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Autonomous trajectory tracking control method for an agricultural robotic vehicle

International Journal of Agricultural and Biological Engineering 2024年第1期17卷 215-224页

作者： jin yan Wenguang Zhang Yong Liu Wei Pan Xiaoyu Hou Zhiyu Liu School of Computer Science and Engineering Nanjing University of Science and TechnologyNanjing 210094China School of Information Engineering Xuzhou University of TechnologyXuzhou 221018JiangsuChina National Key Laboratory of Transient Physics Nanjing University of Science and TechnologyNanjing 210094China School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

To address the nonlinearities and external disturbances in unstructured and complex agricultural environments,this paper investigates an autonomous trajectory tracking control method for agricultural ground vehicles.Firstly,this paper presents the design and implementation of a lightweight,modular two-wheeled differential drive vehicle equipped with two drive wheels and two caster wheels.The vehicle comprises drive wheel modules,passive wheel modules,battery modules,a vehicle frame,a sensor system,and a control system.Secondly,a novel robust trajectory tracking method was proposed,utilizing an improved pure pursuit algorithm.Additionally,an Online Particle Swarm Optimization Continuously Tuned PID(OPSO-CTPID)controller was introduced to dynamically search for optimal control gains for the PID controller.Simulation results demonstrate the superiority of the improved pure pursuit algorithm and the OPSO-CTPID control strategy.To validate the performance,the vehicle was integrated with a seeding and fertilizing machine to realize autonomous wheat seeding in an agricultural environment.Experimental outcomes reveal that the vehicle of this study completed a seeding operation exceeding 1 km in distance.The proposed method can robustly and smoothly track the desired trajectory with an accuracy of less than 10 cm for the root mean square error(RMSE)of the curve and straight lines,given a suitable set of parameters,meeting the requirements of agricultural applications.The findings of this study hold significant reference value for subsequent research on trajectory tracking algorithms for ground-based agricultural robots.

关键词： trajectory tracking autonomy control agricultural robotic vehicle online PSO continuously tuned PID dynamic pure pursuit algorithm

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Clinical treatment procedure and experience of six gene-edited pigrhesus monkey heterotopic heart xenotransplantation

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中华医学杂志(英文版) 2024年第8期137卷 997-999页

作者： Zhang Bing Ji Pengfei Peng Langang Zhai Mengen Tang Jiayou Zhao Lin jin yan Xu Baoling Lyu Xiangni Lu Linhe Zhou Yenong jin Zhenxiao Duan Weixun yang Xiuling Yi Wei Liu jincheng Department of Cardiovascular Surgery Xijing Hospital Air Force Medical University Xi’an Shaanxi 710032 China

Heart transplantation is an effective treatment for endstage heart failure; however, problems such as the severe shortage of donor hearts, rejection, the toxic effects of immunosuppressants, and serious postoperative complications remain. Heart xenotransplantation is one of the most promising alternatives to address the shortage of allogeneic donor hearts. However, the recipient survival rate and quality of life are affected by major obstacles, including immune rejection, complement and coagulation dysfunction, and infection. Owing to the continuous improvement of gene editing strategies for donor pigs and anti-immune rejection strategies for non-human primate recipients, heart xenotransplantation research and clinical applications have made important breakthroughs. However, using multiple types and high doses of immunosuppressive drugs increases the incidence of postoperative infections in the recipient, also affecting the survival rate. On January 7, 2022, surgeons at the University of Maryland Medical Center transplanted a genetically modified pig heart into a human body. The recipient survived only for 60 days, demonstrating that more preclinical studies are still needed to address the issue of long-term graft survival. In this study, we performed six-gene edited pig-rhesus heterotopic heart transplantations. The recipient survival times were significantly extended, and the comprehensive treatment plan after xenograft transplantation, including anti-inflammation, anticoagulation, anti-immune rejection, and anti-infection therapies, was further improved. Here, we summarized our experience and experimental results in detail to guide further study on heart xenotransplantation.

关键词： TRANSPLANTATION

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ACBP4-WRKY70-RAP2.12 module positively regulates submergence-induced hypoxia response in Arabidopsis thaliana

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Journal of Integrative Plant Biology 2024年第6期66卷 1052-1067页

作者： Mengyun Guo Yingjun Yao Kangqun Yin† Luna Tan Meng Liu jing Hou Han Zhang Ruyun Liang Xinran Zhang Heng yang Xiaoxiao Chen jinrui Tan yan Song Shangling Lou Liyang Chen Xuejing Liu Si Tang Yongqi Hu jin yan Wensen Fu Kai yang Ruijia Zhang Xuerui Li Yao Liu Zhen yan Wei Liu Yu Han Jianquan Liu Kangshan Mao Huanhuan Liu Key Laboratory for Bio‐resources and Eco‐environment&State Key Lab of Hydraulics&Mountain River Engineering Sichuan Zoige Alpine Wetland Ecosystem National Observation and Research StationKey Laboratory for Bio‐resource and Eco‐environment of Ministry of EducationCollege of Life SciencesSichuan UniversityChengdu 610065China

ACYL-CoA-BINDING PROTEINs(ACBPs)play crucial regulatory roles during plant response to hypoxia,but their molecular mechanisms remain poorly understood.Our study reveals that ACBP4 serves as a positive regulator of the plant hypoxia response by interacting with WRKY70,influencing its nucleocytoplasmic shuttling in Arabidopsis thaliana.Furthermore,we demonstrate the direct binding of WRKY70 to the ACBP4 promoter,resulting in its upregulation and suggesting a positive feedback loop.Additionally,we pinpointed a phosphorylation site at Ser638 of ACBP4,which enhances submergence tolerance,potentially by facilitating WRKY70's nuclear shuttling.Surprisingly,a natural variation in this phosphorylation site of ACBP4 allowed A.thaliana to adapt to humid conditions during its historical demographic expansion.We further observed that both phosphorylated ACBP4 and oleoyl-Co A can impede the interaction between ACBP4 and WRKY70,thus promoting WRKY70's nuclear translocation.Finally,we found that the overexpression of orthologous Bna C5.ACBP4and Bna A7.WRKY70 in Brassica napus increases submergence tolerance,indicating their functional similarity across genera.In summary,our research not only sheds light on the functional significance of the ACBP4 gene in hypoxia response,but also underscores its potential utility in breeding flooding-tolerant oilseed rape varieties.

关键词： ACBP4 Arabidopsis thaliana humid adaptation natural variation RAP2.12 WRKY70

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The protective effects of fermented vinegar on acute alcohol-induced hepatic and neuro-toxicity by regulating ethanol metabolism and gut microbiota

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Food Science and Human Wellness 2024年

作者： Yuan Meng Yunfan Liu Ting Xia Beibei Geng Yinglei Tian Hailong Cao jin yan Xiaoqi Pang Kai Liang Yufeng yan Min Wang State Key Laboratory of Food Nutrition and Safety Key Laboratory of Industrial Fermentation Microbiology College of Biotechnology Tianjin University of Science and Technology Department of Gastroenterology and Hepatology General Hospital Tianjin Medical University National Key Clinical Specialty Tianjin Institute of Digestive Diseases Tianjin Key Laboratory of Digestive Diseases Shanxi Provincial Key Laboratory for Vinegar Fermentation Science and Engineering Shanxi Zilin Vinegar Industry Co. Ltd.

Alcohol abuse constitutes a significant health hazard， leading to various organ damage， notably the liver and brain. Shanxi aged vinegar (SAV) is one of the famous fermented and functional foods containing a variety of bioactive ingredients with beneficial effects on the human body. This study aimed to explore the potential protective effect of SAV in alleviating acute alcohol intoxication (AAI) in mice. It was found that SAV at 2.5 mg/kg BW effectively ameliorated the decline in behavioral abilities following alcohol consumption， characterized by a shortened sobering period. SAV reduces alcohol-induced liver damage by inhibiting hepatic function enzymes and oxidative stress levels. Additionally， SAV mitigated the overactivation of microglia and the downregulation of neurotransmitter levels (AchE， 5-HT， and DA)， thereby reducing ethanol-induced brain damage. Meanwhile， SAV significantly decreased concentrations of alcohol and acetaldehyde in the blood and increased ADH and ALDH activities in the liver， indicating enhancement of ethanol metabolism. Moreover， we found that some gut microbiota including Verrucomicrobiota， Akkermansia， and Enterococcus were downregulated after SAV treatment in mice with AAI. These bacteria showed a negative correlation with anti-oxidative markers (GSH and CAT) and enzymes related to ethanol metabolism pathways (ADH and ALDH)， and a positive correlation with hepatic function markers (ALT， AST， and MDA)， alcohol metabolites (alcohol and acetaldehyde) and neurotransmitters (AchE， 5-HT， and DA). However， Bacteroidota， norank＿f＿Muribaculaceae， and Alistipes exhibited the opposite direction. These findings suggest that SAV possesses protective effects against hepatic and neuro-toxicity， and could be a potential functional food for AAI prevention.

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High-order Soliton Matrix for the Third-order Flow Equation of the Gerdjikov-Ivanov Hierarchy Through the Riemann-Hilbert Method

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Acta Mathematicae Applicatae Sinica 2024年第2期40卷 358-378页

作者： jin-yan ZHU Yong CHEN School of Mathematical Sciences Shanghai Key Laboratory of Pure Mathematics and Mathematical PracticeEast China Normal UniversityShanghai 200062China College of Mathematics and Systems Science Shandong University of Science and TechnologyQingdao 266590China

The Gerdjikov-Ivanov(GI)hierarchy is derived via recursion operator,in this article,we mainly investigate the third-order flow GI equation.In the framework of the Riemann-Hilbert method,the soliton matrices of the third-order flow GI equation with simple zeros and elementary high-order zeros of Riemann-Hilbert problem are constructed through the standard dressing process.Taking advantage of this result,some properties and asymptotic analysis of single soliton solution and two soliton solution are discussed,and the simple elastic interaction of two soliton are proved.Compared with soliton solution of the classical second-order flow,we find that the higher-order dispersion term affects the propagation velocity,propagation direction and amplitude of the soliton.Finally,by means of a certain limit technique,the high-order soliton solution matrix for the third-order flow GI equation is derived.

关键词： Gerdjikov-Ivanov hierarchy third-order flow GI equation Riemann-Hilbert method high-order soliton

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Relationship between Authoritative Parenting Style and Preschool Children’s Emotion Regulation:A Moderated Mediation Model

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International Journal of Mental Health Promotion 2024年第3期26卷 189-198页

作者： yan jin Wei Chen School of Education Sciences Huizhou UniversityHuizhou516007China

An authoritative parenting style has been shown to promote children’s emotion regulation in European-American family studies.However,little is known about how sleep problems and the child’s sibling status in Chinese families affect this relationship.Based on family system theory,this study attempts to better understand the relationship between authoritative parenting style and emotion regulation.Mothers of preschool children in Chinese kindergartens completed questionnaires about their children’s sleep habits,their authoritative parenting styles,and children’s emotion regulation.A total of 531 children participated in this study.Results showed that authoritative parenting was positively associated with emotional regulation.Sleep problems mediated the effects of authoritative parenting style on emotion regulation.The child’s sibling status moderated the mediating effects of sleep problems in authoritative parenting and emotion regulation relationships.Specifically,the relationship between the authoritative parenting style and sleep problems was significant for only children,while birth order had no significant influence on the authoritative parenting style and sleep problems in two-child families.These findings suggest that a lowauthoritative parenting style predicts low emotion regulation through sleep problems,and this depends on the child’s sibling status,indicating that children without siblings may impair emotion regulation due to increased sleep problems.

关键词： Sleep problem emotional regulation authoritative parenting child’s sibling status preschool children

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An adaptive physics-informed deep learning method for pore pressure prediction using seismic data

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Petroleum Science 2024年第2期21卷 885-902页

作者： Xin Zhang Yun-Hu Lu yan jin Mian Chen Bo Zhou State Key Laboratory of Petroleum Resources and Prospecting China University of Petroleum(Beijing)Beijing102249China College of Petroleum Engineering China University of Petroleum(Beijing)Beijing102249China College of Artificial Intelligence China University of Petroleum(Beijing)Beijing102249China PetroChina Tarim Oilfield Company KorlaXinjiang841000China

Accurate prediction of formation pore pressure is essential to predict fluid flow and manage hydrocarbon production in petroleum engineering.Recent deep learning technique has been receiving more interest due to the great potential to deal with pore pressure prediction.However,most of the traditional deep learning models are less efficient to address generalization problems.To fill this technical gap,in this work,we developed a new adaptive physics-informed deep learning model with high generalization capability to predict pore pressure values directly from seismic data.Specifically,the new model,named CGP-NN,consists of a novel parametric features extraction approach(1DCPP),a stacked multilayer gated recurrent model(multilayer GRU),and an adaptive physics-informed loss function.Through machine training,the developed model can automatically select the optimal physical model to constrain the results for each pore pressure prediction.The CGP-NN model has the best generalization when the physicsrelated metricλ=0.5.A hybrid approach combining Eaton and Bowers methods is also proposed to build machine-learnable labels for solving the problem of few labels.To validate the developed model and methodology,a case study on a complex reservoir in Tarim Basin was further performed to demonstrate the high accuracy on the pore pressure prediction of new wells along with the strong generalization ability.The adaptive physics-informed deep learning approach presented here has potential application in the prediction of pore pressures coupled with multiple genesis mechanisms using seismic data.

关键词： Pore pressure prediction Seismic data 1D convolution pyramid pooling Adaptive physics-informed loss function High generalization capability

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Two-Staged Method for Ice Channel Identification Based on Image Segmentation and Corner Point Regression

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China Ocean Engineering 2024年第2期38卷 313-325页

作者： DONG Wen-bo ZHOU Li DING Shi-feng WANG Ai-ming CAI jin-yan School of Naval Architecture and Ocean Engineering Jiangsu University of Science and TechnologyZhenjiang 212003China School of Naval Architecture Ocean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China

Identification of the ice channel is the basic technology for developing intelligent ships in ice-covered waters,which is important to ensure the safety and economy of navigation.In the Arctic,merchant ships with low ice class often navigate in channels opened up by icebreakers.Navigation in the ice channel often depends on good maneuverability skills and abundant experience from the captain to a large extent.The ship may get stuck if steered into ice fields off the channel.Under this circumstance,it is very important to study how to identify the boundary lines of ice channels with a reliable method.In this paper,a two-staged ice channel identification method is developed based on image segmentation and corner point regression.The first stage employs the image segmentation method to extract channel regions.In the second stage,an intelligent corner regression network is proposed to extract the channel boundary lines from the channel region.A non-intelligent angle-based filtering and clustering method is proposed and compared with corner point regression network.The training and evaluation of the segmentation method and corner regression network are carried out on the synthetic and real ice channel dataset.The evaluation results show that the accuracy of the method using the corner point regression network in the second stage is achieved as high as 73.33%on the synthetic ice channel dataset and 70.66%on the real ice channel dataset,and the processing speed can reach up to 14.58frames per second.

关键词： ice channel ship navigation identification image segmentation corner point regression

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Lower Bounds of Distance Laplacian Spectral Radii of n-Vertex Graphs in Terms of Fractional Matching Number

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Journal of the Operations Research Society of China 2023年第1期11卷 189-196页

作者： jin yan yan Liu Xue-Li Su School of Mathematical Sciences South China Normal UniversityGuangzhou510631GuangdongChina

A fractional matching of a graph G is a function f: E(G)→[0,1] such that for each vertex v, ∑eϵΓG(v)f(e)≤1.. The fractional matching number of G is the maximum value of ∑e∈E(G)f(e) over all fractional matchings f. Tian et al. (Linear Algebra Appl 506:579–587, 2016) determined the extremal graphs with minimum distance Laplacian spectral radius among n-vertex graphs with given matching number. However, a natural problem is left open: among all n-vertex graphs with given fractional matching number, how about the lower bound of their distance Laplacian spectral radii and which graphs minimize the distance Laplacian spectral radii? In this paper, we solve these problems completely.

关键词： Distance Laplacian Spectral radius Fractional matching number

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Hematopoietic stem cell transplantation of aplastic anemia by relative with mutations and normal telomere length: A case report

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World Journal of Clinical Cases 2023年第29期11卷 7200-7206页

作者： jin yan Ting jin Li Wang School of Medicine Jianghan UniversityWuhan 430056Hubei ProvinceChina Department of Hematology The Central Hospital of WuhanWuhan 430014Hubei ProvinceChina

BACKGROUND Immunosuppressive therapy and matched sibling donor hematopoietic stem cell transplantation(MSD-HSCT)are the preferred treatments for aplastic anemia(AA).CASE SUMMARY In this report,we describe a 43-year-old male patient with severe AA who carried BRIP1(also known as FANCJ),TINF2,and TCIRG1 mutations.Screening of the family pedigree revealed the same TINF2 mutation in his mother and older brother,with his older brother also carrying the BRIP1 variant and demonstrating normal telomere length and hematopoietic function.The patient was successfully treated with oral cyclosporine A,eltrombopag,and acetylcysteine,achieving remission 4 years after receiving MSD-HSCT from his older brother.CONCLUSION This case provides a valuable clinical reference for individuals with suspected pathogenic gene mutations,normal telomere length,and hematopoietic function,highlighting them as potential donors for patients with AA.

关键词： Aplastic anemia Hematopoietic stem cell transplantation BRIP1 gene TINF2 gene Telomere length Case report

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