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Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 239-253页

作者： yang Xiu Dongfang Li Miaomiao Zhang Hongbin Deng Rob Law yun Huang edmond Q.Wu Xin Xu the School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China the School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Antai College of Economics&Management Shanghai Jiao Tong UniversityShanghai 200240China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China the Asia-Pacific Academy of Economics and Management University of MacaoMacao 999078China the Department of Decision Science Macao University of Science and TechnologyMacao 999078China the Department of Automation Shanghai Jiao Tong Universityand also with the Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240China the College of Mechatronics and Automation National University of Defense TechnologyChangsha 410073China IEEE

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake ***,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track *** proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle *** our method,the designed piecewise auxiliary function guarantees the finite-time stability of position ***,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s *** uniform ultimate boundedness of the closed-loop system is proved by analyzing ***,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential *** last,the availability and superiority of this work are shown through simulation and experiment results.

关键词： Line-of-sight(LOS) path following sideslip snake robot

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Low-ionization galaxies and evolution in a pilot survey up to z=1

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Research in Astronomy and Astrophysics 2011年第3期11卷 245-270页

作者： edmond Giraud Qiu-Sheng Gu Jorge Melnick Hernan Quintana Fernando Selman Ignacio Toledo Paula Zelaya LPTA Universit6 Montpellier 2 - CNRS/IN2P3 34095 Montpellier France edmond.giraud@ lpta. in2p3.fr Department of Astronomy Nanjing University Nanjing 210093 China European Southern Observatory /klonso de Cbrdova 3107 Santiago Chile Department of Astronomy and Astrophysics R Universidad Catolica de Chile Casilla 306Santiago Chile

We present galactic spectroscopic data from a pencil beam of 10.75×7.5 centered on the X-ray cluster RXJ0054.0–2823 at z=*** study the spectral evolution of galaxies from z=1 down to the cluster redshift in a magnitude-limited sample at R≤23,for which the statistical properties of the sample are well *** divide emission-line galaxies into star-forming galaxies,Low Ionization Nuclear Emission line Regions（LINERs） ,and Seyferts by using emission-line ratios of[OII],Hβ,and[OIII],and derive stellar fractions from population synthesis models. We focus our analysis on absorption and low-ionization *** absorption-line galaxies,we recover the well-known result that these galaxies have had no detectable evolution since z～0.6-0.7,but we also find that in the range z=0.65-1,at least 50% of the stars in bright absorption systems are younger than 2.5 *** absorption-line galaxies in the cluster at z=0.29 also had significant star formation during the previous 2-3 Gyr,but their brighter counterparts seem to be only composed of old *** z～0.8,our dynamically young cluster had a truncated *** result seems to be consistent with a scenario where the final assembly of E/S0 took place at *** the volume-limited range 0.35≤z≤0.65,we find that 23% of the early-type galaxies have LINER-like spectra with Hβin absorption and have a significant component of A *** vast majority of LINERs in our sample have significant populations of young and intermediate-aged stars and are thus not related to AGNs,but to the population of‘retired galaxies’recently identified by Cid Fernandes et *** the Sloan Digital Sky Survey（SDSS） .Early-type LINERs with various fractions of A stars and E＋A galaxies appear to play an important role in the formation of the red sequence.

关键词： cosmology:observations—galaxies:evolution—large scale structures —evolution—RX J0054.0–2823

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Predicting flows through microfluidic circuits with fluid walls

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Microsystems & Nanoengineering 2021年第6期7卷 119-127页

作者： Cyril Deroy Nicholas Stovall-Kurtz Federico Nebuloni Cristian Soitu Peter R.Cook edmond J.Walsh Department of Engineering Science Osney Thermo-Fluids LaboratoryUniversity of OxfordOxford OX20ESUK Sir William Dunn School of Pathology University of OxfordOxford OX13REUK Cold Spring Harbor Laboratory Cold Spring HarborNYUSA

The aqueous phase in traditional microfluidics is usually confined by solid walls;flows through such systems are often predicted *** solid walls limit access,open systems are being developed in which the aqueous phase is partly bounded by fluid walls(interfaces with air or immiscible liquids).Such fluid walls morph during flow due to pressure gradients,so predicting flow fields remains *** recently developed a version of open microfluidics suitable for live-cell biology in which the aqueous phase is confined by an interface with an immiscible and bioinert fluorocarbon(FC40).Here,we find that common medium additives(fetal bovine serum,serum replacement)induce elastic no-slip boundaries at this interface and develop a semi-analytical model to predict flow *** experimentally validate the model’s accuracy for single conduits and fractal vascular trees and demonstrate how flow fields and shear stresses can be controlled to suit individual applications in cell biology.

关键词： walls flows flow

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Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1810-1821页

作者： Dongfang Li yilong Zhang Ping Li Rob Law Zhengrong Xiang Xin Xu Limin Zhu edmond Q.Wu IEEE School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Sino-US Global Logistics Institute Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions Fuzhou 350108China School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education Beihang UniversityBeijing 100191China University of Macao Macao 999078China School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Intelligence Science and Technology National University of Defence TechnologyChangsha 410073China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

This work presents a trajectory tracking control method for snake *** method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined *** optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and ***,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control *** compensation is adopted to enhance the compatibility of a robot within ever-changing *** and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.

关键词： Anti-sideslip compensation snake robot trajectory tracking

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Pediatric intestinal obstruction: analysis of etiologies and factors influencing short-term outcomes in Rwanda

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World Journal of Pediatric Surgery 2022年第4期5卷 255-260页

作者： Isaie Twahirwa Cyriaque Ndayiragije Martin Nyundo Jennifer Rickard edmond Ntaganda Surgery University of Rwanda College of Medicine and Health SciencesKigaliRwanda Surgery University Teaching Hospital of ButareButareRwanda Surgery University Teaching Hospital of KigaliKigaliRwanda Surgery University of MinnesotaMinneapolisMinnesotaUSA

Background Intestinal obstruction is a common presentation in pediatric surgical emergencies and presents with different etiologies depending on country or *** morbidity and mortality are high in low-income and middle-income countries,with variable influencing *** aims of this study were to determine the etiologies,morbidity and mortality of pediatric intestinal obstruction and to assess the factors associated with the outcomes of these conditions in *** This was a cross-sectional study conducted on pediatric patients with intestinal obstruction in two Rwandan university teaching *** patients were followed from admission until discharge,and we documented their basic characteristics,diagnosis,operative details and postoperative *** were collected using data collection form and were electronically captured and analysed using SPSS *** A total of 65 patients were enrolled in this *** were predominantly male(n=49,75.4%),and the majority of patients(86.2%)were below age 6 *** was the most common etiology(n=22,33.8%).Other common etiologies were Hirschsprung’s disease(n=13,20%),incarcerated inguinal and umbilical hernias(n=6,9.2%),intestinal worms’impaction(n=5,7.7%)and adhesions(n=5,7.7%).Mortality and morbidity were 9.2%and 39.7%,*** most common complications were surgical site infection(n=6,9.5%)and sepsis(n=6,9.5%).Preoperative anemia(p=0.001),finding of gangrenous bowels(p=0.003)and bowel resection at the time of laparotomy(p=0.039)were factors associated with postoperative *** The etiologies of intestinal obstruction are variable and common in children below 6 years in *** associated morbidly is high and is influenced by the preoperative anemia,finding of gangrenous bowels and bowel resection.

关键词： obstruction anemia diagnosis

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INTRATHECAL GLyCINE SIGNIFICANTLy DECREASES THE MINIMUM ALVEOLAR CONCENTRATION OF ISOFLURANE IN RATS

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Chinese Medical Sciences Journal 2008年第1期23卷 16-18页

作者： Jing Zhao yi Zhang edmond I. Eger Ⅱ James Sonner Department of Anesthesiology Peking Union Medical College Hospital Chinese Academy of Medical Sciences ＆ Peking Union Medical College Beijing 100730 Department of Anesthesia and Perioperative Care University of California San Francisco 94143 USA

To evaluate the effect of intrathecal administration of glycine on the minimum alveolar concentration （MAC） of isoflurane in rats. Methods Intrathecal catheters were implanted in 40 adult male rats anesthetized with isoflurane. Baseline MAC of isoflurane was measured during the infusion of artificial cerebrospinal fluid （CSF） alone. Subsequently, 10, 40, 80, 160, and 300 mmol/L of glycine dissolved in artificial CSF were infused for two hours at the same rate as under control conditions, and MAC for isoflurane was re-determined. Results Intrathecal administration of glycine produced a significant, dose-dependent decrease in MAC for isoflurane （up to -65.2% ± 16. 2% ）. Conclusions Intrathecal administration of glycine decreases anesthetic requirement. This result supports the idea that glycine receptors may be important to the immobilizing effect of anesthetics that enhance glycine receptor function such as isoflurane.

关键词： intrathecal glycine isoflurane minimum alveolar concentration

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Development of the straw biochar returning concept in China

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Biochar 2019年第2期1卷 139-149页

作者： Jun Meng Tianyi He edmond Sanganyado yu Lan Weiming Zhang Xiaori Han Wenfu Chen Biochar Engineering and Technology Research Center Shenyang Agricultural UniversityShenyang 110866People’s Republic of China Marine Biology Institute Shantou UniversityShantouGuangdong 515063People’s Republic of China

Biochar produced from straw has been shown to improve soil physicochemical *** review introduces the fundamental concepts,the broad applications,and underlying theory of straw biochar *** developments in biochar industry and the production practices prevalent among enterprises in China are *** review analyzes current knowledge gaps,challenges,and opportunities in the industrial application of straw biochar *** standards,the quantitative and qualitative analysis methods for biochar,and high-value-added products that are based on biochar are critically examined with goal of providing recommendations for future *** propose production and modification of biochar that is application oriented to enhance its fitness for purpose as well as long-term and large-space-scale field study to better understand its impact on soil properties and ***,we make prospects for the future development of SBR,including constructing a standard system about straw biochar returning and promoting self-discipline of biochar industry and the establishment of a biochar-based agricultural production model.

关键词： Straw biochar returning(SBR) Biochar-based agricultural inputs Agriculture China

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Production of liquid bio-fuel from catalytic de-oxygenation:Pyrolysis of beech wood and flax shives

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燃料化学学报 2019年第2期47卷 153-166页

作者： Chetna Mohabeer Luis Reyes Lokmane Abdelouahed Stéphane Marcotte Jean-Christophe Buvat Lucette Tidahy edmond Abi-Aad Bechara Taouk Normandie Univ INSA Rouen NormandieUNIROUENLaboratoire de Sécurité des Procédés Chimiques Normandie Univ INSA Rouen NormandieUNIROUEN Université du Littoral Cte d'Opale Unité de Chimie Environnementale et Interactions sur le Vivant

This study presents a detailed analysis of the catalytic de-oxygenation of the liquid and gaseous pyrolytic products of two biomasses (beech wood and flax shives) using different catalysts (commercial HZSM-5 and H-y,and lab-synthesised Fe-HZSM-5,Fe-H-y,Pt/Al2O3 and CoMo/Al2O3). The experiments were all conducted in a semi-batch reactor under the same operating conditions for all feed materials. BET specific surface area,BJH pore size distribution and FT-IR technologies have been used to characterise the catalysts,while gas chromatography-mass spectrometry (GC-MS),flame ionisation detection (GC-FID) and thermal conductivity detection (GC-TCD) were used to examine the liquid and gaseous pyrolytic products. It was firstly seen that at higher catalyst-to-biomass ratios of 4∶1,de-oxygenation efficiency did not experience any further significant improvement. FeHZSM-5 was deemed to be the most efficient of the catalysts utilised as it helped reach the lowest oxygen contents in the bio-oils samples and the second best was HZSM-5. It was also found that HZSM-5 and H-y tended to privilege the decarbonylation route(production of CO),whilst their iron-modified counterparts favoured the decarboxylation one (production of CO2) for both biomasses studied. It was then seen that the major bio-oil components (carboxylic acids) underwent almost complete conversion under catalytic treatment to produce mostly unoxygenated aromatic compounds,phenols and gases like CO and CO2. Finally,phenols were seen to be the family most significantly formed from the actions of all catalysts.

关键词： pyrolysis biomass catalytic treatment de-oxygenation bio-oil upgrading

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Laser capture microdissection and genetic analysis of carbon-labeled Kupffer cells

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World Journal of Gastroenterology 2009年第14期15卷 1708-1718页

作者： Stephan Gehring edmond Sabo Maryann E San Martin Elizabeth M Dickson Chao-Wen Cheng Stephen H Gregory Department of Medicine Rhode Island Hospital and The Warren Alpert Medical School of Brown University Providence RI 02903 United States Department of Pathology Rhode Island Hospital and The Warren Alpert Medical School of Brown University Providence RI 02903 United States zentrum fur Kinder- und Jugendmedizin der Universitaitsmedizin der Johannes Gutenberg-Universitait 55101 Mainz Germany

AIM： To develop a method of labeling and microdissecting mouse Kupffer cells within an extraordinarily short period of time using laser capture microdissection （LCM）. METHODS： Tissues are complex structures comprised of a heterogeneous population of interconnected cells. LCM offers a method of isolating a single cell type from specific regions of a tissue section. LCM is an essential approach used in conjunction with molecular analysis to study the functional interaction of cells in their native tissue environment. The process of labeling and acquiring cells by LCM prior to mRNA isolation can be elaborate, thereby subjecting the RNA to considerable degradation. Kupffer cell labeling is achieved by injecting India ink intravenously, thus circumventing the need for in vitro staining. The significance of this novel approach was validated using a cholestatic liver injury model. RESULTS： mRNA extracted from the microdissected cell population displayed marked increases in colonystimulating factor-1 receptor and Kupffer cell receptor message expression, which demonstrated Kupffer cell enrichment. Gene expression by Kupffer ceils derived from bile-duct-ligated, versus sham-operated, mice was compared. Microarray analysis revealed a significant （2.5-fold, q value 〈 10） change in 493 genes. Based on this fold-change and a standardized PubMed search, 10 genes were identified that were relevant to the ability of Kupffer cells to suppress liver injury. CONCLUSION; The methodology outlined herein provides an approach to isolating high quality RNA from Kupffer cells, without altering the tissue integrity.

关键词： Kupffer cells India ink Laser capturemicrodissection Bile duct ligation DNA microarray

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Acrolein scavenger dimercaprol offers neuroprotection in an animal model of Parkinson’s disease:implication of acrolein and TRPA1

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Translational Neurodegeneration 2021年第2期10卷 151-165页

作者： Liangqin Shi yazhou Lin yucheng Jiao Seth AHerr Jonathan Tang edmond Rogers Zhengli Chen Riyi Shi College of Basic Medicine Chengdu University of Traditional Chinese MedicineChengdu 610075China Center for Paralysis Research&Department of Basic Medical Sciences College of Veterinary MedicinePurdue UniversityWest LafayetteIN 47907USA Laboratory of Animal Disease Model College of Veterinary MedicineSichuan Agricultural UniversityChengdu 625014China Department of Orthopedics Ruijin HospitalSchool of MedicineShanghai Jiao Tong UniversityInstitute of Trauma and OrthopedicsShanghai 200025China Weldon School of Biomedical Engineering Purdue University West LafayetteWest LafayetteIN 47907USA

Background:The mechanisms underlying lesions of dopaminergic(DA)neurons,an essential pathology of Parkinson’s disease(PD),are largely unknown,although oxidative stress is recognized as a key *** have previously shown that the pro-oxidative aldehyde acrolein is a critical factor in PD pathology,and that acrolein scavenger hydralazine can reduce the elevated acrolein,mitigate DA neuron death,and alleviate motor deficits in a 6-hydroxydopamine(6-OHDA)rat *** such,we hypothesize that a structurally distinct acrolein scavenger,dimercaprol(DP),can also offer neuroprotection and behavioral ***:DP was used to lower the elevated levels of acrolein in the basal ganglia of 6-OHDA *** acrolein levels and related pathologies were measured by *** and behavioral effects of 6-OHDA injections and DP treatment were examined using the open field test and rotarod *** was assessed using mechanical allodynia,cold hypersensitivity,and plantar ***,the effects of DP were assessed in vitro on SK-N-SH dopaminergic cells exposed to ***:DP reduced acrolein and reversed the upregulation of pain-sensing transient receptor potential ankyrin 1(TRPA1)channels in the substantia nigra,striatum,and *** also mitigated both motor and sensory deficits typical of *** addition,DP lowered acrolein and protected DA-like cells in ***’s ability to upregulate TRPA1 was also verified in vitro using cell ***:These results further elucidated the acrolein-mediated pathogenesis and reinforced the critical role of acrolein in PD while providing strong arguments for anti-acrolein treatments as a novel and feasible strategy to combat neurodegeneration in *** the extensive involvement of acrolein in various nervous system illnesses and beyond,anti-acrolein strategies may have wide applications and broad impacts on human health.

关键词： Oxidative stress Parkinson’s disease Neuroinflammation Acrolein TRPA1 Dimercaprol

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