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Control System of Two-Wheel Self-Balancing Vehicle

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 713-721页

作者： REN Haoa zhou cong College of Automation and Artificial Intelligence Nanjing University of Posts and TelecommunicationsNanjing 210023China School of Computer Science Nanjing University of Posts and TelecommunicationsNanjing 210023China

This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle *** of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction *** improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control ***,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are *** is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.

关键词： two-wheel self-balanced vehicle proportional-integral-derivative(PID)control cascade control ve-hicle attitude detection vehicle balance control

NOMA Empowered Energy Efficient Data Collection and Wireless Power Transfer in Space-Air-Ground Integrated Networks

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China Communications 2023年第8期20卷 17-31页

作者： cong zhou Shuo Shi Chenyu Wu Zhenyu Xu School of Electronic and Information Engineering Harbin Institute of TechnologyHarbin 150001China Peng Cheng Laboratory Shenzhen 518055China Department of Intelligent Engineering Huizhou Engineering Vocational CollegeHuizhou 516023China

As the sixth generation network(6G)emerges,the Internet of remote things(IoRT)has become a critical ***,conventional terrestrial networks cannot meet the delay-sensitive data collection needs of IoRT networks,and the Space-Air-Ground integrated network(SAGIN)holds *** propose a novel setup that integrates non-orthogonal multiple access(NOMA)and wireless power transfer(WPT)to collect latency-sensitive data from IoRT *** extend the lifetime of devices,we aim to minimize the maximum energy consumption among all IoRT *** to the coupling between variables,the resulting problem is *** first decouple the variables and split the original problem into four ***,we propose an iterative algorithm to solve the corresponding subproblems based on successive convex approximation(SCA)techniques and slack ***,simulation results show that the NOMA strategy has a tremendous advantage over the OMA scheme in terms of network lifetime and energy efficiency,providing valuable insights.

关键词： NOMA Space-Air-Ground Integrated Networks data collection wireless power transfer resource allocation trajectory optimization

Flexible Bio-tensegrity Manipulator with Multi-degree of Freedom and Variable Structure

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Chinese Journal of Mechanical Engineering 2020年第1期33卷 83-93页

作者： Dunwen Wei Tao Gao Xiaojuan Mo Ruru Xi cong zhou School of Mechanical and Electrical Engineering University of Electronic Science and Technology of ChinaChengdu 611731China School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an 710072China School of Mechanical Engineering Hangzhou Dianzi UniversityHangzhou 310018China

Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained *** developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation ***,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their *** this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each *** proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each *** variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each *** the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was *** proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed ***,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure *** proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.

关键词： Bio-tensegrity Cable-driven actuation Multi-degree-of-freedom(Multi-DoF) Flexible manipulator Variable structure mechanism

Electronic properties of one-dimensional systems with long-range correlated binary potentials

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Chinese Physics B 2011年第8期20卷 335-339页

作者： Gong Long-Yan Tong Pei-Qing zhou Zi-cong College of Science Nanjing University of Posts and Telecommunications Nanjing 210003 China Department of Physics Nanjing Normal University Nanjing 210097 China Department of Physics Tamkang University 151 Ying-Chuan Tamsui 25137 Taipei Taiwan China

We study numerically the electronic properties of one-dimensional systems with long-range correlated binary potentials. The potentials are mapped from binary sequences with a power-law power spectrum over the entire frequency range, which is characterized by correlation exponent β. We find the localization length ζ increases withβ. At system sizes N →∞, there are no extended states. However, there exists a transition at a threshold ζ. Whenβ 〉 βc, we obtain ζ 〉 0. On the other hand, at finite system sizes, ζ≥ N may happen at certain β, which makes the system ＂metallic＂, and the upper-bound system size N＊（β） is given.

关键词： electronic properties long-range correlation binary potentials localization

Optimization of phenol degradation by Candida tropicalis Z-04 using Plackett-Burman design and response surface methodology

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Journal of Environmental Sciences 2011年第1期23卷 22-30页

作者： Jiangya zhou Xiaojuan Yu cong Ding Zhiping Wang Qianqian zhou Hao Pao Weimin Ca School of Environmental Science and Engineering Shanghai Jiaotong University Dongchuan Road 800 Shanghai 200240 China.

Statistical experimental designs were used to optimize the process of phenol degradation by Candida tropicalis Z-04, isolated from phenol-degrading aerobic granules. The most important factors influencing phenol degradation （p 〈 0.05）, as identified by a two-level Plackett-Burman design with 11 variables, were yeast extract, phenol, inoculum size, and temperature. Steepest ascent method was undertaken to determine the optimal regions of these four significant factors. Central composite design （CCD） and response surface analysis were adopted to further investigate the mutual interactions between these variables and to identify their optimal values that would generate maximum phenol degradation. The analysis results indicated that interactions between yeast extract and temperature, phenol and temperature, inocuhim size and temperature affected the response variable （phenol degradation） significantly. The predicted results showed that the maximum removal efficiency of phenol （99.10%） could be obtained under the optimum conditions of yeast extract 0.41 g/L, phenol 1.03 g/L, inoculum size 1.43% （V/V） and temperature 30.04℃. These predicted values were further verified by validation experiments. The excellent correlation between predicted and experimental values confirmed the validity and practicability of this statistical optimum strategy. This study indicated the excellent ability of C. tropicalis Z-04 in degrading high-strength phenol. Optimal conditions obtained in this experiment laid a solid foundation for further use of this microorganism in the treatment of highstrength phenol effluents.

关键词： phenol degradation Candida tropicalis Z-04 optimization Plackett-Burman design response surface methodology

Rotational motions of the Ms7.0 Jiuzhaigou earthquake with ground tilt data

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Science China Earth Sciences 2019年第5期62卷 832-842页

作者： cong zhou Xiangzhi ZENG Qingliang WANG Wenyi LIU Cuizhi WANG The Second Monitoring and Application Center China Earthquake Administration Institute of Geology China Earthquake Administration Institute of Geology Chinese Academy of Geological Sciences

Observation and research of rotational motions induced by earthquake has been ignored in the past decades due to the lack of understanding of important ground rotational motions and practical difficulty involved in directly measuring the rotational components. Currently, there is a paucity of methods to directly measure rotational motions in China. The present study attempts to discuss the possibility of obtaining seismic rotation from ground tilt data. The rotational motions generated by shear dislocation source are derived based on the displacement formula of elastic wavefields in the homogenous space. The characteristics of the three components of translational and rotational motions in near, intermediate, and far fields are compared and analyzed. Based on the corresponding relationship between the rotation and ground tilt on free surface boundary, a method to indirectly construct the rotational motions in the layered half space is obtained. Finally, the theoretical rotational motions generated by the Ms7.0 earthquake in Jiuzhaigou, Sichuan Province, on August 8, 2017 are calculated. The results indicate that the rotational motions generated by the Jiuzhaigou earthquake are concentrated in the vicinity of the epicenter(approximately150 km) and mainly distributed in the area perpendicular to the fault strike. The existence of free surface boundary attenuates the total energy of the rotational field and especially in the direction of the dominant energy. The ground tilt data is compared with rotational motions in the layered half space, and the results indicate that theoretical rotations and actual ground tilt data are essentially consistent, especially in the far field region. Thus, it is possible to obtain horizontal components of rotation from ground tilt data, and this provides more information for a complete description of the motion characteristics of an underground medium.

关键词： Rotational motions Layered half space Jiuzhaigou earthquake Ground tilt Strike slip fault

Synthesis of high-quality ferrovanadium nitride by carbothermal reduction nitridation method

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Journal of Iron and Steel Research International 2021年第3期28卷 255-262页

作者： Ying-cong zhou Yu Wang Kuo-chih Chou Guo-hua Zhang State Key Laboratory of Advanced Metallurgy University of Science and Technology BeijingBeijing100083China

High-quality ferrovanadium nitride(FeV45N,FeV55N and Fe65N)was fabricated using the raw materials of Fe_(3)O_(4),V_(2)O_(5) and graphite via carbothermal reduction nitridation *** with the traditional methods,it shortens the production process of ferrovanadium nitride by avoiding the preparation of *** effects of C/O molar ratio and reaction temperature on phase transition,density,carbon,oxygen and nitrogen contents and microstructure were *** appropriate C/O molar ratio is crucial to obtain the products with high nitrogen *** is also found that a higher temperature is beneficial for the densification,and the density of the products obtained at 1550℃ is much higher than that at 1500℃.Moreover,a higher temperature contributes to the increase in nitrogen content owing to the higher reaction *** carbothermal reduction nitridation method is proved to be a facile route to fabricate cost-effective ferrovanadium nitride and is possible to be applied for industrial production.

关键词： Ferrovanadium nitride Carbothermal reduction nitridation High nitrogen content Densification

Prognostic factors associated with gastrointestinal dysfunction after gastrointestinal tumor surgery:A meta-analysis

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World Journal of Gastrointestinal Surgery 2024年第5期16卷 1420-1429页

作者： Jia Song cong zhou Tian Zhang Department of Operating Room The Fourth Affiliated Hospital of Nanjing Medical UniversityNanjing 210031Jiangsu ProvinceChina Department of Gastrointestinal Surgery Tongji Hospital of Huazhong University of Science and TechnologyWuhan 430073Hubei ProvinceChina Department of Disinfection Supply Center The Fourth Affiliated Hospital of Nanjing Medical UniversityNanjing 210031Jiangsu ProvinceChina

BACKGROUND Explore the risk factors of gastrointestinal dysfunction after gastrointestinal tumor surgery and to provide evidence for the prevention and intervention of gastrointestinal dysfunction in patients with gastrointestinal tumor *** To investigate the potential risk factors for gastrointestinal dysfunction following gastrointestinal tumor surgery and to present information supporting the prevention and management of gastrointestinal dysfunction in surgery *** Systematically searched the relevant literature from PubMed,Web of Science,Cochrane Library,Embase,CNKI,China Biomedical Database,Wanfang Database,and Weipu Chinese Journal Database self-established until October 1,*** Manager 5.3 software was used for meta-analysis after two researchers independently screened literature,extracted data,and evaluated the risk of bias in the included *** A total of 23 pieces of literature were included,the quality of which was medium or above,and the total sample size was *** results of meta-analysis showed that the patients were male(OR=1.58,95%CI:1.25-2.01,P=0.002)and≥60 years old(OR=2.60,95%CI:1.76-2.87,P<0.001),physical index≥25.3 kg/m2(OR=1.6,95%CI:1.00-1.12,P=0.040),smoking history(OR=1.89,95%CI:1.31-2.73,P<0.001),chronic obstructive pulmonary disease(OR=1.49,95%CI:1.22-1.83,P<0.001),enterostomy(OR=1.47,95%CI:1.26-1.70,P<0.001),history of abdominal surgery(OR=2.90,95%CI:1.67-5.03,P<0.001),surgical site(OR=1.2,95%CI:1.40-2.62,P<0.001),operation method(OR=1.68,95%CI:1.08-2.62,P=0.020),operation duration(OR=2.65,95%CI:1.92-3.67,P<0.001),abdominal adhesion grade(OR=2.52,95%CI:1.90-3.56,P<0.001),postoperative opioid history(OR=5.35,95%CI:3.29-8.71,P<0.001),tumor TNM staging(OR=2.58,95%CI:1.84-3.62,P<0.001),postoperative blood transfusion(OR=2.92,95%CI:0.88-9.73,P=0.010)is a risk factor for postoperative gastrointestinal dysfunction in patients with gastrointestinal *** There are many factors affecting gastroint

关键词： Gastrointestinal tumor surgery Postoperative gastrointestinal dysfunction Intestinal paralysis Risk factors Metaanalysis

Removal of hexavalent chromium in aquatic solutions by pomelo peel

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Water Science and Engineering 2020年第1期13卷 65-73页

作者： Qiong Wang cong zhou Yin-jie Kuang Zhao-hui Jiang Min Yang Hunan Provincial Key Laboratory of Comprehensive Utilization of Agricultural and Animal Husbandry Waste Resources College of Urban and Environmental SciencesHunan University of TechnologyZhuzhou 412007China Hunan Provincial Engineering Laboratory of Key Technique of Non-metallic Packaging Waste Resources Utilization Hunan University of TechnologyZhuzhou 421007China People's Government of Luohong Town Longhui CountyShaoyang 422211China School of Chemistry and Food Engineering Changsha University of Science and TechnologyChangsha 410114China

This study investigated the removal of hexavalent chromium(Cr(VI)) in aqueous solutions using pomelo peel(PP) and FeCl3-modified pomelo peel(FPP) as novel biomass *** adsorption experiments were performed to evaluate the effects of pH,time,temperature,initial concentration,and adsorbent dose on Cr(VI) removal by PP and *** results show that the maximum adsorption capacity of Cr(VI)was 21.55 mg/g for FPP and 0.57 mg/g for PP at a pH of 2.0 and a temperature of 40℃.The surface shape,microstructure,and chemical composition of FPP were analyzed with scanning electron microscopy(SEM),Fourier transform infrared spectroscopy(FTIR),and energy dispersive spectroscopy(EDS),and compared with those of *** results show that the adsorption performance of FPP was much better than that of PP,indicating that FPP can be an alternative high-efficiency adsorbent for Cr(VI) removal.

关键词： Adsorption Hexavalent chromium removal Biomass adsorbent Pomelo peel FeCl3-modified pomelo peel Aquatic solution