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39 results on '"Yang, Lingfang"'

1. A Delay Compensation Framework Based on Eye-Movement for Teleoperated Ground Vehicles

Author

Zhang, Qiang, Yang, Lingfang, Huang, Zhi, and Song, Xiaolin

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

An eye-movement-based predicted trajectory guidance control (ePTGC) is proposed to mitigate the maneuverability degradation of a teleoperated ground vehicle caused by communication delays. Human sensitivity to delays is the main reason for the performance degradation of a ground vehicle teleoperation system. The proposed framework extracts human intention from eye-movement. Then, it combines it with contextual constraints to generate an intention-compliant guidance trajectory, which is then employed to control the vehicle directly. The advantage of this approach is that the teleoperator is removed from the direct control loop by using the generated trajectories to guide vehicle, thus reducing the adverse sensitivity to delay. The delay can be compensated as long as the prediction horizon exceeds the delay. A human-in-loop simulation platform is designed to evaluate the teleoperation performance of the proposed method at different delay levels. The results are analyzed by repeated measures ANOVA, which shows that the proposed method significantly improves maneuverability and cognitive burden at large delay levels (>200 ms). The overall performance is also much better than the PTGC which does not employ the eye-movement feature., Comment: 9 pages, 11 figures

Published
2023

2. Predicted Trajectory Guidance Control Framework of Teleoperated Ground Vehicles Compensating for Delays

Author

Zhang, Qiang, Xu, Zhouli, Wang, Yihang, Yang, Lingfang, Song, Xiaolin, and Huang, Zhi

Subjects
Electrical Engineering and Systems Science - Systems and Control
Abstract

Maneuverability and drivability of the teleoperated ground vehicle could be seriously degraded by large communication delays if the delays are not properly compensated. This paper proposes a predicted trajectory guidance control (PTGC) framework to compensate for such delays, thereby improving the performance of the teleoperation system. The novelty of this PTGC framework is that teleoperators intended trajectory is predicted at the vehicle side with their delayed historical control commands and the LiDAR 3D point cloud of the environment, and then the vehicle is guided by the predicted trajectory. By removing the teleoperator from the direct control loop, the presented method is less sensitive to delays, and delays are compensated as long as the prediction horizon exceeds the delays. Human-in-the-loop simulation experiments are designed to evaluate the teleoperation performance with the proposed method under five delay levels. Based on the repeated measurement analysis of variance, it is concluded that the PTGC method can significantly improve the performance of the teleoperated ground vehicles under large delays(>200ms), such as the task completion time (TCT), deviation to centerline (D2C) and steering effort (SE). In addition, the results also show that teleoperators can adapt to smaller delays, and the presented method is ineffective in such cases., Comment: 10 pages, 11 figures

Published
2022

3. Visual Area of Interests based Multimodal Trajectory Prediction for Probabilistic Risk Assessment

Author

Zhang, Qiang, Yang, Lingfang, Zhang, Xiaoliang, Song, Xiaolin, and Huang, Zhi

Subjects
Computer Science - Human-Computer Interaction
Abstract

Accurate and reliable prediction of driving intentions and future trajectories contributes to cooperation between human drivers and ADAS in complex traffic environments. This paper proposes a visual AOI (Area of Interest) based multimodal trajectory prediction model for probabilistic risk assessment at intersections. In this study, we find that the visual AOI implies the driving intention and is about 0.6-2.1 s ahead of the operation. Therefore, we designed a trajectory prediction model that integrates the driving intention (DI) and the multimodal trajectory (MT) predictions. The DI model was pre-trained independently to extract the driving intention using features including the visual AOI, historical vehicle states, and environmental context. The intention prediction experiments verify that the visual AOI-based DI model predicts steering intention 0.925 s ahead of the actual steering operation. The trained DI model is then integrated into the trajectory prediction model to filter multimodal trajectories. The trajectory prediction experiments show that the proposed model outperforms the state-of-the-art models. Risk assessment for traffics at intersections verifies that the proposed method achieves high accuracy and a low false alarm rate, and identifies the potential risk about 3 s before a conflict occurs., Comment: 11 pages, 13 figures

Published
2022

9. Mechanism Analysis and Suppression Strategy of Ultra-low Frequency Oscillation in DC Asynchronous Networking

Author

Liu, Qingsong, Yang, Lingfang, Xin, Qingming, Wang, Ziying, Deng, Jun, Wang, Shunliang, Fu, Chuang, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Yang, Qingxin, editor, Liang, Xidong, editor, Li, Yaohua, editor, and He, Jinghan, editor

Published
2022
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12. Perborate Activated Peroxymonosulfate Process for Improving the Coagulation Efficiency of Microcystis aeruginosa by Polymeric Aluminum Chloride.

Author

Chen, Fan, Li, Lu, Qiu, Shunfan, Chen, Shiyang, Yang, Lingfang, Deng, Lin, and Shi, Zhou

Abstract

In this study, the sodium perborate (SP)-activated peroxymonosulfate (PMS) process was used to enhance the coagulation efficiency of cyanobacteria with polymeric aluminum chloride (PAC), aiming to efficiently mitigate the impact of algal blooms on the safety of drinking water production. The optimal concentrations of SP, PMS, and PAC were determined by evaluating the removal rate of OD680 and zeta potential of the algae. Experimental results demonstrated that the proposed ternary PMS/SP/PAC process achieved a remarkable OD680 removal efficiency of 95.2%, significantly surpassing those obtained from individual treatments with PMS (19.5%), SP (5.2%), and PAC (42.1%), as well as combined treatments with PMS/PAC (55.7%) and PMS/SP (28%). The synergistic effect of PMS/SP/PAC led to the enhanced aggregation of cyanobacteria cells due to a substantial reduction in their zeta potential. Flow cytometry was performed to investigate cell integrity before and after treatment with PMS/SP/PAC. Disinfection by-products (DBPs) (sodium hypochlorite disinfection) of the algae-laden water subsequent to PMS/SP/PAC treatment declined by 57.1%. Moreover, microcystin-LR was completely degraded by PMS/SP/PAC. Electron paramagnetic resonance (EPR) analysis evidenced the continuous production of S O 4 • − , •OH, 1O2, and O 2 • − , contributing to both cell destruction and organic matter degradation. This study highlighted the significant potential offered by the PMS/SP/PAC process for treating algae-laden water. [ABSTRACT FROM AUTHOR]

Published
2024
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27. Ethics Dilemmas and Autonomous Vehicles: Ethics Preference Modeling and Implementation of Personal Ethics Setting for Autonomous Vehicles in Dilemmas.

Author

Wang, Yutian, Hu, Xuepeng, Yang, Lingfang, and Huang, Zhi

Abstract

Autonomous vehicles (AVs) inevitably confront dilemmas in which collisions cannot be avoided, and collision avoidance involves ethical issues due to harm distribution among traffic participants. Regarding how AVs should respond to dilemmas, ethical divergence is the main barrier that exists universally in human society. To overcome this barrier, the rational ethical propensity, i.e., the inclination of evasive steering (IES), of Chinese respondents in two typical dilemmas was collected via an online survey to construct AVs’ ethical model. Respondents were partitioned into two subgroups with relative ethical preferences to address the main ethical divergence based on their IES. The analytical IES ethical model, describing relationships among the respondents’ ethical intention and sensitive factors, was proposed. Three IES models for the two partitioned subgroups and the total respondents were fitted. Personal ethics setting (PES) was implemented with the subgroups’ models as the boundaries of operation space. PES-based trajectory planning experiments were conducted, and simulation results showed that AVs make evasive decisions in line with their ethical preference. [ABSTRACT FROM AUTHOR]

Published
2023
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37. Enhanced electrosorption capacity for lead ion removal with polypyrrole and air-plasma activated carbon nanotube composite electrode.

Author

Yang, Lingfang and Shi, Zhou

Subjects
POLYPYRROLE, CARBON nanotubes, SCANNING electron microscopy, CYCLIC voltammetry, POLYMERIZATION
Abstract

ABSTRACT Polypyrrole (PPy) and air-plasma activated carbon nanotube (CNT) composites (P-CNT-PPy) prepared via in situ chemical oxidative polymerization are studied to improve the electrosorption capacity of CNT-based electrodes for the removal of lead ions. For comparison, the PPy prepared on the CNTs without plasma activation is labeled as CNT/PPy. The morphology of the composite was observed by scanning electron microscopy (SEM), and pore structures were studied by N2 adsorption-desorption isotherms. The electrochemical capacitance properties of the composite were measured by cyclic voltammetry (CV), electrochemical impedance spectroscopy (EIS), and galvanostatic charge-discharge in lead solutions. With plasma-activation, the specific surface area of the P-CNT-PPy composite is larger than that of CNT/PPy. Additionally, the P-CNT-PPy composites exhibit excellent electrochemical performance in lead solution, with a higher specific capacitance and smaller charge transfer resistance than that of CNT/PPy. XPS elemental analysis and electrosorption and regeneration results show that the electrosorption and desorption process is reversible under a voltage of 450 mV. The electrosorption kinetics of P-CNT-PPy electrodes abide by pseudo-second-order model reaction. The lead ion electrosorption experiments agree with the Langmuir model, and the equilibrium electrosorption capacity of the P-CNT-PPy electrodes is 3.6 and 1.3 times higher than that of the CNT and CNT/PPy, respectively. © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2015, 132, 41793. [ABSTRACT FROM AUTHOR]

Published
2015
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38. ZIF-8 assisted synthesis of magnetic core-shell Fe 3 O 4 @CuS nanoparticles for efficient sulfadiazine degradation via H 2 O 2 activation: Performance and mechanism.

Author

Zhang H, Zhou C, Zeng H, Wu H, Yang L, Deng L, and Shi Z

Abstract

A novel magnetic core-shell Fe 3 O 4 @CuS have been successfully synthesized by chemical etching and cation exchange method using Zeolitic imidazolate frameworks (ZIF) as the template. The morphology and microstructural properties characterization indicated that Fe 3 O 4 @CuS nanoparticles were rhombic dodecahedral shape, highly stable, and magnetic with a large specific surface area (772.20 m 2 /g). The catalytic activity of Fe 3 O 4 @CuS was assessed on sulfadiazine (SDZ) degradation by H 2 O 2 activation. Multi-factors affecting the SDZ removal was adequately investigated. Approximately 93.2% SDZ (50 μM) was removed with 0.2 g/L Fe 3 O 4 @CuS and 5 mM H 2 O 2 in 90 min. In particular, Fe 3 O 4 @CuS exhibited a quality catalytic performance within a wide pH range of 3.0-11.0. Radical scavenger tests and electron paramagnetic resonance (EPR) analysis confirmed that •O 2 - , •OH, and 1 O 2 all contributed to the SDZ degradation, and •OH played the dominant role. Meanwhile, mechanism investigation suggested that the effective catalytic activity of Fe 3 O 4 @CuS could be ascribed to the sulphur-enhanced copper-based Fenton reaction on the CuS shell, sulphur-enhanced iron-based Fenton reaction on the Fe 3 O 4 core, and the effective electron transfer between the shell and core. Finally, the possible SDZ degradation pathways were further proposed on the basis of the intermediates identification. This work put forward a new strategy to synthesize magnetic core-shell Fe 3 O 4 @CuS using ZIF-8 as the template with outstanding performance for H 2 O 2 activation to degrade SDZ., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2021 Elsevier Inc. All rights reserved.)

Published
2021
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39. [Combination of subradical external radiation and brachytherapy plus radical operation in the treatment of carcinoma of uterine cervix].

Author

Zhong X, Zhong S, Yang L, Bai L, Lan Y, Yuan D, and Huang Y

Subjects
Adult, Aged, Aged, 80 and over, Combined Modality Therapy, Female, Humans, Middle Aged, Prognosis, Retrospective Studies, Survival Rate, Uterine Cervical Neoplasms mortality, Uterine Cervical Neoplasms surgery, Brachytherapy, Uterine Cervical Neoplasms radiotherapy
Abstract

Objective: To summarize retrospectively the 5-year survival rates and long-term complication of stage Ib-IIIa cervical carcinoma treated by combination of subradical external radiation and brachytherapy plus radical operation., Methods: 106 patients with cervical carcinoma were all treated by radical hysterectomy and pelvic lymphadenectomy, of whom 78 had had preoperative radiotherapy (external radiation and brachytherapy), 16 combination of brachytherapy and radical operation, 12 adjuvant postoperative radiotherapy (external radiation and brachytherapy). (60)Co was used for external radiation, in which the point B dose was 25 - 30 Gy in preoperative radiation and 40 - 50 Gy in postoperative radiation. (192)Ir high-dose-rate afterloading unit was used in brachytherapy, with a dose of 6 - 18 Gy at point A., Results: The follow up rate was 95.3%. The overall 5-year survival rates were 78.2% (61/78) in the preoperative radiotherapy group, 68.8% (11/16) in brachytherapy plus radical operation, 33.3% (4/12) in the postoperative radiotherapy group, showing a higher 5-year survival rate in the preoperative radiotherapy group than the postoperative radiotherapy group (P < 0.05). In stage II patients, the preoperative radiotherapy group -77.6% (45/58) also gave a higher survival than the postoperative radiotherapy group -25.0% (1/4) (P < 0.05). But all the other groups gave differences of insignificance. The chief long-term complications were radio-proctitis and cystitis, with incidences of 34.6% (27/78), 31.3% (5/16), 33.3% (4/12) in the preoperative radiotherapy group, brachytherapy plus radical operation group and the postoperative radiotherapy group (P > 0.05)., Conclusion: The overall 5-year survival rate of combined subradical external radiation and brachytherapy plus radical operation was obviously higher than that of postoperative radiotherapy for stage Ib-IIIa and II patients, with statistically significant differences. However, the incidence of long-term complications give no statistical significance in the preoperative radiotherapy group or brachytherapy plus the operation group as compared with the postoperative radiotherapy group.

Published
2002

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