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快速反射镜自适应反演PID复合控制系统设计

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红外技术 2024年第2期46卷 144-149页

作者：艾志伟张慕帆朱华嵇建波柏元忠桂林航天工业学院广西桂林541004

为了提高复合轴系统的光束跟踪性能,必须考虑不可测扰动对快速反射镜系统的影响。针对可测量扰动,设计了自适应反演前馈控制算法,并由此得到启发,设计了用于抑制不可测量扰动的自适应反演PID(proportional-integral-derivative)控制系统... 详细信息

为了提高复合轴系统的光束跟踪性能,必须考虑不可测扰动对快速反射镜系统的影响。针对可测量扰动,设计了自适应反演前馈控制算法,并由此得到启发,设计了用于抑制不可测量扰动的自适应反演PID(proportional-integral-derivative)控制系统,用自适应算法提高系统稳态精度以及对不同扰动的适应性,用PID控制器修正系统的误差信号改善系统动态性能。仿真结果表明,相较于PID控制算法,自适应反演PID复合控制系统的误差均方差值下降了34.76%,相较于自适应控制算法,自适应反演PID控制系统的误差均方差值下降了13.3%,自适应反演PID复合控制系统的稳态精度相比经典PID控制和自适应反演控制系统均得到了明显的提升,采用复合算法时上升时间相较自适应算法减少了48.9%,超调量相较经典PID算法减少了80.5%,系统动态性能得到较大改善。

关键词：快速反射镜扰动抑制自适应反演控制

基于TwinCAT3的一种开源机器人控制系统设计

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科学技术与工程 2024年第4期24卷 1561-1569页

作者：黄睿张新朱华炳张涛曾亿山安徽理工大学机械工程学院淮南232001 合肥工业大学机械工程学院合肥230031

目前主流工业机器人为封闭式控制结构,存在不开源、二次开发难的问题,因此设计一种基于TwinCAT3(the windows control and automation technology)的跨平台、可移植性好的机器人控制系统架构。该架构包含视觉、运动控制和算法集成与仿... 详细信息

目前主流工业机器人为封闭式控制结构,存在不开源、二次开发难的问题,因此设计一种基于TwinCAT3(the windows control and automation technology)的跨平台、可移植性好的机器人控制系统架构。该架构包含视觉、运动控制和算法集成与仿真控制模块,采用倍福自动化设备规范(automation device specification,ADS)通信技术和实时工业以太网总线技术(ethernet for control automation technology,EtherCAT),建立以计算机(personal computer,PC)和倍福控制器为EtherCAT主站,控制多组从站执行器的一主多从工作模式。该模式结合离线与在线控制、集成数字孪生技术,完成虚拟样机与物理样机的联动;采用开源可扩展架构,便于视觉算法、智能算法等算法集成。经实验验证,此架构具有拓展性好、实时性强的特点。

关键词： TwinCAT3 开源机器人控制系统视觉数字孪生

Microplastic pollution in surface water and sediments of Qinghai-Tibet Plateau: Current status and causes

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China Geology 2021年第1期4卷 178-184页

作者： Rui-ping Liu Ying Dong Guo-cang Quan hua zhu You-ning Xua Rafaey M.Elwardany Xi’an center China Geological SurveyMinistry of Natural ResourcesXi’an 710054China Key Laboratory of Subsurface Hydrology and Ecological Effects in Arid Region Ministry of EducationXi’an 710054China Key Laboratory for Geo-hazards in Loess Area Ministry of Natural ResourcesXi’an 710054China Field Base of Scientific Observation of Shannxi Tongguan Ministry of Natural ResourcesXi’an 710054China Institute of Hydrogeology Engineering Geology and Environment Geology Survey of Qinghai ProvinceXining 810008China School of Earth Science and Land Resources of Chang’an University Xi’an 710054China Faculty of Science Al-Azhar UniversityAssiut 71524Egypt

To study the current status and causes of the microplastic pollution in surface water of the Qinghai-Tibet Plateau,this paper compared the average microplastic abundance in sediments and surface water of the Qinghai-Tibet Plateau and the results are as follows.First,the average microplastic abundance in surface water of the independent rivers and the whole area is 247−2686 items/m^(3) and 856 items/m^(3),respectively.The average microplastic abundance in sediments of independent rivers or lakes and the whole area is 0−933 items/m^(2) and 362 items/m^(2),respectively.Meanwhile,the degree of microplastic pollution in river sediments is higher than that in lake sediments,and the rivers suffering from microplastic pollution mainly include the Brahmaputra River,Tongtian River,and Nujiang River.Second,compared with the microplastic pollution in other areas of the world,the levelof microplastic pollution in the lakes and rivers of the Qinghai-Tibet plateau is not lower than that of well-developed areas with more intensive human activities.Finally,this study suggests that relevant government departments of the Qinghai-Tibet Plateau should strengthen waste management strategies while developing tourism and that much attention should be paid to the impacts of microplastics in the water environment.

关键词： Microplastic pollution Microplastic abundance Surface water River sediment Water environment Human activities Qinghai-Tibet Plateau China

Synthesis and evaluation of ^(64)Cu-radiolabeled NOTA-cetuximab(^(64)Cu-NOTA-C225) for immuno-PET imaging of EGFR expression

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Chinese Journal of Cancer Research 2019年第2期31卷 400-409页

作者： Xiaoxia Xu Teli Liu Fei Liu Xiaoyi Guo Lei Xia Qing Xie Nan Li Haifeng huang Xianteng Yang Yangchun Xin hua zhu Zhi Yang Key Laboratory of Carcinogenesis and Translational Research (Ministry of Education/Beijing) Department of Nuclear Medicine Peking University Cancer Hospital & Institute Department of Orthopaedics Guizhou Provincial People's Hospital Katzin Diagnostic & Research PET/MR Center Nemours/Alfred I.DuPont Hospital for Children

Objective: Epidermal growth factor receptor(EGFR) is overexpressed in a wide variety of solid tumors, serving as a well-characterized target for cancer imaging or therapy. In this study, we aimed to design and synthesize a radiotracer, ^(64) Cu-NOTA-C225, targeting EGFR for tumor positron emission tomography(PET) imaging.Methods: Cetuximab(C225) was conjugated to a bifunctional chelator, p-isothiocyanatobenzyl-1,4,7-triazacyclononane-1,4,7-triacetic acid(NOTA), and further radiolabeled with copper-^(64) for PET imaging. ^(64) CuNOTA-IgG and Cy5.5-C225 were also synthesized as control probes. A431 and A549 mouse models were established for micro-PET and/or near-infrared fluorescence(NIRF) imaging.Results: ^(64) Cu-NOTA-C225 exhibited stability in vivo and in vitro up to 24 h and 50 h post-injection,respectively. A431 tumors with average standard uptake values(SUVs) of 5.61±0.69, 6.68±1.14, 7.80±1.51 at 6, 18 and 36 h post-injection, respectively, which were significantly higher than that of moderate EGFR expressing tumors(A549), with SUVs of 0.89±0.16, 4.70±0.81, 2.01±0.50 at 6, 18 and 36 h post-injection, respectively. The expression levels of A431 and A549 were confirmed by western blotting. Additionally, the tracer uptake in A431 tumors can be blocked by unlabeled cetuximab, suggesting that tracer uptake by tumors was receptor-mediated.Furthermore, NIRF imaging using Cy5.5-C225 showed that the fluorescence intensity in tumors increased with time, with a maximal intensity of 8.17 E+10(p/s/cm^2/sr)/(μW/cm^2) at 48 h post-injection, which is consistent with the paradigm from micro-PET imaging in A431 tumor-bearing mice.Conclusions: The ^(64) Cu-NOTA-C225 PET imaging may be able to specifically and sensitively differentiate tumor models with different EGFR expression levels. It offers potentials as a PET radiotracer for imaging of tracer EGFR-positive tumors.

关键词： Epidermal growth factor receptor immuno-PET imaging copper-64 monoclonal antibody

Tongmai Yangxin Pill combined with metoprolol or metoprolol alone for the treatment of symptomatic premature ventricular complex:a multicenter,randomized,parallel-controlled clinical study

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Journal of Geriatric Cardiology 2022年第4期19卷 284-291页

作者： Li-Jun LIU Guo-hua zhu Hong-Yu LUO Xi-Peng SUN Jing LI Qi hua Department of Cardiology Xuanwu Hospital Capital Medical UniversityBeijingChina Department of Geriatrics Xuanwu Hospital Capital Medical UniversityBeijingChina

OBJECTIVE To investigate the effects of Tongmai Yangxin Pill(TMYXP)combined with metoprolol tartrate or metoprolol alone for the treatment of premature ventricular complex(PVC)in patients with symptomatic frequent PVC.METHODS A total of 584 patients with symptomatic frequent PVC were randomly assigned(in a 1:1 ratio)into two groups:study group[n=292,TMYXP(40 pills twice/day,orally)combined with metoprolol tartrate(25 mg twice/day,orally)]and control group[n=292,metoprolol tartrate(25 mg twice/day,orally)plus placebo pill(40 pills twice/day,orally)].The total treatment period was eight weeks.RESULTS After eight weeks of treatment,the total effective rate of reduction of PVC in the study group and the control group were 76.4%and 51.4%,respectively(P<0.001).TMYXP combined with metoprolol tartrate demonstrated a significantly greater reduction of the frequency of PVCs compared with the metoprolol tartrate alone(−4537 times/24 h vs.−3013 times/24 h,P<0.001).The study group also showed a better result compared with the control group with respect to PVC related symptoms.In terms of New York Heart Association classification improvement,the total effective rates were 21.9%in the study group and 12.4%in the control group(P<0.05).Both the study group and the control group exhibited improvements in echocardiographic indexes.Left ventricular ejection fraction was significantly improved in the study group compared with the control group(P<0.05).There was no significant difference in the incidence of adverse events between the two groups.CONCLUSIONS Compared with metoprolol tartrate alone,TMYXP combined with metoprolol tartrate could more effectively reduce the frequency of PVC and alleviated PVC related symptoms,and improve cardiac function in patients with symptomatic PVC.

关键词： treatment alone complex

Psychological needs of parents of children with complicated congenital heart disease after admitting to pediatric intensive care unit: A questionnaire study

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World Journal of Clinical Cases 2022年第24期10卷 8578-8586页

作者： Ji-hua zhu Chen-Di Jin Xiao-Min Tang Department of Nursing The Children’s HospitalZhejiang University School of MedicineNational Clinical Research Center for Child HealthHangzhou 310053Zhejiang ProvinceChina

BACKGROUND Parents of children with complicated congenital heart disease(CHD)have different needs after surgery.Little literature reports the impact factors for psychological needs of parents of children with complicated CHD.AIM To investigate the status quo of the needs of parents of children after surgery for complex CHD,and analyze the influencing factors,in order to provide a theoretical basis for formulating corresponding nursing countermeasures.METHODS A modified Chinese version of the Critical Care Family Needs Inventory(MCCFNI)was used to select 200 parents of children with complex CHD after surgery within 72 h after admission to the intensive care unit in our hospital to conduct an online questionnaire survey.The aim was to understand the needs of parents in relation to the following five aspects:The support from medical staff,comfort of the parents themselves,the acquisition of information,their closeness to the children,and assurance of the child’s condition.RESULTS Parents of children with complex CHD had a higher degree of demand,especially in terms of condition assurance,acquisition of information,and closeness to the children.The age,education level,and residence of the parents were related to the five dimensions of the needs of parents of children with complex CHD who had undergone surgery.CONCLUSION In practice,nurses should formulate corresponding nursing strategies based on the different cultural and social backgrounds of parents of children after complex CHD surgery to meet their different needs,and improve satisfaction.These findings provide a theoretical basis for constructing a family participatory nursing model for children in the intensive care unit in the future.

关键词： Congenital heart disease Family participation Psychological needs Nursing model Pediatric intensive care unit

不同剂量替西帕肽治疗2型糖尿病有效性和安全性的网状Meta分析

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实用药物与临床 2024年第4期27卷 248-254页

作者：陈敏张高山韩菲朱华江苏省苏北人民医院药学部江苏扬州225001

目的采用网状Meta分析评价不同剂量替西帕肽治疗2型糖尿病(Type 2 diabetes mellitus,T2DM)的有效性和安全性。方法检索PubMed、Embase、Cochrane Library、中国知网和万方数据库,收集不同剂量替西帕肽治疗T2DM的随机对照试验(Randomize... 详细信息

目的采用网状Meta分析评价不同剂量替西帕肽治疗2型糖尿病(Type 2 diabetes mellitus,T2DM)的有效性和安全性。方法检索PubMed、Embase、Cochrane Library、中国知网和万方数据库,收集不同剂量替西帕肽治疗T2DM的随机对照试验(Randomized controlled trials,RCTs),检索时限均从建库至2023年6月。由2名研究者独立筛选文献,提取文献并评价纳入文献的偏倚风险后,采用STATA17.0软件进行网状Meta分析。结果本研究共纳入10篇RCT,涉及6种干预措施,包括替西帕肽15 mg、替西帕肽10 mg、替西帕肽5 mg、胰岛素、胰高血糖素样肽-1受体激动剂(GLP-1RA)和安慰剂,涉及8524例糖尿病患者。网状Meta分析结果显示,药物有效性主要指标糖化血红蛋白(HbA1c)降低程度累积排序概率图曲线下面积(SUCRA)排序依次为替西帕肽15 mg>替西帕肽10 mg>替西帕肽5 mg>GLP-1RA>胰岛素。药物安全性方面,胰岛素、安慰剂、替西帕肽5 mg更有优势。结论大剂量下的替西帕肽可以更有效地降低T2DM患者的HbA1c、空腹血糖(FPG)、体重,但需要警惕其不良反应。

关键词：替西帕肽 2型糖尿病有效性安全性网状Meta分析

基于CNN-LSTM的钻井泵液力端故障诊断方法研究

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内蒙古石油化工 2024年第3期50卷 29-34页

作者：单代伟朱骅张芳芳四川宏华石油设备有限公司四川广汉608300 成都理工大学油田气藏地质及开发工程国家重点实验室四川成都610059

钻井泵液力端工作环境复杂,容易发生故障,传统故障诊断方法难以满足钻井现场需求。针对五缸式钻井泵,开展了基于深度神经网络的钻井泵液力端故障诊断研究,设计了CNN-LSTM故障诊断模型结构,研究了LSTM对故障诊断模型性能影响。结果表明,... 详细信息

钻井泵液力端工作环境复杂,容易发生故障,传统故障诊断方法难以满足钻井现场需求。针对五缸式钻井泵,开展了基于深度神经网络的钻井泵液力端故障诊断研究,设计了CNN-LSTM故障诊断模型结构,研究了LSTM对故障诊断模型性能影响。结果表明,提出的CNN-LSTM模型实现了钻井泵液力端多种工况下9类故障快速准确诊断,通过引入LSTM结构,将故障诊断准确率提升了7.85%,达到了97.67%。因此提出的CNN-LSTM故障诊断模型可为钻井现场提供一种高效准确的钻井泵液力端故障诊断方法。

关键词：钻井泵液力端故障诊断振动信号 CNN-LSTM

Pichia kudriavzevii生物强化对酱香型白酒酒醅微生物群落结构及挥发性风味组分的影响

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食品科学技术学报 2024年第2期42卷 93-108,130页

作者：倪冰倩夏韩硕闵伟红朱华王昆李微微李秀婷张成楠北京工商大学食品与健康学院北京100048 北京工商大学北京食品营养与人类健康高精尖创新中心北京100048 中国商业联合会酿酒微生物与酶分子工程重点实验室北京100048 吉林农业大学食品科学与工程学院吉林长春130118 浙江农林大学食品与健康学院浙江杭州311300 北京华都酿酒食品有限责任公司北京102212

乙酸苯乙酯具有玫瑰花香、蜂蜜香、苹果香等风味特征,是酱香型白酒的重要风味物质。高产乙酸苯乙酯酵母菌的筛选及发酵应用对于改善酱香型白酒风味,提高白酒品质具有重要意义。从酱香型白酒酿造过程的酒醅样品中筛选得到1株乙酸苯乙酯... 详细信息

乙酸苯乙酯具有玫瑰花香、蜂蜜香、苹果香等风味特征,是酱香型白酒的重要风味物质。高产乙酸苯乙酯酵母菌的筛选及发酵应用对于改善酱香型白酒风味,提高白酒品质具有重要意义。从酱香型白酒酿造过程的酒醅样品中筛选得到1株乙酸苯乙酯产量相对较高的菌株Pichia kudriavzevii X-8,将其应用于酱香型白酒模拟发酵实验。结果表明:A组(未添加菌株Pichia kudriavzevii X-8)和B组(添加菌株Pichia kudriavzevii X-8)酒醅样品中挥发性化合物分别有60、65种,其中B组的酯类、醇类、酸类及其他风味物质的种类及含量均高于A组。发酵30 d后,B组乙酸苯乙酯质量比(0.214μg/g)约为A组(0.121μg/g)的2倍。B组特有的优势属为Weissella和Pichia,2组酒醅样品中Lactobacillus和Pediococcus,Saccharomycopsis和Saccharomyces的菌落丰度也存在差异。加入Pichia kudriavzevii X-8后,对酒醅的理化指标影响不大,增强了水质量分数、酸度及风味物质与真菌属微生物的相关性,提高了乙酸苯乙酯及其他重要风味物质的含量。研究结果旨在为酱香型白酒品质提升和功能菌株在酱香型白酒中的实际应用提供理论参考。

关键词：酱香型白酒生物强化乙酸苯乙酯挥发性风味物质微生物群落相关性分析