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Autonomous flight control with different strategies applied during the complete flight cycle for flapping-wing flying robots

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Science China(Technological Sciences) 2023年第11期66卷 3343-3354页

作者： ZHONG SiPing WANG Song XU WenFu liu juntao PAN ErZhen School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenShenzhen 518005China

Flapping-wing flying robots(FWFRs),especially large-scale robots,have unique advantages in flight efficiency,load capacity,and bionic ***,they have significant potential in environmental detection,disaster rescue,and anti-terrorism explosion ***,at present,most FWFRs are operated *** have a certain autonomous ability limited to the cruise stage but not the complete flight *** factors make an FWFR unable to give full play to the advantages of flapping-wing flight to perform autonomous flight *** paper proposed an autonomous flight control method for FWFRs covering the complete process,including the takeoff,cruise,and landing ***,the flight characteristics of the mechanical structure of the robot are ***,dedicated control strategies are designed following the different control requirements of the defined ***,a hybrid control law is presented by combining different control strategies and ***,the proposed method and system are validated through outdoor flight experiments of the HIT-Hawk with a wingspan of 2.3 m,in which the control algorithm is integrated with an onboard embedded *** experimental results show that this robot can fly autonomously during the complete flight *** mean value and root mean square(RMS)of the control error are less than 0.8409 and 3.054 m,respectively,when it flies around a circle in an annular area with a radius of 25 m and a width of 10 m.

关键词： flapping-wing flying robot autonomous flight attitude and position control outdoor flight experiments

Portable System for Rapid Field Test of CEA in Human Serum Based on Chemiluminescence Enzyme Immunoassay

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Chinese Journal of Electronics 2017年第1期26卷 152-155页

作者： liu juntao QU Shuxue LUO Jinping WANG Bin CAI Xinxia State Key Laboratory of Transducer Technology Institute of Electronics Chinese Academy of Sciences University of Chinese Academy of Sciences

Carcinoembryonic antigen(CEA) is one of the most widely used tumor markers worldwide. A portable system was designed for rapid field specific test of CEA based on immunomagnetic separation and chemiluminescence immunoassay, which consisted of chemiluminescent immunosensor and optical test instrument. The chemiluminescent immunosensor was based on immunomagnetic separation and chemiluminescence immunoassay, which utilized a immuno-sandwich scheme as-say with Horseradish peroxidase(HRP) labeled anti-CEA antibody and Immunomagnetic beads(IMBs). And the test instrument consisted of optical detection module and central processing and control system. The optical noise of this instrument was below 40 photons/s. The system could achieve a sample test in 30 minutes, and the detecting result showed a good liner relationship between the intensity of luminescence and concentration of CEA in the range from 1 to1000ng/m L, with a correlation coefficient of 0.9858. Real human samples were also detected with this system in comparison with clinical results and a correlation coefficient of0.9934 was obtained. The instrument is portable and easy to operate, which will provide potential application in cancer clinical test.

关键词： Chemiluminescence immunoassay Carcinoembryonic antigen Rapid field test Optical sensor FPGA NIOS II processor

A NEW QUANTITATIVE DETECTION METHOD OF RECOMBINANT CFP10-ESAT6 AMALGAMATION PROTEINS FROM MYCOBACTERIUM TUBERCULOSIS BASED ON MICRO-MAGNETIC PROBES STRATEGY

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Journal of Innovative Optical Health Sciences 2012年第1期5卷 55-60页

作者： YIQING HUANG JINPING LUO MIXIA WANG juntao liu XINXIA CAI State Key Laboratory of Transducer Technology Institute of Electronics Chinese Academy of Sciences Beijing 100190China Graduate School of Chinese Academy of Sciences Beijing 100190 China

A new rapid,specific and sensitive method for assay of recombinant CFP10-ESAT6 amalgamation proteins from Mycobacterium tuberculosis was *** method used streptavidincoated magnetic beads to enrich the specific biotinylated anti-CFP10 antibody,then adopted a sandwich-type enzyme linked immunosorbent assay technology with two kinds of monoclonal antibodies:biotinylated anti-CFP10 antibody and HRP-labeled anti-CFP10 antibody to identify the target CFP10-ESAT6 proteins,and finally detected chemiluminescence intensity by a small home-made optical *** was shown that,the corresponding chemiluminescence intensity had a good logarithmic linear response to the concentration of CFP10-ESAT6 proteins when ranging at 1~1000 ng/mL,and the correlation coefficient is *** proposed method could detect the CFP10-ESAT6 proteins with low detection limit(1 ng/mL)and the detection time could be controlled within 45 *** with commonly used detection methods of ***,this method was easy to operate,faster,and of higher *** achievement of the quantitative detection of CFP10-ESAT6 proteins has important scientific significance and wide application prospects in tuberculosis control.

关键词： Enzyme linked immunosorbent assay chemiluminescence home-made optical sensor

Recent advances and research progress on microsystems and bioeffects of terahertz neuromodulation

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Microsystems & Nanoengineering 2023年第6期9卷 25-41页

作者： Meiting liu juntao liu Wei Liang Botao Lu Penghui Fan Yilin Song Mixia Wang Yirong Wu Xinxia Cai State Key Laboratory of Transducer Technology Aerospace Information Research InstituteChinese Academy of SciencesBeijing100190China School of Electronic Electrical and Communication EngineeringUniversity of Chinese Academy of SciencesBeijing100049China

Terahertz waves can interact with the nervous system of organisms under certain *** to common optical modulation methods,terahertz waves have the advantages of low photon energy and low risk;therefore,the use of terahertz waves to regulate the nervous system is a promising new method of ***,most of the research has focused on the use of terahertz technology for biodetection,while relatively little research has been carried out on the biological effects of terahertz radiation on the nervous system,and there are almost no review papers on this *** the present article,we begin by reviewing principles and objects of research regarding the biological effects of terahertz radiation and summarizing the current state of related research from a variety of aspects,including the bioeffects of terahertz radiation on neurons in vivo and in vitro,novel regulation and detection methods with terahertz radiation devices and neural microelectrode arrays,and theoretical simulations of neural information encoding and *** addition,we discuss the main problems and their possible causes and give some recommendations on possible future *** paper will provide insight and assistance to researchers in the fields of neuroscience,terahertz technology and biomedicine.

关键词： breakthrough neural microelectrode

The alkaline tolerance in Arabidopsis requires stabilizing microfilament partially through inactivation of PKS5 kinase

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Journal of Genetics and Genomics 2011年第7期38卷 307-313页

作者： juntao liu Yan Guo State Key Laboratory of Plant Physiology and Biochemistry College of Biological Sciences China Agricultural University Beijing 100094 China National Institute of Biological Sciences Beijing No. 7 Science Park Road Zhongguancun Life Science Park Beijing 102206 China

High soil pH is harmful to plant growth and development. The organization and dynamics of microfilament （MF） cytoskeleton play important roles in the plant anti-alkaline process. In the previous study, we determined that alkaline stress induces a signal that triggers MF dynamicsdependent root growth. In this study we identified that PKS5 kinase involves in this regulatory process to facilitate the signal to reach the downstream target ME Under pH 8.3 treatment, the depolymerization of MF was faster in pks5-4 （PKS5 kinase constitutively activated） than that in wild-type plants. The inhibition of wild-type, pks5-1, and pks5-4 root growth by pH 8.3 was correlated to their MF depolymerization rate. When the plants were treated with phalloidin to stabilize MF, the high pH sensitive phenotype of pks5-4 can be partially rescued. When the plants were treated with a kinase inhibitor Staurosporine, the MF depolymerization rate in pks5-4 was similar as that in wild-type under pH 8.3 treatment and the sensitivity of root growth was also rescued. However, when the plants were treated with LaC13, a calcium channel blocker, the root growth sensitivity ofpks5-4 under pH 8.3 was rescued but MF depolymerization was even faster than that of plants without LaC13 treatment. These results suggest that the PKS5 involves in external high pH signal mediated MF depolymerization, and that may be independent of calcium signal.

关键词： Arabidopsis Alkaline stress Microfilament Kinase activity

Rapid detection of Cyfra 21-1 by optical-biosensing based on chemiluminescence immunoassay using bio-functionlized magnetic nanocomposites

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Chinese Science Bulletin 2013年第21期58卷 2567-2569页

作者： LUO JinPing QU ShuXue liu juntao WANG Bin CAI XinXia State Key Laboratory of Transducer Technology Institute of Electronics Chinese Academy of Sciences Graduate School of Chinese Academy of Sciences

This letter reports a chemiluminescene immunoassay method combined with immunomagnetic separation to rapidly detect Cyfra 21-1, in which bio-functionlized magnetic nanocomposites were used as mobile substrate for capturing and isolating the cyfra 21-1 proteins. After the captured Cyfra 21-1 further reacted with horseradish peroxidase-conjugated anti-Cyfra 21-1 antibody to form a sandwich immunocomplex, the chemiluminescence would be produced as a result of addition of the chemiluminescent substrate. A home-made optical biosensor was designed to detect the chemiluminescence instead of other large instruments. There is a good linear response between the chemiluminescence intensity and the concentration of Cyfra 21-1 in the range from 0.2 to 50 ng/mL. The whole detection process including incubation, washing and detection could be performed within 45 min. The proposed method offers a simple, noninvasive and reliable tool for detecting non-small cell lung cancer and has potential application for clinical testing.

关键词：化学发光免疫分析纳米复合材料光学传感器快速检测生物传感磁性辣根过氧化物酶非小细胞肺癌

Direct synthesis of N_(2)-unprotected five-memberedcyclic guanidines by regioselective[3+2]annulation of aziridines and cyanamides

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Organic Chemistry Frontiers 2022年第6期9卷 1574-1579页

作者： Chuan-Chuan Wang Xin-Lu Wang Qing-Ling Zhang juntao liu Zhi-Wei M Zhi-Jing liu Ya-Jing Chen School of Pharmaceutical Sciences Key Laboratory of Advanced Drug Preparation TechnologiesMinistry of Education of ChinaCo-Innovation Center of Henan Province for New Drug R&D and Preclinical SafetyZhengzhou University100 Science AvenueZhengzhou 450001HenanChina Faculty of Science Livestock Product Quality Inspection InstituteHenan University of Animal Husbandry and EconomyNo.146 Yingcai StreetZhengzhou 450044HenanChina

A novel and efficient[3+2]annulation of 2-substituted aziridines and N-tosyl cyanamides via a dominoregioselective ring-opening/5-exo-dig cyclization procedure has been developed,allowing the directpreparation of N_(2)-unprotected five-membered cyclic guanidines in good to excellent yields under mildconditions without metals and strong ***,the highly biologically interesting urea analoguescould also be conveniently obtained via hydrolysis of the produced guanidines.

关键词： membered protected guanidine

Successful Delivery After Myomectomy for Spontaneous Ruptured Pyomyoma:A Case Report and Literature Review

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Maternal-Fetal Medicine 2024年第4期6卷 249-252页

作者： Qian Zhou Yi Yu juntao liu Jinsong Gao Yjun Song Yin Sun Qi Guo Department of Obstetrics and Gynecology National Clinical Research Center for Obstetric and Gynecologic DiseasesPeking Union Medical College HospitalChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100730China

In this article,we report a case of spontaneous ruptured pyomyoma during pregnancy with successful delivery after myomectomy.A 35-year-old pregnant female(27 weeks of gestation)presented with lower abdominal *** patient had a history of uterine ***,computed tomography,and magnetic resonance imaging confirmed a spontaneous ruptured pyomyoma(maximum diameter:12.6 cm).Myomectomy was performed,and her abdominal distension and pain were significantly improved within 1 day;the condition of the fetus was *** month after surgery,severe tenderness was detected in the lower right side of the *** the higher risk of uterine rupture and associated complications,a cesarean section was *** mother and neonate were discharged 3 and 42 days after delivery,respectively,in good *** for spontaneous ruptured pyomyoma during pregnancy may be feasible and extend gestational age to improve outcomes for the mother and neonate.

关键词： Abdominal pain Pyomyoma Myomectomy Pregnancy Case report

Cobalt-Catalyzed Regio-and Stereoselective Isomerization of Terminal Alkenes to trans-2-Alkenes

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有机化学 2024年第9期44卷 2889-2897页

作者： Du Jiayan liu juntao liu Guixia Huang Zheng School of Physical Science and Technology ShanghaiTech UniversityShanghai 201210 State Key Laboratory of Organometallic Chemistry Shanghai Institute of Organic ChemistryUniversity of Chinese Academy of SciencesChinese Academy of SciencesShanghai 200032 School of Chemistry and Materials Science Hangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesHangzhou 310024

An efficient and E-selective monoisomerization of 1-alkenes is developed with a bis(phosphine)-based PCP-type Co complex as the *** protocol provides an atom-economical approach to trans-2-alkenes with high regio-and stereoselectivity,featuring mild conditions and wide substrate *** investigation supports a cobalt-hydride pathway involving reversible alkene insertion/β-H elimination,and the step ofβ-H elimination at the allylic position is likely the rate-determining step.

关键词： cobalt catalysis alkenes isomerization regioselectivity stereoselectivity