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Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun Zheng Jinchuan Zheng Ke shao Han Zhao Hao Xie hai Wang the School of Mechanical Engineering Hefei University of TechnologyHefei 230009China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace Control Technology Institute Shanghai 201109 the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the College of Science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

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Scutellarein Ameliorated Chondrocyte Inflammation and Osteoarthritis in Rats

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Current Medical Science 2024年第2期44卷 355-368页

作者： shao-ze JING Shu-han YANG Yun-kun QU hai-hu HAO Hua WU Department of Orthopedics Third Hospital of Shanxi Medical UniversityShanxi Bethune HospitalShanxi Academy of Medical SciencesTongji Shanxi HospitalTaiyuan 030032China Department of Orthopedics Tongji HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430030China

Objective:Osteoarthritis(OA)is a degenerative joint disorder characterized by the gradual degradation of joint cartilage and local inflammation.This study aimed to investigate the anti-OA effect of scutellarein(SCU),a single-unit flavonoid compound obtained from Scutellaria barbata D.Don,in rats.Methods:The extracted rat chondrocytes were treated with SCU and IL-1β.The chondrocytes were divided into control group,IL-1βgroup,IL-1β+SCU 50µmol/L group,and IL-1β+SCU 100µmol/L group.Morphology of rat chondrocytes was observed by toluidine blue and safranin O staining.CCK-8 method was used to detect the cytotoxicity of SCU.ELISA,qRT-PCR,Western blotting,immunofluorescence,SAβ-gal staining,flow cytometry,and bioinformatics analysis were applied to evaluate the effect of SCU on rat chondrocytes under IL-1βintervention.Additionally,anterior cruciate ligament transection(ACL-T)was used to establish a rat OA model.Histological changes were detected by safranin O/fast green,hematoxylin-eosin(HE)staining,and immunohistochemistry.Results:SCU protected cartilage and exhibited anti-inflammatory effects via multiple mechanisms.Specifically,it could enhance the synthesis of extracellular matrix in cartilage cells and inhibit its degradation.In addition,SCU partially inhibited the nuclear factor kappa-B/mitogen-activated protein kinase(NF-κB/MAPK)pathway,thereby reducing inflammatory cytokine production in the joint cartilage.Furthermore,SCU significantly reduced IL-1β-induced apoptosis and senescence in rat chondrocytes,further highlighting its potential role in OA treatment.In vivo experiments revealed that SCU(at a dose of 50 mg/kg)administered for 2 months could significantly delay the progression of cartilage damage,which was reflected in a lower Osteoarthritis Research Society International(OARSI)score,and reduced expression of matrix metalloproteinase 13(MMP13)in cartilage.Conclusion:SCU is effective in the therapeutic management of OA and could serve as a potential candidate for future clinical drug therapy for OA.

关键词： scutellarein osteoarthritis apoptosis mitogen-activated protein kinase(MAPK) nuclear factor kappa-B(NF-κB)

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Polydatin ameliorates hepatic ischemia-reperfusion injury by modulating macrophage polarization

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Hepatobiliary & Pancreatic Diseases International 2024年第1期23卷 25-34页

作者： hai-Li Bao Chuan-Zhi Chen Chang-Zhen Ren Ke-Yan Sun Hao Liu shao-Hua Song Zhi-Ren Fu Department of Organ Transplantation Shanghai Changzheng HospitalNavy Military Medical UniversityShanghai 200003China Department of Surgical Oncology the First Affiliated HospitalZhejiang University School of MedicineHangzhou 310003China Department of Cardiology Shanghai Changzheng HospitalNaval Military Medical UniversityShanghai 200003China Department of General Surgery Ruijin HospitalShanghai Jiao Tong University School of MedicineShanghai 200025China

Background:Polydatin,a glucoside of resveratrol,has shown protective effects against various diseases.However,little is known about its effect on hepatic ischemia-reperfusion(I/R)injury.This study aimed to elucidate whether polydatin protects liver against I/R-induced injury and to explore the underlying mechanism.Methods:After gavage feeding polydatin once daily for a week,mice underwent a partial hepatic I/R procedure.Serum alanine aminotransferase(ALT)/aspartate aminotransferase(AST),hematoxylin-eosin(H&E)and TdT-mediated dUTP nick-end labeling(TUNEL)staining were used to evaluate liver injury.The severity related to the inflammatory response and reactive oxygen species(ROS)production was also investigated.Furthermore,immunofluorescence and Western blotting were used to detect macrophage polarization and the NF-κB signaling pathway in macrophages.Results:Compared with the I/R group,polydatin pretreatment significantly attenuated I/R-induced liver damage and apoptosis.The oxidative stress marker(dihydroethidium fluorescence,malondialdehyde,superoxide dismutase and glutathione peroxidase)and I/R related inflammatory cytokines(interleukin1β,interleukin-10 and tumor necrosis factor-α)were significantly suppressed after polydatin treatment.In addition,the result of immunofluorescence indicated that polydatin reduced the polarization of macrophages toward M1 macrophages both in vivo and in vitro.Western blotting showed that polydatin inhibited the pro-inflammatory function of RAW264.7 via down-regulating the NF-κB signaling pathway.Conclusions:Polydatin protects the liver from I/R injury by remodeling macrophage polarization via NFκB signaling.

关键词： Hepatic ischemia-reperfusion injury Polydatin Macrophage Polarization Inflammation

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Damping capacity of Fe_(83)Ga_(17) magnetostrictive alloy under magnetic field

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Rare Metals 2024年第1期43卷 402-409页

作者： shao-Wen Yan Xing Mu Bing-Jie Liu Li-Hong Xu Shi-hai Guo Yan Qi Hong-Ping Zhang Department of Functional Material Research Central Iron and Steel Research InstituteBeijing 100081China

The damping performance of Fe_(83)Ga_(17) alloys has been investigated in the static magnetic field (H). The results demonstrate that the damping peak value can be adjusted between 0.020 and 0.085 under the magnetic f... 详细信息

关键词： alloy magnetic alloys

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A Case Study of Periodical Terminologies’Mis-translations in History of Chinese Journalism by Ko Kung-chen under Analysis-Synthesis Translation Mode

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Journal of Literature and Art Studies 2024年第1期14卷 54-78页

作者： XIANG shao-jing WANG hai Beijing Institute of Technology ZhuhaiChina Guangdong University of Foreign Studies GuangzhouChina

From the perspective of analysis-synthesis translation mode,this paper discusses the translator’s responsibility and the translator’s role in the translation of historiography,based on the case of Ko Kung-chen’s History of Chinese Journalism.Missionary J.S.Roberts believed that translation is the logical combination of two processes of analysis and synthesis.The analysis process is characterized by understanding,emphasizing accurate understanding and professional analysis of the source text,while the synthesis process focuses on the transformation of language and culture.The two processes are dependent,forming the whole process of translation altogether.As the indisputable subject of translation,the translator should assume his own subjective responsibility in the two processes.The translator should be responsible for the fact and professional academics in the analysis process,and language and culture and translation itself in the synthesis process,playing the role of a reviewer,disseminator and translator to ensure that the translation text would be correct,accurate and professional so as to realize the value of himself and translation.

关键词： analysis-synthesis translation mode History of Chinese Journalism by Ko Kung-chen translation of periodical terminology

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PSRDP:A Parallel Processing Method for Pulsar Baseband Data

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Research in Astronomy and Astrophysics 2024年第1期24卷 300-310页

作者： Ya-Zhou Zhang hai-Long Zhang Jie Wang Xin-Chen Ye Shuang-Qiang Wang Xu Du Han Wu Ting Zhang shao-Cong Guo Meng Zhang Xinjiang Astronomical Observatory Chinese Academy of SciencesUrumqi 830011China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Radio Astronomy Chinese Academy of SciencesNanjing 210008China National Astronomical Data Center Beijing 100101China Southeast University Nanjing 211189China School of Cyber Science and Engineering Qufu Normal UniversityQufu 273165China

To address the problem of real-time processing of ultra-wide bandwidth pulsar baseband data,we designed and implemented a pulsar baseband data processing algorithm(PSRDP)based on GPU parallel computing technology.PSRDP can perform operations such as baseband data unpacking,channel separation,coherent dedispersion,Stokes detection,phase and folding period prediction,and folding integration in GPU clusters.We tested the algorithm using the J0437-4715 pulsar baseband data generated by the CASPSR and Medusa backends of the Parkes,and the J0332+5434 pulsar baseband data generated by the self-developed backend of the Nan Shan Radio Telescope.We obtained the pulse profiles of each baseband data.Through experimental analysis,we have found that the pulse profiles generated by the PSRDP algorithm in this paper are essentially consistent with the processing results of Digital Signal Processing Software for Pulsar Astronomy(DSPSR),which verified the effectiveness of the PSRDP algorithm.Furthermore,using the same baseband data,we compared the processing speed of PSRDP with DSPSR,and the results showed that PSRDP was not slower than DSPSR in terms of speed.The theoretical and technical experience gained from the PSRDP algorithm research in this article lays a technical foundation for the real-time processing of QTT(Qi Tai radio Telescope)ultra-wide bandwidth pulsar baseband data.

关键词： (stars:)pulsars:general methods:data analysis techniques:miscellaneous

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土地经营权入股立法的反思与展望

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政治与法律 2024年第3期 116-130页

作者：邵海西南政法大学中国农村经济法制创新研究中心重庆401120

自家庭联产承包责任制实施以来,关于农村土地承包经营权能否以入股等方式流转,在政策与法律层面经历了比较复杂的变迁过程。土地经营权入股在立法中得到确认是“三权分置”改革的重要成果之一,有利于在流转中更好地实现土地经营权的价... 详细信息

自家庭联产承包责任制实施以来,关于农村土地承包经营权能否以入股等方式流转,在政策与法律层面经历了比较复杂的变迁过程。土地经营权入股在立法中得到确认是“三权分置”改革的重要成果之一,有利于在流转中更好地实现土地经营权的价值。土地经营权入股现行立法表达不规范、不统一,且与相关法律规定存在冲突,导致立法预期的实现受阻。以立法的基本原理来审视,立法用语不规范只是表面现象,土地经营权的性质不明才是立法困境的根源,对入股所致不利后果的担忧则进一步导致适用难题。实践中大量存在的“以租代转”、“名为入股、实为出租”现象表明,既有立法并不能有效满足土地经营权入股的需求,反而徒增解释与适用的混乱。为了弥合土地经营权入股的认知分歧,保持相关立法之间的协调,实现“三权分置”的立法目的,有必要在立法中统一相关表述,明确规定土地经营权的性质,移除土地经营权承载的不必要负担,让土地经营权真正成为“可以用货币估价并可以依法转让的非货币财产”,进而以“作价出资”取代“入股”。

关键词：土地经营权入股作价出资农村土地承包法公司法

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Probing the Gamma-Ray Emission Region of Five TeV Flat Spectrum Radio Quasars

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Research in Astronomy and Astrophysics 2024年第6期24卷 158-171页

作者： Hu-Bing Xiao hai-Tao Cao Rui Xue Jin-Ting Cai Ge-Ge Wang Marina Manganaro shao-Hua Zhang Zhi-Hao Ouyang Li-Ping Fu Jun-Hui Fan Shanghai Key Lab for Astrophysics Shanghai Normal University School of Information Engineering Department of Physics Zhejiang Normal University College of Mathematics and Physics Guangxi Minzu University Key Laboratory of Cosmology and Astrophysics (Liaoning) College of Sciences Northeastern University Department of Physics University of Rijeka Center for Astrophysics Guangzhou University Key Laboratory for Astronomical Observation and Technology of Guangzhou Astronomy Science and Technology Research Laboratory of Department of Education of Guangdong Province

The location of γ-ray emission of blazars remains a contested topic, inspiring the development of numerous investigative techniques to address this issue. In this work, we analyzed Fermi γ-ray light curves in the GeV and MeV bands, employing the discrete cross-correlation function method to discern time lags between the two bands.For 4C +21.35, Ton 599, B2 1420+32, and PKS 1510-089, we identified a time lag spanning several days, while for PKS 1441+25, the time lag was not statistically found. The results imply that the soft photons necessary for inverse Compton scattering predominantly originate from the dusty torus in the first four sources, whereas for PKS1441+25, they seem to be sourced mainly from the broad-line region. Further analysis of the opacity(τγγ) and the GeV spectra study supports the conclusion that the location of the dissipation region must be beyond the BLR to avoid significant absorption. Notably, for PKS 1441+25, the emission region is also posited to lie outside yet proximate to the BLR. The parameters of describing the emission region were obtained by fitting broadband spectral energy distribution with contemporaneous observation data. Our findings suggest that for the five TeV FSRQs, during Te V flaring events, the jet appears to maintain an equilibrium between the energy density of the magnetic field and that of the particles for all investigated sources, with the exceptions of 4C +21.35 and PKS1441+25. In terms of the overall jet power, particle energy is the dominant contributor, and the observed blazar radiation cannot be solely attributed to the magnetic field, except in the case of 4C +21.35. Consequently,magnetic reconnection is unlikely to be the primary mechanism behind particle acceleration in these systems.

关键词： galaxies: active galaxies: jets gamma-rays: galaxies

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Anion-induced differential assembly and structural transformation of supramolecular coordination cages

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Chinese Chemical Letters 2024年第3期35卷 268-272页

作者： shao-Ping Zheng Yao-Wei Xu Pei-Yang Su Chen-Hui Liu Yin-Hui Huang Yu-Lin Lu Zhang-Wen Wei Zhiwei Jiao hai-Sen Xu Cheng-Yong Su MOE Laboratory of Bioinorganic and Synthetic Chemistry Lehn Institute of Functional MaterialsSchool of ChemistrySun Yat-sen UniversityGuangzhou 510006China Institute of Environmental Research at Greater Bay Area Guangzhou UniversityGuangzhou 510006China State Key Laboratory of Organometallic Chemistry Shanghai Institute of Organic ChemistryChinese Academy of SciencesShanghai 200032China

The intimate host-anion interactions will regulate thermodynamics and kinetics in the self-assembly of cationic cages mimicking biological counterparts.Herein,we report construction and transformation of three Pd(Ⅱ)-based metal-organic cages(MOCs)depending on different anions.Stoichiometric conversions of the lantern-shaped MOC-34 into either octahedral MOC-35 or tricapped trigonal prism MOC-36 are induced by BF_(4)^(–)or NO_(3)^(–),respectively.MOC-36 is kinetically favored and can undergo quantitative conversion to the thermodynamically preferred MOC-35 upon heating,accelerated by excess BF_(4)^(–)to motivate dissociative dynamics of Pd-vertices and lower activation barrier of cage transformation.The guest encapsulation behaviors of MOC-35 and MOC-36 have also been tested.These results manifest a significance of host-anion dynamics beyond complementary anion template,shedding light on the understanding of intricate anion recognition in nature.

关键词： Supramolecular coordination cage Dynamic host-anion interactions Structural transformation Anion receptor Guest inclusion

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A comparative study of the main factors controlling geohazards induced by 10 strong earthquakes in Western China since the Wenchuan earthquake in 2008

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China Geology 2023年第1期6卷 70-84页

作者： Chao Peng Zhi-qiang Yin Xu-jiao Zhang hai shao Ming-fei Pang China University of Geosciences(Beijing) Beijing 100029China China Institute of Geo-Environment Monitoring China Geological SurveyMinistry of Natural ResourcesBeijing 100081China China University of Geosciences Wuhan 430074China

Determining the main controlling factors of earthquake-triggered geohazards is a prerequisite for studying earthquake geohazards and post-disaster emergency response.By studying these factors,the geomorphic and geological factors controlling the nature,condition,and distribution of earthquake-induced geohazards can be analyzed.Such insights facilitate earthquake disaster prediction and emergency response planning.The authors combined field investigations and spatial data analysis to examine geohazards induced by seismic events,examining ten earthquakes including the Wenchuan,Yushu,Lushan events,to elucidate the main control factors of seismic geohazard.The authors observed that seismic geohazard occurrence is usually affected by many factors,among which active nature of the seismogenic fault,seismic peak ground acceleration(PGA),topographic slope and geomorphic height differences,and distance from the fault zone and river system are the most important.Compared with strike-slip earthquakes,thrust earthquakes induce more high-altitude and high-speed remote landslides,which can cause great harm.Slopes of 0°–40°are prone to secondary seismic geohazards,which are mainly concentrated 0–6 km from the river system.Secondary geohazards are not only related to seismogenic fault but also influenced by the associated faults in the earthquake area.The maximum seismic PGA and secondary seismic geohazard number are positively correlated,and the horizontal and vertical ground motions play leading and promoting roles in secondary geohazard formation,respectively.Through the research,the spatial distribution of seismic geohazards is predicted,providing a basis for the formulation of emergency response plans following disasters.

关键词： Wenchuan earthquake Geohazards Main control factors Comparative study Geological disater survey engineering Western China

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