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A robust optical/inertial data fusion system for motion tracking of the robot manipulator

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Journal of Zhejiang University-Science C(Computers and Electronics) 2014年第7期15卷 574-583页

作者： Jie CHEN Can-jun YANG Jens HOFSCHULTE Wan-li JIANG cha zhang State Key Laboratory of Fluid Power Transmission and Control Zhejiang University ABB Corporate Research China

We present an optical/inertial data fusion system for motion tracking of the robot manipulator, which is proved to be more robust and accurate than a normal optical tracking system(OTS). By data fusion with an inertial measurement unit(IMU), both robustness and accuracy of OTS are improved. The Kalman filter is used in data fusion. The error distribution of OTS pro-vides an important reference on the estimation of measurement noise using the Kalman filter. With a proper setup of the system and an effective method of coordinate frame synchronization, the results of experiments show a significant improvement in terms of robustness and position accuracy.

关键词： Data fusion Optical tracking Inertial measurement unit Kalman filter

Smooth muscle AKG/OXGR1 signaling regulates epididymal fluid acid–base balance and sperm maturation

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Life Metabolism 2022年第1期1卷 67-80页

作者： chang Xu Yexian Yuan cha zhang Yuchuan Zhou Jinping Yang Huadong Yi Ishwari Gyawali Jingyi Lu Sile Guo Yunru Ji Chengquan Tan Songbo Wang Yongliang zhang Qingyan Jiang Gang Shu Guangdong Laboratory for Lingnan Modern Agriculture National Engineering Research Center for Breeding Swine Industry and Guangdong Province Key Laboratory of Animal Nutritional RegulationCollege of Animal ScienceSouth China Agricultural UniversityGuangzhouGuangdongChina International Peace Maternity and Child Health Hospital Shanghai Key Laboratory of Embryo Original DiseasesSchool of MedicineShanghai Jiao Tong UniversityShanghaiChina State Key Laboratory of Biocontrol Guangdong Provincial Key Laboratory for Aquatic Economic AnimalsSchool of Life SciencesSun Yat-Sen UniversityGuangzhouChina

Infertility is a global concern attributed to genetic defects,lifestyle,nutrition,and any other factors that affect the local metabolism and niche microenvironment of the reproductive system.2-Oxoglutarate receptor 1(OXGR1)is abundantly expressed in the testis;however,its cellular distribution and biological function of OXGR1 in the male reproductive system remain *** the current study,we demonstrated that OXGR1 is primarily expressed in epididymal smooth muscle cells(SMCs).Aging and heat stress significantly reduced OXGR1 expression in the *** OXGR1 global knockout and epididymal-specific OXGR1 knockdown models,we revealed that OXGR1 is essential for epididymal sperm maturation and fluid acid–base *** ofα-ketoglutaric acid(AKG),the endogenous ligand of OXGR1,effectively reversed epididymal sperm maturation disorders caused by aging and heat ***,in vitro studies showed that AKG markedly stimulated the release of instantaneous intracellular calcium from epididymal SMCs and substantially reduced the pH_(i) value in the epididymal SMCs via ***,we discovered that AKG/OXGR1 considerably increased the expression of Na^(+)/HCO_(3)^(−)cotransporter(NBCe1)mRNA in the epididymal SMCs,mediated by intracellular calcium *** local AKG/OXGR1 system changed the epididymal fluid pH value and HCO_(3)^(−)concentration,thereby regulating sperm maturation via intracellular calcium signaling and NBCe1 mRNA *** study for the first time reveals the crucial role of OXGR1 in male fertility and sheds light on the applicability of metabolic intermediates in the nutritional intervention of reproduction.

关键词： AKG OXGR1 epididymis acid-base balance sperm maturation

The electronic structures,magnetism and metastable states of DNA

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Chinese Science Bulletin 2006年第14期51卷 1666-1672页

作者： WANG Yongjuan LI Hua DONG Jianmin zhang cha'ngwen PAN Fengchun School of Physics and Microelectronics Shandong University Jinan250100 China

The electronic density of states, spin- splittings and atomic magnetic moments of the six- member ring N2C4 cluster with folding configuration in DNA bases have been studied by spin-polarized MS-Xα method. The results showed that there are at least four metastable states near the ground state level ?7.01635×103 eV. Those metastable states found in the calculation are at the levels ?7.01626× 103, ?7.01616×103, ?7.01606×103 and ?7.01597×103 eV, respectively. The electronic structures of those states were found to differ from each other. Therefore, they have different characteristics. The cluster exhib-its metal properties and has a weak antiferromag-netism in the ground state, while it shows ferrimag-netism and half-metal properties in the first metasta-ble state. The distribution of the electronic density of states of the six-member ring N2C4 cluster is very similar to that of some diluted magnetic semicon-ductors near the Fermi surface.

关键词： DNA 电子结构自旋极化磁性半金属亚稳态

Comparative Literature:Issues and Prospect——An Interview with Professor Svend Erik Larsen

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Comparative Literature:East & West 2016年第1期 141-146页

作者： cha zhang Svend Erik LARSEN Sichuan Normal University Aarhus University

本文是对奥尔胡斯大学比较文学教授斯文德·埃里克·拉森就比较文学的若干问题所作的专题访谈。拉森教授在此访谈中大致回顾了比较文学学科发展的历史演变情况,指出了当今比较文学研究中存在的相关问题。他在肯定中国学者出版的比较文... 详细信息

本文是对奥尔胡斯大学比较文学教授斯文德·埃里克·拉森就比较文学的若干问题所作的专题访谈。拉森教授在此访谈中大致回顾了比较文学学科发展的历史演变情况,指出了当今比较文学研究中存在的相关问题。他在肯定中国学者出版的比较文学理论专著《比较文学变异学理论》的学术价值的同时,反思了比较文学中国学派的建立问题,提出了比较文学研究者应该具备的基本素养并表达了对中国比较文学研究者,特别是中国年轻一代比较文学研究者的深切期望。

关键词：拉森演变情况中国学派理论专著文学研究者专题访谈 Larsen scholar 埃里克 discipline

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华兹华斯诗歌中的非生物自然意象

四川师范大学学报（社会科学版） 2006年第1期33卷 83-86页

作者：张叉四川师范大学外国语学院四川成都610068

非生物自然意象在华兹华斯的诗歌中得到了广泛的运用,是一个值得研究的文学现象。华兹华斯诗歌中的非生物自然意象有很多,其中主要的有风、云、暴雨、大洪水、波浪、河流、溪水、山谷。这些意象内涵丰富,具有独特的个性,从一个侧面展示... 详细信息

非生物自然意象在华兹华斯的诗歌中得到了广泛的运用,是一个值得研究的文学现象。华兹华斯诗歌中的非生物自然意象有很多,其中主要的有风、云、暴雨、大洪水、波浪、河流、溪水、山谷。这些意象内涵丰富,具有独特的个性,从一个侧面展示了华兹华斯诗歌的魅力。

关键词：华兹华斯浪漫主义非生物自然意象风云

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《堂吉诃德》与“《三体》三部曲”比较研究

攀枝花学院学报 2023年第1期40卷 91-100页

作者：张叉杨尚雨四川师范大学文学院四川成都610068

对抗争的歌颂和对理想的追求始终是中西文学共同的经典主题。而在表现形式上,西班牙经典小说《堂吉诃德》和中国当代科幻小说《三体》体现出了一致性:两部作品都借助回归型人物进行了抗争主题叙事。然而由于中西文化的异质性,两部作品... 详细信息

对抗争的歌颂和对理想的追求始终是中西文学共同的经典主题。而在表现形式上,西班牙经典小说《堂吉诃德》和中国当代科幻小说《三体》体现出了一致性:两部作品都借助回归型人物进行了抗争主题叙事。然而由于中西文化的异质性,两部作品所要阐发的思想又存在着较大差异。从两部作品的主题与人物形象塑造两个方面切入,进行比较研究,可以为两部作品的解读提供新的角度,更好挖掘出其背后的中西文化机制的异同。

关键词：《堂吉诃德》《三体》三部曲抗争主题回归型人物本土化

Improving the operational stability of perovskite solar cells with cesium-doped graphene oxide interlayer

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Journal of Energy Chemistry 2024年第9期96卷 483-490页

作者： Masaud Almalki Katerina Anagnostou Konstantinos Rogdakis Felix T.Eickemeyer Mostafa Othman Minas M.Stylianakis Dimitris Tsikritzis Anwar Q.Alanazi Nikolaos Tzoganakis Lukas Pfeifer Rita Therisod Xiaoliang Mo Christian M.Wolff Aïcha Hessler-Wyser Shaik M.Zakeeruddin Hong zhang Emmanuel Kymakis Michael Grätzel Laboratory of Photonics and Interfaces École Polytechnique Fédérale de Lausanne(EPFL)Lausanne 1015Switzerland Department of Electrical and Computer Engineering Hellenic Mediterranean UniversityHeraklionCrete 71410Greece Institute of Electrical and Microengineering(IEM)Photovoltaics and Thin-Film Electronics Laboratory(PV-Lab) École Polytechnique Fédérale de Lausanne(EPFL)Neuchâtel 2000Switzerland Department of Nursing Faculty of Health SciencesHellenic Mediterranean UniversityCrete 71410Greece Centre Interdisciplinaire de Microscopie Electronique École Polytechnique Fédérale de Lausanne(EPFL)Lausanne 1015Switzerland Future Energy Technology Institute King Abdulaziz City for Science and Technology(KACST)P.O.Box 6086Riyadh 11442Saudi Arabia State Key Laboratory of Photovoltaic Science and Technology Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionInstitute of OptoelectronicsDepartment of Materials ScienceFudan UniversityShanghai 200433China

Perovskite solar cells(PSCs)have made great advances in terms of power conversion efficiency(PCE),yet their subpar stability continues to hinder their *** interface between the perovskite layer and the charge-carrier transporting layers plays a crucial role in undermining the stability of *** this work,we propose a strategy to stabilize high-performance PSCs with PCE over 23%by introducing a cesium-doped graphene oxide(GO-Cs)as an interlayer between the perovskite and hole-transporting *** GO-Cs treated PSCs exhibit excellent operational stability with a projected T80(the time where the device PCE reduces to 80%of its initial value)of 2143 h of operation at the maximum powering point under one sun illumination.

关键词： Perovskite solar cells Doped graphene oxide Graphene related material Long-term operational stability

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罗伯特·弗罗斯特诗歌中的自然

四川外语学院学报 2006年第2期22卷 49-54页

作者：张叉四川师范大学外国语学院四川成都610068

弗罗斯特诗歌中的自然大体上可归纳为审美愉悦的自然、神秘可怕的自然、消解异化的自然、产生异化的自然、比喻象征的自然、对照社会的自然、创作灵感的自然、宗教色彩的自然。

关键词：罗伯特·弗罗斯特诗歌审美愉悦宗教色彩文学评论

中越文学交流与比较文学——陈庭史教授访谈录

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外国语文研究 2022年第5期8卷 1-12页

作者：张叉陈庭史四川师范大学文学院越南河内师范大学

本访谈包括了三个方面的内容:首先,反思了越南国语文学给传统造成的割裂,分析了喃字文学于18、19世纪形成繁盛局面的原因,剖析了越南现代文学理论的“失语”问题,探索了阮廌《国音诗集》中律体诗对唐律诗的继承和发展。其次,总结了越南... 详细信息

本访谈包括了三个方面的内容:首先,反思了越南国语文学给传统造成的割裂,分析了喃字文学于18、19世纪形成繁盛局面的原因,剖析了越南现代文学理论的“失语”问题,探索了阮廌《国音诗集》中律体诗对唐律诗的继承和发展。其次,总结了越南比较文学的历史发展脉络,介绍了越南比较文学的主要著述,勾勒了越南比较文学学术研讨方面的开展情况。最后,追溯了《诗经》对越南文学的影响,探讨了越南文学对中国文学的继承与创新,介绍了陶渊明、李白、杜甫在越南的接受与影响,总结了越南比较文学的主要特点。

关键词：中越文学交流比较文学