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IEEE/CAA Journal of Automatica Sinica 2018年第3期5卷 683-690页

作者： Menghua Zhang Xin Ma rui song Xuewen Rong Guohui Tian Xincheng Tian Yibin Li School of Control Science and Engineering Shandong University

In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is *** Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.

关键词： Adaptability adaptive proportional-derivative sliding mode control(APD-SMC) coupling behavior La Salle’s invariance theorem Lyapunov techniques robustness underactuated overhead crane

Qualitative and Semi-quantitative Analysis of Quaternary Alkaloids in Coptis-scute Herb Couple by Electrospray Mass Spectrometry

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Chemical Research in Chinese Universities 2008年第2期24卷 162-166页

作者： LI Wei song Feng-rui LIU Zhi-qiang LIU Shu-ying Changchun Institute of Applied Chemistry Chinese Academy of Sciences Changchun Center of Mass Spectrometry Changchun 130022 P. R. China Graduate School of the Chinese Academy of Sciences Beijing 100039 R R. China

A practical solution of qualitatively analyzing quaternary alkaloids in coptis-scute herb couple by electrospray ionization mass spectrometry（ES1-MS） was developed. Without the complicated pretreatment of sample, thc active ingredients including berberine, palmatine, coptisine, jatrorrhizine, epiberberine, and columbamine were identified and some relative content changing rules of alkaloids in coptis-scute couple were summarized in this article. The overall profiles of the complex extracts were obtained. After adding an internal standard（rutaecarpine）, semi-quantitative analysis was performed and the result indicates that the actual content of alkaloids was decreased by increasing the amount of scute. Based on the data obtained by high-performance capillary electrophoresis（HPCE）, the feasibility of semi-quantitative analysis by ES1-MS was further proved.

关键词： ESI-MS Coptis Scute Quaternary alkaloids

Transparent and flame retardant cellulose/aluminum hydroxide nanocomposite aerogels

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Science China Chemistry 2016年第10期59卷 1335-1341页

作者： Bin Yuan Jinming Zhang Jian Yu rui song Qinyong Mi Jiasong He Jun Zhang Key Laboratory of Engineering Plastics Institute of Chemistry Chinese Academy of Sciences College of Chemistry and Chemical Engineering University of Chinese Academy of Sciences Sino-Danish Center for Education and Research Sino-Danish College at University of Chinese Academy of Sciences

Cellulose-based nanocomposite aerogels were prepared by incorporation of aluminum hydroxide(AH) nanoparticles into cellulose gels via in-situ sol-gel synthesis and following supercritical CO_2 drying. The structure and properties of cellulose/AH nanocomposite aerogels were investigated by Fourier transform infrared spectroscopy, scanning electron microscopy,ultraviolet-visible spectrometry, N_2 adsorption, thermogravimetric analysis, and micro-scale combustion calorimetry. The results indicated that the AH nanoparticles were homogeneously distributed within matrix, and the presence of AH nanoparticles did not affect the homogeneous nanoporous structure and morphology of regenerated cellulose aerogels prepared from1-allyl-3-methylimidazolium chloride solution. The resultant nanocomposite aerogels exhibited good transparency and excellent mechanical properties. Moreover, the incorporation of AH was found to significantly decrease the flammability of cellulose aerogels. Therefore, this work provides a facile method to prepare transparent and flame retardant cellulose-based nanocomposite aerogels, which may have great potential in the application of building materials.

关键词： cellulose nanocomposite aerogel flame retardant transparent aluminum hydroxide ionic liquid

FPC-BTB detection and positioning system based on optimized YOLOv5

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Biomimetic Intelligence & Robotics 2023年第4期3卷 56-66页

作者： Changyu Jing Tianyu Fu Fengming Li Ligang Jin rui song School of Control Science and Engineering Shandong UniversityJinan 250000China School of Information and Engineering Shandong Jianzhu UniversityJinan 250101China Shandong Industrial Technology Research Institute Jinan 250100China

With the aim of addressing the visual positioning problem of board-to-board(BTB)jacks during the automatic assembly of flexible printed circuit(FPC)in mobile phones,an FPC-BTB jack detection method based on the optimized You Only Look Once,version 5(YOLOv5)deep learning algorithm was proposed in this *** FPC-BTB jack real-time detection and positioning system was developed for the real-time target detection and pose output synchronization of the BTB *** that basis,a visual positioning experimental platform that integrated a UR5e manipulator arm and Hikvision industrial camera was built for BTB jack detection and positioning *** indicated by the experimental results,the developed FPC-BTB jack detection and positioning system for BTB target recognition and positioning achieved a success rate of 99.677%.Its average detection accuracy reached 99.341%,the average confidence of the detected target was 91%,the detection and positioning speed reached 31.25 frames per second,and the positioning deviation was less than 0.93 mm,which conforms to the practical application requirements of the FPC assembly process.

关键词： Detection and positioning systems Deep learning Small target detection Posture estimation Flexible printed circuit

A person-following method based on monocular camera for quadruped robots

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Biomimetic Intelligence & Robotics 2022年第3期2卷 34-42页

作者： Jinhao Liu Xiangyu Chen Chaoqun Wang Guoteng Zhang rui song School of Control Science and Engineering Shandong UniversityJinan 250061China Shandong Research Institute of Industrial Technology Jinan 250061China

This paper proposes a person-following method based on monocular vision,which allows quadruped robots to track a target person in both indoor and outdoor environments with different illumination *** method is composed of a person detector,a Kalman filter(KF)tracker,and a re-identification *** be more specific,the person detector uses a human pose estimation method to detect *** KF is applied to predict the position of the target person and update its state with detection results.A re-identification module is proposed to deal with distractions,where the Convolutional Channel Features(CCF)is used to extract appearance features and Online Boosting is used to distinguish the target person from ***,we design a target recapture mechanism based on the Recurrent Neural Network(RNN).Combining motion information with appearance features,the system can accurately re-identify the target *** extra customized markers,our method can track the target person steadily in real-time only using a monocular *** results can validate the robustness and effectiveness of the proposed method.

关键词： Person following Monocular vision Re-identification Quadruped robots

A three-component one-pot synthesis of 2-alkoxy-4-amino-N-arylthiazole-5-carboxamides

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Chinese Chemical Letters 2014年第3期25卷 411-414页

作者： Hai-Long Zhao Jie Zhou Hong-rui song Bai-Ling Xu Beijing Key Laboratory of Active Substance Discovery and Druggability Evaluation Institute of Materia Medica Chinese Academy of Medical Sciences & Peking Union Medical College Department of Pharmacy Engineering Shenyang Pharmaceutical University

A facile and efficient protocol was developed to access 2-alkoxy-4-amino-N-arylthiazole-5-carbox- amides through a three-component one-pot reaction, which involved potassium methyl cyanimido- dithiocarbonate, 2-halo-N-arylacetamides and alcohols. The easy availability and the broad structural diversity of substrates make the reaction useful for the construction of libraries in drug discovery.

关键词： 4-Aminothiazole-5-carboxamidePotassium methylcyanimidodithiocarbonateAcetamide

Thrust force model for ultrasonic-assisted micro drilling of DD6 superalloy

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Advances in Manufacturing 2022年第2期10卷 313-325页

作者： Xiao-Xiang Zhu Wen-Hu Wang rui-song Jiang Yi-Feng Xiong Xiao-Fen Liu Key Laboratory of High Performance Manufacturing for Aero Engine Ministry of Industry and Information TechnologySchool of Mechanical EngineeringNorthwestern Polytechnical UniversityXi'an 710072People's Republic of China Engineering Research Center of Advanced Manufacturing Technology for Aero Engine Ministry of EducationSchool of Mechanical EngineeringNorthwestern Polytechnical UniversityXi'an 710072People's Republic of China School of Aeronautics and Astronautics Sichuan UniversityChengdu 610065People's Republic of China

As a typical refractory material,the DD6 nickelbased single-crystal superalloy has important applications in the aviation ***-assisted drilling is an advanced machining method that significantly improves machining of refractory *** drilling thrust force influences the hole surface quality,burr height,and bit ***,it is necessary to predict the thrust force during ultrasonic-assisted ***,there are few reports on the modeling of the thrust force in the ultrasonicassisted drilling of micro-holes.A thrust force prediction model for ultrasonic-assisted micro-drilling is proposed in this *** on the basic cutting principle,the dynamic cutting speed,dynamic cutting thickness,and acoustic softening effect caused by ultrasonic vibrations are factored into this *** model calibration,the specific friction force and specific normal force coefficients were *** model was verified through ultrasonic-assisted drilling experiments conducted at different feed rates,spindle speeds,frequencies,and *** maximum and minimum errors of the average thrust force were 10.5%and 2.3%,*** model accurately predicts the thrust force based on the parameters used for ultrasonic-assisted micro-hole drilling and can assist in the analysis and modeling of DD6 superalloy processing.

关键词： Ultrasonic-assisted drilling DD6 superalloy:Thrust force model-Dynamic cutting thickness Acoustic softening effect

Video Recognition for Analyzing the Characteristics of Vehicle–Bicycle Conflict

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Computers, Materials & Continua 2021年第11期69卷 2779-2791页

作者： Xingjian Xue Zixu Wang Linjuan Ge Lirong Deng rui song Neal Naixue Xiong College of Logistics and Traffic Central South University of Forestry and TechnologyChangsha410004HunanChina Department of Mathematics and Computer Science Northeastern State UniversityTahlequah74464OKUnited States

Vehicle–bicycle conflict incurs a higher risk of traffic accidents,particularly as it frequently takes place at *** the traffic characteristics of vehicle–bicycle conflict and optimizing the design of intersections can effectively reduce such *** this paper,the conflict between right-turning motor vehicles and straight-riding bicycles was taken as the research object,and T-Analyst video recognition technology was used to obtain data on riding(driving)behavior and vehicle–bicycle conflict at seven intersections in Changsha,***,eight typical traffic characteristics of vehicle–bicycle conflict are summarized,the causes of vehicle–bicycle conflict are analyzed using 18 factors in three dimensions,the internal relationship between intersection design factors and traffic conflicts is explored,and the guiding of design optimization based on the width of bicycle lanes and the soft separation between vehicles and bicycles is *** results showed that colored paved bicycle lanes were better,performing better at a width of 2.5 m compared to 1.5 ***,the colored pavement was not suitable for the entire road and had to be set at the position,at which the trajectories of a bicycle and motor vehicle ***,a 2.5-m-wide bicycle lane provides good ***,there are still defects in the existing safety indicators,so it is necessary to develop new indicators to reflect real vehicle–bicycle conflict situations more comprehensively.

关键词： Vehicle-bicycle conflict video recognition technology bicycle lane width vehicle-bicycle separation method

Microstructure and wear behaviors of TiB/TiC reinforced Ti2Ni/α(Ti) matrix coating produced by laser cladding

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Rare Metals 2020年第3期39卷 304-315页

作者： Jin-Zhong Shao Jun Li rui song Lv-Lin Bai Jia-Li Chen Cui-Cui Qu School of Materials Engineering Shanghai University of Engineering ScienceShanghai201620China

A Ti2Ni/a(Ti)matrix composite coating reinforced by TiC and TiB was prepared on a Ti6A14V substrate by laser *** microstructure of the coating was examined and *** wear behavior of the coating at various sliding speeds was investigated from the perspective of energy dissipation,and the relationship between accumulated dissipated energy(ΣE)and accumulated wear volume(ΣV)was *** indicate a good linear relationship betweenΣE andΣV at low sliding speed(0.1 m·s-1);at higher sliding speed(0.2 m·s-1),the relationship between these parameters follows a quadratic *** results may be explained from the perspective of energy transformation,wherein the friction heat and plastic deformation of the coating surface consume a substantial amount ofΣE at high sliding speed(0.2 m·s-1)and the remainder of the energy is used to produce worn coating *** wear mechanism of the coating involves a combination of microcutting and brittle debonding accompanied by oxidization of the worn surface and formation of Al2O3 adherents.

关键词： Wear behaviors Coating Laser cladding Accumulated dissipated energy

Supercritical Fluid Extraction of Total Flavonoids from Leaves of Acanthopanax Senticosus Harms

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Chemical Research in Chinese Universities 2007年第2期23卷 233-236页

作者： LIU Chun-ming ZHAO Ji-min LI Hong-mei song Feng-rui Department of Chemistry Changchun Normal University Changchun 130032 P. R. China Changchun Institute of Applied Chemistry Chinese Academy of SciencesChangchun 130022 P. R. China

The herbal plant Acanthopanax Senticosus Harms is natural herb of Changbaishan in Jilin Province of China, which belongs to the Araliaceae family. As the ingredients of folk medicine, it has long been used to treat a variety of human diseases, such as cerebrovascular disease, diabetes, tumor, isochemic heart diseases, hypertension, rheumatic arthritis, etc. E2,33. Flavonoids, a class of constituent compounds, which have a broad distribution in the nature and are found in Acanthopanax Senticosus Harms, have gained particular attention. A number of studies have shown that flavonoid compounds have wide biological activities, such as anti-aging, anticancer, anti-HIV,

关键词： Supercritical fluid extraction(SFE) Acarahopanax Senticosus Harms Flavonoids