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Y X 0 HX HY H C θ l 2r c Fig. 1 Sketch of a nonholonomic wheeled mobile robot For this kind of WMR, there are three constraints according to Yang [5].
[5] Tian Tian Yang, Zhi Yuan Liu, Hong Chen and Run Pei, "The Research On Robust Tracking Control Of Constrainted Wheeled Mobile Robots", Proceedings of the Fourth International Conference on Machine Learning and Cybernetics, Guangzhou, p. 1356-1361 (2005).

Acknowledgements This work was financially supported by National Key Technology R&D Program(2008BAI55B03－4), the Fundamental Research Funds for the Central Universities(N100405005) , the Science and Technology Department of Liaoning Province (20101033) and Shen Yang Scientific and Technical Bureau Foundation (F10-205-1-30).
Tian: J.
Tian, B.
Tian, B.Y.
Tian, B.

Bearing fault diagnosis based on Multi-Sensor Information Fusion with SVM X.J.Li 1,a ,D.L.Yang 2,b ,L.L.Jiang 3,c 1,2,3 Hunan Provincial Key Laboratory of Health Maintenance for Mechanical Equipment, Hunan University of Science and Technology, Xiantan, 411201, China a hnkjdxlxj@163.com, b hyydl216@163.com, clinlyjiang@163.com Keywords: multi-sensor; information fusion; SVM; fault diagnosis; rolling bearing Abstract: This paper proposed a fault diagnosis based on multi-sensor information fusion for rolling bearing.
[4] N.Y.Deng, Y.J.Tian:A new method of data mining - support vector machine(Science press Bei-jing 2004)
Yang，Y.Tian: Journal of Vibration, Measurement & Diagnosis.Vol. 29-2(2009),P.155-158
[7] B.S.Yang, T.Han, W.W.Huang: Journal of Mechanical Science and Technology.Vol. 19-3(2005),P. 848-859
Yang,X.P.Zhang:Journal of Vibration, Measurement & Diagnosis.

Research on Theodolite Auto-Focus Motor Control Technology Based on a Disturbance Observer Chuntong Liu1,a, Yang Zhang1, Zhenxin He1, Bing Li1 1High-Tech Institute of Xi’an, Shaanxi, 710025, P R China azhangyang8195@126.com Keywords: Three closed-loop servo control; Integral separation PID; Disturbance observer; Trajectory planning Abstract.
Tian, Y.J.
Tian, Micro motors, Vol. 44 (2011), P. 29-30
Tian, The Research of Robot’s Trajectory Planning, Beijing University of Posts and Telecommunications, China, 2008.

The Application of the Baseline and Monitoring Methodologies to the Renewable Energy for Base Stations Project YANG Tian-jiana, HUANG Jinb School of Economics and Management,Beijing University of Posts and Telecommunications,Beijing, China afrankytj@bupt.edu.cn, bhuangjin532@sina.com Keywords: CDM; the baseline and monitoring methodology; renewable energy; base station; Abstract.
[7] Axel Michaelowa, Daisuke Hayashi and Marc Marr: Challenges for energy efficiency improvement underthe CDM—the case of energy-efficient lighting(Springer Science Energy Efficiecy, 2009) [8] YANG Tian-jian, HU Yi-wen, SHU Hua-ying, LIU Xi: Low Carbon Telecom Solutions in China: Current Reductions and Future Potential(WWF, China 2010 )

Eng Vol. 122 (2000), p. 666 [3] X.L.Tian, J.F.Yang and C.Liu: Int J Adv Manuf Technol Vol. 16 (2010), p. 529 [4] X.L.Tian, J.F.Yang and C.Liu: Materials Science Forum Vol. 626-627 (2009), p. 565

Tian applied the support vector machine method to the recognition of cucumbers, grapes, corn, tomatoes diseases.
[2]Tian Youwen, Zhang Changshui, Li Chenghua.
[3]Tian Youwen, Li Tianlai, Li Chenghua, et al.
[4]Tian Youwen, Niu Yan.
[7] Du Panfeng, Liao Lijian, Yang Xinan.

References [1] Liquan Chai, Le Yang, Research on scanning tunneling microscope technology, science laboratory, Aug. 2008, no. 4 .In Chinese [2] Xianwu Han, Xiaoan Chen, Xueheng Yang, et al.
[5] Qifeng Mo, Chuanggao Huang, Jianmin Tian, et al.
In Chinese [6] Guanghan Peng, Xueheng Yang, Jichun Liu, et al., A high-precision multifunction dual purpose atomic force microscope technology and its applications, Journal of instrumentation and apparatus, Jan. 2008, Vol. 29, no.1 :179-184.
In Chinese [7] Bai Chunli, Tian Fang, Ke Luo, Scanning force microscopy technology, 2000, Beijing, Science Press.

Tianjin, 300451, china a tianjialin@swpu.edu.cn, b liangz_2242@126.com, c ylin@swpu.edu.cn, d rlcgp1999@yahoo.com.cn, e xqmei3@sina.com About the author: Corresponding author: Jialin Tian: Assistant Professor of the Department of Mechanical Engineering at Southwest Petroleum University.
Lin Yang: Doctor of Southwest Petroleum University, Major in fluid dynamics numerical calculation and simulation.
Tian, Z.
Yang: Oil Field Equipment, 2009, 38, (3), 23-27
LIANG Zheng, REN Liancheng, TIAN Jialin, YANG Lin.

Tian and S.J.
Yang: Chem.
Tian and S.J.
Yang: Chem.
Yang, J.K.