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A Staircase Model Construction Method for Quadruped Robots

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A Staircase Model Construction Method for Quadruped Robots

Self-assembled Nanoparticles of Cholesterol-disulfide Cationic Lipid for Luc-SiRNA Delivery

第35届中国过程控制会议

作者： mingrui Chang Xiaogang Wang Jun zhao Keyu Chen Xingzhong Xiong School of Automation and Information Engineering Sichuan University of Science and Engineering Artificial Intelligence Key Laboratory of Sichuan province

The staircase environment is an indispensable function in the obstacle-crossing ability of quadruped robots. Current quadruped robots encounter the problem of losing balance or tipping over when facing a staircase environment due to the lack of an accurate model of the staircase environment. Therefore, this paper proposes an ordered point cloud-based staircase environment mapping method to build an accurate ladder model. Firstly, depth camera is used to collect point cloud data of the staircase environment, and the normals of the planes in the point cloud are extracted to distinguish between horizontal and vertical planes. Secondly, based on the constructed staircase model, geometric methods are used to predict the possible position of the next step of the staircase, and this step of staircase model is built. Finally, the homogeneous transformation matrix between the robot and the depth camera is obtained through calibration, and the robot's body pose is obtained using a quadruped robot state estimator. The homogeneous transformation matrix before and after the camera movement is then derived to stitch together the complete staircase model. Experiments demonstrate that the staircase model obtained by the proposed algorithm has an average error of less than 1 cm in regular staircase environments and shows good adaptability in irregular staircase environments, providing foothold reference for quadruped robots to climb stairs.

关键词： Quadruped Robot Staircase Environment Ordered Point Cloud Relation Matrix ROS

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Self-assembled Nanoparticles of Cholesterol-disulfide Cation...

应用于时间投影室的光刻一体化微结构探测器性能研究

中国化学会第九届全国有机化学学术会议

作者： Ruilong Sheng mingrui Li zhao Wang Amin Cao Jian Chen Laboratory of Synthetic and Self-assembly Chemistry for Organic Functional Molecules Shanghai Institute of Organic Chemistry CAS Department of Chemistry Université de Montréal School of Pharmacy Shanghai Jiao Tong University

Developing new lipid-based Si RNA delivery systems with good biocompatibility,efficient and controllable transfection capability,as well as low economic cost,had attracted great attention in recent years .So far,how t...

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核电子学与探测技术 2024年第4期44卷 595-602页

作者：邓桂华李沛玉张昀昱智宇张俊伟孙鹏飞宋金兴周静庄晓赵明锐贾世海吝守龙卢志永靳尚泰许天驹王浩祯蒋涛郭佳承陈雷胡守扬李笑梅中国原子能科学研究院核数据重点实验室北京102413 国家国防科技工业局核技术支持中心北京100070 中国原子能科学研究院放射化学研究所北京102413 华北水利水电大学能源与动力工程学院郑州450045

时间投影室(Time Projection Chamber,TPC)可以同时测量时间和位置信息,光刻一体化微结构探测器作为其读出探测器具有抗干扰性强、均匀性好、透过率高的特性。为了寻找探测器最佳的工作条件,使用55Fe豁免源测试了实验室研制的流气型光... 详细信息

时间投影室(Time Projection Chamber,TPC)可以同时测量时间和位置信息,光刻一体化微结构探测器作为其读出探测器具有抗干扰性强、均匀性好、透过率高的特性。为了寻找探测器最佳的工作条件,使用55Fe豁免源测试了实验室研制的流气型光刻一体化微结构探测器在不同Ar和CO_(2)比例下的增益、能量分辨率以及在最优气体比例下的均匀性。根据测试结果,探测器在85%Ar和15%CO_(2)混合气体下增益达到最大,超过104,增益均匀性为3.26%,达到目前国际上光刻微结构探测器同等水平。对雪崩区厚度分别为100μm、160μm和220μm的3种光刻一体化微结构探测器增益及其均匀性进行比较,雪崩区厚度为160μm的探测器是更优的选择。研制了密闭型微结构探测器,通过测试证明,可以在常温常压下正常工作21天以上。闭气模式下探测器的增益与温度呈负相关,与流气模式下相反,两种模式下的能量分辨在短期内都不受小范围温度变化影响。

关键词：时间投影室光刻一体化微结构探测器气体比例雪崩区厚度

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混合噪声条件下的目标被动定位算法

兵工学报 2021年第9期42卷 1923-1930页

作者：陈林秀郝明瑞赵佳佳复杂系统控制与智能协同技术重点实验室北京100074

为提高被动传感器观测噪声为含时变有色噪声、跳变噪声的混合噪声时容积卡尔曼滤波(CKF)算法的滤波精度和稳定性,提出一种自适应容积卡尔曼滤波(ACKF)算法。在ACKF算法中,在基本CKF算法基础上,采用观测重构、待定系数去相关方法,推导得... 详细信息

为提高被动传感器观测噪声为含时变有色噪声、跳变噪声的混合噪声时容积卡尔曼滤波(CKF)算法的滤波精度和稳定性,提出一种自适应容积卡尔曼滤波(ACKF)算法。在ACKF算法中,在基本CKF算法基础上,采用观测重构、待定系数去相关方法,推导得到有色噪声条件下的容积卡尔曼滤波算法。针对时变有色噪声和跳变噪声导致滤波精度受损的问题,引入噪声方差在线修正及有害观测剔除的思想,进行了ACKF算法设计。仿真结果表明,与基本CKF算法相比,ACKF算法在x轴、y轴、z轴3个方向得到的被动定位精度分别提升了24.75%、32.57%和28.48%,具有更高的滤波稳定性和精度。

关键词：混合噪声容积卡尔曼滤波自适应被动定位

基于P2P网络的Over-Issued CRL机制研究

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计算机工程与应用 2011年第1期47卷 80-82,88页

作者：邱钊陈明锐海南大学信息科学技术学院海口570228

目前关于公钥基础设施(public key infrastructure)中证书撤销问题的主要解决方案是使用X.509证书撤销列表(Certifi-cate Revocation List)来定期发布证书状态信息。现有的发布机制存在CRL存储库峰值负荷过重,导致PKI部署成本过高的问... 详细信息

目前关于公钥基础设施(public key infrastructure)中证书撤销问题的主要解决方案是使用X.509证书撤销列表(Certifi-cate Revocation List)来定期发布证书状态信息。现有的发布机制存在CRL存储库峰值负荷过重,导致PKI部署成本过高的问题。通过对Over-Issued CRL模型和P2P技术的分析,给出一种基于P2P网络和Over-Issued CRL发布机制,它结合了上述两种技术的优点,有效降低了CRL存储库峰值负荷。

关键词：证书撤销列表公钥基础设施过量发布证书撤消列表

Improved Dripping Algorithm Based on Modeling the Backflow and Splashing of Water Droplets

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Improved Dripping Algorithm Based on Modeling the Backflow a...

Acetylation of ezrin regulates membrane–cytoskeleton interaction underlying CCL18-elicited cell migration

第43届中国控制会议

作者： Longxu zhao Tiantian Shen Qi Zhang Mengyu Liu Yu Zuo mingrui Luo Department of Electronic Information Engineering Hunan Normal University Zhangjiajie Institute of Aeronautical Engineering

The water droplet's dripping path is simulated by dripping algorithms and applied in many fields. In image segmentation, droplets directed by a traditional dripping algorithm may either be trapped in a dead cycle or forced traversing obstacles. To solve this problem, we first propose an improved dripping algorithm based on modeling the backflow of a water droplet. Instead of trapping, the improved algorithm guides the water droplet flow back for dripping opportunities. When blocked by both sides like falling into a low-lying "shallow pit", we further propose to improve the dripping algorithm based on modeling the splashing of water droplets. This improvement allows water droplets to splash one pixel higher for escaping the "shallow pit". Experiments in image segmentation of Guqin music notations validate the proposed method and demonstrate its advantages over traditional dripping algorithms.

关键词： Dripping algorithm Water droplets Backflow of water droplets Splashing of water droplets Path Planning

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Journal of Molecular Cell Biology 2020年第6期12卷 424-437页

作者： Xiaoyu Song Wanjuan Wang Haowei Wang Xiao Yuan Fengrui Yang Lingli zhao McKay Mullen Shihao Du Najdat Zohbi Saravanakumar Muthusamy Yalei Cao Jiying Jiang Peng Xia Ping He mingrui Ding Nerimah Emmett Mingming Ma Quan Wu Hadiyah-Nicole Green Xia Ding Dongmei Wang Fengsong Wang Xing Liu School of Traditional Medicine Beijing University of Chinese MedicineBeijingChina MOE Key Laboratory for Membraneless Organelles&Cellular Dynamics Hefei National Center for Physical Sciences at the MicroscaleHefeiChina Morehouse School of Medicine Keck Center for Organoids PlasticityAtlantaGAUSA Optics and Optical Engineering University of Science and Technology of ChinaHefeiChina School of Life Science Anhui Medical UniversityHefeiChina

Ezrin,a membrane–cytoskeleton linker protein,plays an essential role in cell polarity establishment,cell migration,and *** studies show that ezrin phosphorylation regulates breast cancer metastasis by promoting cancer cell survivor and promotes intrahepatic metastasis via cell ***,it was less characterized whether there are additional post-translational modifications and/or post-translational crosstalks on ezrin underlying context-dependent breast cancer cell migration and *** we show that ezrin is acetylated by p300/CBP-associated factor(PCAF)in breast cancer cells in response to CCL18 *** physically interacts with PCAF and is a cognate substrate of *** acetylation site of ezrin was mapped by mass spectrometric analyses,and dynamic acetylation of ezrin is essential for CCL18-induced breast cancer cell migration and ***,the acetylation reduced the lipid-binding activity of ezrin to ensure a robust and dynamic cycling between the plasma membrane and cytosol in response to CCL18 *** analyses show that ezrin acetylation prevents the phosphorylation of *** atomic force microscopic measurements,our study revealed that acetylation of ezrin induced its unfolding into a dominant structure,which prevents ezrin phosphorylation at ***,these results present a previously undefined mechanism by which CCL18-elicited crosstalks between the acetylation and phosphorylation on ezrin control breast cancer cell migration and *** suggests that targeting PCAF signaling could be a potential therapeutic strategy for combating hyperactive ezrin-driven cancer progression.

关键词： ezrin acetylation phosphorylation actin cell migration

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基于主动小样本学习的管道焊缝缺陷检测方法

仪器仪表学报 2022年第11期43卷 252-261页

作者：刘金海赵真付明芮左逢源王雷东北大学信息科学与工程学院沈阳110004 沈阳派得林科技有限责任公司沈阳110000

基于X射线探伤的焊缝缺陷检测是维护管道安全的关键环节,实现高精度、高效率的缺陷智能检测是推动无损检测智能化、现代化的重要方面。目前,基于深度学习的缺陷检测方法很难达到较高的精度和效率,因其需要大量标注样本且难以获取。针对... 详细信息

基于X射线探伤的焊缝缺陷检测是维护管道安全的关键环节,实现高精度、高效率的缺陷智能检测是推动无损检测智能化、现代化的重要方面。目前,基于深度学习的缺陷检测方法很难达到较高的精度和效率,因其需要大量标注样本且难以获取。针对这一问题,提出了一种基于主动小样本学习的管道焊缝缺陷检测方法。首先,基于轻量级神经网络提取小样本特征,以数据驱动的方式训练缺陷检测器;然后,推理无标签样本计算检测及分类不确定度并充分挖掘价值样本;最后,根据高价值样本微调网络参数,以最小的成本获得较高的性能提升。实验结果表明,方法能够利用更少的样本,在保证运行效率的前提下,提高约8%的精度。

关键词： X射线检测深度学习主动小样本学习价值样本挖掘

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含铌耐候钢在海洋大气条件下的耐蚀性

腐蚀与防护 2019年第9期40卷 627-632页

作者：李岩邵明蕊赵增武内蒙古科技大学内蒙自治区白云鄂博矿多金属资源综合利用重点实验室

研制了含不同量铌的耐候钢(低铌耐候钢和高铌耐候钢),采用加速腐蚀试验,电化学试验,腐蚀形貌表征等手段研究了海洋大气条件下2种含铌耐候钢的腐蚀行为。结果表明:腐蚀初期,高铌耐候钢的腐蚀速率低于低铌耐候钢的,增加合金中铌含量可以... 详细信息

研制了含不同量铌的耐候钢(低铌耐候钢和高铌耐候钢),采用加速腐蚀试验,电化学试验,腐蚀形貌表征等手段研究了海洋大气条件下2种含铌耐候钢的腐蚀行为。结果表明:腐蚀初期,高铌耐候钢的腐蚀速率低于低铌耐候钢的,增加合金中铌含量可以改善锈层成分,提高自腐蚀电位,降低腐蚀电流密度;随着腐蚀时间的延长,铌对耐候钢的腐蚀影响降低到可以忽略不计。

关键词：耐候钢铌失重海洋大气腐蚀耐蚀性