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Simulation and Experiment Based on FSMLC Method with EUPI Hysteresis Compensation for a Piezo-Driven Micro Position Stage

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Journal of Systems Science & Complexity 2019年第5期32卷 1340-1357页

作者： GAO Jinhai HAO Lina CHENG Hongtai CAO Ruimin sun zhiyong School of Mechanical Engineering&Automation Northeastern UniversityShenyang 110819China Department of Industrial and Manufacturing Systems Engineering The University of Hong KongHong KongChina.

Micro/nano positioning technologies have been attractive for decades in industrial and scientific applications fields. The actuators have inherent hysteresis that can cause system unexpected behave in some extend. In this research, the authors used extented unparallel Prandtl-Ishlinshii(EUPI)models to represent the input-output relationship of a piezo-driven micro position stage. Integral inverse(I-I) compensator is used for compensating the hysteresis characteristics of the micro positioning stage and compared with direct inverse(D-I) compensator and inverse model(I-M) compensator. However,the accuracy and the robustness of the I-I compensator are worse when there is noisy in the system,a novel sliding-mode-like-control with EUPI(SMLC-EUPI) method was proposed and analyzed by different trajectory tracking experiments in Matlab environment. Though the above strategies can alleviate most deviation, the adjustment of the SMLC’s parameters is very complex. So the fuzzy method is used to adjust these parameters and be verified by trajectory tracking experiments. Finally,for validating the proposed control method, the paper did the corresponding experiment in microscope with CMOS and obtained convincing results.

关键词： EUPI fuzzy hysteresis compensation micro position stage sliding-mode-like-control

Maneuvering Angle Rigid Formations With Global Convergence Guarantees

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IEEE/CAA Journal of Automatica Sinica 2022年第8期9卷 1464-1475页

作者： Liangming Chen Zhiyun Lin Hector Garcia de Marina zhiyong sun Mir Feroskhan School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Computer Architecture and Technology and also with CITICUniversity of Granada18014 GranadaSpain Department of Electrical Engineering Eindhoven University of Technology5600 MB Eindhoventhe Netherlands

Angle rigid multi-agent formations can simultaneously undergo translational,rotational,and scaling maneuvering,therefore combining the maneuvering capabilities of both distance and bearing rigid ***,maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are *** by angle-induced linear equations in 2D triangles and 3D tetrahedra,this paper aims to solve this challenging problem in both 2D and3D under a leader-follower *** the 2D case where the leaders have constant velocities,by using local relative position and velocity measurements,a formation maneuvering law is designed for the followers governed by double-integrator *** the leaders have time-varying velocities,a sliding mode formation maneuvering law is proposed by using the same *** the 3D case,to establish an angle-induced linear equation for each tetrahedron,we assume that all the followers'coordinate frames share a common Z ***,a formation maneuvering law is proposed for the followers to globally maneuver Z-weakly angle rigid formations in *** extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also *** examples are provided to validate the effectiveness of the proposed algorithms.

关键词： Index Terms—Angle rigid formations formation control formation maneuvering global convergence multi-agent systems

Modeling robotic operations controlled by natural language

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Control Theory and Technology 2017年第4期15卷 258-266页

作者： Yu Cheng Jiatong Bao Yunyi Jia Zhuhui Deng zhiyong sun Sheng Bi Congjian Li Ning Xi 1. Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 U.S.A. 2. Department of Industrial and Manufacturing Systems Engineering The University of Hong Kong Hong Kong Hong Kong 3. Department of Automotive Engineering Clemson University Greenville South Carolina 29607 U.S.A.

There are multiple ways to control a robotic system. Most of them require the users to have prior knowledge about robots or get trained before using them. Natural language based control attracts increasing attention due to its versatility and less requirements for users. Since natural language instructions from users cannot be understood by the robots directly, the linguistic input has to be processed into a formal representation which captures the task specification and removes the ambiguity inherent in natural language. For most of existing natural language controlled robotic system, they assume the given language instructions are already in correct orders. However, it is very likely for untrained users to give commands in a mixed order based on their direct observation and intuitive thinking. Simply following the order of the commands can lead to failures of tasks. To provide a remedy for the problem, we propose a novel framework named dependency relation matrix （DRM） to model and organize the semantic information extracted from language input, in order to figure out an executable sequence of subtasks for later execution. In addition, the proposed approach projects abstract language input and detailed sensory information into the same space, and uses the difference between the goal specification and temporal status of the task under implementation to monitor the progress of task execution. In this paper, we describe the DRM framework in detail, and illustrate the utility of this approach with experiment results.

关键词： Natural language control task planning human-machine interaction

A case of prostate embryonal rhabdomyosarcoma in an adult patient

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Oncology and Translational Medicine 2019年第1期5卷 49-51页

作者： Qi Wei zhiyong sun Department of Urology East District of First Affiliated Hospital of Anhui Medical University (Feidong People's Hospital)

Prostate embryonal rhabdomyosarcoma(ERMS) is characterized by a high degree of malignancy, both local rapid growth with formation of large pelvic masses, often leading to renal failure due to urethra obstruction, and systemic spread, commonly to the lungs, liver, and bone. ERMS of the prostate is a commonly occurring tumor in infants and children. It is rarely seen in adults. Here, we report on a case of the prostate ERMS in a 27-year-old man.

关键词： prostate embryonal rhabdomyosarcoma surgery

Corrosion Inhibition from Thiol Self-assembly Layer: A High Pressure Perspective

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Journal of Wuhan University of Technology(Materials Science) 2018年第6期33卷 1334-1343页

作者： REN quanqiang QIU Ri School of Materials Science and Engineering Wuhan University of Technology State Key Laboratory for Marine Corrosion and Protection Luoyang Ship Material Research Institute Key Laboratory of Marine Environmental Corrosion and Bio-fouling Institute of Oceanology Chinese Academy of Sciences

Taking dodecanethiol as the representative, we investigated the corrosion inhibition performance of SAL in seawater under pressures from 0.1 to 9 MPa. By using scanning Kelvin probe, the dodecanethiol SAL is confirmed to build on Cu surface, and the modification of SAL has positively shifted the surface potential to realize the inertness. Electrochemical techniques, such as electrochemical impedance spectroscopy and potentiodynamic polarization were used to reveal the corrosion behavior of Cu modified by SAL under the different pressure, i e, 0.1, 3, 6, and 9 MPa. It is indicated that the longer modification time affords better corrosion resistance to Cu. Higher static pressure is easier to deteriorate the corrosion inhibition capability due to the penetration effect. A plausible mechanism is proposed to illustrate the degradation process of SAL in the high pressure seawater environment.

关键词： high pressure corrosion self-assembled layer copper dodecanethiol

Kyphoplasty versus vertebroplasty for the treatment of malignant vertebral compression fractures caused by metastases： a retrospective study

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Chinese Medical Journal 2014年第8期127卷 1493-1496页

作者： Li Zhi Ni Caifang Chen Long sun zhiyong Yang Chao Zhao Xin Wang Yanwei Department of Interventional Radiology the First Affiliated Hospital of Soochow University Suzhou Jiangsu 215006 China Department of Orthopaedic Surgery the First Affiliated Hospital of Soochow University Suzhou Jiangsu 215006 China Department of General Surgery the First Affiliated Hospital of Soochow University Suzhou Jiangsu 215006 China

Background There are few comparative studies regarding kyphoplasty （KP） and vertebroplasty （VP） for the treatment of painful vertebral compression fractures （VCF） in patients with cancer. The purpose of this study is to retrospectively compare KP with VP in pain improvement, cement leakage incidence, and the cost of treatment of malignant VCE Methods We performed a retrospective study of clinical data for 80 patients with multiple spinal metastases, treated with KP in 42 cases and VP in 38. Visual analog scale （VAS） scores were collected pre-operatively, post-operatively, at 1 month, 6 months, and 1 year after treatment. Cement leakage was identified using fluoroscopy and CT scan. Total cost per patient was also collected. Results There was a significant difference between the pre- and post-operative VAS scores （7.4＋2.0 to 3.8＋1.6, P 〈0.001 in the KP group; 6.7＋2.4 to 3.7＋1.4, P 〈0.001 in the VP group）, and was maintained at 1-year follow-up （3.2＋1.4 in the KP group, 3.1＋1.3 in the VP group）. However, the difference in VAS score between these two groups was insignificant at baseline and every follow-up assessment post-operatively （P 〉0.05）. The incidence of cement leakage in the KP group was lower than that of the VP group （16.9% （14/83） vs 30.3% （23/76）, P 〈0.05）. However, none of the patients developed any symptoms. The length of postoperative hospital stay in the VP group was shorter than that of the KP group （（2.4＋1.3） vs （5.3＋1.9） days, P 〈0.05）. Total hospital cost in the KP group was much higher than that of the VP group （RMB Yuan 8 492_＋3 332 vs RMB Yuan 3 173~1 341, P〈0.01）. Conclusions VP and KP are both effective in providing pain relief for patients with cancer-related VCF. KP provides no greater degree of pain improvement. KP is associated with a lower rate of cement leakage compared with VP. VP is associated with lower cost and shorter postoperative hospital stay in China.

关键词： spinal metastases vertebral compression fractures kyphoplasty vertebroplasty

Enhanced visible-light-driven photocatalytic activities of 0D/1D heterojunction carbon quantum dot modified CdS nanowires

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Chinese Journal of Catalysis 2018年第4期39卷 841-848页

作者： Zhiwei Chen Chang Feng Weibing Li zhiyong sun Jian Hou Xiangbo Li Likun Xu Mingxian sun Yuyu Bu School of Environment and Safety Engineering Qingdao University of Science and TechnologyQingdao 266042ShandongChina State Key Laboratory for Marine Corrosion and Protection Luoyang Ship Material Research InstituteQingdao 266237ShandongChina Key Laboratory of Wide Band‐Gap Semiconductor Materials and Devices School of MicroelectronicsXidian UniversityXi’an 710071ShaanxiChina

Zero‐dimensional carbon dots(0D C‐dots)and one‐dimensional sulfide cadmium nanowires(1D CdS NWs)were prepared by microwave and solvothermal methods,respectively.A series of heterogeneous photocatalysts that consisted of 1D CdS NWs that were modified with 0D C‐dots(C‐dots/CdS NWs)were synthesized using chemical deposition *** mass fraction of C‐dots to CdS NWs in these photocatalysts was *** photocatalysts were characterized using X‐ray diffraction,scanning electron microscopy,transmission electron microscopy,X‐ray photoelectron spectroscopy,and ultraviolet‐visible *** photocatalytic performance for the spitting of water and the degradation of rhodamine B(RhB)under visible light irradiation were *** photocatalytic performance of the C‐dots/CdS NWs was enhanced when compared with that of the pure CdS NWs,with the 0.4%C‐dots/CdS NWs exhibiting the highest photocatalytic activity for the splitting of water and the degradation of *** enhanced photocatalytic activity was attributed to a higher carrier density because of the heterojunction between the C‐dots and CdS *** heterojunction improved the electronic transmission capacity and promoted efficient separation of photogenerated electrons and holes.

关键词： Semiconductor photocatalysis Heterojunction CdS nanowire Carbon quantum dot Water splitting

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强海杂波干扰的改善措施

数据采集与处理 2008年第B09期23卷 51-53页

作者：王俊林孙志勇解放军电子工程学院信息系合肥230037

雷达接收到的信号有:目标回波信号、直达波信号、海杂波信号和其它干扰。而目标回波信号极其微弱,淹没在海杂波干扰信号中。本文分析了对海杂波干扰的改善措施,并给出了仿真结果。

关键词：海杂波干扰改善措施

Attitude and pose formation control for multiple 3D rigid bodies based on unit quaternion representation

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Attitude and pose formation control for multiple 3D rigid bo...