Fuzzy Adaptive Model Predictive Control for Image-based Visual Servoing of Robot Manipulators With Kinematic Constraints

Tianqi Zhu,Jianliang Mao,Chuanlin Zhang,Linyan Han 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.1

This paper presents a novel image-based visual servoing (IBVS) controller for a six-degree-of-freedom (6-DoF) robot manipulator by employing a fuzzy adaptive model predictive control (FAMPC) approach. The control strategy allows the robot to track the desired feature points adaptively and fulfill kinematic constraints appearing in a vision-guided task with different initial Cartesian poses. To this aim, the successive linearization method is firstly employed to transform the nonlinear IBVS model to the linear time-invariant (LTI) one at each sampling instant. The nonlinear optimization problem is therefore degraded into a convex quadratic programming (QP) problem. Subsequently, a fuzzy logic is exploited to tune the weighting coefficients in the cost function on the basis of image pixels changes at each step, endowing the reliable adaptation capabilities to different working environments. Experimental comparison tests performed on a 6-DoF robot manipulator with an eye-in-hand configuration are provided to demonstrate the efficacy of the proposed controller.

Design and Application of a NEW Seven-Dimensional Hyperchaotic System

Duanzeng Liu,Jianliang Zhu,Hao Sun 보안공학연구지원센터 2014 International Journal of Control and Automation Vol.7 No.4

Screening nephroprotective compounds from cortex Moutan by mesangial cell extraction and UPLC

Min Sun,Limei Huang,Jianliang Zhu,Wenjie Bu,Jing Sun,Zhaohui Fang 대한약학회 2015 Archives of Pharmacal Research Vol.38 No.6

A method for screening nephroprotective compoundsin cortex Moutan, a common traditional Chinesemedicine (TCM) in treating diabetic nephropathy with renalmesangial cell extraction and ultra performance liquidchromatography technique was described in this paper. Wehypothesize that the compounds which bind to cell membranesunder pathological conditions may be the bioactivecompounds in TCMs. Mesangial cells were cultured inmedium containing 5 mM (physiological, NG) or 30 mM(pathological, HG) glucose for 48 h and then incubated withcortex Moutan extract. After the unbound substances werewashed off, the cell membrane-bound compounds weredissociated and concentrated by an SPE column. By comparingthe chromatograms of NG and HG cultured-cellextractions and cortex Moutan extract, three compoundsbound to both NG and HG-cultured mesangial cells wereidentified as paeoniflorin, pentagalloylglucose (PGG) andpaeonol. In vitro studies showed that paeoniflorin, PGG andpaeonol reduced the activity of nicotinamide-adenine dinucleotidephosphate oxidase (NADPH) activity, anddecreased the level of reactive oxygen species (ROS),transforming growth factor-b1 (TGF-b1) and fibronectin inhigh glucose cultured mesangial cells. The results indicatethat paeonol, paeoniflorin and PGG may be the nephroprotectivecompounds from cortex Moutan. This study isexpected to provide a more reliable and effective method forscreening bioactive compounds from the complex TCM systems.

Defect Tolerance and Nanomechanics in Transistors that Use Semiconductor Nanomaterials and Ultrathin Dielectrics

Ahn, Jong-Hyun,Zhu, Zhengtao,Park, Sang-Il,Xiao, Jianliang,Huang, Yonggang,Rogers, John A. WILEY-VCH Verlag 2008 Advanced functional materials Vol.18 No.17

<P>This paper describes experimental and theoretical studies of the mechanics of free-standing nanoribbons and membranes of single-crystalline silicon transfer printed onto patterned dielectric layers. The results show that analytical descriptions of the mechanics agree well with experimental data, and they explicitly reveal how the geometry of dielectric layers (i.e., the width and depth of the features of relief) and the silicon (i.e., the thickness and widths of the ribbons) affect mechanical bowing (i.e., “sagging”) in the suspended regions of the silicon. This system is of practical importance in the use of semiconductor nanomaterials for electronic devices, because incomplete sagging near defects in gate dielectrics provides a level of robustness against electrical shorting in those regions which exceeds that associated with conventional deposition techniques for thin films. Field effect transistors formed using silicon nanoribbons transferred onto a range of ultrathin gate dielectrics, including patterned epoxy, organic self-assembled monolayers, and HfO<SUB>2</SUB>, demonstrate these concepts.</P> <B>Graphic Abstract</B> <P>Experimental and theoretical studies of the mechanics of nanoribbons and membranes of single-crystalline silicon on patterned dielectric layers reveal key aspects of this system. As a practical matter, these type of mechanics have the advantage that they reduce greatly the sensitivity of such devices to roughness and other structural imperfections in the substrate or the supported layers. <img src='wiley_img/1616301X-2008-18-17-ADFM200800176-content.gif' alt='wiley_img/1616301X-2008-18-17-ADFM200800176-content'> </P>

Factors Influencing the Quality of Standardized Treatment for Patients with Post–Cardiac Arrest Syndrome

Jing Lu,Lijun Liu,Jianliang Zhu,Xinying Guo 대한심장학회 2017 Korean Circulation Journal Vol.47 No.4

Background and Objectives: For the present study, we investigated the factors that influence the quality of standardized treatment for patients with post–cardiac arrest syndrome (PCAS) to improve the quality of PCAS treatment. Subjects and Methods: We collected data on patients with cardiac arrest (CA) who were admitted to the intensive care units (ICUs) of 11 hospitals-Class II Grade A or above-in Suzhou from January to October 2013. Indexes of standardized treatment were observed within 72 hrs of CA. We analyzed monitoring techniques, monitoring frequency, ICU human and material resources, and intensivists’ knowledge of PCAS treatment to explore how those factors affected the management of patients with PCAS. Results: The bed/nurse ratio and the frequency with which core temperature was recorded correlated closely with the implementation of therapeutic hypothermia (TH) within 6 hrs of CA. The bed/doctor ratio and intensivists’ knowledge about PCAS correlated closely with high-quality blood glucose control within 6 hrs of CA. Furthermore, the frequency with which core temperature was recorded was an independent factor influencing the quality of TH implementation, and the number times blood gas was analyzed was an independent factor influencing how well partial pressure of carbon dioxide was kept within the normal range in the 6 hrs after CA. Conclusion: The frequency of core temperature measurements and the number of times blood gas is analyzed are the most important factors influencing the quality of standardized treatment for patients with PCAS.

Transcatheter Arterial Chemoembolization Combined with Interferon-α is Safe and Effective for Patients with Hepatocellular Carcinoma after Curative Resection

Zuo, Chaohui,Xia, Man,Liu, Jingshi,Qiu, Xiaoxin,Lei, Xiong,Xu, Ruocai,Liu, Hanchun,Li, Jianliang,Li, Yongguo,Li, Qinglong,Xiao, Hua,Hong, Yuan,Wang, Xiaohong,Zhu, Haizhen,Wu, Qunfeng,Burns, Michael,Li Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.1

Objectives: Intrahepatic recurrence is the major cause of death among patients with hepatitis B virus (HBV)-related hepatocellular carcinoma (HCC) after curative surgical resection. Several approaches have been reported to decrease the recurrence rate. The objective of our study was to compare the clinical effects of transcatheter arterial chemoembolization (TACE) combined with interferon-alpha (IFN-${\alpha}$) therapy on recurrence after hepatic resection in patients with HBV-related HCC with that of TACE chemotherapy alone. Methods: We retrospectively analyzed the data from 228 patients who were diagnosed with HBV-related HCC and underwent curative resection between January 2001 to December 2008. The patients were divided into TACE (n = 126) and TACE-IFN-${\alpha}$ (n = 102) groups for postoperative chemotherapy. The TACE regimen consisted of 5-fluorouracil (5-FU), cisplatin (DDP), and the emulsion mixed with mitomycin C (MMC) and lipiodol. The recurrence rates, disease-free survival (DFS), overall survival (OS), and risk of recurrence were evaluated. Results: The clinicopathological parameters and adverse effects were similar between the 2 groups (P > 0.05). The median OS for the TACE-IFN-${\alpha}$ group (36.3 months) was significantly longer than that of the TACE group (24.5 months, P < 0.05). The 3-and 5-year OS for the TACE-IFN-${\alpha}$ group were significantly longer than those of the TACE group (P < 0.05) and the recurrence rate was significantly lower (P < 0.05). The TACE and IFN-${\alpha}$ combination therapy, active hepatitis HBV infection, the number of tumor nodules, microvascular invasion, liver cirrhosis, and the BCLC stage were independent predictors of OS and DFS. Conclusions: The use of the TACE and IFN-${\alpha}$ combination chemotherapy after curative hepatic resection safely and effectively improves OS and decreases recurrence in patients with HBV-related HCC who are at high risk. Our findings can serve as a guide for the selection of postoperative adjuvant chemotherapy for patients with HBV-related HCC who are at high risk of recurrence.