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Fast Four-Stage Local Motion Planning Method for Mobile Robot

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Journal of shanghai Jiaotong university(Science) 2024年第3期29卷 428-435页

作者：黄山黄洪钟曾奇 Center for System Reliability and Safety University of Electronic Science and Technology of ChinaChengdu 611731China EvenTec Co. Ltd.Chengdu 610097China

Mobile robot local motion planning is responsible for the fast and smooth obstacle avoidance,which is one of the main indicators for evaluating mobile robots'navigation capabilities.Current methods formulate local motion planning as a unified problem;therefore it cannot satisfy the real-time requirement on the platform with limited computing ability.In order to solve this problem,this paper proposes a fast local motion planning method that can reach a planning frequency of 500 Hz on a low-cost CPU.The proposed method decouples the local motion planning as the front-end path searching and the back-end optimization.The front-end is composed of the environment topology analysis and graph searching.The back-end includes dynamically feasible trajectory generation and optimal trajectory selection.Different from the popular methods,the proposed method decomposes the local motion planning into four sub-modules,each of which aims to solve one problem.Combining four sub-modules,the proposed method can obtain the complete local motion planning algorithm which can fast generate a smooth and collision-free trajectory.The experimental results demonstrate that the proposed method has the ability to obtain the smooth,dynamically feasible and collision-free trajectory and the speed of the planning is fast.

关键词： robotics path planning trajectory generation smooth trajectory planning

Stepwise colloidal lithography toward scalable and various planar chiral metamaterials

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Rare Metals 2024年第2期43卷 723-735页

作者： Xiu Yang Yong Liu Fei-Liang Chen Qian-Qi Lin Rohit Chikkaraddy shan-shan huang Shi-Lin Xian Yi-Dong Hou Jing-Lei Du Liang-Ping Xia Chun-Lei Du School of Electronic Science and Engineering University of Electronic Science and Technology of ChinaChengdu610054China School of Optoelectronic Science and Engineering University of Electronic Science and Technology of ChinaChengdu610054China Zhuhai Multiscale Optoelectronics Technology Co. Ltd.Zhuhai915060China Hybrid Materials for Opto-Electronics Group Department of Molecules and MaterialsMESA+Institute for NanotechnologyMolecules Center and Center for Brain-Inspired Nano SystemsFaculty of Science and TechnologyUniversity of Twente7500 AEEnschedeThe Netherlands School of Physics and Astronomy University of BirminghamBirminghamB152TTUK College of Physics Sichuan UniversityChengdu610065China Key Laboratory of Micro Nano Optoelectronic Devices and Intelligent Perception Systems Yangtze Normal UniversityChongqing408100China

Chiral metamaterials(CMs)composed by artificial chiral resonators have attracted great attentions in the recent decades due to their strong chiroptical resonance and identifiable interaction with chiral materials,facilitating practical applications in chiral biosensing,chiral emission,and display technology.However,the complex geometry of CMs improves the fabrication difficulty and hinders their scalable fabrication for practical applications,especially in the visible and ultraviolet wavelengths.One potential strategy is the colloidal lithography that enables parallel fabrication for scalable and various planar structures.Here,we demonstrate a stepwise colloidal lithography technique that uses sequential deposition from multiple CMs and expand their variety and complexity.The geometry and optical chirality of building blocks from single deposition are systematically investigated,and their combination enables a significant extension of the range of chiral patterns by multiple-step depositions.This approach resulted in a myriad of complex designs with different characteristic sizes,compositions,and shapes,which are particularly beneficial for the development of nanophotonic materials.In addition,we designed a flexible chiral device based on PDMS,which exhibits a good CD value and excellent stability even after multiple inward and outward bendings.The excellent compatibility to various substrates makes the planar CMs more flexible in practical applications in microfluidic biosensing.

关键词： Chiral metamaterials Colloidal lithography Nanophotonics Metasurfaces Plasmonics Nanofabrications Flexible devices

Eccrine porocarcinoma in the tempus of an elderly woman:A case report

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World Journal of Clinical Cases 2024年第8期12卷 1523-1529页

作者： Zhi-Wei Wu Wen-Jie Zhu shan huang Qi Tan Cong You Dian-Gui Hu Long-Nian Li Department of Dermatology First Affiliated Hospital of Gannan Medical UniversityGanzhou 341000Jiangxi ProvinceChina Department of Laser and Cosmetic Dermatology Ganzhou Dermatology HospitalGanzhou 341000Jiangxi ProvinceChina Department of Dermatology Tongxiang Dermatology HospitalJiaxing 314000Zhejiang ProvinceChina Department of Infectious Diseases The Fifth people’s Hospital of GanzhouGanzhou 341000Jiangxi ProvinceChina

BACKGROUND Eccrine porocarcinoma(EPC)is a rare skin tumor that mainly affects the elderly population.Tumors often present with slow growth and a good prognosis.EPCs are usually distinguished from other skin tumors using histopathology and immunohistochemistry.However,surgical management alone may be inadequate if the tumor has metastasized.However,currently,surgical resection is the most commonly used treatment modality.CASE SUMMARY A seventy-four-year-old woman presented with a slow-growing nodule in her left temporal area,with no obvious itching or pain,for more than four months.Histopathological examination showed small columnar and short spindle-shaped cells;thus,basal cell carcinoma was suspected.However,immunohistochemical analysis revealed the expression of cytokeratin 5/6,p63 protein,p16 protein,and Ki-67 antigen(40%),and EPC was taken into consideration.The skin biopsy was repeated,and hematoxylin and eosin staining revealed ductal differentiation in some cells.Finally,the patient was diagnosed with EPC,and Mohs micrographic surgery was performed.We adapted follow-up visits in a year and not found any recurrence of nodules.CONCLUSION This case report emphasizes the diagnosis and differentiation of EPC.

关键词： Eccrine porocarcinoma Sweat gland carcinoma Histopathology Immunohistochemistry Prognosis Case report

Ocular surface in patients with different degrees of myopia

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International Journal of Ophthalmology(English edition) 2024年第7期17卷 1313-1321页

作者： Yan-Yun Lyu Shuang Wang Xiao-Niao Chen Zhen-Yu Wang shan-shan huang Yan Yuan Hong-Shuang Lu Wen-Li Yang Li-Ya Qiao Lei Tian Ying Jie Tongren Eye Care Center Beijing Tongren HospitalCapital Medical UniversityBeijing 100730China Beijing Institute of Ophthalmology Beijing Tongren Eye CenterBeijing Tongren HospitalCapital Medical University and Beijing Ophthalmology and Visual Sciences Key LaboratoryBeijing 100730China Department of Ophthalmology the Third Medical Center of Chinese People’s Liberation Army General HospitalBeijing 100039China Department of Ophthalmology and Visual Science Tokyo Medical and Dental UniversityTokyo 113-8510Japan

AIM:To investigate the clinical features of the ocular surface in patients with different degrees of myopia.METHODS:A cross-sectional study was conducted involving 122 participants with myopia in Beijing Tongren Hospital from February to June,2023.After completing the Ocular Surface Disease Index(OSDI)score scale,measurements were taken for refraction,biometric parameters and ocular surface parameters.The prevalence,severity and related parameters of the dry eye among different groups based on axial length(AL)were compared.Correlation analysis was performed between ocular surface parameters and refraction/biometric measurement parameters.RESULTS:Statistically significant differences were observed in refractive error,corneal thickness,anterior chamber depth,and subfoveal choroidal thickness among the groups(all P<0.05).With the increase in AL,the incidence and severity of dry eye increased significantly(P<0.05).Moreover,the tear film break-up time(BUT)shortened(P<0.05),and the corneal fluorescein staining(CFS)points increased significantly(P<0.05).OSDI scores were positively correlated with AL and spherical equivalent(SE;both P<0.05);BUT was negatively correlated with AL,SE,and corneal astigmatism(AST;all P<0.05);Schirmer I test(SIT)results were negatively correlated with AL and SE(both P<0.05).CONCLUSION:AL elongation is a risk factor for dry eye onset in myopic participants.The longer the AL,the more severe the dry eye is,with the increased CFS spots and tear film instability.Additionally,SE and AST exhibit negative correlations with dry eye symptom scores and ocular surface parameters.

关键词： myopia axial length ocular surface dry eye

Mast cell degranulation-triggered by SARS-CoV-2 induces tracheal-bronchial epithelial inflammation and injury

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Virologica Sinica 2024年第2期39卷 309-318页

作者： Jian-Bo Cao Shu-Tong Zhu Xiao-shan huang Xing-Yuan Wang Meng-Li Wu Xin Li Feng-Liang Liu Ling Chen Yong-Tang Zheng Jian-Hua Wang Guangzhou Institutes of Biomedicine and Health Chinese Academy of SciencesGuangzhou 510530China School of Life Sciences and Medicine University of Science and Technology of ChinaHefei 230026China Key Laboratory of Bioactive Peptides of Yunnan Province Key Laboratory of Animal Models and Human Disease Mechanisms of the Chinese Academy of SciencesKIZCUHK Joint Laboratory of Bioresources and Molecular Research in Common DiseasesCenter for Biosafety Mega-ScienceKunming Institute of ZoologyChinese Academy of SciencesKunming 650223China University of Chinese Academy of Sciences Beijing 101408China

SARS-CoV-2 infection-induced hyper-inflammation is a key pathogenic factor of COVID-19.Our research,along with others',has demonstrated that mast cells(MCs)play a vital role in the initiation of hyper-inflammation caused by SARS-CoV-2.In previous study,we observed that SARS-CoV-2 infection induced the accumulation of MCs in the peri-bronchus and bronchioalveolar-duct junction in humanized mice.Additionally,we found that MC degranulation triggered by the spike protein resulted in inflammation in alveolar epithelial cells and capillary endothelial cells,leading to subsequent lung injury.The trachea and bronchus are the routes for SARS-CoV-2 transmission after virus inhalation,and inflammation in these regions could promote viral spread.MCs are widely distributed throughout the respiratory tract.Thus,in this study,we investigated the role of MCs and their degranulation in the development of inflammation in tracheal-bronchial epithelium.Histological analyses showed the accumulation and degranulation of MCs in the peri-trachea of humanized mice infected with SARS-CoV-2.MC degranulation caused lesions in trachea,and the formation of papillary hyperplasia was observed.Through transcriptome analysis in bronchial epithelial cells,we found that MC degranulation significantly altered multiple cellular signaling,particularly,leading to upregulated immune responses and inflammation.The administration of ebastine or loratadine effectively suppressed the induction of inflammatory factors in bronchial epithelial cells and alleviated tracheal injury in mice.Taken together,our findings confirm the essential role of MC degranulation in SARS-CoV-2-induced hyper-inflammation and the subsequent tissue lesions.Furthermore,our results support the use of ebastine or loratadine to inhibit SARS-CoV-2-triggered degranulation,thereby preventing tissue damage caused by hyper-inflammation.

关键词： SARS-CoV-2 Mast cell(MC) Bronchial epithelial cell Inflammation Tracheal injury

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基于预定义时间的四旋翼滑模控制

北京航空航天大学学报 2024年第5期50卷 1665-1674页

作者：刘浩黄山涂海燕四川大学电气工程学院成都610065

针对四旋翼位置环和姿态环的控制问题,使得四旋翼位姿能够在预定时间内稳定,提出一种基于预定义时间滑模控制算法的位姿控制器。该控制器通过对四旋翼位置环和姿态环2个环节的控制,使得四旋翼的位姿能够在预定时间内稳定。理论推导及数... 详细信息

针对四旋翼位置环和姿态环的控制问题,使得四旋翼位姿能够在预定时间内稳定,提出一种基于预定义时间滑模控制算法的位姿控制器。该控制器通过对四旋翼位置环和姿态环2个环节的控制,使得四旋翼的位姿能够在预定时间内稳定。理论推导及数值仿真表明:所提算法具有正确性;仿真结果表明:应用所提控制器的四旋翼的位置和姿态能够在预定时间内达到稳定。

关键词：四旋翼预定义时间稳定滑模控制位置控制姿态控制

On the Depth Distribution of Constacyclic Codes over Z4 of Length 2e

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Chinese Journal of Electronics 2019年第3期28卷 462-469页

作者： ZHU Shixin huang shan LI Jin School of Mathematics Hefei University of Technology Departmaent of Information Management Anhui Vocational College of Police Officers

In this paper, we consider the depth distribution of constacyclic codes over Z4with length even prime power. The depth distribution of negacyclic codes over Z4of length 2eis completely determined.Furthermore, we determine the depth spectrum of cycilc codes over Z4of length 2e, and the depth distribution of some cyclic codes over Z4of length 2eis also given.

关键词： Depth spectrum Depth distribution Constacyclic codes

关于disease-modifying therapies中文译名之刍议

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中华神经科杂志 2024年第2期57卷 199-200页

作者：王维治黄山哈尔滨医科大学附属第二医院神经科哈尔滨150086

自从20多年前β-干扰素被引进我国和用于多发性硬化(MS)患者的disease-modifying therapies(DMT),国内使用的DMT的中文译名颇令人费解,临床医生也难解其意。作者查找和追溯了当前DMT翻译的源起,可能主要由于modifying一词在汉语中包含... 详细信息

自从20多年前β-干扰素被引进我国和用于多发性硬化(MS)患者的disease-modifying therapies(DMT),国内使用的DMT的中文译名颇令人费解,临床医生也难解其意。作者查找和追溯了当前DMT翻译的源起,可能主要由于modifying一词在汉语中包含修改、缓和两个含义,显然目前使用的术语更倾向于纠正,而DMT的确切含义应是使疾病缓解。考虑到不准确的中文译名在国内学术会议和学术期刊被广泛使用,易引起误解和歧义,作者认为应正确与深刻理解DMT在特定语境中的含义,回归disease-modifying的"疾病缓和"的本义,也符合MS和视神经脊髓炎谱系疾病免疫调节治疗的两个终点,即主要终点是降低疾病的年复发率,次要终点是减慢疾病残疾的进展。

关键词：疾病缓和疗法多发性硬化视神经脊髓炎谱系疾病

LiaSR双组分信号转导系统调控变异链球菌耐酸和生物膜形成能力的机制研究

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中华口腔医学杂志 2024年第1期59卷 54-63页

作者：黄珊杜景云李艺君吴敏婧陈帅江山黄晓晶福建医科大学口腔医学院·附属口腔医院牙体牙髓科、福建省口腔疾病研究重点实验室、福建省口腔生物材料工程技术研究中心、福建省高校口腔医学重点实验室、福建医科大学口腔医学研究院、福建医科大学口腔组织工程研究中心福州350002

目的探究LiaSR双组分信号转导系统对变异链球菌(Sm)593号(Sm 593)临床株耐酸和生物膜形成的影响及相关机制。方法以Sm 593及其liaS和liaR基因敲除株为研究菌株,采用全自动生长曲线测定仪检测并绘制pH=5.5环境中各菌株的生长曲线;用菌落... 详细信息

目的探究LiaSR双组分信号转导系统对变异链球菌(Sm)593号(Sm 593)临床株耐酸和生物膜形成的影响及相关机制。方法以Sm 593及其liaS和liaR基因敲除株为研究菌株,采用全自动生长曲线测定仪检测并绘制pH=5.5环境中各菌株的生长曲线;用菌落计数法检测细菌的适应性耐酸能力;使用Laurdan探针、氢-钾腺苷三磷酸(ATP)酶试剂盒、质子通透性检测实验和实时荧光定量PCR(RT-qPCR)探究LiaSR双组分信号转导系统介导的耐酸机制。体外构建各菌株的生物膜,通过结晶紫染色法、菌落计数法、SYTOX探针检测法和蒽酮-硫酸法探究各菌株的生物膜总量、活菌数、胞外DNA(eDNA)和胞外多糖含量;采用RT-qPCR法检测胞外多糖合成相关基因的表达情况。结果pH=5.5环境中,liaS和liaR基因敲除株的生长受到显著抑制(P<0.05)。适应性耐酸曲线显示敲除株与野生株相比,固有耐酸和适应性耐酸能力均显著下降(P<0.05)。对三菌株无预酸化处理20和40 min以及预酸化处理20和40 min后,liaS基因敲除株生存率[(8.98±2.00)%、(0.18±0.07)%、(14.88±8.64)%、(0.82±0.91)%]和liaR基因敲除株生存率[(0.38±0.19)%、(0.34±0.18)%、(7.89±2.02)%、(1.52±0.37)%]均分别显著低于野生株[(32.49±9.75)%、(1.27±0.32)%、(62.76±29.06)%、(8.02±1.25)%](均P<0.05)。此外,liaS和liaR敲除株膜流动性(0.18±0.04和0.18±0.05)均显著低于野生株(0.08±0.05)(均P<0.01);不饱和脂肪酸合成基因fabM表达水平(0.52±0.11和0.57±0.05)与野生株(1.04±0.30)相比均显著降低约1/2(均P<0.001);H+-ATP酶活性(917.06±59.53和469.53±47.65)与野生株(127.00±50.71)相比显著升高7.22和3.70倍(均P<0.001),且编码H+-ATP酶基因atpD的表达水平(3.39±0.21和1.94±0.17)也较野生株(1.00±0.15)显著升高3.39和1.94倍(均P<0.01)。liaR基因敲除株的终末pH值(4.76±0.01)显著低于野生株(4.90±0.00),liaS基因敲除株的终末pH值(5.19±0.01)显著高于野生株(均P<0.001)。liaS和liaR基因敲除株与野生株相比,Sm 593生物膜总量未发生明显变化,生物膜活菌数均显著少于野生株(均P<0.05),且eDNA含量均显著高于野生株(均P<0.01)。liaS基因敲除株生物膜水溶性多糖含量与野生株相比显著增加1.88倍(P=0.003)。liaS和liaR基因敲除株胞外多糖合成相关基因gtfD表达水平较野生株显著升高47.43和16.90倍(均P<0.05),liaS基因敲除株中gtfC基因比野生株显著高表达1.65倍(P=0.014)。结论LiaSR双组分信号转导系统通过调控膜不饱和脂肪酸合成和胞膜流动性,参与Sm 593的耐酸过程;LiaR反应调节蛋白还可参与调节膜质子通透性,增强Sm 593的耐酸能力;此双组分信号转导系统可负向调控生物膜胞外基质的产生。

关键词：龋齿链球菌,变异生物膜 LiaSR双组分信号转导系统耐酸