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- 저자 : Junzheng Zhang (검색결과 3 건)
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Neural Approximation-based Model Predictive Tracking Control of Nonholonomic Wheel-legged Robots
Jiehao Li,Junzheng Wang,Shoukun Wang,Wen Qi,Longbin Zhang,Yingbai Hu,Hang Su 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.1
This paper proposes a neural approximation based model predictive control approach for tracking controlof a nonholonomic wheel-legged robot in complex environments, which features mechanical model uncertaintyand unknown disturbances. In order to guarantee the tracking performance of wheel-legged robots in an uncertainenvironment, effective approaches for reliable tracking control should be investigated with the consideration of thedisturbances, including internal-robot friction and external physical interactions in the robot’s dynamical system. In this paper, a radial basis function neural network (RBFNN) approximation based model predictive controller(NMPC) is designed and employed to improve the tracking performance for nonholonomic wheel-legged robots. Some demonstrations using a BIT-NAZA robot are performed to illustrate the performance of the proposed hybridcontrol strategy. The results indicate that the proposed methodology can achieve promising tracking performancein terms of accuracy and stability.
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ShuangWang,Lei Sun,DanWei,Baoku Zhou,Junzheng Zhang,XuejiaGu,Lei Zhang,Ying Liu,Yidan Li,Wei Guo,Shuang Jiang,Yaqing Pan,Yufeng Wang 한국미생물학회 2014 The journal of microbiology Vol.52 No.7
An alkaliphilic, moderately halophilic, bacterium, designated strain X10-1T, was isolated from saline-alkaline soil in Daqing, Heilongjiang Province, China. Strain X10-1T was determined to be a Gram-positive aerobe with rod-shaped cells. The isolate was catalase-positive, oxidase-negative, non-motile, and capable of growth at salinities of 0–16% (w/v) NaCl (optimum, 3%). The pH range for growth was 7.5–11.0 (optimum, pH 10.0). The genomic DNA G+C content was 47.7 mol%. Its major isoprenoid quinone was MK-7 and its cellular fatty acid profile mainly consisted of anteiso-C15:0, anteiso-C17:0, iso-C15:0, C16:0, and iso-C16:0. The peptidoglycan contained meso-diaminopimelic acid as the diagnostic diamino acid. The predominant polar lipids were diphosphatidylglycerol, phosphatidylethanolamine, and phosphatidylglycerol. Phylogenetic analysis based on 16S rRNA gene sequences showed that X10-1T is a member of the genus Bacillus, being most closely related to B. saliphilus DSM15402T (97.8% similarity) and B. agaradhaerens DSM 8721T (96.2%). DNA-DNA relatedness to the type strains of these species was less than 40%. On the basis of the phylogenetic, physiological, and biochemical data, strain X10-1T represents a novel species of the genus Bacillus, for which the name Bacillus daqingensis sp. nov. is proposed. The type strain is X10-1T (=NBRC 109404T =CGMCC 1.12295T).
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Jun Zheng,Dongsong Sun,Tingdi Chen,Ruocan Zhao,Yuli Han,Zimu Li,Anran Zhou,Nannan Zhang 한국광학회 2018 Current Optics and Photonics Vol.2 No.2
A Scanning Rayleigh Doppler lidar for wind profiling based on a non-polarized beam splitter cube optically contacted FPI is developed for wind measurement from high troposphere to low stratosphere in 5-35 km. Non-polarized beam splitter cube optically contacted to the FPI are used for a stable optical receiver. Zero Doppler shift correction is used to correct for laser or FPI frequency jitter and drift and the timing sequence is designed. Stability of the receiver for Doppler shift discrimination is validated by measuring the transmissions of FPI in different days and analyzed the response functions. The maximal relative wind deviation due to the stability of the optical receiver is about 4.1% and the standard deviation of wind velocity is 1.6% due to the stability. Wind measurement comparison experiments were carried out in Jiuquan (39.741°N, 98.495°E), Gansu province of China in 2015, showing good agreement with radiosonde result data. Continuous wind field observation was performed from October 16th to November 12th and semi-continuous wind field of 19 nights are presented.
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