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Global path guided vehicle obstacle avoidance path planning with artificial potential field method

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IET Cyber-Systems and Robotics 2023年第1期5卷 24-35页

作者： Yangde Chen peiliang wang Zichen Lin Chenhao Sun School of Engineering Huzhou UniversityHuzhouZhejiangChina

An artificial potential field method based on global path guidance(G-APF)is proposed for target unreachability and local minima problems of the conventional artificial potential field(APF)method in complex environments with dynamic ***,for the target unreachability problem,the global path attraction is added to the APF;second,an obstacle detection optimisation method is proposed and the optimal virtual target point is selected by setting the evaluation function to improve the local minima problem;finally,based on the obstacle detection optimisation method,the gravitational and repulsive processes are improved so that the path can pass through the narrow channel smoothly and remain *** show that the method optimises 40.8%of the total path corners,reduces 81.8%of the number of path oscillations,and shortens 4.3%of the path length in Map *** can be applied to the vehicle obstacle avoidance path planning problem in complex environments with dynamic obstacles.

关键词： automatic guided vehicles obstacle avoidance path planning

An ultra-sensitive metasurface biosensor for instant cancer detection based on terahertz spectra

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Nano Research 2023年第5期16卷 7304-7311页

作者： peiliang wang Jing Lou Yun Yu Lang Sun Lan Sun Guangyou Fang Chao Chang Aerospace Information Research Institute Chinese Academy of SciencesBeijing 100094China Innovation Laboratory of Terahertz Biophysics National Innovation Institute of Defense TechnologyBeijing 100071China The Key Laboratory of Electromagnetic Radiation and Sensing Technology Chinese Academy of SciencesBeijing 100190China School of Electronic Electrical and Communication EngineeringUniversity of Chinese Academy of SciencesBeijing 100049China Air and Missile Defense College Air Force Engineering UniversityXi’an 710051China Institute of Acupuncture and Moxibustion China Academy of Chinese Medical SciencesBeijing 100007China School of Psychological and Cognitive Sciences Beijing Key Laboratory of Behavior and Mental HealthPeking UniversityBeijing 100871China School of Life Science and Technology Xi’an Jiaotong UniversityXi’an 710049China

Metasurface biosensors have become the core label-free and rapid-detection technology in *** cancer and brain cancer are the first leading causes of cancer death among adults and adolescents,respectively,where poor early diagnosis results from expensive detection costs and time *** tackle the above problems,here,we introduce a terahertzdomain metasurface biosensor for cancer diagnosis,relying on a perfectly symmetrical periodic surface structure,which significantly exhibits polarization-insensitivity at 2.05 THz and the high-sensitivity of 504 GHz/RIU(RIU=refractive index unit).According to the frequency shifts and transmittance variations,four cell types are successfully distinguished from each *** minimum number of cells is required for thousands of cells to display the differences of spectra,which is 1/30 of clinical ***,the results were consistent with pathological results(the gold standard in clinic)by Gaussian curve *** proposed biosensor has really achieved the characterization of cells in normal and cancerous *** detection strategy dramatically reduced the cost of detection by reuse and time consumption was reduced to 1/20 of the pathology *** addition,it is flexible to set samples and easy to realize automatic operation due to the great polarization-insensitivity of the proposed biosensor,which can further reduce labor costs in the *** is envisioned that the proposed biosensor will present immense potential in the fields of cancer detection,distinguishing different cancers,identifying primary lesion cancer or metastatic cancer.

关键词： terahertz metasurface biosensor cancer detection

Inhibition of Cancer Cell Migration and Glycolysis by Terahertz Wave Modulation via Altered Chromatin Accessibility

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Research 2022年第4期2022卷 381-396页

作者： Lan Suno Yangmei Li Yun Yu peiliang wang Shengquan Zhu KaijieWu Yan Liu Ruixing wang Li Min Chao Chan Innovation Laboratory of Terahertz Biophysics National Innovation Institute of Defense TechnologyBeijing 100071China School of Psychological and Cognitive Sciences Peking UniversityBeijing 100871China Aerospace Information Research Institute School of ElectronicElectrical and Communication EngineeringUniversity of the Chinese Academy of SciencesBeijing 100049China Key Laboratory of Electromagnetic Illumination and Sensing Technology Chinese Academy of SciencesBeijing 100190China Department of Gastroenterology Beijing Friendship HospitalCapital Medical UniversityBeijing 100050China Beijing Key Laboratory for Precancerous Lesion of Digestive Disease National Clinical Research Center for Digestive DiseaseBeijing100171China School of Physics Peking UniversityBeijing 100871China

Metastasis and metabolic disorders contribute to most cancer deaths and are potential drug targets in cancer treatment. However, corresponding drugs inevitably induce myeloid suppression and gastrointestinal toxicity. Here, we report a nonpharmaceutical and noninvasive electromagnetic intervention technique that exhibited long-term inhibition of cancer cells. Firstly, we revealed that optical radiation at the specific wavelength of 3.6 μm (i.e., 83 THz) significantly increased binding affinity between DNA and histone via molecular dynamics simulations, providing a theoretical possibility for THz modulation- (THM-) based cancer cell intervention. Subsequent cell functional assays demonstrated that low-power 3.6 μm THz wave could successfully inhibit cancer cell migration by 50% and reduce glycolysis by 60%. Then, mRNA sequencing and assays for transposase-accessible chromatin using sequencing (ATAC-seq) indicated that low-power THM at 3.6 μm suppressed the genes associated with glycolysis and migration by reducing the chromatin accessibility of certain gene loci. Furthermore, THM at 3.6 μm on HCT-116 cancer cells reduced the liver metastasis by 60% in a metastatic xenograft mouse model by splenic injection, successfully validated the inhibition of cancer cell migration by THM in vivo. Together, this work provides a new paradigm for electromagnetic irradiation-induced epigenetic changes and represents a theoretical basis for possible innovative therapeutic applications of THM as the future of cancer treatments.

关键词： drugs Together migration

GNSS gyroscopes:determination of angular velocity and acceleration with very high-rate GNSS

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Satellite Navigation 2024年第1期5卷 74-90页

作者： Yun Shi peiliang Xu Yuanming Shu Xiaolin Meng School of Geomatics Xi’an University of Science and TechnologyXi’an710054People’s Republic of China Disaster Prevention Research Institute Kyoto UniversityUjiKyoto611-0011Japan College of Marine Geosciences Ocean University of ChinaQingdaoPeople’s Republic of China School of Instrument Science and Engineering Southeast UniversityNanjing210096People’s Republic of China

Although global navigation satellite systems(GNSS)have been routinely applied to determine attitudes,there exists no literature on determining angular velocity and/or angular acceleration from *** by the invention of computerized accelerometers of the correspondence author and following the success of accurately recovering translational velocity and acceleration waveforms from very high-rate GNSS precise positioning by Xu and his collaborators in 2021,we propose the concept of GNSS gyroscopes and reconstruct angular velocity and acceleration from very high-rate GNSS attitudes by applying regularization under the criterion of minimum mean squared *** major results from the experiments can be summarized in the following:(i)angular velocity and acceleration waveforms computed by applying the difference methods to high-rate GNSS attitudes are too noisy and can be physically not meaningful and numerically *** same can be said about inertial measurement unit(IMU)attitudes,if IMU gyros are not of very high accuracy;(ii)regularization is successfully applied to reconstruct the high-rate angular velocity and acceleration waveforms from 50 Hz GNSS attitudes and significantly outperforms the difference methods,validating the proposed concept of GNSS *** comparing the angular velocity and acceleration results by using the difference methods and regularization,we find that the peak values of angular velocity and acceleration by regularization are much smaller by a maximum factor of 1.57 in the angular velocity to a maximum factor of 8662.53 times in the angular acceleration in the case of high-rate GNSS,and by a maximum factor of 1.26 in the angular velocity to a maximum factor of 2819.85 times in the angular acceleration in the case of IMU,respectively;and(iii)the IMU attitudes apparently lead to better regularized angular velocity and acceleration waveforms than the high-rate GNSS attitudes,which can well be explained by the fact that the

关键词： Angular velocity Angular acceleration High-rate GNSS GNSS attitudes GNSS gyroscopes Regularization

Emergency Evacuation Path Planning of Passenger Ship Based on Cellular Ant Opt imization Model

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Journal of Shanghai Jiaotong university(Science) 2020年第6期25卷 721-726页

作者： wang peiliang ZHANG Ting XIAO Yingjie Merchant Marine College Engineering Research Center of Simulation Technology of the Ministry of EducationShanghai Maritime UniversityShanghai 201306China Shandong Transport Vocational College Weifang 261206ShandongChina Weifang University of Science and Technology Weifang 262700ShandongChina

Aiming at the problem of emergency evacuation path planning of passenger ships,the cellular ant algorithm is applied to path planning on the basis of the grid ***,a grid map based on hexagonal cells is established to equalize the moving length between the ***,the static field function is introduced into the optimization design of the heuristic function to make the heuristic function adapt to the hexagonal grid ***,the segmented update rule is applied to pheromone *** order to verify the feasibility and rationality of the proposed method,the simulation of an exhibition hall in a passenger ship is carried out,and the path planning performed by the cellular ant algorithm and the traditional model is *** results show that when the cellular ant algorithm is used to plan the path,it not only accelerates the search speed,but also increases the understanding space,which can effectively avoid falling into the localy optimal solution.

关键词： emergency evacuation optimal path cellular ant algorithm

Tissue adhesive,ROS scavenging and injectable PRP-based‘plasticine’for promoting cartilage repair

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Regenerative Biomaterials 2024年第1期3卷 94-107页

作者： Shiao Li Dawei Niu Haowei Fang Yancheng Chen Jinyan Li Kunxi Zhang Jingbo Yin peiliang Fu Department of Orthopedics Shanghai Changzheng HospitalNaval Medical UniversityShanghai 200003P.R.China Department of Polymer Materials School of Materials Science and EngineeringShanghai UniversityShanghai 200444P.R.China

Platelet-rich plasma(PRP)that has various growth factors has been used clinically in cartilage ***,the short residence time and release time at the injury site limit its therapeutic *** present study fabricated a granular hydrogel that was assembled from gelatin microspheres and tannic acid through their abundant hydrogen *** microspheres with the gelatin concentration of 10wt%and the diameter distribution of 1-10 lm were used to assemble by tannic acid to form the granular hydrogel,which exhibited elasticity under low shear strain,but flowability under higher shear *** viscosity decreased with the increase in shear ***,the granular hydrogel exhibited self-healing feature during rheology ***,granular hydrogel carrying PRP not only exhibited well-performed injectability but also performed like a‘plasticine’that possessed good *** granular hydrogel showed tissue adhesion ability and reactive oxygen species scavenging *** hydrogel carrying PRP transplanted to full-thickness articular cartilage defects could integrate well with native cartilage,resulting in newly formed cartilage articular fully filled in defects and well-integrated with the native cartilage and subchondral *** unique features of the present granular hydrogel,including injectability,plasticity,porous structure,tissue adhesion and reactive oxygen species scavenging provided an ideal PRP carrier toward cartilage tissue engineering.

关键词： cartilage regeneration granular hydrogel gelatin tannic acid PRP

Thermal management for the underwater frontend and readout electronics of JUNO 20‑inch PMTs

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Radiation Detection Technology and Methods 2023年第3期7卷 418-426页

作者： Yangfu wang Xiaoshan Jiang Jun Hu peiliang wang Lei Fan Shaojing Hou Zhe Ning Yunhua Sun Xiongbo Yan Zheng wang Ziyue Yan Peiran Ye Jie Zhang Alberto Garfagnini Antonio Bergnoli Riccardo Brugnera Beatrice Jelmini Filippo Marini Marco Grassi Mariia Redchuk Andrea Serafini Katharina von Sturm Institute of High Energy Physics BeijingChina University of China Academy of Sciences Beijing 100049China INFN Sezione di Padova PaduaItaly Dipartimento di Fisica e Astronomia Universita di PadovaPaduaItaly

Background The Jiangmen underground neutrino observatory(JUNO)is a new generation of long-term operation neutrino experimental platform under construction in Jiangmen,Guangdong province of southern *** underwater frontend and readout electronics(F&R electronics)are placed nearby the 20-inch PMTs and readout current signals from three *** electronics are sealed in a stainless-steel underwater box to keep them dry,and temperature control of the electronics plays a significant role in their *** A conductive cooling structure based on the passive cooling method is designed for the 20-inch PMT F&R *** numerical simulation and experimental tests were performed to evaluate the cooling structures'thermal *** The results show that the case temperature of the respective chip for 20-inch PMT F&R electronics is less than 30℃in ambient still *** The case temperature of the respective chip meets the strict temperature requirement for the F&R *** JUNO collaboration has adopted this cooling structure for the 20-inch PMT readout electronics.

关键词： Thermal management JUNO PMT Electronics

Transcriptome profiling analysis of Mactra veneriformis by deepsequencing after exposure to 2,2′,4,4′-tetrabromodipheny1 ether

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Journal of Oceanology and Limnology 2018年第2期36卷 490-507页

作者： SHI Pengju DONG Shihang ZHANG Huanjun wang peiliang NIU Zhuang FANG Yan School of Agriculture Ludong University Yantai 264025 China Shandong Marine Resource and Environment Research Institute Shandong Provincial Key Laboratory of Restoration for Marine Ecology Yantai 264006 China s Weihai Hongrun Marine Teehnology Co. Ltd. Weihai 264200 China

Polybrominated diphenyl ethers （PBDEs） are ubiquitous global pollutants, which are known to have immune, development, reproduction, and endocrine toxicity in aquatic organisms, including bivalves. 2,2＇,4,4＇-Tetrabromodiphenyl ether （BDE-47） is the predominant PBDE congener detected in environmental samples and the tissues of organisms. However, the mechanism of its toxicity remains unclear. In this study, high-throughput sequencing was performed using the clam Mactra veneriformis, a good model for toxicological research, to clarify the transcriptomic response to BDE-47 and the mechanism responsible for the toxicity of BDE-47. The clams were exposed to 5 pg/L BDE-47 for 3 days and the digestive glands were sampled for high-throughput sequencing analysis. We obtained 127 648, 154 225, and 124 985 unigenes by de novo assembly of the control group reads （CG）, BDE-47 group reads （BDEG）, and control and BDE-47 reads （CG ＆ BDEG）, respectively. We annotated 32 176 unigenes from the CG ＆ BDEG reads using the NR database. We categorized 24 401 unigenes into 25 functional COG clusters and 21 749 unigenes were assigned to 259 KEGG pathways. Moreover, 17 625 differentially expressed genes （DEGs） were detected, with 10 028 upregulated DEGs and 7 597 downregulated DEGs. Functional enrichment analysis showed that the DEGs were involved with detoxification, antioxidant defense, immune response, apoptosis, and other functions. The mRNA expression levels of 26 DEGs were verified by quantitative real-time PCR, which demonstrated the high agreement between the two methods. These results provide a good basis for future research using the M. veneriformis model into the mechanism of PBDEs toxicity and molecular biomarkers for BDE-47 pollution. The regulation and interaction of the DEGs would be studied in the future for clarifying the mechanism of PBDEs toxicity.

关键词： transcriptomic response Mactra veneriformis 2,2′,4,4′-tetrabromodiphenyl ether

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基于改进ARIMA算法的船舶纵摇运动预测

舰船科学技术 2023年第21期45卷 64-69页

作者：张婷邱亮王培良山东交通职业学院航海学院山东潍坊261206 上海海事大学商船学院航运仿真技术教育部工程研究中心上海201306

针对现有自回归移动平均模型(ARMA)在时间序列预测不具有普适性问题,提出构建差分自回归移动平均模型(ARIMA)对船舶摇摆角度值进行预测,并对比分析不同差分次数时的预测效果。首先,分析船舶纵摇角度值原始序列值,检验其平稳性,进行差分... 详细信息

针对现有自回归移动平均模型(ARMA)在时间序列预测不具有普适性问题,提出构建差分自回归移动平均模型(ARIMA)对船舶摇摆角度值进行预测,并对比分析不同差分次数时的预测效果。首先,分析船舶纵摇角度值原始序列值,检验其平稳性,进行差分运算,明确ARIMA模型的适用性;然后,依据AIC准则确定模型的阶数,并求解模型参数。最后,进行角度值序列预测,结合预测精度和误差分析,确定适用于预测船舶纵摇角度值的ARIMA模型。研究结果表明:以误差和均方差为模型评价指标,优化差分次数获得的ARIMA模型具有更好的预测效果。

关键词： ARIMA模型最优差分次数船舶运动预测集装箱船