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Controller Parameter Optimization for Multiple Balance Strategies

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Controller Parameter Optimization for Multiple Balance Strat...

第二十九届中国控制会议

作者： xing dengpeng,su jianbo department of automation,shanghai jiao tong university,shanghai 200240,P.R.china

Full-state feedback parametric controllers are proposed for standing balance of humanoid robots in response to impulsive and constant *** take use of multiple models to approach multiple strategies for standing *** each model,we design a controller acting on each state variable and optimize controller parameters for different push sizes,directions and *** show the performance of multiple models with optimized parametric controllers in response to different external *** comparing the capabilities of handling disturbances,each joint contributions to standing balance are also explored.

关键词： Parameter Optimization Multiple Balance Strategies Humanoid Robot

Motion Planning of Multi-robot Formation Based on Representation Space

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Motion Planning of Multi-robot Formation Based on Representa...

第三十一届中国控制会议

作者： CHAI Ruizhi su jianbo department of automation shanghai jiao tong university shanghai 200240 china

＜正＞The motion planning problem of multi-robot formation is investigated based on representation space（RS） in this *** representation space model of a multi-robot system is constructed to characterize all the task related attributes,which may include:location,orientation,size and *** external constraints of task realization are modeled as obstacle regions in representation ***,the formation planning task can be converted to trajectory searching in representation space. Based on the representation space framework,a hierarchical approach was *** of task can be evaluated in the representation space *** the task is infeasible,robot system and/or task model must be modified to make it feasible.

关键词： representation space formation planning evaluation of task feasibility motion planning

DMF-scMT-seq linking methylome and transcriptome within single cells with digital microfluidics

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Science china Chemistry 2024年第6期67卷 2070-2078页

作者： xing Xu Xi Zeng Xin Lin Shiyan Lin Shanshan Liang Tian Tian Rui su Jia Song Chaoyong Yang Collaborative Innovation Center of Chemistry for Energy Materials The MOE Key Laboratory of Spectrochemical Analysis and InstrumentationState Key Laboratory of Physical Chemistry of Solid SurfacesDepartment of Chemical BiologyCollege of Chemistry and Chemical EngineeringThe First Affiliated Hospital of Xiamen UniversityXiamen UniversityXiamen361005China Institute of Molecular Medicine Renji HospitalShanghai Jiao Tong University School of MedicineShanghai200127China Chemistry and Materials Science College Shanghai Normal UniversityShanghai200234China Chemistry and Biomedicine Innovation Center(ChemBIC) School of Chemistry and Chemical EngineeringNanjing UniversityNanjing210023China

Single-cell joint analysis of methylome and transcriptome reveals how the methylation regulates the transcriptional ***,traditional bench-top protocols for single-cell DNA methylation and RNA transcription co-detection are laborintensive,cost-ineffective and ***,we establish the DMF-sc MT-seq,a highly-efficient and cost-effective method to simultaneously analyze single-cell DNA methylation and transcriptional activity based on digital *** MT-seq automates the workflow of single-cell isolation,cellular hypotonic lysis,nucleic acid separation and methylome/transcriptome library construction in a contactless and addressable *** system ensures high accuracy(R>0.85),high gene detection ability(14,697 genes per cell at 4 million sequencing depth),and high CpG coverage(677,198 CpG sites per cell at 1million sequencing depth).By using DMF-sc MT-seq,the relationship of DNA methylation and RNA transcription under different genomic contexts is *** further apply DMF-sc MT-seq to study the dynamics of transcription regulation with methylation-inhibiting anti-tumor Decitabine,and identify the methylated promoter/gene body driven genes in response to Decitabine ***-sc MT-seq facilitates the construction of the correlation of DNA methylation and transcriptional activity at the single-cell level in a flexible,sensitive and accurate way,which is anticipated to be a powerful tool in studying single-cell biological systems.

关键词： single-cell analysis digital microfluidics methylome sequencing transcriptome sequencing

Narrow Passages Identification for Probabilistic Roadmap Method

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Narrow Passages Identification for Probabilistic Roadmap Met...

第三十届中国控制会议

作者： ZHONG Jiandong,su jianbo department of automation,shanghai jiao tong university,shanghai,200240,P.R.china

＜正＞With narrow passages in robot working space,the Probabilistic Roadmap Method（PRM） is hard to arrive at an efficient path due to unreasonable milestones in limited *** paper presents a hybrid sampling strategy in the PRM framework to improve the distributions of road *** proposes the Randomized Star Builder（RSB） to identify narrow passages in the workspace,and uses the hybrid strategy to sample road signs in the corresponding configuration *** density of points in the roadmap is then increased in the narrow ***,global roadmaps using Uniform Sampler are also configured to rationalize the milestone distribution so as to improve the path planning efficiency.A robot system of multiple degree-of-freedoms is exemplified in simulations to show the effectiveness of the proposed algorithm.

关键词： Robot path planning Narrow passages Probabilistic Roadmap Method Roadmap sampling Configuration space

Biped Walking Control Using Offline and Online Optimization

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Biped Walking Control Using Offline and Online Optimization

第三十届中国控制会议

作者： LIU Chenggang,su jianbo department of automation,shanghai jiao tong university,shanghai 200240,P.R.china

＜正＞The paper is aimed at an energetically efficient control method for biped *** walking cycle is composed of successive single-support phases and passive impacts.A parametric trajectory optimization method is implemented that finds symmetric,periodic,low torque walking gaits for a planar 5-link biped robot *** robot’s configuration is then regulated by RHC（receding horizon control） with the same optimization criterion *** the geometric evolution of the robot’s configuration is controlled,but not the temporal *** effectiveness of the proposed method is evaluated using simulated walking *** results show lower torques and more robustness from the proposed controller compared to a hand-tuned PD servo based walking controller.

关键词： Biped Walking Gait Optimization Receding Horizon Control

Trajectory Tracking and Optimal Obstacle Avoidance of Mobile Agent based on Data-driven Control

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Trajectory Tracking and Optimal Obstacle Avoidance of Mobile...

第二十九届中国控制会议

作者： xing Shaomin 1,GUAN Xinping 1,2,LUO Xiaoyuan 1 1.department of Electrical Engineering,Yanshan university,Qinhuangdao,066004,P.R.china2.School of Electronic and Electric Engineering,shanghai jiao tong university,shanghai,200240,P.R.china

This paper proposes an optimal obstacle avoidance and trajectory tracking method based on data-driven control *** an agent avoids obstacles,researchers always consider how to avoid the obstacles,but not consider how to avoid the obstacles in the minimum time,and how to achieve the optimal avoidance *** major of the paper is to utilize the data-driven control method to design the trajectory tracking controller and to look for the optimal obstacle avoidance path of the mobile *** order to realize the data-driven control,the unfalsified control theory is *** unfalsified control only uses the datum obtains the optimal controller *** simulation results demonstrate the effectiveness of proposed approach.

关键词： Optimal Obstacle Avoidance Data-driven Algorithm Unfalsified Control Theory Mobile Agent

Artificial cavernosa-like tissue based on multibubble Matrigel and a human corpus cavernous fibroblast scaffold

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Asian Journal of Andrology 2024年第3期26卷 260-267页

作者： Yu-Zhuo Chen Yi-Hong Zhou Min-Bo Yan Ming Xiao Biao Liu Ying-Hao Yin Xiao-Li Tan Yong-Quan Huang Yu-Hong Lin Ting Xie Jia-Li Tian Qi Wang Jian-Ying Li Zi-Zhou Meng Zheng Li Emily xing Yu-Xin Tang Ya-Wei Li Zhong-Zhen su Liang-Yu Zhao department of Ultrasound The Fifth Affiliated HospitalSun Yat-sen UniversityZhuhai 519000China department of Interventional Medicine Guangdong Provincial Key Laboratory of Biomedical ImagingThe Fifth Affiliated HospitalSun Yat-sen UniversityZhuhai 519000China department of Urology The Fifth Affiliated HospitalSun Yat-sen UniversityZhuhai 519000China department of Andrology the Center for Men’s HealthUrologic Medical CenterShanghai Key Laboratory of ReproductiveMedicineShanghai General HospitalShanghai Jiao Tong University School of MedicineShanghai 200080China Cedars-Sinai Medical Center Los AngelesCA 90024USA

Ex vivo tissue culture of the human corpus cavernosum(cc)can be used to explore the tissue structural changes and complex signaling *** present,artificial Cc-like tissues based on acellular or three-dimensional(3D)-printed scaffolds are used to solve the scarcity of primary penis tissue ***,inconvenience and high costs limit the wide application of such ***,we describe a simple,fast,and economical method of constructing artificial CC-like *** Cc fibroblasts(FBs),endothelial cells(ECs),and smooth muscle cells(SMCs)were expanded in vitro and mixed with Matrigel in specific proportions.A large number of bubbles were formed in the mixture by vortexing combined with pipette blowing,creating a porous,spongy,and spatial *** Cc FBs produced a variety of signaling factors,showed multidirectional differentiation potential,and grew in a 3D grid in Matrigel,which is necessary for CC-like tissue to maintain a porous structure as a cell *** the C-like tissue,ECs covered the surface of the lumen,and SMCs were located inside the trabeculae,similar to the structure of the primary *** cell components remained stable for 3 days in vitro,but the EC content decreased on the 7th ***/integrated(WNT)signaling activation led to lumen atrophy and increased tissue fibrosis in CC-like tissue,inducing the same changes in characteristics as in the primary *** study describes a preparation method for human artificial cC-like tissue that may provide an improved experimental platform for exploring the function and structure of the cC and conducting drug screening for erectile dysfunction therapy.

关键词： artificial tissue corpus cavernosum ex vivo fibroblasts

Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection Control

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 65-73页

作者： Lu Wang jianbo su the department of automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University

We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering dynamics of the servo actuators. Then, a hierarchical control scheme is applied to design the translational and rotational controllers based on the time-scale property of each subsystem, respectively. And the linear extended state observer and auxiliary observer are used to deal with the uncertainties and saturation. At last, global stability of the closed-loop system is analyzed based on the singular perturbation theory. Simulation results show the effectiveness of the proposed control strategy. © 2014 Chinese Association of automation.

关键词： Aircraft control Airships Closed loop control systems Closed loop systems Disturbance rejection Landing Perturbation techniques State estimation Takeoff Trajectories Unmanned vehicles Vehicles

Adaptive Flocking with a Virtual Leader of Multiple Agents Governed by Nonlinear Dynamics

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Adaptive Flocking with a Virtual Leader of Multiple Agents G...

第二十九届中国控制会议

作者： su Housheng 1,CHEN Guanrong 2,WANG Xiaofan3,LIN Zongli4 1.department of Control Science and Engineering,Huazhong university of Science and Technology,Wuhan 430074,P.R.china2.department of Electronic Engineering,City university of Hong Kong,Tat Chee Avenue,Kowloon,Hong Kong,P.R.china3.department of automation,shanghai jiao tong university,Dongchuan Road 800,shanghai 200240,P.R.china4.Charles L.Brown department of Electrical and Computer Engineering,university of Virginia,P.O.Box 400473,Charlottesville,VA 22904-4743,USA

We investigate the flocking problem of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity *** assume that only a fraction of agents in the network are informed and propose a connectivity-preserving flocking *** the assumption that the initial network is connected,we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the coupling strengths that enable all agents to track the virtual leader,without requiring the knowledge of the agent *** resulting flocking algorithm works even for the case where only one agent is informed.

关键词： Distributed control Adaptive flocking Nonlinear dynamics Multiple agents Virtual leader