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Cysteine-activated fluorescence/photoacoustic integrated probe for non-invasive diagnosis of drug-induced liver injury

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Chinese Chemical Letters 2023年第5期34卷 484-488页

作者： Rui Chen Wenxiu Li Rong Li Sixin Ai huayong zhu Weiying Lin Guangxi Key Laboratory of Electrochemical Energy Materials Institute of Optical Materials and Chemical BiologySchool of Chemistry and Chemical EngineeringGuangxi UniversityNanning 530004China

Hepatotoxicity is a serious problem faced by clinical drugs,and long-term administration or overdose may lead to liver failure and even death of ***,developing a reliable detection method for the early diagnosis and therapy of drug-induced liver injury(DILI)has significant *** fluorescence(NIRF)and photoacoustic(PA)dual-modality tomography probes can be used for imaging with high sensitivity and high-resolution of disease-related markers in deep ***,we developed a novel Cys-activated NIRF and PA dual-modality imaging probe(CDR)for early diagnosis of DILI,for the first *** organic molecular probe CDR could respond rapidly to Cys,resulting in the absorption peak red-shifted from 560 nm to 725 nm,which also leads to the activation of the PA725signal and *** addition,the new probe CDR could be used for NIRF/PA imaging of exogenous and endogenous Cys level in live cells and *** importantly,CDR has also been successfully used for in situ detection of Cys in early DILI mice and evaluate the therapeutic effect of ***,the CDR might become a powerful tool to research the physiological effect of Cys and evaluate the degree of DILI.

关键词： Near-infrared fluorescence Photoacoustic imaging Fluorescence imaging Cysteine

基于分布式模型预测控制的多UAV协同区域搜索

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航空学报 2010年第3期31卷 593-601页

作者：彭辉沈林成朱华勇国防科学技术大学机电工程与自动化学院湖南长沙410073 解放军理工大学指挥自动化学院江苏南京210007

针对多无人机(UAV)协同区域搜索问题展开研究。提出了一种基于分布式模型预测控制(DMPC)的多UAV分布式优化搜索方法。首先基于传统的搜索图模型,建立了多UAV协同搜索的问题描述和状态空间模型,然后在DMPC框架下,将集中式多UAV在线优化... 详细信息

针对多无人机(UAV)协同区域搜索问题展开研究。提出了一种基于分布式模型预测控制(DMPC)的多UAV分布式优化搜索方法。首先基于传统的搜索图模型,建立了多UAV协同搜索的问题描述和状态空间模型,然后在DMPC框架下,将集中式多UAV在线优化决策问题转化为各架UAV的小规模分布式优化问题,采用基于纳什最优和粒子群优化(PSO)相结合的算法实现对每个子系统优化问题的迭代求解。仿真结果表明:DMPC方法能够有效地降低多UAV协同搜索决策问题的求解规模,是一种可行的方法。

关键词：无人机协同区域搜索分布式模型预测控制粒子群优化纳什最优

Reprogrammable, intelligent soft origami LEGO coupling actuation, computation, and sensing

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The Innovation 2024年第1期5卷 59-69页

作者： Zhongdong Jiao Zhenhan Hu Yuhao Shi Kaichen Xu Fangye Lin Pingan zhu Wei Tang Yiding Zhong huayong Yang Jun Zou State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Tightly integrating actuation,computation,and sensing in soft materials allows soft robots to respond autonomously to their ***,fusing these capabilities within a single soft module in an effi-cient,programmable,and compatible way is still a significant ***,we introduce a strategy for integrating actuation,computation,and sensing capabilities in soft *** and plug-and-play soft origami modules can be reconfigured into diverse morphologies with specific functions or reprogrammed into a variety of soft logic circuits,similar to LEGO *** built an untethered autonomous soft turtle that is able to sense stimuli,store data,process information,and perform swimming *** function multiplexing and signal compatibility of the origami minimize the number of soft devices,thereby reducing the complexity and redundancy of soft ***,this origami also exhibits strong damage resistance and high *** envision that this work will offer an effective way to readily create on-demand soft robots that can operate in unknown environments.

关键词： integrating autonomous computation

The Lagrangian Relaxation based Resources Allocation Methods for Air-to-Ground Operations under Uncertainty Circumstances

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The Lagrangian Relaxation based Resources Allocation Methods...

2009中国控制与决策会议

作者： Li Yuan,zhu huayong,Shen Lincheng Institute of Electromechanical Engineering and Automation,NUDT,Changsha 410073,China

＜正＞The task of assigning weapons and sensors to targets is a crucial one in the military,and it is a resources allocation problem under uncertainty ***,the integer programm based formal model of resources allocation is put *** formulation can be solved using Lagrangian Relaxation（LR） to decouple the multi-target problem into many single-target POMDPs,and they are small enough to solve ***,the POMDP based single target multi-stage optimization,which reflects the uncertainty in task execution output and decision-making,is bring forward to modeling and solving low level *** sub-gradients algorithm is used in top-level search processes to offer the marginal resources price for POMDP sub-problems,so as to coordinate the resources consumption of low level ***,the method of construction feasible solutions based on the solutions of Lagrangian dual problem is put *** results illustrate the validity of our method.

关键词： Air-to-ground attack Lagrangian relaxation POMDP Resource allocation

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基于XML的无人机任务链模型

计算机工程 2006年第14期32卷 233-235,260页

作者：龙涛叶媛媛朱华勇沈林成国防科技大学机电工程与自动化学院长沙410073

对无人机系统地面任务控制站与飞行器通信协议中的任务链进行了研究。根据功能将任务链分为航路计划、传感器计划、通信计划和控制权限交接计划4个部分,建立了能够支持复杂任务的任务链模型。采用XML语言对任务链进行表达,增强了任务链... 详细信息

对无人机系统地面任务控制站与飞行器通信协议中的任务链进行了研究。根据功能将任务链分为航路计划、传感器计划、通信计划和控制权限交接计划4个部分,建立了能够支持复杂任务的任务链模型。采用XML语言对任务链进行表达,增强了任务链的标准性和通用性。最后实现了任务控制站通过任务链控制多架无人机协同执行任务的仿真。

关键词：无人机任务控制站任务规划任务链仿真

一种嵌入式手持设备的无线数据通信模块扩展方法

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微计算机信息 2006年第7Z期22卷 19-21页

作者：张庆杰朱华勇国防科学技术大学机电工程与自动化学院任务规划研究中心

文中针对一类嵌入式手持设备,提出了一种扩展低成本无线数据通信模块的方法。通过对基于ARM技术的嵌入式手持设备样机的研究,详细地介绍无线数据通信模块的扩展问题,并且分析了在嵌入式操作系统WindowsCE下无线通信程序的设计方法。经... 详细信息

文中针对一类嵌入式手持设备,提出了一种扩展低成本无线数据通信模块的方法。通过对基于ARM技术的嵌入式手持设备样机的研究,详细地介绍无线数据通信模块的扩展问题,并且分析了在嵌入式操作系统WindowsCE下无线通信程序的设计方法。经过测试验证,该类无线数据通信模块具有良好的有效性及可靠性。

关键词：无线数据通信手持设备 Windows CE操作系统

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基于拟态物理法的无人机集群与重构控制

中国科学：技术科学 2017年第3期47卷 266-285页

作者：沈林成王祥科朱华勇付钰刘欢国防科学技术大学机电工程与自动化学院长沙410073

基于拟态物理(artificial physics)法研究多无人机系统的集群构型生成及重构控制问题.在改进传统的拟态物理法基础上定义新的引力和斥力,使质点模型多无人机系统能够生成均匀分布的标准构型,并借助LaSalle不变集理论分析了集群控制律的... 详细信息

基于拟态物理(artificial physics)法研究多无人机系统的集群构型生成及重构控制问题.在改进传统的拟态物理法基础上定义新的引力和斥力,使质点模型多无人机系统能够生成均匀分布的标准构型,并借助LaSalle不变集理论分析了集群控制律的稳定性;在此基础上,进一步讨论了序号无关的集群构型局部极值的改进策略.探索了一般性集群构型和标准构型之间的可逆且唯一的双射变换,利用双射变换提出了一般性集群构型生成的集群控制算法,并进而讨论了集群队形的收缩与扩张、集群构型切换和集群避障等集群重构问题.为验证提出的质点模型集群构型生成和重构算法,论文基于ROS(机器人操作系统)及Gazebo仿真器构建了多四旋翼无人机的协同仿真平台,分析验证了构型生成和重构算法的有效性.最后,将设计的基于拟态物理法的集群控制律扩展到多固定翼无人机系统,并搭建了基于X-Plane飞行模拟器和无人机自驾仪的多无人机协同控制半实物仿真环境,验证集群构型生成控制律的有效性.

关键词：无人机集群拟态物理法双射变换队形生成队形重构

Free-weighting Matrices Based Approach to Convergence Criterion for the Consensus of l-th Order multiRobot Systems with Switching Interconnection

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Free-weighting Matrices Based Approach to Convergence Criter...

基于交换树的多机器人任务协调与负荷平衡方法

第三十届中国控制会议

作者： ZHANG Qingjie,zhu huayong College of Mechatronics Engineering and Automation,National University of Defense Technology,Changsha 410073,P.R.China

＜正＞The distributed average consensus problem of l-th order multiRobot systems with multiple communication delays and switching topologies is discussed in this *** the idea of state decomposition,the condition for guaranteeing average consensus is converted into verifying the stability of zero equilibrium of disagreement *** multiple time-varying communication delays,common Lyapunov-Krasovskii functional is employed to analyze the stability of zero *** order to relax the conservativeness,Free-weighting Matrices method is employed in the main *** matrix order-reduced treatment,the tolerant upper bounds on communication delays can be obtained through solving feasible linear matrix inequalities （LMIs）.Numerical examples and simulations are given to demonstrate the effectiveness of the proposed *** with the existing literature,the proposed LMI based delay-dependent stability criterion is characterized by lower conservativeness, simple formation of the solution,and wide range of time-varying delays.

关键词： Average Consensus Lyapunov-Krasovskii Functional Free-weighting Matrices l-th Order MuItiRobot Systems

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计算机应用 2016年第11期36卷 3127-3130,3135页

作者：沈莉李杰朱华勇国防科技大学机电工程与自动化学院长沙410073

针对多机器人任务分工与协调过程中,未能有效解决的带任务偏序关系的负荷平衡问题,提出一种基于交换树的多机器人任务协调与负荷平衡方法。首先,通过有向赋权图(约束图)对带偏序关系约束的多机器人任务分工问题进行描述;其次,根据有向... 详细信息

针对多机器人任务分工与协调过程中,未能有效解决的带任务偏序关系的负荷平衡问题,提出一种基于交换树的多机器人任务协调与负荷平衡方法。首先,通过有向赋权图(约束图)对带偏序关系约束的多机器人任务分工问题进行描述;其次,根据有向赋权图提出了初始任务分工策略,通过改进Dijkstra算法解决多机器人之间任务协调问题;最后,提出负荷平衡策略,通过交换树竞拍的方法解决机器人之间任务负荷不平衡问题。仿真结果表明,与一般Dijkstra方法相比,执行完任务负荷平衡策略之后,工作效率明显提高了12%,机器人之间的任务负荷差也减少了30%,验证了该方法的有效性。

关键词：偏序关系约束任务协调工作负荷平衡多机器人