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Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment

IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1190-1200页

作者： luping wang Hui Wei the School of Mechanical Engineering University of Shanghai for Science and TechnologyShanghai 200093China the Laboratory of Algorithms for Cognitive Models Shanghai Key Laboratory of Data ScienceSchool of Computer ScienceFudan UniversityShanghai 201203China

Monocular vision-based navigation is a considerable ability for a home mobile robot. However, due to diverse disturbances, helping robots avoid obstacles, especially nonManhattan obstacles, remains a big challenge. In indoor environments, there are many spatial right-corners that are projected into two dimensional projections with special geometric configurations. These projections, which consist of three lines,might enable us to estimate their position and orientation in 3 D scenes. In this paper, we present a method for home robots to avoid non-Manhattan obstacles in indoor environments from a monocular camera. The approach first detects non-Manhattan obstacles. Through analyzing geometric features and constraints,it is possible to estimate posture differences between orientation of the robot and non-Manhattan obstacles. Finally according to the convergence of posture differences, the robot can adjust its orientation to keep pace with the pose of detected non-Manhattan obstacles, making it possible avoid these obstacles by itself. Based on geometric inferences, the proposed approach requires no prior training or any knowledge of the camera’s internal parameters,making it practical for robots navigation. Furthermore, the method is robust to errors in calibration and image noise. We compared the errors from corners of estimated non-Manhattan obstacles against the ground truth. Furthermore, we evaluate the validity of convergence of differences between the robot orientation and the posture of non-Manhattan obstacles. The experimental results showed that our method is capable of avoiding non-Manhattan obstacles, meeting the requirements for indoor robot navigation.

关键词： Avoiding obstacle monocular vision navigation non-Manhattan obstacle spatial corner

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Chirp scaling algorithm for bi-static SAR using a precise range model

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Science in China(Series F) 2009年第8期52卷 1378-1388页

作者： LI Ning LI Qian FAN YunYun wang luping Department of Electronic Science and Engineering ATR Lab-2 National University of Defense Technology Changsha 410073 China Postgraduate of 2007 Foreign Language College Hunan University Changsha 410082 China

Among the currently available chirp scaling algorithms for bi-static SAR, some compromise with approximation in the range model, while some others use the equivalent method by first changing bi-static SAR into mono-static SAR then apply chirp scaling algorithm of mono-static SAR. Consequently, as the squint angles get large, the performance of focusing will deteriorate significantly. This paper, however, abandons those traditional solutions to the bi-static imaging problems and introduces a novel method, based on the space model of bi-static platforms. First, a precise range model is established. Then, a new chirp scaling algorithm for bi-static SAR using the precise range model is advanced. It is theoretically proven that this is an analytic solution of the bi-static chirp scaling algorithm. Images can be focused accurately even with large squint angles. At last simulations with large squint angles are made to verify the validity of the algorithm.

关键词： bi-static SAR chirp scaling factor focusing

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Strap-down Inertial Navigation System Applied in Estimating the Track of Mobile Robot Based on Multiple-sensor

Strap-down Inertial Navigation System Applied in Estimating ...

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第25届中国控制与决策会议

作者： Zhang Qingxin wang luping Zhou Shuaishuai School of Automation Shenyang Aerospace University

ISBN: (纸本)9781467355339

In strap-down inertial navigation system, traditionally, gyro are used to measure the angle velocity of the mobile robot and accelerometer is adopted to obtain the velocity increment of the mobile robot Then we carry out a serial of transform by azimuth matrix to get its position and azimuth. But successful result cannot be gained when using low resolution gyro and accelerometer. In this paper we adopt multiple-sensor to measure parameters of the mobile robot and put the measurements into filters. After that the estimated result will be put into the strap-down inertial navigation system to get its track. The simulation results show that this method is effective and is suitable for strap-down inertial navigation system with low resolution sensors.

关键词： multiple-sensor strap-down inertial navigation system mobile robot track estimation

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Shell characterization and effects on cavity volume of wild Jinjiang oyster Crassostrea ariakensis in different estuaries of China

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Journal of Oceanology and Limnology 2023年第5期41卷 2020-2031页

作者： Qi YANG Ao LI luping wang Rihao CONG Jianming YANG Guofan ZHANG Wei wang Li LI Shandong Key Lab of Applied Mycology College of Life SciencesQingdao Agricultural UniversityQingdao 266109China CAS and Shandong Province Key Laboratory of Experimental Marine Biology Center for Ocean Mega-ScienceInstitute of OceanologyChinese Academy of SciencesQingdao 266071China Laboratory for Marine Fisheries Science and Food Production Processes Pilot National Laboratory for Marine Science and Technology(Qingdao)Qingdao 266237China National and Local Joint Engineering Key Laboratory of Ecological Mariculture Institute of OceanologyChinese Academy of SciencesQingdao 266071China Laboratory for Marine Biology and Biotechnology Pilot National Laboratory for Marine Science and Technology(Qingdao)Qingdao 266237China

Jinjiang oyster Crassostrea ariakensis,a species with economic and ecological value,is distributed along the estuaries and coasts of East *** the decline in natural resources,the conservation and aquaculture of this species is ***,studies characterizing their shell shape remain *** investigated the morphological differences in the shells of wild Jinjiang oysters from six populations(Qinzhou,Shanghai,Nantong,Qingdao,and Binzhou hard or muddy bottom)along the coast of *** color of the shell and adductor muscle scar showed associations with temperature gradient along its geographical *** shape was defined by shell height to shell length ratio,and the ratio varies among geographic locations of the *** were found nearly round(Qinzhou and Nantong populations),oval(Qingdao and Binzhou populations),or water-droplet-shaped(Shanghai population).Binzhou populations living on muddy substrates are more elongated than those on hard *** addition,we developed a method to measure the cavity volume in *** and path analysis showed that shell height significantly influenced cavity *** synergistic effect of the two factors(the height,length,and width of the shell in pairs)on the cavity volume resulted in differences between northern and southern groups:samples from the southern group(Qinzhou and Shanghai)showed correlation between shell height and shell width,while those from the northern group(Nantong,Qingdao,and Binzhou)showed correlation between shell height and shell *** populations showed significant correlation between shell height and cavity height,and shell length and cavity length,while the correlation between shell width and cavity width was minimal,which may have been resulted from uneven shell *** linear equation for shell height and cavity volume under different ratios of shell height to length was *** this study,we determined that shell height has the most inf

关键词： shell shape cavity volume correlation analysis path analysis Crassostrea ariakensis

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Stability Analysis and Hopf Bifurcation in a Modified Leslie-Gower Scheme Prey Predator System 36

Stability Analysis and Hopf Bifurcation in a Modified Leslie...

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第36届中国控制会议

作者： Longfei Yu Chao Liu luping wang Na Lu Institute of Systems Science Northeastern University State Key Laboratory of Integrated Automation of Process Industry Northeastern University

ISBN: (纸本)9781538629185

A stage structured prey predator system with modified Leslie-Gower scheme is presented,where both maturation delay for prey and gestation delay for predator are *** analyzing the associated characteristic transcendental equation,combined dynamic effects of stage structure and double time delays on population dynamics are discussed,and regions of local stability around interior equilibrium are *** to Hopf bifurcation theorem for functional differential equations,existence of Hopf bifurcation around interior equilibrium is investigated as local stability *** of global continuation of periodic solutions bifurcating from the interior equilibrium is discussed by using a global Hopf bifurcation theorem for functional differential *** simulations are provided to show consistency with theoretical analysis.

关键词： modified Leslie-Gower scheme maturation delay gestation delay Hopf bifurcation global continuation

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Further research on simple projection prediction under a general linear model

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Frontiers of Mathematics in China 2024年第5期19卷 255-275页

作者： Bo JIANG luping wang Yongge TIAN College of Mathematics and Information Science Shandong Technology and Business UniversityYantai 264005China College of Business and Economics Shanghai Business SchoolShanghai 201400China

Linear model is a kind of important model in *** estimation and prediction of unknown parameters in the model is a basic problem in statistical *** to different evaluation criteria,different forms of predictors are *** simple projection prediction(SPP)boasts simple form while the best linear unbiased prediction(BLUP)enjoys very excellent ***,the relationship between the two predictors are *** give the necessary and sufficient conditions for the equality of SPP and ***,we study the robustness of SPP and BLUP with respect to covariance matrix and illustrate the application of equivalence conditions by use of error uniform correlation models.

关键词： Linear model SPP BLUP equivalence robustness

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Optimization of shearer sliding boots by plasma cladding with Cr_4MnTi

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Mining Science and Technology 2011年第6期21卷 877-880页

作者： Liu Hongtao wang luping Ge Shirong Cao Shoufan Jin Jing Gao Jiping School of Materials Science and Engineering China University of Mining ＆ Technology Xuzhou 221008 China School of Mechanical and Electronic Engineering China University of Mining ＆ Technology Xuzhou 221008 China

Severe production conditions in coal mines cause damage and failure problems with the oriented sliding boots of the mechanical shearer. Wear has been an especially vexing problem. Plasma cladding methods were used to study optimized sliding boot design. By cladding the substrate steel the surface may be made of a material more resistant to wear. The iron based alloy Cr4MnTi was coated onto a modified 45 steel matrix material in these tests. The results show that the alloy cladding layer is high strength, has high hardness, and is highly resistant to wear. After hardening and tempering, 45 steel substrate has great tenacity so the combined structure meets the performance requirements for the construction of shearer sliding boots.

关键词： Plasma cladding Iron-based alloy Wear resistance Friction Wear

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Photodegradation of benzene by TiO_2 nanoparticles prepared by flame CVD process

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Particuology 2011年第1期9卷 75-79页

作者： Hongyong Xie luping Zhu Lingling wang Shengwen Chen Dandan Yang Lijun Yang Guilan Gao Hao Yuan School of Urban Development and Environmental Engineering Shanghai Second Polytechnic University2360 Jinhai Road Pudong Shanghai 201209 China

Photodegradation of benzene at ppb levels by mixed-phase TiO2 nanoparticles, synthesized by the oxidation of TiCl4 in propane/air turbulent flame chemical vapor deposition （CVD） process, is investigated experimentally by using a tubular photoreactor with thin TiO2 films coated on the reactor wall by sedimentation. Effects of inlet benzene concentration from 10 to 300μg/m3, rutile mass fraction from about 20 to 50% and photoluminescence （PL） intensity of TiO2 nanoparticles on degradation degree are examined under the conditions of 70% relative humidity, 38 μg/cm2 catalyst loading, 24mW/cm2 UV irradiation of 254 nm and 5.7 s residence time in the reactor. Based on experimental results, separation of photoinduced electron （e-） and hole （h＋） pairs by rutile phase is discussed as photo-induced electron （e-） in anatase phase will migrate to rutile surface due to that the potential of conductive band of rutile is lower than that of anatase, leading to more holes ready on anatase surface for oxidation reactions.

关键词： Photodegradation Benzene TiO 2 nanoparticles Flame CVD Carrier separation Rutile/anatase phases

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Chitosan@Puerarin hydrogel for accelerated wound healing in diabetic subjects by miR-29ab1 mediated inflammatory axis suppression

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Bioactive Materials 2023年第1期19卷 653-665页

作者： Xiaoling Zeng Baohui Chen luping wang Yingxiao Sun Zhao Jin Xuanyong Liu Liping Ouyang Yun Liao Department of Pharmacy Tongren HospitalShanghai Jiao Tong University School of MedicineShanghai200336China State Key Laboratory of High Performance Ceramics and Superfine Microstructure Shanghai Institute of CeramicsChinese Academy of SciencesShanghai200050China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing100049China Hongqiao International Institute of Medicine Shanghai Jiao Tong University School of MedicineShanghai200336China School of Chemistry and Materials Science Hangzhou Institute for Advanced StudyUniversity of Chinese Academy of Sciences1 Sub-lane XiangshanHangzhou310024China Cixi Center of Biomaterials Surface Engineering Shanghai Institute of CeramicsChinese Academy of SciencesNingbo315300China

Wound healing is one of the major global health concerns in patients with *** of pro-inflammatory M1 macrophages is associated with delayed wound healing in ***-29ab1 plays a critical role in diabetes-related macrophage ***,inhibition of inflammation and regulation of miR-29 expression have been implicated as new points for skin wound *** this study,the traditional Chinese medicine,puerarin,was introduced to construct an injectable and self-healing chitosan@puerarin(C@P)*** C@P hydrogel promoted diabetic wound healing and accelerated angiogenesis,which were related to the inhibition of the miR-29 mediated inflammation *** to healthy subjects,miR-29a and miR-29b1 were ectopically increased in the skin wound of the diabetic model,accompanied by upregulated M1-polarization,and elevated levels of IL-1βand TNF-α.Further evaluations by miR-29ab1 knockout mice exhibited superior wound healing and attenuated *** present results suggested that miR-29ab1 is essential for diabetic wound healing by regulating the inflammatory *** of miR-29ab1 by the C@P hydrogel has the potential for improving medical approaches for wound repair.

关键词： Hydrogel Diabetic skin wound healing Macrophages miR-29ab1

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GRK2 inhibits Flt-1^(+)macrophage infiltration and its proangiogenic properties in rheumatoid arthritis

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Acta Pharmaceutica Sinica B 2024年第1期14卷 241-255页

作者： Xuezhi Yang Yingjie Zhao Qi Wei Xuemin Zhu luping wang Wankang Zhang Xiaoyi Liu Jiajie Kuai Fengling wang Wei Wei Institute of Clinical Pharmacology Anhui Medical UniversityKey Laboratory of Anti-Inflammatory and Immune MedicineAnhui Collaborative Innovation Center of Anti-Inflammatory and Immune MedicineMinistry of EducationHefei 230032China Department of Clinical Pharmacology the Second Affiliated Hospital of Anhui Medical UniversityHefei 230601China

Rheumatoid arthritis(RA)is an autoimmune disease with a complex ***-derived macrophages(MDMs)infiltration are associated with RA *** have reported the deletion of G-protein-coupled receptor kinase 2(GRK2)reprograms macrophages toward an anti-inflammatory phenotype by recovering G-protein-coupled receptor ***,as more GRK2-interacting proteins were discovered,the GRK2 interactome mechanisms in RA have been ***,in the collagen-induced arthritis mouse model,we performed genetic GRK2 deletion using GRK2^(f/f)Lyz2-Cre^(+/−)*** inflammation and M1 polarization were improved in GRK2^(f/f)Lyz2-Cre^(+/−)*** experiments with RNA-seq and dual-luciferase reporter assays identified peroxisome proliferator-activated receptorγ(PPARγ)as a new GRK2-interacting *** further confirmed that fms-related tyrosine kinase 1(Flt-1),which promoted macrophage migration to induce angiogenesis,was inhibited by GRK2-PPARγ***,excess GRK2 membrane recruitment in CIA MDMs reduced the activation of PPARγligand-binding domain and enhanced Flt-1 ***,the treatment of mice with GRK2 activity inhibitor resulted in significantly diminished CIA pathology,Flt-1^(+)macrophages induced-synovial inflammation,and ***,we anticipate to facilitate the elucidation of previously unappreciated details of GRK2-specific intracellular *** GRK2 activity is a viable strategy to inhibit MDMs infiltration,affording a distinct way to control joint inflammation and angiogenesis of RA.

关键词： GRK2 Monocyte-derived macrophages Rheumatoid arthritis PPARg Flt-1

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