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Singularity Robust Path Planning for Real Time Base Attitude Adjustment of Free-floating Space Robot

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International Journal of Automation and computing 2017年第2期14卷 169-178页

作者： Cheng Zhou ming-he jin Ye-Chao Liu Ze Zhang Yu Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a singularity robust path planning for space manipulator to achieve base （satellite） attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAl （realtime application interface） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm.

关键词： Space robot path planning base attitude adjustment task priority reaction null-space.

Overexpression of the OsPDCD5 Gene Induces Programmed Cell Death in Rice

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Journal of Integrative Plant Biology 2005年第9期47卷 1115-1122页

作者： Kotb ATRIA Ke-Gui LI Chun WEI Guang-ming he Wei SU jin-Shui YANG Institute of Genetics School of Life Sciences Fudan University Shanghai 200433 China

The primary aim of the present study was to investigate the overexpression of the rice （Oryza sativa L.） programmed cell death 5 （OsPDCD5） gene in rice plant. Constitutive expression of OsPDCD5 from the cauliflower mosaic virus （CaMV） 35S promoter induced programmed cell death （PCD） in transgenic rice. Programmed cell death was accompanied by typical features, including inhibition of developmental growth, a reduction of fresh weight, degradation of total protein content, and fragmentation of genomic DNA. These results suggest that OsPDCD5 plays an essential role in the regulation of PCD in rice plants.

关键词： gene transformation Oryza sativa rice programmed cell death 5 (OsPDCD5) gene programmed cell death.

Quantum states of neutral atoms bound in the magnetic field of a Kepler-guide

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原子与分子物理学报 2003年第3期20卷 369-372页

作者： he ming, WANG jin, ZHAN ming sheng (State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics, Wuhan Institute of Physics and Mathematics, Chinese Academy of Sciences, Wuhan 430071, P.R.China) Wuhan Institute of Physics and Mathematics Chinese Academy of Sciences State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics CAS Wuhan 430071

The spectrum and the wave function of neutral atoms in the magnetic field of a Kepler guide are presented by reducing a two dimensional stationary Schrdinger equation to a one dimensional hydrogen atom in Rydberg states. In addition, we set the scale for the atomic orbits and binding energy in the quantum regime, and compare it with the outcome of the experiment. At the same time, we find that reducing the current and radius of the wire properly will increase the loading efficiency of the Kepler guide.

关键词：量子态中性原子开普勒波导磁性

Zoledronate-loaded aluminum salt nanovaccines amplify cellular immune response by enhancing cross-presentation

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Nano Research 2025年第1期18卷 559-571页

作者： Chunting he Penghui he Xue Tang Shuting Bai ming Qin Yunting Zhang Zhaofei Guo Guangsheng Du Xun Sun Key Laboratory of Drug-Targeting and Drug Delivery System of the Education Ministry West China School of PharmacySichuan UniversityChengdu 610041China

Being a Th2 stimulator,classic aluminum salt-based adjuvants only stimulate weak cellular immune responses that are required for vaccination against intracellular viruses or cancerous *** a thirdgeneration bisphosphonate,zoledronate(ZOL)can enhance antigen crosspresentation by inhibiting key enzymes of the mevalonate ***,we developed the subunit antigen ovalbumin(OVA)and ZOL co-loaded aluminum hydroxide nanoparticles(APN-OVA-ZOL)and investigated their capacity for inducing cellular immune responses against the *** results showed that the developed nanovaccines could successfully encapsulate OVA and ZOL,and enabled efficient lymph node *** by the mevalonate pathway inhibition effect of ZOL,APN-OVA-ZOL significantly promoted *** a result,APN-OVA-ZOL induced robust cellular immunity,including the activation of T and B *** a EG7-OVA tumor-bearing murine model,APN-OVA-ZOL significantly inhibited the tumor growth and prolonged mice *** work provided a strong empirical foundation indicating that zoledronate-loaded aluminum salt nanovaccines had a strong potency for cancer immunotherapy.

关键词： zoledronate(ZOL) mevalonate pathway antigen cross-presentation cellular immune responses

Mediating role of health literacy in the relationship between social isolation and psychological distress among pre-frail older adults

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World Journal of Psychiatry 2025年第1期15卷 137-144页

作者： Juan Fang Li-Hui Li ming-Qian he Yue Ji Dong-Yan Lu Li-Bing Zhang jin-Lan Yao School of Medicine Huzhou UniversityHuzhou 313000Zhejiang ProvinceChina

BACKGROUND Frailty has become a significant public health *** recent increase in the number of frail older adults has led to increased attention being paid to psycho-logical care services in *** social isolation of pre-frail older adults can impact their psychological *** To explore the mediating effect of health literacy between social isolation and psychological distress among communitydwelling older adults with *** This descriptive cross-sectional study was conducted with 254 pre-frail older individuals aged 60 years and *** isolation,health literacy,and psycholo-gical distress were comprehensively measured using the Lubben Social Network Scale-6,12-item Short-Form health Literacy Questionnaire,and the Kessler Psy-chological Distress *** were evaluated using the SPSS 27.0 package program and the PROCESS macro *** statistical analyses,correlation analyses,and bootstrap mediation tests were used to assess associations between the *** The results showed that social isolation had an effect on health literacy among pre-frail older adults(β=0.240,Phealth literacy was identified effect on psychological distress among pre-frail older persons(β=-0.307,Phealth literacy partially mediated the relationship between social isolation and psychological distress among community-dwelling older adults with pre-frailty,with a mediation effect of-0.074,accounting for 17.83%of the total effect.

关键词： Frail Ageing Psychological distress health literacy Social isolation

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过湿土处治技术的技术及经济性分析

山西建筑 2013年第2期39卷 59-62页

作者：何明晋文华西南科技大学土木工程与建筑学院四川绵阳621010

选取极具代表性的雅安地区过湿土为研究对象,对其处置有传统工艺竹排法及研究中提出的掺灰法、综合掺灰法(真空预压法或电渗法+掺灰),从现场施工的角度对这三种工艺进行了技术及经济性分析,从定性及定量方面做了具体的比较,对同类技术... 详细信息

选取极具代表性的雅安地区过湿土为研究对象,对其处置有传统工艺竹排法及研究中提出的掺灰法、综合掺灰法(真空预压法或电渗法+掺灰),从现场施工的角度对这三种工艺进行了技术及经济性分析,从定性及定量方面做了具体的比较,对同类技术的应用提供了依据及参考。

关键词：过湿土竹排法掺灰法综合掺灰法技术经济性

浅析南瑞MB80 DOM213开出模块故障与对策

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兰州工业高等专科学校学报 2011年第2期18卷 47-50页

作者：何明进薛辉重庆马岩洞水电开发有限公司重庆彭水409609

通过分析南瑞MB80系统PLC开出模块防误功能以及机组控制开出特点,提出了监控系统机组开出加装监测继电器,或加装开出保护装置以提高机组监控开出防误功能的建议方案,为相关计算机监控系统顺控防误设计和改造提供参考.

关键词：监控开出模块防误改进

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体育专业大学生实践能力影响因素及发展对策

滨州学院学报 2010年第6期26卷 113-117页

作者：孙金波贺明津滨州学院体育系山东滨州256603

采用文献资料、问卷调查、专家访谈、数理统计、综合分析等方法,就影响体育专业大学生实践能力的内外因素进行了调查分析,指出了自身因素、教学因素、实践因素和社会因素对提升实践能力的影响,并从提高学生学习态度、改善学校办学条件... 详细信息

采用文献资料、问卷调查、专家访谈、数理统计、综合分析等方法,就影响体育专业大学生实践能力的内外因素进行了调查分析,指出了自身因素、教学因素、实践因素和社会因素对提升实践能力的影响,并从提高学生学习态度、改善学校办学条件、稳定实践基地、强化学生的科研能力开展等方面阐述了提高体育专业大学生实践能力的发展对策.

关键词：体育专业实践能力培养现状发展对策

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体育专业大学生人文素质教育探论

滨州学院学报 2009年第4期25卷 83-85页

作者：贺明津孙金波滨州学院体育系山东滨州256603

运用现代教育理论,分析目前体育专业大学生人文素质教育的现状及成因,提出了加强体育专业大学生人文素质教育的途径和方法,为高校体育专业的课程设置、教学改革等提供一些参考。

关键词：体育专业大学生人文素质