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您的检索式：作者名="Chengqian Yu"
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| 1 | Adaptive NN impedance control for an SEA-driven robot显示文摘Dear editor,Series elastic actuators(SEAs)have been deliberately selected in collaborative robots intended for safe physical interaction with humans or unstructured environments[1].This passive mechanical compliance guarantees an inertial decoupling between the link and actuator,thus decreasing kinetic energy involved in unexpected collisions with environments[2]. | Xinbo YU Wei HE Yanan LI Chengqian XUE Yongkun SUN Yu WANG | 2020 | Science China(Information Sciences)2020，63，5： | 0 |
| 2 | Development of the electric automatic steering system for agricultural vehicles显示文摘Automatic guidance of agricultural vehicles requires automatic execution of operation commands received from the navigation controller by using electronically controlled mechanisms for wheel steering,speed changing and work implementing.Automatic steering contributes as a prerequisite technique in automatic and semi-automatic agricultural navigation.This research aimed to develop an electric automatic steering system that was compact in its structure and integrated into original steering mechanism in a simply and convenient way for aftermarket modification.A brushless motor and reducer assembly was utilized to provide an adequate steering torque instead of manual maneuver.A rapid assembling approach was proposed by passing the steering shaft through the hollow output shaft.A digital proportional-integral-differential(PID)algorithm was implemented to calculate the rotation speeds and directions by comparing the desired angle and the actual angle,which was implemented in a printed circuit board with a microcontroller unit(MCU)and interface chips.An unmanned wheeled tractor was applied as test platform to integrate the newly developed electric automatic steering system.Tests were conducted to evaluate its performance in terms of stability and responsiveness.An autonomous navigation system guided the tractor along target paths in the field by sending steering commands to the electric automatic steering system.The results show that the steering angle error was less than 0.81°when desired steering angle was less than 10°.The lateral error difference was no more than 4.76 cm when repeating following the same target path,which indicated that the electric automatic steering system responded accurately and robustly to steering commands. | Guangshun An Chong Yu Juan Du Xiang Yin Youliang Ni Chengqian Jin | 2024 | International Journal of Agricultural and Biological Engineering2024，17，1： | 0 |
| 3 | A new understanding of Jurassic provenance and sedimentary framework in northwestern Sikeshu Sag, Junggar Basin, China显示文摘For a basin or sag with low exploration maturity,the understanding of its provenance system and clastic distribution system is the key to the analysis of its sedimentary framework and further influence the decision making and deployment of exploration.This study analyzed the Jurassic provenance of the Sikeshu Sag based on the data from cores,well logging,and seismic survey.The analysis of seismic profile characteristics revealed that there is a remote possibility that the Chepaizi Uplift in the northern part serves as the main Jurassic provenance of the Sikeshu Sag.On the contrary,systematic indicative signs of provenance have developed in the study area,including west-to-east progradational reflection config-urations and composite mounded reflections that show bi-directional downlapping contact in both the south and north directions.These systematic indicative signs suggest that the denuded uplift area in the western part is the main Jurassic provenance in the study area.Controlled by the provenance in the western part,the study area shows an orderly distribution of paleosedimentary systems from west to east and from shallow to deep water.The paleosedimentary system mainly exhibits the following characteristics after undergoing later high-intensity transformation.(1)The western part is dominated by the subfacies of a braided river delta front and is composed of three microfacies including distributary channels,interdistributary bays,and sandbars;(2)The middle and eastern parts show a semi-deep lacustrine environment,where debris flow sedimentary systems of slumping origin or in deep can-yons,gullies and channels connected to the denudation area developed from west to east.These debris flow sedimentary systems jointly form the clastic sedimentary system under the control of western provenance. | Lanquan Zhao Haomin Qin Chengqian Yu Chaonian Si Wen Jiang Aifeng Cao | 2022 | Energy Geoscience2022，3，4： | 0 |
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