|
|
|
题名
|
作者
|
年代
|
出处
|
被引量
|
| 1 | Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier Curve and Particle Swarm Optimization显示文摘A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for different application sites.The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space.This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator.In this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy.The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve.Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints.The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking. | Li Chen Ying Ma Yu Zhang Jinguo Liu | 2020 | Chinese Journal of Mechanical Engineering2020，33，5： | 4 |
| 2 | DNA Methylation of NDRG2 in Gastric Cancer and Its Clinical Significance显示文摘 | Xiaojing Chang Zhenhua Li Jinguo Ma Peng Deng Shuanglong Zhang Yu Zhi Jing Chen Dongqiu Dai | 2013 | Digestive Diseases and Sciences2013，，3： | 3 |
| 3 | Effects of odors on behaviors of captive Amur leopards Panthera pardus orientalis显示文摘Captive environments often fail to resemble the wild environment in respects of limited space,unchanging habitat,lack of stimulus and contingency. Common animal welfare problems which occur in captive animals include low behavioral diversity,abnormal behavior and excessive inactivity. Environmental enrichment,as an effective strategy to tackle these problems and promote mental health of captive animals,has been recognized as an important principal for captive animal management. Among all the enrichment techniques,olfactory enrichment is a simple and effective method for improving the well-being of the olfactory sensitive felids. Behavioral problems were observed in six Amur leopards Panthera pardus orientalis at Beijing Zoological Garden. These were held in the older type exhibits which have now been rebuilt. These behaviors include stereotypic behavior and excessive inactivity caused by the spatially limited enclosures with low levels of stimuli. To determine the effects of predator,prey,and herb odors as potential enrichment materials for captive leopards,we conducted olfactory enrichment experiments for the leopards and tested the effects of nutmeg Myristica fragrans,feces of roe deer Capreolus capreolus and urine of Amur tiger Panthera tigris altaica to test for an increase in behavioral repertoire and activity. Odors provided in this study were also believed to improve the psychological and physiological health of individuals. To standardize the method of presentation the odors were introduced to the enclosures by rubbing or spraying onto a clean towel. Our results show that the selected three odors effectively increased the behavioral diversity. Ten new behavior types were observed in the nutmeg experiment,eight in the feces of roe deer experiment and six in the tiger urine experiment. Among the three odors,cats responded to nutmeg for the longest duration,followed by tiger urine and feces of roe deer. Leopards showed more play behavior in presence of nutmeg while more investigatory behavior in presences of feces of roe deer and tiger urine. Providing novel odors increased the spatial use of the exhibit and the animal's increased use of the logs,sleeping platforms and bars in the cages. Novel odors also significantly increased the overall activity of the leopards,but the effects were diminished in about three | Shuangying YU Zhigang JIANG Hui ZHU Chunwang LI Enquan ZHANG Jinguo ZHANG Carin HARRINGTON | 2009 | Current Zoology2009，55，1： | 2 |
| 4 | Microstructure evolution and mechanical behavior of Ni-based single crystal superalloy joint brazed with mixed powder at elevated temperature显示文摘Brazing of a Ni-based single crystal superalloy has been investigated with the additive Ni-based superalloy and filler Ni–Cr–W–B alloy at 1260℃, and attentions were paid to the microstructure evolution during brazing and the stress-rupture behavior at 980℃ of such brazed joints after homogenization. Microstructure in the brazed joint generally includes brazing alloy zone(BAZ), isothermally solidified zone(ISZ) and diffusion affected zone(DAZ). Microstructure evolution during this brazing process is discussed at the heating stage, the holding stage and the cooling stage respectively, according to the diffusion path of B atoms. Initially well-distributed γ’/γ’ microstructure in the homogenized bonded zone after heat treatment and substantial γ’ rafts enhance the post-brazed joint to obtain a stress-rupture lifetime of more than 120 h at 980℃/250 MPa. On the other hand, the decreased stress-rupture behavior of post-brazed joint, compared with parenting material, is ascribed to the presence of inside brazing porosity and stray grain boundary, which not only reduces the effective loading-carrying area but also offers preferential sites for creep vacancy aggregation to further soften stray grain boundary. And finally an early fracture of these post-brazed joints through the intergranular microholes aggregation and growth mode under this testing condition was observed. | Guanglei Wang Yuan Sun Xinguang Wang Jide Liu Jinlai Liu Jinguo Li Jinjiang Yu Yizhou Zhou Tao Jin Xudong Sun Xiaofeng Sun | 2017 | Journal of Materials Science & Technology2017，33，10： | 2 |
| 5 | The essential role of N6-methyladenosine RNA methylation in complex eye diseases显示文摘There are many complex eye diseases which are the leading causes of blindness,however,the pathogenesis of the complex eye diseases is not fully understood,especially the underlying molecular mechanisms of N6-methyladenosine(m6A)RNA methylation in the eye diseases have not been extensive clarified.Our review summarizes the latest advances in the studies of m6A modification in the pathogenesis of the complex eye diseases,including cornea disease,cataract,diabetic retinopathy,age-related macular degeneration,proliferative vitreoretinopathy,Graves’disease,uveal melanoma,retinoblastoma,and traumatic optic neuropathy.We further discuss the possibility of developing m6A modification signatures as biomarkers for the diagnosis of the eye diseases,as well as potential therapeutic approaches. | Xiaohua Li Binyun Ma Wenfang Zhang Zongming Song Xiaodan Zhang Mengyu Liao Xue Li Xueru Zhao Mei Du Jinguo Yu Shikun He Hua Yan | 2023 | Genes & Diseases2023，10，2： | 1 |
| 6 | Developing risk models and subtypes of autophagy-associated LncRNAs for enhanced prognostic prediction and precision in therapeutic approaches for liver cancer patients显示文摘Background:Limited research has been conducted on the influence of autophagy-associated long non-coding RNAs(ARLncRNAs)on the prognosis of hepatocellular carcinoma(HCC).Methods:We analyzed 371 HCC samples from TCGA,identifying expression networks of ARLncRNAs using autophagy-related genes.Screening for prognostically relevant ARLncRNAs involved univariate Cox regression,Lasso regression,and multivariate Cox regression.A Nomogram was further employed to assess the reliability of Riskscore,calculated from the signatures of screened ARLncRNAs,in predicting outcomes.Additionally,we compared drug sensitivities in patient groups with differing risk levels and investigated potential biological pathways through enrichment analysis,using consensus clustering to identify subgroups related to ARLncRNAs.Results:The screening process identified 27 ARLncRNAs,with 13 being associated with HCC prognosis.Consequently,a set of signatures comprising 8 ARLncRNAs was successfully constructed as independent prognostic factors for HCC.Patients in the high-risk group showed very poor prognoses in most clinical categories.The Riskscore was closely related to immune cell scores,such as macrophages,and the DEGs between different groups were implicated in metabolism,cell cycle,and mitotic processes.Notably,high-risk group patients demonstrated a significantly lower IC50 for Paclitaxel,suggesting that Paclitaxel could be an ideal treatment for those at elevated risk for HCC.We further identified C2 as the Paclitaxel subtype,where patients exhibited higher Riskscores,reduced survival rates,and more severe clinical progression.Conclusion:The 8 signatures based on ARLncRNAs present novel targets for prognostic prediction in HCC.The drug candidate Paclitaxel may effectively treat HCC by impacting ARLncRNAs expression.With the identification of ARLncRNAsrelated isoforms,these results provide valuable insights for clinical exploration of autophagy mechanisms in HCC pathogenesis and offer potential avenues for precision medicine. | LU ZHANG JINGUO CHU YUSHAN YU | 2024 | Oncology Research2024，32，4： | 0 |
| 7 | Space advanced technology demonstration satellite显示文摘The Space Advanced Technology demonstration satellite(SATech-01),a mission for low-cost space science and new technology experiments,organized by Chinese Academy of Sciences(CAS),was successfully launched into a Sun-synchronous orbit at an altitude of~500 km on July 27,2022,from the Jiuquan Satellite Launch Centre.Serving as an experimental platform for space science exploration and the demonstration of advanced common technologies in orbit,SATech-01 is equipped with 16 experimental payloads,including the solar upper transition region imager(SUTRI),the lobster eye imager for astronomy(LEIA),the high energy burst searcher(HEBS),and a High Precision Magnetic Field Measurement System based on a CPT Magnetometer(CPT).It also incorporates an imager with freeform optics,an integrated thermal imaging sensor,and a multi-functional integrated imager,etc.This paper provides an overview of SATech-01,including a technical description of the satellite and its scientific payloads,along with their on-orbit performance. | ZHANG XiaoFeng CHEN Wen ZHU XiaoCheng MENG Na HE JunWang BI XingZi ZHANG YongHe SHI Qi LI Fei LIU Rui FENG ZhengGong LIU Liu LI JinSong WU HaiChen XU DongXiao LI TaiJie HUANG JiangJiang LIU Shuo LI TianTong YU XianSheng GAO Yang ZHOU Heng BAN HanYu ZHANG YanLi ZHANG YueTing YANG YingQuan HE Tao DUAN XuLiang CHEN Xin WANG YaMin SUN AnTai ZHANG KuoXiang SUN Ying WANG YaoBin FAN ChengCheng XIONG ShaoLin LI XinQiao WEN XiangYang LING ZhiXing SUN XiaoJin ZHANG Chen BAI XianYong WANG ZhanShan DENG YuanYong TIAN Hui YANG JianFeng XUE HongBo SANG Peng LIU JinGuo ZHENG HuiLong ZHU Xiang HE JianWu LI Hui XU LuXiang XU ShuYan CHEN WenWu LIU ZhenDong WANG ZhaoLi MAO XiangLong GAO Rong LI ZongXuan DING GuoPeng WANG XinYu DOU RunJiang WENG LuBin LUO Hao WANG YaPing LIANG XianFeng FANG ZiRuo | 2024 | Science China(Technological Sciences)2024，67，1： | 0 |
您所在的机构暂未开通此部分的功能，请联系管理员