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Design of Android-Based Remote Terminal System for RGV
Shang Qinghua,Zhao Xinyue,Zhang Helong,Wang Su 보안공학연구지원센터 2016 International Journal of Multimedia and Ubiquitous Vol.11 No.7
This paper proposes a new method that utilized Android mobile phone to control the RGV (Rail Guided Vehicle)running through WIFI network to overcome the disadvantages of the traditional remote control can only control one-way communication for RGV in the Logistics and warehousing and realize two-way communication between the RGV and remote controller . The system is based on Android platform, and established a remote terminal system by all Android support resources. In this paper, it described the structure, function, software flow of the RGV remote terminal system and communication protocol between Android client and the RGV. The design is based on the Modbus TCP / IP protocol, to achieve a two-way communication between Android phone and the RGV.
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Task Allocation of Intelligent Warehouse Picking System based on Multi-robot Coalition
( Fei Xue ),( Hengliang Tang ),( Qinghua Su ),( Tao Li ) 한국인터넷정보학회 2019 KSII Transactions on Internet and Information Syst Vol.13 No.7
In intelligent warehouse picking system, the allocation of tasks has an important influence on the efficiency of the whole system because of the large number of robots and orders. The paper proposes a method to solve the task allocation problem that multi-robot task allocation problem is transformed into transportation problem to find a collision-free task allocation scheme and then improve the capability of task processing. The task time window and the power consumption of multi-robot (driving distance) are regarded as the utility function and the maximized utility function is the objective function. Then an integer programming formulation is constructed considering the number of task assignment on an agent according to their battery consumption restriction. The problem of task allocation is solved by table working method. Finally, simulation modeling of the methods based on table working method is carried out. Results show that the method has good performance and can improve the efficiency of the task execution.
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Application of the Improved S-Curve Algorithm in the Speed Control of Shuttle Vehicle
Zhang Helong,Shang Qinghua,Zhao Xinyue,Wang Su 보안공학연구지원센터 2016 International Journal of Multimedia and Ubiquitous Vol.11 No.8
The Smooth of the shuttle vehicle speed control system is the guarantee of the safe operation of the car body, the current shuttle vehicle parking in the start acceleration and deceleration will happen when the shaking phenomenon, It reduces the shuttle car shelf system security and stability. The S-curve to add and subtract in the simplified method is applied to speed regulation system of shuttle car, can reduce the occurrence of this phenomenon. But the S-curve algorithm without considering the bodies weight and load change on the result of speed regulation. In this paper, we improve the S-curve and speed reduction algorithm. Considering the factor of the weight of the vehicle and the load factor, realize the smooth control of shuttle car. This paper introduces the method and principle of the speed control of shuttle car. An improved method for calculating the S curve acceleration and deceleration is presented. And Matlab simulation is carried out. Results of simulation and actual equipment show that the improved algorithm can control the smooth running of the shuttle vehicle.
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Emerging roles of centromeric RNAs in centromere formation and function
Qian Liu,Yang Liu,Qinghua Shi,Handong Su,Chunhui Wang,James A. Birchler,Fangpu Han 한국유전학회 2021 Genes & Genomics Vol.43 No.3
Background Centromeres are specialized chromosomal domains involved in kinetochore formation and faithful chromosome segregation. Despite a high level of functional conservation, centromeres are not identifed by DNA sequences, but by epigenetic means. Universally, centromeres are typically formed on highly repetitive DNA, which were previously considered to be silent. However, recent studies have shown that transcription occurs in this region, known as centromeric-derived RNAs (cenRNAs). CenRNAs that contribute to fundamental aspects of centromere function have been recently investigated in detail. However, the distribution, behavior and contributions of centromeric transcripts are still poorly understood. Objective The aim of this article is to provide an overview of the roles of cenRNAs in centromere formation and function. Methods We describe the structure and DNA sequence of centromere from yeast to human. In addition, we briefy introduce the roles of cenRNAs in centromere formation and function, kinetochore structure, accurate chromosome segregation, and pericentromeric heterochromatin assembly. Centromeric circular RNAs (circRNAs) and R-loops are rising stars in centromere function. CircRNAs have been successfully identifed in various species with the assistance of high-throughput sequencing and novel computational approaches for non-polyadenylated RNA transcripts. Centromeric R-loops can be identifed by the single-strand DNA ligation-based library preparation technique. But the molecular features and function of these centromeric R-loops and circRNAs are still being investigated. Conclusion In this review, we summarize recent fndings on the epigenetic regulation of cenRNAs across species, which would provide useful information about cenRNAs and interesting hints for further studies.
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Xia, Chuanqi,Rahman, Muhammad Aziz Ur,Yang, He,Shao, Taoqi,Qiu, Qinghua,Su, Huawei,Cao, Binghai Asian Australasian Association of Animal Productio 2018 Animal Bioscience Vol.31 No.10
Objective: This study investigated the effect of dietary crude protein (CP) supplementation on nutrient intake, nitrogen (N) utilisation, blood metabolites, ruminal fermentation and growth performance of young Holstein bulls. Methods: Twenty-one young bulls weighing $277{\pm}11.2kg$ were equally divided into three groups and were offered diets formulated with low CP (LCP; 10.21% CP and 4.22% rumen degradable protein [RDP]), medium CP (MCP; 12.35% CP and 5.17% RDP) and high CP (HCP; 14.24% CP and 6.03% RDP). Yellow corn silage was used as a unique forage source and was mixed with concentrate. This mixed feed was given ad libitum to the young bulls included in the study. Results: Results showed that CP intake, blood urea nitrogen, N intake, total N excretion and N balance increased linearly with an increase in dietary CP level (p<0.05). However, no significant difference was observed in nutrient digestibility among the bulls receiving the different diets. Ruminal pH (p<0.05) and ammonia nitrogen ($NH_3-N$) concentration (p<0.01) were significantly higher in the bulls receiving the MCP and HCP diets than in those receiving the LCP diet. The bulls receiving the HCP diet showed significantly higher ruminal bacterial protein level, propionate, acetate and total volatile fatty acid (TVFA) concentrations than bulls receiving the LCP diet (p<0.05). Moreover, dietary CP level exerted a significant positive effect on the final body weight, average daily gain and gain-to-feed ratio of the bulls (p<0.05). Conclusion: High dietary CP level is optimal for achieving maximum growth and high profitability without exerting a negative effect on the physiology of growing Holstein bulls.
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