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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 | Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators显示文摘This work investigates adaptive stiffness control and motion optimization of a snake-like robot with variable stiffness actuators. The robot can vary its stiffness by controlling magnetorheological fluid(MRF) around actuators. In order to improve the robot's physical stability in complex environments, this work proposes an adaptive stiffness control strategy. This strategy is also useful for the robot to avoid disturbing caused by emergency situations such as collisions. In addition, to obtain optimal stiffness and reduce energy consumption, both torques of actuators and stiffness of the MRF braker are considered and optimized by using an evolutionary optimization algorithm. Simulations and experiments are conducted to verify the proposed adaptive stiffness control and optimization methods for a variable stiffness snake-like robots. | Dong Zhang Hao Yuan Zhengcai Cao | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，3： | 11 |
| 3 | Nonlinear oscillations with parametric excitation solved by homotopy analysis method显示文摘一种分析技术,也就是 homotopy 分析方法(火腿) ,被用来与参量的刺激解决非线性的摆动的问题。不同于不安方法,火腿根本,并且这样不依赖于任何小物理参数为弱并且强烈非线性的问题有效。另外,火腿与在提供一个简单方法借助于一个辅助参数调整并且控制系列解决方案的集中区域的所有另外的分析技术不同。在现在的纸,一为有参量的刺激的非线性的摆动的周期的分析近似被使用火腿获得,并且结果被数字模拟验证。 | Jianmin Wen Zhengcai Cao | 2008 | Acta Mechanica Sinica2008，24，3： | 5 |
| 4 | The pulsed high magnetic field facility and scientific research at Wuhan National High Magnetic Field Center显示文摘Wuhan National High Magnetic Field Center(WHMFC)at Huazhong University of Science and Technology is one of the top-class research centers in the world,which can offer pulsed fields up to 90.6 T with different field waveforms for scientific research and has passed the final evaluation of the Chinese government in 2014.This paper will give a brief introduction of the facility and the development status of pulsed magnetic fields research at WHMFC.In addition,it will describe the application development of pulsed magnetic fields in both scientific and industrial research. | Xiaotao Han Tao Peng Hongfa Ding Tonghai Ding Zengwei Zhu Zhengcai Xia Junfeng Wang Junbo Han Zhongwen Ouyang Zhenxing Wang Yibo Han Houxiu Xiao Quanliang Cao Yiliang Lv Yuan Pan Liang Li | 2017 | Matter and Radiation at Extremes2017，2，6： | 5 |
| 5 | Vision-based Stabilization of Nonholonomic Mobile Robots by Integrating Sliding-mode Control and Adaptive Approach显示文摘Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention.At present,most of the solutions of the problem do not take the robot dynamics into account in the controller design,so that these controllers are difficult to realize satisfactory control in practical application.Besides,many of the approaches suffer from the initial speed and torque jump which are not practical in the real world.Considering the kinematics and dynamics,a two-stage visual controller for solving the stabilization problem of a mobile robot is presented,applying the integration of adaptive control,sliding-mode control,and neural dynamics.In the first stage,an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory.In the second stage,adopting the sliding-mode control approach,a dynamic controller with a variable speed function used to reduce the chattering is designed,which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity.Furthermore,to handle the speed and torque jump problems,the neural dynamics model is integrated into the above mentioned controllers.The stability of the proposed control system is analyzed by using Lyapunov theory.Finally,the simulation of the control law is implemented in perturbed case,and the results show that the control scheme can solve the stabilization problem effectively.The proposed control law can solve the speed and torque jump problems,overcome external disturbances,and provide a new solution for the vision-based stabilization of the mobile robot. | CAO Zhengcai YIN Longjie FU Yili | 2013 | Chinese Journal of Mechanical Engineering2013，26，1： | 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 | Analysis on internal mechanism of zedoary turmeric in treatment of liver cancer based on pharmacodynamic substances and pharmacodynamic groups显示文摘Zedoary tumeric(Curcumae Rhizoma,Ezhu in Chinese)has a long history of application and has great potential in the treatment of liver cancer.The antiliver cancer effect of zedoary tumeric depends on the combined action of multiple pharmacodynamic substances.In order to clarify the specific mechanism of zedoary tumeric against liver cancer,this paper first analyzes the mechanism of its single pharmacodynamic substance against liver cancer,and then verifies the joint anti liver cancer mechanism of its“pharmacodynamic group”.By searching the research on the antihepatoma effect of active components of zedoary tumeric in recent years,we found that pharmacodynamic substances,including curcumol,zedoarondiol,curcumenol,curzerenone,curdione,curcumin,germacrone,β-elemene,can act on multi-target and multi-channel to play an antihepatoma role.For example,curcumin can regulate miR,GLO1,CD133,VEGF,YAP,LIN28B,GPR81,HCAR-1,P53 and PI3K/Akt/mTOR,HSP70/TLR4 and NF-κB.Wnt/TGF/EMT,Nrf2/Keap1,JAK/STAT and other pathways play an antihepatoma role.Network pharmacological analysis showed that the core targets of the“pharmacodynamic group”for anti-life cancer are AKT1,EGFR,MAPK8,etc,and the core pathways are neuroactive live receiver interaction,nitrogen metabolism,HIF-1 signaling pathway,etc.At the same time,by comparing and analyzing the relationship between the specific mechanisms of pharmacodynamic substance and“pharmacodynamic group”,it is found that they have great reference significance in target,pathway,biological function,determination of core pharmacodynamic components,formation of core target protein interaction,in-depth research of single pharmacodynamic substance,increasing curative effect and so on.By analyzing the internal mechanism of zedoary tumeric pharmacodynamic substance and“pharmacodynamic group”in the treatment of liver cancer,this paper intends to provide some ideas and references for the deeper pharmacological research of zedoary tumeric and the relationship between pharmacodynamic substance and“pharmacodynamic group”. | Zeyu Li Erwei Hao Rui Cao Si Lin Linghui Zou Tianyan Huang Zhengcai Du Xiaotao Hou Jiagang Deng | 2022 | Chinese Herbal Medicines2022，14，4： | 2 |
| 8 | Visual Servo Stabilization of Nonholonomic Mobile Robot Based on Epipolar Geometry and 1D Trifocal Tensor显示文摘 | CAO Zhengcai YIN Longjie FU Yili ZHANG Jie | 2013 | Chinese Journal of Electronics2013，22，4： | 2 |
| 9 | ANFIS and SA Based Approach to Prediction, Scheduling, and Performance Evaluation for Semiconductor Wafer Fabrication显示文摘 | CAO Zhengcai ZHAO Huidan WANG Yongji | 2013 | Chinese Journal of Electronics2013，22，1： | 2 |
| 10 | Accurate Tracking Control of a Limited Angle Torque Motor显示文摘 | Du Chunyang Li Tieeai Cao Zhengcai | 1999 | Electric Ma- chines and Power Systems1999，27，： | 1 |
| 11 | Robust Fault Detection and Isolation Based on Finite-frequency H__/H_∞ Unknown Input Observers and Zonotopic Threshold Analysis显示文摘This work proposes a robust fault detection and isolation scheme for discrete-time systems subject to actuator faults,in which a bank of H_/H∞ fault detection unknown input observers(UIOs) and a zonotopic threshold analysis strategy are considered. In observer design, finite-frequency H_ index based on the generalized Kalman-Yakubovich-Popov lemma and H∞ technique are utilized to evaluate worst-case fault sensitivity and disturbance attenuation performance, respectively. The proposed H_/H∞ fault detection observers are designed to be insensitive to the corresponding actuator fault only, but sensitive to others.Then, to overcome the weakness of predefining threshold for FDI decision-making, this work proposes a zonotopic threshold analysis method to evaluate the generated residuals. The FDI decision-making relies on the evaluation with a dynamical zonotopic threshold. Finally, numerical simulations are provided to show the feasibility of the proposed scheme. | Meng Zhou Zhengcai Cao Ye Wang | 2019 | IEEE/CAA Journal of Automatica Sinica2019，6，3： | 1 |
| 12 | Simultaneous Prediction for Multiple Key Performance Indicators in Semiconductor Wafer Fabrication显示文摘The prediction and key factors identification for lot Cycle time(CT) and Equipment utilization(EU) which remain the Key performance indicators(KPI)are vital for multi-objective optimization in semiconductor manufacturing industry. This paper proposes a prediction methodology which predicts CT and EU simultaneously and identifies their key factors. Bayesian neural network(BNN) is used to establish the simultaneous prediction model for Multiple key performance indicators(MKPI),and Bayes theorem is key solution in model complexity controlling. The closed-loop structure is built to keep the stability of MKPI prediction model and the weight analysis method is the basis of identifying the key factors for CT and EU. Compared with Artificial neural network(ANN)and Selective naive Bayesian classifier(SNBC), the simulation results of the prediction method of BNN are proved to be more feasible and effective. The prediction accuracy of BNN has been obviously improved than ANN and SNBC. | CAO Zhengcai LIU Xuelian HAO Jinghua LIU Min | 2016 | Chinese Journal of Electronics2016，25，6： | 1 |
| 13 | A Performance Driven Lot Merging Method with Closed Loop Optimization for Semiconductor Wafer Fabrication显示文摘This paper deals with lot merging problem in semiconductor wafer fabrication system.There is the possibility to merge two or more partial lots into single lot if their subsequent process routes are the same,an improved lot merging method is presented by grouping lots belonging to different orders.Based on job information extracted from the buffers,several bin packing and knapsack solving algorithms are used to determine which lots should be merged.An iterative improvement procedure is introduced for optimizing merging strategy through a heuristic algorithm with resetting the ready time of critical lots.The closed loop structure with global revision factor is built for minimizing the impact of uncertain events while balancing the different orders processing progress.Applied to a simulation semiconductor manufacturing fab,the proposed algorithm can reduce cycle time and tardiness compared with other methods currently. | CAO Zhengcai HUANG Zhexiao LIU Min | 2017 | Chinese Journal of Electronics2017，26，5： | 0 |
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