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| 1 | Dynamic feedback robust stabilization of nonholonomic mobile robots based on visual servoing显示文摘This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the effectiveness of the presented controllers. | Chaoli WANG 1 , Zhenying LIANG 2 , 3 , Qingwei JIA 4 (1.Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China 2.Business School, University of Shanghai for Science and Technology, Shanghai 200093, China 3.School of Science, Shandong University of Technology, Zibo Shandong 255049, China 4.Research & Development Centre, Hitachi Asia Ltd, Hitachi Tower, Singapore 049318) | 2010 | 控制理论与应用(英文版)2010，8，2： | 13 |
| 2 | Effect of Cr on Microstructure and Fracture Toughness of Nb-20Ti-16Si-xCr Alloys显示文摘The present paper reported the phase stability and microstructures evolution of Nb-20Ti-16Si-xCr (x = 0~20at.%) in-situ composites as function of Cr addition. It was suggested that with the addition of Cr less than 7%, the silicide phase in as-cast Nb-20Ti-16Si alloy was Nb3Si. The silicides changed to be α-Nb5Si3 by the addition of Cr above 7%. It was found that annealing of 1300 ℃ for 100 h could result in the decomposition of Nb3Si to NbSS and α-Nb5Si3 in Cr containing Nb-20Ti-16Si based alloys by means of eutectoid reaction. Whereas in the case of alloy without Cr addition, the Nb3Si in Nb-20Ti-16Si alloy keep good stability during the high temperature annealing. The Cr additions larger than 5% in Nb-20Ti-16Si-xCr alloys could result in the formation of Cr-rich Laves phase. In addition, the influence of Cr addition on the room temperature fracture toughness of the alloys after annealing was reported. | Tang Liang Ma Chaoli Zhao Xinqing | 2009 | 稀有金属材料与工程2009，38，A03： | 11 |
| 3 | Late Carboniferous-Early Permian Sequence Stratigraphy and Depositional Evolution in the Northeast Ordos Basin,North China显示文摘顺序地层学的分析被用于东北 Ordos 盆的上面的含碳降低二叠的沉积继任,北方中国基于从十条全部记载的曲线和八个露头获得的数据。lithostratigraphical 单位的外形框架,太原形成在二个外形协会包括七外形,从 fluvio 三角洲变化到架障碍岛。外形在一个 chronostratigraphical 框架以内被介绍,由系统道连接了,它接着由充满表面和顺序边界是有限的。六个第三顺序的 depositional 序列被认出,由六种类型跳了 2 不顺从。一个浅得向上的来自於大陆的海沉积模型被创造,它由沙岩,煤缝接和碳酸盐继任组成。 | YANG Minghui LIU Chiyang LAN Chaoli LIU Le LI Xin ZHANG Kunshan | 2010 | Acta Geologica Sinica(English Edition)2010，84，5： | 7 |
| 4 | Sequence framework of two different kinds of margins and their response to tectonic activity during the Middle-Late Triassic, Ordos Basin显示文摘Two kinds of margin respectively occur in the Ordos Basin during the Middle-Late Triassic (Yanchang Age), one is foreland margin developed under the background of flexural subsidence by thrusting intensively in the southwest margin, and the other is intracratonic basin margin by stable subsidence in northern and central parts of the basin. The Middle-Late Triassic Yanchang Formation can be divided into four regional third-order sequences, which are separated by gentle angular unconformity or regional erosion surface, made up of lowstand system tract (LST), expanding system tract (EST) and highstand system tract (HST) from lower to upper within a sequence. But there are distinct differences of the sequence framework between the southwest margin and northern and central parts of the basin. The southwest margin develops heavy conglomerate layer and unconformity as a result of orogeny by thrusting, and the intracratonic basin margin by stable subsidence in the northern and central parts grows aggradational sandstone, conglomerate in fluvio-delta system and parallel unconformity. The depositional framework of southwest margin reflects the tectonic evolution from flexural subsidence by thrusting to rebounded uplift. The formation of sequence boundary is related to the resilient uplift and erosion. The sequence stratigraphic framework and depositional system tract configuration in the foreland basin are controlled by structural activity of the fold and thrust belt, and the sequence succession reflects episodic thrusting of the Middle-Late Triassic toward the foreland basin. The sequence evolution in northern and central parts reflects the depositional succession of fluvio-delta system under intracratonic background, composed of coarse-grained sediment in braided channel deposit at the lower, meandering channel deposit in the middle and fine-grained sediment in the flood plain at the upper, dominated by lake level fluctuation. During the deposit of the LST in the intracraton basin, accommodation space is limited, and results in abundant fluvial sediment migration laterally, erosion and transport, forming laterally sandstone composite and aggradational deposit on the alluvial plain, which constitutes specific erosion unconformity boundary. | YANG MingHui LIU ChiYang ZHENG MengLin LAN ChaoLi TANG Xuan | 2007 | Science China Earth Sciences2007，50，z2： | 7 |
| 5 | Phase Transformation in a β-Ti Alloy with Good Balance Between High Strength and High Fracture Toughness显示文摘Ti-1300合金是一种亚稳β钛合金,为了从组织形貌方面解释其高强高韧的特性,对此钛合金的相变特征进行了研究。研究结果表明,由于α相的球化,此钛合金抗拉强度可达1400MPa以上,同时发现特定的板条状α相有利于保持此钛合金较高的断裂韧性(KQ≥81MPa·m1/2),与针状二次α相相比,板条状二次α相应力集中程度较轻,因此有利于获得较高的韧性。对时效过程中α相的形貌变化进行了研究,并从热力学和动力学上进行了描述,同时给出了一种比较合理的热处理制度。 | Li Yang Wei Qiang Ma Chaoli Zheng Lijing Li Huanxi Ge Peng Zhao Yongqing | 2009 | Chinese Journal of Aeronautics2009，22，5： | 7 |
| 6 | A family-based study of the association between the G72/G30 genes and schizophrenia in the Chinese population显示文摘Studies have shown a strong positive association between schizophrenia and G72/G30, demonstrated by both individual markers and haplotypes. A further functional study also supports the role of G72 in the etiology of schizophrenia. In this study,we have replicated these results of transmission/disequilibrium testing (TDT) and haplotype analysis in the Han Chinese population, showing P values of 0.0018 and 0.00007 for individual markers and haplotypes, respectively. Hence, our datasupports the hypothesis that G72/G30 are important candidate genes for explaining schizophrenia in the Han Chinese population. | FanggengZou ChaoLi ShiweiDuan YonglanZheng NiufanGu GuoyinFeng YanglingXing JianguoShi LinHe | 2005 | 中国生物学文摘2005，19，6： | 6 |
| 7 | PerformanceVis:Visual analytics of student performance data from an introductory chemistry course显示文摘We present PerformanceVis,a visual analytics tool for analyzing student admission and course performance data and investigating homework and exam question design.Targeting a university-wide introductory chemistry course with nearly 1000 student enrollment,we consider the requirements and needs of students,instructors,and administrators in the design of PerformanceVis.We study the correlation between question items from assignments and exams,employ machine learning techniques for student grade prediction,and develop an interface for interactive exploration of student course performance data.PerformanceVis includes four main views(overall exam grade pathway,detailed exam grade pathway,detailed exam item analysis,and overall exam&homework analysis)which are dynamically linked together for user interaction and exploration.We demonstrate the effectiveness of PerformanceVis through case studies along with an ad-hoc expert evaluation.Finally,we conclude this work by pointing out future work in this direction of learning analytics research. | Haozhang Deng Xuemeng Wang Zhiyi Guo Ashley Decker Xiaojing Duan Chaoli Wang G.Alex Ambrose Kevin Abbott | 2019 | Visual Informatics2019，3，4： | 5 |
| 8 | Flow and heat transfer of nanofluids over a rotating disk with uniform stretching rate in the radial direction显示文摘This paper studies flow and heat transfer of nanofluids over a rotating disk with uniform stretching rate.Three types of nanopaiticles-Cu,Al_(2)O_(3) and CuO-with water-based nanofluids are considered.The governing equations are reduced by Von Karman transformation and then solved by the homotopy analysis method(HAM),which is in close agreement with numerical results.Results indicate that with increasing in stretching strength parameter,the skin friction and the local Nusselt number,the velocity in radial and axial directions increase,whereas the velocity in tangential direction and the thermal boundary'layer thickness decrease,respectively.Moreover,the effects of volume fraction and types of nanofluids on velocity and temperature fields are also analyzed. | Chenguang Yin Liancun Zheng Chaoli Zhang Xinxin Zhang | 2017 | Propulsion and Power Research2017，6，1： | 5 |
| 9 | Liquid-Solid Phase Equilibria of Nb-Si-Ti Ternary Alloys显示文摘To determine the liquid-solid phase equilibria of the Nb-Si-Ti ternary system,Nb-Si-Ti alloys of different compositions are pre-pared. By means of scanning electron microscopy (SEM),X-ray diffraction (XRD) and electron probe microanalysis (EPMA),the phases in the alloys,such as Si-based solutions,Ti(Nb)Si,Ti(Nb)Si2,Nb(Ti)Si2,Ti(Nb)5Si4,Nb(Ti)5Si3,Ti(Nb)5Si3,Nb(Ti)3Si and Nb-based solutions are identified,and the phase evolution is analyzed. As a result,the microstructural and microchemical evidence pro-vides a clear definition of the Nb-Si-Ti liquidus surface projection and indicates that the ternary phase diagram has seven transition reac-tions. | Bao Jing Huang Qiang Tang Liang Geng Tai Zhao Xinqing Ma Chaoli | 2008 | Chinese Journal of Aeronautics2008，21，3： | 5 |
| 10 | Robust exponential stabilization of nonholonomic wheeled mobile robots with unknown visual parameters显示文摘The visual servoing stabilization of nonholonomic mobile robot with unknown camera parameters is investigated.A new kind of uncertain chained model of nonholonomic kinemetic system is obtained based on the visual feedback and the standard chained form of type (1,2) mobile robot.Then,a novel time-varying feedback controller is proposed for exponentially stabilizing the position and orientation of the robot using visual feedback and switching strategy when the camera parameters are not known.The exponential stability of the closed-loop system is rigorously proven.Simulation results demonstrate the effectiveness of the method proposed in this paper. | Liang, Zhenying Wang, Chaoli | 2011 | 控制理论与应用(英文版)2011，9，2： | 3 |
| 11 | Adaptive tracking control for uncertain dynamic nonholonomic mobile robots based on visual servoing显示文摘The trajectory tracking control problem of dynamic nonholonomic wheeled mobile robots is considered via visual servoing feedback. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive sliding mode controller is designed for the uncertain dynamic model in the presence of parametric uncertainties associated with the camera system. The proposed controller is robust not only to structured uncertainties such as mass variation but also to unstructured one such as disturbances. The asymptotic convergence of tracking errors to equilibrium point is rigorously proved by the Lyapunov method. Simulation results are provided to illustrate the performance of the control law. | Fang YANG Chaoli WANG | 2012 | 控制理论与应用(英文版)2012，10，1： | 3 |
| 12 | Phase Equilibria in Nb-Si-Mo Ternary Alloys at 1273 K and 2073 K显示文摘Phase equilibrium in Nb-Si-Mo ternary alloys (<37.5 at.% Si) at 1 273 K and 2 073 K is investigated by using X-ray diffraction (XRD) analysis, scanning electron microscopy (SEM) and energy dispersive spectroscopy (EDS). The partial isothermal section at 1 273 K, which contains four single-phase regions, five two-phase regions and two three-phase regions, is basically the same as that at 1 973 K. However, when the temperature increases to 2 073 K, the three-phase region of Nbss+α-(Nb(Mo))5Si3+β-(Nb,Mo)5Si3 obvi-ously moves towards the Nb-rich corner. This suggests that Nb-Si-Mo ternary alloys remain stable at least up to 1 973 K. | Huang Qiang Ma Chaoli Zhao Xinqing Xu Huibin | 2008 | Chinese Journal of Aeronautics2008，21，5： | 3 |
| 13 | Engineering Geological Study of the Active Tectonic Region for Hydropower Development on the Jinsha River,Upstream of the Yangtze River显示文摘The Jinsha River runs across the Hengduanshan north-south tectonic zone where neotectonism was relatively strong, accompanied by various geologic hazards. In this case, it seems necessary to make a quantitative assessment and grading of the engineering geological environment for the planning and development of hydropower projects on the Jinsha River.The studies of crustal structures and activities of neotectonic fault blocks provide a three-dimensional geomechan-ics model for us to make an assessment of the engineering geological environment. Based on the survey data and results from geologic hazard risk analysis, a hierarchical analysis model on the quality of the engineering geological environment is established with respect to the crustal stability, ground stability, and rock and soil mass stability. Nine factors relevant to the geological environment are selected and five levels are used for the quality grades: very bad, bad, mediocre, good, very good. The result indicates that active deep faults | WANG Sijing LI Guohe ZHANG Qiang LAN Chaoli | 2000 | Acta Geologica Sinica(English Edition)2000，74，2： | 2 |
| 14 | ROBUST EXPONENTIAL STABILIZATION OF UNCERTAIN NONHOLONOMIC CHAINED SYSTEMS BASED ON VISUAL FEEDBACK显示文摘为一种 nonholonomic 的视觉服务稳定有 uncalibrated 照相机参数的活动机器人基于视觉反馈和状态和输入转变被调查。作者获得 nonholonomic 的一个新不明确的模型在图象飞机的运动学的系统,它是有 uncalibrated 的一种锁住的形式视觉参数,从照相机机器的系统。变化反馈控制器为 nonholonomic 的指数的稳定被建议的一新时间由使用州可伸缩、切换的技术与未知参数锁住系统。关上的循环系统的指数的稳定性严厉地被证明。模拟结果表明建议方法的有效性。 | Zhenying LIANG Chaoli WANG | 2012 | Journal of Systems Science & Complexity2012，25，3： | 2 |
| 15 | A novel strategy for developingα+βdual-phase titanium alloys with low Young's modulus and high yield strength显示文摘In this study,a novel strategy for developingα+βdual-phase titanium alloys with low Young's modulus and high yield strength was proposed,and a Ti-15Nb-5Zr-4Sn-1 Fe alloy was developed through theoretical composition design and microstructure manipulation.After hot-rolling and subsequent annealing,a high volume fraction of ultrafine grainedαphase embedded in metastableβ-matrix was formed in the microstructure as intended.Consequently,this alloy exhibits both low Young's modulus(61 GPa)and high yield strength(912 MPa).The experimental results prove that the proposed strategy is appropriate for developing titanium alloys with superior yield strength-to-modulus ratio than those of conventional metallic biomedical materials.Present study might shed light on the research and development of advanced biomedical titanium alloys with low Young's modulus and high yield strength. | Yu Fu Wenlong Xiao Junshuai Wang Lei Ren Xinqing Zhao Chaoli Ma | 2021 | Journal of Materials Science & Technology2021，，17： | 2 |
| 16 | Evaluation of glass-forming ability for metallic glasses based on order-disorder competition 显示文摘 | Xia Mingxu Zhang Shuguang Ma chaoli | 2006 | Applied Physics Letters2006，89，9： | 1 |
| 17 | Effects of Yttrium and Eribum additions on glass-forming ability and mechanical properties of bulk glassy Zr-Al-Ni-Cu alloys显示文摘 | LUO Jun DUAN Huiping MA Chaoli | 2006 | Mater Trans2006，47，： | 1 |
| 18 | J Mater Sci显示文摘 | Xi Wenjun Zhou Heping Ma Chaoli | 2007 | 42(20):84892007，42，20： | 1 |
| 19 | Importance-driven time-varying data visualization显示文摘 | Wang Chaoli Yu Hongfeng Ma Kwan-Liu | 2008 | IEEE Transactions on Visualization and Computer Graphics2008，14，6： | 1 |
| 20 | A functional polymorphism in Pre‐miR‐146a gene is associated with prostate cancer risk and mature miR‐146a expression in vivo显示文摘 | BinXu Ning‐HanFeng Peng‐ChaoLi JunTao DeyaoWu Zheng‐DongZhang NaTong Jin‐FengWang Ning‐HongSong WeiZhang Li‐XinHua Hong‐FeiWu | 2010 | Prostate2010，，5： | 1 |
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