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	Development of a Wheeled and Wall-pressing Type In-Pipe Robot for Water Pipelines Cleaning and its Traveling Capability 期刊论文 OAI收割 MECHANIKA, 2020, 卷号: 26, 期号: 2, 页码: 134-145 作者: Feng GH(冯冠华); Li WH(李文皓); Li ZQ; He Z; Feng GH(冯冠华) \| 收藏 \| 浏览/下载：31/0 \| 提交时间：2020/08/26 wheeled and wall-pressing type in-pipe cleaning robot (IPCR) preload mechanism traction force obstacle-overcoming capability simplified vibration system
	Development of a Wheeled and Wall-pressing Type In-Pipe Robot for Water Pipelines Cleaning and its Traveling Capability 期刊论文 OAI收割 MECHANIKA, 2020, 卷号: 26, 期号: 2, 页码: 134-145 作者: Feng GH(冯冠华); Li WH(李文皓); Li ZG(李智刚); He Z(何震) \| 收藏 \| 浏览/下载：23/0 \| 提交时间：2020/07/11 wheeled and wall-pressing type in-pipe cleaning robot (IPCR) preload mechanism traction force obstacle-overcoming capability simplified vibration system
	Distributed optimisation design for solving the Stein equation with constraints 期刊论文 OAI收割 IET CONTROL THEORY AND APPLICATIONS, 2019, 卷号: 13, 期号: 15, 页码: 2492-2499 作者: Chen, Guanpu; Zeng, Xianlin; Hong, Yiguang \| 收藏 \| 浏览/下载：35/0 \| 提交时间：2020/05/24 least squares approximations gradient methods convergence matrix algebra concave programming multi-agent systems distributed optimisation design Stein equations set constraints rows columns coefficient matrices equivalent distributed optimisation problem projection-based algorithm least-squares solution constrained Stein equation multiagent system network simplified distributed algorithm
	Adaptive controller design for underwater snake robot with unmatched uncertainties 期刊论文 OAI收割 SCIENCE CHINA-INFORMATION SCIENCES, 2016, 卷号: 59, 期号: 5, 页码: 1-15 作者: Zhang AF(张安翻); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Guo X(郭宪) 收藏 \| 浏览/下载：64/0 \| 提交时间：2016/06/21 underwater snake-like robot adaptive control simplified system piecewise constant law unmatched uncertainties underactuated robots
	PID control of glucose concentration in subjects with type 1 diabetes based on a simplified model: An in silico trial (EI CONFERENCE) 会议论文 OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China 作者: Yu L. 收藏 \| 浏览/下载：28/0 \| 提交时间：2013/03/25 An artificial pancreas system (APS) mimics the function of a real pancreas through monitoring a diabetic's blood glucose and administering the right dose of insulin via an automatic control loop. It is hailed as a promising cure of diabetes though this technology is still years away from commercial use due to a few technological bottlenecks. The simulation model of insulin-glucose metabolism of type 1 diabetes mellitus (T1DM) is an essential part of APS. In order to simplify the parameter identification task so that the model can be implemented electronically with ease this paper presents a simplified model based on Routh approximation model reduction method. The results show that the approximation error between the simplified model and the original model is so small that can be neglected. Based on the simplified model a PID controller is designed to maintain normoglycemia (90mg/dl) in subjects with T1DM. The in silico simulation results show that the glucose concentration is controlled well the risk of hyperglycemia and hypoglycemia is reduced a lot. This suggests that the simplified model describes the insulin-glucose metabolism process accurately and the PID control algorithm is well-suitable to guide the further development of an APS. 2012 IEEE.
	Adaptive control at launching using three loop autopilot (EI CONFERENCE) 会议论文 OAI收割 2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011, July 15, 2011 - July 17, 2011, Inner Mongolia, China 作者: Zhang Y. 收藏 \| 浏览/下载：25/0 \| 提交时间：2013/03/25 In order to guarantee the precise initial flight trajectory control the missile disturbance of large disturbance torque three loop adaptive autopilot was researched. The characteristics of the projectile and three loop autopilot instruction formation characteristics were analysed. From equivalent pitching angle of lateral acceleration feedback loop combined with the instruction of generalized error autopilot structure was simplified and three loop autopilot adaptive control law and stability were designed. The test data show that when disturbance torque was 600Nm the attitude angle generalized error was -4.4. In the time lasted about 15s late trajectory accuracy was within 1.0.Three loop autopilot adaptive control law was able to control the disturbance of initial trajectory and adapt to dynamic characteristics changes control system stability. It was the initial trajectory accurate solution method of flight. 2011 IEEE.
	Design of control system of DC motor based on fusion FPGA (EI CONFERENCE) 会议论文 OAI收割 2011 International Conference on Mechatronics and Materials Processing, ICMMP 2011, November 18, 2011 - November 20, 2011, Guangzhou, China Zhu D. D.; Li H. W. 收藏 \| 浏览/下载：33/0 \| 提交时间：2013/03/25 Along with the development of microelectronic process it is possible to integrate a big system in one chip. A new way to implement system on a chip is provided by the advent of FPGA. Based on Verilog HDL and the Actel Fusion AFS600 FPGA chip the speed closed-loop control system of DC motor was designed by using options of combining the top-down thinking and the bottom-up method. PID control algorithm encoder signal processing and PWM waveform generation etc were realized by the system. The results show that the system structure is simplified and the stability and reliability are improved. A solution of system on a chip is realized to some extent. It has extensive application value in engineering practice. 2011 Trans Tech Publications.
	Simulation and experiment of the static FTIR based on micro multi-step mirrors (EI CONFERENCE) 会议论文 OAI收割 International Symposium on Photoelectronic Detection and Imaging 2011: Sensor and Micromachined Optical Device Technologies, May 24, 2011 - May 26, 2011, Beijing, China 作者: Liang Z.-Z.; Zhang J.; Zhang J.; Zhang J.; Zhu W.-B. 收藏 \| 浏览/下载：30/0 \| 提交时间：2013/03/25 In recent years Fourier transform spectrometer (FTS) with small size and low mass is required in many applications with growing need for real-time and small platform spectral detection. In this paper a micro Fourier transform infrared spectrometer (FTIR) based on spatial modulation mode was designed. This spectrometer has the advantages of high stability and simplified configuration. It also promises optical path differences (OPD) with high precision as MOEMS technology is used in manufacturing the key components. The simulation and the experiments with regard to this FTIR configuration have been done. Firstly the diffraction effect of the micro multi-step mirrors (MMSMs) is studied. We discuss the influence to the reversed spectrum by different mirror widths and different diffraction distances. Secondly we simulate and analyze the influence of the source solid angle to the spectral resolution. Thirdly we set up the theoretical model of the collimation error which is mainly from the defocus of the optical system and analyze the result caused by the collimation error. Fourthly a new discrete Fourier transform arithmetic using least-squares cosines progression (LSCP) is proposed which can reconstruct the spectrum with nonuniform sampled signals. Finally the MMSMs are fabricated used the MOEMS technology and the structural parameters are tested. 2011 Copyright Society of Photo-Optical Instrumentation Engineers (SPIE).