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Gait planning and intelligent control for a quadruped robot

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控制理论与应用（英文版） 2009年第2期7卷 207-211页

作者： Baoping WANG renxi HU Xiaodong zhang Chuangfeng HUAI Department of Mechanical and Electronic Engineering Guangdong Baiyun University Guangzhou Guangdong 510450 China Department of Basic Courses Ordnance Engineering College Shijiazhuang Hebei 050003 China School of Mechanical and Electronic Control Engineering Beijing Jiaotong University Beijing 100044 China

We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot＇s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait＇s efficiency and system＇s stability in adapting to an uncertain terrain.

关键词： Structural symmetry Quadruped robot Gait planning Intelligent control Virtual model

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四川小金复理石地质景观特征及保护利用建议

四川地质学报 2024年第2期44卷 365-370页

作者：郭建强杨元良宋祥峰王章翔张人栖四川省第三地质大队成都611743 四川省地质局郭建强创新工作室成都611743

从成都出发,经都江堰到汶川映秀,进入中国熊猫大道,在小金县域段沿小金川两岸发育复杂褶皱图案的砂岩与板岩呈韵律互层的陡倾岩层,这就是小金复理石地质景观,为松潘-甘孜造山带复理石岩系的典型地区,极具视觉震憾力,也是申报四姑娘山世... 详细信息

从成都出发,经都江堰到汶川映秀,进入中国熊猫大道,在小金县域段沿小金川两岸发育复杂褶皱图案的砂岩与板岩呈韵律互层的陡倾岩层,这就是小金复理石地质景观,为松潘-甘孜造山带复理石岩系的典型地区,极具视觉震憾力,也是申报四姑娘山世界地质公园核心地质遗迹群落之一。通过对小金复理石景观的地层结构、复理石沉积特征、赋存的古生物化石、叠加发育的西康式褶皱等综合分析,以及与世界典型西班牙复理石崖岸景观对比,确立了小金复理石景观的价值意义,从而奠定了小金复理石景观为世界级地质景观的地位。在此基础上对小金复理石地质景观提出可持续保护利用的措施建议。

关键词：复理石景松潘-甘孜造山带西康式褶皱复理石保护利用小金县四姑娘山

Mechanistic insights from atomically precise gold nanocluster-catalyzed reduction of 4-nitrophenol

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Progress in Natural Science:Materials International 2016年第5期26卷 483-486页

作者： Shuo Zhao Anindita Das Hui zhang renxi Jin Yongbo Song Rongchao Jin Department of Chemistry Carnegie Mellon University

A trio of thiolate-protected atomically precise gold nanoclusters, [Au23(S-c-C6H11)16]–, Au24（SCH2pH~tBu）20and [Au25（SCH2CH2pH）_18]–, are utilized as catalysts for 4-nitrophenol（4-NP） reduction to 4-aminophenol（4-AP）.Despite nearly identical sizes（1nm）, the three nanoclusters possess distinctly different atomic packing structures and surface ligand binding modes, which contribute to different catalytic performance. The [Au23(Sc-C6H11)16]–nanocluster shows the highest activity with a kinetic rate constant of 0.0370 s-1, which is higher than those of Au24（SCH2pH~tBu）20(0.0090 s-1) and [Au25（SCH2CH2pH）_18]–(0.0242 s-1). Such a trio of gold nanoclusters indicate that the atomic packing mode and electronic structure play a crucial role in determining their catalytic performance.

关键词： Metal nanoclusters Gold 4-nitrophenol reduction Atomic packing modes Electronic structures

Novel Cyclopeptide Bolaamphiphile for Constructing Supramolecular Nanotubes

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Chinese Journal of Chemistry 2014年第1期32卷 22-26页

作者： Siyong Qin Qingrong Wang Yi Pei Mengyun Peng renxi Zhuo Xianzheng zhang[*] Key Laboratory of Biomedical Polymers of Ministry of Education & Department of Chemistry Wuhan University Wuhan Hubei 430072 China Email: Xianzheng zhang (xz-zhang@***)[*]Key Laboratory of Biomedical Polymers of Ministry of Education & Department of Chemistry Wuhan University Wuhan Hubei 430072 China

A novel dicyclopeptide-based bolaamphiphile was *** hydrophilic cyclopeptide fragments were linked to an alkyl chain 1,6-bis(maleimido)hexane,which acted as a hydrophobic *** transmission electron microscopy (TEM) observation indicated that the cyclopeptide bolaamphiphile (CPB) self-assembled into the nanotubes with a thickness of about 3 *** on the optimized molecular conformation obtained via MM2 method,the length of CPB was demonstrated to be around 4 nm,implying that the nanotubes were *** transform infrared spectroscopy (FT-IR) and circular dichroism (CD) analysis showed that the cyclopeptides in CPB mainly acted as the hydrophilic headgroups,rather than providing the well-ordered hydrogen bonding interaction responsible for β-sheet *** investigate the special self-assembly behavior of CPB,the single cyclopeptide (CP) without the connection of the linker was *** investigation indicated that the CP molecules can not form tubular structures but nanofibers.

关键词： cyclopeptide bolaamphiphile self-assembly nanotube

Template-module assembly to prepare low-molecular-weight gene transport system with enhanced transmembrane capability

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Science China Chemistry 2014年第4期57卷 558-567页

作者： YANG Bin LV Yin WANG QingRong LIU Yun AN Hong FENG Jun zhang XianZheng ZHUO renxi Key Laboratory of Biomedical Polymers of Ministry of Education Department of Chemistry Wuhan University Construction Engineering Research Institute of the General Logistics Department

Based on specific host-guest interactions between amine-modified [3-cyclodextrin （CD-TAEA） and functional adamantane （AD） derivatives, a module-template strategy has been proposed for the construction of low-molecular-weight cationic assem- blies for gene transport. This strategy offers great flexibility in terms of the introduction of mono- or multi-functionality by the inclusion of one or more adamantane-based modules with the desired functionalities. As proof of concept, phenylboronic acid （PB） containing adamantane （PB-AD） was used as a model module in the hope of offering enhanced cytosolic delivery in con- sideration of the special affinity of PB groups with cell membranes. The physicochemical properties of the complexes formed with plasmid DNA, such as particle size, zeta potential and morphology were investigated. Confocal laser scanning microsco- py and flow cytometry experiments demonstrated the important contribution of the functional PB-AD module to the consider- ably enhanced intracellular internalization and uptake by cellular nuclei. Compared to the parent CD-TAEA, PB-AD/CD- TAEA assemblies mediated higher transfection rates, which were even comparable to that of PEI25K. In addition, PB-AD/CD- TAEA displayed much lower cytotoxicity than PEI25K in both 293T and HeLa cell lines. The encouraging results suggest that CD-TAEA can be developed as a powerful template capable of readily accommodating various AD-based modules giving versatile functionalities for improved transfection.

关键词： template-module assembly host-guest interaction gene delivery

四川基性-超基性岩型镍矿资源分布、特点、勘查现状及建议

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四川地质学报 2023年第4期43卷 608-614页

作者：宋祥峰郭建强张人栖蒲登兴杨元良王章翔王喻四川省第三地质大队成都611743

在总结前人资料的基础上,对四川省镍矿资源分布、特点及勘查现状进行了分析。四川镍矿产出相对集中,主要分布在川西高原丹巴地区、攀西地区会理、米易-盐边和雅安市天全-芦山-宝兴一带。工业类型相对单一,均为基性-超基性岩铜镍硫化物... 详细信息

在总结前人资料的基础上,对四川省镍矿资源分布、特点及勘查现状进行了分析。四川镍矿产出相对集中,主要分布在川西高原丹巴地区、攀西地区会理、米易-盐边和雅安市天全-芦山-宝兴一带。工业类型相对单一,均为基性-超基性岩铜镍硫化物矿床。全省范围内有镍矿产地51处,其中大型矿床2处,中型矿床5处,小型矿床9处。目前四川探明镍资源量59.06万吨,位列全国第七位。四川主要镍矿床总体上受康滇南北向构造带控制,镍矿成矿期主要为两期,分别为新元古代早期和二叠纪晚期,矿体均产于深大断裂附近,并与同时期的玄武质火山岩密切相关。四川镍矿勘查程度较低,勘查深度多在地下300 m范围内。受勘查投入、研究程度、自然保护地政策、部分勘查区入场困难等多因素影响,近年来四川镍矿勘查工作进展不大。杨柳坪、冷水箐、力马河三个预测靶区均具有较好的找矿潜力,值得下一步加大勘查投入,此外,天全-芦山-宝兴镍成矿带,金沙江结合带和甘孜-理塘结合带中分布的基性-超基性岩体在今后的工作中值得关注和研究。

关键词：四川镍矿成矿特点勘查现状勘查建议

Post-transcriptional regulator Rbm47 elevates IL-10 production and promotes the immunosuppression of B cells

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Cellular & Molecular Immunology 2019年第6期16卷 580-589页

作者： Yinxiang Wei Fanghui zhang Yu zhang Xiaoqian Wang Chen Xing Jing Guo Hui zhang Zhimin Suo Yan Li Jianli Wang renxi Wang Zhijian Cai Institute of Immunology Zhejiang University School of MedicineHangzhou 310058China Laboratory of Immunology Institute of Basic Medical SciencesBeijing 100850China Joint National Laboratory for Antibody Drug Engineering Institute of ImmunologyHenan University School of MedicineKaifeng 475004China Department of Gastroenterology Huaihe Hospital of Henan UniversityKaifeng 475000China Translational Research Institute Henan Provincial People's HospitalZhengzhou 450003China

Regulatory B cells(Bregs)are a functionally defined B cell subset,and IL-10 is crucial for the suppressive functions of ***,little is known regarding how IL-10 production is regulated in B *** explore the mechanisms by which IL-10 is regulated in B cells,we used mRNA microarrays to screen for molecules that are upregulated in IL-10-producing B cells and identified RNA-binding motif protein 47(Rbm47)as a post-transcriptional ***47 was found to promote IL-10 production in B *** found that Rbm47 promotes the stability of IL-10 mRNA by binding to AU-rich elements in the 3′untranslated region of Il10 *** addition,we demonstrated that the overexpression of Rbm47 enabled B cells to facilitate Foxp3+regulator T-cell induction and reduce the severity of DSS-induced ulcerative *** together,these results suggest that Rbm47 plays an important role in regulating IL-10 at the post-transcriptional level,thus promoting the regulatory functions of B *** findings presented in this study not only increase our understanding of the post-translational regulation of IL-10 in B cells but also identify a novel strategy for the potential application of Bregs.

关键词： finding production producing

Functional Identification of the Stable Transfection C5aR Cell Line Molt-4

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Cellular & Molecular Immunology 2007年第6期4卷 461-465页

作者： Chunmei zhang Ruonan Xu Jianan Wang Gencheng Han Guojiang Chen renxi Wang Huawei Wei Beifen Shen Yuanfang Ma Yan Li Institute of Basic Medical Sciences Beijing China Laboratory of Cellular and Molecular Immunology Henan University Kaifeng China

The complement C5 anaphylatoxin receptor is a member of the seven transmembrane-spanning G protein-coupled receptor superfamily that signals through Gcxi and Gtz16. C5aR is mostly expressed on neutrophils, macrophages and endothelial cells. C5a and C5aR interaction plays an important role in numerous biological effects such as in vivo cytokine storm which results in inflammatory damage. Considering the limitation of collection of human peripheral blood neutrophils and their short half life, the stably transfected cell line for studying the biological effects of C5aR is needed. In this study, we transfected C5aR gene into Molt-4 cell line and examined the function of ectopic C5aR. Our results showed stable expression of the C5aR in Molt-4 cell line and their interaction with human C5a induced ERKI/2 phosphorylation, Ca＋＋ influx. This stable transfected cell line may provide a useful tool for studying signal pathways related to C5a and C5aR interplay and antibody development specific for C5aR. Cellular ＆ Molecular Immunology.

关键词： complement C5a C5aR Molt-4

温度及pH敏感聚(丙烯酸)/聚(N-异丙基丙烯酰胺)互穿聚合物网络水凝胶的合成及性能研究

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高分子学报 1998年第1期8卷 39-42页

作者：卓仁禧张先正武汉大学化学系

合成聚（丙烯酸）／聚（Ｎ异丙基丙烯酰胺）互穿聚合物网络（ＰＡＡｃ／ＰＮＩＰＡＩＰＮ）水凝胶，具有温度及ｐＨ双重敏感特性．这种水凝胶在弱碱性条件下的溶胀率远大于酸性条件下的溶胀率．在酸性条件下，随着温度上升，凝胶的溶... 详细信息

合成聚（丙烯酸）／聚（Ｎ异丙基丙烯酰胺）互穿聚合物网络（ＰＡＡｃ／ＰＮＩＰＡＩＰＮ）水凝胶，具有温度及ｐＨ双重敏感特性．这种水凝胶在弱碱性条件下的溶胀率远大于酸性条件下的溶胀率．在酸性条件下，随着温度上升，凝胶的溶胀率也随之逐渐上升；而在弱碱性条件下，温度低于聚（Ｎ异丙基丙烯酰胺）（ＰＮＩＰＡ）的较低临界溶解温度（ＬＣＳＴ）时，溶胀率也随着温度的上升而上升，当温度达到ＬＣＳＴ时，凝胶的溶胀率突然急剧下降，并随着温度的逐渐上升而下降．

关键词：丙烯酸 N-异丙基丙烯酰胺互穿聚合物网络水凝胶