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Control Theory and Technology 2024年第1期22卷 106-121页

作者： Pengxin Zhang Haisheng Yu Xiangxiang Meng Zhe Li qing Yang Xunkai gao college of Automation Qingdao UniversityQingdao266071ShandongChina Shandong Province Key Laboratory of Industrial Control Technology Qingdao266071ShandongChina

The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area. Aiming at the issues of chattering and slow convergence of traditional sliding mode controller, a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed, which can effectively reduce the convergence time and chattering. For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment, a visual servo controller based on integral sliding mode is proposed, to ensure the favorable positioning accuracy of the manipulator. Based on the two proposed controllers mentioned above, a coordinated control strategy is used to implement the control of the manipulator. Finally, the upper computer software is developed using the C# programming language to monitor the workstation. The feasibility of the above-mentioned method is verified through multiple simulations and experiments.

关键词： Automatic production Joint servo Visual servo Coordinated control Non-singular fast terminal sliding mode Integral sliding mode

Associations of sleeping patterns and isotemporal substitution of other behavior with the prevalence of CKD in Chinese adults

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Frontiers of Medicine 2024年第2期18卷 303-314页

作者： Yi Ding Xiaoli Xu Zhuojun Xin Qiuyu Cao Jiaojiao Huang Xianglin wu Yanan Huo Qin Wan Yingfen Qin Ruying Hu Lixin Shi qing Su Xuefeng Yu Li Yan Guijun Qin Xulei Tang Gang Chen Min Xu Tiange Wang Zhiyun Zhao Zhengnan gao Guixia Wang Feixia Shen Zuojie Luo Li Chen Qiang Li Zhen ye Yinfei Zhang Chao Liu Youmin Wang Tao Yang Huacong Deng Lulu Chen Tianshu Zeng Jiajun Zhao Yiming Mu Shengli wu Yuhong Chen Jieli Lu Weiqing Wang Guang Ning Yu Xu Yufang Bi Mian Li Department of Endocrine and Metabolic Diseases Shanghai Institute of Endocrine and Metabolic DiseasesRuijin HospitalShanghai Jiao Tong University School of MedicineShanghai200025China Shanghai National Clinical Research Center for Metabolic Diseases Key Laboratory for Endocrine and Metabolic Diseases of the National Health Commission of ChinaShanghai Key Laboratory for Endocrine TumorState Key Laboratory of Medical GenomicsRuijin HospitalShanghai Jiao Tong University School of MedicineShanghai200025China Jiangxi Provincial People’s Hospital Affiliated to Nanchang UniversityNanchang330000China Department of Endocrinology The Affiliated Hospital of Southwest Medical UniversityLuzhou646000China Department of Endocrinology The First Affiliated Hospital of Guangxi Medical UniversityNanning530000China zhejiang Provincial Center for Disease Control and Prevention Hangzhou310000China Department of Endocrinology Affiliated Hospital of Guiyang Medical UniversityGuiyang550000China Xinhua Hospital Affiliated to Shanghai Jiao Tong University School of MedicineShanghai200000China Tongji Hospital Tongji Medical CollegeHuazhong University of Science and TechnologyWuhan430000China Sun Yat-sen Memorial Hospital Sun Yat-sen UniversityGuangzhou510000China Department of Endocrinology The First Affiliated Hospital of Zhengzhou UniversityZhengzhou450000China Department of Endocrinology The First Hospital of Lanzhou UniversityLanzhou730000China Fujian Provincial Hospital Fujian Medical UniversityFuzhou350000China Dalian Municipal Central Hospital Affiliated of Dalian Medical UniversityDalian116000China Department of Endocrinology The First Hospital of Jilin UniversityChangchun130000China Department of Endocrinology The First Affiliated Hospital of Wenzhou Medical UniversityWenzhou325000China Qilu Hospital of Shandong university Jinan250000China Department of Endocrinology The Second Affiliated Hospital of Harbin Medical UniversityHarbin150000China Department of Endocrinology Cen

Studies have found a U-shaped relationship between sleep duration and chronic kidney disease(CKD)risk,but limited research evaluated the association of reallocating excessive sleep to other behavior with CKD.We included 104538 participants from the nationwide cohort of the Risk Evaluation of Cancers in Chinese Diabetic Individuals:A Longitudinal Study,with self-reported time of daily-life behavior.Using isotemporal substitution models,we found that substituting 1 h of sleeping with sitting,walking,or moderate-to-vigorous physical activity was associated with a lower CKD prevalence.Leisure-time physical activity displacement was associated with a greater prevalence reduction than occupational physical activity in working population.In stratified analysis,a lower CKD prevalence related to substitution toward physical activity was found in long sleepers.More pronounced correlations were observed in long sleepers with diabetes than in those with prediabetes,and they benefited from other behavior substitutions toward a more active way.The U-shaped association between sleep duration and CKD prevalence implied the potential effects of insufficient and excessive sleep on the kidneys,in which the pernicious link with oversleep could be reversed by time reallocation to physical activity.The divergence in the predicted effect on CKD following time reallocation to behavior of different domains and intensities and in subpopulations with diverse metabolic statuses underlined the importance of optimizing sleeping patterns and adjusting integral behavioral composition.

关键词： sleep physical activity chronic kidney disease isotemporal substitution behavioral pattern

The ERF transcription factor LTF1 activates DIR1 to control stereoselective synthesis of antiviral lignans and stress defense in Isatis indigotica roots

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Acta Pharmaceutica Sinica B 2024年第1期14卷 405-420页

作者： Ruibing Chen Jian Yu Luyao Yu Liang Xiao Ying Xiao Junfeng Chen Shouhong gao Xianghui Chen qing Li Henan Zhang Wansheng Chen Lei Zhang Department of Pharmaceutical Botany School of PharmacyNaval Medical UniversityShanghai 200433China Research and Development Center of Chinese Medicine Resources and Biotechnology Shanghai University of Traditional Chinese MedicineShanghai 201203China Department of Pharmacy Shanghai Changzheng HospitalNaval Medical UniversityShanghai 200003China School of Medicine Shanghai UniversityShanghai 200433China Institute of Edible Fungi Shanghai Academy of Agricultural SciencesNational Engineering Research Center of Edible FungiKey Laboratory of Edible Fungi Resources and Utilization(South)Ministry of AgricultureShanghai 201403China college of Life sciences and Medicine Key Laboratory of Plant Secondary Metabolism and Regulation of Zhejiang ProvinceZhejiang Sci-Tech UniversityHangzhou 310018China State Key Laboratory of Dao-di Herbs Beijing 100700China

Lignans are a powerful weapon for plants to resist stresses and have diverse bioactive functions to protect human health.Elucidating the mechanisms of stereoselective biosynthesis and response to stresses of lignans is important for the guidance of plant improvement.Here,we identified the complete pathway to stereoselectively synthesize antiviral(-)-lariciresinol glucosides in Isatis indigotica roots,which consists of three-step sequential stereoselective enzymes DIR1/2,PLR,and UGT71B2.DIR1 was further identified as the key gene in respoJanuary 2024nse to stresses and was able to trigger stress defenses by mediating the elevation in lignan content.Mechanistically,the phytohormone-responsive ERF transcription factor LTF1 colocalized with DIR1 in the cell periphery of the vascular regions in mature roots and helped resist biotic and abiotic stresses by directly regulating the expression of DIR1.These systematic results suggest that DIR1 as the first common step of the lignan pathway cooperates with PLR and UGT71B2 to stereoselectively synthesize(-)-lariciresinol derived antiviral lignans in I.indigotica roots and is also a part of the LTF1-mediated regulatory network to resist stresses.In conclusion,the LTF1-DIR1 module is an ideal engineering target to improve plant Defenses while increasing the content of valuable lignans in plants.

关键词： Lignans Stereoselective synthesis Stress resistance Dirigent protein ERF

Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds

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Chinese Journal of Aeronautics 2024年第2期37卷 431-445页

作者： Hao LU Lan gao Yunda YAN Mingzhe HOU Chenliang WANG hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Information science and Technology Hangzhou Normal UniversityHangzhou 311121China Department of computer science University College LondonLondon WC1E 6BTUnited Kingdom Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China School of Automation science and Electrical Engineering Beihang UniversityBeijing 100191China

Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to follow a predefined flight path.To cope with various wind conditions,this paper proposes a wind disturbance compensated path following control strategy where the wind disturbance estimate is incorporated with the nominal guiding vector field to provide the desired airspeed direction for the inner-loop.Since the control input vector for the outer-loop kinematic subsystem needs to satisfy a magnitude constraint,a scaling mechanism is introduced to tune the proportions of the compensation and nominal components.Moreover,an optimization problem is formulated to pursue a maximum wind compensation in strong winds,which can be solved analytically to yield two scaling factors.A cascaded inner-loop tracking controller is also designed to fulfill the outer-loop wind disturbance compensated guiding vector field.High-fidelity simulation results under sensor noises and realistic winds demonstrate that the proposed path following algorithm is less sensitive to sensor noises,achieves promising accuracy in normal winds,and mitigates the deviation from a desired path in wild winds.

关键词： Path following Guiding vector field Wind disturbance Disturbance rejection Fixed wings

Scenarios analysis and performance assessment of blockchain integrated in 6G scenarios

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science china(Information sciences) 2024年第7期67卷 5-26页

作者： Bo LI Guanjie CHENG Honghao gao Xueqiang YAN Shuiguang DENG college of computer science and Technology Zhejiang University college of computer science and Technology Shanghai University 2012 Lab Huawei Technologies Co. Ltd.

Emerging applications such as smart city infrastructures and virtual reality landscapes are setting rigorous benchmarks for 6G mobile networks, requiring elevated levels of confidentiality, integrity, nonrepudiation, authentication, and stringent access controls. Blockchain technology is heralded as a transformative enabler for meeting 6G standards, owing to its intrinsic attributes. However, a gap exists in the holistic investigation of blockchain's applicability in 6G realms, particularly addressing the “whether”, “when”, and“how” of its deployment. Present research trails in developing robust methodologies to gauge blockchain's efficacy within 6G use cases. Addressing this, our study introduces a novel confluence of blockchain with 6G networks, where data resides in distributed Hash tables(DHTs) while their hashes are secured in distributed ledger technology(DLT), harnessing blockchain's core strengths-immutability, traceability, and fortified security. We delineate seven specific 6G use cases poised for enhancement through blockchain integration,and scrutinize the rationale, nature, and timing of this convergence. Furthermore, we devise a comprehensive methodology for assessing blockchain's performance metrics and scalability in 6G environments. Our extensive experimental analyses evaluate the synergistic performance of this integration, revealing that the Quorum blockchain satisfactorily supports 80% of 6G scenarios. The findings suggest that, with appropriate configurations, consortium blockchains are well-equipped to fulfill the demanding performance and scalability requisites of 6G networks.

关键词： blockchain distributed ledger technology (DLT) 6G performance assessment 6G scenarios analysis transaction arrival rate

Acquisition of time-varying 3D foot shapes from video

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science china(Information sciences) 2011年第11期54卷 2256-2268页

作者： gao Fei,WANG qing,GENG WeiDong & PAN YunHe State Key Lab of CAD & CG,zhejiang university,hangzhou 310027,china State Key Lab of CAD & CG Zhejiang University Hangzhou China

The 3D scanning of time-varying objects based on multi-view geometry has been a hot topic in computer vision in recent years.This paper presents an active approach to acquiring 3D shapes of moving foot from multi-view video sequences based on the explicit marker points woven in socks.The reference 3D model of foot is firstly recovered from the starting frames in the multi-view video clips,and then the markers in each view are traced as a whole based on a continuous motion vector field built from the reference 3D model.The missing vertices in the candidate 3D model caused by self-occlusion,non-uniform illumination and random noises are reliably estimated and reconstructed in 3D space by minimizing the changes of differential features in 3D geometry of the reference model.The experimental results show that our method can robustly recover the 3D model of foot in complex background even if there is a relatively large movement between the adjacent frames,with an acceptable accuracy of the resulting 3D model.

关键词： time-varying shapes 3D foot modeling feature tracking multi-view geometry

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基于特征融合的轻量级新残差人脸识别方法

电子学报 2024年第3期52卷 937-944页

作者：惠康华闫建青高思华贺怀清中国民航大学计算机科学与技术学院天津300300

针对现有轻量级模型在嵌入式设备的人脸识别应用中存在识别精度难以提升的问题,提出一种融合人脸对齐关键特征点信息的轻量级新残差网络模型(Lightweight New Residual Network,LNRN).LNRN利用深度残差网络结构能够解决网络退化且避免... 详细信息

针对现有轻量级模型在嵌入式设备的人脸识别应用中存在识别精度难以提升的问题,提出一种融合人脸对齐关键特征点信息的轻量级新残差网络模型(Lightweight New Residual Network,LNRN).LNRN利用深度残差网络结构能够解决网络退化且避免干扰因素影响的优势,结合人脸对齐环节产生的关键特征点信息,对深度残差网络结构进行简化和合理设计,实现对关键特征信息和全局信息的提取.为避免特征提取过程中丢失重要特征信息,该模型在新残差网络中加入结合空间和通道的注意力机制进行辅助.在公开的四个标准人脸数据集上的仿真实验表明,该模型识别速度在接近主流轻量级人脸识别方法的同时,平均识别精度比MobiFace提高了0.6%.

关键词：轻量级新残差网络模型人脸识别关键特征信息注意力机制

基于Windows的虚拟专用网安全机制的设计和实现

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通信学报 2003年第8期24卷 108-116页

作者：张峰叶澄清浙江大学计算机科学与技术学院浙江杭州310027

介绍了已经实现的一个基于IPsec协议的虚拟专用网。它已经成功地嵌入到当前流行的Windows操作系统中。本文主要讨论了虚拟专用网的需求,系统的体系结构,系统的功能及其采用的关键技术,其中系统的安全机制的设计与实现是本文重点。

关键词：虚拟专用网网络层安全机密性完整性 IP安全协议

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二级光线跟踪的并行计算

浙江大学学报（工学版） 2012年第10期46卷 1796-1802,1809页

作者：杨鑫许端清赵磊杨冰浙江大学计算机学院浙江杭州310027 大连理工大学计算机学院辽宁大连116023

基于图形处理器(GPU)体系架构研究二级光线跟踪技术,使其交互式地绘制出真实感极强的图像.基于二级光线的特性和GPU体系结构的特点,提出以下技术:具有高并行度的加速结构快速构造方法;二级光线包的自适应生成方法;自适应的并行光线跟踪... 详细信息

基于图形处理器(GPU)体系架构研究二级光线跟踪技术,使其交互式地绘制出真实感极强的图像.基于二级光线的特性和GPU体系结构的特点,提出以下技术:具有高并行度的加速结构快速构造方法;二级光线包的自适应生成方法;自适应的并行光线跟踪算法;面向优化带宽使用的数据动态管理方法等.实验表明,该方法可以最大限度地发挥图形处理器强大的并行计算能力,有效地使用硬件计算资源和存储资源,从而大大地加快二级光线跟踪的并行计算.

关键词：二级光线跟踪加速结构并行自适应性图形处理器(GPU)