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A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1304-1318页

作者： Linling Wang Daqi Zhu wen pang Chaomin Luo the Shanghai Engineering Research Center of Intelligent Maritime Search&Rescue and Underwater Vehicles Shanghai Maritime UniversityShanghai 201306China the Shanghai Maritime University Shanghai 201306China the School of Mechanical Engineering University of Shanghai for Science and TechnologyShanghai 200093China the Department of Electrical and Computer Engineering Mississippi State UniversityMississippi StateMS 39762 USA

In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and leader-follower strategy(IAPF-LF). Firstly, the proposed fixed-time control can achieve the desired multi-AUV formation within a fixed settling time in any initial system state. Secondly, an event-triggered communication strategy is developed to govern the communication among AUVs, and the communication energy consumption can be decremented. The time-varying formation obstacle avoidance control algorithm based on IAPF-LF is designed to avoid static and dynamic obstacles, the desired formation is maintained in the presence of external disturbances, and there is no Zeno behavior under the fixed-time event-triggered consensus control strategy.The stability of the system is proved by the Lyapunov function and inequality scaling. Finally, simulation examples and water pool experiments are reported to verify the performance of the proposed theoretical algorithms.

关键词： Autonomous underwater vehicle(AUV) event-triggered control fixed-time consensus formation obstacle avoidance improved artificial potential field and leader-follower strategy(IAPF-LF)

Light amplified oxidative stress in tumor microenvironment by carbonized hemin nanoparticles for boosting photodynamic anticancer therapy

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Light(Science & Applications) 2022年第3期11卷 52-67页

作者： Liyun Lin wen pang Xinyan Jiang Shihui Ding Xunbin Wei Bobo Gu Med-X Research Institute and School of Biomedical Engineering Shanghai Jiao Tong UniversityShanghai200030China Biomedical Engineering Department Peking UniversityBeijing100081China Key Laboratory of Carcinogenesis and Translational Research(Ministry of Education/Beijing) Peking University Cancer Hospital&InstituteBeijing100142China

Photodynamic therapy(PDT),which utilizes light excite photosensitizers(PSs)to generate reactive oxygen species(ROS)and consequently ablate cancer cells or diseased tissue,has attracted a great deal of attention in the last decades due to its unique advantages.However,the advancement of PDT is restricted by the inherent characteristics of PS and tumor microenvironment(TME).It is urgent to explore high-performance PSs with TME regulation capability and subsequently improve the therapeutic outcomes.Herein,we reported a newly engineered PS of polymer encapsulated carbonized hemin nanoparticles(P-CHNPs)via a facile synthesis procedure for boosting photodynamic anticancer therapy.Solvothermal treatment of hemin enabled the synthesized P-CHNPs to enhance oxidative stress in TME,which could be further amplified under light irradiation.Excellent in vitro and in vivo PDT effects were achieved due to the improved ROS(hydroxyl radicals and singlet oxygen)generation efficiency,hypoxia relief,and glutathione depletion.Moreover,the superior in vitro and in vivo biocompatibility and boosted PDT effect make the P-CHNPs a potential therapeutic agent for future translational research.

关键词： boosting oxidative stress

Machine learning for carbonate formation drilling: Mud loss prediction using seismic attributes and mud loss records

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Petroleum Science 2024年第2期21卷 1241-1256页

作者： Hui-wen pang Han-Qing Wang Yi-Tian Xiao Yan Jin Yun-Hu Lu Yong-Dong Fan Zhen Nie National Key Laboratory of Petroleum Resources and Engineering China University of Petroleum(Beijing)Beijing102249China College of Science China University of Petroleum-BeijingBeijing102249China Petroleum Exploration and Production Research Institute SINOPECBeijing102206China College of Petroleum Engineering China University of Petroleum-BeijingBeijing102249China Research Institute of Petroleum Exploration and Development CNPCBeijing100083China

Due to the complexity and variability of carbonate formation leakage zones, lost circulation prediction and control is one of the major challenges of carbonate drilling. It raises well-control risks and production expenses. This research utilizes the H oilfield as an example, employs seismic features to analyze mud loss prediction, and produces a complete set of pre-drilling mud loss prediction solutions. Firstly, 16seismic attributes are calculated based on the post-stack seismic data, and the mud loss rate per unit footage is specified. The sample set is constructed by extracting each attribute from the seismic trace surrounding 15 typical wells, with a ratio of 8:2 between the training set and the test set. With the calibration results for mud loss rate per unit footage, the nonlinear mapping relationship between seismic attributes and mud loss rate per unit size is established using the mixed density network model.Then, the influence of the number of sub-Gausses and the uncertainty coefficient on the model's prediction is evaluated. Finally, the model is used in conjunction with downhole drilling conditions to assess the risk of mud loss in various layers and along the wellbore trajectory. The study demonstrates that the mean relative errors of the model for training data and test data are 6.9% and 7.5%, respectively, and that R2is 90% and 88%, respectively, for training data and test data. The accuracy and efficacy of mud loss prediction may be greatly enhanced by combining 16 seismic attributes with the mud loss rate per unit footage and applying machine learning methods. The mud loss prediction model based on the MDN model can not only predict the mud loss rate but also objectively evaluate the prediction based on the quality of the data and the model.

关键词： Lost circulation Risk prediction Machine learning Seismic attributes Mud loss records

Intracellular redox potential-driven live-cell synthesis of CdSe quantum dots in Staphylococcus aureus

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Science China Chemistry 2024年第3期67卷 990-999页

作者： Cai-Qin Wu An-An Liu Xu Li Jia-Wei Tu Juan Kong Ling-Ling Yang Jian-Hong Jia Chuan Wang Bin Hu Zhi-Xiong Xie Dai-wen pang The Institute for Advanced Studies College of Chemistry and Molecular SciencesCollege of Life SciencesHubei Key Laboratory of Cell HomeostasisWuhan UniversityWuhan 430072China Research Center for Analytical Sciences College of ChemistryState Key Laboratory of Medicinal Chemical BiologyTianjin Key Laboratory of Biosensing and Molecular RecognitionFrontiers Science Center for New Organic MatterFrontiers Science Center for Cell Responsesand Haihe Laboratory of Sustainable Chemical TransformationsNankai UniversityTianjin 300071China

Biosynthesized semiconductor quantum dots(QDs) have bright fluorescence,adjustable particle sizes,and environmental friendliness,endowing them with convenience and potential for biological applications.Due to the unclear mechanism of the cellular environment on the live-cell synthesis of QDs,it is still difficult to regulate their optical properties.Here,the critical role of the intracellular redox environment in regulating the fluorescence properties of biosynthesized CdSe QDs in Staphylococcus aureus(S.aureus) has been elucidated.The glutathione peroxidase(GPx) activity directly affects the intracellular H_(2)O_(2) produced in the SeO_(3)^(2-) reduction,which further manipulates the glutathione redox cycle to determine the content of low-valence Seintermediates.As a result,the fluorescence intensity of the synthesized CdSe QDs increases by 60% in the GPx overexpressed cells.The cellular redox potential that is controlled by the GSH redox cycle provides the driving force for the reduction of SeO_(3)^(2-),facilitating the synthesis of CdSe QDs in S.aureus cells.The proposed mechanism of the cellular redox state provides a new perspective for regulating the synthesis of semiconductor nanomaterials in live cells.

关键词： redox H_(2)O_(2) peroxidase quantum dot Staphylococcus aureus

传统女性的身份规范及其现实可能——吕坤女性观探析

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山东女子学院学报 2024年第2期 110-124页

作者：庞雯予贵州中医药大学马克思主义学院贵州贵阳550025

吕坤女性观的建构依托于其对女性身份的规范,即如何扮演好女性一生中女儿、妇人、母亲三类重要角色。就“为女之道”而言,吕坤强调对未嫁女“四德”的训诫,同时关注到了未嫁女在孝道的践行上可能面临的伦理困境;就“为妇之道”而言,吕... 详细信息

吕坤女性观的建构依托于其对女性身份的规范,即如何扮演好女性一生中女儿、妇人、母亲三类重要角色。就“为女之道”而言,吕坤强调对未嫁女“四德”的训诫,同时关注到了未嫁女在孝道的践行上可能面临的伦理困境;就“为妇之道”而言,吕坤强调以“礼”为规范的道义之爱,并塑造了多元的女性品质;就“为母之道”而言,吕坤认为母道之根基在于仁义与廉正,并强调“母不取其慈而取其教”。吕坤依据身份的书写对女性进行了规范与约束,同时也从道义、人情的角度给予了女性一定的空间,把女性之为“人”的类别属性置于其性别属性之前,从而让女性在特定的情境中有溢出身份规范的可能。

关键词：吕坤女性观女道母道妇道

基于图和流体扰动算法的多无人车编队及避障研究

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控制工程 2024年第4期31卷 669-677页

作者：陈倩庞文朱大奇汪中厚上海理工大学管理学院上海200093 上海理工大学机械工程学院上海200093

为解决多无人车编队在存在运动目标、移动威胁与突发威胁等多种情况的复杂环境中的避障问题,设计了一种基于刚性图论和流体扰动算法的多无人车编队避障控制算法。首先,针对编队控制问题,采用图论方法描述多无人车之间的协同关系,利用无... 详细信息

为解决多无人车编队在存在运动目标、移动威胁与突发威胁等多种情况的复杂环境中的避障问题,设计了一种基于刚性图论和流体扰动算法的多无人车编队避障控制算法。首先,针对编队控制问题,采用图论方法描述多无人车之间的协同关系,利用无人车之间的距离约束,基于反步控制理论设计领航-跟随编队控制器。李雅普诺夫分析表明,期望的编队形状是渐近稳定的。其次,针对复杂动态障碍物环境下的编队避障问题,设计了基于流体扰动算法的避障路径规划方法,由领航无人车规划出编队的行驶路径,实现编队的整体避障。最后,基于MATLAB的仿真结果验证了所提算法的有效性。

关键词：多无人车系统编队控制领航跟随法流体扰动算法编队避障

利用定量单病毒示踪技术探究SARS-CoV-2与细胞膜融合动态过程

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Science Bulletin 2024年第4期69卷 502-511页

作者：刘昊阳胡宇斯余聪王志刚刘书琳庞代文 State Key Laboratory of Medicinal Chemical Biology Frontiers Science Center for New Organic MatterFrontiers Science Center for Cell ResponsesTianjin Key Laboratory of Biosensing and Molecular RecognitionResearch Center for Analytical SciencesCollege of Chemistryand School of MedicineNankai UniversityTianjin 300071China Haihe Laboratory of Sustainable Chemical Transformations Tianjin 300192China

Viral envelope fusion with the host plasma membrane(PM)for genome release is a hallmark step in the life cycle of many enveloped viruses.This process is regulated by a complex network of biomolecules on the PM,but robust tools to precisely elucidate the dynamic mechanisms of virus-PM fusion events are still lacking.Here,we developed a quantitative single-virus tracking approach based on highly efficient dual-color labelling of viruses and batch trajectory analysis to achieve the spatiotemporal quantification of fusion events.This approach allows us to comprehensively analyze the membrane fusion mechanism utilized by pseudotyped severe acute respiratory syndrome coronavirus 2(SARS-CoV-2)at the singlevirus level and precisely elucidate how the relevant biomolecules synergistically regulate the fusion process.Our results revealed that SARS-CoV-2 may promote the formation of supersaturated clusters of cholesterol to facilitate the initiation of the membrane fusion process and accelerate the viral genome release.

关键词： SARS-CoV-2 Fluorescence labelling Membrane fusion Quantum dot Single-virus tracking

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论发展权视域下残疾人的权利保障

河北开放大学学报 2024年第2期29卷 41-44页

作者：朱琳庞文东北林业大学文法学院黑龙江哈尔滨150040

保障残疾人发展权不仅体现了马克思主义人权观,也体现出国家尊重和人权保障。在全面推进依法治国的进程中,当前我国保障残疾人发展权的条件已然具备,在此基础上,针对现有的条件和不足,立足于中国式现代化,进一步提升残疾治理能力和水平... 详细信息

保障残疾人发展权不仅体现了马克思主义人权观,也体现出国家尊重和人权保障。在全面推进依法治国的进程中,当前我国保障残疾人发展权的条件已然具备,在此基础上,针对现有的条件和不足,立足于中国式现代化,进一步提升残疾治理能力和水平。通过激发残疾人内生动力,深入推进农村残疾人社会保障和公共服务等路径进行完善,从而更高质量地保障残疾人发展权。

关键词：残疾人发展权权利保障发展条件发展路径

中成药治疗糖尿病足随机对照试验的证据总结与评价

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中国中药杂志 2024年第4期49卷 1113-1121页

作者：宋雯婷张雅姿王玥彤胡海殷金鑫瑶庞稳泰史梦龙季昭臣杨丰文天津中医药大学天津301617 现代中医药海河实验室天津301617

系统收集、分析和评价中成药治疗糖尿病足的临床随机对照试验(randomized controlled trial,RCT),总结临床证据,以期为后续研究的开展及证据转化应用提供参考。基于中医药循证研究证据库系统(evidence database system,EVDS)旗下智能化... 详细信息

系统收集、分析和评价中成药治疗糖尿病足的临床随机对照试验(randomized controlled trial,RCT),总结临床证据,以期为后续研究的开展及证据转化应用提供参考。基于中医药循证研究证据库系统(evidence database system,EVDS)旗下智能化中成药临床证据数据库(AICED-CPM)收录的文献,并补充检索中国知网(CNKI)、万方(Wanfang)、维普(VIP)、中国生物医学文献服务系统(SinoMed)、PubMed、EMbase、Cochrane Library、Web of Science数据库,获取中成药治疗糖尿病足的RCT,并进行统计分析。检索得到符合要求的RCTs 275篇,其中纳入患者样本量200例及以上的RCTs仅7篇;涉及中成药66种(口服中成药25种,中药注射剂24种,外用药17种);干预/对照设计33种,其中“中成药+常规治疗vs常规治疗”为最常用设计(86篇,31.27%);纳入的275篇文献中50篇未报告具体疗程(18.18%);共应用计数指标10种(426次),计量指标36种(962次)。方法学质量方面,均存在盲法及其他偏倚缺失,此外研究注册均未报告。结果表明,中成药治疗糖尿病足的RCT总体方法学质量不高,在分配隐藏、实施偏倚(盲法应用)、其他偏倚3个方面的报告存在明显不足,今后相关研究的开展应重视试验注册和方案设计,实施过程严格质控,以期为临床实践提供证据支持,为后续研究的开展提供参考。

关键词：中成药糖尿病足随机对照试验循证医学中医坏疽