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Dynamic Path Following Control of a Ground Ackerman Steering Robot to Avoid a Collision

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Journal of Beijing Institute of Technology 2017年第2期26卷 174-182页

作者： Guangming Xiong xiaoyun li School of Mechanical Engineering Beijing Institute of Technology Beijing 100081 China

A novel method is proposed to dynamically control the path following of a ground Ackerman steering robot to avoid a *** method consists of collision prediction module,collision avoidance module and global path following *** elliptic repulsive potential field method（ER-PFM）and the enhanced vector polar histogram method（VPH＋）based on the Ackerman steering model are proposed to predict the collision in a dynamic *** collision avoidance is realized by the proposed cost function and speed control *** global path following process is achieved by pure *** show that the robot can fulfill the dynamic path following task safely and efficiently using the proposed method.

关键词： dynamic path following collision avoidance elliptic repulsive potential field method(ER-PFM) improved vector polar histogram method (VPH +) Ackerman steering model

Electrolyte and current collector designs for stable lithium metal anodes

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International Journal of Minerals,Metallurgy and Materials 2022年第5期29卷 953-964页

作者： Simeng Zhang Gaojing Yang xiaoyun li Yejing li Zhaoxiang Wang liquan Chen Key Laboratory for Renewable Energy Chinese Academy of SciencesBeijing Key Laboratory for New Energy Materials and DevicesInstitute of PhysicsChinese Academy of SciencesBeijing 100190China College of Materials Science and Opto-Electronic Technology University of Chinese Academy of SciencesBeijing 100190China School of Physical Sciences University of Chinese Academy of SciencesBeijing 100190China

With the increasing demand for high energy-density batteries for portable electronics and large-scale energy storage systems,the lithium metal anode(LMA)has received tremendous attention because of its high theoretical capacity and low redox ***,the commercial application of LMAs is impeded by the uncontrolled growth of lithium *** dendrite growth may result in internal short circuits,detrimental side reactions,and the formation of dead ***,the growth of lithium metal must be *** article summarizes our recent efforts in inhibiting such dendrite growth,decreasing the detrimental side reactions,and elongating the LMA lifespan by optimizing the electrolyte structure and by designing appropriate current *** identifying that the unstable solid electrolyte inter-face(SEI)film is responsible for the potential dropping in carbonate electrolytes,we developed liPF_(6)-liNO_(3) dual-salt electrolyte and lithium bis(fluorosulfonyl)imide(liFSI)-carbonate electrolyte to stabilize the SEI film of *** addition,we achieved controlled lithium depos-ition by designing the structure and material of the current collectors,including selective lithium deposition in porous current collectors,lithio-philic metal guided lithium deposition,and iron carbide induced underpotential lithium deposition in *** limitations of the cur-rent strategies and prospects for future research are also presented.

关键词： lithium metal anode electrolyte current collector lithium dendrite solid electrolyte interface

THEORETICAL AND EXPERIMENTAL STUDY ON THE PRESSURE AND VACUUM CONTINUOUS CONTROL SYSTEM BASED ON HYBRID PUMP

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Chinese Journal of Mechanical Engineering 2007年第6期20卷 74-78页

作者： li Jinyun DU Jingmin FU xiaoyun li Baoren School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074. China

A novel pressure and vacuum continuous control system, which adopts a hybrid pump as pressure and vacuum source, is presented. The mathematical model of the system is developed. The theoretical simulation and analysis on the system are implemented in order to study the relationships among the characteristics, parameters and working points of the system. The experimental investigations on the system characteristics are presented with the adoption ofa fuzzy-PID controller. The simulation and experimental results indicate that the pressure and vacuum continuous control system based on hybrid pump has good dynamic and static performance, strong robustness and satisfactory adaptability to various system parameters. According to the results, system can successfully gain high accuracy and fast response signal. Also, the mathematical model of system is also testified by the experimental results.

关键词： Hybrid pump Pressure and vacuum continuous control Fuzzy-PID control Semi-physical flight height simulation

Long-term agricultural activity affects anthropogenic soil on the Chinese Loess Plateau

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Journal of Arid Land 2017年第5期9卷 678-687页

作者： li xiaoyun WANG Yiquan Mark E REYNOLDS li Xiaoping LU Xinwei School of Geography and Tourism Shaanxi Normal University Xi'an 710119 China SNNU-JSU Joint Research Center for Nano-environment Science and Health Xi'an 710119 China College of Resources and Environment Northwest A&F University Yangling 712100 China Stockbridge School of Agriculture University of Massachusetts Massachusetts 01003 USA

Anthropogenic activities largely influence the soil quality of agricultural fields and the composition of soil. Samples of typical anthropogenic Loutu soil in the Guanzhong area of the Loess Plateau, Shaanxi Province, China were collected and measured for soil compaction, bulk density, total organic carbon（TOC）, active organic carbon（AOC）, and soil enzyme activities to investigate spatial variations in soil quality. The results indicate that soil compaction and bulk density increased with increasing distance from the farm village, whereas soil TOC, AOC, and soil enzyme activities firstly increased and subsequently decreased with increasing distance from the farm village. All of the tested parameters presented clear concentric distribution. Vertically, soil compaction and bulk density in the topsoil were lower than those in the subsoil, but all other tested parameters in the topsoil were significantly higher than those in the subsoil. In addition, there was a significant positive correlation between organic carbon content and enzyme activities, confirming that the spatial distribution of Loutu soil characteristics has been affected by long-term anthropogenic activities to some extent. The results of this study imply that the use of farmyard manure and appropriate deep plowing are important and effective ways to maintain and improve soil quality.

关键词： anthropogenic soil spatial variation organic carbon enzyme activity soil quality

Achieving the Sustainable Development Goals： The Role for the G20 from China＇s Perspective

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China & World Economy 2016年第4期24卷 55-72页

作者： xiaoyun li Taidong Zhou Professor and Former Dean College of Humanities and Development China Agricultural University China. PhD Candidate College of Humanities and Development China Agricultural University China

Development became a G20 priority under the Korean presidency in 2010 and has remained central to global summitry ever since. Although the G20 has formally involved itself in the post-2015 process following the St. Petersburg Summit in 2013 and emphasized the Sustainable Development Goals （SDGs） as a core priority under Turkey＇s presidency in 2015, the UN remains the main channel for global negotiations and discussions of the post-2015 development agenda up to its approval and adoption in September 2015 and will continue to play the leading role in the follow-up implementation and tracking of SDGs. The present paper argues that as the SDGs come to dominate the agenda and action of donors and issues of financing take central stage, the G20 can play an important role in facilitating the implementation of the SDGs due to its various strengths, although it also faces serious challenges. The paper also points out that as the 2016 G20 chair, China can make great contributions in advancing the implementation of the SDGs both domestically and internationally.

关键词： developing countries development foreign assistance G20 knowledge- sharing sustainable development goals

Biochars derived from carp residues:characteristics and copper immobilization performance in water environments

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Frontiers of Environmental Science & Engineering 2023年第6期17卷 99-112页

作者： Hongtao Qiao Yongsheng Qiao Cuizhu Sun Xiaohan Ma Jing Shang xiaoyun li Fengmin li Hao Zheng Institute of Applied Chemistry&Department of Chemistry Xinzhou Teachers UniversityXinzhou 034000China Institute of Coastal Environmental Pollution Control Ministry of Education Key Laboratory of Marine Environment and EcologyCollege of Environmental Science and EngineeringFrontiers Science Center for Deep Ocean Multispheres and Earth SystemOcean University of ChinaQingdao 266100China Department of Environmental Science School of Geography and TourismShaanxi Normal UniversityXi'an 710119China Sanya Oceanographic Institution Ocean University of ChinaSanya 572000China

Heavy metal pollution has attracted worldwide attention because of its adverse impact on the aquatic environment and human *** production of biochar from biowaste has become a promising strategy for managing animal carcasses and remediating heavy metal pollution in the aquatic ***,the sorption and remediation performance of carp residue-derived biochar(CRB)in Cu-polluted water is poorly ***,batches of CRB were prepared from carp residues at 450–650℃(CRB450–650)to investigate their physicochemical characteristics and performance in the sorption and remediation of Cu-polluted *** with a relatively low-temperature CRB(e.g.,CRB450),the high-temperature biochar(CRB650)possessed a large surface area and thermodynamic ***650 contained higher oxygen-containing functional groups and P-associated minerals,such as *** the pyrolytic temperature increased from 450 to 650℃,the maximum sorption capacity of the CRBs increased from 26.5 to 62.5 mg/*** adsorption process was a type of monolayer adsorption onto homogenous materials,and the sorption of Cu^(2+)on the CRB was mainly based on chemical *** most effective potential adsorption mechanisms were in order of electrostatic attraction and cation-πinteraction>surface complexation and precipitation>pore-filling and cation ***,the CRBs efficiently immobilized Cu^(2+)and reduced its bioavailability in *** results provide a promising strategy to remediate heavy metal-polluted water using designer biochars derived from biowastes,particularly animal carcasses.

关键词： Biowaste Pyrolytic temperature Immobilization Bioavailability Remediation

livelihood transformation from fishing to tourism: an adaptive sustainable livelihood framework for understanding lakeside communities of China

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Frontiers of Agricultural Science and Engineering 2024年第4期11卷 589-601页

作者： Feng BA xiaoyun li Yue DING lixia TANG College of Humanities and Development Studies China Agricultural UniversityBeijing 100083China

Fisheries in coastal and lakeside regions are increasingly facing sustainability *** predicament has compelled these regions to shift toward economic diversification,with tourism emerging as a feasible alternative economic *** study focuses on a rural community adjacent to Erhai Lake in Dali City,Yunnan Province,China,examining its shift from a fishing-based economy to tourism over several *** an adaptive sustainable livelihood framework,this study assessed the livelihood transformation across various stages over an extended period,from both institutional and action-oriented perspectives,analyzing factors influencing sustainable livelihood transformation in lakeside communities and their subsequent *** research revealed several key ***,tourism,as an alternative industry to fishing,not only faces increasingly stringent environmental protection policies but also confronts multiple challenges from the community ***,the improvement of the physical assets of locals within the tourism development,which can increase property-based income,has the potential to facilitate a sustainable transformation of their ***,analysis identifies the pivotal role of human capital in the current transition process,with the influence of talent and innovative livelihood industry management models gaining prominence to ensure sustainability of this transformation.

关键词： Lakeside community livelihood transformation fisheries tourism China

Influence of impact energy on work hardening ability of austenitic manganese steel and its mechanism

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China Foundry 2012年第3期9卷 248-251页

作者： li xiaoyun Wu Wei Zu Fangqiu liu Lanjun Zhang Xianfeng Engineering Training Center Hefei University of Technology Hefei 230601 China School of Materials Science and Engineering Hefei University of Technology Hefei 230009 China

To further understand the hardening mechanism of austenitic manganese steel under actual working conditions, the work hardening ability was studied and the microstructures of austenitic manganese steel were observed under different impact energies. The work hardening mechanism was also analyzed. The results show that the best strain hardening effect could be received only when the impact energy reaches or exceeds the critical impact energy. The microstructural observations reveal that dislocations, stacking faults and twins increase with raising impact energy of the tested specimens. The hardening mechanism changes at different hardening degrees. It is mainly dislocation and slip hardening below the critical impact energy, but it changes to the twinning hardening mechanism when the impact energy is above the critical impact energy.

关键词： austenitic manganese steel work hardening impact energy microstructure hardening mechanism

Trajectory Optimization for 7-Dofs Space Manipulator

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Journal of Beijing Institute of Technology 2017年第2期26卷 143-149页

作者： Wencheng Ni Zhihong Jiang Hui li Bo Wei xiaoyun li Bainan Zhang Qiang Huang School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China China Academy of Space Technology Beijing 100094 China

The space manipulator is always designed to have 7 degrees of freedom（Dofs）with the consideration of energy limitation,as well as the flexible moving ***,how to plan the trajectory is important to improve the performance of the *** this paper,the speed of the end effector is configured as a projecting parameter,when a constant acceleration is applied to adjust the *** implement this trajectory planning strategy,an optimization algorithm through the pseudo inverse of Jacobin matrix is designed,which adjusts the weight functions of *** to the functional theory,this algorithm is analyzed and the optimal solution is found in numerous sets of planning.A MATLAB simulation platform is established and the results verity the effectiveness of the algorithm.

关键词： redundant degree of freedom space manipulator trajectory optimization