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基于UKF滤波的自主移动机器人锂电池SOC估计

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仪器仪表学报 2006年第z2期27卷 1298-1299,1320页

作者：石璞董再励中国科学院沈阳自动化研究所

准确估计剩余电量(state of charge,SOC)关系到自主移动机器人(AmR)的生存与安全,是AmR研究中所面临的主要挑战之一。针对广义卡尔曼滤波估计SOC的不足,本文给出基于无色卡尔曼滤波(UKF)估计AmR锂电池SOC的新方法。通过试验对UKF和EKF... 详细信息

准确估计剩余电量(state of charge,SOC)关系到自主移动机器人(AmR)的生存与安全,是AmR研究中所面临的主要挑战之一。针对广义卡尔曼滤波估计SOC的不足,本文给出基于无色卡尔曼滤波(UKF)估计AmR锂电池SOC的新方法。通过试验对UKF和EKF进行了比较。试验验证了同样条件下,UKF比EKF具有更好的滤波估计精度。

关键词：无色卡尔曼滤波(UKF) 锂电池 SOC估计广义卡尔曼滤波(EKF) 自主移动机器人(AmR)

Tree Species Diversity and Edaphic Factors Associated with Different Land Uses in Tropical Forest Ecosystems, Tanzania

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Open Journal of Ecology 2023年第10期13卷 759-772页

作者： George B. Bulenga Salim m. S. maliondo Josiah z. Katani Gert Nyberg Department of Ecosystems and Conservation Sokoine University of Agriculture (SUA) Chuo Kikuu Tanzania Department of Research and Publication Tanzania Research and Conservation Organization (TRCO) Morogoro Tanzania Department of Forest Resources Assessment and management Sokoine University of Agriculture (SUA) Chuo Kikuu Tanzania Department of Forest Ecology and management Swedish University of Agricultural Sciences (SLU) Umeå Sweden

It has been reported that changes to miombo woodland ecosystems through conversion to other land uses alter tree species diversity and soil properties. The aim was to assess whether the Important Value Index (IVI), Shannon- Wiener diversity index (H'), and soil chemical properties differ between land uses in the Kibutuka miombo woodland ecosystem. IVI and H' were used to indicate tree species dominance and diversity. Statistical analyses were performed in R software. IVI of Brachystegia was significantly (p Combretum, milletia, and Diplorhynchus had significantly (p p p p meters, but not for soil parameters, indicates that the land use change taking place in the Kibutuka miombo woodland ecosystem is recent and the degradation seen in vegetation is still not reflected in the soil properties.

关键词： Degradation Dominance miombo Woodlands Soil Chemical Properties

ASYmPTOTICS OF THE “mINImUm L_1-NORm”ESTImATES IN A PARTLY LINEAR mODEL

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Systems Science and mathematical Sciences 1994年第1期7卷 67-77页

作者： shi Peide LI Guoying(Institute of Systems Science, Academia Sinica, Beijing 100080, China)

ＡＳＹＭＰＴＯＴＩＣＳＯＦＴＨＥ“ＭＩＮＩＭＵＭＬ＿１－ＮＯＲＭ”ＥＳＴＩＭＡＴＥＳＩＮＡＰＡＲＴＬＹＬＩＮＥＡＲＭＯＤＥＬ￥ＳＨＩＰｅｉｄｅ；ＬＩＧｕｏｙｉｎｇ（ＩｎｓｔｉｔｕｔｅｏｆＳｙｓｔｅｍｓＳｃｉｅｎｃｅ，... 详细信息

ＡＳＹＭＰＴＯＴＩＣＳＯＦＴＨＥ“ＭＩＮＩＭＵＭＬ＿１－ＮＯＲＭ”ＥＳＴＩＭＡＴＥＳＩＮＡＰＡＲＴＬＹＬＩＮＥＡＲＭＯＤＥＬ￥ＳＨＩＰｅｉｄｅ；ＬＩＧｕｏｙｉｎｇ（ＩｎｓｔｉｔｕｔｅｏｆＳｙｓｔｅｍｓＳｃｉｅｎｃｅ，ＡｃａｄｅｍｉａＳｉｎｉｃａ，Ｂｅ...

关键词： Partly linear model global rate of convergence piecewise polynomial, L1-norm estimates.

Pharmacological effects of ginsenoside Rg1 in neuropsychopharmacology

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中国药理学与毒理学杂志 2019年第9期33卷 685-686页

作者： GAO Yan CHU shi-feng zHANG zhao zHANG Lan CHEN Nai-hong State Key Laboratory of Bioactive Substances and Functions of Natural medicines Institute of Materia MedicaNeuroscience CenterChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100050China Department of Pharmacy Xuanwu Hospital of Capital Medical UniversityBeijing 100053China Hunan University of Chinese medicine Changsha 410208China

Panax Ginseng has been used for thousands of years in traditional Chinese medicine(TCm)as a tonic to improver stamina and *** Rg1(Rg1),a saponin extracted from Panax ginseng,is considered one of the most potent pharmacological candidates among *** various diseases related to nervous system,Rg1 has shown excellent pharmacological activities.①Stroke:Rg1 has been well documented to be effective against ischemic/reperfusion(I/R)neuronal injury.A systematic review and meta-analysis revealed a marked efficacy of Rg1 in experi⁃mental acute ischemic stroke,as manifested by its ability to reduce infract volume and improve neurological *** protective effects of Rg1 were abolished by injecting of AAV-HIF-miR-144-shRNA into the predicted ischemic penumbra.②Depression:In addition,Rg1 showed antidepressive effects in chronic unpredictable mild stress(CUmS)model of depression and in gonadectomized(GDX)model of neuroendocrine ***1 displayed antidepressant activity through the modulation of HPA and HPG axis,markedly alleviated depression-like behavior in ***-term Rg1 treat⁃ment of CUS-exposed rats also significantly prevented the decrease in dye diffusion and improved the ultrastructure of astrocyte gap junctions in the ***1 upregulated Cx43 expression in PFC reduced by CUS exposure,indicating beneficial effects on the functional activity of gap junction channels in the brain.③Parkinson disease(PD):Oral treatment with Rg1 significantly attenuated high mPTP-induced mortality,behavior defects,loss of dopamine neurons and abnormal unltrastructure changes in *** regulated mPTP-induced reactive astrocytes and microglia and decreased the release of cytokines such as TNF-alpha and IL-1βin ***1 also alleviated the unusual mPTP-induced increase in oligomeric,phosphorylated and disease-relatedα-synuclein in SNpc.④Alzheimer disease(AD):Okadaic acid(OKA)intracerebroventricular injection induced memory impairment,including changes in the abil

关键词： ginsenoside Rg1 neuropsychopharmacology multiple targets

钢结构梁柱半刚性端板连接弯矩-转角全曲线计算方法

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工程力学 2006年第5期23卷 67-73,55页

作者：施刚石永久王元清清华大学土木工程系北京100084

提出了一种计算钢结构梁柱半刚性端板连接转动变形的方法,通过与试验结果比较得到验证,该方法不但能够很好地计算端板连接的整体转动变形特性,包括初始转动刚度和弯矩-转角(m-φ)全过程曲线,而且能够较好分析计算其转动变形的各种来源,... 详细信息

提出了一种计算钢结构梁柱半刚性端板连接转动变形的方法,通过与试验结果比较得到验证,该方法不但能够很好地计算端板连接的整体转动变形特性,包括初始转动刚度和弯矩-转角(m-φ)全过程曲线,而且能够较好分析计算其转动变形的各种来源,包括节点域剪切变形、螺栓伸长、端板和柱翼缘弯曲变形等,从而能够提供弯矩-剪切转角(m-φs)和弯矩-缝隙转角(m-φep)曲线,为准确分析端板连接的细部转动变形特性提供了可靠依据,同时也为我国钢结构设计规范关于节点转动变形的具体设计计算方法提供了有益补充。

关键词：钢结构半刚性端板连接弯矩-转角(m-φ)曲线转动刚度

Effects of the Sheep Polyclonal Antibodies Against the Porcine Adipocyte Plasma membrane Proteins on Porcine Carcass Composition and meat Quality

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Agricultural Sciences in China 2007年第10期6卷 1256-1261页

作者： GAO shi-zheng HU Hong-mei LIU Ling-yun zHANG Xi LIU Yong-gang GE Chang-rong Key Laboratory of Animal Nutrition and Feed of Yunnan Province Yunnan Agricultural University Kunming 650201 P.R.China Institute of Animal Science and Veterinary medicine Shandong Academy of Agricultural Sciences Jinan 250100 P.R.China Kunming Normal School Kunming 650201 P.R.China

To detect the effects of the polyclonal antibodies raised in sheep against porcine adipocyte plasma membranes on the porcine carcass composition and meat quality, 30 pigs assigned into 6 treatment groups were given intraperitoneal injections of sheep antipig adipocyte plasma membrane immunoglobulin （ASIg） or sheep nonimmune serum immunoglobulin （NSIg）. At the end of the experiment, the pigs were slaughtered at 90 kg body weight, and carcasses and meat quality were evaluated. The results showed that when pigs intraperitoneally immunized with 20 or 30 mg ASIg at 15 kg body weight, 20 mg purified ASIg twice at 15 and 60 kg body weight, or 20 mg purified ASIg at 60 kg body weight, respectively, their lean meat percentage, fat meat percentage, backfat thickness, loin eye area leaf fat weight, caul fat weight, heart weight, liver weight, and kidney weight were significantly affected. However, the kidney weight, lurrg weight, dressing percentage, and spleen weight did not remarkably change. Our results indicated that pigs intraperitoneally immunized with 20 or 30 mg ASIg at 15 kg body weight, and 20 mg ASIg twice at 15 and 60 kg body weight, have significantly different drip loss rate, cooked meat ratio, tenderness, storage loss rate, muscle fiber diameter, moisture content, dry matter content, crude protein content, and crude fat content from the control group that received 20 mg NSIg at 15 kg body weight. However, meat pH, meat color value, meat marbling score, inosinate, and myohemoglobin were not significantly affected. Our results indicated ASIg could not significantly affect the content of most muscular amino acids and intramuscular fatty acids.

关键词： polyclonal antibodies pig carcass composition meat quality

Two-photon Absorption and Optical Power Limiting Properties of Two Novel Dibenzothiophene-based Chromophores

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Chinese Chemical Letters 2006年第9期17卷 1263-1266页

作者： Jian Wei CHENG Xiao mei WANG Jin XU Chang Gui LU Yi Ping CUI Bo LI shi Xiong QIAN Ping YANG material Engineering Institute Chemical Department of Suzhou University Suzhou 215021 Department of Electronic Engineering Southeast University Nanjing 210096 Laboratory of Advanced materials Fudan University Shanghai 200433

Two novel V-shaped symmetric chromophores： E-2,8-bis（4-vinyl-4-carbazol-9-yl）diben- zothiophene （abbreviated as SK-G1） and E-2,8-bis（4-vinyl-4-triphenylamino） dibenzothiophene （abbreviated as ST-G1） have been synthesized and characterized. Their two photon absorption properties were measured by the open-aperture femtosecond z-scan technique and the nanosecond nonlinear optical transmission （NLT）, respectively, when pumped by Ti： sapphire laser at 750 nm and 800 nm.

关键词： E-2,8-Bis(4-vinyl-4-carbazol-9-yl)dibenzothiophene E-2,8-bis(4-vinyl-4-triphenyl- amino)dibenzothiophene two-photon absorption optical limiting.

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离心级联水力学的扰动分析

清华大学学报（自然科学版） 2007年第6期47卷 859-862页

作者：李锦曾实清华大学工程物理系北京100084

为了提高离心级联的分离效果,研究了各级机器参数扰动时所引起的流体状态偏移。在求解离心级联水力学静态特征根的基础上,以扰动级为界,通过对级联贫化、浓化部分分段求解,得到了水力学流体状态偏移的解析解,并用数值实验加以验证。结... 详细信息

为了提高离心级联的分离效果,研究了各级机器参数扰动时所引起的流体状态偏移。在求解离心级联水力学静态特征根的基础上,以扰动级为界,通过对级联贫化、浓化部分分段求解,得到了水力学流体状态偏移的解析解,并用数值实验加以验证。结果表明:对于小扰动情况下的离心级联,用解析与数值2种方法得到的流体状态偏移曲线十分相似,主静态特征根z2对级联中压强和流量的偏移起主导作用。因此,该解析解可以为实际离心级联参数的调整和设计提供参考依据。

关键词：离心级联静态特征根流体状态偏移曲线

Hepatitis B genotypes: Relation to clinical outcome in patients with chronic hepatitis B in Saudi Arabia

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World Journal of Gastroenterology 2006年第43期12卷 7019-7024页

作者： Ayman A Abdo Badr m Al-Jarallah Faisal m Sanai Ahmad S Hersi Khalid Al-Swat Nahla A Azzam manal Al-Dukhayil Amira Al-maarik Faleh z Al-Faleh Gastroenterology Division Faculty of Medicine King Saud University Riyadh Saudi Arabia Gastroenterology Unit Department of Medicine McGill University Montreal Canada Hepatology Division Department of Medicine Riyadh Military Hospital Riyadh Saudi Arabia

AIm： To identify the most common hepatitis B virus （HBV） genob/pe in Saudi Arabia, and correlate the prevailing genob/pes with the clinical outcome of patients. mETHODS： Patients were consecutively recruited from the hepatology clinics of two tertiary care referral centers. Patients were categorized into 4 different groups： group 1, patients with hepatitis B and normal liver enzymes; group 2, patients with hepatitis B and abnormal liver enzymes but without cirrhosis; group 3, patients with hepatitis B and liver cirrhosis; group 4, patients with hepatitis B and hepatocellular carcinoma. All patients had a positive hepatitis B surface antigen （HBsAg）. Genob/ping of HBV was performed by nested PCR-mediated amplification of the target sequence and hybridization with sequence-specific oligonucleotides. RESULTS： Seventy patients were enrolled in this study. They were predominantly male （72.9%） in their midforty＇s （mean age 47 years）. Forty-nine （70%） patients were hepatitis B envelope antigen （HBeAg） negative. The majority of patients （64%） acquired HBV through unknown risk factors. Hepatitis B genob/ping revealed that 57 patients （81.4%） were genob/pe D, 1 patient （1.4%） had genob/pe A, 1 patient （1.4%） had genotype C, and 4 patients （5.7%） had genob/pe E, while 7 patients （10%） had mixed genob/pe （4 patients ADG, 1 patient DE, 1 patient DF, and 1 patient ADFG）. Based on univariate analysis of genob/pe D patients, significant predictors of advanced liver disease were age, gender, aspartate transaminase, alanine transaminase, albumin,bilirubin, and alkaline phosphatase （all P 〈 0.001）. In multivariate analysis decreased hemoglobin （r = -0.05; 95% CI： -0.08 to -0.03; P = 0.001） and albumin levels （r = -0.004; 95% CI： -0.007 to -0.001; P = 0.002） were highly significant predictors of advanced liver disease. In patients with HBV genotype D, HBeAg negativity was found to increase across advancing stages of liver disease （P = 0.024）. CONCLUSION： This study highlights tha

关键词： Hepatitis B virus Genotype D Cirrhosis Hepatocellular carcinoma Saudi Arabia