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| 1 | Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control显示文摘The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle. | Fen Lin Yaowen Zhang Youqun Zhao Guodong Yin Huiqi Zhang Kaizheng Wang | 2019 | Chinese Journal of Mechanical Engineering2019，32，1： | 15 |
| 2 | Vehicle Active Steering Control Research Based on Two-DOF Robust Internal Model Control显示文摘Because of vehicle's external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained. | WU Jian LIU Yahui WANG Fengbo BAO Chunjiang SUN Qun ZHAO Youqun | 2016 | Chinese Journal of Mechanical Engineering2016，29，4： | 11 |
| 3 | Plant grafting and its application in biological research显示文摘Grafting is widely used for various aspects of plant biological research. We reviewed grafting methods and graft development processes for herbaceous plants. We introduced also methods of investigating the development of graft union and compatibility, and the application of grafting in understanding translocation of substances and long-distance signaling in plants. | WANG YouQun | 2011 | Chinese Science Bulletin2011，56，33： | 9 |
| 4 | Generalized Internal Model Robust Control for Active Front Steering Intervention显示文摘Because of the tire nonlinearity and vehicle's parameters'uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system(AFS)controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control(GIMC)that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections:a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters'uncertainties and some external disturbances.Simulations of double lane change(DLC)maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle's parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller. | WU Jian ZHAO Youqun JI Xuewu LIU Yahui ZHANG Lipeng | 2015 | Chinese Journal of Mechanical Engineering2015，28，2： | 7 |
| 5 | A modified structure internal model robust control method for the integration of active front steering and direct yaw moment control显示文摘Taking into account the nonlinearity of vehicle dynamics and the variations of vehicle parameters,the integrated control strategy for active front steering(AFS)and direct yaw control(DYC)that can maintain the performance and robustness is a key issue to be researched.Currently,the H∞method is widely applied to the integrated control of chassis dynamics,but it always sacrifices the performance in order to enhance the stability.The modified structure internal model robust control(MSIMC)obtained by modifying internal model control(IMC)structure is proposed for the integrated control of AFS and DYC to surmount the conflict between performance and robustness.Double lane change(DLC)simulation is developed to compare the performance and the stability of the MSIMC strategy,the PID controller based on the reference vehicle model and the H∞controller.Simulation results show that the PID controller may oscillate and go into instability in severe driving conditions because of large variations of tire parameters,the H∞controller sacrifices the performance in order to enhance the stability,and only the MSIMC controller can both ensure the robustness and the high performance of the integrated control of AFS and DYC. | WU Jian ZHAO YouQun JI XueWu LIU YaHui YIN ChengQiang | 2015 | Science China(Technological Sciences)2015，58，1： | 6 |
| 6 | Localization of NOS-like protein in guard cells of Vicia faba L.and its possible function显示文摘Using the immuno-fluorescence and immuno-gold electron microscope technology, localization of ni- tric oxide synthase (NOS)-like proteins was determined in guard cells of Vicia faba L. NOS is mainly localized in nucleus, cytoplasm, chloroplast, mitochondria and the cell wall of guard cells. Scorch and exogenous JA can enhance the level of nitric oxide (NO) and increase NOS activity in both leaf and epidermis, and the changing pattern of NOS activity was consistent with the change of NO. NOS in- hibitor, L-NAME, inhibited JA-induced NO generation. From the results, we presumed that NO genera- tion from NOS pathway is the main pathway in the stress and JA responses. The pharmacological ex- periment showed that increasing the Ca2+ at a suitable concentration promoted leaf NOS activity and the NO level, indicating that NOS activity together with the distribution of NO is Ca2+-dependent. NOS and NO are possibly involved in the regulation of stomatal movement thus playing an important role in plant stress responses. | LIU Xin WANG YouQun JIA WenSuo LOU ChengHou ZHANG ShuQiu | 2007 | Chinese Science Bulletin2007，52，1： | 5 |
| 7 | Synthesis and Characterization of Sphere-like Pt Nanoparticles Supported on DWCNT/WO_3 Nanorods with Electrocatalytic Activity显示文摘Tungsten oxide(WO3) nanorods, which were used to load platinum(Pt) nanoparticles, were investigated. H2WO4 nanorods with diameters from 10 to 50 nm were obtained when tungsten precursor was added into homogenous double-walled carbon nanotubes(DWCNT) and ethylene glycol(EG) solution.Nanosized rod-like WO3 were achieved after calcination of the DWCNT/H2WO4 composite. Sphere-like Pt nanoparticles were loaded on the surface of the nanorods by EG in-situ reduction. Pt particles were isolated by DWCNT/WO3 nanorods and secondary accumulation could be prevented when Pt particles appeared in the DWCNT/WO3 nanorod/EG dispersion solution. Therefore, Pt nanoparticles with mean diameters of 2–6 nm could be obtained. Pt-deposited on DWCNT/WO3 nanorods exhibited high electrochemical activity, which could facilitate the low-cost mass production of Pt catalyst. | Yanhong Yin Chun'an Ma Ziping Wu Man Zhao Litao Chen Youqun Chu | 2015 | Journal of Materials Science & Technology2015，31，9： | 4 |
| 8 | Driving Force Model for Non-pneumatic Elastic Wheel显示文摘In order to obtain good driving performance,a driving force model is presented for non-pneumatic elastic wheel.Brush model of pneumatic tyres is introduced and the deformations of elastic supports and tread are also taken into account.The longitudinal slip rate is redefined.The grounding pressure distribution of elastic wheels is analyzed and corrected according to speed,temperature and stiffness.Then rolling resistance equation is developed.Finally,simulation is conducted by software CarSim,and the results show that the estimated values are consistent with simulation values,especially at low longitudinal slip rate.The research can help to optimize design of non-pneumatic elastic wheel. | Li Bo Zhao Youqun Zang Liguo Bei Shaoyi Fu Hongxun Zhang Lanchun | 2016 | Transactions of Nanjing University of Aeronautics and Astronautics2016，33，2： | 3 |
| 9 | Steady-State Cornering Properties of a Non-pneumatic Tire with Mechanical Elastic Structure显示文摘Mechanical elastic wheel(ME-wheel)is a new type of non-inflatable safety tyre,and the structure is significantly different from traditional pneumatic tyre.In order to investigate cornering properties of ME-wheel,experimental research on mechanics characteristics of ME-wheel under steady-state cornering conditions are carried out.The test of steady-state cornering properties of ME-wheel at different experimental parameter conditions is conducted by test bench for dynamic mechanical properties of tyre.Cornering property curves are used to analyze the steady-state cornering properties of ME-wheel,namely the variation tendency of lateral force or aligning torque with the increase of side-slip angle.Moreover,evaluation indexes for cornering properties of ME-wheel are extracted and the effect of different experimental parameters(including vertical load,friction coefficient,and speed)on cornering properties of ME-wheel is contrastively analyzed.The proposed research can provide certain reference to facilitate structure parameters and cornering properties optimizing process of ME-wheel. | Fu Hongxun Zhao Youqun Lin Fen Du Xianbin Zhu Mingmin | 2017 | Transactions of Nanjing University of Aeronautics and Astronautics2017，34，5： | 2 |
| 10 | Synergy of photocatalytic reduction and adsorption for boosting uranium removal with PMo_(12)/UiO-66 heterojunction显示文摘In this work,we proposed a new U(Ⅵ)removal strategy combining adsorption and photocatalytic reduction by the PMo_(12)/UiO-66 heterojunctions.The PMo_(12)has been encapsulated in the cavities of Ui O-66 by a one-step hydrothermal method,and the PMo_(12)/UiO-66 exhibited high adsorption capacity and photocatalytic activity.The maximal theoretical sorption capacity of U(Ⅵ)on 15%PMo_(12)/UiO-66 reached225.36 mg/g and the photoreduction rate of 15%PMo_(12)/UiO-66 is about thirty times as much as UiO-66.Under the light irradiation,the photogenerated electrons rapidly transport from UiO-66 to PMo_(12),and the photo-generated electrons could efficiently reduce the pre-enriched U(Ⅵ)to U(IV).This work provides new insights into remediation of the radioactive environment. | Zhibin Zhang Zifan Li Zhimin Dong Fengtao Yu Yingcai Wang Youqun Wang Xiaohong Cao Yuhui Liu Yunhai Liu | 2022 | Chinese Chemical Letters2022，33，7： | 2 |
| 11 | Post-transcriptional gene silencing signal could move rapidly and bidirectionally in grafted Arabidopsis thaliana显示文摘RNA interference (RNAi), one of the newly found ways for post-transcriptional gene si- lencing, has been widely used to investigate gene functions through transgenic methods for introducing an RNA silencing signal into plants. In the present study, we constructed a dexamethazone (DEX)-inducible RNAi binary vector harboring a specific sequence fragment (168-bp) homologous to KatB and KatC, two kinesin isoform genes of Arabidopsis, which were proved to result in the post-transcriptional gene si- lencing of KatB and KatC in DEX-induced transgenic plants. RT-PCR and Northern blot analysis on trans- genic homozygous Arabidopsis (termed as RNAi-type plants) showed that DEX inducement causes KatB and KatC mRNA degradation. With a simplified method, Arabidopsis grafting was effectively per- formed between RNAi-type and wild-type lines. The target gene mRNA levels were tested based on semi-quantitative RT-PCR. Our results demonstrateed that DEX-induced gene silencing signals could result in a reduction in KatB and KatC mRNA in the wild-type rootstocks or scions, indicating that silencing signals of RNAi could be transmitted bidirectionally across the graft junction whether RNAi-plants were scions or stocks. In contrast to the previously reported results on grafted tobacco, the transmission of post- tran- scriptional gene silencing signals caused by RNAi in grafted Arabidopsis is more effective than that in to- bacco. | LI Ming JIANG Shiling WANG Youqun LIU Guoqin | 2006 | Chinese Science Bulletin2006，51，3： | 2 |
| 12 | Tri-objec- tive Co-evolutionary Algorithm and Application of Suspension Parameter Design Based on Lizard Be- havior Bionics 显示文摘 | Song Chongzhi Zhao Youqun Wang Lu | 2014 | Journal of Mechanical Science and Technology2014，28，12： | 1 |
| 13 | An Algorithm for Line Clipping against a polygon based on shearing transformation显示文摘 | Huang Youqun Liu Yongkui | 2002 | Computer Graphics Forum2002，21，4： | 1 |
| 14 | Removal of uranium from aqueous solution by a low cost and high-efficient adsorbent显示文摘 | LIU Yunhai WANG Youqun ZHANG Zhibin | 2013 | Applied Surface Science2013，237，： | 1 |
| 15 | Biosorption characteristics of uranium(VI) from aqueous solution by pummelo peel显示文摘 | Qin Li Yunhai Liu Xiaohong Cao Cui Pang Youqun Wang Zhibin Zhang Yating Liu Ming Hua | 2012 | Journal of Radioanalytical and Nuclear Chemistry2012，，1： | 1 |
| 16 | Application Studies of Methods of Discriminant and Cluster in TCM Acupuncture Clinical Data Analysis显示文摘 | Xiangyang Feng Youqun Shi Qinfeng Huang | 2013 | 1(14):133-1342013，1，14： | 1 |
| 17 | Closed-form solution of curved beam model of elastic mechanical wheel显示文摘 | Li Bo Zhao Youqun Zang Liguo | 2014 | Journal of Vibroengineering2014，16，8： | 1 |
| 18 | In-situ interaction of nano-PbS with gelatin显示文摘Water-soluble gelatin–PbS bionanocomposites(BNCs)were synthesized via a facile one-pot chemical reaction method at pH7.40.The samples were characterized by transmission electron microscopy(TEM),X-ray diffraction(XRD),UV-vis absorption spectra(UV-vis),Fourier transform infrared spectra(FT-IR)and circular dichroism(CD).FT-IR data were used to envisage the binding of PbS particles with oxygen atoms of carbonyl groups of gelatin molecule.The possible integration mechanism between gelatin and PbS was discussed in detail.The effect of Pb2+and PbS on the conformations of gelatin has also been analyzed by means of UV-vis,CD and FT-IR spectra,resulting in less-helix content and more open structures(-sheet,β-turn,or expanded).A new formula to calculate the association constant was proposed according to the relationship between the absorbance of gelatin–PbS BNCs and the free concentration of PbS,and apparent association constants K(298/303/308 K:3.11/2.00/1.60×106mol/L)at three different temperatures were calculated based on this formula.Thermodynamic parameters such asΔGθ,ΔHθ andΔSθ were also determined.The results of the thermodynamic investigations indicated that the reaction was spontaneous(ΔGθ<0),and enthalpy-driven(ΔHθ<0). | WANG Jun TANG ShiHua WANG BaiYang LI YouQun | 2013 | Science China Chemistry2013，56，11： | 1 |
| 19 | Investigation of Platinum Dispersed on Reduced Graphene Oxide-supported Tungsten Carbide via Sacrificial Cu Adlayers for Methanol Oxidation显示文摘Reduced graphene oxide-supported tungsten carbide composite(WC/RGO)was prepared by program-con-trolled reduction-carburization technique.Scanning electron microscope(SEM)and transmission electron micro-scope(TEM)show that WC nanoparticles with a narrow distribution(10-20 nm)are highly dispersed both on the edge and between the layers of RGO.And then it was used as a support to load different low contents(no more than 0.4 wt%)of Pt via sacrificial Cu adlayers.The morphology and the electrocatalytic activity of the prepared catalysts were characterized by TEM and cyclic voltammograms(CV),respectively.The results indicate that a small amount of isolated Pt atoms show low or even no activity for methanol oxidation.With the increasing deposition cycles,the content of Pt and the ensembles of neighboring Pt atoms are increased,which makes the onset potential shift nega-tively and mass current density increase.The results demonstrate that controllable amount of Pt can be deposited on WC/RGO by galvanic displacement with Cu,and the extent and domain of Pt loading affect the electrochemical performance.Meanwhile,this research also provides another route to prepare a catalyst with ultra low noble metal on WC/RGO for solving the problem of high cost of the catalyst. | Meiqin Shi Di Zhao Weiming Liu Youqun Chu Chun'an Ma | 2014 | Chinese Journal of Chemistry2014，32，3： | 1 |
| 20 | Study of Polarization Field in GaN-based Blue LEDs on Si and Sapphire Substrate by Electroluminescence显示文摘 | Li Youqun | 2006 | Journal of Luminescence Available2006，15，： | 1 |
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