Adaptive Tracking Control of Nonholonomic Mobile Manipulators Using Recurrent Neural Networks

Guo Yi,Jianxu Mao,Yaonan Wang,Siyu Guo,Zhiqiang Miao 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.3

The trajectory tracking problem is considered for a class of nonholonomic mobile manipulators in the presence of uncertainties and disturbances. First, under the assumption that the kinematic subsystem of mobile manipulator is capable of being transformed into the chained form and the dynamic subsystem of mobile manipulator is exactly known without considering external disturbances, a model-based controller is designed at the torque level using backstepping design technology. However, the model-based control may be inapplicable for practical applications, as the uncertainties and disturbances do exist in the dynamics of mobile manipulators inevitably. Thus, a Recurrent Neural Network (RNN) based control system is developed without requiring explicit knowledge of the system dynamics. The control system comprises a RNN identifier and a compensation controller, in which the RNN is utilized to identify the unknown dynamics on-line, and the compensation controller is presented to compensate the approximation error and external disturbances. The online adaptive laws of the control system are derived in the Lyapunov sense so that the stability of the system can be guaranteed. Finally, simulation results for a wheeled mobile manipulator are provided to show the good tracking performance and robustness of the proposed control method.

Fault Detection of a Proposed Three-Level Inverter Based on a Weighted Kernel Principal Component Analysis

Mao Lin,Ying-Hui Li,Liang Qu,Chen Wu,Guo-Qiang Yuan 전력전자학회 2016 JOURNAL OF POWER ELECTRONICS Vol.16 No.1

Fault detection is the research focus and priority in this study to ensure the high reliability of a proposed three-level inverter. Kernel principal component analysis (KPCA) has been widely used for feature extraction because of its simplicity. However, highlighting useful information that may be hidden under retained KPCs remains a problem. A weighted KPCA is proposed to overcome this shortcoming. Variable contribution plots are constructed to evaluate the importance of each KPC on the basis of sensitivity analysis theory. Then, different weighting values of KPCs are set to highlight the useful information. The weighted statistics are evaluated comprehensively by using the improved feature eigenvectors. The effectiveness of the proposed method is validated. The diagnosis results of the inverter indicate that the proposed method is superior to conventional KPCA.

Rs7574865 polymorphism of STAT4 and risk of anti-tuberculosis drug-induced hepatotoxicity in Chinese Han

Guo Chen,Wei Mao,Shou‑Quan Wu,Yu Wang,Gui‑Yi Ji,Miao‑Miao Zhang,Qian‑Qian Liu,Jian‑Qing He 한국유전학회 2017 Genes & Genomics Vol.39 No.11

Anti-tuberculosis drug-induced hepatotoxicity (ATDH) is the most frequent, and potentially fatal adverse effect in the treatment of tuberculosis (TB). The rs7574865 polymorphism in the signal transducer and activator of transcription 4 gene (STAT4) was reported to be associated with drug-induced liver injury. However, there was no study aimed to this association in Chinese patients. The aim of this study was to investigate the influence of STAT4 polymorphisms on the susceptibility to ATDH in a Chinese Han population. A total of 280 TB patients with the prescription of anti-TB therapy, of Chinese Han origin, were enrolled. They were followed up for 3 months and demographic, clinical, laboratory and therapeutic data at each visit were collected. Two single nucleotide polymorphisms (SNPs) (rs7574865 and rs7582694) of STAT4 were genotyped with the MassARRAY platform. The associations between SNPs and ATDH risk were analyzed by logistic regression adjusting for confounding factors. A total of 24 patients were diagnosed with ATDH and considered as the case group, and 33 patients were lost to follow-up; the remaining 223 subjects without ATDH were considered as the control group. There was strong linkage disequilibrium (LD) between rs7574865 and rs7582694 ( r2 = 0.928 and D′ = 1). No significant association was found between SNPs or haplotypes of STAT4 and ATDH after correction for confounding factors. This prospective study is the first to investigate the association of genetic polymorphisms of STAT4 and ATDH in Chinese individuals. There was no significant association between the rs7574865 of STAT4 and ATDH in a Chinese Han population.

CaMKIIα interacts with M4 muscarinic receptors to control receptor and psychomotor function

Guo, M. L.,Fibuch, E. E.,Liu, X. Y.,Choe, E. S.,Buch, S.,Mao, L. M.,Wang, J. Q. Nature Publishing Group 2010 The EMBO journal Vol.29 No.12

Provisioning of QoS Adaptability in Wired-Wireless Integrated Networks

Guo, Mian,Jiang, Shengming,Guan, Quansheng,Mao, Huachao The Korea Institute of Information and Commucation 2013 Journal of communications and networks Vol.15 No.1

The increasing number of mobile users and the popularity of real-time applications make wired-wireless integrated network extremely attractive. In this case, quality of service (QoS) adaptability is particularly important since some important features of the integrated network call for QoS adaptability, such as mobility, bursty applications and so on. Traditional QoS schemes include integrated service (IntServ) and differentiated service (DiffSev) as well as their variants. However, they are not able to balance well between scalability and QoS granularity. For example, IntServ faces the scalability problem, while DiffServ can only provide coarse granular QoS. In addition, they are also unable to efficiently support QoS adaptability. Therefore, a per-packet differentiated queueing service (DQS) was proposed. DQS was originally proposed to balance between scalability and QoS granularity in wired networks and then extended to wireless networks. This paper mainly discusses how to use DQS to support QoS adaptability in wired-wireless integrated networks. To this end, we propose a scheme to determine dynamic delay bounds, which is the key step to implement DQS to support QoS adaptability. Simulation studies along with some discussions are further conducted to investigate the QoS adaptability of the proposed scheme, especially in terms of its support of QoS adaptability to mobility and to bursty real-time applications.

Purification and Characterization of an Acid Deoxyribonuclease from the Cultured Mycelia of Cordyceps sinensis

( Mao Qing Ye ),( Zheng Hu ),( Ying Fan ),( Ling He ),( Fu Bao Xia ),( Guo Lin Zou ) 생화학분자생물학회 2004 BMB Reports Vol.37 No.4

A new acid deoxyribonuclease (DNase) was purified from the cultured mycelia of Cordyceps sinensis, and designated CSDNase. CSDNase was purified by (NH₄)₂SO₄ precipitation, Sephacryl S-100 HR gel filtration, weak anion-exchange HPLC, and gel filtration HPLC. The protein was single-chained, with an apparent molecular mass of ca. 34 kDa, as revealed by SDS-PAGE, and an isoelectric point of 7.05, as estimated by isoelectric focusing. CSDNase acted on both double-stranded (ds) and single- stranded (ss) DNA, but preferentially on dsDNA. The optimum pH of CSDNase was pH 5.5 and its optimum temperature 55. The activity of CSDNase was not dependent on divalent cations, but its enzymic activity was inhibited by high concentration of the cation: MgC1₂ above 150 mM, MnCl₂ above 200 mM, ZnCl₂ above 150 mM, CaCl₂ above 200 mM, NaCl above 300 mM, and KCI above 300 mM. CSDNase was found to hydrolyze DNA, and to generate 3-phosphate and 5-OH termini. These results indicate that the nucleolytic properties of CSDNase are essentially the same as those of other well-characterized acid DNases, and that CSDNase is a member of the acid DNase family. To our knowledge, this is the first report of an acid DNase in a fungus.

Fast DFT Matrices Transform Based on Generalized Prime Factor Algorithm

Guo, Ying,Mao, Yun,Park, Dong-Sun,Lee, Moon-Ho The Korea Institute of Information and Commucation 2011 Journal of communications and networks Vol.13 No.5

Inspired by fast Jacket transforms, we propose simple factorization and construction algorithms for the M-dimensional discrete Fourier transform (DFT) matrices underlying generalized Chinese remainder theorem (CRT) index mappings. Based on successive coprime-order DFT matrices with respect to the CRT with recursive relations, the proposed algorithms are presented with simplicity and clarity on the basis of the yielded sparse matrices. The results indicate that our algorithms compare favorably with the direct-computation approach.

Genetic Diversity and Geographical Differentiation of Desmodium triflorum (L.) DC. in South China Revealed by AFLP Markers

Mao-feng Yue,Ren-chao Zhou,Ye-lin Huang,Guo-rong Xin,Su-hua Shi,Li Feng 한국식물학회 2010 Journal of Plant Biology Vol.53 No.2

High levels of genetic variation enable species to adapt to changing environments and provide plant breeders with the raw materials necessary for artificial selection. In the present study, six AFLP primer pairs were used to assess the genetic diversity of Desmodium triflorum (L.)DC. from 12 populations in South China. A high percentage of polymorphic loci (P=76.16%) and high total gene diversity (HT=0.310) were found, indicating that the genetic diversity of D. triflorum is high at the species level. Genetic diversity was also relatively high at the population level (P=55.85%, He=0.230). The coefficient of gene differentiation among populations (GST) was 0.255, indicating that while most genetic diversity resided within populations, there was also considerable differentiation among populations. AMOVA also indicated 24.29% of the total variation to be partitioned among populations (ΦST=0.243). UPGMA clustering analysis based on genetic distances showed that the 12 populations could be separated into three subgroups: an eastern, a western, and a central-southern subgroup. However, a Mantel test revealed no significant correlation (r=0.286, p=0.983)between the geographical distances and genetic distances separating these populations; mountain barriers to gene flow and human disturbance may have confounded these correlations. The present study has provided some fundamental genetic data that will be of use in the exploitation of D. triflorum.

rs12904 Polymorphism in the 3'UTR of EFNA1 is Associated with Colorectal Cancer Susceptibility in a Chinese Population

Mao, Ying-Ying,Jing, Fang-Yuan,Jin, Ming-Juan,Li, Ying-Jun,Ding, Ye,Guo, Jing,Wang, Fen-Juan,Jiang, Long-Fang,Chen, Kun Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.9

Accumulated evidence has indicated that Ephrin A1 (EFNA1) is associated with angiogenesis and tumorigenesis in various types of malignancies, including colorectal cancer (CRC). In the current study, we performed an online search using the public microarray database to investigate whether EFNA1 expression might be altered in CRC tissues. We then conducted a case-control study including 306 subjects (102 cases and 204 well-matched controls) in Xiaoshan County to assess any association between genetic polymorphisms in EFNA1 and CRC susceptibility. Searches in the Oncomine expression profiling database revealed EFNA1 to be overexpressed in CRC tissue compared with adjacent normal tissue. The rs12904 G-A variant located in the 3' untranslated region (UTR) of EFNA1 was observed to be associated with CRC susceptibility. Compared with the AA homozygous genotype, those carrying GA genotype had a decreased risk of developing CRC (odds ratio (OR)=0.469, 95% confidence interval (CI): 0.225-0.977, and P=0.043). The association was stronger among smokers and tea drinkers, however, no statistical evidence of interaction between rs12904 polymorphism and smoking or tea drinking on CRC risk was found. Our results suggest that EFNA1 is involved in colorectal tumorigenesis, and rs12904 A>G polymorphism in the 3' UTR of EFNA1 is associated with CRC susceptibility. Larger studies and further mechanistic investigations are warranted to confirm our findings.

Interactive Feature Extraction on 3D Meshes

Zhihong, Mao,Lee, Kunwoo,Guo, Cao,Yanzhao, Ma CAD Solutions, LLC 2011 Computer-aided design and applications Vol.8 No.5