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| 1 | Modeling and Robust Backstepping Sliding Mode Control with Adaptive RBFNN for a Novel Coaxial Eight-rotor UAV显示文摘This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles(UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller(BSMC) with adaptive radial basis function neural network(RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances. | Cheng Peng Yue Bai Xun Gong Qingjia Gao Changjun Zhao Yantao Tian | 2015 | IEEE/CAA Journal of Automatica Sinica2015，2，1： | 10 |
| 2 | Four Wheel Independent Drive Electric Vehicle Lateral Stability Control Strategy显示文摘In this paper,a kind of lateral stability control strategy is put forward about the four wheel independent drive electric vehicle.The design of control system adopts hierarchical structure.Unlike the previous control strategy,this paper introduces a method which is the combination of sliding mode control and optimal allocation algorithm.According to the driver’s operation commands(steering angle and speed),the steady state responses of the sideslip angle and yaw rate are obtained.Based on this,the reference model is built.Upper controller adopts the sliding mode control principle to obtain the desired yawing moment demand.Lower controller is designed to satisfy the desired yawing moment demand by optimal allocation of the tire longitudinal forces.Firstly,the optimization goal is built to minimize the actuator cost.Secondly,the weighted least-square method is used to design the tire longitudinal forces optimization distribution strategy under the constraint conditions of actuator and the friction oval.Beyond that,when the optimal allocation algorithm is not applied,a method of axial load ratio distribution is adopted.Finally,Car Sim associated with Simulink simulation experiments are designed under the conditions of different velocities and different pavements.The simulation results show that the control strategy designed in this paper has a good following effect comparing with the reference model and the sideslip angle is controlled within a small rang at the same time.Beyond that,based on the optimal distribution mode,the electromagnetic torque phase of each wheel can follow the trend of the vertical force of the tire,which shows the effectiveness of the optimal distribution algorithm. | Yantao Tian Xuanhao Cao Xiaoyu Wang Yanbo Zhao | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，6： | 7 |
| 3 | The Indirect Shared Steering Control Under Double Loop Structure of Driver and Automation显示文摘Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller. | Yantao Tian Yanbo Zhao Yiran Shi Xuanhao Cao Ding-Li Yu | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，5： | 6 |
| 4 | sEMG Pattern Recognition of Muscle Force of Upper Arm for Intelligent Bionic Limb Control显示文摘 | Xu Zhuojun Tian Yantao Li Yang | 2015 | Journal of Bionic Engineering2015，12，2： | 6 |
| 5 | Recent progress of porcine milk components and mammary gland function显示文摘As the only nutritional source for newborn piglets,porcine colostrum and milk contain critical nutritional and immunological components including carbohydrates,lipids,and proteins(immunoglobulins).However,porcine milk composition is more complex than these three components.Recently,scientists identified additional and novel components of sow colostrum and milk,including exosomes,oligosaccharides,and bacteria,which possibly act as biological signals and modulate the intestinal environment and immune status in piglets and later in life.Evaluation of these nutritional and non-nutritional components in porcine milk will help better understand the nutritional and biological function of porcine colostrum and milk.Furthermore,some important functions of the porcine mammary gland have been reported in recent published literature.These preliminary studies hypothesized how glucose,amino acids,and fatty acids are transported from maternal blood to the porcine mammary gland for milk synthesis.Therefore,we summarized recent reports on sow milk composition and porcine mammary gland function in this review,with particular emphasis on macronutrient transfer and synthesis mechanisms,which might offer a possible approach for regulation of milk synthesis in the future. | Shihai Zhang Fang Chen Yinzhi Zhang Yantao Lv Jinghui Heng Tian Min Lilang Li Wutai Guan | 2019 | Journal of Animal Science and Biotechnology2019，10，1： | 2 |
| 6 | Textbook Outcome as a measure of surgical quality assessment and prognosis in gastric neuroendocrine carcinoma:A large multicenter sample analysis显示文摘Objective:Quality assurance is crucial for oncological surgical treatment assessment.For rare diseases,singlequality indicators are not enough.We aim to develop a comprehensive and reproducible measurement,called the'Textbook Outcome'(TO),to assess the quality of surgical treatment and prognosis of gastric neuroendocrine carcinoma(G-NEC)patients.Methods:Data from patients with primary diagnosed G-NEC included in 24 high-volume Chinese hospitals from October 2005 to September 2018 were analyzed.TO included receiving a curative resection,≥15 lymph nodes examined,no severe postoperative complications,hospital stay≤21 d,and no hospital readmission≤30 d after discharge.Hospital variation in TO was analyzed using a case mix-adjusted funnel plot.Prognostic factors of survival and risk factors for non-Textbook Outcome(non-TO)were analyzed using Cox and logistic models,respectively.Results:TO was achieved in 56.6%of 860 G-NEC patients.TO patients had better overall survival(OS),disease-free survival(DFS),and recurrence-free survival(RFS)than non-TO patients(P<0.05).Moreover,TO patients accounted for 60.3%of patients without recurrence.Multivariate Cox analysis revealed non-TO as an independent risk factor for OS,DFS,and RFS of G-NEC patients(P<0.05).Increasing TO rates were associated with improved OS for G-NEC patients,but not hospital volume.Multivariate logistic regression revealed that nonlower tumors,open surgery,and>200 mL blood loss were independent risk factors for non-TO patients(P<0.05).Conclusions:TO is strongly associated with multicenter surgical quality and prognosis for G-NEC patients.Factors predicting non-TO are identified,which may help guide strategies to optimize G-NEC outcomes. | Qiyue Chen Zhongliang Ning Zhiyu Liu Yanbing Zhou Qingliang He Yantao Tian Hankun Hao Wei Lin Lixin Jiang Gang Zhao Ping Li Chaohui Zheng Changming Huang on behalf of the Study Group for Gastric Neuroendocrine Tumors | 2021 | Chinese Journal of Cancer Research2021，33，4： | 2 |
| 7 | Multi-centric clinical study of the effect of intervention time on efficacy of gastroparesis external application prescription treatment of gastrointestinal tumor postsurgical gastroparesis显示文摘Objective:This intervention has been shown to be clinically efficacious and safe.The aim of this study was to determine the effect of different intervention times on the efficacy of gastroparesis external application prescription versus placebo for the treatment of gastrointestinal tumor postoperative,postsurgical gastroparesis.Methods:A multicenter,randomized,double-blind,placebo controlled phaseⅢclinical trial was designed to demonstrate superiority and conducted at four grade 3A hospitals in Beijing.Patients diagnosed with gastrointestinal tumor postsurgical gastroparesis and local cold syndrome in the abdomen were enrolled and received conventional treatment(nutritional support,gastrointestinal decompression,and prokinetic medication).Treatment and control groups respectively received gastroparesis external application prescription or placebo acupoint application over a treatment course of 14 days or until the primary efficacy endpoint(clinical efficiency)was achieved.Results:A total of 120 patients were enrolled in the treatment and control groups(n Z 60 per group),and 15 patients dropped out of the study because of skin allergies(n Z 7)or poor efficacy(nZ8).The efficacy among patients in Class B of Group A(treatment group)was marginally better than that of Group B(control group)(64.28%vs.55.56%)although the difference between the two groups was not significant.However,the efficacy among patients in Class C of Group A was significantly better than that of Group B(79.49%vs.43.33%).For Group A,the time for patients in the three classes to achieve the efficacy endpoint increased significantly with disease progression(3.00,6.78,and 8.29 days for Class A,B,and C,respectively).Conclusions:Gastroparesis external application prescription can effectively treat gastrointestinal tumor postsurgical gastroparesis and may be more efficacious in progressive disease compared placebo.Patients with gastrointestinal tumor postsurgical gastroparesis should therefore undergo intervention at an earlier stage. | Qin Zhou Minghuan Zuo Yantao Tian Yanbin Wang Yingjiang Ye Chao An Tian Zhou Chuanbo Liu Kaiwen Hu Quanwang Li | 2016 | Journal of Traditional Chinese Medical Sciences2016，3，4： | 2 |
| 8 | Effect of UTRs from TMV-RNA on the expression of foreign gene in transgenic plants显示文摘To investigate the effects of 5’and 3’ untranslated region (UTR) from tobacco mosaicvirus (TMV) on expression of foreign genes, four plant-expression vectors pBG437, pBG438, pBG440 and pBG440ANOS containing expression cassettes of GUS-NOS; Ω-GUS-NOS, Ω-GUS-3’ UTR-NOS and Ω-GUS-3’ UTR downstream of CaMV 35S promoter with double enhancer sequences respectively have been constructed. Results from a large number of transgenic tobacco plants show that the GUS activity of pBG440 transformed plants is the highest, being 5-fold that of pBG437 and 1.6-fold that of pBG438. Similar results have been obtained in transient expression by injection of Agrobacterium tumefaciens harbouring these constructs into N. benthamiana leaves. These results obtained at the whole plant level confirm the conclusion drawn from the transient expression studies in protoplast system that TMV- Ω fragment can be a translation enhancer and the 3’ UTR has a coordinate effect with ft fragment to enhance foreign gene expression, but | Hongmin Qin Hongnian Guo Yantao Jia Lihong Li Yingchuan Tian | 2000 | Chinese Science Bulletin2000，45，18： | 2 |
| 9 | Backstepping sliding mode tracking control of quad-rotor under input saturation显示文摘Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability boundedness.The purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these issues.Design/methodology/approach–Considering the dynamics of a quad-rotor,the closed-loop flight control system is divided into two nested loops:the translational outer-loop and the attitude inner-loop.In the outer-loop,the translational controller,which exports the desired attitude angles to the inner-loop,is designed based on bounded control technique.In consideration of the influence of uncertain rotational inertia and external disturbance,the backstepping sliding mode approach with adaptive gains is used in the inner-loop.The switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input saturation.Findings–The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this paper.Furthermore,with relation to the flying,the motor speed is kept in the predetermined scope.Originality/value–This article introduces a new flight control system designed for a quad-rotor. | Xun Gong Yue Bai Zhicheng Hou Changjun Zhao Yantao Tian Qiang Sun | 2012 | International Journal of Intelligent Computing and Cybernetics2012，5，4： | 1 |
| 10 | A non-linear swi- telling controller for ball and plate system显示文摘 | Tian Yantao Bai Ming Su Jintao | 2006 | Int J of Modelling Identification and Control2006，1，3： | 1 |
| 11 | A case of duodenal stump leakage caused by Taenia saginata显示文摘To the editor:Duodenal stump leakage is one of the serious complications of Billroth Ⅱ distal gastrectomy,which may cause the diffuse peritonitis,septic shock,and ichoremia,and even threaten the life.we reported a rare case concerning the duodenal stump leakage caused by Taenia saginata. A 59-year-old man,who complained epigastric discomfort,was admitted to a local hospital.After diagnosed with gastric cancer by gastroscopy,the patient came to our hospital for further diagnosis and treatment.The physical examination showed epigastric tenderness,and the CT scan revealed the thickened gastric antrum and enlarged perigastric lymph nodes. | Shao Xinxin Xie Yibin Chen Yingtai Cui Liang Tian Yantao | 2014 | Chinese Medical Journal2014，，19： | 1 |
| 12 | Market-Based Multi-Robot Task Allocation for Fire-Disaster Response 显示文摘 | QI Xinyue TIAN Yantao YANG Mao | 2009 | Journal of Jilin University: Information Science Edition2009，27，5： | 1 |
| 13 | Game-Theory Based on Multi-Robot Task Allocation Algorithm 显示文摘 | LIU Xiaomei TIAN Yantao YANG Mao | 2010 | Journal of Jilin University : Information Science Edition2010，28，3： | 1 |
| 14 | Nomogram for predicting the overall survival of patients after D2/R0 resection and chemoradiotherapy for stage Ⅲ gastric cancer or gastroesophageal junction cancer显示文摘Objective:To explore the independent factors associated with the overall survival(OS)after D2/R0 resection and adjuvant chemoradiotherapy(CRT)for stage Ⅲ gastric cancer(GC)and gastroesophageal junction(GEJ)cancer,and establish and validate a nomogram model to predict the OS in this patient population.Methods:A total of 569 stage Ⅲ GC or GEJ cancer patients who underwent D2/R0 resection and adjuvant CRT at our center from January 2013 to May 2018 were retrospectively enrolled in this study.The patients were randomly divided into training and validation cohorts in a 3:1 ratio.In the training cohort,univariate and multivariate analysis were conducted to identify clinical factors associated with OS,and a nomogram model was established on the basis of the independent factors.The concordance index(C-index)and the calibration curve were used to validate the prediction power of the nomogram.Results:Overall,427 and 142 patients were enrolled in the training and validation cohorts,respectively.In the univariate and multivariate analyses,age,Lauren's classification,TNM stage,and administration of adjuvant CRT were independent factors for OS to construct the nomogram.The C-index values were 0.654 and 0.613 in the training and validation cohorts,respectively.The calibration curves were identical to the actual OS.Risk stratification based on the nomogram model showed good risk stratification for OS in both groups.Conclusion:Our study included adjuvant CRT as a predictive factor and established a nomogram model for predicting the OS in patients with stage III GC or GEJ after D2/R0 resection and adjuvant therapy.This nomogram could facilitate more individualized prediction of OS in clinical practice. | Jinming Shi Wenzhe Kang Songlin Gao Wenyang Liu Yuan Tang Ning Li Qiang Zeng Huiying Ma Haoyue Li Yantao Tian Jing Jin | 2023 | Radiation Medicine and Protection2023，4，3： | 0 |
| 15 | Mass Transport Based Multi-Model Color Transfer显示文摘Image editing is a hot research topic in the image processing region, and one of the most basic problems in this field is the color transfer. It modifies the color style of the target image to match the color palette of the source while preserving the content of the target.Although there exist many algorithms to deal with this problem, none of existing methods can handle all kinds of images, especially complex landscape images. In this paper, we propose a Mass Transport based color transfer method in the CIELab color space, which can generate natural transfer results for different kinds of images including landscapes. Different from previous methods using the same transfer model for all the channels, we adopt different models for the luminance channel and color channels. For the luminance channel, a global transfer method is adopted for keeping the consistence in the visual perception. For the color channels,we construct a model based on histogram and Mass Transport, which perfectly transfers the colors of all the pixels from the source to the target and simultaneously preserves the content.What is more, experiments on real images demonstrate that our approach performs favorably against most of the existing methods. | Yantao LIU Shengjing TIAN Meng LIU Xiuping LIU | 2017 | Journal of Mathematical Research with Applications2017，37，1： | 0 |
| 16 | A positive correlation between local photocurrent and grain size in a perovskite solar cell显示文摘Developing an interplay between the local morphological character and its local photovoltaic(PV)parameters in a perovskite thin film is essential for guiding the construction of highly-efficient perovskite solar cells(PSCs). To achieve a higher PSC performance, great efforts have been devoted to the growth of larger perovskite grains;however, how the gain size can influence the PSC performance in a working device remains unclear. Herein, using laser-scanned confocal microscopy coupled with a photocurrent detection module, we realize local photocurrent, photoluminescence(PL) intensity and PL lifetime mappings directly in a working PSC. For perovskite grains of various sizes(from ~500 nm to a few micrometers), their local photocurrent exhibit a statically positive correlation with the grain size, but anti-correlated with the grain’s local PL intensity. This result suggests that a larger perovskite grain likely has fewer defects and more importantly better interfacial contact with the charge collection layers and thus leads to higher charge collection efficiency, and the optimum grain size is found to be ≥2 μm.Our result provides important guidance to the growth and control of perovskite microstructures toward the further improvement of PSC performance. | Xiaoxia Zhao Zhiyong Wang Wenming Tian Xianchang Yan Yantao Shi Yudi Wang Zhonggao Sun Shengye Jin | 2022 | Journal of Energy Chemistry2022，31，9： | 0 |
| 17 | Synthesis and biological evaluation of N-Alkylamide derivatives as anti-tumor agents显示文摘Background:N-Alkylamides(NAAs),derived from Anacyclus pyrethrum(L.)DC,have potential anti-tumor effects.To explore the molecular mechanism and chemo-preventive capacity of NAAs,we synthesized an NAA(H-10)and evaluated whether it could inhibit the proliferation of B16,HepG2,HeLa,and HCT116 cancer cells in 2D culture.Methods:To evaluate the antiproliferative activity of H-10 in 2D and 3D culture of BD,HepG2,HeLa,and HCT116 cells,multicellular tumor spheroids were constructed to more accurately reflect the cell tumor environment.To visualize nuclear changes related to apoptosis,Hoechst 33258 staining and propidium iodide-Annexin V double staining were performed.Results:Compound H-10 strongly inhibited the growth of all tested cell lines.Hoechst 33258 staining and propidium iodide-Annexin V double staining revealed that H-10 did not cause morphological alterations in the nuclei and moderately induced late apoptosis only when treated at 180 mM.The strongest inhibitory effect was observed in HCT116 cells.Flow cytometry analysis indicated that treatment of HCT116 cells with compound H-10 resulted in robust cell growth arrest in G2 phase in 2D and 3D cell culture;in 3D-cultured HCT116 cells,growth arrest occurred in G1 phase.Treatment with compound H-10 also significantly suppressed angiogenesis of chick chorioallantoic membrane in vivo.Conclusion:Treatment with compound H-10 strongly affected clonogenic survival(in the long-term)and migration of HCT116 cells.Therefore,H-10,a compound of NAAs may be useful for treating cancer because of its anti-neoplastic effect and easy synthesis. | Kunxiu Jiang Yantao Xing Qinghua Quan Qianqian Sun Jingyun Tian Cen Liu Xingzhuo Song Xirui Wang Yonggang Liu | 2020 | Journal of Traditional Chinese Medical Sciences2020，7，4： | 0 |
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