crop SciencesChinese Academy of Agricultural Sciences(CAAS)Beijing 100081China College of Agronomy Anhui Agricultural UniversityHefei 230036China

RNA-binding proteins(RBPs)are components of the post-transcriptional regulatory system,but their regulatory effects on complex traits remain *** an integrated strategy involving map-based cloning,functional characterizations,and transcriptomic and population genomic analyses,we revealed that RBP-K(LOC_Os08g23120),RBP-A(LOC_Os11g41890),and RBP-J(LOC_Os10g33230)encode proteins that form an RBP-A-J-K complex that negatively regulates rice yield-related *** of the RBP-A-J-K complex indicated RBP-K functions as a relatively non-specific RBP chaperone that enables RBP-A and RBP-J to function ***,RBP-J most likely affects GA pathways,resulting in considerable increases in grain and panicle lengths,but decreases in grain width and *** contrast,RBP-A negatively regulates the expression of genes most likely involved in auxin-regulated pathways controlling cell wall elongation and carbohydrate transport,with substantial effects on the rice grain filling process as well as grain length and ***,RBP-K is relatively ancient and highly conserved,whereas RBP-J and RBP-A are more ***,the RBP-A-J-K complex may represent a typical functional model for many RBPs and protein complexes that function at transcriptional and post-transcriptional levels in plants and animals for increased functional consistency,efficiency,and versatility,as well as increased evolutionary *** results clearly demonstrate the importance of RBP-mediated post-transcriptional regulation for the diversity of complex ***,rice grain yield and quality may be enhanced by introducing various complete or partial loss-of-function mutations to specific RBP genes using clustered regularly interspaced palindromic repeats(CRISPR)/CRISPR-associated protein 9 technology and by exploiting desirable natural tri-genic allelic combinations at the loci encoding the components of the RBP-A-J-K complex through marker-assisted select

关键词： GL11 grain weight and shape post-transcriptional regulation RNA-binding proteins

Adaptive Robust Control for Flexible Spacecraft with LQR Vibration Suppression

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Adaptive Robust Control for Flexible Spacecraft with LQR Vib...

第三十九届中国控制会议

作者： Chen Zhen Du Jing Liu Xiangdong lu pingli School of Automation Beijing Institute of Technology

This paper presents a combined strategy of the attitude control and vibration suppression for spacecraft with flexible appendages, in the presence of inertia parameter uncertainties and external disturbances. An adaptive robust output feedback controller is designed to achieve precise attitude control under parametric uncertainties and disturbances, and a LQR controller is proposed to suppress residual vibration. The effectiveness of the proposed method is verified by theorem proof and simulation results.

关键词： Flexible Spacecraft Adaptive Control Robust Control Linear Quadratic Regulator

Re-identifying Pedestrians via Part Based Method

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Re-identifying Pedestrians via Part Based Method

第三十九届中国控制会议

作者： pingli lu Yafei Wei Xiaowei Gu Wei Han Chao Li School of Automation Beijing Institute of Technology School of Electrical and Control Engineering North China University of Technology

Person re-identification（Re-id） has received more and more attention due to its wide applications and various approaches were proposed to solve the challenging task. In this paper, we adopt part-based model as the main method to perform person Re-id on the self-made dataset. In order to improve accuracy, transfer learning is applied in both a direct and indirect way by leveraging original public dataset Market-1501 and its transferred counterpart respectively. The transferred dataset is obtained by making the pedestrians in the original public dataset show similar styles to those of the self-made dataset while keeping their identities unchanged. Experimental results demonstrate the effectiveness of transfer learning and the superiority of applying transfer learning indirectly against applying transfer learning directly.

关键词： Person Re-identification Convolutional Neural Networks Generative adversarial Networks PCB