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Steering motion control of a snake robot via a biomimetic approach

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 32-44页

作者： Wenjuan OUYANG wenyu liang Chenzui LI Hui ZHENG Qinyuan REN Ping LI State Key Laboratory of Industrial Control Technology Zhejiang University Department of Electrical and Computer Engineering National University of Singapore Zhejiang University of Science and Technology

We propose a biomimetic approach for steering motion control of a snake robot. Inspired by a vertebrate biological motor system paradigm, a hierarchical control scheme is adopted. In the control scheme, an artificial central pattern generator(CPG) is employed to generate serpentine locomotion in the robot. This generator outputs the coordinated desired joint angle commands to each lower-level effector controller, while the locomotion can be controlled through CPG modulation by a higher-level motion controller. The motion controller consists of a cerebellar model articulation controller(CMAC) and a proportional-derivative(PD) controller. Because of the fast learning ability of the CMAC, the proposed motion controller can drive the robot to track the desired orientation and adapt to unexpected perturbations. The PD controller is employed to expedite the convergence speed of the motion controller. Finally, both numerical studies and experiments proved that the proposed approach can help the snake robot achieve good tracking performance and adaptability in a varying environment.

关键词： Snake robot Central pattern generator Cerebellar model articulation controller

Unsupervised Interpolation Recovery Method for Spectrum Anomaly Detection and Localization

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Space(Science & Technology) 2023年第1期3卷 560-571页

作者： Yishi Huang Shuai Yuan Naijin Liu Qing Li wenyu liang Lei Liu Shaanxi Aerospace Flight Vehicle Design Key Laboratory School of AstronauticsNorthwestern Polytechnical UniversityXi'anChina Qian Xuesen Laboratory of Space Technology China Academy of Space TechnologyBeijingChina Department of Electrical and Computer Engineering National University of SingaporeSingaporeSingapore

With the growing efficiency of the use of unlicensed spectrum,the challenge of ensuring spectrum security has become increasingly *** managers aim to accurately and efficiently detect and recognize anomaly behaviors in the *** this study,we propose a novel framework for spectrum anomaly detection and localization by spectrum interpolation *** interpolation recovery refers to the recovery of the rest of the spectrum distribution based on a part of the spectrum distribution,which is achieved through a masked autoencoder(MAE)model with a core of multi-head self-attention(MHSA)*** spectrum interpolation recovery method restores the region where the masked abnormal signals are present,yielding anomaly-free results,with the difference between the restored and the masked representing the anomaly *** proposed method has been demonstrated to effectively reduce model-induced over-recovery of anomalous signals and dilute large-scale generation errors caused by anomalies,thereby improving the detection and localization performance of anomaly signals,and improving the area under the receiver operating characteristic curve(AUC)and the area under the precision-recall curve(AUPRC)by 0.0382(3.68%)and 0.1992(68.90%),*** a designed dataset containing 3 variables of interference-to-signal ratio(ISR),signal-to-noise ratio(SNR),and anomaly type,the total recall of anomaly detection and localization at a 5%false alarm rate reached 0.8799 and 0.5536,***,a comparative study among different methods demonstrates the effectiveness and rationality of the proposed method.

关键词： interpolation spectrum thereby

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龙眼胚珠多胺含量变化与胚胎发育的关系

应用与环境生物学报 2005年第3期11卷 286-288页

作者：梁文裕陈伟福建农林大学生命科学学院

研究了龙眼胚胎发育与多胺(PAs)含量的关系.结果表明:正常发育的胚珠中多胺含量在胚胎发育的各个时期均高于败育胚珠.多胺含量在花后d 10最高,其中腐胺(Put)约占多胺总含量的65%;以后各发育阶段多胺含量逐渐下降,其中d 31～38下降幅度明... 详细信息

研究了龙眼胚胎发育与多胺(PAs)含量的关系.结果表明:正常发育的胚珠中多胺含量在胚胎发育的各个时期均高于败育胚珠.多胺含量在花后d 10最高,其中腐胺(Put)约占多胺总含量的65%;以后各发育阶段多胺含量逐渐下降,其中d 31～38下降幅度明显.不过,亚精胺(Spd)除d 10外在正常胚珠中含量也大于败育胚珠.(Spd+Spm)/(Put)和(Spm)/(PAs)比值变化与龙眼胚珠的发育有直接关系,表现为较高比值有利于胚胎发育,反之则抑制胚胎发育.多胺合成高峰先于核酸和蛋白质,推测多胺可能通过与核酸的相互作用参与核酸和蛋白质的合成和调节.

关键词：龙眼胚珠多胺胚胎发育

Analysis of differentially expressed antioxidant proteins in the drought-tolerant cyanobacterium,Nostoc flagelliforme subjected to desiccation

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Analysis of differentially expressed antioxidant proteins in...

Diverse functions of phosphorylation contributes to drought tolerance in Nostoc flagelliforme facilitated by comparative phosphoproteomic

生态文明建设中的植物学：现在与未来——中国植物学会第十五届会员代表大会暨八十周年学术年会

作者： wenyu liang Lingxia Wang Jing Shi Guilian Mao Xiaoting Lei Jia Yang School of Life Sciences Ningxia University School of Life Sciences Fujian Agriculture and Forestry University

Nostoc flagelliforme is a terrestrial nitrogen-fixing cyanobacterium which is distributed in arid or semiarid steppes in the western and north-western *** shows a strong ecological adaptability to xeric drought conditions.2-DE and MALDI-TOF/TOF-MS were conducted to separate and identify differentially expressed levels of antioxidant proteins in *** subjected to desiccation.A total of 5 kinds of antioxidant proteins(8 protein spots) that exhibited regulated expression were successfully identified,including peroxiredoxin,Mn-CAT,Fe-SOD,SOD and ferritin,which were all down-regulated except for peroxiredoxin when colonies were subjected to desiccation,these proteins may serve as molecular markers for *** when colonies were subjected to desiccation due to their obvious changes characteristics in expression ***,superoxide anion and H2O2 level,SOD,CAT and POD activities were increased firstly,and then markedly decreased when colonies were subjected to *** characteristics may contribute to our understanding of its survival strategy in dry habitats.

关键词： Nostoc flagelliforme 2-DE Differentially expressed antioxidant proteins Identification.

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Diverse functions of phosphorylation contributes to drought ...

中国植物学会第十六次全国会员代表大会暨85周年学术年会

作者： Fengkun Yan Lingxia Wang Xiaoxu Li Miaomiao Ding Meng Wang Jun Wang wenyu liang School of Agriculture Ningxia University School of Life Sciences Ningxia University College education for Nationalities Ningxia University

Terrestrial cyanobacteria originate from aquatic *** must form a unique mechanism of drought adaptation during the long term ***,the mechanism remains *** this study,we carried out a global and sitespecific phosphoproteomic analysis on Nostoc flagelliforme,a kind of terrestrial cyanobacteria being strong drought ecological *** total,329 phosphopeptides and 1168 phosphorylation sites from 224 proteins were identified through the combined use of protein/peptide prefractionation,TiO2 enrichment,and LC-MS/MS *** identified phosphoproteins were functionally categorized and found to be involved in various biological processes such as photosynthesis,ROS scavenging,cell wall synthesis and two-component signaling *** results revealed that the content of photosynthesis products,sucrose,trehalose and soluble sugar were significantly *** saccharides play a key role in osmotic *** also found that the content of glycogen was significantly *** result suggests that glycogen could serve as a supportive rather than a competitive carbon pool for the synthesis of *** treatment caused an increase in activity of antioxidant enzymes like Trx,CAT,APX and MDHAR with water *** data provide the first global survey of phosphorylation in terrestrial cyanobacteria by using phosphoproteomic *** provided data may help to reveal the physiological functions underlying phosphorylation and entire signaling networks in terrestrial cyanobacteria.

关键词： Nostoc flagelliforme phosphoproteomic photosynthesis drought tolerance

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多胞铝合金薄壁管耐撞性分析与区间优化设计

汽车工程 2024年第7期46卷 1323-1333页

作者：钱立军俞陆新谷先广梁文宇合肥工业大学汽车与交通工程学院合肥230009 安徽机电职业技术学院机械工程学院芜湖241002

铝合金多胞薄壁管轴向压缩在能量吸收方面比普通方形管具有更优的力学性能,在汽车、航空、军事装备以及其他产业应用前景非常广泛。为研究挤压型材6061-T6铝合金材料各向异性特征,在板材上分别沿挤压方向0°、45°、90°取样进行单轴拉... 详细信息

铝合金多胞薄壁管轴向压缩在能量吸收方面比普通方形管具有更优的力学性能,在汽车、航空、军事装备以及其他产业应用前景非常广泛。为研究挤压型材6061-T6铝合金材料各向异性特征,在板材上分别沿挤压方向0°、45°、90°取样进行单轴拉伸力学特性试验,获取相应的应力-应变曲线和各向异性特征参数,基于各向异性硬化行为的屈服准则建立材料本构模型。设计口字、日字、目字等构型截面并对管件进行准静态压溃试验,通过对比分析变形-压溃力曲线表明目字型多胞铝合金薄壁结构具有更加优越的耐撞性能。为进一步获得目字型薄壁管最优设计参数,考虑泊松比、弹性模量等材料参数波动对结构耐撞性能产生不确定性影响,建立多胞铝合金薄壁管耐撞性区间不确定性优化模型,采用区间可能度方法将其转化为确定性问题,结合人工神经网络(artificial neural networks,ANNs)模型与交错投影寻踪遗传算法(intergeneration projection genetic algorithm,IP-GA)方法对该问题进行双层嵌套优化,分析不同可能度水平对不确定性优化结果的影响,为不同可靠性优化设计的选择提供指导性意见。

关键词：铝合金薄壁管材料本构多胞结构耐撞性区间优化

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电子显示纺织品的设计与集成

Science China Materials 2023年第10期66卷 3782-3794页

作者：季东晓梁雯宇滕飞李欣欣覃小红 Key Laboratory of Textile Science&Technology Ministry of EducationCollege of TextilesDonghua UniversityShanghai 201620China

显示器是现代电子产品中人与机器交互的重要媒介.将显示器与纺织品相结合,已成为下一代智能可穿戴设备领域备受瞩目的方向之一.然而,从传统的刚性显示器向基于纺织品的柔性显示器过渡面临着诸多挑战,比如对显示器的纺织柔性化设计与精... 详细信息

显示器是现代电子产品中人与机器交互的重要媒介.将显示器与纺织品相结合,已成为下一代智能可穿戴设备领域备受瞩目的方向之一.然而,从传统的刚性显示器向基于纺织品的柔性显示器过渡面临着诸多挑战,比如对显示器的纺织柔性化设计与精确集成技术的要求不断提高.这篇综述将重点概述这一领域最前沿的研究成果,主要涉及发光原理、典型材料以及结构设计的相互关联,其中纺织品和电子显示系统的无缝集成是本文的重点.此外,我们还将探索纺织品电子显示器的预期发展轨迹,并强调纱线发光器件的重要作用,以及微电子工程的集成方法和技术所带来的主要挑战.

关键词： display textiles integration wearable electronics smart yarns electroluminescence

文化主题性公园造园特色及策略研究——以安阳市汉字公园为例

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林业调查规划 2023年第4期48卷 216-219,225页

作者：梁文玉安阳易园管理站河南安阳455000

安阳市汉字公园及中国文字博物馆等展馆群联成一体,是以汉字文化为主题的大型高品质综合性公园。通过实地调研,从山体、理水、园林小品、植物四大造园要素进行分析,研究其造园艺术特色,对“汉字之韵”“汉字之变”“汉字之趣”“汉字之... 详细信息

安阳市汉字公园及中国文字博物馆等展馆群联成一体,是以汉字文化为主题的大型高品质综合性公园。通过实地调研,从山体、理水、园林小品、植物四大造园要素进行分析,研究其造园艺术特色,对“汉字之韵”“汉字之变”“汉字之趣”“汉字之源”“汉字力量”“汉字之美”等庭院空间进行造园策略探讨,总结造园中的不足,探讨新时期风景园林融合历史文化元素的应用新模式和新方法。

关键词：汉字文化造景艺术造园要素安阳市汉字公园

异烟酸-吡唑啉酮分光光度法测定水质总氰化物含量的不确定度评定

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皮革制作与环保科技 2022年第22期3卷 25-27页

作者：梁文钰广东建研环境监测股份有限公司广东广州510700

以异烟酸-吡唑啉酮分光光度法测定水质中总氰化物的含量,并对实验过程中引入的测量不确定度进行评定。本实验表明,该水样总氰化物浓度为0.0546 mg/L,扩展不确定度为0.003 mg/L,k=2,校准曲线的建立和拟合对测量不确定度的贡献最大,是本... 详细信息

以异烟酸-吡唑啉酮分光光度法测定水质中总氰化物的含量,并对实验过程中引入的测量不确定度进行评定。本实验表明,该水样总氰化物浓度为0.0546 mg/L,扩展不确定度为0.003 mg/L,k=2,校准曲线的建立和拟合对测量不确定度的贡献最大,是本实验测量不确定度的主要来源。

关键词：总氰化物含量的测定异烟酸-吡唑啉酮分光光度法测量不确定度