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| 1 | An adaptive particle filter for soft fault compensation of mobile robots显示文摘Soft fault compensation plays an important role in mobile robot locating, mapping, and navigating. It is difficult to achieve fast and accurate compensation for mobile robots because they are usually highly non-linear, non-Gaussian systems with lim-ited computation and memory resources. An adaptive particle filter is presented to compensate two kinds of soft faults for mobile robots, i.e., noise or factor faults of dead reckoning sensors and slippage of wheels. Firstly, the kinematics models and the fault models are discussed, and five kinds of residual features are extracted to detect soft faults. Secondly, an adaptive particle filter is designed for fault com-pensation, and two kinds of adaptive scheme are discussed: 1) the noise variances of linear speed and yaw rate are adjusted according to residual features; 2) the particle number is adapted according to Kullback-Leibler divergence (KLD) of two approximate distribution denoted with two particle sets with different particles, i.e., increasing particle number if the KLD is large and decreasing particle number if the KLD is small. The theoretic proof is given and experimental results show the effi-ciency and accuracy of the presented approach. | DUAN ZhuoHua CAI ZiXing YU JinXia | 2008 | Science in China(Series F)2008，51，12： | 8 |
| 2 | Improved method for the feature extraction of laser scanner using genetic clustering显示文摘Feature extraction of range images provided by ranging sensor is a key issue of pattern recognition. To automatically extract the environmental feature sensed by a 2D ranging sensor laser scanner, an improved method based on genetic clustering VGA-clustering is presented. By integrating the spatial neighbouring information of range data into fuzzy clustering algorithm, a weighted fuzzy clustering algorithm (WFCA) instead of standard clustering algorithm is introduced to realize feature extraction of laser scanner. Aimed at the unknown clustering number in advance, several validation index functions are used to estimate the validity of different clustering al-gorithms and one validation index is selected as the fitness function of genetic algorithm so as to determine the accurate clustering number automatically. At the same time, an improved genetic algorithm IVGA on the basis of VGA is proposed to solve the local optimum of clustering algorithm, which is implemented by increasing the population diversity and improving the genetic operators of elitist rule to enhance the local search capacity and to quicken the convergence speed. By the comparison with other algorithms, the effectiveness of the algorithm introduced is demonstrated. | Yu Jinxia Cai Zixing Duan Zhuohua | 2008 | Journal of Systems Engineering and Electronics2008，19，2： | 6 |
| 3 | A precision medicine approach to managing 2019 novel coronavirus pneumonia显示文摘In December 2019,several patients with pneumonia of an unknown cause were detected in Wuhan,China.On 7 January 2020,the causal organism was identified as a new coronavirus,later named as the 2019 novel coronavirus(2019-nCoV).Genome sequencing found the genetic sequence of 2019-nCoV homologous to that of severe acute respiratory syndrome-associated coronavirus.As of 29 January 2020,the virus had been diagnosed in more than 7000 patients in China and 77 patients in other countries.It is reported that both symptomatic and asymptomatic patients with 2019-nCoV can play a role in disease transmission via airborne and contact.This finding has caused a great concern about the prevention of illness spread.The clinical features of the infection are not specific and are often indistinguishable from those of other respiratory infections,making it difficult to diagnose.Given that the virus has a strong ability to spread between individuals,it is of top priority to identify potential or suspected patients as soon as possible—or the virus may cause a serious pandemic.Therefore,a precision medicine approach to managing this disease is urgently needed for detecting and controlling the spread of the virus.In this article,we present such an approach to managing 2019-nCoV-related pneumonia based on the unique traits of the virus recently revealed and on our experience with coronaviruses at West China Hospital in Chengdu,China. | Minjin Wang Yanbing Zhou Zhiyong Zong Zongan Liang Yu Cao Hong Tang Bin Song Zixing Huang Yan Kang Ping Feng Binwu Ying Weimin Li | 2020 | Precision Clinical Medicine2020，3，1： | 3 |
| 4 | Fuzzy Likelihood Estimation Based Map Matching for Mobile Robot Self- localization 显示文摘 | Yu Jinxia Cai Zixing | 2006 | FSKD2006，4223，： | 1 |
| 5 | A particle filter and SVM integration framework for fault-proneness prediction in robot dead reckoning system显示文摘 | Yu Lingli Wu Min Cai Zixing | 2011 | WSEAS Transactions on System2011，10，11： | 1 |
| 6 | Curing kinetics of benzoxazine resin by torsional braid analysis显示文摘 | Yu Dingsheng Chen Hong Shi Zixing | 2002 | Polymer2002，43，11： | 1 |
| 7 | Solvent exfoliatedgraphene for reinforcement of PMMA composites prepared byin situ polymerization显示文摘 | Wang Jialiang Shi Zixing Ge Yu | 2012 | Materials Chemistry & Physics2012，136，1： | 1 |
| 8 | Investigation of isothermal curing behaviour during the synthesis of polybenzoxazine-layered silicate nanocomposites via cyclic monomer显示文摘 | ZIXING SHI DINTG SHENG YU YIZHONG WANG | 2002 | European Polymer Journal2002，，38： | 1 |
| 9 | Investigation of isothermal curing behaviour during the synthesis of polybenzoxazine-layered silicate nanocomposites via cyclic monomer显示文摘 | Shi Zixing Yu Dingsheng Wang Yizhong | 2002 | European Polymer Journal2002，38，4： | 1 |
| 10 | Noniso- thermal cure kinetics in the synthesis of polybenzoxazine-clay nanocomposites 显示文摘 | Shi Zixing Yu Dingsheng Wang Yizhong | 2003 | Journal of Applied Polymer Science2003，88，1： | 1 |
| 11 | Investigation of Isothermal Curing Behaviour during the Synthesis of Polybenzoxazine-layered Silicate Nanocomposites Via Cyclic Monomer显示文摘 | Zixing Shi Dintg Sheng Yu Yizhong Wang | 2002 | European Polymer Journal2002，38，： | 1 |
| 12 | Curing Kinetics of Benzoxazine Resin by Torsional Braid Analysis 显示文摘 | Yu Dingsheng Chen Hong Shi Zixing | 2002 | Polymer2002，43，11： | 1 |
| 13 | Multi-robot exploration mission planning and stochastic increment replanning for load balance显示文摘Multi-robot mission planning is composed of assignment allocation and mobile-robot route planning in this paper.Multi-robot exploration missions adopts fuzzy c-mean(FCM)algorithm to allocate,and then,heterogeneous interactive cultural hybrid algorithm(HICHA)is devised for route planning in order to optimize mobilerobot execution path.Meanwhile,we design multi-robot mission replanning mechanism based on the rules system of greedy algorithm for dynamic stochastic increment missions.Finally,extensive simulation experiments were shown that FCM for assignment allocation and HICHA for route planning were efficacious for mobile-robot exploration mission planning.Furthermore,the improved greedy algorithm based on experience rules met dynamic stochastic increment missions replanning requirement for load balance. | Lingli YU Zixing CAI | 2010 | Frontiers of Electrical and Electronic Engineering in China2010，5，2： | 0 |
| 14 | Synthesis and evaluation of peptide-fentanyl analogue conjugates as dualμ/δ-opioid receptor agonists for the treatment of pain显示文摘Novel peptide-fentanyl analogue conjugates were synthesized by the covalent coupling of carfentanyl derivatives to the C-terminus or N-terminus of the conformationally constrained dermorphin tetrapeptide BVD03 via a chemical linker.The carfentanyl-related analogues displayed distinct binding and functional activities atμ/δopioid receptors(MOR/DOR)and antinociceptive effects when conjugated to the peptide.The most potent compound,SW-LJ-11,displayed mixed MOR/DOR agonist properties in the low nanomolar range and significant analgesic efficacy in vivo in four classic mouse models of pain.Interestingly,SW-LJ-11 did not exhibit any physical dependence or respiratory depression,in contrast to an equipotent analgesic dose of morphine or BVD03,indicating that the use of opioid peptide-fentanyl analogue conjugates as dual MOR/DOR agonists may be a promising strategy for obtaining safer opioids. | Jing Li Tao Zhang Jialin Sun Fengxia Ren Hongxin Jia Zixing Yu Jingchao Cheng Weiguo Shi | 2022 | Chinese Chemical Letters2022，33，8： | 0 |
| 15 | Network prediction of surgical complication clusters:a prospective multicenter cohort study显示文摘Complicated relationships exist in both occurrence and progression of surgical complications,which are difficult to account for using a separate quantitative method such as prediction or grading.Data of 51,030 surgical inpatients were collected from four academic/teaching hospitals in a prospective cohort study in China.The relationship between preoperative factors,22 common complications,and death was analyzed.With input from 54 senior clinicians and following a Bayesian network approach,a complication grading,cluster-visualization,and prediction(GCP)system was designed to model pathways between grades of complication and preoperative risk factor clusters.In the GCP system,there were 11 nodes representing six grades of complication and five preoperative risk factor clusters,and 32 arcs representing a direct association.Several critical targets were pinpointed on the pathway.Malnourished status was a fundamental cause widely associated(7/32 arcs)with other risk factor clusters and complications.American Society of Anesthesiologists(ASA)score≥3 was directly dependent on all other risk factor clusters and influenced all severe complications.Grade III complications(mainly pneumonia)were directly dependent on4/5 risk factor clusters and affected all other grades of complication.Irrespective of grade,complication occurrence was more likely to increase the risk of other grades of complication than risk factor clusters. | Xiaochu Yu Peng Wu Zixing Wang Wei Han Yuguang Huang Shijie Xin Qiang Zhang Shengxiu Zhao Hong Sun Guanghua Lei Taiping Zhang Luwen Zhang Yubing Shen Wentao Gu Hongwei Li Jingmei Jiang | 2023 | Science China(Life Sciences)2023，66，7： | 0 |
| 16 | A spatial orthogonal allocation and heterogeneous cultural hybrid algorithm for multirobot exploration mission planning显示文摘A spatial orthogonal allocation method is devised for multirobot tasks allocation.A 3D space model is adopted to describe exploration mission;meanwhile spatial orthogonal tentative technology is utilized to update the attractor position for load balance.Heterogeneous interactive cultural hybrid architecture is proposed to solve a robot route planning problem;it utilizes good-point-set to initialize population spaces,redefine novel evolution model and particle evolution ability,and introduce near-neighbor local search strategy in order to enhance search capability.Finally,spatial orthogonal allocation and heterogeneous cultural hybrid algorithm (SOAHCHA) are verified by simulation analysis and MORCS2 planning experiments;those results show that the proposed algorithm is efficient because of its successful performance and balanced allocation. | Yu, Lingli Cai, Zixing Gao, Ping'an Liu, Xiaoying | 2011 | 控制理论与应用(英文版)2011，9，2： | 0 |
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