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Cooperative deterministic learning control for a group of homogeneous nonlinear uncertain robot manipulators

science China(Information sciences) 2018年第11期61卷 67-85页

作者： Marwan ABDELATTI Chengzhi YUAN Wei ZENG Cong WANG Department of Mechanical Industrial and Systems Engineering University of Rhode Island School of Mathematics and Big Data Foshan University College of Automation science and Engineering South China University of Technology School of Mechanical and Electrical Engineering Longyan University

This paper addresses the learning control problem for a group of robot manipulators with homogeneous nonlinear uncertain dynamics, where all the robots have an identical system structure but the reference signals to be tracked differ. The control objective is twofold: to track on reference trajectories and to learn/identify uncertain dynamics. For this purpose, deterministic learning theory is combined with consensus theory to find a common neural network(NN) approximation of the nonlinear uncertain dynamics for a multi-robot system. Specifically, we first present a control scheme called cooperative deterministic learning using adaptive NNs to enable the robotic agents to track their respective reference trajectories on one hand and to exchange their estimated NN weights online through networked communication on the other. As a result, a consensus about one common NN approximation for the nonlinear uncertain dynamics is achieved for all the agents. Thus, the trained distributed NNs have a better generalization capability than those obtained by existing techniques. By virtue of the convergence of partial NN weights to their ideal values under the proposed scheme, the cooperatively learned knowledge can be stored/represented by NNs with constant/converged weights, so that it can be used to improve the tracking control performance without re-adaptation. Numerical simulations of a team of two-degree-of-freedom robot manipulators were conducted to demonstrate the effectiveness of the proposed approach.

关键词： cooperative deterministic learning multi-robot manipulators neural networks adaptive control multi-agent systems

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Novel insights into the mechanisms whereby isoflavones protect against fatty liver disease

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World Journal of Gastroenterology 2015年第4期21卷 1099-1107页

作者： Long-Xin Qiu Tong Chen School of Life sciences Longyan University Key Laboratory of Preventive Veterinary Medicine and Biotechnology of Fujian Province

Fatty liver disease(FLD) is a growing public health problem worldwide. There is an urgent requirement for alternative and natural medicine to treat this disease. As phytochemicals, isoflavones have attracted considerable attention for the prevention of FLD. Numerous studies have revealed that isoflavones protect against FLD through various pathways which modulate fatty acid β-oxidation, lipid synthesis, and oxidative stress. Recently, the aldose reductase(AR)/polyol pathwayhas been reported to be involved in the development of FLD by modulating hepatic fructose production, peroxisome proliferator-activated receptor(PPAR)α activity, cytochrome P450(CYP)2E1 expression, and gut bacterial endotoxin-induced cytokine release. It has been reported that some isoflavones are potent AR inhibitors. Here, we review the anti-FLD actions of isoflavones and the proposed mechanism whereby isoflavones protect against FLD, with regard to the AR/polyol pathway. We propose that isoflavones block the AR/polyol pathway and in turn reduce fructose production and subsequent fat accumulation in the liver in diabetic or high-glucose-diet mice. In addition, in rodents with alcoholic liver disease or nonalcoholic fatty liver disease/nonalcoholic steatohepatitis, inhibition of AR by isoflavones may improve PPARα-mediated fatty acid oxidation, reduce hepatic steatosis, and attenuate CYP2E1-mediated oxidative stress or AR/gut bacterial endotoxin-mediated cytokine overproduction, to alleviate progression of FLD.

关键词： Isoflavones Fatty liver disease Aldose reductase F

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Synthesis and characterization of porous cobalt oxide/copper oxide nanoplate as novel electrode material for supercapacitors

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Transactions of Nonferrous Metals Society of China 2015年第12期25卷 4054-4062页

作者：张水蓉胡志彪刘开宇刘艳珍何方谢清亮中南大学化学化工学院长沙410083 龙岩学院化学与材料学院龙岩364012

A promising Co3O4/Cu O composite electrode material was successfully synthesized through a facile hydrothermal and calcination process. Effects of the surfactants hexadecyltrimethyl ammonium bromide（CTAB） and polyvinylpyrrolidone（PVP） on the morphology and electrochemical performance of the composite were investigated. Powder X-ray diffraction（XRD）, scanning electron microscopy（SEM）, transmission electron microscopy（TEM） and nitrogen adsorption-desorption experiment were employed to characterize the microstructures and morphologies of the composite. Meanwhile, the electrochemical performances of the samples were studied using cyclic voltammetry（CV）, galvanostatic charge-discharge test and electrochemical impedance spectroscopy（EIS）. The results show that the porous Co3O4/Cu O-CTAB nanoplates own the best performance and exhibits a high specific capacitance of 398 F/g at 1 A/g with almost 100% capacitance retention over 2000 cycles, and it retains 90% of capacitance at 10 A/g.

关键词： cobalt oxide/copper oxide composite hexadecyltrimethylammonium bromide(CTAB) polyvinylpyrrolidone(PVP) hydrothermal method supercapacitors

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Relationship between composite hydration volume (Intravenous plus oral) and contrast-induced nephropathy after emergent percutaneous coronary intervention

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South China Journal of Cardiology 2016年第4期17卷 187-195页

作者：陈丽玲李华龙贝伟杰陈世群林开阳刘勇江文龙吴波章陈露陈纪言陈开红 Department of Cardiology Longyan First HospitalAffiliated to Fujian Medical University Department of Cardiology Guangdong Cardiovascular InstituteGuangdong General Hospital Department of Geriatric Medicine Fujian Provincial HospitalFujian Provincial Institute of Clinical GeriatricsFujian Medical University

Background Few studies have investigated the safe limits of total intravenous plus oral hydration to prevent contrast-induced nephropathy （CIN）. The present study was conducted to evaluate the effects of different composite hydration rate （intravenous plus oral） on CIN prevention in patients undergoing emergent percutaneous coronary intervention （PCI）. Methods This was a retrospective observational study that included 307 eligible patients, who were stratified into quartiles of rate of the composite hydration volumn to body weight and time （HV/ W/T）. CIN was defined as an absolute≥0.5 mg/dL or a relative ≥25% increase in the serum creatinine level within 72 hours after the procedure. Results In terms of risks of CIN, there were no statistical differences among individuals in four groups with different composite HV/W/T （27.6%, 19.0%, 23.0%, and 26.9% respectively in quartiles Q1, Q2, Q3, and Q4, P=0.565）. Additionally, higher composite hydration ratio seemed not to decrease the risk of in-hospital death, worsening heart failure and stroke （all P〉0.05）. After adjusting for other risk factors, multivariate analysis showed no statistical difference between Q2, Q3 or Q4, compared with Q1 （Q2 vs. QI： adjusted odds ratio [OR], 0.67, P=0.383; Q3 vs QI： adjusted OR, 0.77, P=0.550; Q4 vs. QI： adjusted OR, 0.75, P= 0.489）. Conclusion Excessive composite hydration may not provide supplemental benefit of CIN prevention and in-hospital outcomes in patients following emergent PCI, and moderate and prophylactic hydration is warranted.

关键词： hydration contrast-induced nephropathy emergent percutaneous coronary intervention

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Optimization on Production Key Factors of Microbial Fermented Feed and Analysis on Composition Variation During Fermentation

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Animal Husbandry and Feed science 2017年第3期9卷 179-183,194页

作者： Lin Biaosheng Luo Jian Li Yiming He Yuqin Luo Maochun Yang Xiaoyan College of Life science Longyan University longyan Agricultural Bureau of Fujian Province Fujian longyan Jinhe Animal Feed Co.Ltd.

[ Objective] In order to study the production key factors of microbial fermented feed and the composition variation during fermentation. [ Methods ] Water, temperature, energy and protein were selected to study the effects on microbial fermented feed. And the fermentation conditions were optimized. Changes on nutrient composition during fermentation were determined and analyzed. [ Result ] Test results showed that feed formula with high sugar content, low protein, 34% - 36% water content, high fermentation temperature was more conducive to the production and actual production needs of fermentation strains. During the fermentation, strains showed interactions, test tended to be completed at the 144^th h after the fermentation, and number of lactic acid bacteria reached the peak of 1.86×10^9 strain/g, contents of lactic acid could even reach 0.89%. As time prolonged, contents of total energy, fiber and isothiocyanate gradually reduced, while contents of water and protein increased slightly. Contents of vitamin were stable, which in an order of VB〉 VE 〉 Vx 〉 VA 〉 VD. Composition of amino acids showed an better change, contents of glutamic acid and proline decreased slowly, while contents of glycine and phenylalanine increased slowly. [ Conclusion] High quality microbial fermentation feed could improve the palatability and safety of feed and keep the intestinal balance of livestock and poultry, which had broad application prospect.

关键词： Microbes Fermented feed Key factors Composition variation Analysis

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Effects of Fermented Forage with Highly Active Bacteria on Immunity and Oxidation Resistance of Growing-finishing Pigs

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Animal Husbandry and Feed science 2012年第2期4卷 60-61,71页

作者： LIN Biao-sheng 1,2 ,HE Yu-qin 1,2 ,LUO Jian 3,4 ,YANG Xiao-yan 1,2 1. College of Life science of longyan University,longyan 364012,China 2. Key Laboratory of Fujian Universities Preventive Veterinary Medicine and Biotechnology,longyan 364012,China 3. longyan Jinhe Animal Feed Co. ,Ltd. ,longyan 364000,China 4. The Animal Husband- ry,Veterinary Medicine and Marine Products Bureau of longyan,longyan 364000,China

[Objective]The aim was to study on effects of fermented forages with highly active bacteria on immunity and oxidation resistance of fin- ishing pigs,providing references for popularization and application of the forage. [Method]About 180 duroc-landrace-yorkshire swines at the same age were chosen and two groups were set. In control group,the pigs were fed with basic forages and antibiotics,and in test group,the pigs were fed with basic forages and 8% of forages with highly active bacteria. [Result] Compared with control group,immune globulins in test group im- proved significantly and IgG differed extremely on the 28th d （ P 〈0. 01） ; blocking rate of antibody against swine fever enhanced by 46. 10% on the 28th d than that on the 21th d with significant differences （ P 〈0. 05） ; oxidation resistance in test group was significantly higher and T-AOC achieved an extreme level （ P 〈0. 01） . [Conclusion]Forages with highly active bacteria would promote immunity and oxidation resistance of finishing pigs, which is of great value in production.

关键词： Fermented forage Finishing pig Immunity Oxidation resistance

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Cooperative Deterministic Learning Control of Multi-Robot Manipulators

Cooperative Deterministic Learning Control of Multi-Robot Ma...

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第37届中国控制会议

作者： YUAN Chengzhi ABDELATTI Marwan DONG Xiaonan ZENG Wei STEGAGNO Paolo DUAN Chang Dept.of Mechanical Industrial and Systems Engineering University of Rhode Island School of Mechanical and Electrical Engineering Longyan University Dept.of Electrical Computer and Biomedical Engineering University of Rhode Island Dept.of Mechanical Engineering Prairie View A&M University

This paper addresses the learning control problem for a group of robot manipulator systems in the presence of homogeneous nonlinear uncertain dynamics, where all the robots have an identical system structure but the reference signals to be tracked are different. Our control law has two objectives: one is tracking control, and the other is learning/identification. To this end, deterministic learning theory is incorporated with consensus theory to find a common neural network（NN） approximation of the nonlinear uncertain dynamics for the multi-robot system. Specifically, we first present a control scheme called cooperative deterministic learning using adaptive NNs to enable the robotic agents to track their respective reference trajectories on one hand,and to exchange their estimated NN weights online through networked communication on the other. As a result, a consensus about one common NN approximation for the nonlinear uncertain dynamics is achieved for all the agents. Thus, the trained distributed NNs have better generalization capability than those obtained by existing techniques. Numerical simulations on a team of two-degrees-of-freedom robot manipulators have been conducted to demonstrate the effectiveness of the proposed results.

关键词： Multi-robot manipulators cooperative deterministic learning neural networks

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Accelerometer-Based Gait Recognition via Deterministic Learning

Accelerometer-Based Gait Recognition via Deterministic Learn...

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第30届中国控制与决策会议

作者： Wei Zeng Jianfei Chen Chengzhi Yuan Fenglin Liu Qinghui Wang Ying Wang School of Mechanical & Electrical Engineering Longyan University Department of Mechanical Industrial and Systems Engineering University of Rhode Island

In this paper we propose a new accelerometer-based gait recognition method, which consists of two stages:a training stage and a recognition stage. In the training stage, gait features representing gait motion dynamics, including acceleration data measured in the y-axis and z-axis of the right side of pelvis and the left thigh of the human body,are derived from accelerometers. Gait dynamics underlying different gait patterns are locally accurately modeled and approximated by radial basis function（RBF） neural networks. The obtained knowledge of approximated gait dynamics is stored in constant RBF networks. In the recognition stage, a bank of dynamical estimators is constructed for all the training patterns. Prior knowledge of gait dynamics represented by the constant RBF networks is embedded in the estimators. By comparing the set of estimators with a test gait pattern to be recognized, a set of recognition errors are generated. The average L1 norms of the errors are taken as the recognition measure between the dynamics of the training gait patterns and the dynamics of the test gait pattern according to the smallest error principle. Finally, experimental results on the publicly available ZJU-GaitAcc dataset of 175 subjects demonstrated that our algorithm outperformed existing methods. By using the 2-fold and leave-one-out cross-validation styles on two subsets of this dataset, the correct recognition rates are reported to be 90.9%, 86.9% and 96.2%, 92.2%, respectively.

关键词： Gait Recognition Deterministic Learning Accelerometer Gait Dynamics RBF Neural Networks

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Trajectory-Based Hand Gesture Recognition Using Kinect via Deterministic Learning

Trajectory-Based Hand Gesture Recognition Using Kinect via D...

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第37届中国控制会议

作者： Fenglin Liu Wei Zeng Chengzhi Yuan Qinghui Wang Ying Wang Binfeng Lu School of Mechanical & Electrical Engineering Longyan University Department of Mechanical Industrial & Systems EngineeringUniversity of Rhode Island

The aim of this study is to develop a new trajectory-based method for hand gesture recognition using Kinect via deterministic learning. The recognition approach consists of two stages: a training stage and a recognition stage. In the training stage, trajectory-based hand gesture features are derived from Kinect. Hand motion dynamics underlying motion patterns of different gestures which represent capital English alphabets（A-Z） are locally accurately modeled and approximated by radial basis function（RBF） neural networks. The obtained knowledge of approximated hand motion dynamics is stored in constant RBF networks. In the recognition stage, a bank of dynamical estimators is constructed for all the training patterns. Prior knowledge of hand motion dynamics represented by the constant RBF networks is embedded in the estimators. By comparing the set of estimators with a test gesture pattern to be recognized, a set of recognition errors are generated. Finally, experiments are carried out to demonstrate the recognition performance of the proposed method. By using the 2-fold and 10-fold cross-validation styles,the correct recognition rates are reported to be 93.3% and 94.7%, respectively.

关键词： Hand Gesture Recognition Deterministic Learning Kinect Trajectory RBF Neural Networks

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