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Path Optimization Method for the Spherical Underwater Robot in Unknown Environment

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Journal of Bionic Engineering 2020年第5期17卷 944-958页

作者： Jian Guo chunying li Shuxiang Guo Tianjin Key Laboratory for Control Theory&Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyTianjin 300384China Department of Intelligent Mechanical Systems Engineering Faculty of EngineeringKagawa UniversityTakamatsu 761-0396Japan

One of the major respects of the autonomous capability of underwater robots in unknown environment is to be capable of global path planning and obstacles avoiding when encountering abrupt *** the Spherical Underwater Robot(SUR)to fulfill autonomous task execution,this paper proposed a novel fuzzy control method that incorporates multi-sensor technology to guide underwater robots in unknown *** attain the objective,a SUR we designed is used to design the *** to its kinematic model,the safety distance was calculated and sensors(US1000-21 A)were *** novel fuzzy control method was then explored for robot's path planning in an unknown environment through *** simulation results demonstrate the capability of the proposed method to guide the robot,and to generate a safe and smooth trajectory in an unknown *** effectiveness of the proposed method was further verified through experiments with a SUR in a real *** real environment experiments by using the novel fuzzy control method were compared with the basic control *** experimental results show that in unknown environments,the proposed method improves the execution efficiency and flexibility of the SUR.

关键词： path planning fuzzy control spherical underwater robot unknown environment

Analysis of intellectual properties on animalderived regenerative, implantable medical devices

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Regenerative Biomaterials 2016年第1期3卷 25-32页

作者： Hongman Wang chunying li Institute for Medical Humanities Peking UniversityBeijing100191China Peking University Health Science library Beijing100191China

This article analyses and summarizes issues of intellectual property involved in animal-derived regenerative,implantable medical devices(ADRIMD)in order to better understand global trends in patent applications and disclosures,the legal status of patent families(*** of patents filed in various countries to protect a single invention),and International Patent Classification topics such as main assignee and core *** of research trends will enhance and inform the decision-making capacity of researchers,investors,government regulators and other stake-holders as they undertake to develop,deploy,invest in or regulate ADRIMD.

关键词： intellectual properties analysis animal-derived medical device tissue engineering regenerative implantable medical device

Signal pathways of melanoma and targeted therapy

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Signal Transduction and Targeted Therapy 2022年第1期7卷 161-199页

作者： Weinan Guo Huina Wan chunying li Department of Dermatology Xijing HospitalFourth Military Medical UniversityNo.127 of West Changle Road710032 Xi'anShaanxiChina

Melanoma is the most lethal skin cancer that originates from the malignant transformation of *** melanoma has long bee n regarded as a cancerous malig nancy with few therapeutic opti ons,in creased biological understandi ng and unprecedented innovations in therapies targeting mutated driver genes and immune checkpoints have substantially improved the prog nosis of ***,the low response rate and inevitable occurre nee of resistance to curre ntly available targeted therapies have posed the obstacle in the path of melanoma management to obtain further ***,it is necessary to understand the mechanisms underlying melanoma pathogenesis more comprehensively,which might lead to more substantial progress in therapeutic approaches and expand clinical options for melanoma *** this review,we firstly make a brief introduction to melanoma epidemiology,clinical subtypes,risk factors,and current ***,the signal pathways orchestrati ng mela noma pathogenesis,in eluding gen etic mutatio ns,key tran scripti onal regulators,epige netic dysregulati ons,metabolic reprogramming,crucial metastasis-related signals,tumor-promoting inflammatory pathways,and pro-angiogenic factors,have been systemically reviewed and ***,we outline current progresses in therapies targeting mutated driver genes and immune checkpoi nts,as well as the mecha nisms underlying the treatment resista ***,the prospects and challe nges in the developme nt of mela noma therapy,especially immu no therapy and related ongoing din ical trials,are summarized and discussed.

关键词： melanoma targeted epidemiology

Removal of SO2 using ammonium bicarbonate aqueous solution as absorbent in a bubble column reactor

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Frontiers of Chemical Science and Engineering 2013年第2期7卷 185-191页

作者： Xiaolei li chunying ZHU Youguang MA School of Chemical Engineering and Technology State Key Laboratory of Chemical Engineering Tianjin University Tianjin 300072 China

In this work, the removal of SO2 from gas mixture with air and SO2 by ammonium bicarbonate aqueous solution as absorbent was investigated experi- mentally in a bubble column reactor. The effects of the concentration of ammonium bicarbonate, the SO2 inlet concentration of gas phase and the gas flow rate on the removal rate of SO2 were studied. The results showed that the higher the SO2 inlet concentration and the gas flow rate, the shorter the lasting time of SO2 completely removed in gas outlet, and then the faster the decrease in the removal rate of SO2. The lasting time of SO2 completely removed in gas outlet increased with increasing ammonium bicarbonate concentration. During the process of SO2 absorption, there was a critical pH of solution. When the solution pH was less than the critical pH, it would sharply fall, resulting in a rapid decrease of the SO2 removal rate. A theoretical model for predicting the SO2 removal rate has been developed by taking the chemical enhancement and the sulfite concentration in the liquid phase into account simultaneously.

关键词： SO2 removal bubble column reactor removalrate ammonium bicarbonate absorbent

Between Virtues and Blessings： A Discussion on Zhang Jiucheng＇s Thoughts

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Frontiers of Philosophy in China 2012年第2期7卷 191-216页

作者： li chunying Department of Philosophy Peking UniversityBeijing 100871China

As an important thinker in the early South Song dynasty, Zhang Jiucheng differed in his thinking from the School of Principles of the Song and Ming dynasties, which was the mainstream at that time, and was thus excluded by Zhu Xi and his followers. The relation between virtues and blessings was a characteristic part of Zhang＇s thought. By analyzing concepts like Heavenly mandates, virtues, blessings, luckiness and unluckiness in Zhang＇s thought, this essay re-defines the complicated but manifest relations between virtues and blessings; clarifies the trajectory of Zhang＇s thoughts on Heavenly mandates, virtues, and blessings; and displays the efforts of the Neo-Confucians of the Song dynasties to stress the value of human nature in the tension between Heavenly mandates and virtues.

关键词： virtues blessings Heavenly mandates unluckiness evil qi

Task Planning and Collaboration of Jellyfish-inspired Multiple Spherical Underwater Robots

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Journal of Bionic Engineering 2022年第3期19卷 643-656页

作者： Ruochen An Shuxiang Guo Yuanhua Yu chunying li Tendeng Awa Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China School of life Science and Technology Changchun University of Science and TechnologyChangchun130022China

Task planning and collaboration of multiple robots have broad application prospects and value in the field of *** improve the performance and working efficiency of our Spherical Underwater Robot(SUR),we propose a multi-robot control strategy that can realize the task planning and collaboration of multiple *** complete real-time information sharing of multiple robots,we first build an acoustic communication system with excellent communication performance under low noise ratio ***,the task planning and collaboration control strategy adjust the SURs so that they maintain their positions in the desired formation when the formation *** SURs can move along desired trajectories in the expected *** control strategy of each SUR uses only its information and limited information of its neighboring ***,based on theoretical analysis and experiments,we evaluate the validity and reliability of the proposed *** comparison to the traditional leader–follower method,it is not necessary to designate a leader and its followers explicitly in our system;thus,important advantages,such as fault tolerance,are achieved.

关键词： Task planning Collaboration control Multiple spherical underwater robots(SUR) Shape keeping

Potential application of a novel building-integrated solar facade water heating system in a subtropical climate:A case study for school canteen

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Building Simulation 2023年第10期16卷 1987-2004页

作者： Wenjie liu Xinwen liu Chongchao Pan chunying li Woonming Lau Yuanli Lyu School of Energy and Environmental Engineering Beijing Advanced Innovation Center for Materials Genome EngineeringCenter for Green InnovationUniversity of Science and Technology BeijingBeijing100083China Division of Building Science and Technology and School of Energy and Environment City University of Hong KongTat Chee AvenueKowloon TongHong KongChina School of Economic and Finance Xi’an Jiaotong UniversityXi’anShaanxi710049China Department of Civil Architecture and EnvironmentXihua UniversityChengdu610097China School of Architecture and Urban Planning Shenzhen UniversityShenzhen518060China Shunde Innovation School University of Science and Technology BeijingFoshan528399China

The design and potential application analysis of the novel solar-absorbing integrated facade module and its corresponding building-integrated solar facade water heating system are presented in this *** with the conventional building envelope,the main novities of the proposed facade module lie in its contributions towards the supplied water preheating to loads and the internal heat gain ***,the proposed building-integrated solar facade water heating system broadens the combination modes of the solar thermal system and the building envelope.A dynamic model is introduced first for system design and performance *** evaluate the energy-saving potential and feasibility of the implementation of the proposed facade module,this paper carried out a suitable case study by replacing the conventional facade module in the ongoing retrofitting project of a kitchen,part of the canteen of a graduate *** detailed thermal performances of three system design options are compared in the typical winter and summer weeks and throughout the year,and then,with the preferred system design,the economic,energy,and environmental effects of the proposed system are *** was found that the system with a high flow rate of the circulating water is *** annual electricity saved reaches 4175.3 kWh with yearly average thermal efficiency at 46.9%,and its corresponding cost payback time,energy payback time,and greenhouse gas payback time are 3.8,1.7,1.7 years,*** study confirms the feasibility and long-term benefits of the proposed building-integrated solar facade water heating system in buildings.

关键词： solar thermal utilization building-integrated solar water heating system novel prefabricated facade module life cycle assessment building retrofitting

Emerging role of cystic fibrosis transmembrane conductance regulator- an epithelial chloride channel in gastrointestinal cancers

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World Journal of Gastrointestinal Oncology 2016年第3期8卷 282-288页

作者： Yuning Hou Xiaoqing Guan Zhe Yang chunying li Department of Biochemistry and Molecular Biology Karmanos Cancer Institute Wayne State University School of Medicine

Cystic fibrosis transmembrane conductance regulator(CFTR), a glycoprotein with 1480 amino acids, has been well established as a chloride channel mainly expressed in the epithelial cells of various tissues and organs such as lungs, sweat glands, gastrointestinal system, and reproductive organs. Although defective CFTR leads to cystic fibrosis, a common genetic disorder in the Caucasian population, there is accumulating evidence that suggests a novel role of CFTR in various cancers, especially in gastroenterological cancers, such as pancreatic cancer and colon cancer. In this review, we summarize the emerging findings that link CFTR with various cancers, with focus on the association between CFTR defects and gastrointestinal cancers as well as the underlying mechanisms. Further study of CFTR in cancer biology may help pave a new way for the diagnosis and treatment of gastrointestinal cancers.

关键词： Gastrointestinal cancer Protein interaction Cystic fibrosis transmembrane conductance regulator Nuclear factor &kappa B Signaling molecule

STING-activating drug delivery systems:Design strategies and biomedical applications

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Chinese Chemical Letters 2021年第5期32卷 1615-1625页

作者： chunying li Yifan Zhang Yilin Wan Jingle Wang Jing lin Zhiming li Peng Huang Department of Dermatology and Venereology The First Affiliated Hospital of Wenzhou Medical UniversityWenzhou 325000China Marshall Laboratory of Biomedical Engineering International Cancer CenterLaboratory of Evolutionary Theranostics(LET)School of Biomedical EngineeringShenzhen University Health Science CenterShenzhen 518060China Department of Medical Oncology The Third Affiliated Hospital of Shanghai UniversityWenzhou 325000China

The stimulator of interferon genes(STING)shows promising clinical activity in infectious diseases and ***,the lack of targeting capability and intracellular stability of STING agonists severely limits the therapeutic ***,drug delivery systems(DDSs)overcome these delivery barriers of STING agonists via passive or active cell targeting,prolonged blood circulation and drug release,and lysosome escape,*** this review,we will describe in detail how existing DDSs are designed to overcome delivery barriers and activate the STING pathway,and the current biomedical applications of STING-activating DDSs in the treatments of infectious diseases and ***,the prospects and challenges of DDSs in STING activation are discussed.

关键词： STING agonist Drug delivery system Cancer treatment Anti-virus treatment Immunotherapy