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Initial Development of a Novel Amphibious Robot with Transformable Fin-Leg Composite Propulsion Mechanisms

Journal of Bionic Engineering 2013年第4期10卷 434-445页

作者： Shiwu Zhang xu Liang lichao xu Min xu Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei 230026 P. R. China

Amphibious robots are very attractive for their broad applications in resource exploration, disaster rescue, and recon- naissance. However, it is very challenging to develop the robots for their complex, amphibious working environments. In the complex amphibious environment, amphibious robots should possess multi-capabilities to walk on rough ground, maneuver underwater, and pass through transitional zones such as sandy and muddy terrain. These capabilities require a high-performance propulsion mechanism for the robots. To tackle a complex task, a novel amphibious robot （AmphiHex-I） with,transformable fin-leg composite propulsion mechanisms is developed. With the fin-leg composite propulsions, AmphiHex-I can walk on rough and soft substrates and swim in water with many maneuvers. This paper presents the structural design of the transformable fin-leg propulsion mechanism and its driving module. A hybrid model is used to explore the dynamics between the trans- formable legs and transitional environment such as granular medium. The locomotion performances of legs with various ellip- tical shapes are analyzed, which is verified by the coincidence between the model predictions and the simulation results. Further, an orthogonal experiment is conducted to study the locomotion performance of a two-legged platform walking with an asyn- chronous gait in the sandy and muddy terrain. Finally, initial experiments of AmphiHex-I walking on various lands and swimming in water are implemented. These results verify that the transformable fin-leg mechanisms enable the amphibious robot to pass through a complex, amphibious working environment.

关键词： amphibious robot transformable fin-leg composite propulsion mechanism amphibious environment

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NUMB enhances Notch signaling by repressing ubiquitination of NOTCH1 intracellular domain

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Journal of Molecular Cell Biology 2020年第5期12卷 345-358页

作者： Zhiyuan Luo Lili Mu Yue Zheng Wenchen Shen Jiali Li lichao xu Bo Zhong Ying Liu Yan Zhou College of Life Sciences Renmin Hospital of Wuhan UniversityMedical Research Institute at School of MedicineWuhan UniversityWuhan 430072China

The release and nuclear translocation of the intracellular domain of Notch receptor(NICD)is the prerequisite for Notch signaling-mediated transcriptional *** is subjected to various posttranslational modifications including ***,we surprisingly found that NUMB proteins stabilize the intracellular domain of NOTCH1 receptor(N1ICD)by regulating the ubiquitin–proteasome machinery,which is independent of NUMB’s role in modulating ***1,a deubiquitinating enzyme(DUB),was further identified as a positive N1ICD regulator,and NUMB facilitates the association between N1ICD and BAP1 to stabilize ***,BAP1 stabilizes N1ICD independent of its DUB activity but relying on the BRCA1-inhibiting ***1 strengthens Notch signaling and maintains stem-like properties of cortical neural progenitor ***,NUMB enhances Notch signaling by regulating the ubiquitinating activity of the BAP1–BRCA1 complex.

关键词： NUMB Notch intracellular domain BAP1 ubiquitination neural progenitor cells

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Impacts of Nanchang Metro on Accessibility of Public Transport Network and Fairness of Travel for Indemnificatory Housing Residents

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Asian Agricultural Research 2020年第1期12卷 72-78页

作者： Ying ZOU Zhi LI lichao xu College of City Construction Jiangxi Normal UniversityNanchang 330022China School of Urban Construction&Safety Engineering Shanghai Institute of TechnologyShanghai 201418China

Based on the GIS spatial analysis technology,this paper assessed the effects of Nanchang metro in improving the accessibility of public transport networks in different spatial ***,from the perspective of transport fairness,this paper evaluated the fairness of allocation of transportation resources for indemnificatory housing ***,it revealed the reasons for the welfare loss of indemnificatory housing residents in fast rail transit resources,so as to provide a reference for promoting the space adaptation of indemnificatory housing *** study found that(i)the subway has improved the accessibility of the urban public transport network in terms of travel time and accessibility,but it has a different effect on improving the accessibility of the public transport *** crossing a certain transit time and distance,there is a weakening trend,showing a pattern of"central expansion-peripheral weakness".(ii)The relative improvement of the metro on the accessibility of public transport for indemnificatory housing residents is lower than the overall improvement efficiency,and the fairness of the redistribution of transportation resources of the indemnificatory housing residents is impaired.(iii)In order to prevent and reduce the problem of space mismatch between indemnificatory housing and rail transit,it can be achieved by planning the metro network according to the spatial characteristics of indemnificatory housing residents’activities,guiding the selection of sites for indemnificatory housing with the TOD model,and forming a mixed community by combining the indemnificatory housing construction with commercial housing,to guarantee fair resource allocation of indemnificatory housing residents.

关键词： Nanchang Metro Accessibility Indemnificatory housing residents Fairness of transport

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Feasibility of CT-CT fusion imaging for evaluation of the cryoablation margins in visible hepatocellular carcinoma on unenhanced CT images:Initial experience

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Journal of Interventional Medicine 2019年第2期2卷 60-64页

作者： Chao Chen Yaohui Wang Guodong Li lichao xu Ying Wang Haozhe Huang Biao Wang Wentao Li Xinhong He Department of Interventional Radiology Fudan University Shanghai Cancer CenterShanghai200032China

Objective:To demonstrate the feasibility of CT-CT fusion imaging for assessment of the cryoablation margins in visible hepatocellular carcinoma(HCC)on unenhanced CT ***:This retrospective study analyzed 14 patients with 14 HCC lesions treated with CT-guided *** lesions in nine patients who developed local tumor progression(LTP)during the follow-up period of at least8 months were *** unenhanced CT data were used to retrospectively create fusion images of the intraoperative CT images on a *** minimal ablative margin(MAM)was assessed on the fusion *** concordance between the site of LTP and the MAM area was also ***:Eight of the nine lesions with LTP were in the subcapsular region of the *** of the nine cases were treated by cryoablation combined with transcatheter arterial *** median time required to fuse the images for the nine lesions was 5:17 min(range,5:04-7:37 min).The site of LTP relative to the HCC lesion was craniocaudal in nine,dorsoventral in six,and lateral in seven *** all lesions,the site of LTP was congruent with the MAM ***:CT-CT fusion imaging enables a real-time intraoperative treatment evaluation for HCC lesions visible on unenhanced CT *** imaging evaluation has proved to be an accurate and useful tool for assessment of the cryoablation margins.

关键词： Computed tomography Fusion Hepatocellular carcinoma Cryoablation Ablative margin

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Resolving the lineage relationship between malignant cells and vascular cells in glioblastomas

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Protein & Cell 2023年第2期14卷 105-122页

作者： Fangyu Wang xuan Liu Shaowen Li Chen Zhao Yumei Sun Kuan Tian Junbao Wang Wei Li lichao xu Jing Jing Juan Wang Sylvia MEvans Zhiqiang Li Ying Liu Yan Zhou Department of Neurosurgery Zhongnan hospital of Wuhan UniversityFrontier Science Center for Immunology and MetabolismMedical Research InstituteThe RNA InstituteCollege of Life SciencesWuhan UniversityWuhan 430071China Department of Neurology The Central Hospital of WuhanTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430014China Skaggs School of Pharmacy Department of MedicineDepartment of PharmacologyUniversity of California at San DiegoLa JollaCA 92093USA

Glioblastoma multiforme(GBM),a highly malignant and heterogeneous brain tumor,contains various types of tumor and non-tumor *** GBM cells can trans-differentiate into non-neural cell types,including mural cells or endothelial cells(ECs),to support tumor growth and invasion remains *** we generated two genetic GBM models de novo in immunocompetent mouse brains,mimicking essential pathological and molecular features of human ***-tracing and transplantation studies demonstrated that,although blood vessels in GBM brains underwent drastic remodeling,evidence of trans-differentiation of GBM cells into vascular cells was barely ***,GBM cells could promiscuously express markers for mural cells during ***,single-cell RNA sequencing showed that patterns of copy number variations(CNVs)of mural cells and ECs were distinct from those of GBM cells,indicating discrete origins of GBM cells and vascular ***,single-cell CNV analysis of human GBM specimens also suggested that GBM cells and vascular cells are likely separate *** than expansion owing to trans-differentiation,vascular cell expanded by proliferation during ***,cross-lineage trans-differentiation of GBM cells is very unlikely to occur during *** findings advance understanding of cell lineage dynamics during gliomagenesis,and have implications for targeted treatment of GBMs.

关键词： glioblastoma mural cells endothelial cells trans-differentiation lineage tracing single-cell sequencing copy number variation

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Distributed Simulation Platforms and Data Passing Tools for Natural Hazards Engineering: Reviews, Limitations,and Recommendations

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International Journal of Disaster Risk Science 2021年第5期12卷 617-634页

作者： lichao xu Szu-Yun Lin Andrew W.Hlynka Hao Lu Vineet R.Kamat Carol C.Menassa Sherif El-Tawil Atul Prakash Seymour M.J.Spence Jason McCormick Department of Civil and Environmental Engineering University of MichiganAnn ArborMI 48109USA Department of Electrical Engineering and Computer Science University of MichiganAnn ArborMI 48109USA

here has been a strong need for simulation environments that are capable of modeling deep interdependencies between complex systems encountered during natural hazards,such as the interactions and coupled effects between civil infrastructure systems response,human behavior,and social policies,for improved community *** such complex components with an integrated simulation requires continuous data exchange between different simulators simulating separate models during the entire simulation *** can be implemented by means of distributed simulation platforms or data passing *** order to provide a systematic reference for simulation tool choice and facilitating the development of compatible distributed simulators for deep interdependent study in the context of natural hazards,this article focuses on generic tools suitable for integration of simulators from different fields but not the platforms that are mainly used in some specific *** this aim,the article provides a comprehensive review of the most commonly used generic distributed simulation platforms(Distributed Interactive Simulation(DIS),High Level Architecture(HLA),Test and Training Enabling Architecture(TENA),and Distributed Data Services(DDS))and data passing tools(Robot Operation System(ROS)and Lightweight Communication and Marshalling(LCM))and compares their advantages and *** specific limitations in existing platforms are identified from the perspective of natural hazard *** mitigating the identified limitations,two platform design recommendations are provided,namely message exchange wrappers and hybrid communication,to help improve data passing capabilities in existing solutions and provide some guidance for the design of a new domain-specific distributed simulation framework.

关键词： Civil infrastructure Data passing tools Distributed simulation platforms Hybrid communication Message exchange wrapper Natural hazards

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典型工况下装载机液压系统载荷时间历程的制取方法

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农业工程学报 2012年第6期28卷 57-62页

作者：徐礼超葛如海常绿江苏大学汽车与交通工程学院镇江212013 淮阴工学院交通工程学院淮安223003

针对目前装载机发动机与液力变矩器功率匹配存在的缺陷,该文构建了装载机液压测试系统,确定了传感器压力信号与转矩间的定量关系。在分析确定装载机典型试验工况为铲装工况、采样频率为1000Hz与样本长度为60个作业循环的基础上,按照规... 详细信息

针对目前装载机发动机与液力变矩器功率匹配存在的缺陷,该文构建了装载机液压测试系统,确定了传感器压力信号与转矩间的定量关系。在分析确定装载机典型试验工况为铲装工况、采样频率为1000Hz与样本长度为60个作业循环的基础上,按照规范对装载机进行了实机试验,应用Vib’SYS和nSoft软件对试验数据进行了分段与合并处理、滤波与去异值处理以及数据平稳性检验,研究了装载机典型工况液压系统载荷时间历程的制取方法,并给出了铲掘原生土时液压系统消耗发动机转矩的单次典型循环时间为87.304s的载荷时间历程,该研究为装载机优化匹配设计提供依据。

关键词：装载机,液压系统,载荷,时间历程,典型工况,制取方法

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基于典型工况的装载机发动机与液力变矩器匹配

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农业工程学报 2015年第7期31卷 80-84页

作者：徐礼超侯学明淮阴工学院淮安223003 江苏大学汽车与交通工程学院镇江212013

针对目前发动机与液力变矩器常用匹配方案中发动机净转矩获取方法的不足,为实现发动机与液力变矩器更科学、合理的匹配,构建了装载机液压测试系统,对传感器性能进行了标定。在典型工况下开展了实机试验,应用nSoft软件对测试数据进行处理... 详细信息

针对目前发动机与液力变矩器常用匹配方案中发动机净转矩获取方法的不足,为实现发动机与液力变矩器更科学、合理的匹配,构建了装载机液压测试系统,对传感器性能进行了标定。在典型工况下开展了实机试验,应用nSoft软件对测试数据进行处理,得到液压系统实际消耗的发动机转矩为288.76 N·m,进而提出了一种基于典型工况的发动机与液力变矩器匹配方案。根据试验用装载机发动机与液力变矩器原始特性数据,应用数据拟合方法,得到了发动机与变矩器的共同输入与输出特性。采用积分平均方法求取了涡轮工作高效区涡轮轴平均输出功率和发动机平均油耗率。在变矩器高效区,试验功率匹配方案的涡轮轴平均输出功率分别比原匹配方案、部分功率匹配方案高17.02%和42.59%,试验功率匹配方案的发动机平均油耗率分别比原匹配方案、部分功率匹配方案低3.80%和8.72%。结果表明文中提出的匹配方案优于目前常用的匹配方案。该研究为液力变矩器的优化设计、发动机与液力变矩器合理匹配提供了参考。

关键词：装载机发动机载荷典型工况数据处理液力变矩器功率匹配

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装载机转斗缸外负载力变化特性的测定

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金属矿山 2013年第9期42卷 135-137页

作者：徐礼超淮阴工学院交通工程学院江苏大学汽车与交通工程学院

针对目前装载机油缸外负载力求取方法存在的不足,以转斗缸为例,研究了其外负载力变化特性的测定方法。在建立转斗缸外负载力数学模型基础上,实机测试并分析处理了装载机铲装松散土时转斗缸油压及活塞位移数据,制取了单次典型作业循环转... 详细信息

针对目前装载机油缸外负载力求取方法存在的不足,以转斗缸为例,研究了其外负载力变化特性的测定方法。在建立转斗缸外负载力数学模型基础上,实机测试并分析处理了装载机铲装松散土时转斗缸油压及活塞位移数据,制取了单次典型作业循环转斗缸无杆腔、有杆腔油压和活塞位移变化历程;应用Matlab对制取的单次典型作业循环不同作业段的转斗缸油压和活塞位移进行了拟合,通过编程处理获得了转斗缸不同作业段的外负载力数据波形;应用Nsoft软件将各作业段波形数据进行合并,得到了铲装松散土时转斗缸外负载力变化特性曲线。分析结果表明,测定的转斗缸外负载力变化特性与实际工况比较吻合。

关键词：装载机转斗缸外负载力数学模型变化特性测定方法

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基于虚拟仪器的发动机振动测试系统开发研究

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汽车技术 2007年第10期 50-53页

作者：徐礼超淮阴工学院

基于虚拟仪器技术,借助于传感器、信号调理器和数据采集卡等硬件,应用NILabVIEW软件编制了振动数据采集与处理程序,研制了发动机振动测试系统。利用该系统进行了发动机缸盖螺栓拧紧力矩与机体振动量关系的振动测试,得到了机体振动量较... 详细信息

基于虚拟仪器技术,借助于传感器、信号调理器和数据采集卡等硬件,应用NILabVIEW软件编制了振动数据采集与处理程序,研制了发动机振动测试系统。利用该系统进行了发动机缸盖螺栓拧紧力矩与机体振动量关系的振动测试,得到了机体振动量较小时对应的螺栓最佳拧紧力矩范围,且与发动机生产厂家推荐的数据比较吻合,从而验证了所研制振动测试系统的可行性和正确性。

关键词：发动机振动测试系统虚拟仪器技术

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