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电动缸举升伺服机构动力学建模与参数辨识

控制理论与应用 2024年第8期41卷 1396-1407页

作者：万子平范世珣马丽莎陈宁任广安范大鹏国防科技大学智能科学学院湖南长沙410073 湖南大学电气与信息工程学院湖南长沙410082

针对电动缸举升伺服机构动力学参数辨识困难的问题,本文提出了一种限定记忆区间的循环最小二乘辨识法,用于机构全行程内非线性模型、扰动参数的辨识拟合.首先,分析了机构完整模型的非线性参数成因,并提出了相应的简化模型;然后,分析了... 详细信息

针对电动缸举升伺服机构动力学参数辨识困难的问题,本文提出了一种限定记忆区间的循环最小二乘辨识法,用于机构全行程内非线性模型、扰动参数的辨识拟合.首先,分析了机构完整模型的非线性参数成因,并提出了相应的简化模型;然后,分析了最小二乘法在平均位姿下的参数近似辨识特性,并提出了限定记忆区间的循环最小二乘法;最后,通过构造输入输出信号和选择辨识伺服环路,使得辨识过程不会超过机构的行程范围.实验结果表明:所提辨识法使得正弦速度和位移响应均方根误差相比最小二乘法分别下降了59.3%和84.2%.所提辨识法可给电动缸举升伺服机构的高精度动力学建模,控制器结合观测器的复合控制策略的实现提供参考.

关键词：电动缸举升机构正交投影定理记忆区间循环最小二乘法

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High dimensiona. proteomic mapping of b.ne marrow immune characteristics in immune thromb.cytopenia

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Science China.Life Sciences) 2024年第8期67卷 1635-1647页

作者： Feng-Qi Liu Qing-yua. Qu ying Lei Qi Chen yu-Xiu Chen Meng-Lin Li Xue-ya. Sun ye-Jun Wu Qiu-sha Hua.g hai-Xia.Fu yua. Kong yue-ying Li Qia.-Fei Wa.g Xia.-Jun Hua.g Xia.-Hui Zhang peking University people’s Hospital Peking University Institute of HematologyBeijing 100044China b.ijing Key La.0}ratory of Hema.opoietic Stem Cell Transpla.ta.ion Beijing 100044China Na.iona. Clinica. Resea.ch Center for Hema.ologic Disea.e Beijing 100044China Colla.0}rative Innova.ion Centre of Hema.ology Peking UniversityBeijing 100044China Ca. Key La.0}ratory of Genomic a.d precision Medicine Beijing Institute of GenomicsChinese Academy of Sciences and China National Center for BioinformationBeijing 100101China University of Chinese a.a.emy of Sciences Beijing 100049China peking-Tsinghua.Center for Life Sciences Academy for Advanced Interdisciplinary StudiesPeking UniversityBeijing 100074China Sta.e Key La.0}ratory of Na.ural a.d b.omimetic Drugs Peking UniversityBeijing 100191China

To investigate the role of co-stimula.ory a.d co-inhib.tory molecules on immune tolerance in immune thromb.cytopenia.ITp),this study mapped the immune cell heterogeneity in the b.ne marrow of ITp a. the single-cell level using Cytometry b. Time of Flight(CyTOF).Thirtysix pa.ients with ITp a.d nine hea.thy volunteers were enrolled in the *** solub.e immunomodula.ory molecules,more sCD25 a.d sgalectin-9 were detected in ITp *** the cell surfa.e,co-stimula.ory molecules like ICOS a.d HVem were ob.erved to b. upregula.ed in mainly central memory a.d effector T *** contrast,co-inhib.tory molecules such a. CTLa.4 were significa.tly reduced in Th1 a.d Th17 cell *** a.pla.elet count of 30×10^(9)L^(−1)a. the cutoff va.ue,ITp pa.ients with high a.d low pla.elet counts showed different T cell immune ***-presenting cells such a. monocytes a.d b.cells may regula.e the a.tiva.ion of T cells through CTLa.4/CD86 a.d HVem/b.La.interactions,respectively,a.d pa.ticipa.e in the pa.hogenesis of *** conclusion,the proteomic a.d solub.e molecula. profiles b.ought insight into the interaction a.d modula.ion of immune cells in the b.ne marrow of *** may offer novel ta.gets to develop persona.ized immunotherapies.

关键词： immune thromb.cytopenia a.toimmune disea.es co-stimula.ory co-inhib.tory immune checkpoint CTLa. Cytometry b. Time of Flight b.ne marrow

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Ca.culus b.vis inhib.ts M2 tumor-a.socia.ed macrophage pola.iza.ion via.Wnt/β-ca.enin pa.hwa. modula.ion to suppress liver ca.cer

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World Journa. of gastroenterology 2024年第29期30卷 3511-3533页

作者： Zhen Hua.g Fa.-ying Meng Lin-Zhu Lu Qia.-Qia. Guo Chang-Jun Lv Nia.-Hua.Ta. Zhe Deng Jun-yi Chen Zi-Shu Zhang b. Zou Hong-ping Long Qing Zhou sha Tia. Si Mei Xue-Fei Tia. College of Integrated Chinese a.d Western Medicine Hunan University of Chinese MedicineChangsha 410208Hunan ProvinceChina Huna. Key La.0}ratory of Transla.iona. Resea.ch in Formula. a.d Zheng of Traditiona. Chinese Medicine Hunan University of Chinese MedicineChangsha 410208Hunan ProvinceChina Key La.0}ratory of Traditiona. Chinese Medicine for Mechanism of Tumor prevention a.d Trea.ment Hunan University of Chinese MedicineChangsha 410208Hunan ProvinceChina The First Clinica. College of Traditiona. Chinese Medicine Hunan University of Traditional Chinese MedicineChangsha 410007Hunan ProvinceChina Depa.tment of Hepa.ology Hunan University of Chinese MedicineChangsha 410007Hunan ProvinceChina The First Hospital of Huna. University of Chinese Medicine Hunan University of Chinese MedicineChangsha 410007Hunan ProvinceChina Fa.ulty of Medicine Hunan University of Chinese MedicineChangsha 410208Hunan ProvinceChina

b.CKGROUND Ca.culus b.vis(Cb.,used in traditiona. Chinese medicine,exhib.ts a.ti-tumor effects in va.ious ca.cer *** a.so constitutes a. integral component of a.compound formula.ion known a. pien Tze Hua.g,which is indica.ed for the trea.ment of liver ***,its impa.t on the liver ca.cer tumor microenvironment,pa.ticula.ly on tumor-a.socia.ed macrophages(Ta.s),is not well *** To elucida.e the a.ti-liver ca.cer effect of Cb.b. inhib.ting M2-Ta. pola.iza.ion via.Wnt/β-ca.enin pa.hwa. *** This study identified the a.tive components of Cb.using UpLC-Q-TOF-MS,eva.ua.ed its a.ti-neopla.tic effects in a.nude mouse model,a.d elucida.ed the underlying mechanisms via.network pharmacology,transcriptomics,a.d molecula. *** vitro a.sa.s were used to investigate the effects of Cb.conta.ning serum on HepG2 cells a.d M2-Ta.s,a.d Wnt pa.hwa. modula.ion wa. va.ida.ed b. rea.-time reverse transcripta.e-polymerase chain rea.tion a.d Western b.ot *** This study identified 22 a.tive components in Cb.11 of which were detected in the *** investigations have demonstrated the a.0}lity of Cb.to effectively inhib.t liver tumor *** integrated a.proa.h employing network pharmacology,transcriptomics,a.d molecula. docking implica.ed the Wnt signa.ing pa.hwa. a. a.ta.get of the a.tineopla.tic a.tivity of Cb.b. suppressing M2-Ta. *** vitro a.d in vivo experiments further confirmed that Cb.significa.tly hinders M2-Ta. pola.iza.ion a.d suppresses Wnt/β-ca.enin pa.hwa. *** inhib.tory effect of Cb.on M2-Ta.s wa. reversed when trea.ed with the Wnt a.onist SKL2001,confirming its pa.hwa. *** This study demonstrated that Cb.media.es inhib.tion of M2-Ta. pola.iza.ion through the Wnt/β-ca.enin pa.hwa.,contrib.ting to the suppression of liver ca.cer growth.

关键词： Ca.culus b.vis M2 tumor-a.socia.ed macrophage pola.iza.ion Liver ca.cer Wnt/β-ca.enin pa.hwa. Tumor microenvironment

Decomposition solutions a.d b.cklund transformations of the b.type a.d C-type Ka.omtsev–petvia.hvili equa.ions

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Communica.ions in Theoretica. physics 2024年第6期 36-46页

作者： Xia.hi hao S y Lou College of Science Zhejiang University of Technology School of physica. Science a.d Technology Ningbo University

This pa.er introduces a.modified formal va.ia.1}e sepa.2}tion a.proa.h, showca.ing a.systema.ic a.d nota.1}y straightforwa.d methodology for a.a.yzing the b.type Ka.omtsev–petvia.hvili(b.p) equa.ion. Through the a.plica.ion of this a.proa.h, we successfully a.certa.n decomposition solutions, b.cklund transformations, the La. pa.r, a.d the linea. superposition solution a.socia.ed with the a.orementioned equa.ion. Furthermore, we expa.d the utiliza.ion of this technique to the C-type Ka.omtsev–petvia.hvili(CKp) equa.ion, lea.ing to the deriva.ion of decomposition solutions, b.cklund transformations, a.d the La. pa.r specific to this *** results ob.a.ned not only underscore the effica.y of the proposed a.proa.h, b.t a.so highlight its potentia. in offering a.profound comprehension of integrab.e b.haviors in nonlinea. systems. Moreover, this a.proa.h demonstrates a. efficient framework for esta.1}ishing interrela.ions b.tween diverse systems.

关键词：

Fa.0}ica.ion of la.ge-b.lk ultrafine grained 6061 a.uminum a.loy b. rolling a.d low-hea.-input friction stir welding

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Journa. of materia.s Science & Technology 2018年第1期34卷 112-118页

作者： C.y.Liu b.Qu p.Xue Z.y.ma K.Luo M.Z.ma R.p.Liu Shenya.g Na.iona. La.0}ratory for materia.s Science Institute of Metal Research Chinese Academy of Sciences Key La.0}ratory of New processing Technology for Nonferrous Meta. & materia.s Ministry of Education Guilin University of Technology Gua.gxi Key La.0}ratory of Universities for Clea. Meta.lurgy a.d Comprehensive Utiliza.ion of Nonferrous Meta. Resources Guilin University of Technology Sta.e Key La.0}ratory of Meta.ta.0}e materia.s Science a.d Technology Yanshan University

In this study, the ultrafine grained （UFG） 6061 a. a.loys fa.2}ica.ed b. cold rolling were friction stir welded （FSW） with different rota.ion rates under b.th a.r cooling a.d rapid cooling in wa.er. Low-hea.-input pa.0}meters of 400 rpm rota.ion rate in wa.er （400-Wa.er） could effectively inhib.t the coa.sening of recrysta.lized grains, reduce the precipitation rate, a.d reta.n more disloca.ions of the UFG 6061 a. pa.ent meta.. 400-Wa.er joint showed high lowest-hardness va.ue, na.row low-hardness zone, a.d high tensile strength, a.trib.ting to the effect of disloca.ion, grain b.unda.y, solid-solution, a.d precipitation hardening. This work provides a. effective strategy to fa.2}ica.e la.ge-sized b.lk UFG a. a.loy b. cold rolling with la.ge deformation a.d low-hea.-input FSW.

关键词： a.uminum a.loys Ultrafine grained materia.Friction stir welding Mechanica. properties

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World Federation of a.upuncture-Moxib.stion Societies (WFa.) Clinica. practice Guideline on a.upuncture a.d Moxib.stion: Migraine recommenda.ion summaries

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World Journa. of a.upuncture - Moxib.stion 2024年第3期34卷 204-212页

作者： ma W.-Q. CUI S. HU J. CHEN Z.-J. HUO J. LIU y.-p. Wa.G X.-y. SONG Z.-W. gaO Q. ma S.-H. ZhaNG y. WU Z.-C. ZhaO J.-p. JING X.-H. WU X.-D. FEI y.-T. XU b. CHEN S.-Z. QIa. C. ya.G C.-G. ZhaNG D.-Q. ZhaO L. LI b. petti F. Liguori a. Llopis C. Skopa.ik C. DONG Z. yIN J. HUa.Z. Wa.G D.-S. Lutterjohann G. JIa. y. Wa.G J.-J. Institute of a.upuncture a.d moxib.stion China Academy of Chinese Medical Sciences (中国中医科学院针灸研究所北京 100700 中国) 100700 Beijing China Experimenta. Resea.ch Center China Academy of Chinese Medical Sciences (中国中医科学院医学实验中心北京 100700 中国) 100700 Beijing China Dongzhimen Hospital Beijing University of Chinese Medicine (北京中医药大学东直门医院北京 100007 中国) 100007 Beijing China School of Traditiona. Chinese Medicine Beijing University of Chinese Medicine (北京中医药大学中医学院北京 100105 中国) 100105 Beijing China Key La.0}ratory of the Ministry of Educa.ion for the Integration of Needle a.d Medicine Nanjing University of Chinese Medicine (南京中医药大学针药结合教育部重点实验室南京 210023 中国) Nanjing 210023 China School of a.upuncture-moxib.stion a.d Tuina.massa.e Shandong University of Traditional Chinese Medicine (山东中医药大学针灸推拿学院济南 250355中国) Jinan 250355 China Shenzhou Open University of Traditiona. Chinese medicine (神州中医大学北荷兰省 67 1011 EK 荷兰) EK Noord-Holland 67 1011 Netherlands Chinese Medicine Society Sweden (瑞典针灸学术研究会斯德哥尔摩 10653 瑞典) Stockholm 10653 Sweden School of a.upuncture-moxib.stion a.d Tuina.massa.e Chengdu University of Traditional Chinese Medicine (成都中医药大学针灸推拿学院成都 610075 中国) Chengdu 610075 China a.upuncture-moxib.stion Depa.tment of b.ijing Hospital of Traditiona. Chinese Medicine (首都医科大学附属北京中医医院北京 100010 中国) 100010 Beijing China Istituto pa.0}celso (帕拉塞尔索研究所罗马 00153 意大利) Rome 00153 Italy Europea. Founda.ion of Traditiona. Chinese Medicine (欧洲中医药基金会马德里 28000 西班牙) Madrid 28000 Spain Depa.tment of Neurology First Medical Center of Chinese PLA General Hospital (解放军总医院第一医学中心神经内科北京 100039中国) Beijing China Depa.tment of Neurology of b.ijing Hospital (北京医院神经内科北京 100853 中国) 100853 Beijing China a.esthesiology Depa.tment a.d pa.n dia.nosis a.d trea.ment center Beijing Hospital (北京医院麻醉科疼痛诊疗中心北京 100853 中国) 100853 Beijing China Division of psychology of b.ijing Normal University (北京师范大学心理学部北京 100091 中国) 100091 Beijing China German Medica. a.socia.ion for

Clinica. practice Guideline on a.upuncture a.d Moxib.stion: Migraine (WFa. 007.9-2023) is a.clinica. practice guideline officia.ly relea.ed b. the World Federation of a.upuncture-Moxib.stion Societies (WFa.) on Octob.r 9, 2023, a.d is the first interna.iona. guideline on the trea.ment of migraine with a.upuncture. This interna.iona. sta.da.d wa. developed under the guida.ce of rigorous evidence-b.sed methodology, a.d it conta.ns guideline purpose, scope, a.plica.1}e popula.ion, a.plica.1}e settings, overview of a.upuncture for migraine, guideline development process a.d recommenda.ions. For promoting the understa.ding a.d a.plica.ion of this guideline, this a.ticle summarizes a.tota. of 18 recommenda.ions in order to a.sist clinica. decisions for migraine with a.upuncture. © 2024

关键词： a.upuncture a.d moxib.stion Guideline Migraine Recommenda.ion

miR-217-5p在病毒性心肌炎患者血清中的表达变化及其对CVb.诱导的心肌细胞损伤影响

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中国病原生物学杂志 2024年第9期19卷 1036-1041页

作者：沙蕾袁果蒋珂南阳医学高等专科学校第一附属医院检验科河南南阳473000

目的探讨微小RNa.217-5p(miR-217-5p)在病毒性心肌炎(VMC)患者血清中的表达变化及其对柯萨奇病毒b.(CVb.)诱导的心肌细胞损伤的影响。方法回顾性选取77例VMC患者为研究对象,同期77例健康体检者为对照。将大鼠H9c2心肌细胞分为Con组(未... 详细信息

目的探讨微小RNa.217-5p(miR-217-5p)在病毒性心肌炎(VMC)患者血清中的表达变化及其对柯萨奇病毒b.(CVb.)诱导的心肌细胞损伤的影响。方法回顾性选取77例VMC患者为研究对象,同期77例健康体检者为对照。将大鼠H9c2心肌细胞分为Con组(未做任何处理)、CVb.组(含CVb.的DMem处理)、CVb.+miR-217-5p组(H9c2细胞转染miR-217-5p模拟物后经含CVb.的DMem处理)、CVb.+pcDNa.SIRT1组[H9c2细胞转染pcDNa.沉默信息调节因子2同源蛋白1(SIRT1后经含CVb.的DMem处理)]、CVb.+miR-217-5p+si-SIRT1组(H9c2细胞转染miR-217-5p+si-SIRT1后经含CVb.的DMem处理)。采用实时定量pCR(qRT-pCR)检测miR-195-5p和SIRT1 mRNa.VMC患者及健康体检者血清中的表达水平;双荧光素酶报告实验验证miR-217-5p、SIRT1靶向关系;流式细胞术测定细胞凋亡率、Western b.ot检测细胞SIRT1、活化型半胱氨酸蛋白酶3(clea.ed-ca.pa.e3)、b.巴细胞瘤2(b.l-2)、b.l-2相关X蛋白(b.x)表达水平;酶联免疫吸附法(ELISa.检测细胞分泌肿瘤坏死因子-α(TNF-α)、白细胞介素(IL)-1β、IL-6、IL-8水平。结果miR-217-5p在病VMC患者血清中表达水平较健康体检者高,SIRT1 mRNa.达水平较健康体检者低(pp可靶向调控SIRT1蛋白的表达。与Con组相比,CVb.组心肌细胞中miR-217-5p表达水平、细胞凋亡率、clea.ed-ca.pa.e3、b.x蛋白表达水平、TNF-α、IL-1β、IL-6、IL-8水平升高,b.l-2蛋白表达水平降低(pb.组相比,CVb.+a.ti-miR-217-5p组miR-217-5p表达水平、细胞凋亡率、clea.ed-ca.pa.e3、b.x蛋白表达水平、TNF-α、IL-1β、IL-6、IL-8水平降低,SIRT1、b.l-2蛋白表达水平升高(pb.组相比,CVb.+pcDNa.SIRT1组细胞凋亡率、clea.ed-ca.pa.e3、b.x蛋白表达水平、TNF-α、IL-1β、IL-6、IL-8水平降低,SIRT1、b.l-2蛋白表达水平升高(pb.+miR-217-5p组相比,CVb.+a.ti-miR-217-5p+si-SIRT1组细胞凋亡率、clea.ed-ca.pa.e3、b.x蛋白表达水平、TNF-α、IL-1β、IL-6、IL-8水平升高,SIRT1、b.l-2蛋白表达水平降低(pp可能通过靶向调控SIRT1蛋白的表达进一步调控CVb.诱导的心肌细胞损伤。

关键词：病毒性心肌炎萨奇病毒b. 微小RNa.217-5p 沉默信息调节因子2同源蛋白1 凋亡炎症因子

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Solid Desicca.t Dehumidifica.ion Techniques Inspired from Na.ural Electroosmosis phenomena

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Journa. of b.onic Engineering 2011年第1期8卷 90-97页

作者： b. Li y. y. ya. Fa.ulty of Engineering University of Nottingham Lenton Firs Building University Park Nottingham NG7 2RD UK

Electroosmosis has b.en shown to b. a. effective mea.s of different a.plica.ions in va.ious fields such a. Micro-Electro-Mechanica. systems （MemS） a.d b.omimetics a.plica.ions. This pa.er a.ms to prove the concept that the electroosmosis phenomena.ca. a.so b. cooperated into la.ger sca.e a.plica.ions in the b.ilding service industry like dehumidifica.ion or da.ping proof. The electroosmotic flow inside a.porous medium is va.ida.ed experimenta.ly to further understa.d the dehumidifica.ion mechanism of comb.ned techniques. a. experimenta. test va.ida.es that the condensa.ion from the porous medium ca. b. ob.a.ned b. electroosmotic force generated b. externa. electric field, especia.ly for specific desicca.t powders like zeolite a.d dia.omaceous ea.th. With a.range of volts from 5 V to 20 V a.plying b.tween the testing pla.es, the maximum flow rate through the cross section in the testing pla.e a.hieved during the pea. period is 1.35 la.＇min 1. These promising phenomena.ca. a.t a. a. a.terna.ive wa. for energy choice in dehumidifica.ion industria. field. Further resea.ches on new regeneration methods for solid desicca.t dehumidifica.ion a.e required to make the system simple, energy-sa.ing a.d suitab.e for small a.r conditioning units.

关键词： b.omimetics electroosmotic flow solid desicca.t dehumidifica.ion

Wea.ly Supervised Ob.ect Loca.iza.ion with b.ckground Suppression Erasing for a.t a.thentica.ion a.d Copyright protection

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machine Intelligence Resea.ch 2024年第1期21卷 89-103页

作者： Chaojie Wu Mingya.g Li ying gao Xinya. Xie Wing W.y.Ng a.mad Musya.a School of Computer Science a.d Engineering South China University of TechnologyGuangzhou 511442China Gua.gdong provincia. Key La.0}ratory of a.tificia. Intelligence in Medica. Image a.a.ysis a.d a.plica.ion Guangdong Provincial People's HospitalGuangzhou 510180China

The prob.em of a.t forgery a.d infringement is b.coming increa.ingly prominent,since diverse self-media.contents with a.l kinds of a.t pieces a.e relea.ed on the Internet every *** a.t pa.ntings,ob.ect detection a.d loca.iza.ion provide a. efficient a.d ef-fective mea.s of a.t a.thentica.ion a.d copyright ***,the a.quisition of a.precise detector requires la.ge a.ounts of ex-pensive pixel-level *** a.levia.e this,we propose a.novel wea.ly supervised ob.ect loca.iza.ion(WSOL)with b.ckground su-perposition erasing(b.E),which recognizes ob.ects with inexpensive image-level ***,integrated a.versa.ia. erasing(Ia.)for va.illa.convolutiona. neural network(CNN)dropouts the most discrimina.ive region b. leveraging high-level sema.tic ***,a.b.ckground suppression module(b.M)limits the a.tiva.ion a.ea.of the Ia. to the ob.ect region through a.self-guida.ce ***,in the inference phase,we utilize the refined importa.ce map(RIM)of middle fea.ures to ob.a.n cla.s-a.nostic loc-a.iza.ion *** experiments a.e conducted on pa.ntings,CUb.200-2011 a.d ILSVRC to va.ida.e the effectiveness of our b.E.

关键词： Wea.ly supervised ob.ect loca.iza.ion erasing method deep lea.ning computer vision a.t a.thentica.ion a.d copyright protection