A Novel Uncalibrated Visual Servoing Controller Baesd on Model-Free Adaptive Control Method with Neural Network

Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional Position-based Visual Servoing (PBVS) requires a lot of calibration work, which is challenging for the nonspecialist to cope with. To cope with this situation, Uncalibrated Image-Based Visual Servoing (UIBVS) frees people from tedious calibration work. This work applied a model-free adaptive control (MFAC) method which means that the parameters of controller are updated in real time, bringing better ability of suppression changes of system and environment. An artificial intelligent neural network is applied in designs of controller and estimator for hand-eye relationship. The neural network is updated with the knowledge of the system input and output information in MFAC method. Inspired by "predictive model" and "receding-horizon" in Model Predictive Control (MPC) method and introducing similar structures into our algorithm, we realizes the uncalibrated visual servoing for both stationary targets and moving trajectories. Simulated experiments with a robotic manipulator will be carried out to validate the proposed algorithm.Comment: 16 pages, 8 figure

Adaptive Finite-Time Model Estimation and Control for Manipulator Visual Servoing using Sliding Mode Control and Neural Networks

The image-based visual servoing without models of system is challenging since it is hard to fetch an accurate estimation of hand-eye relationship via merely visual measurement. Whereas, the accuracy of estimated hand-eye relationship expressed in local linear format with Jacobian matrix is important to whole system's performance. In this article, we proposed a finite-time controller as well as a Jacobian matrix estimator in a combination of online and offline way. The local linear formulation is formulated first. Then, we use a combination of online and offline method to boost the estimation of the highly coupled and nonlinear hand-eye relationship with data collected via depth camera. A neural network (NN) is pre-trained to give a relative reasonable initial estimation of Jacobian matrix. Then, an online updating method is carried out to modify the offline trained NN for a more accurate estimation. Moreover, sliding mode control algorithm is introduced to realize a finite-time controller. Compared with previous methods, our algorithm possesses better convergence speed. The proposed estimator possesses excellent performance in the accuracy of initial estimation and powerful tracking capabilities for time-varying estimation for Jacobian matrix compared with other data-driven estimators. The proposed scheme acquires the combination of neural network and finite-time control effect which drives a faster convergence speed compared with the exponentially converge ones. Another main feature of our algorithm is that the state signals in system is proved to be semi-global practical finite-time stable. Several experiments are carried out to validate proposed algorithm's performance.Comment: 24 pages, 10 figure

A safety check method to maximize the effective reserve by optimizing the power of the tie-line in the power market

To ensure the stability of the electricity spot market and the safety of the provincial and regional power systems, a safety check method is proposed to maximize the effective reserve resources in the power system by optimizing the power of each tie-line. This safety check method accurately models the tie-line equipment and the effective reserve resources and is coupled with each constraint of the electricity spot market clearing model to form a safety check algorithm to optimize the power of tie-line power. The model involved in this paper is a linear model, which has a clear implementation method in practical dispatching applications. Through this method, the power configuration scheme of each tie-line to meet the electricity spot market constraints can be obtained, and the safety check results have the executability of the power market. The rationality and feasibility of the safety check algorithm results are verified by simulating the provincial-scale electricity spot market. According to the simulation results, this method can release effective reserve resources and provide more guarantees for the safe operation of the power grid. In addition, this method can save up to 4.9% of the total operation cost of the power system and improve the dispatching economy of the power system. This method is of great significance to ensure the safe operation of the power system and the day-ahead market and real-time market scheduling in the actual power spot system. In addition, this method also has great guiding significance for the analysis of the actual reserve situation of the power market after the event

Performance Investigation of Linear Compressor With One Side Springs

In this paper a linear compressor prototype with a set of cylindrical coil springs connected to one side of the trestle is developed. The initial position of piston head is near to the top dead center and coil springs are on free status. The experiments on the prototype are carried out by compressing air on different working conditions. The experimental results show that the linear compressor with one side springs can take good advantage of the gas springcharacteristics of the compressed work fluid to reduce the stiffness of mechanical spring and the weight of compressor. However the mechanical springs cannot help to constrain the piston bumping the cylinder head. The performance of the linear compressor prototype with one side springs changes with the discharge pressuresensitively. The discharge volume of the prototype on 0.2MPa is only 24.7% of that on 0.6MPa. The highest efficiency of the prototype is about 82.5% on discharge pressure of 0.5MPa and it drops with the decreasing of discharge pressure or discharge volume. On each condition with different discharge pressure or discharge volume, there exists the highest efficiency by changing the frequency. Therefore the linear compressor with one side springs is more suitable for the application that the cooling capacity need to be reduced with the decreasing of condensing temperature

High-Throughput Sequencing Analysis of the Composition and Diversity of the Bacterial Community in <i>Cinnamomum camphora</i> Soil

Soil bacterial communities and root-associated microbiomes play important roles in the nutrient absorption and healthy growth of host plants. Cinnamomum camphora is an important timber and special economic forest tree species in Fujian Province. In this study, the high-throughput sequencing technique was used to analyze the composition, diversity, and function of the bacterial communities present in the soil from different samples and slope positions of C. camphora. The results of this analysis demonstrated that the related bacterial communities in C. camphora soil were mainly clustered based on sample type. Bacterial alpha diversity in the rhizosphere and bulk soil of C. camphora growing downhill was higher than that of C. camphora growing uphill. At the phylum level, Bacteroidetes, Proteobacteria, Chloroflexi, and Gemmatimonadetes were positively correlated with pH, available phosphorus, total phosphorus, available potassium, and total potassium, while Acidobacteria and Verrucomicrobia were negatively correlated with alkaline-hydrolyzable nitrogen. These results show that there were remarkable differences in the composition, diversity, and function of related bacterial communities between different sample types of C. camphora soil. The slope position had a marked effect on the bacterial communities in the rhizosphere and bulk soil, while the root endosphere remained unaffected

Terpenoids and Their Biological Activities from Cinnamomum: A Review

Cinnamomum is a genus of the family Lauraceae, which has been recognized worldwide as an important genus due to its beneficial uses. A great deal of research on its phytochemistry and pharmacological effects has been conducted. It is noteworthy that terpenoids are the characteristic of Cinnamomum due to the peculiar structures and significant biological effects. For a more in-depth study and the better use of Cinnamomum plants in the future, the chemical structures and biological effects of terpenoids obtained from Cinnamomum were summarized in the present study. To date, a total of 181 terpenoids with various skeletons have been isolated from Cinnamomum. These compounds have been demonstrated to play an important role in immunomodulatory, anti-inflammatory, antimicrobial, antioxidant, and anticancer activities. However, studies on the bioactive components from Cinnamomum plants have only focused on a dozen species. Hence, further studies on the potential pharmacological effects need to be conducted in the future

The complete mitochondrial genome of Monochamus alternatus alternatus (Coleoptera: Cerambycidae)

Monochamus alternatus alternatus is the major vector of pinewood nematode, Bursaphelenchus xylophilus, in Asia. The length of the complete mitochondria genome of M. alternatus alternatus was 15,880 bp with 21% GC content, including 39.7% A, 12.3% C, 8.7% G and 39.3% T. There were 13 protein-coding genes, 22 tRNAs, 2 rRNAs, and one AT-rich region. This study provides a useful genetic information for subsequent study of the differences between M. alternatus subspecies

Variation in Community Structure of the Root-Associated Fungi of Cinnamomum camphora Forest

Plant-associated microbial communities play essential roles in the vegetative cycle, growth, and development of plants. Cinnamomum camphora is an evergreen tree species of the Lauraceae family with high ornamental, medicinal, and economic values. The present study analyzed the composition, diversity, and functions of the fungal communities in the bulk soil, rhizosphere, and root endosphere of C. camphora at different slope positions by high-throughput sequencing. The results showed that the alpha diversity of the fungal communities in the bulk soil and rhizosphere of the downhill plots was relatively higher than those uphill. A further analysis revealed that Mucoromycota, the dominant fungus at the phylum level, was positively correlated with soil bulk density, total soil porosity, mass water content, alkaline-hydrolyzable nitrogen, maximum field capacity, and least field capacity. Meanwhile, the prevalent fungus at the class level, Mortierellomycetes, was positively correlated with total phosphorus and available and total potassium, but negatively with alkaline-hydrolyzable nitrogen. Finally, the assignment of the functional guilds to the fungal operational taxonomic units (OTUs) revealed that the OTUs highly enriched in the downhill samples compared with the uphill samples, which were saprotrophs. Thus, this study is the first to report differences in the fungal community among the different soil/root samples and between C. camphora forests grown at different slope positions. We also identified the factors favoring the root-associated beneficial fungi in these forests, providing theoretical guidance for managing C. camphora forests

Comparative transcriptome among Euscaphis konishii Hayata tissues and analysis of genes involved in flavonoid biosynthesis and accumulation

Abstract Bachground Euscaphis konishii Hayata, a member of the Staphyleaceae Family, is a plant that has been widely used in Traditional Chinese Medicine and it has been the source for several types of flavonoids. To identify candidate genes involved in flavonoid biosynthesis and accumulation, we analyzed transcriptome data from three E. konishii tissues (leaf, branch and capsule) using Illumina Hiseq 2000 platform. Results A total of 91.7, 100.3 and 100.1million clean reads were acquired for the leaf, branch and capsule, respectively; and 85,342 unigenes with a mean length of 893.60 bp and N50 length of 1307 nt were assembled using Trinity program. BLASTx analysis allowed to annotate 40,218 unigenes using public protein databases, including NR, KOG/COG/eggNOG, Swiss-Prot, KEGG and GO. A total of 14,291 (16.75%) unigenes were assigned to 128 KEGG pathways, and 900 unigenes were annotated into 22 KEGG secondary metabolites, including flavonoid biosynthesis. The structure enzymes involved in flavonoid biosynthesis, such as phenylalanine ammonia lyase, cinnamate 4-hydroxylase, 4-coumarate CoA ligase, shikimate O-hydroxycinnamoyltransferase, coumaroylquinate 3′-monooxygenase, caffeoyl-CoA O-methyltransferase, chalcone synthase, chalcone isomerase, flavanone 3-hydroxylase, flavonoid 3′-hydroxylase, flavonoid 3′,5′-hydroxylase, flavonolsynthese, dihydroflavonol 4-reductase, anthocyanidinreductase, leucoanthocyanidin dioxygenase, leucoanthocyanidin reductase, were identified in the transcriptome data, 40 UDP-glycosyltransferase (UGT), 122 Cytochrome P450 (CYP) and 25 O-methyltransferase (OMT) unigenes were also found. A total of 295 unigenes involved in flavonoid transport and 220 transcription factors (97 MYB, 84 bHLH and 39 WD40) were identified. Furthermore, their expression patterns among different tissues were analyzed by DESeq, the differentially expressed genes may play important roles in tissues-specific synthesis, accumulation and modification of flavonoids. Conclusion We present here the de novo transcriptome analysis of E. konishii and the identification of candidate genes involved in biosynthesis and accumulation of flavonoid. In general, these results are an important resource for further research on gene expression, genomic and functional genomics in E. konishii and other related species

Selection and evaluation of reference genes for qRT-PCR analysis in Euscaphis konishii Hayata based on transcriptome data

Abstract Background Quantitative real-time reverse transcription-polymerase chain reaction has been widely used in gene expression analysis, however, to have reliable and accurate results, reference genes are necessary to normalize gene expression under different experimental conditions. Several reliable reference genes have been reported in plants of Traditional Chinese Medicine, but none have been identified for Euscaphis konishii Hayata. Results In this study, 12 candidate reference genes, including 3 common housekeeping genes and 9 novel genes based on E. konishii Hayata transcriptome data were selected and analyzed in different tissues (root, branch, leaf, capsule and seed), capsule and seed development stages. Expression stability was calculated using geNorm and NormFinder, the minimal number of reference genes required for accurate normalization was calculated by Vn/Vn + 1 using geNorm. EkEEF-5A-1 and EkADF2 were the two most stable reference genes for all samples, while EkGSTU1 and EkGAPDH were the most stable reference genes for tissue samples. For seed development stages, EkGAPDH and EkEEF-5A-1 were the most stable genes, whereas EkGSTU1 and EkGAPDH were identified as the two most stable genes in the capsule development stages. Two reference genes were sufficient to normalize gene expression across all sample sets. Conclusion Results of this study revealed that suitable reference genes should be selected for different experimental samples, and not all the common reference genes are suitable for different tissue samples and/or experimental conditions. In this study, we present the first data of reference genes selection for E. konishii Hayata based on transcriptome data, our data will facilitate further studies in molecular biology and gene function on E. konishii Hayata and other closely related species