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基于STM32F4与FreeRTOS的无人机飞行控制系统

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航空工程进展 2024年第4期15卷 93-99页

作者：周志广许孟孟石梅林李青原王梵航天时代飞鸿技术有限公司北京100094 航空工业西安航空计算技术研究所民机事业部西安710065 中国航天科工集团第二研究院706所北京100854 西安爱生技术集团有限公司西安710065 陕西科技大学电子信息与人工智能学院西安710021

飞行控制系统多以高性能CPU为处理器和Vxworks为设计内核,存在成本高、体积大、内核源码不公开等问题,因此设计一款低成本、高可靠性的小型无人机飞行控制系统。基于STM32F4芯片开发一套由微型控制器、各种传感器和执行机构构成的飞行... 详细信息

飞行控制系统多以高性能CPU为处理器和Vxworks为设计内核,存在成本高、体积大、内核源码不公开等问题,因此设计一款低成本、高可靠性的小型无人机飞行控制系统。基于STM32F4芯片开发一套由微型控制器、各种传感器和执行机构构成的飞行控制硬件系统,实现对无人机的姿态和舵机位置的控制;引入源码公开的FreeRTOS嵌入式实时系统作为软件平台开发飞行控制软件,实现飞行控制、自主导航、飞行管理等功能;通过固定翼航模的飞行试验对该飞行控制系统进行验证。结果表明:该系统具有良好的稳定性、实时性,控制精度高。

关键词：飞行控制系统 STM32F4 FreeRTOS 余度设计飞行试验

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生物医学工程学课程思政的探索与实践

中国继续医学教育 2024年第8期16卷 190-194页

作者：徐航李菁菁时梅林巩萍郑绍辉胡鹏程徐州医科大学医学影像学院江苏徐州221000

生物医学工程学是徐州医科大学生物医学工程专业在大一学年开设的导论课程,旨在使学生了解生物医学工程学的基本概念、原理及其应用领域。同时,大一年级也是学生提高思想道德和塑造个人品格的重要时期。因此,加强生物医学工程学的思政... 详细信息

生物医学工程学是徐州医科大学生物医学工程专业在大一学年开设的导论课程,旨在使学生了解生物医学工程学的基本概念、原理及其应用领域。同时,大一年级也是学生提高思想道德和塑造个人品格的重要时期。因此,加强生物医学工程学的思政课程建设就显得尤为重要。文中课程团队教师立足生物医学工程学课程特点、合理利用多种教学设计和教学方法,深入挖掘各授课章节所蕴含的思政教育元素,实现了知识传授与思政教育的有机融合。同时,借助课程云平台多维度的强化课程思政实效,拓展了该课程的广度和深度,强化了课程引领性和时代性,很好地满足了生物医学工程专业学生培养的需要。

关键词：生物医学工程课程思政案例库建设立德树人专业建设人才培养

Design of LAN-based IP Phone System

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Design of LAN-based IP Phone System

Genetic variation of circHIBADH enhances prostate cancer risk through regulating HNRNPA1-related RNA splicing

2000 International Conference on Communication Technology(WCC2000·ICCT2000)

作者： ShenKai XiangYong shi meilin Dept.of Computer Science ＆ Technology Tsinghua University

ISBN: (纸本)0780363949

＜正＞Converged network tries to merge existing PSTNs, CATV networks and computer networks into one unitary *** makes better use of network resources,provides new kinds of services,and brings great effect and profit in the fields of both economy and *** paper proposes a novel LAN-based IP phone system that merges traditional PSTNs and computer networks together to meet the demands of the next-generation Converged Network. The designs of its architecture,System Management Server（SMS）,Intemet-PSTN gateway,and digital terminals are presented in the *** this approach,the traditional phone service can be provided on ***,the redundancy in constructing both computer networks and PSTNs can be *** system can also make more efficient use of the bandwidth and provide some novel value-added services that are very useful.

关键词： LAN-based IP Phone Internet-PSTN Gateway Converged Network

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Journal of Biomedical Research 2024年第4期38卷 358-368页

作者： Yifei Cheng Rongjie shi Shuai Ben Silu Chen Shuwei Li Junyi Xin meilin Wang Gong Cheng Department of Environmental Genomics Jiangsu Key Laboratory of Cancer BiomarkersPrevention and TreatmentCollaborative Innovation Center for Cancer Personalized MedicineNanjing Medical UniversityNanjingJiangsu 211166China Department of Urology the First Affiliated Hospital of Nanjing Medical UniversityNanjingJiangsu 210029China Department of Bioinformatics School of Biomedical Engineering and InformaticsNanjing Medical UniversityNanjingJiangsu 211166China Jiangsu Cancer Hospital Jiangsu Institute of Cancer Researchthe Affiliated Cancer Hospital of Nanjing Medical UniversityNanjingJiangsu 210009China The Affiliated Suzhou Hospital of Nanjing Medical University Suzhou Municipal HospitalGusu SchoolNanjing Medical UniversitySuzhouJiangsu 215002China

The current study aimed to investigate associations of circRNAs and related genetic variants with the risk of prostate cancer(PCa)as well as to elucidate biological mechanisms underlying the *** first compared expression levels of circRNAs between 25 paired PCa and adjacent normal tissues to identify riskassociated circRNAs by using the MiOncoCirc *** then used logistic regression models to evaluate associations between genetic variants in candidate circRNAs and PCa risk among 4662 prostate cancer patients and 3114 healthy controls,and identified circHIBADH rs11973492 T>C as a significant risk-associated variant(odds ratio=1.20,95%confidence interval:1.08-1.34,P=7.06×10^(-4))in a dominant genetic model,which altered the secondary structure of the corresponding RNA *** the in silico analysis,we found that circHIBADH sponged and silenced 21 RNA-binding proteins(RBPs)enriched in the RNA splicing pathway,among which HNRNPA1 was identified and validated as a hub RBP using an external RNA-sequencing data as well as the in-house(four tissue samples)and publicly available single-cell ***,we demonstrated that HNRNPA1 influenced hallmarks including MYC target,DNA repair,and E2F target signaling pathways,thereby promoting *** conclusion,genetic variants in circHIBADH may act as sponges and inhibitors of RNA splicing-associated RBPs including HNRNPA1,playing an oncogenic role in PCa.

关键词： genetic variants prostate cancer circRNA RNA-binding protein RNA splicing sing-cell RNA sequencing

Adaptive Space Expansion for Fast Motion Planning

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1499-1514页

作者： Shenglei shi Jiankui Chen State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

The sampling process is very inefficient for sam-pling-based motion planning algorithms that excess random sam-ples are generated in the planning *** this paper,we pro-pose an adaptive space expansion(ASE)approach which belongs to the informed sampling category to improve the sampling effi-ciency for quickly finding a feasible *** ASE method enlarges the search space gradually and restrains the sampling process in a sequence of small hyper-ellipsoid ring subsets to avoid exploring the unnecessary ***,for a con-structed small hyper-ellipsoid ring subset,if the algorithm cannot find a feasible path in it,then the subset is ***,the ASE method successively does space exploring and space expan-sion until the final path has been ***,we present a particular construction method of the hyper-ellipsoid ring that uniform random samples can be directly generated in *** last,we present a feasible motion planner BiASE and an asymptoti-cally optimal motion planner BiASE*using the bidirectional exploring method and the ASE *** demon-strate that the computation speed is much faster than that of the state-of-the-art *** source codes are available at https://***/shshlei/ompl.

关键词： Adaptive space expansion(ASE) hyper-ellipsoid ring informed sampling motion planning.

Quantization and Event-Triggered Policy Design for Encrypted Networked Control

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 946-955页

作者： Yongxia shi Ehsan Nekouei the Department of Electrical Engineering City University of Hong KongHong KongChina

This paper proposes a novel event-driven encrypted control framework for linear networked control systems(NCSs),which relies on two modified uniform quantization policies,the Paillier cryptosystem,and an event-triggered *** to the fact that only integers can work in the Pailler cryptosystem,both the real-valued control gain and system state need to be first quantized before *** is dramatically different from the existing quantized control methods,where only the quantization of a single value,e.g.,the control input or the system state,is *** handle this issue,static and dynamic quantization policies are presented,which achieve the desired integer conversions and guarantee asymptotic convergence of the quantized system state to the ***,the quantized system state is encrypted and sent to the controller when the triggering condition,specified by a state-based event-triggered strategy,is *** doing so,not only the security and confidentiality of data transmitted over the communication network are protected,but also the ciphertext expansion phenomenon can be ***,by tactfully designing the quantization sensitivities and triggering error,the proposed event-driven encrypted control framework ensures the asymptotic stability of the overall closedloop ***,a simulation example of the secure motion control for an inverted pendulum cart system is presented to evaluate the effectiveness of the theoretical results.

关键词： Cyber-security encrypted control event-triggered control(ETC) networked control systems(NCSs) semi-homomorphic encryption

An uncertainty investigation for liner impedance eduction methods

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Chinese Journal of Aeronautics 2024年第3期37卷 49-59页

作者： Weihao shi Xiaodong JING School of Energy and Power Engineering Beihang UniversityBeijing 100191China

Impedance eduction methods have been developed for decades to meet the increasing need for high-quality impedance data in the design and optimization of acoustic *** this end,it is important to fully investigate the uncertainty problem,to which only limited attention has been devoted so *** paper considers the possibility of acoustically-induced structural vibration as a nonnegligible uncertainty or error source in impedance eduction *** the frequency moves away from the resonant frequency,with the increase in the value of cavity reactance,the acoustic particle velocity inside liner orifices possibly decreases to the extent comparable to the vibration velocity of liner facing ***,the acoustically-induced vibration,although generally being weak except at the inherent structural frequencies,may considerably affect the impedance eduction results near the anti-resonant frequency where the liner has poor *** demonstrate the effect of structural vibration,the vibration velocity of liner facing sheet is estimated from the experimentally educed admittance of the liner samples whose orifices are sealed with ***,a three-dimensional numerical model is set up,in which normal particle velocity is introduced over the solid portion of liner facing sheet to imitate structural vibration,rather than directly solving the acoustic-structural coupling *** shown by the results,the vibration of liner facing sheet,whose velocity is as small as estimated by the experiment,can result in anomalous deviation of the educed impedance from the impedance model near the anti-resonant *** trend that the anomalous deviation varies with frequency is numerically captured.

关键词： Impedance eduction Uncertainty analysis Acoustically-induced structural vibration Anti-resonant frequency Perforated liner

No Reference Image Sharpness Assessment Based on Global Color Difference Variation

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Chinese Journal of Electronics 2024年第1期33卷 293-302页

作者： Chenyang shi Yandan LIN School of Artificial Intelligence Anhui Polytechnic University School of Mechanical Engineering Anhui Polytechnic University Department of Light Sources and Illuminating Engineering Fudan University Academy for Engineering & Technology Fudan University

Image quality assessment(IQA) model is designed to measure the image quality in consistent with subjective ratings by computational models. In this research, a valid no reference IQA(NR-IQA) model for color image sharpness assessment is proposed based on local color difference map in a color space. In the proposed model, the absolute color difference variation and relative color difference variation are combined to evaluate sharpness in YIQ color space(a color coordinate system for the development of the United States color television system). The difference between sharpest and blurriest spot of an image is represented by the absolute color difference variation, and relative color difference variation expresses the variation in the image content. Extensive experiments are performed on five publicly available benchmark synthetic blur databases and two real blur databases, and the results prove that the proposed model work better than the other state-of-the-art and latest NR-IQA models for the prediction accuracy on blurry images. Besides, the model maintains the lowest computational complexity.

关键词： Image quality TV Image color analysis Databases Computational modeling Color Predictive models

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Families of Schmidt-number witnesses for high dimensional quantum states

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Communications in Theoretical Physics 2024年第08期76卷 46-53页

作者： Xian shi College of Information Science and Technology Beijing University of Chemical Technology

Higher dimensional entangled states demonstrate significant advantages in quantum information processing tasks. The Schmidt number is a quantity of the entanglement dimension of a bipartite state. Here we build families of k-positive maps from the symmetric information complete positive operator-valued measurements and mutually unbiased bases, and we also present the Schmidt number witnesses, correspondingly. At last, based on the witnesses obtained from mutually unbiased bases, we show the distance between a bipartite state and the set of states with a Schmidt number less than k.

关键词： entanglement witness mutually unbiased bases Schmidt number