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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 *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** 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 *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of 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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Method for Evaluating Bolt Competitive Failure Life Under Composite Excitation

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Chinese Journal of Mechanical Engineering 2023年第4期36卷 372-384页

作者： Guangwu Yang Long Yang han zhao Haoxu Ding Bing Yang Shoune Xiao State Key Laboratory of Rail Transit Vehicle System Southwest Jiaotong UniversityChengdu 610031China

In this study,the competitive failure mechanism of bolt loosening and fatigue is elucidated via competitive failure tests on bolts under composite *** on the competitive failure mechanism,the mode prediction model and“load ratio-life prediction curve”(ξ-N curve)of the bolt competitive failure are *** the poor correlation of theξ-N curve,an evaluation model of the bolt competitive failure life is proposed based on Miner’s linear damage accumulation *** on the force analysis of the thread surface and simulation of the bolt connection under composite excitation,a theoretical equation of the bolt competitive failure life is established to validate the model for evaluating the bolt competitive failure *** results reveal that the proposed model can accurately predict the competitive failure life of bolts under composite excitation,and thereby,it can provide guidance to engineering applications.

关键词： Bolt Competitive failure life Evaluation model Mode prediction model Composite excitation

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Hot deformation behavior of GH4945 superalloy using constitutive equation and processing map

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Journal of Iron and Steel Research International 2017年第6期24卷 625-633页

作者： zhao-xia Shi Xiao-feng Yan Chun-hua Duan Jin-gui Song Ming-han zhao Jue Wang High Temperature Materials Research Institute Central Iron and Steel Research Institute Beijing 100081 China Beijing Key Laboratory of Advanced High Temperature Materials Central Iron and Steel Research Institute Beijing 100081China Shenyang Liming Aero-Engine (Group) Corporation Ltd. Shenyang 110043 Liaoning China School of Materials Science and Engineering Nanjing Institute of Technology Nanjing 211167 Jiangsu China

The hot deformation behavior of GH4945 superalloy was investigated by isothermal compression test in the temperature range of 1000--1200 ℃with strain rates of 0.001 10.000 s 1 toa total strain of 0.7. Dynamic recrystallization is the primary softening mechanism for GH4945 superalloy during hot deformation. The constitutive equation is established, and the calculated apparent activation energy is 458. 446 kJ/moh The processing maps at true strains of 0.2, 0.4 and 0.6 are generally similar, dem- onstrating that strain has little influence on processing map. The power dissipation efficiency and in- stability factors are remarkably influenced by deformation temperature and strain rate. The optimal hot working conditions are determined in temperature range of 1082 -1131 ℃ with strain rates of 0.004--0.018 s-1. Another domain of1134--1150 ℃ and 0. 018 0.213s ^- can also be selected as the optimal hot working conditions. The initial grains are replaced by dynamically reerystallized ones in optimal domains. The unsafe domains locate in the zone with strain rates above 0, 274 s^- 1, mainly characterized by uneven microstructure. Hot working is not recommended in the unsafe domains.

关键词： Hot deformation behaviorConstitutive equationProcessing mapGH4945 superalloy

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DENND1A desensitizes granulosa cells to FSH by arresting intracellular FSHR transportation

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Science China(Life Sciences) 2024年第8期67卷 1620-1634页

作者： Yunde Dou Rusong zhao han Wu Zhiheng Yu Changjian Yin Jie Yang Chaoyan Yang Xiaohua Luan Yixiao Cheng Tao Huang Yuehong Bian Shan han Yuqing Zhang Xin Xu Zi-Jiang Chen han zhao Shigang zhao Institute of Women Children and Reproductive HealthShandong UniversityJinan 250012China State Key Laboratory of Reproductive Medicine and Offspring Health Jinan 250012China Key laboratory of Reproductive Endocrinology of Ministry of Education Shandong UniversityJinan 250012China Shandong Key Laboratory of Reproductive Medicine Shandong UniversityJinan 250012China Shandong Provincial Clinical Research Center for Reproductive Health Jinan 250012China National Research Center for Assisted Reproductive Technology and Reproductive Genetics Shandong UniversityJinan 250012China The Affiliated Suzhou Hospital of Nanjing Medical University Suzhou Municipal HospitalNanjing Medical UniversitySuzhou 215008China Gusu School Nanjing Medical UniversitySuzhou 215000China Guangdong Provincial People’s Hospital Guangdong Academy of Medical SciencesGuangzhou 510080China Guangdong-Hong Kong Metabolism&Reproduction Joint Laboratory Guangdong Second Provincial General HospitalGuangzhou 510317China Reproductive Medicine Center Guangdong Second Provincial General HospitalGuangzhou 510317China Research Unit of Gametogenesis and Health of ART-Offspring Chinese Academy of Medical Sciences(No.2021RU001)Jinan 250012China Shanghai Key Laboratory for Assisted Reproduction and Reproductive Genetics Shanghai 200127China Center for Reproductive Medicine Renji HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghai 200127China

Polycystic ovary syndrome(PCOS)is a complex ***-wide association studies(GWAS)have identified several genes associated with this condition,including ***1A encodes a clathrin-binding protein that functions as a guanine nucleotide exchange factor involved in vesicular ***,the specific role of DENND1A in reproductive hormone abnormalities and follicle development disorders in PCOS remain poorly *** this study,we investigated DENND1A expression in ovarian granulosa cells(GCs)from PCOS patients and its correlation with *** results revealed an upregulation of DENND1A expression in GCs from PCOS cases,which was positively correlated with testosterone *** further explore the functional implications of DENND1A,we generated a transgenic mouse model overexpressing Dennd1a(TG mice).These TG mice exhibited subfertility,irregular estrous cycles,and increased testosterone production following PMSG ***,the TG mice displayed diminished responsiveness to FSH,characterized by smaller ovary size,less well-developed follicles,and abnormal expressions of FSH-priming ***,we found that Dennd1a overexpression disrupted the intracellular trafficking of follicle stimulating hormone receptor(FSHR),promoting its internalization and inhibiting *** findings shed light on the reproductive role of DENND1A and uncover the underlying mechanisms,thereby contributing valuable insights into the pathogenesis of PCOS and providing potential avenues for drug design in PCOS treatment.

关键词： PCOS DENND1A FSHR ovarian granulosa cells

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Molecularmechanisms of Tanshinone IIA in Hepatocellular carcinoma therapy via WGCNA-based network pharmacology analysis

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BIOCELL 2022年第5期46卷 1245-1259页

作者： han zhao JING GUO QINGJIA CHI MENG FANG School of Medicine Jianghan UniversityWuhan430056China Department of Mechanics and Engineering Structure Wuhan University of TechnologyWuhan430070China

Hepatocellular carcinoma(HCC)is a worldwide malignant tumor that caused irreversible *** IIA has been shown to play a notable role in HCC ***,the potential targets and associating mechanism of Tanshinone IIA against HCC remain *** first screened out 105 overlapping genes by integrating the predicted targets of Tanshinone IIA from multiple databases and the differentially expressed genes of HCC from the Cancer Genome Atlas(TCGA)***,we performed weighted gene co-expression network analysis(WGCNA)using the RNA-seq profiles of overlapping genes and HCC-related clinical information.23 genes related to clinical tumor grade in the important module were imported for Gene Ontology(GO)enrichment,Kyoto Encyclopedia of Genes and Genomes(KEGG)analysis and protein-protein interaction(PPI)*** the key genes in the important module from WGCNA with the high connectivity nodes from the PPI network,we identified three hub genes,AURKB,KIF11,and *** further verification,we tested the binding of Tanshinone IIA to three hub *** survival curve,receiver operating characteristic(ROC)curve,mRNA expression,and protein expression were also used to validate the hub *** the study,WGCNA revealed gradespecific gene modules,and the following KEGG pathway analysis indicated that Tanshinone IIA probably plays therapeutical effect in the development of HCC,especially in the cell *** result partially explained the pharmacological mechanism of Tanshinone IIA against HCC.

关键词： Tanshinone IIA Hepatocellular carcinoma Network pharmacology WGCNA Molecular docking

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Reactive oxygen species mediates a metabolic memory of high glucose stress signaling in bovine retinal pericytes

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International Journal of Ophthalmology(English edition) 2019年第7期12卷 1067-1074页

作者： Li-Wei Zhang han zhao Bai-Hua Chen Department of Ophthalmology the Second Xiangya HospitalCentral South University Changsha 410011Hunan Province China Hunan Clinical Research Center of Ophthalmic Disease Changsha 410011 Hunan ProvinceChina

AIM: To investigate the role of reactive oxygen species (ROS) and antioxidant mechanism underlying the metabolic memory of bovine retinal pericytes (BRPs) induced by high ***: Effects of high glucose levels and culture time on BRPs viability were evaluated by CCK-8. BRPs were grown in high-glucose media (30 mmol/L) for 4d followed by culture in normal glucose condition (5.6 mmol/L) for 4d in an experimental group. In contrast, in negative and positive control groups, BRPs were grown in either normal-glucose media or high-glucose media for 8d, respectively. The ROS levels, apoptosis, the expression and activity of manganese superoxide dismutase (MnSOD) in BRPs, as well as the protective effect of adeno-associated viral (AAV)-mediated over expression of MnSOD were determined separately by DCHFA, ELISA and Western ***: Comparing the result of cells apoptosis, activity and protein expression of MnSOD and caspase-3, the cell culture system that exposed in sequence in 30 mmol/L and normal glucose for 4d was demonstrated as a suitable model of metabolic memory. Furthermore, delivery of antioxidant gene MnSOD can decrease BRPs apoptosis, reduce activated caspase-3, and reverse hyperglycemic memory by reducing the ROS of ***: Increased ROS levels and decreased MnSOD levels may play important roles in pericyte loss of diabetic retinopathy. BRPs cultured in high glucose for 4d followed by normal glucose for 4d could be an appropriate model of metabolic memory. rAAV-MnSOD gene therapy provides a promising strategy to inhibit this blinding disease.

关键词： diabetic retinopathy metabolic memory manganese superoxide dismutase molecular therapeutics reactive oxygen species

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A giant Ce-containing poly(tungstobismuthate): Synthesis, structure and catalytic performance for the decontamination of a sulfur mustard simulant

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Chinese Chemical Letters 2024年第10期35卷 465-468页

作者： Chen Lian Si-han zhao Hai-Lou Li Xinhua Cao College of Chemistry and Chemical Engineering Xinyang Normal UniversityXinyang 464000China MOE Key Laboratory of Cluster Science School of Chemistry and Chemical EngineeringBeijing Institute of TechnologyBeijing 102488China

A novel Ce-containing poly(tungstobismuthate)Cs18Na8H_(2)0[Ce3(H_(2)O)10W8Bi4O_(2)8(B-α-Bi W9O_(3)3)4]2·64H_(2)O(1)has been synthesized by a facile one-pot self-assembly reaction *** structural characterization is realized by virtue of single-crystal X-ray diffraction,infrared spectroscopy,powder X-ray diffraction and thermogravimetric *** polyoxoanion of 1 is an octameric architecture consisting of two tetrameric entities[Ce3(H_(2)O)10W8Bi4O_(2)8(B-α-Bi W9O_(3)3)4]23-linked by two Ce–O–W bonds,and adjacent polyoxoanions are further combined together by means of Ce3+linkers,resulting in an infinite 1D chain *** 1 is the currently largest tungstobismuthate,and also represents the first example of lanthanide-encapsulated tungstobismuthate exhibiting an extended ***,compound 1 as a heterogeneous catalyst,exhibits high activity for the oxidative decontamination of a sulfur mustard simulant,2-chloroethyl ethyl sulfide(CEES)into 2-chloroethyl ethyl sulfoxide(CEESO).

关键词： Polyoxometalates Tungstobismuthate Cluster Lanthanide Oxidation

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Enantioselective Total Synthesis of(+)-Propolisbenzofuran B

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Chinese Journal of Chemistry 2024年第22期42卷 2833-2839页

作者： Wen-Xiu Xu Li-han zhao Yao Zhu Hai-Hua Lu Department of Chemistry Zhejiang University866 Yuhangtang RoadHangzhouZhejiang 310058China Key Laboratory of Precise Synthesis of Functional Molecules of zhejiang Province Department of Chemistry and Research Center for Industries oftheFutureWestlake University600 Dunyu RoadHangzhouZhejiang 310030China Institute of Natural Sciences Westlake Institute for Advanced Study18 Shilongshan RoadHangzhouZhejiang 310024China

Comprehensive Summary The first catalytic asymmetric total synthesis of(+)-propolisbenzofuran B,enabled by a highly enantioselective rhodium-catalyzed hydrogenation of a tetrasubstituted olefin,was *** noteworthy aspects include the construction of the central hydrodibenzo[b,d]furan core through a sequence of Zn(II)-mediated regioselective benzofuran formation and Dieckmann condensation,as well as C-H oxidations,involving a visible light-induced Fe(III)-catalyzed benzylic C(sp3)-H ***,the absolute configuration was confirmed by X-ray analysis of a carbonate intermediate.

关键词： Propolisbenzofuran B Total synthesis Enantioselective hydrogenation Photocatalysis C-H functionalization Natural products Alkenes Chirality

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Incipient motion of sediment in presence of submerged flexible vegetation

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Water Science and Engineering 2015年第1期8卷 63-67页

作者： Hao Wang Hong-wu Tang han-qing zhao Xuan-yu zhao Sheng-qi Lü State Key Laboratory of Hydrology-Water Resources and Hydraulic Engineering Hohai University

The presence of submerged vegetation on river beds can change the water flow structure and alter the state of sediment motion. In this study, the incipient motion of sediment in the presence of submerged flexible vegetation in open channels was investigated in a laboratory experiment. The vegetation was simulated with flexible rubber cylinders arranged in parallel arrays. The effect of the vegetation density, water depth, and sediment grain size on the incipient motion was investigated. The experimental results indicate that the incipient motion velocity of sediment increases as the vegetation density decreases and the water depth and sediment grain size increase. With flexible plants, the incipient motion velocity of sediment is lower than it is without vegetation, and is larger than it is with rigid vegetation. A general incipient motion velocity equation was derived, which can be applied to both flexible and rigid vegetation conditions.

关键词： Sediment incipient motion Submerged flexible vegetation Open channel Experimentation Sediment grain size Water depth

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Roles of insulin-like growth factor Ⅱ in regulating female reproductive physiology

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Science China(Life Sciences) 2020年第6期63卷 849-865页

作者： Tahir Muhammad Mengjing Li Jianfeng Wang Tao Huang Shigang zhao han zhao Hongbin Liu Zi-Jiang Chen Center for Reproductive Medicine Cheeloo College of MedicineShandong UniversityJinan 250012China National Research Center for Assisted Reproductive Technology and Reproductive Genetics Shandong UniversityJinan 250012China Key laboratory of Reproductive Endocrinology of Ministry of Education Shandong UniversityJinan 250012China Shandong Provincial Clinical Medicine Research Center for Reproductive Health Shandong UniversityJinan 250012China Shanghai Key Laboratory for Assisted Reproduction and Reproductive Genetics Shanghai 20000China Center for Reproductive Medicine Ren Ji HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghai 200000 China

The number of growth factors involved in female fertility has been extensively studied, but reluctance to add essential growth factors in culture media has limited progress in optimizing embryonic growth and implantation outcomes, a situation that has ultimately led to reduced pregnancy outcomes. Insulin-like growth factor Ⅱ(IGF-Ⅱ) is the most intricately regulated of all known reproduction-related growth factors characterized to date, and is perhaps the predominant growth factor in human ovarian follicles. This review aims to concisely summarize what is known about the role of IGF-Ⅱ in follicular development, oocyte maturation, embryonic development, implantation success, placentation, fetal growth, and in reducing placental cell apoptosis, as well as present strategies that use growth factors in culture systems to improve the developmental potential of oocytes and embryos in different species. Synthesizing the present knowledge about the physiological roles of IGF-Ⅱ in follicular development, oocyte maturation, and early embryonic development should, on the one hand, deepen our overall understanding of the potential beneficial effects of growth factors in female reproduction and on the other hand support development(optimization) of improved outcomes for assisted reproductive technologies.

关键词： growth factors IGF-Ⅱ oocyte maturation embryonic development placentation fetal growth

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