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| 1 | Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot显示文摘As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinematic controller utilized to generate the command of velocity is designed based on Backstepping method. Then, in order to make the real velocity of mobile robot reach the desired velocity asymptotically, a dynamic adaptive controller is proposed adopting reference model and Lyapunov stability theory. Finally, through simulating typical trajectories including circular trajectory, fold line and parabola trajectory in normal and perturbed cases, the results illustrate that the control scheme can solve the tracking problem effectively. The proposed control law, which can tune the kinematic and dynamic model parameters online and overcome external disturbances, provides a novel method for improving trajectory tracking performance of the mobile robot. | CAO Zhengcai ZHAO Yingtao WU Qidi | 2011 | Chinese Journal of Mechanical Engineering2011，24，4： | 13 |
| 2 | The input work expression and the thermodynamics-based modelling framework for unsaturated expansive soils with double porosity显示文摘In this paper, based on the porous media theory, the specific expressions of the total stress and the input work of unsaturated expansive soils with double porosity are proposed, and then the energy-conjugate variables are further derived. We make distinctions between the effects of capillary water and adsorbed water on the soil behaviour, as well as between the deformations of microand macrostructure. According to the derived input work expression and the work-energy-dissipation relations for an open multiphase thermodynamic system, we establish a thermodynamics-based modelling framework for unsaturated expansive soils with double porosity. | LI Jian ZHAO ChengGang CAI GuoQing ASREAZAD Saman XU Xi Frank HUANG QiDi | 2013 | Chinese Science Bulletin2013，58，27： | 10 |
| 3 | Prioritizing natural-selection signals from the deep-sequencing genomic data suggests multi-variant adaptation in Tibetan highlanders显示文摘Human genetic adaptation to high altitudes(>2500 m)has been extensively studied over the last few years,but few functional adaptive genetic variants have been identified,largely owing to the lack of deep-genome sequencing data available to previous studies.Here,w e build a list of putative adaptive variants,including 63 missense,7 loss-of-function;1,298 evolutionarily conserved variants and 509 expression quantitative traits loci.Notably,the top signal of selection is located in TMEM 247,a transmembrane protein-coding gene.The Tibetan version of TMEM 247 harbors one high-frequency(76.3%)missense variant,rsl 16983452(c.248C>T;p.Ala83Val);with the T allele derived from archaic ancestry and carried by>94%of Tibetans but absent or in low frequencies(<3%)in non-Tibetan populations.The rsl 16983452-T is strongly and positively correlated with altitude and significantly associated with reduced hemoglobin concentration(p=5.78×10^-5),red blood cell count(p=5.72×10^-7)and hematocrit(p=2.57×10^-6).In particular,TMEM247-rs 116983452 shows greater effect size and better predicts the phenotypic outcome than any E P A S1 variants in association with adaptive traits in Tibetans.Modeling the interaction between TM£M247-rsl 16983452 and EPAS1 variants indicates weak but statistically significant epistatic effects.Our results support that multiple variants may jointly deliver the fitness of the Tibetans on the plateau,where a complex model is needed to elucidate the adaptive evolution mechanism. | Lian Deng Chao Zhang Kai Yuan Yang Gao Yuwen Pan Xueling Ge Yaoxi He Yuan Yuan Yan Lu Xiaoxi Zhang Hao Chen Haiyi Lou Xiaoji Wang Dongsheng Lu Jiaojiao Liu Lei Tian Qidi Feng Asifullah Khan Yajun Yang Zi-Bing Jin Jian Yang Fan Lu Jia Qu Longli Kang Bing Su Shuhua Xu | 2019 | National Science Review2019，6，6： | 9 |
| 4 | High-temperature treatment induced carbon anode with ultrahigh Na storage capacity at low-voltage plateau显示文摘Sodium-ion batteries(NIBs) show great prospect on the energy storage applications benefiting from their low cost and the abundant Na resources despite the expected lower energy density compared with lithium-ion batteries(LIBs). To further enhance the competitive advantage, especially in energy density,developing the high-capacity carbon anode materials can be one of the effective approaches to realize this goal. Herein, we report a novel carbon anode made from charcoal with a high capacity of ~400 m Ah g^(-1), wherein about 85%(>330 mAh g^(-1)) of its total capacity is derived from the long plateau region below ~0.1 V, which differs from those of typical hard carbon materials(~300 m Ah g^(-1)) in NIBs but is similar to the graphite anode in LIBs. When coupled with air-stable Na_(0.9)Cu_(0.22)e_(0.30)Mn_(0.48)O_2 oxide cathode, a high-energy density of ~240 Wh kg^(-1) is achieved with good rate capability and cycling stability. The discovery of this promising carbon anode is expected to further improve the energy density of NIBs towards large-scale electrical energy storage. | Chenglong Zhao Qidi Wang Yaxiang Lu Baohua Li Liquan Chen Yong-Sheng Hu | 2018 | Science Bulletin2018，63，17： | 7 |
| 5 | A Task-oriented Modular and Agent-based Collaborative Design Mechanism for Distributed Product Development显示文摘The rapid expansion of enterprises makes product collaborative design(PCD)a critical issue under the distributed heterogeneous environment,but as the collaborative task of large-scale network becomes more complicated,neither unified task decomposition and allocation methodology nor Agent-based network management platform can satisfy the increasing demands.In this paper,to meet requirements of PCD for distributed product development,a collaborative design mechanism based on the thought of modularity and the Agent technology is presented.First,the top-down 4-tier process model based on task-oriented modular and Agent is constructed for PCD after analyzing the mapping relationships between requirements and functions in the collaborative design.Second,on basis of sub-task decomposition for PCD based on a mixed method,the mathematic model of task-oriented modular based on multi-objective optimization is established to maximize the module cohesion degree and minimize the module coupling degree,while considering the module executable degree as a restriction.The mathematic model is optimized and simulated by the modified PSO,and the decomposed modules are obtained.Finally,the Agent structure model for collaborative design is put forward,and the optimism matching Agents are selected by using similarity algorithm to implement different task-modules by the integrated reasoning and decision-making mechanism with the behavioral model of collaborative design Agents.With the results of experimental studies for automobile collaborative design,the feasibility and efficiency of this methodology of task-oriented modular and Agent-based collaborative design in the distributed heterogeneous environment are verified.On this basis,an integrative automobile collaborative R&D platform is developed.This research provides an effective platform for automobile manufacturing enterprises to achieve PCD,and helps to promote product numeralization collaborative R&D and management development. | LIU Jinfei CHEN Ming WANG Lei WU Qidi | 2014 | Chinese Journal of Mechanical Engineering2014，27，3： | 4 |
| 6 | Genetic Fuzzy + PI Path Tracking Control of a Nonholonomic Mobile Robot显示文摘 | CAO Zhengcai ZHAO Yingtao WU Qidi | 2011 | Chinese Journal of Electronics2011，20，1： | 3 |
| 7 | First Report LA-ICP-MS Zircon U-Pb Age of Early Jurassic Volcanic Rocks from Rencha Volcanic Basin, Northeast Guangdong Province, Southeastern China显示文摘Objective Most scholars agreed that the tectonic setting of South China block(SBC)changed from Tethys during the Indosinian to Pacific tectonic regime in the Yanshanian.However,the specific change time for the transition is still in debate and the Triassic to Jurassic magmatic activity will provide a clue to better understanding the transition.The Rencha volcanic basin,located at the conjunction | YU Yushuai LOU Feng DAI Pingyun GUO Fusheng YANG Qidi | 2018 | Acta Geologica Sinica(English Edition)2018，92，5： | 3 |
| 8 | Comparative analysis of the photosynthetic physiology and transcriptome of a high-yielding wheat variety and its parents显示文摘Photosynthesis is the fundamental basis of plant growth and development,and the improvement of photosynthetic efficiency can therefore promote increased crop yields.In this study,a comparative analysis of photosynthetic physiology and transcriptome was conducted between the high photosynthetic efficient variety BN207 and its parents BN64 and ZM16.The higher chlorophyll fluorescence,chlorophyll and carotenoid contents,and Lhcb1 protein accumulation in BN207 improved photosynthetic efficiency by promoting light energy absorption and conversion.Chloroplasts being distributed more closely to the cell membrane and the higher Rubisco enzyme activity of BN207 enhanced carbon assimilation,resulting in more carbohydrate accumulation in BN207.Transcriptome analysis revealed that there were several key genes mediating the high photosynthetic efficiency of BN207:Traes CS5 D02 G364100(chlorophyllase),BGI_novel_G006617(lycopeneε-cyclase),Traes CS4 A02 G034800 and Traes CS4 A02 G035100(Zeaxanthin epoxidase),Traes CS6 B02 G122500(light-harvesting complex II chlorophyll a/b binding protein 1).These genes improved the photosynthetic efficiency of BN207 mainly by reducing chlorophyll degradation,promoting carotenoid synthesis,and increasing Lhcb1 protein accumulation.These findings provide important background information for the cultivation of wheat varieties with high photosynthetic efficiency. | Huajie Liu Qidi Zhu Xinxin Pei Guozhen Xing Xingqi Ou Hua Li | 2020 | The Crop Journal2020，8，6： | 3 |
| 9 | Weighted Sparse Image Classification Based on Low Rank Representation显示文摘The conventional sparse representation-based image classification usually codes the samples independently,which will ignore the correlation information existed in the data.Hence,if we can explore the correlation information hidden in the data,the classification result will be improved significantly.To this end,in this paper,a novel weighted supervised spare coding method is proposed to address the image classification problem.The proposed method firstly explores the structural information sufficiently hidden in the data based on the low rank representation.And then,it introduced the extracted structural information to a novel weighted sparse representation model to code the samples in a supervised way.Experimental results show that the proposed method is superiority to many conventional image classification methods. | Qidi Wu Yibing Li Yun Lin Ruolin Zhou | 2018 | Computers, Materials & Continua2018，，7： | 2 |
| 10 | Effect of block length on the self-assembly of end-capping perfluoroalkyl moieties on the polymer surface显示文摘Most research on copolymers with fluorinated monomers has focused on the relationship between fluorinated monomer content and the corresponding surface structure. However,the influence of the non-fluorinated block on the surface structure of the copolymer film is unknown. Various molecular weight poly(butyl methacrylates) (PBMA) end-capped with 2-perfluorooctylethyl methacrylate (FMA) units (PBMA-ec-FMA) have been synthesized by atom transfer radical polymerization (ATRP). The effect of the PBMA block length on the surface structure and properties of the polymers both in the solid state and in solution was investigated using various techniques. X-ray photoelectron spectroscopy (XPS),sum frequency generation (SFG) vibrational spectroscopy and X-ray diffraction (XRD) analyses indicated that longer PBMA blocks enhanced both the enrichment of the fluorinated moieties and the order of the packing orientation of the perfluoroalkyl side chains on the surface. This enhancement was attributed mainly to the molecular aggregate structure of the end-capped polymers with long PBMA blocks in the solution and to the interfacial structure at the air/liquid interface,which favors the -(CF2)7CF3 moieties self-assembling on the polymer surface during film formation. This observation suggests that the polyacrylate block structure in fluorinated diblock copolymers,in addition to the fluorinated monomer content,plays an important role in structure formation on the solid surface. | YANG JuPing ZHAO QiDi ZHOU Bin NI HuaGang WANG XinPing SHEN ZhiQuan | 2009 | Science China Chemistry2009，52，12： | 2 |
| 11 | Modified Adaptive Cuckoo Search Algorithm and Formal Description for Glob- al Optimization 显示文摘 | Zhang Yongwei Wang Lei Wu Qidi | 2012 | International Journal of Computer Ap- plications In Technology2012，44，2： | 1 |
| 12 | Impulsive control for the stabilization and synchronization of Lorenz systems显示文摘 | SUN Jitao ZHANG Yinping WU Qidi | 2002 | Physics Letters A2002，298，23： | 1 |
| 13 | Glibenclamide Treatment Recruits β-Cell Subpopulation Into Elevated and Sustained Basal Insulin Synthetic Activiy显示文摘 | Zhidong L Qidi W Geert S | 2006 | Diabetes2006，，55： | 1 |
| 14 | Hybrid algorithm for jobshop scheduling probtem显示文摘 | Chen Xiong Kong Qingsheng Wu Qidi | 2002 | Intelligent Control and Automation2002，3，6： | 1 |
| 15 | Optimal-Setting Control for Complicated Industrial Processes and its Application Study 显示文摘 | Zhongjie Wang Qidi Wu Tianyou Chai | 2004 | Control Engineering Practice (S0967-0661)2004，12，1： | 1 |
| 16 | Optimization of polyurethane-bonded thin overlay mixture designation for airport pavement显示文摘This research explored the application potential of PUM thin-overlay technology on airport rapid maintenance.The rapid curing process of polyurethane binder determines the limited time window for mixing and construction of polyurethane-bonded mixture(PUM),which presents significant difference with hot-mix asphalt(HMA)technology.Therefore,this research investigated and optimized the mix design of PUM for airport thin-overlay technology based on its thermosetting characteristics.First,limestone and basalt were comprehensively compared as an aggregate for PUM.Then,the effects of molding and curing conditions were studied in terms of mixing time,molding method,molding parameters and curing temperature.Statistical analysis was also conducted to evaluate the effects of gradation and particle size on PUM performances based on gray relational analysis(GRA),thus determining the key particle size to control PUM performances.Finally,the internal structural details of PUM were captured by X-ray CT scan test.The results demonstrated that it only took 12 hours to reach 75%of maximum strength at a curing temperature of 50°C,indicating an efficient curing process and in turn allowing short traffic delay.The internal structural details of PUM presented distribution of tiny pores with few connective voids,guaranteeing waterproof property and high strength. | Xianrui LI Ling XU Qidi ZONG Fu JIANG Xinyao YU Jun WANG Feipeng XIAO | 2022 | Frontiers of Structural and Civil Engineering2022，16，8： | 1 |
| 17 | Some impulsive synchronization criterions for coupled chaotic systems via unidirectional linear error feedback approach显示文摘 | SUN Jitao ZHANG Yinping QIAO Fei WU Qidi | | 0，，05： | 1 |
| 18 | A lot dispatching strategy integrating WIP management and wafer start control 显示文摘 | Zuntong Wang Qidi Wu and Fei Qiao | 2007 | IEEE Transactions on Automation Science and Engineering2007，4，4： | 1 |
| 19 | No-cooperative games for multiple emergency locations in resource scheduling显示文摘When an emergency happens, the scheduling of relief resources to multiple emergency locations is a realistic and intricate problem, especially when the available resources are limited. A non-cooperative games model and an algorithm for scheduling of relief resources are presented. In the model, the players correspond to the multiple emergency locations, strategies correspond to all resources scheduling and the payoff of each emergency location corresponds to the reciprocal of its scheduling cost. Thus, the optimal results are determined by the Nash equilibrium point of this game. Then the iterative algorithm is introduced to seek the Nash equilibrium point. Simulation and analysis are given to demonstrate the feasibility and availability of the model. | Yang, Jijun Xu, Weisheng Wu, Qidi Wang, Guangjing | 2008 | Journal of Southeast University(English Edition)2008，24，S1： | 1 |
| 20 | Impulsive Control and Its Appli-cation to Lu's Chaotic System显示文摘 | Chen Dilan Sun Jitao Wu Qidi | 2004 | Chaos Solitons & Fractals2004，21，5： | 1 |
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