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Robust Iterated Sigma Point FastSLAM Algorithm for Mobile Robot Simultaneous Localization and Mapping

Chinese Journal of Mechanical Engineering 2011年第4期24卷 693-700页

作者： SONG Yu SONG Yongduan li qingling Center for Intelligent System and Renewable Energy Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Simultaneous localization and mapping （SLAM） is a key technology for mobile robots operating under unknown environment. While FastSLAM algorithm is a popular solution to the SLAM problem, it suffers from two major drawbacks： one is particle set degeneracy due to lack of observation information in proposal distribution design of the particle filter; the other is errors accumulation caused by linearization of the nonlinear robot motion model and the nonlinear environment observation model. For the purpose of overcoming the above problems, a new iterated sigma point FastSLAM （ISP-FastSLAM） algorithm is proposed. The main contribution of the algorithm lies in the utilization of iterated sigma point Kalman filter （ISPKF）, which minimizes statistical linearization error through Gaussian-Newton iteration, to design an optimal proposal distribution of the particle filter and to estimate the environment landmarks. On the basis of Rao-Blackwellized particle filter, the proposed ISP-FastSLAM algorithm is comprised by two main parts： in the first part, an iterated sigma point particle filter （ISPPF） to localize the robot is proposed, in which the proposal distribution is accurately estimated by the ISPKF; in the second part, a set of ISPKFs is used to estimate the environment landmarks. The simulation test of the proposed ISP-FastSLAM algorithm compared with FastSLAM2.0 algorithm and Unscented FastSLAM algorithm is carried out, and the performances of the three algorithms are compared. The simulation and comparing results show that the proposed ISP-FastSLAM outperforms other two algorithms both in accuracy and in robustness. The proposed algorithm provides reference for the optimization research of FastSLAM algorithm.

关键词： mobile robot simultaneous localization and mapping (SLAM) particle filter Kalman filter unscented transformation

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Dual-calibration coefficient:a more accurate protocol for simultaneous determination of superoxide and hydrogen peroxide in human Hep G2 cell extracts

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Science China Chemistry 2015年第5期58卷 825-829页

作者： Hongmin li Lu li Xu Wang qingling li Miao Du Bo Tang College of Chemistry Chemical Engineering and Materials Science Collaborative Innovation Center of Functionalized Probes for Chemical Imaging in Universities of Shandong Key Laboratory of Molecular and Nano Probes Ministry of Education Shandong Provincial Key Laboratory of Clean Production of Fine Chemicals Shandong Normal University Department of Chemistry Research Center of Low-Dimensional and Functional Nano-Materials Qilu Normal University

We present a more accurate method for the quantification of superoxide anion （02-） and hydrogen peroxide （H202） simulta- neously in human HepG2 cell extracts. After the xanthine/xanthine oxidase system was added into cell extract which was devoid of O2＊- and H202, steady-state and in-situ produced O2＊- and H202 by xanthine/xanthine oxidase system was labeled by fluorescent probes and subsequently separated by microchip electrophoresis. Based on this method, two differential equations with the calibration coefficients were established for O2 and H202, respectively. Using the established dual-calibration coefficients, we obtained the calibrated concentrations of 02＊ and H202 that produced in human HepG2 cells, which were lower （0.66±0.03 and 0.82±0.04 lamol/L for 02＊-and H202, respectively） than that （0.85±0.03 and 0.96±0.03 gmol/L for O. and H202, respectively） obtained from statutory working curve. The proposed dual-calibration coefficient protocol takes into account both the complex matrix effect of the biological system and real time decaying of O2 ＊- and H202, providing a method with higher accuracy.

关键词： calibration coefficient superoxide hydrogen peroxide microchip electrophoresis HepG2 cell extracts

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Carbon nanotube glycol nanofluids: Photo-thermal properties, thermal conductivities and rheological behavior

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Particuology 2012年第5期10卷 614-618页

作者： Zhaoguo Meng Daxiong Wu liangang Wang Haitao Zhu qingling li College of Materials Science&Engineering qingdao University of Science&TeehnologyQingdao 266042China College of Electromechanical Engineering Qingdao University of Science&TechnologyQingdao 266042China

The efficiency and effectiveness of solar energy capture and storage are to a large extent functions of the heat transfer and storage capacity of the medium used. This paper investigates the potential of using carbon nanotube （CNT）-glycol nanosuspension as such a medium, prepared by freeze dryingultrasonic dispersing after oxidation treatment with HNO3. The influences of the mass fraction of CNTs glycol nanofluids and temperatures on photo-thermal properties, thermal conductivities and rheological behavior were investigated. The results show that CNTs with oxidation treatment exhibited good dispersing performance. Strong optical absorption of the CNTs glycol nanofluids was detected in the range of 200-2500 nm. At room temperature, 18% enhancement was found in the photo-thermal conversion efficiency of the 0.5% mass fraction CNTs glycol nanofluids in comparison to the basic fluids, without significant increase in viscosity. At 55 ℃, CNTs glycol nanofluids with 4.0% mass fraction exhibited much lower viscosity and 25.4% higher thermal conductivity in comparison to that of pure glycol at room temperature.

关键词： NanofluidsCNTsPhoto-thermal conversionRheological behaviorThermal conductivity

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Mechanisms of yttrium on the wettability,surface tension and interactions between Ni-20Co-20Cr-10Al-ξY alloys and MgO ceramics

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Journal of Materials Science & Technology 2021年第11期70卷 39-48页

作者： Jinpeng li Huarui Zhang Ming Gao qingling li Weidong Bian Yongshuang Cui Tongxiang Tao Hu Zhang School of Materials Science and Engineering Beihang UniversityBeijing100191China China Aerospace Academy of Systems Science and Engineering Beijing100048China Qingdao Institute of New Material Technology of Beihang University Qingdao266000China

The mechanisms of Y on the wettability,surface tension,and interactions between the Ni-20 Co-20 Cr-10 Al-ξY alloys and MgO ceramics at 1873 K were investigated by sessile drop *** results of nonlinear fitting showed that the equilibrium contact angles and Y concentrations were approximately in accord with the log-normal distribution *** equilibrium contact angles changed from 101.5°to 140.5°with Y increasing from 0 wt.%to 1.23 wt.%.Cross-sectional microstructure observations revealed that the thermal dissociation of ceramics occurred and the released[O]atoms can react with Y to produce Y_(2)O_(3) reaction layer along three-phase interphase *** kinetics analyses indicated that surface tension of the melt droplets had been positively correlated with the Y concentrations,and it increased from 737.8–1045.1 mN/***,the pinning effect of the rough substrate surface on the three-phase line hindered the spreading of the liquid on *** change in total free energy of the alloys/ceramics system was considered as the key factor affecting the ***,the surface morphology and thermodynamic stability of ceramics also had some influence on the wettability.

关键词： Yttrium Wettability Interfacial interaction Surface tension Three-phase line

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Effects of a polyamine inhibitor on the microstructure and macromechanical properties of hydrated shale

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Petroleum 2022年第4期8卷 538-545页

作者： Yunlei Hu Xiangchao Shi qingling li Leiyu Gao Feng Wu Gang Xie State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation Southwest Petroleum UniversityChengdu610500China

China is rich in shale gas resources,however,wellbores in shale gas reservoirs are frequently *** has a serious impact on the shale gas drilling ***,a common additive in water-based shale drilling fluids,can effectively inhibit shale ***,there is a lack of quantitative research on the effect of polyamine inhibitors on the microstructure and macromechanical properties of ***,this study investigated those issues via a systematic hydration experiment carried out on shale from the Longmaxi *** results show that microfractures are created and expand during shale hydration,that they also connect to form a complex microfracture network,and that 3%polyamine inhibitors(polyamine solution with volume fraction of 3%)can effectively inhibit their *** ultrasonic velocities and UCS of the Longmaxi shale are significantly anisotropic;the former first increases and then decreases with the laminae angle,reaching its maximum when the laminae angle is 30°.The UCS of the shale is highest and lowest,respectively,when the laminae angles are 0°or 90°and 30°.In general,these UCS appear as a"U"pattern,high on two sides with a dip in the *** can effectively inhibit both the expansion of shale and the reduction of P-wave and S-wave velocities,the UCS,and elastic *** UCS of a shale sample was reduced by 28%e40%after immersion for 96 h in water,compared to 2%e20%after immersion in a 3%polyamine inhibitor for the same amount of *** inhibiting effect of the polyamine was remarkable.

关键词： Polyamine Microfracture Macromechanical properties Hydration Anisotropy

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Effects of moxibustion at bilateral Feishu(BL13)and Xinshu(BL15)combined with benazepril on myocardial cells apoptosis index and apoptosis-related proteins cytochrome c and apoptosis-inducing factor in rats with chronic heart failure

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Journal of Traditional Chinese Medicine 2022年第2期42卷 227-233页

作者： WANG Wei li qingling MA Qiang XIA Ran GAO Bing WANG Yi WANG Jing College of Chinese Medicine Anhui University of Chinese MedicineHefei 230012China Graduate school Anhui University of Chinese MedicineHefei 230012China College of Acupuncture and Massage Anhui University of Chinese MedicineHefei 230012China Xin’an Medical Key Laboratory Anhui University of Chinese MedicineHefei 230012China

OBJECTIVE:To observe the effects of moxibustion at bilateral Feishu(BL13)and Xinshu(BL15)combined with benazepril on myocardial cells apoptosis index,the expression levels of apoptosis-related proteins cytochrome c(Cyt-C)and apoptosis-inducing factor(AIF)in chronic heart failure(CHF)***:Sixty-five rats were randomly divided into normal group(n=10)and model-I group(n=55).After modeling,CHF rats in model-I group were divided into model group,moxibustion group,benazepril group,moxibustion plus benazepril group(abbreviated as aibei group,the same below),10 rats in each *** index was examined by *** indices were measured by rat cardiac function *** B-type brain natriuretic peptide(BNP)was detected by enzymelinked immunosorbent *** cells apoptosis index was detected by terminal-deoxynucleoitidyl transferase mediated nick end labeling *** changes of myocardial tissues were observed by hematoxylin and eosin *** expression levels of Cyt-C and AIF in myocardial tissues were detected by Western ***:Compared with normal group,ejection fraction and left ventricular diameter shortening rate in model-Ⅰgroup were significantly reduced,myocardial cells of rats in model group exhibited unclear transverse striations,cells swellings and vacuoles,cardiac functions were deteriorated,serum BNP level,myocardial cells apoptosis index,and the expression levels of Cyt-C and AIF were significantly *** with model group,myocardial cells of rats in moxibustion group,benazepril group,and aibei group were dyed more evenly,muscle fibers were arranged relatively neatly,cardiac functions were improved,serum BNP level,myocardial cells apoptosis index,and the expression levels of Cyt-C and AIF were significantly *** with aibei group,cardiac functions were worsened,myocardial cells apoptosis index,and the expression levels of Cyt-C and AIF were ***:Mox

关键词： heart failure moxibustion point BL13(Feishu) point BL15(Xinshu) cytochromes c apoptosis inducing factor

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Construction of robust coupling interface between MoS2 and nitrogen doped graphene for high performance sodium ion batteries

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Journal of Energy Chemistry 2020年第9期29卷 435-442,I0013页

作者： Yun Qiao Jiawei Wu Xiaoguang Cheng Yudong Pang Zhansheng Lu Xiangdong Lou qingling li Jin Zhao Shuting Yang Yang liu School of Chemistry and Chemical Engineering Henan Normal UniversityXinxiang 453007HenanChina School of Environment and Chemical Engineering Shanghai UniversityShanghai 200444China School of Physics Henan Normal UniversityXinxiang 453007HenanChina

As a layered inorganic material,MoS2 has recently attracted intensive attention as anode for sodium ion batteries(SIBs).However,this anode is plagued with low electronic conductivity,serious volume expansion and sluggish kinetics,resulting in capacity fading and poor rate ***,we develop an interface engineering strategy to substantially enhance the sodium storage performance of MoS2 by incorporating layered MoS2 into three dimensional N-doped graphene *** strong coupling-interface between MoS2 and N-doped graphene scaffold can not only stabilize the MoS2 structure during sodium insertion/extraction processes,but also provide plenty of anchor sites for additional surface sodium *** 3D MoS2@N-doped graphene composite as anode for SIBs performs an outstanding specific capacity of 667.3 mA h g^-1 at 0.2 A g^-1,a prolonged stability with a capacity retention of 94.4%after 140cycles and excellent rate capability of 445 mA h g^-1 even at a high rate of 10 A g^-*** combined experiment and theoretical simulation to further disclose the interaction between MoS2 and N-doped graphene,adsorption and diffusion of sodium on the composite and the corresponding sodium storage *** study opens a new door to develop high performance SIBs by introducing the interface engineering technique.

关键词： Sodium-ion batteries Anode Interface engineering MoS2 Energy storage

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Traditional Chinese medicine in COVID-19

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Acta Pharmaceutica Sinica B 2021年第11期11卷 3337-3363页

作者： Ming Lyu Guanwei Fan Guangxu Xiao Taiyi Wang Dong Xu Jie Gao Shaoqin Ge qingling li Yuling Ma Han Zhang Jigang Wang Yuanlu Cui Junhua Zhang Yan Zhu Boli Zhang State Key Laboratory of Component-based Chinese Medicine Tianjin University of Traditional Chinese MedicineTianjin 301617China Artemisinin Research Center Institute of Chinese Materia MedicaChina Academy of Chinese Medical SciencesBeijing 100700China National Clinical Research Center for Chinese Medicine Acupuncture and Moxibustion First Teaching Hospital of Tianjin University of Traditional Chinese MedicineTianjin 300193China Oxford Chinese Medicine Research Centre University of OxfordOxford OX13PTUK College of Traditional Chinese Medicine Hebei UniversityBaoding 071002China Institute of Basic Medicine and Cancer the Cancer Hospital of the University of Chinese Academy of Sciences(Zhejiang Cancer Hospital)Chinese Academy of SciencesHangzhou 310022China

COVID-19 pandemic caused by severe acute respiratory syndrome coronavirus 2(SARSCo V-2)has spread across the globe,posing an enormous threat to public health and *** Chinese medicine(TCM),in combination with Western medicine(WM),has made important and lasting contributions in the battle against *** this review,updated clinical effects and potential mechanisms of TCM,presented in newly recognized three distinct phases of the disease,are summarized and *** integrating the available clinical and preclinical evidence,the efficacies and underlying mechanisms of TCM on COVID-19,including the highly recommended three Chinese patent medicines and three Chinese medicine formulas,are described in a *** hope that this comprehensive review not only provides a reference for health care professionals and the public to recognize the significant contributions of TCM for COVID-19,but also serves as an evidence-based in-depth summary and analysis to facilitate understanding the true scientific value of TCM.

关键词： COVID-19 SARS-CoV-2 Traditional Chinese medicine Clinical evidence Potential mechanism Viral infection Cytokine storm Multiple organ dysfunction

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The Biomass Dosage Influences the Effects of Diethyl Aminoethyl Hexanoate on Micropropagation of Echinacea purpurea (L.) Moench

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Journal of Biosciences and Medicines 2016年第12期4卷 97-110页

作者： Xiaolu Chen Dongliang li Junjie Zhang qingling li Yuesheng Yang Hong Wu Tropical Crops Genetic Resources Institute Chinese Academy of Tropical Agricultural Sciences/Key Laboratory of Crop Gene Resources and Germplasm Enhancement in Southern China Ministry of Agriculture Danzhou China College of life Science South China Agricultural University Guangzhou China Institute of Tropical Horticulture Research Hainan Academy of Agricultural Science Haikou China

The plant growth regulator diethyl aminoethyl hexanoate (DA-6) has proved highly effective on micropropagation of the medicinal plant purple coneflower (Echinacea purpurea (L.) Moench), however, sharp variation of the effects existed among explants in the same treatment, making the application of DA-6 in micropropagation difficult. In order to clarify factors that influencing the treating results of DA-6, explants with different biomass dosage were prepared and inoculated onto medium supplemented with different concentrations of DA-6. It was found that among the three kinds of biomass dosage explants, the lowest biomass explants required the lowest concentration of DA-6, and the highest biomass explants required the highest concentration of DA-6 for the best results on adventitious buds regeneration. Similar results were obtained when regenerated buds of three different biomass dosages were cultured. It could be concluded from the above experimental results that for achieving better DA-6 application results, the concentration of DA-6 should be determined not only by the types but also by the biomass dosage of the explants. The present finding might help to improve the micropropagation efficiency in E. purpurea, and might be applicable for other species

关键词： Plant Growth Regulator DA-6 Micropropagation Biomass Dosage Echinacea purpurea

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微流体驱动与控制技术

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化学进展 2008年第9期20卷 1406-1415页

作者：李清岭陈令新山东师范大学化学化工与材料科学学院济南250014 中国科学院烟台海岸带可持续发展研究所烟台264003

在微流控系统所需的功能单元中,微流体驱动与控制操作单元尤为重要。微系统条件下,表面张力的影响变得十分明显,在工程意义上,常规的流体体积流动的驱动方法在微管道中往往效果不好甚至是不可行的。本文简要评述了用于微流体驱动的机械... 详细信息

在微流控系统所需的功能单元中,微流体驱动与控制操作单元尤为重要。微系统条件下,表面张力的影响变得十分明显,在工程意义上,常规的流体体积流动的驱动方法在微管道中往往效果不好甚至是不可行的。本文简要评述了用于微流体驱动的机械微型泵技术,基于电、光、磁等的非机械微型泵技术,以及微流体的高效混合控制等技术的研究现状,对微流体驱动与控制的未来作了展望。

关键词：微流体微泵流体驱动流体控制微电子机械系统微化工

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