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Autonomous trajectory tracking control method for an agricultural robotic vehicle

International Journal of Agricultural and Biological Engineering 2024年第1期17卷 215-224页

作者： Jin Yan wenguang zhang Yong Liu Wei Pan Xiaoyu Hou Zhiyu Liu School of Computer Science and Engineering Nanjing University of Science and TechnologyNanjing 210094China School of Information Engineering Xuzhou University of TechnologyXuzhou 221018JiangsuChina National Key Laboratory of Transient Physics Nanjing University of Science and TechnologyNanjing 210094China School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

To address the nonlinearities and external disturbances in unstructured and complex agricultural environments,this paper investigates an autonomous trajectory tracking control method for agricultural ground vehicles.Firstly,this paper presents the design and implementation of a lightweight,modular two-wheeled differential drive vehicle equipped with two drive wheels and two caster wheels.The vehicle comprises drive wheel modules,passive wheel modules,battery modules,a vehicle frame,a sensor system,and a control system.Secondly,a novel robust trajectory tracking method was proposed,utilizing an improved pure pursuit algorithm.Additionally,an Online Particle Swarm Optimization Continuously Tuned PID(OPSO-CTPID)controller was introduced to dynamically search for optimal control gains for the PID controller.Simulation results demonstrate the superiority of the improved pure pursuit algorithm and the OPSO-CTPID control strategy.To validate the performance,the vehicle was integrated with a seeding and fertilizing machine to realize autonomous wheat seeding in an agricultural environment.Experimental outcomes reveal that the vehicle of this study completed a seeding operation exceeding 1 km in distance.The proposed method can robustly and smoothly track the desired trajectory with an accuracy of less than 10 cm for the root mean square error(RMSE)of the curve and straight lines,given a suitable set of parameters,meeting the requirements of agricultural applications.The findings of this study hold significant reference value for subsequent research on trajectory tracking algorithms for ground-based agricultural robots.

关键词： trajectory tracking autonomy control agricultural robotic vehicle online PSO continuously tuned PID dynamic pure pursuit algorithm

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Visible light-driven oxidation of non-native substrate by laccase attached on Ru-based metal-organic frameworks

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Journal of Environmental Sciences 2024年第3期137卷 741-753页

作者： wenguang Huang Wentao zhang Guantongyi Chen Yun Chen Jun Ma Dawei Huang Qinzheng Zhaoc Bingdang Wu State Environmental Protection Key Laboratory of Environmental Pollution Health Risk Assessment South China Institute of Environmental SciencesMinistry of Ecology and Environment of PRCGuangzhou 510655China Tsinghua Shenzhen International Graduate School Tsinghua UniversityShenzhen 518055China School of Environmental Science and Engineering Suzhou University of Science and TechnologySuzhou 215002China Key Laboratory of Suzhou Sponge City Technology Suzhou 215002China

Light-induced electron transfer can broaden the substrate range of metalloenzyme.However,the efficiency of photo-enzyme coupling is limited by the poor combination of photosensitizer or photocatalyst with enzyme.Herein,we prepared the nano-photocatalyst MIL-125-NH_(2)@Ru(bpy)by in site embedding ruthenium pyridine-diimine complex[Ru(bpy)_(3)^(2+)into metal organic frameworks MIL-125-NH_(2)and associated it with multicopper oxidase(MCO)laccase.Compared to[Ru(bpy)_(3)]^(2+),the coupling efficiency of MIL-125-NH_(2)@Ru(bpy)_(3)for enzymatic oxygen reduction increased by 35.7%.A series of characterizations confirmed that the amino group of laccase formed chemical bonds with the surface defects or hydrophobic groups of MIL-125-NH_(2)@Ru(bpy)_(3).Consequently,the tight binding accelerated the quenching process and electron transfer between laccase and the immobilized ruthenium pyridine-diimine complex.This work would open an avenue for the synthesis of MOFs photocatalyst towards photo-enzyme coupling.

关键词： Laccase Light-driven biocatalysis Ruthenium photocatalyst Metal-organic frameworks Enzyme immobilization

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3D printedβ-sheet-reinforced natural polymer hydrogel bilayer tissue engineering scaffold

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Science China(Technological Sciences) 2024年第4期67卷 1170-1184页

作者： ZHAO XinRui NIE XiongFeng zhang XiaoPing SUN YaGe YANG Rong BIAN XinYu zhang Qian WANG HongYing XU ZiYang LIU wenguang School of Materials Science and Engineering Tianjin Key Laboratory of Composite and Functional MaterialsTianjin UniversityTianjin 300350China

It remains a significant challenge to fabricate natural polymer(NP)hydrogels with anti-swelling ability and high strengths in the physiological environment.Herein,theβ-sheet-reinforced NP hydrogel is developed by copolymerizing methacrylated gelatin(GelMA)and methacrylated silk fibroin(SFMA)in aqueous solution,followed by ethanol treatment(named GelMA-SFMAAL).Theβ-sheets formed by SFMA can act as a stable physical crosslink to enhance the mechanical properties and prolong the degradation of the GelMA network.Importantly,the chemical crosslinking in the GelMA-SFMA hydrogel prevents excessive aggregation of hydrophobicβ-sheets,thereby avoiding the formation of brittle hydrogel.The obtained GelMA-SFMA-AL hydrogels exhibit considerably enhanced mechanical properties(Young's modulus:0.89–3.68 MPa;tensile strength:0.31–0.96 MPa;toughness:0.09–0.63 MJ/m^(3);compressive modulus:0.78–2.20 MPa;compressive strength:2.65–5.93 MPa)compared with GelMA-SFMA hydrogels(Young's modulus:0.04–0.13 MPa;tensile strength:0.04–0.07 MPa;toughness:0.01–0.02 MJ/m^(3);compressive modulus:0.03–0.09 MPa;compressive strength:0.30–0.64 MPa).A bilayer osteochondral scaffold is constructed via digital light processing(DLP)three-dimensiaonl(3D)printing technology,comprising GelMA-SFMA@diclofenac sodium(DS)-AL as the top layer and GelMA-SFMA@bioactive glass(BG)-AL as the bottom layer.The bilayer hydrogel scaffold is demonstrated to support cell attachment and spreading,and facilitate osteogenic differentiation of rat bone marrow stem cells in vitro.In vivo implantation experiment suggests this bilayer scaffold is promising to be used for osteochondral tissue regeneration.

关键词： silk fibroin β-sheet high-strength hydrogel natural polymer osteochondral regeneration

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Molecular features of gastroenteropancreatic neuroendocrine carcinoma: A comparative analysis with lung neuroendocrine carcinoma and digestive adenocarcinomas

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Chinese Journal of Cancer Research 2024年第1期36卷 90-102页

作者： Jianwei zhang Hanxiao Chen Junli zhang Sha Wang Yanfang Guan wenguang Gu Jie Li Xiaotian zhang Jian Li Xicheng Wang Zhihao Lu Jun Zhou Zhi Peng Yu Sun Yang Shao Lin Shen Minglei Zhuo Ming Lu Key Laboratory of Carcinogenesis and Translational Research(Ministry of Education/Beijing) Department of Gastrointestinal OncologyPeking University Cancer Hospital&InstituteBeijing 100142China Department of Radiation Therapy National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital&Shenzhen HospitalChinese Academy of Medical Sciences and Peking Union Medical CollegeShenzhen 518172China Key Laboratory of Carcinogenesis and Translational Research(Ministry of Education/Beijing) Department I of Thoracic OncologyPeking University Cancer Hospital&InstituteBeijing 100142China Medical Department Nanjing Geneseeq Technology Inc.Nanjing 210061China Geneplus-Beijing Beijing 102200China State Key Laboratory of Holistic Integrative Management of Gastrointestinal Cancers Beijing Key Laboratory of Carcinogenesis and Translational ResearchDepartment of Gastrointestinal OncologyPeking University Cancer Hospital&InstituteBeijing 100142China Key Laboratory of Carcinogenesis and Translational Research(Ministry of Education/Beijing) Department of PathologyPeking University Cancer Hospital&InstituteBeijing 100142China

Objective: There is an ongoing debate about whether the management of gastroenteropancreatic(GEP)neuroendocrine carcinoma(NEC) should follow the guidelines of small-cell lung cancer(SCLC). We aim to identify the genetic differences of GEPNEC and its counterpart.Methods: We recruited GEPNEC patients as the main cohort, with lung NEC and digestive adenocarcinomas as comparative cohorts. All patients undergone next-generation sequencing(NGS). Different gene alterations were compared and analyzed between GEPNEC and lung NEC(LNEC), GEPNEC and adenocarcinoma to yield the remarkable genes.Results: We recruited 257 patients, including 99 GEPNEC, 57 LNEC, and 101 digestive adenocarcinomas.Among the mutations, KRAS, RB1, TERT, IL7R, and CTNNB1 were found to have different gene alterations between GEPNEC and LNEC samples. Specific genes for each site were revealed: gastric NEC(TERT amplification),colorectal NEC(KRAS mutation), and bile tract NEC(ARID1A mutation). The gene disparities between small-cell NEC(SCNEC) and large-cell NEC(LCNEC) were KEAP1 and CDH1. Digestive adenocarcinoma was also compared with GEPNEC and suggested RB1, APC, and KRAS as significant genes. The TP53/RB1 mutation pattern was associated with first-line effectiveness. Putative targetable genes and biomarkers in GEPNEC were identified in22.2% of the patients, and they had longer progression-free survival(PFS) upon targetable treatment [12.5 months vs. 3.0 months, HR=0.40(0.21-0.75), P=0.006].Conclusions: This work demonstrated striking gene distinctions in GEPNEC compared with LNEC and adenocarcinoma and their clinical utility.

关键词： Neuroendocrine carcinoma gastroenteropancreatic lung genetic alterations molecular markers

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Enhanced interphasial stability of hard carbon for sodium-ion battery via film-forming electrolyte additive

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Nano Research 2023年第3期16卷 3823-3831页

作者： wenguang zhang Fanghong Zeng Huijuan Huang Yan Yu Mengqing Xu Lidan Xing Weishan Li Engineering Research Center of MTEES(Ministry of Education) Research Center of BMET(Guangdong Province)Engineering Lab.of OFMHEB(Guangdong Province)Key Lab.of ETESPG(GHEI)and Innovative Platform for ITBMD(Guangzhou Municipality)School of ChemistrySouth China Normal UniversityGuangzhou 510006China Hefei National Laboratory for Physical Sciences at the Microscale Department of Materials Science and EngineeringCAS Key Laboratory of Materials for Energy ConversionUniversity of Science and Technology of ChinaHefei 230026China

Although the operating mechanism of sodium-ion battery(SIB)resembles that of lithium-ion battery,common film-forming additive for lithium-ion battery does not play its role in SIB.Therefore,it is essential to tailor new additives for SIB.Hard carbon(HC),as the most used anode material of SIB,has the disadvantage of interphasial instability,especially under the condition of long-term cycling.The incessant accumulation of electrolyte decomposition products leads to a significant increase in interphasial impedance and a sharp decline in discharge capacity.In this work,N-phenyl-bis(trifluoromethanesulfonimide)(PTFSI)was proposed as a novel film-forming electrolyte additive,which effectively enhances the long-term cycling performance for HC anode in SIB.The passivation film generated from the preferential reduction of PTFSI improves the capacity retention of HC/Na half-cell from 0%to 68%after 500 cycles.Profoundly,the enhanced interphasial stability of HC anode results in a 52%increase in capacity retention of HC/Na_(3)V_(2)(PO_(4))_(3)full-cells after 100 cycles.

关键词： hard carbon anode interphasial stability N-phenyl-bis(trifluoromethanesulfonimide) sodium-ion battery

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Innovative discontinuous-SEI constructed in ether-based electrolyte to maximize the capacity of hard carbon anode

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Journal of Energy Chemistry 2023年第4期79卷 459-467页

作者： Fanghong Zeng Lidan Xing wenguang zhang zhangyating Xie Mingzhu Liu Xiaoyan Lin Guangxia Tang Changyong Mo Weishan Li Engineering Research Center of MTEES(Ministry of Education) Research Center of BMET(Guangdong Province)Engineering Lab.of OFMHEB(Guangdong Province)Key Lab.of ETESPG(GHEI)and Innovative Platform for ITBMD(Guangzhou Municipality)School of ChemistrySouth China Normal UniversityGuangzhou 510006GuangdongChina

Compared with graphite,the lower sodiation potential and larger discharge capacity of hard carbon(HC)makes it the most promising anode material for sodium-ion battery.Utilizing ether-based electrolyte rather than conventional carbonate-based electrolyte,HC achieves superior electrochemical performance.Nevertheless,the mechanism by which ether-based electrolyte improves the properties of HC is still controversial,primarily focusing on whether it forms solid electrolyte interphase(SEI)film.In this work,according to the sodium storage mechanisms in HC at low voltage(<0.1 V),including Na^(+)-diglyme co-interaction into the carbon layer(SEI forbidden)and desolvated Na^(+)insertion in the irregular carbon holes(SEI required),the NaPF6concentration in ether-based electrolyte was regulated,so as to construct a discontinuous-SEI on the surface of the HC anode,which significantly enhances the electrochemical performances of HC.Specifically,with 0.2 M NaPF6ether-based electrolyte,HC deliverers a discharge capacity of 459.7 mA h g^(-1)at 0.1 C and stays at 357.2 mA h g^(-1)after 500 cycles at 1 C,which is substantially higher than that of higher/lower salt concentration electrolytes.

关键词： Sodium ion battery Hard carbon Ether-based electrolyte SEI/SEI-free

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单层与多层放大型黏弹阻尼器力学性能研究

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建筑结构学报 2024年第4期45卷 86-96页

作者：尚峰刘文光许浩张强上海大学土木工程系上海200444

为提高黏弹型阻尼器耗能效率,结合杠杆位移放大装置设计了3种放大型黏弹阻尼器,分别为单层放大型黏弹阻尼器、多层单向放大型黏弹阻尼器和多层双向放大型黏弹阻尼器。在线性Kelvin模型的基础上,提出了改进的非线性NLKelvin模型用于描述... 详细信息

为提高黏弹型阻尼器耗能效率,结合杠杆位移放大装置设计了3种放大型黏弹阻尼器,分别为单层放大型黏弹阻尼器、多层单向放大型黏弹阻尼器和多层双向放大型黏弹阻尼器。在线性Kelvin模型的基础上,提出了改进的非线性NLKelvin模型用于描述阻尼器的非线性力学特性,并建立了相应的力学模型。对单层放大型阻尼器与普通黏弹型阻尼器进行力学性能试验,试验结果表明:单层放大型阻尼器的阻尼力与耗能均得到了显著的提高,其阻尼力是普通阻尼器的5.41倍,耗能是普通阻尼器的3.09倍;试验滞回曲线与非线性NLKelvin模型吻合良好。针对附加4种不同减震方案的7层混凝土框架进行了动力时程响应分析,发现所提出的放大型黏弹阻尼器的响应控制能力均显著优于普通黏弹阻尼器的,其中附加单层、多层单向、多层双向放大型阻尼器结构的位移减震率分别为12.8%、32.5%、53.6%,附加阻尼比分别为2.9%、4.8%、6.1%,进一步验证了所提出的装置均具有良好的减震性能。

关键词：黏弹性阻尼器杠杆放大装置振动控制单层放大多层双向放大

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双壳体核电厂空间减震结构的竖向动力试验研究

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地震工程与工程振动 2024年第1期44卷 158-167页

作者：刘文光王宇端张强上海大学力学与工程科学学院上海200444

为降低核电厂内安全壳的竖向加速度,提出了一种双壳体空间减震结构,基于该结构的力学特性建立了简化三质点三自由度动力模型,进一步给出了结构响应传递函数并进行了参数分析,明确了结构质量比、阻尼比和频率比对结构竖向地震响应的影响... 详细信息

为降低核电厂内安全壳的竖向加速度,提出了一种双壳体空间减震结构,基于该结构的力学特性建立了简化三质点三自由度动力模型,进一步给出了结构响应传递函数并进行了参数分析,明确了结构质量比、阻尼比和频率比对结构竖向地震响应的影响规律,完成了双壳体空间减震结构的缩尺振动台动力试验。结果表明:双壳体空间减震结构可减小内安全壳的竖向加速度,减震率为12.23%~27.84%。双壳体空间减震结构的振动台试验响应结果与理论计算值吻合较好,验证了所提出的双壳体空间减震结构简化模型的准确性以及双壳体空间减震系统的有效性。

关键词：双壳体核电厂空间减震传递函数振动台试验竖向减震

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长江中下游城市内涝与雨季污染协同治理对策

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水资源保护 2024年第1期40卷 1-5,15页

作者：夏军贾海峰张翔张永勇骆文广武汉大学水资源工程与调度全国重点实验室湖北武汉430072 海绵城市建设水系统科学湖北省重点实验室湖北武汉430072 清华大学环境学院北京100084 中国科学院地理科学与资源研究所陆地水循环及地表过程重点实验室北京100101

针对长江中下游城市内涝与雨季污染协同治理的突出问题,对城市水安全、雨季水体返黑返臭风险和河湖水生态退化三方面存在的问题进行了论述。发现长江中下游城市河网密度高、降水量大、暴雨多发,同时人口密集、经济发展水平高,内涝、污... 详细信息

针对长江中下游城市内涝与雨季污染协同治理的突出问题,对城市水安全、雨季水体返黑返臭风险和河湖水生态退化三方面存在的问题进行了论述。发现长江中下游城市河网密度高、降水量大、暴雨多发,同时人口密集、经济发展水平高,内涝、污染、生态退化等水问题突出;城市内涝频发,雨季污染造成某些城市水体局部返黑返臭,严重影响城市水环境品质,成为制约长江中下游城市绿色发展的重要瓶颈问题。提出了建立三级内涝协同防治体系、构建城市“绿-灰-蓝”设施耦合工程体系、协同推进水体品质提升与生态修复等建议。

关键词：长中下游城市城市内涝雨季污染协同治理绿色发展

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A light-weight on-line action detection with hand trajectories for industrial surveillance

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Digital Communications and Networks 2021年第1期7卷 157-166页

作者： Peiyuan Ni Shilei Lv Xiaoxiao Zhu Qixin Cao wenguang zhang School of Mechanical Engineerings Shanghai Jiao Tong University Shanghai 201100China

Most of the intelligent surveillances in the industry only care about the safety of the workers.It is meaningful if the camera can know what,where and how the worker has performed the action in real time.In this paper,we propose a light-weight and robust algorithm to meet these requirements.By only two hands'trajectories,our algorithm requires no Graphic Processing Unit(GPU)acceleration,which can be used in low-cost devices.In the training stage,in order to find potential topological structures of the training trajectories,spectral clustering with eigengap heuristic is applied to cluster trajectory points.A gradient descent based algorithm is proposed to find the topological structures,which reflects main representations for each cluster.In the fine-tuning stage,a topological optimization algorithm is proposed to fine-tune the parameters of topological structures in all training data.Finally,our method not only performs more robustly compared to some popular offline action detection methods,but also obtains better detection accuracy in an extended action sequence.

关键词： Action detection Human-computer interaction Intelligent surveillance Machine learning

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