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Effects of fastigial nucleus electrical stimulation on lateral ventricle nestin expression after focal cerebral ischemia/reperfusion in adult rats

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Neural Regeneration Research 2008年第4期3卷 410-414页

作者： yanjun huang Yong Luo Department of Neurology First Affiliated Hospital of Chongqing Medical University Chongqing 400016 China Chongqing Key Laboratory of Neurology Chongqing 400016 China Department of Neurology Third People＇s Hospital of Mianyang City Mianyang 621000 Sichuan Province China

BACKGROUND： Previous studies have confirmed that fastigial nucleus electrical stimulation can induce endogenous neuroprotective mechanisms and produce wide and long-lasting neuroprotective effects. Nevertheless, the precise mechanisms remain poorly understood. OBJECTIVE： This study was designed to observe the effects of fastigial nucleus electrical stimulation on nestin-positive cell expression in adult rat lateral ventricle after focal cerebral ischemia/reperfusion, as well as neurological functional changes as a function of time. DESIGN： A randomized controlled animal experiment. SETTING： Department of Neurology, First Affiliated Hospital of Chongqing Medical University; Chongqing Key Laboratory of Neurology. MATERIALS： This study was performed in the Department of Neurology, First Affiliated Hospital of Chongqing Medical University and Chongqing Key Laboratory of Neurology from September 2004 to February 2006. A total of 180 healthy, adult, male Wistar rats, aged 8 weeks old, were provided by the Laboratory Animal Center of Chongqing Medical University. The main reagents and equipments were as follows： rabbit anti-rat nestin monoclonal antibody （Wuhan Boster Company, China）. METHODS： The included male Wistar rats were randomly divided into 5 groups： normal control, sham-operated, model, fastigial nucleus sham-stimulation （sham-stimulation for short）, and fastigial nucleus electrical stimulation （stimulation for short） groups. Six time points （1 hour of ischemia and 1, 3, 7, 14, 21, and 28 days of reperfusion, 6 rats per time point） were allotted to each group. Cerebral ischemia/reperfusion was performed by occlusion to the right middle cerebral artery with suture, followed by suture removal. In the stimulation group, subsequent to reperfusion, the rat left cerebellar fastigial nucleus was immediately subjected to 1 hour of stimulation. After anesthesia, the rat left cerebellar fastigial nucleus was stimulated for 1 hour using a square-wave electronic stimulator w

关键词： fastigial nucleus electrical stimulation focal cerebral ischemia/reperfusion nestin lateralventricle rats

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Study on Rollover Index and Stability for a Triaxle Bus

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Chinese Journal of Mechanical Engineering 2019年第4期32卷 153-167页

作者： Zhilin Jin Jingxuan Li yanjun huang Amir Khajepour Department of Vehicle Engineering Nanjing University of Aeronautics & Astronautics Nanjing Jiangsu Province 210016 China Department of Mechanical & Mechatronics Engineering University of Waterloo Waterloo ON N 2L3G 1 Canada

Vehicle rollover, and its resulting fatalities, is an actively researched topic especially for multi-axle vehicles in the field of vehicle dynamics and control. This paper first presents a new rollover index for a triaxle bus to accurately evaluate its rollover possibility and then discusses the influence laws of the vehicle rollover dynamics to explore the mechanism of its stability. First, a six degree of freedom rollover model of the triaxle bus is developed, including lateral, yaw, roll motion of the sprung mass of the front/rear axle, and roll motion of the unsprung mass of the front/rear axle. Next, some key parameters of the vehicle rollover model are identified. A new rollover index is deduced according to the basics of vehicle dynamics, to predict vehicle rollover risk for the triaxle bus, which is verified by TruckSim. Furthermore, the influence laws of vehicle rollover dynamics by vehicle parameters and road parameters are discussed based on the simulation results. More importantly, the results show that the new method of modeling can precisely describe the rollover dynamics of the studied bus, and the proposed new index can e ectively evaluate the rollover possibility. Therefore, this study provides a theoretical basis to improve anti-rollover ability for triaxle buses.

关键词： Rollover stability Dynamic model Triaxle bus Rollover index Vehicle active safety

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Fuzzy Consistent Relation and Decision Making

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Journal of Systems Engineering and Electronics 1998年第2期9卷 14-18页

作者： Yao, Min huang, yanjun Dept. of Computer Science Hangzhou University 310028 P. R. China Dept. of Finance Hangzhou University 310028 P. R. China

This paper presents a kind of fuzzy consistent relation, discusses its main properties - center-division transitivity, describes its combined operation. At the same time, introduce the applications of fuzzy consisten... 详细信息

关键词： Fuzzy consistent relation Center-division transitivity Decision making

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A Combined Reinforcement Learning and Model Predictive Control for Car-Following Maneuver of Autonomous Vehicles

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 315-325页

作者： Liwen Wang Shuo Yang Kang Yuan yanjun huang Hong Chen School of Automotive Studies Tongji UniversityShanghai 201804China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 201804China College of Electronic and Information Engineering Tongji UniversityShanghai 201804China

Model predictive control is widely used in the design of autonomous driving ***,its parameters are sensitive to dynamically varying driving conditions,making it difficult to be implemented into *** a result,this study presents a self-learning algorithm based on reinforcement learning to tune a model predictive ***,the proposed algorithm is used to extract features of dynamic traffic scenes and adjust the weight coefficients of the model predictive *** this method,a risk threshold model is proposed to classify the risk level of the scenes based on the scene features,and aid in the design of the reinforcement learning reward function and ultimately improve the adaptability of the model predictive controller to real-world *** proposed algorithm is compared to a pure model predictive controller in car-following *** to the results,the proposed method enables autonomous vehicles to adjust the priority of performance indices reasonably in different scenarios according to risk variations,showing a good scenario adaptability with safety guaranteed.

关键词： Model predictive control Reinforcement learning Autonomous vehicles

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Vertical Tire Forces Estimation of Multi-Axle Trucks Based on an Adaptive Treble Extend Kalman Filter

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Chinese Journal of Mechanical Engineering 2021年第3期34卷 317-335页

作者： Buyang Zhang Ting Xu Hong Wang yanjun huang Guoying Chen Jihua Laboratory Foshan 528200GuangdongChina State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China Tsinghua Intelligent Vehicle Design and Safety Research Institute Tsinghua UniversityBeijing 100084China Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooCanada.

Vertical tire forces are essential for vehicle modelling and dynamic ***,an evaluation of the vertical tire forces on a multi-axle truck is difficult to *** current methods require a large amount of experimental data and many sensors owing to the wide variation of the parameters and the *** simplify the design process and reduce the demand of the sensors,this paper presents a practical approach to estimating the vertical tire forces of a multi-axle truck for dynamic *** estimation system is based on a novel vertical force model and a proposed adaptive treble extend Kalman filter(ATEKF).To adapt to the widely varying parameters,a sliding mode update is designed to make the ATEKF adaptive,and together with the use of an initial setting update and a vertical tire force adjustment,the overall system becomes more *** particular,the model aims to eliminate the effects of the over-constraint and the uneven weight *** results show that the ATEKF method achieves an excellent performance in a vertical force evaluation,and its performance is better than that of the treble extend Kalman filter.

关键词： Estimation theory Adaptive treble extend Kalman filter Vehicle dynamics Multi-axle truck Vertical tire force estimation

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A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

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Chinese Journal of Mechanical Engineering 2019年第1期32卷 174-194页

作者： Buyang Zhang Changfu Zong Guoying Chen yanjun huang Ting Xu College of Automotive Engineering Jilin University Changchun 130022 China State Key Laboratory of Automotive Simulation and Control Jilin University Changchun 130022 China College of Mechanical and Mechatronics Engineering University of Waterloo ON N2L 3G1 Canada

Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.

关键词： Di erential braking Active steering Vertical tire force calculation Multi-axle truck Integrated control

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Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control

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Chinese Journal of Mechanical Engineering 2021年第4期34卷 168-181页

作者： Kai Yang Xiaolin Tang Yechen Qin yanjun huang Hong Wang Huayan Pu College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400000China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100080China School of Automotive Studies Tongji UniversityShanghai 201804China School of Vehicle and Mobility Tsinghua UniversityBeijing 100080China

A comparative study of model predictive control(MPC)schemes and robust Hstate feedback control(RSC)method for trajectory tracking is proposed in this *** main objective of this paper is to compare MPC and RSC controllers’performance in tracking predefined trajectory under different *** controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire,which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire *** is designed on the basis of the same method as adopted for the MPC controller to achieve a fair ***,three test cases are built in CarSim-Simulink joint ***,the verification test is used to test the tracking accuracy of MPC and RSC controller under well road ***,the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing ***,an extreme curve test is built where the road adhesion changes suddenly,in order to test the performance of both controllers under extreme ***,the advantages and disadvantages of MPC and RSC under different scenarios are also discussed.

关键词： Trajectory tracking Automated vehicles Model predictive control Robust H∞state feedback control

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Kalman Filter-Based Fusion Estimation Method of Steering Feedback Torque for Steer-by-Wire Systems

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Automotive Innovation 2021年第4期4卷 430-439页

作者： Lin Zhang Qiang Meng Hong Chen yanjun huang Yang Liu Konghui Guo School of Automotive Studies Tongji UniversityShanghaiChina Clean Energy Automotive Engineering Center Tongji UniversityShanghaiChina KH Automotive Technologies Co LtdChangchunChina

Universal challenge lies in torque feedback accuracy for steer-by-wire systems,especially on uneven and low-friction ***,this paper proposes a fusion method based on Kalman filter that combines a dynamics-reconstruction method and disturbance observer-based *** dynamics-reconstruction method is designed according to the vehicle dynamics and used as the prediction model of the Kalman *** the disturbance observer-based method is performed as an observer model of the Kalman *** performance of all three methods is comprehensively evaluated in a hardware-in-the-loop *** results show that the proposed fusion method outperforms dynamics reconstruction method and disturbance observer-based ***,compared with the dynamics-reconstruction method,the root mean square error is reduced by 36.58%at the maximum on the flat *** with the disturbance observer-based method,the root mean square error is reduced by 39.11%at the maximum on different-friction and uneven road.

关键词： Kalman filter Steering feedback torque estimation Steer-by-wire system

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The behaviors of ultra-low-gold-loaded catalysts （Au/ Ce02） for CO oxidation in the presence of water on the catalysts

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Nano Research 2015年第9期8卷 3075-3084页

作者： Qiaoling Li Wei Xie Guoqin Chen Yuefeng Li yanjun huang Xiaodong Chen Technology Center of China Tobacco Fujian Industrial Co. Ltd Xiamen 361022 China Department of Chemical and Biochemical Engineering College of Chemistry and Chemical Engineering Xiamen University Xiamen 360015 China

The catalytic behavior of ultra-low-gold-loaded Au/CeO2 during CO oxidation was studied using HRTEM, TGA, in-situ FTIR, CO--TPD, O2-TPD, and O2-TPO. Herein, water, which facilitates CO oxidation, is present on the catalyst rather than obtained from the reactant gas. The experimental results show that the presence of water on the catalyst enhances the adsorption and activation of 02 to produce Oact on the catalyst surface, resulting in excellent catalytic activity. Different reaction pathways for CO oxidation over Au/CeO2 may be present; however, the dominant pathway is influenced by the species on the catalyst surface.

关键词： ultra-low-gold catalysts,water addition on thecatalysts,hydroxyl and carbonate-like species,reaction pathways

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Feedback is all you need:from ChatGPT to autonomous driving

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Science China(Information Sciences) 2023年第6期66卷 290-292页

作者： Hong CHEN Kang YUAN yanjun huang Lulu GUO Yulei WANG Jie CHEN College of Electronic and Information Engineering Tongji University National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai Research Institute for Intelligent Autonomous Systems Tongji University School of Automotive Studies Tongji University

The birth of chat generative pre-trained transformer(ChatGPT). In November 2022,Microsoft and OpenAI jointly released an artificial intelligence chatbot program called ChatGPT [1]. In just two months,the number of global users surpassed 100 million,making it the fastestgrowing consumer application in history. ChatGPT can answer almost any question like an encyclopedia,

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