A5021395113- Vehicle Dynamics and Control Systems
- Electric and Hybrid Vehicle Technologies
- Real-time simulation and control systems
- Traffic control and management
- Ferroptosis and cancer prognosis
- Control and Dynamics of Mobile Robots
- Autonomous Vehicle Technology and Safety
- Automotive and Human Injury Biomechanics
- Aerospace Engineering and Control Systems
- Transportation and Mobility Innovations
- Cancer Immunotherapy and Biomarkers
- Adaptive Control of Nonlinear Systems
- Robotic Path Planning Algorithms
- Advanced Manufacturing and Logistics Optimization
- Cancer, Lipids, and Metabolism
- 3D Shape Modeling and Analysis
- Manufacturing Process and Optimization
- 3D Surveying and Cultural Heritage
- Digestive system and related health
- Cancer Mechanisms and Therapy
- Vehicle Routing Optimization Methods
Ningbo University
2024-2025
Beijing Institute of Technology
2019-2024
Longitudinal motion controllers based on over- simplified models result in steady-state errors, oscillations, and overshoots of the velocity, all which impair unmanned ground vehicle (UGV) multiple objectives (trajectory tracking capability, energy economy, ride comfort). While it is challenging for complicated methods to accomplish real-time control vehicle-mounted electronic unit (ECU), meets harsh working conditions but has limited computing power. This paper proposes a multi-objective...
Gastric cancer (GC) is known for its high heterogeneity, presenting challenges in current clinical treatment strategies. Accurate subtyping and in-depth analysis of the molecular heterogeneity GC at level are still not fully understood. This study categorized into two subtypes based on apoptosis-related genes (ARGs) investigated differences tumor immune microenvironment, intratumoral microorganisms distribution, gene expression, signaling pathways. Key prognostic related to apoptosis were...
Tumor metastasis is a significant contributor to increased cancer mortality. Transfer RNA-derived small RNAs (tsRNAs), class of endogenous non-coding RNA molecules, play crucial functional roles in various physiological processes, including the regulation transcription and reverse transcription, modulation translation modification epigenetic inheritance, cell cycle, etc. Dysregulated tsRNAs are closely related occurrence progression human malignancies. Accumulating evidence indicates that...
This letter studies the trajectory tracking and motion control problems of unmanned ground vehicles (UGVs). A model predictive robust (MPC-RC) framework for UGVs is proposed to improve accuracy, yaw stability robustness in a modular fashion without introducing complexity into controller. The problem three-dimensional phase planning with high vehicle can be performed design simultaneously. Also, combining advantages linear matrix inequality, sliding mode control, back-stepping law, three...
For unmanned tracked vehicles (UTVs), drifting can generate the maximum centripetal acceleration to complete challenging tasks, such as high-speed obstacle avoidance. However, due open-loop instability of vehicle motion during drifting, existing research on UTV control focuses avoiding thereby limiting maneuverability UTV. A dynamics model is developed, considering effects acceleration, track tension and slide contact shear forces. Model parameters are identified based moving horizon...
Planning safe and smooth trajectories for multiple autonomous ground vehicles (MAGVs) in a complex dynamic unstructured environment is fundamental challenging task. In this article, novel unified framework integrating trajectory planning motion optimization (TPMO) proposed based on spatio-temporal safety corridor (STSC), which guarantees collision avoidance smoothness. The TPMO consists of two parts. first part to establish the STSC each AGV mixed integer quadratic programming (MIQP)...
Drifting vehicles can accomplish obstacle avoidance at the limits of handling. However, insufficient rear tire lateral force will not suppress vehicle from spinning if steering angle and driving torque are unreasonable during trajectory tracking. For this strongly coupled nonlinear system, resolving contradiction between real-time performance complexity controller is challenging. This work proposed a drift tracking (DTTC) for autonomous under framework model predictive control. To improve...
For unmanned ground vehicles, the longitudinal motion control based on desired acceleration, provided by upper planning module, has static errors. And commonly used Proportion-Integration (PI) controller tracks speed directly, prone to overshoot and oscillation. In order overcome these problems, a method acceleration replanning is proposed in this paper, considering dynamic, steady-state real-time requirements. Simplified nonlinear dynamics models are established. Then, 4 parts of designed...
Aiming at improving the yaw stability of unmanned ground vehicles during high-speed steering, a double layer control architecture based on feedback linearization and model predictive is proposed. The upper controller uses algorithm lower method. This makes full use performance advantages two controllers improves accuracy path tracking while ensuring real-time calculation. Finally, effectiveness this framework verified by joint simulation MATLAB/Simulink CarSim, which proves that higher than...