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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 ***,this paper presents the design and implementation of a lightweight,modular two-wheeled differential drive vehicle equipped with two drive wheels and two caster *** vehicle comprises drive wheel modules,passive wheel modules,battery modules,a vehicle frame,a sensor system,and a control ***,a novel robust trajectory tracking method was proposed,utilizing an improved pure pursuit ***,an Online Particle Swarm Optimization Continuously Tuned PID(OPSO-CTPID)controller was introduced to dynamically search for optimal control gains for the PID *** results demonstrate the superiority of the improved pure pursuit algorithm and the OPSO-CTPID control *** validate the performance,the vehicle was integrated with a seeding and fertilizing machine to realize autonomous wheat seeding in an agricultural *** outcomes reveal that the vehicle of this study completed a seeding operation exceeding 1 km in *** 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 *** 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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Potassium alleviated high nitrogen-induced apple growth inhibition by regulating photosynthetic nitrogen allocation and enhancing nitrogen utilization capacity

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Horticultural Plant Journal 2024年第1期10卷 1-14页

作者： Xinxiang Xu Guangyuan liu jingquan liu Mengxue Lyu fen Wang Yue Xing Hao Meng Min Li Yu Jiang Ge Tian Zhanling Zhu Yuanmao Jiang Shunfeng Ge State Key Laboratory of Crop Biology College of Horticulture Science and EngineeringShandong Agricultural UniversityTai'anShandong 271018China Key Laboratory of Biochemistry and Molecular Biology in Universities of Shandong College of Biological and Agricultural EngineeringWeifang UniversityWeifangShandong 261061China

There is a close relationship between potassium(K)and nitrogen(N).However,the roles of K under high N conditions remain *** a hydroponics approach,we monitored the morphological,physiological,and molecular changes in M9T337 apple(Malus domestica)rootstocks under different nitrate(10 and 30 mmol·L^(-1)NO_(3)^(-))and K supply(0.5,6,10,and 20 mmol·L_(-1)K^(+))*** revealed that high nitrate inhibited the root growth of M9T337 rootstocks,downregulated the expressions of K transporter genes(MdPT5,MdHKT1,and MdATK1),and reduced the net NO3-and K+influx at the surface of roots,thereby resulting in an N/K imbalance in *** investigation showed that 10 mmol·L^(-1)K increased the activity of N metabolic enzymes(NR,GS,NiR,and GOGAT),upregulated the expressions of genes related to nitrate uptake and transport(MdNRT1.1,MdNRT1.2,MdNRT1.5,and MdNRT2.4),promoted15N transport from the roots to the shoots,optimized leaf N distribution,and improved photosynthetic N utilization efficiency under high nitrate *** results suggest that the negative effects of high nitrate may be related to the N/K imbalance and that reducing N/K in plants by increasing K supply level can effectively alleviate the inhibition of N assimilation by high nitrate stress.

关键词： Apple rootstock K level High nitrate stress N metabolism ^(15)N

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Experimental investigation on using CO_(2)/H_(2)O emulsion with high water cut in enhanced oil recovery

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Petroleum Science 2024年第2期21卷 974-986页

作者： Xi-Dao Wu Peng Xiao Bei liu Guang-jin Chen Jian-Hua Pang State Key Laboratory of Heavy Oil Processing China University of PetroleumBeijing102249China Ocean Intelligence Technology Center Shenzhen Institute of Guangdong Ocean UniversityShenzhen518120GuangdongChina

CO_(2) emulsions used for EOR have received a lot of interest because of its good performance on CO_(2)mobility ***,most of them have been focusing on the high quality CO_(2) emulsion(high CO_(2) fraction),while CO_(2) emulsion with high water cut has been rarely *** this paper,we carried out a comprehensive experimental study of using high water cut CO_(2)/H_(2)O emulsion for enhancing oil ***,a nonionic surfactant,alkyl glycosides(APG),was selected to stabilize CO_(2)/H_(2)O emulsion,and the corresponding morphology and stability were evaluated with a transparent PVT ***,plugging capacity and apparent viscosity of CO_(2)/H_(2)O emulsion were measured systematically by a sand pack displacement apparatus connected with a 1.95-m long capillary ***,a high water cut(40 vol%) CO_(2)/H_(2)O emulsion was selected for flooding experiments in a long sand pack and a core sample,and the oil recovery,the rate of oil recovery,and the pressure gradients were *** results indicated that APG had a good performance on emulsifying and stabilizing CO_(2) *** inversion from H_(2)O/CO_(2) emulsion to CO_(2)/H_(2)O emulsion with the increase in water cut was ***_(2)/H_(2)O emulsions with lower water cuts presented higher apparent viscosity,while the optimal plugging capacity of CO_(2)/H_(2)O emulsion occurred at a certain water ***,the displacement using CO_(2)/H_(2)O emulsion provided 18.98% and 13.36% additional oil recovery than that using pure CO_(2) in long sand pack and core tests,*** work may provide guidelines for EOR using CO_(2) emulsions with high water cut.

关键词： CO_(2)/H_(2)O emulsion High water cut CO_(2) mobility control Enhanced oil recovery

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Flexible nanoimprint lithography enables high-throughput manufacturing of bioinspired microstructures on warped substrates for efficient III-nitride optoelectronic devices

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Science Bulletin 2024年第13期69卷 2080-2088页

作者： Siyuan Cui Ke Sun Zhefu Liao Qianxi Zhou Leonard jin Conglong jin Jiahui Hu Kuo-Sheng Wen Sheng liu Shengjun Zhou Center for Photonics and Semiconductors School of Power and Mechanical EngineeringWuhan UniversityWuhan 430072China The Institute of Technological Sciences Wuhan UniversityWuhan 430072China Department of Mechanical and Mechatronics Engineering University of WaterlooWaterloo ONN2L 3G1Canada Jiangxi SMTC Semiconductor Co. Ltd.Nanchang 330096China

III-nitride materials are of great importance in the development of modern optoelectronics,but they have been limited over years by low light utilization rate and high dislocation densities in heteroepitaxial films grown on foreign substrate with limited refractive index contrast and large lattice ***,we demonstrate a paradigm of high-throughput manufacturing bioinspired microstructures on warped substrates by flexible nanoimprint lithography for promoting the light extraction *** design a flexible nanoimprinting mold of copolymer and a two-step etching process that enable high-efficiency fabrication of nanoimprinted compound-eye-like Al2O3 microstructure(NCAM)and nanoimprinted compound-eye-like SiO_(2)microstructure(NCSM)template,achieving a 6.4-fold increase in throughput and 25%savings in economic costs over stepper projection *** to NCAM template,we find that the NCSM template can not only improve the light extraction capability,but also modulate the morphology of AlN nucleation layer and reduce the formation of misoriented GaN grains on the inclined sidewall of microstructures,which suppresses the dislocations generated during coalescence,resulting in 40%reduction in dislocation *** study provides a low-cost,high-quality,and high-throughput solution for manufacturing microstructures on warped surfaces of III-nitride optoelectronic devices.

关键词： Flexible nanoimprint lithography Bioinspired Micro-and nano-manufacturing III-nitride epitaxy Optoelectronic devices

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The expanded application of CAR-T cell therapy for the treatment of multiple non-tumoral diseases

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Protein & Cell 2024年第9期15卷 633-641页

作者： Zhuoqun liu Yuchen Xiao Jianjun Lyu Duohui jing liu liu Yanbin Fu Wenxin Niu Lingjing jin Chao Zhang Fundamental Research Center Shanghai Yangzhi Rehabilitation Hospital(Shanghai Sunshine Rehabilitation Center)School of MedicineTongji UniversityShanghai 201619China Hubei Topgene Research Institute of Hubei Topgene Biotechnology Co. Ltd.East Lake High-Tech Development ZoneWuhan 430205China Shanghai Institute of Hematology State Key Laboratory of Medical GenomicsNational Research Center for Translational Medicine at ShanghaiRuijin Hospital Affiliated to Shanghai Jiao Tong University School of MedicineShanghai 200025China Shanghai Yuhui Pharmaceutical Technology(Group)Co. Ltd.and Shanghai Ruishen Technology Development Co.Ltd.Shanghai 201203China Shanghai Cancer Institute Department of Biliary-Pancreatic SurgeryRenji Hospital Affiliated to Shanghai Jiao Tong University School of MedicineShanghai 200127China

As a powerful cell-based therapeutic approach,CAR-T therapy was originally designed for treating acquired immunodeficiency syndrome(AIDS)(Baker et al.,2023),but had been strikingly successful in curing hematologic malignancies and multiple solid *** evidence has expanded the medical application of CAR-T therapy for the treatment of many other human diseases beyond *** this article,we discuss the principle of CAR-T and enumerate the current application and limitation in ***,we provide a comprehensive perspective of current advance and future directions of CAR-T in treating multiple non-tumoral diseases.

关键词： diseases expanded treatment

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Optical encryption scheme based on spread spectrum ghost imaging

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Chinese Physics B 2023年第7期32卷 375-381页

作者：刘进芬董玥王乐赵生妹 Institute of Signal Processing and Transmission Nanjing University of Posts and TelecommunicationsNanjing 210003China Nanjing Tech University Pujiang Institute Nanjing 211222China

An optical encryption(OE) scheme based on the spread spectrum ghost imaging(SSGI), named as SSGI-OE, is proposed to obtain a high security with a smaller key. In the scheme, the randomly selected row number of a Hadamard matrix of order N is used as the secure key, and shared with the authorized user, Bob, through a private channel. Each corresponding row vector of the order-N Hadamard matrix is then used as the direct sequence code to modulate a speckle pattern for the ghost imaging system, and an image is encrypted with the help of the SSGI. The measurement results from the bucket detector, named as ciphertext, are then transmitted to Bob through a public channel. The illuminating speckle patterns are also shared with Bob by the public channel. With the correct secure key, Bob could reconstruct the image with the aid of the SSGI system, whereas the unauthorized user, Eve, could not obtain any useful information of the encrypted image. The numerical simulations and experimental results show that the proposed scheme is feasible with a higher security and a smaller key. For the 32 × 32 pixels image, the number of bits sent from Alice to Bob by using SSGIOE(M = 1024, N = 2048) scheme is only 0.0107 times over a computational ghost imaging optical encryption *** the eavesdropping ratio(ER) is less than 40%, the eavesdropper cannot acquire any information of the encrypted image. The extreme circumstance for the proposed SSGI-OE scheme is also discussed, where the eavesdropper begins to extract the information when ER is up to 15%.

关键词： optical encryption ghost imaging spread spectrum correlated imaging

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Paravertebral block's effect on analgesia and inflammation in advanced gastric cancer patients undergoing transarterial chemoembolization and microwave ablation

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World Journal of Gastrointestinal Surgery 2024年第1期16卷 196-204页

作者： Ying-fen Xiong Ben-Zhong Wei Yu-feng Wang Xiao-feng Li Cong liu Department of Anesthesiology The First Affiliated Hospital of Nanchang UniversityNanchang 330006Jiangxi ProvinceChina Department of Anesthesiology Nanjing Gulou Hospital Group Yizheng HospitalYangzhou 211400Jiangsu ProvinceChina Nuclear Medicine Department Xuzhou Cancer HospitalXuzhou 221000Jiangsu ProvinceChina Department of Radiology Xuzhou Cancer HospitalXuzhou 221000Jiangsu ProvinceChina Department of Minimally Invasive Oncology Xuzhou New Health Hospital(Xuzhou Hospital Affiliated to Jiangsu University)Xuzhou 221000Jiangsu ProvinceChina

BACKGROUND Transarterial chemoembolization(TACE)combined with microwave ablation(MWA)is an effective treatment strategy for patients with advanced gastric cancer and liver ***,it may cause severe postoperative pain and inflammatory *** paravertebral block(PVB)is a regional anesthetic technique that provides analgesia to the thoracic and abdominal *** To evaluate the effect of PVB on postoperative analgesia and inflammatory response in patients undergoing TACE combined with MWA for advanced gastric cancer and liver *** Sixty patients were randomly divided into PVB and control *** PVB group received ultrasound-guided PVB with 0.375%ropivacaine preoperatively,whereas the control group received intravenous analgesia with *** primary outcome was the visual analog scale(VAS)score for pain at 6 h,12 h,24 h,and 48 h after the *** outcomes were the dose of sufentanil used,incidence of adverse events,and levels of inflammatory markers(white blood cell count,neutrophil percentage,C-reactive protein,and procalcitonin)before and after the *** The PVB group had significantly lower VAS scores at 6 h,12 h,24 h,and 48 h after the procedure compared with the control group(Pfentanil and a lower incidence of nausea,vomiting,and respiratory depression than did the control group(P<0.05).Compared with the control group,the PVB group had significantly lower levels of inflammatory markers 24 h and 48 h after the procedure(P<0.05).CONCLUSION PVB can effectively reduce postoperative pain and inflammatory responses and improve postoperative comfort and recovery in patients with advanced gastric cancer and liver metastasis treated with TACE combined with MWA.

关键词： Transarterial chemoembolization Microwave ablation Paravertebral block Visual analog scale Sufentanil Inflammatory markers

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Advanced nanotherapeutics inspired by the abnormal microenvironment of leukemia

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Nano Research 2024年第9期17卷 8285-8300页

作者： Hao Zhang Tian liu Mengyu liu Shuo Wang Yuetong Huang Yifan Ma Bingjun Sun Zhonggui He jin Sun Department of Pharmaceutics Wuya College of InnovationShenyang Pharmaceutical UniversityShenyang 110016China Joint International Research Laboratory of Intelligent Drug Delivery Systems Ministry of EducationShenyang 110016China

During the development of leukemia,the overgrowth of leukemia cells in the bone marrow transforms the normal hematopoietic microenvironment into the leukemia microenvironment which favors its growth and inhibits normal hematopoietic stem *** leukemia microenvironment exhibits abnormalities in redox substances,metabolism,immune response,mesenchymal cells,extracellular matrix,stromal cells,hypoxia,and *** factors collectively provide a shelter for the malignant proliferation of leukemia ***,as the understanding of the leukemia microenvironment deepens,targeting or remodeling the abnormal leukemia microenvironment is becoming an effective strategy for leukemia *** technology can effectively change pharmacokinetic profiles,thus demonstrating many advantages in modulating the leukemia microenvironment and improving therapeutic *** this review,we outline the characteristics of abnormal leukemia bone marrow microenvironment,focusing on the abnormal changes in the redox,metabolic and immune *** also summarize emerging nanotechnology strategies in remodeling or targeting the aforementioned abnormal *** addition,the unique advantages and bright prospects of nanotechnology in remodeling and targeting the leukemia microenvironment are discussed.

关键词： nanotherapeutics immunity metabolism redox leukemia microenvironment

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Magnitude and direction of temperature variability affect hospitalization for myocardial infarction and stroke:population-based evidence from Guangzhou,China

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Frontiers of Environmental Science & Engineering 2024年第3期18卷 1-11页

作者： Zhou Yang Murui Zheng Ze-Lin Yan Hui liu Xiangyi liu Jie-Qi jin Jiagang Wu Chun-Quan Ou State Key Laboratory of Organ Failure Research Department of BiostatisticsGuangdong Provincial Key Laboratory of Tropical Disease ResearchSchool of Public HealthSouthern Medical UniversityGuangzhou 510515China Guangzhou Center for Disease Control and Prevention Guangzhou 510440China

Relationships between nonoptimal temperatures and cardiovascular disease(CVD)mortality have been well ***,evidence of the association between temperature variability(TV)and CVD morbidity is *** study aimed to quantify the risk and burden of CVD-related hospitalization associated with the magnitude and direction of *** on meteorology and population-based hospitalizations for myocardial infarction(MI)and stroke were collected in Guangzhou,China,from 2013 to *** temperature variability(HTV)was measured as the standard deviation of hourly temperature records over specific exposure *** direction(upward or downward)of HTV was defined as the average daily mean temperature change relative to that of the previous day during the exposure ***-Poisson regression was applied to assess the impact of HTV after adjusting for the daily mean temperature,and the hospitalization fractions attributable to HTV were calculated.A 1℃-increase in HTV was significantly associated with a 2.24%and 1.72%increase in hospitalizations for MI and hemorrhagic stroke(HS)at lag 0–1 d,respectively,and a 1.55%increase in hospitalizations for ischemic stroke(IS)at lag 0–3 *** the study period,5.99%,4.64%,and 4.53%of MI,HS,and IS hospitalizations,respectively,were attributable to *** upward TV exerts acute effects on CVD hospital admissions,whereas the impact of downward TV generally *** findings highlight the importance of the magnitude and direction of temperature fluctuations,in addition to the mean level,in assessing the adverse health impacts of temperature variations.

关键词： Hourly temperature variability Cardiovascular Hospitalization Direction China

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GST family genes in jujube actively respond to phytoplasma infection

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Horticultural Plant Journal 2024年第1期10卷 77-90页

作者： Qipeng Wang Liman Zhang Chaoling Xue Yao Zhang Xiangrui Meng Zhiguo liu Mengjun liu jin Zhao College of Life Science Hebei Agricultural UniversityBaodingHebei 071000China Hebei Key Laboratory of Plant Physiology and Molecular Pathology Hebei Agricultural UniversityBaodingHebei 071000China Research Center of Chinese Jujube Hebei Agricultural UniversityBaodingHebei 071000China

Jujube witches’broom(JWB)caused by phytoplasma has a severely negative effect on multiple metabolisms in *** GST gene family in plants participates in the regulation of a variety of biotic and abiotic *** study aims to identify and reveal the changes in the jujube GST gene family in response to phytoplasma ***,70 ZjGSTs were identified in the jujube genome and divided into 8 *** them,the Tau-class,including 44 genes,was the *** analysis indicated that Tau-class genes were highly conserved among species,such as Arabidopsis,cotton,chickpea,and *** chromosome location analysis,37.1%of genes were clustered,and 8 of 9 gene clusters were composed of Tau class *** RT-PCR,qRT-PCR and enzyme activity detection,the results showed that the expression of half(20/40)of the tested ZjGSTs was inhibited by phytoplasma infection in field and tissue culture conditions,and GST activity was also significantly *** the resistant and susceptible varieties under phytoplasma infection,ZjGSTU49-ZjGSTU54 in the cluster IV showed opposite expression patterns,which may be due to functional divergence during *** upregulated genes(ZjGSTU45,ZjGSTU49,ZjGSTU59,and ZjGSTU70)might be involved in the process of jujube against *** yeast two-hybrid results showed that all 6 Tauclass proteins tested could form homodimers or ***,the comprehensive analysis of the jujube GST gene family revealed that ZjGSTs responded actively to phytoplasma ***,some screened genes(ZjGSTU24,ZjGSTU49-52,ZjGSTU70,and ZjDHAR10)will contribute to further functional studies of jujube-phytoplasma interactions.

关键词： Chinese jujube GST gene Family Phytoplasma Gene cluster Expression Protein interaction

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