Dongfang Li

Non-singular Guidance Control Method for Anti-side-slip of Snake Robots

Qian Liu, Dongfang Li, Yang Xiu, Dali Zhang

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Instructing the Learning of Language Model with the Token Interpretation to Improve Language Understanding

Tianzhu Chen, Yashen Wang, Huan Chang, Guanghong Liu et autres

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An Overview of the Research Status and Advances in Precision Feeding Technology and Equipment in Aquaculture

Ke Chen, Sixian Li, Tieli Lyu, Dongfang Li et autres

Precision feeding is an important foundation for improving production efficiency in aquaculture, reducing feed waste, mitigating water pollution, and promoting the intelligent development of aquaculture. Conventional feeding practices remain heavily dependent on operator experience and are typically executed at predetermined times or …

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Actor-Critic Framework-Based on Optimal Tracking Strategy for Snake Robots with Reinforcement Learning Method

Dongfang Li, Rong Hu, Yilong Zhang, Rob Law et autres

Series Snake robots possess strong adaptability for unstructured environments, but their trajectory tracking control is hindered by nonlinear dynamics and model uncertainties. This article proposes an optimal tracking control strategy based on an actor–critic reinforcement learning framework. The method integrates line-of-sight guidance …

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Discovery of sulfonyl benzoic acid derivatives with joint TGR5-agonist and FXR-antagonist activity for myocardial ischemia/reperfusion injury protection

Xinyi Zhao, Tianqi Chang, Xiang Wu, Tongyu Huo et autres

TGR5 and FXR are key regulators of metabolic homeostasis and cardiovascular health. Since the cardioprotective capacity of TGR5 activation and FXR inhibition has been recognized, dual modulation of these targets offers a promising therapeutic strategy for myocardial ischemia/reperfusion injury. Herein, sulfonyl benzoic …

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Finite time stable path following system with nonlinear parameter varying model for USV

Yanwei Huang, Jingxin Zhang, Along Lin, Tianzhu Chen et autres

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Hierarchical Terrain-Aware Navigation via Bayesian-Guided RRT* and Flat-Corridor CiLQR

Tianwei Niu, Shoukun Wang, Dongfang Li, Rob Law et autres

Autonomous navigation in unstructured, off-road environments remains a critical challenge due to complex terrain and limited prior knowledge. This letter presents a hierarchical framework to generate paths across locally flat regions and optimize spatio-temporal trajectories under vehicle kinodynamics. The first step employs …

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Real-time decoding fine motor intentions from a set of motor unit activities using set transformer

Dongfang Li, Yunfei Liu, Xiang Chen, Ping Zhou et autres

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Adaptive compensation method for navigation positioning errors considering the vibration characteristics of a combine harvester

Wenbo Wei, Hui WANG, Maohua Xiao, YeJun ZHU et autres

Positioning accuracy directly affects the operational performance and stability of navigation systems. However, in complex field environments, severe vibrations during combine harvester operation can significantly exacerbate positioning errors. These vibrations have become a key limiting factor for navigation accuracy improvements. This study …

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An Adaptive Path Planning Algorithm for USV in Complex Waterways: SA-Bi-APF-RRT*

Sixian Li, Ke Chen, Dongfang Li, Jieyu Xian et autres

In recent years, the RRT* algorithm has been widely applied in industrial fields because of its asymptotic optimality. However, the traditional RRT* algorithm exhibits limitations in terms of convergence speed and quality of generated paths, and its path exploration capability in complex …

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Heading Control Compensated for by a Nonlinear Parameter-Varying Disturbance Observer for USVs

Yanwei Huang, J. Zhang, Hongqian Xiu, Dongfang Li et autres

The absolute value of cross-flow effects is assumed to be an absolute value disturbance to accurately characterize the relationship between forces acting on an unmanned surface vehicle (USV) and its motion state. A nonlinear parameter-varying disturbance observer (NPVDO) is proposed to compensate …

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Synchronous Obstacle Avoidance Tracking Control Scheme for Snake Robots With State Constraints and Interference Compensation

Dongfang Li, Chushuo Wu, Guang-Hong Liu, Limin Zhu et autres

This work proposes a synchronous obstacle avoidance tracking control framework with state constraints and interference compensation to achieve autonomous obstacle avoidance and track reference paths for snake robots. In the kinematic, an improved robust line-of-sight (LOS) strategy based on reduced-order extended state …

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