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Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control

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Chinese Journal of Mechanical Engineering 2019年第1期32卷 212-227页

作者： Fen Lin yaowen zhang Youqun Zhao Guodong Yin Huiqi zhang Kaizheng Wang College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics School of Mechanical Engineering Southeast University

The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.

关键词： Autonomous vehicle Trajectory tracking Direct yaw moment control(DYC) Model predictive control (MPC) Longitudinal–lateral control

Emerging delivery systems based on aqueous two-phase systems:A review

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Acta Pharmaceutica Sinica B 2024年第1期14卷 110-132页

作者： yaowen zhang Yankun Luo Jingqi Zhao Wenzhuo Zheng Jun Zhan Huaping Zheng Feng Luo State Key Laboratory of Oral Diseases National Clinical Research Center for Oral DiseasesWest China School of StomatologySichuan UniversityChengdu 610041China Department of Obstetrics and Gynecology West China Second University HospitalSichuan UniversityChengdu 610041China Key Laboratory of Birth Defects and Related Diseases of Women and Children(Sichuan University) Ministry of EducationChengdu 610041China Department of Dermatology Rare Diseases CenterInstitutes for Systems GeneticsFrontiers Science Center for Disease-related Molecular NetworkWest China HospitalSichuan UniversityChengdu 610041China Department of Prosthodontics West China School of StomatologySichuan UniversityChengdu 610041China

The aqueous two-phase system(ATPS)is an all-aqueous system fabricated from two immiscible aqueous *** is spontaneously assembled through physical liquid-liquid phase separation(LLPS)and can create suitable templates like the multicompartment of the intracellular *** structures containing multiple compartments make it possible to endow materials with advanced *** to the properties of ATPSs,ATPS-based drug delivery systems exhibit excellent biocompatibility,extraordinary loading efficiency,and intelligently controlled content release,which are particularly advantageous for delivering drugs in ***,we will systematically review and evaluate ATPSs as an ideal drug delivery *** on the basic mechanisms and influencing factors in forming ATPSs,the transformation of ATPSs into valuable biomaterials is ***,we concentrate on the most recent cutting-edge research on ATPS-based delivery ***,the potential for further collaborations between ATPS-based drug-carrying biomaterials and disease diagnosis and treatment is also explored.

关键词： Aqueous two-phase systems Drug delivery systems Biomaterials Microcapsules Microparticles Cell therapy Cancer treatment Organ regeneration

Ferroelectric polarization effect on the photocatalytic activity of Bi_(0.9)Ca_(0.1)FeO_(3)/CdS S-scheme nanocomposites

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Journal of Environmental Sciences 2023年第2期124卷 310-318页

作者： yaowen zhang ZifeiWang Jiangwei Zhu Xuemin He Hongtao Xue Sanlong Li Weiwei Mao Yong Pu Xing’ao Li New Energy Technology Engineering Laboratory of Jiangsu Province&School of Science Nanjing University of Posts and TelecommunicationsNanjing 210023China Co-Innovation Center for Sustainable Forestry in Southern China Nanjing Forestry UniversityNanjing 210037China School of Telecommunications and Information Engineering Nanjing University of Posts and TelecommunicationsNanjing 210023China National Laboratory of Solid State Microstructures Nanjing UniversityNanjing 210093China

BiFeO_(3)(BFO),as a kind of narrow band-gap semiconductor material,has gradually emerged advantages in the application of *** this paper,Ca doped BFO nanoparticles Bi_(0.9)Ca_(0.1)FeO_(3)(BCFO)were prepared by sol-gel *** BCFO and CdS nanocomposites with two morphologies were obtained by controlling the time of loading CdS under a low temperature liquid phase *** is found that the band gap becomes narrower after doping Ca into BFO,which is conducive to the absorption of visible *** all the samples,the composite of CdS nanowires and BCFO nanoparticles obtained by reaction time of 10 min has the best photocatalytic *** degradation rate of Methyl Orange solutionwas 94%after 90min under visible light irradiation,whichwasmuch higher than that of pure BCFO and ***,significant enhancement in the degradation rate(100%degradation in 60 min)can be achieved in poled samples after electric polarization *** highest degradation rate is due to the promoted separation of photogenerated carriers induced by the internal polarization field and the formation of S-scheme heterostructure between BCFO and *** BCFO-CdS nanocomposites may bring new insights into designing highly efficient photocatalyst.

关键词： BiFeO_(3) Nanocomposites S-scheme heterojunction Photocatalytic activity

A self-powered piezoelectret sensor based on foamed plastic garbage for monitoring human motions

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Nano Research 2023年第1期16卷 1269-1276页

作者： Yujun Shi Kaijun zhang Sen Ding Zhaoyang Li Yuhao Huang Yucong Pi Dazhe Zhao yaowen zhang Renkun Wang Binpu Zhou Zhi-Xin Yang Junwen Zhong Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics University of MacaoMacao 999078China Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials EngineeringUniversity of MacaoAvenida da UniversidadeMacao 999078China State Key Laboratory of Internet of Things for Smart City and Department of Electromechanical Engineering University of MacaoMacao 999078China

Constructing piezoelectret based on foamed plastic garbage is an advisable strategy for obtaining self-powered flexible electromechanical sensors with good ***,a self-powered piezoelectret sensor with basic material of low density polyethylene(LDPE)foamed plastic garbage is proposed,with characteristics of easy fabrication,excellent flexibility,and high equivalent piezoelectric coefficient d33 value up to~1,100 pC/*** output stability is verified by continuously stimulating a sensor for~180,000 cycles under low and high applied pressure,and the variations of peak outputs are less than 5.5%.Applications for measuring low-and high-pressure signals from human body are *** with a wristband,a sensor is demonstrated for detecting the human pulse ***,real time human sitting information is wirelessly monitored with a smart chair based on 4 pixels sensors array.

关键词： wearable electronics piezoelectret self-powered pressure sensor mobile health

A UFLC/MS/MS method for simultaneous quantitation of alisol A and alisol B 23-acetate from Alisma orientale (Sam.) Juz. in rat plasma

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Asian Journal of Pharmaceutical Sciences 2014年第5期9卷 279-285页

作者： yaowen zhang Qing Li Chunxiao Lv Yidi Yin Kaishun Bi School of Pharmacy Shenyang Pharmaceutical UniversityShenyang 110016China School of Chinese Material Medica Shenyang Pharmaceutical UniversityShenyang 110016China National and Local United Engineering Laboratory for Key Technology of Chinese Material Medica Quality Control Shenyang Pharmaceutical UniversityShenyang 110016China

A sensitive and reliable ultra fast liquid chromatography tandem mass spectrometry(UFLC-MS/MS)method has been developed and validated for simultaneous quantitation of alisol A and alisol B 23-acetate from Alisma orientale(Sam.)*** rat plasma using diazepam as an internal standard(IS).The plasma samples were extracted by liquideliquid extraction with methyl tert-butyl ether and separated on a Venusil MP C18 column(100 mm×2.1 mm,3.0 mm)(Venusil,China)using gradient elution with the mobile phase consisting of methanol and 0.1%acetic acid in water at a flow rate of 0.4 ml/*** two analytes were monitored with positive electrospray ionization by multiple reaction monitoring mode(MRM).The lower limit of quantitation was 5.00 ng/ml for alisol A and 5.00 ng/ml for alisol B *** calibration curves were linear in the range of 5.00 e2500 ng/ml for alisol A and 5e2500 ng/ml for alisol B *** mean extraction recoveries were above 63.8%for alisol A and 68.0%for alisol B 23-acetate from biological *** intra-day and inter-day precision and accuracy of analytes were well within acceptance criteria(15%).The validated method was successfully applied to the pharmacokinetic study of alisol A and alisol B 23-acetate in rat plasma after oral administration of alcohol extract of Alismatis Rhizoma.

关键词： Pharmacokinetics Alisol A Alisol B 23-acetate UFLC-MS/MS Alisma orientale(Sam.)Juz

Fine-mapping and primary analysis of candidate genes associated with seed coat color in mung bean(Vigna radiata L.)

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Journal of Integrative Agriculture 2024年第8期23卷 2571-2588页

作者： Qian Wang Huimin Cao Jingcheng Wang Zirong Gu Qiuyun Lin Zeyan zhang Xueying Zhao Wei Gao Huijun Zhu Hubin Yan Jianjun Yan Qingting Hao yaowen zhang College of Agronomy Shanxi Agricultural UniversityTaiyuan 030031China 2 Tropical Crops Genetic Resources Institute Chinese Academy of Tropical Agricultural SciencesHaikou 571101China

Seed coat color affects the appearance and commodity quality of mung beans(Vigna radiata L.).The substances that affect mung bean seed coat color are mainly flavonoids,which have important medicinal *** the seed coat color gene in mung beans would facilitate the development of new varieties and improve their *** this study,an F2 mapping population consisting of 546 plants was constructed using Jilv9(black seed coat)and BIS9805(green seed coat).Using bulk segregated analysis(BSA)sequencing and kompetitive allele-specific PCR(KASP)markers,the candidate region related to seed coat color was finally narrowed to 0.66 Mb on chromosome(Chr.)4 and included eight candidate *** transcriptome and metabolome analyses showed that three of the eight candidate genes(LOC106758748,LOC106758747,and LOC106759075)were differentially expressed,which may have caused the differences in flavonoid metabolite content between Jilv9 and *** findings can provide a research basis for cloning the genes related to seed coat color and accelerate molecular markerassisted selection breeding in mung beans.

关键词： mung bean seed coat color bulk segregated analysis sequencing transcriptome metabolism flavonoids

Simultaneous Optimization of Efficiency,Stretchability,and Stability in All-Polymer Solar Cells via Aggregation Control

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Chinese Journal of Chemistry 2023年第2期41卷 159-166页

作者： Kaihu Xian Kangkang Zhou Mingfei Li Junwei Liu yaowen zhang Tao zhang Yong Cui Wenchao Zhao Chunming Yang Jianhui Hou Yanhou Geng Long Ye School of Materials Science&Engineering Tianjin Key Laboratory of Molecular Optoelectronic SciencesTianjin Universityand Collaborative Innovation Center of Chemical Science and EngineeringTianjin 300350China Shanghai Synchrotron Radiation Facility Shanghai Advanced Research InstituteChinese Academy of SciencesShanghai 201204China Beijing National Laboratory for Molecular Sciences State Key Laboratory of Polymer Physics and ChemistryCAS Research/Education Center for Excellence in Molecular SciencesInstitute of ChemistryChinese Academy of SciencesBeijing 100190China College of Materials Science and Engineering Nanjing Forestry UniversityNanjingJiangsu 210037China Joint School of National University of Singapore and Tianjin University International Campus of Tianjin UniversityBinhai New CityFuzhouFujian 350207China

With the emergence of Y-series small molecule acceptors,polymerizing the small molecule acceptors with aromatic linker units has attracted significant research attention,which has greatly advanced the photovoltaic performance of all-polymer solar *** the rapid increase in efficiency,the unique characteristics(e.g.,mechanical stretchability and flexibility)of all-polymer systems were still not thoroughly *** this work,we demonstrate an effective approach to simultaneously improve device performance,stability,and mechanical robustness of all-polymer solar cells by properly suppressing the aggregation and crystallization behaviors of polymerized Y-series ***,when introducing 50 wt%PYF-IT(a fluorinated version of PY-IT)into the well-known PM6:PY-IT system,the all-polymer devices delivered an impressive photovoltaic efficiency of 16.6%,significantly higher than that of the control binary cell(15.0%).Compared with the two binary systems,the optimal ternary blend exhibits more efficient charge separation and balanced charge transport accompanying with less ***,a high-performance 1.0 cm^(2)large-area device of 15%efficiency was demonstrated for the optimized ternary all-polymer blend,which offered a desirable PCE of 14.5%on flexible substrates and improved mechanical flexibility after bending 1000 ***,these are among the best results for 1.0 cm^(2)all-polymer OPVs thus *** work also heralds a bright future of all-polymer systems for flexible wearable energy-harvesting applications.

关键词： Organic photovoltaics Polymer acceptors Aggregation Stretchability Stability

Electron transfer in Cu/Cu_(2)O generated by disproportionation promoting efficient CO_(2)photoreduction

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Nano Research 2022年第8期15卷 7099-7106页

作者： Qian Zhu Kainan Zhu Minmin Cai yaowen zhang Zhiyu Shao Mengpei Jiang Xiyang Wang Zhibin Geng Xiaofeng Wu Manrong Li Keke Huang Shouhua Feng State Key Laboratory of Inorganic Synthesis and Preparative Chemistry Jilin Provincial International Cooperation Key Laboratory of Advanced Inorganic Solid Functional Materials College of ChemistryJilin UniversityChangchun 130012China Key Laboratory of Bioinorganic and Synthetic Chemistry of Ministry of Education School of ChemistrySun Yat-Sen UniversityGuangzhou 510275China

Constructing a high-efficiency composite material for CO_(2)photoreduction is a key step to the achievement of carbon neutralization,but a comprehensive understanding of the factors that dictate CO_(2)reduction activity remains ***,we constructed a series of Cu in situ combined on Cu_(2)O(Cu/Cu_(2)O-1,-2,-3)via an acid disproportionation method with various processing *** optimal photocatalyst(Cu/Cu_(2)O-2)affords CO at a rate of 10.43μmol·g^(−1)·h^(−1),which is more than fourfold to that of pristine Cu_(2)*** transfer in the samples was detected by X-ray absorption spectroscopy(XAS)as well as X-ray photoelectron spectroscopy(XPS).Interestingly,the best photoreduction performance was not achieved by the sample possessing the most electron transfer(Cu/Cu_(2)O-1)but by the one with moderate electron transfer(Cu/Cu_(2)O-2).By virtue of density functional theory(DFT)calculations,a linear relationship between Bader charge variation(Δq)of the active sites and adsorption energy of CO_(2)reduction intermediates was discovered,wherein the moderate charge transfer corresponds to appropriate adsorption energy,which benefits CO_(2)photoreduction activity *** work provides guidance for the construction of composite catalysts for efficient CO_(2)photoreduction in a perspective of the quantity of electron transfer.

关键词： CO_(2)photocatalytic conversion charge transfer composite density functional theory(DFT)

Protein O-GlcNAcylation homeostasis regulates facultative heterochromatin to fine-tune sog-Dpp signaling during Drosophila early embryogenesis

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Journal of Genetics and Genomics 2023年第12期50卷 948-959页

作者： yaowen zhang Haibin Yu Dandan Wang Xiaoyun Lei Yang Meng Na zhang Fang Chen Lu Lv Qian Pan Hongtao Qin Zhuohua zhang Daan M.F.van Aalten Kai Yuan Center for Medical Genetics School of Life Sciences&Hunan Key Laboratory of Molecular Precision MedicineDepartment of OncologyXiangya HospitalCentral South UniversityChangshaHunan 410008China State Key Laboratory of Chemo/Biosensing and Chemometrics College of BiologyHunan UniversityChangshaHunan 410082China National Clinical Research Center for Geriatric Disorders Xiangya HospitalCentral South UniversityChangshaHunan 410008China Division of Cell and Developmental Biology School of Life SciencesUniversity of DundeeDundee DD15EHUK Department of Molecular Biology and Genetics University of AarhusAarhus 8000Denmark The Biobank of Xiangya Hospital Central South UniversityChangshaHunan 410008China

Protein O-GlcNAcylation is a monosaccharide post-translational modification maintained by two evolutionarily conserved enzymes, O-GlcNAc transferase (OGT) and O-GlcNAcase (OGA). Mutations in human OGT have recently been associated with neurodevelopmental disorders, although the mechanisms linking O-GlcNAc homeostasis to neurodevelopment are not understood. Here, we investigate the effects of perturbing protein O-GlcNAcylation using transgenic Drosophila lines that overexpress a highly active OGA. We reveal that temporal reduction of protein O-GlcNAcylation in early embryos leads to reduced brain size and olfactory learning in adult Drosophila. Downregulation of O-GlcNAcylation induced by the exogenous OGA activity promotes nuclear foci formation of Polycomb-group protein Polyhomeotic and the accumulation of excess K27 trimethylation of histone H3 (H3K27me3) at the mid-blastula transition. These changes interfere with the zygotic expression of several neurodevelopmental genes, particularly short gastrulation (sog), a component of an evolutionarily conserved sog-Decapentaplegic (Dpp) signaling system required for neuroectoderm specification. Our findings highlight the importance of early embryonic O-GlcNAcylation homeostasis for the fidelity of facultative heterochromatin redeployment and initial cell fate commitment of neuronal lineages, suggesting a possible mechanism underpinning OGT-associated intellectual disability.

关键词： Protein O-GlcNAcylation Drosophila Early embryogenesis Polycomb repressive complex Facultative heterochromatin Neurodevelopment sog