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End to End Motion Control for Mobile Robots

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End to End Motion Control for Mobile Robots

2018中国汽车工程学会年会

作者： SU Zhibao WANG Yang ZHANG Haojie xing haoqiang China North Vehicle Research Institute

End to end motion control is a new paradigm for mobile robots,it maps sensors’ output to motion control commands *** this paper,an approach to end to end control based on a 2 D laser range finder is *** a convolutional neural network and a fully connected network are constructed for controlling velocity and angular rate *** an existing simulation system,the training dataset and test dataset are *** a simulation environment,the proposed method is tested and verified with the generated test *** test experiments show that the method is feasible,but it is need to be improved in several aspects.

关键词： end to end motion control CNN FCN

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基于改进SSD的行人检测方法

计算机工程 2018年第11期44卷 228-233,238页

作者：邢浩强杜志岐苏波中国北方车辆研究所北京100072

为提高行人检测的准确性与稳定性,提出一种新的检测方法。以SSD方法为基础进行优化与改进网络结构,将串联式的基础网络部分修改为密集连接式结构,在目标预测阶段选择融合特征作为预测依据,根据目标尺寸的统计分布规律调整不同特征层的... 详细信息

为提高行人检测的准确性与稳定性,提出一种新的检测方法。以SSD方法为基础进行优化与改进网络结构,将串联式的基础网络部分修改为密集连接式结构,在目标预测阶段选择融合特征作为预测依据,根据目标尺寸的统计分布规律调整不同特征层的缩放因子。在Caltech数据集上的测试结果表明,相比于原始SSD、VJ-1、HOG等方法,该方法具有更高的准确性和更好的鲁棒性,尤其对于待检行人目标尺寸较小以及严重遮挡等行人检测问题,改进SSD方法检测结果更好。该方法在TitanX测试条件下具有20 frame/s的检测速度,满足实时性要求。

关键词：行人检测卷积神经网络融合特征密集连接多尺度检测

The transcription factor IbNAC29 positively regulates the carotenoid accumulation in sweet potato

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Horticulture Research 2023年第3期10卷 189-200页

作者： Shihan xing Ruijie Li haoqiang Zhao Hong Zhai Shaozhen He Huan Zhang Yuanyuan Zhou Ning Zhao Shaopei Gao Qingchang Liu Key Laboratory of Sweet Potato Biology and Biotechnology Ministry of Agriculture and Rural Affairs/Beijing Key Laboratory of Crop Genetic Improvement/Laboratory of Crop Heterosis and UtilizationMinistry of EducationCollege of Agronomy&BiotechnologyChina Agricultural UniversityBeijing 100193China

Carotenoid is a tetraterpene pigment beneficial for human *** the carotenoid biosynthesis pathway has been extensively studied in plants,relatively little is known about their regulation in sweet ***,we conducted the transcriptome database of differentially expressed genes between the sweet potato(Ipomoea batatas)cultivar‘Weiduoli’and its high-carotenoid mutant‘HVB-3’.In this study,we selected one of these candidate genes,IbNAC29,for subsequent ***29 belongs to the plant-specific NAC(NAM,ATAF1/2,and CUC2)transcription factor *** IbNAC29 mRNA level in the HVB-3 storage roots was∼1.71-fold higher than *** experiments showed that the contents ofα-carotene,lutein,β-carotene,zeaxanthin,and capsanthin are obviously increased in the storage roots of transgenic sweet potato plants overexpressing ***,the levels of carotenoid biosynthesis genes in transgenic plants were also ***,yeast one-hybrid assays indicated that IbNAC29 could not directly bind to the promoters of these carotenoid biosynthesis ***,the level of IbSGR1 was down-regulated,whose homologous genes in tomato can negatively regulate carotene *** three-hybrid analysis revealed that the IbNAC29-IbMYB1R1-IbAITR5 could form a regulatory *** one-hybrid,electrophoretic mobility shift assay,quantitative PCR analysis of chromatin immunoprecipitation and dual-luciferase reporter assay showed that IbAITR5 directly binds to and inhibits the promoter activity of IbSGR1,up-regulating carotenoid biosynthesis gene *** together,IbNAC29 is a potential candidate gene for the genetic improvement of nutritive value in sweet potato.

关键词： roots sweet potato

Betulinic acid protects against ovarian impairment by decreasing F-2 toxin-induced oxidative stress and inflammation associated with the downregulation of p38 expression in mice

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Food Science and Human Wellness 2024年第3期13卷 1292-1302页

作者： Li Kong Xinyu Gao Lijuan Zhu xing Lin You Huang Chunlin Huang Wenjiang Yang Yazhi Chen haoqiang Zhao Jing Wu Zhihang Yuan Jin’e Yi Hunan Engineering Research Center of Livestock and Poultry Health Care College of Veterinary MedicineHunan Agricultural UniversityChangsha 410128China

F-2 toxin is an estrogenic mycotoxin that causes reproductive disorders in *** acid(BA)is a natural pentacyclic lupane-structure triterpenoid that has diverse pharmacological *** this study,the antioxidative and anti-inflammatory effects of BA and its underlying mechanism are explored in F-2 toxin-triggered mouse ovarian *** found that BA alleviated the F-2 toxin-induced ovarian impairment by stimulating follicle growth,reducing inflammatory cell infiltration,repairing damaged mitochondria and endoplasmic ***,BA not only reversed F-2 toxin-induced reduction of follicle stimulating hormone(FSH)and luteinizing hormone(LH)levels in the serum,but also restrained the protein expression of the estrogen receptors a(ERa)and ERβ.Moreover,BA restored the balance of F-2 toxin-induced ovarian redox system ***,we found that 0.25 mg/kg BA played an anti-inflammatory role in the F-2 toxin-induced ovarian impairment by decreasing interleukin-1β(IL-1β).IL-6,and tumor necrosis factor-α(TNF-α)mRNA expression,as well as inhibiting p38 protein *** data demonstrated that BA exerts its protective effect on F-2 toxin-induced ovarian oxidative impairment and inflammation by inhibiting p38 expression,which implies a natural product-based medicine to ameliorate F-2 toxin-caused female reproductive toxicity and provides a detoxifying method for food contaminated by mycotoxin.

关键词： Betulinic acid F-2 toxin Ovarian damage p38 MAPK signaling pathway

Metamorphism and geochronology of garnet amphibolite from the Beishan Orogen,southern Central Asian Orogenic Belt:Constraints from P-T path and zircon U-Pb dating

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Geoscience Frontiers 2020年第4期11卷 1189-1201页

作者： Wenbin Kang Wei Li Lei Kang Yunpeng Dong Dazhi Jiang Jiwei Liang haoqiang Dong State Key Laboratory of Continental Dynamics Department of GeologyNorthwest UniversityXi’an 710069China Key Laboratory for the Study of Focused Magmatism and Giant Ore Deposits of Ministry of Natural Resources Xi'an Center of China Geological SurveyCGSXi'an 710054ShaanxiChina Department of Earth Sciences Western UniversityLondonOntarioN6A 5B7Canada School of Earth Science&Resources Chang’an UniversityXi’an 710054China

Numerous lenses of garnet amphibolite occur in the garnet-bearing biotite-plagioclase gneiss belt in the Baishan area of the Beishan Orogen,which connects the Tianshan Orogen to the west and the Mongolia-xing’anling Orogen to the *** study of metamorphism in Beishan area is of great significance to explain the tectonic evolution of Beishan *** to the microstructures,mineral relationships,and geothermobarometry,we identified four stages of mineral assemblages from the garnet amphibolite sample:(1) a pre-peak stage,which is recorded by the cores of garnet together with core-inclusions of plagioclase(Pl1);(2) a peak stage,which is recorded by the mantles of garnet together with mantle-inclusions of plagioclase(Pl2)+amphibole(Amp1)+Ilmenite(Ilm1)+biotite(Bt1),developed at temperature-pressure(P-T) conditions of 818.9-836.5℃ and7.3-9.2 kbar;(3) a retrograde stage,which is recorded by garnet rims + plagioclase(Pl3)+amphibole(Amp2)+orthopyroxene(Opx1)+biotite(Bt2)+Ilmenite(Ilm2),developed at P-T conditions of 796.1-836.9℃ and5.6-7.5 kbar;(4) a symplectitic stage,which is recorded by plagioclase(Pl4)+orthopyroxene(Opx2)+amphibole(Amp3)+biotite(Bt3) symplectites,developed at P-T conditions of 732 ±59.6℃ and 6.1 ±0.6 ***,the U-Pb dating of the Beishan garnet amphibolite indicates an age of 301.9 ±4.7 Ma for the protolith and 281.4±8.5 Ma for the peak metamorphic ***,the mineral assemblage,P-T conditions,and zircon U-Pb ages of the Beishan garnet amphibolite define a near-isothermal decompression of a clockwise P-T-t(Pressure-Temperature-time) path,indicating the presence of over thickened continental crust in the Huaniushan arc until the Early Permian,then the southern Beishan area underwent a process of thinning of the continental crust.

关键词： Beishan orogen Garnet amphibolite P-T-t path Zircon U-Pb dating

台湾金线莲和福建金线莲苯丙氨酸解氨酶的拷贝数分析

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分子植物育种 2020年第15期18卷 4924-4929页

作者：杨琳张杭颖邢建宏于好强李涛张君诚三明学院药用植物开放利用福建省高校工程研究中心三明365000 四川农业大学玉米研究所成都611130

基于台湾金线莲(Anoectochilus roxburghii, ***)和福建金线莲(Anoectochilus formosanus,***)转录组测序,两种金线莲苯丙氨酸解氨酶(Phenylalanine ammonia-lyase)基因Unigene序列被获取。以Unigene序列设计引物,扩增金线莲PAL基因的探针片段,再通过Southern杂交确定苯丙氨酸解氨酶的拷贝数。结果表明,两种金线莲苯丙氨酸解氨酶基因均为三拷贝,本研究结果为金线莲基因克隆、表达以及分子机制研究提供参考。

关键词：台湾金线莲(Anoectochilus formosanus) 福建金线莲(Anoectochilus roxburghii) Southern杂交拷贝数

前庭刺激后大鼠中央杏仁核神经元树突棘可塑性变化

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神经解剖学杂志 2015年第5期31卷 539-543页

作者：李晓康钱晨曦张浩强吕行张富兴李云庆第四军医大学人体解剖与组织胚胎教研室西安710032 第四军医大学西京医院骨科西安710032 第四军医大学西京医院肝胆外科西安710032

目的:研究双轴旋转运动刺激前庭感受器诱导晕动病后大鼠中央杏仁核(Ce A)神经元树突棘可塑性变化,探讨Ce A在晕动病中的作用。方法:6只成年雄性SD大鼠分为两组:对照组和旋转刺激组。旋转刺激组大鼠经2 h双轴旋转运动刺激(大、小转盘分别... 详细信息

目的:研究双轴旋转运动刺激前庭感受器诱导晕动病后大鼠中央杏仁核(Ce A)神经元树突棘可塑性变化,探讨Ce A在晕动病中的作用。方法:6只成年雄性SD大鼠分为两组:对照组和旋转刺激组。旋转刺激组大鼠经2 h双轴旋转运动刺激(大、小转盘分别以168°/s和432°/s的角速度(33和72 r/min)旋转),然后取脑、切片(100μm),应用Golgi-Cox染色技术观察Ce A神经元树突棘并计数,统计分析后比较两组间的差异。结果:旋转运动刺激后,Ce A神经元树突棘密度增高,即对照组为(4.58±1.90/10μm),旋转刺激组为(6.57±2.43/10μm),两组差异具有统计学意义。结论:诱导晕动病发生的旋转运动刺激可引起大鼠Ce A神经元树突棘数量增加,Ce A神经元可接收来自前庭神经核的神经传入参与晕动病反应。

关键词：中央杏仁核树突棘可塑性晕动病大鼠

叠前叠后地震多属性反演在牛东潜山油气检测中的应用

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中国石油勘探 2014年第2期19卷 39-45页

作者：秦凤启王亚王孟华冯小英邢福松刘浩强贾敬中国石油华北油田公司地球物理勘探研究院河北省任丘市062552

冀中坳陷霸县凹陷牛东潜山构造带发现和探明的古潜山油气藏为古生界寒武系碳酸盐岩储层,其储集空间以孔洞、裂缝为主,物性横向变化较大。针对潜山及潜山内幕碳酸盐岩储层非均质性较强的难点,开展叠前弹性反演研究,采取叠前弹性阻抗反演... 详细信息

冀中坳陷霸县凹陷牛东潜山构造带发现和探明的古潜山油气藏为古生界寒武系碳酸盐岩储层,其储集空间以孔洞、裂缝为主,物性横向变化较大。针对潜山及潜山内幕碳酸盐岩储层非均质性较强的难点,开展叠前弹性反演研究,采取叠前弹性阻抗反演技术、AVO属性分析技术;并结合叠后子波分解与重构技术,预测和刻画储层缝洞体系的空间分布规律,划分储层发育有利区带,准确预测裂缝发育区、油气富集区。该区实钻结果表明,牛东潜山构造带碳酸盐岩储层裂缝发育,油气显示良好,证实了碳酸盐岩储层特征预测技术的有效性。

关键词：碳酸盐岩非均质性叠前弹性反演 AVO属性子波分解牛东潜山

Current status of diagnosis and treatment of bladder cancer in China-Analyses of Chinese Bladder Cancer Consortium database

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Asian Journal of Urology 2015年第2期2卷 63-69页

作者： Kaiwen Li Tianxin Lin 无 Wei Xue Xin Mu Enci Xu Xu Yang Fubao Chen Guangyong Li Lulin Ma Guoliang Wang Chaozhao Liang haoqiang Shi Ming Li Mao Tang Xueyi Xue Yisong Lv Yaoliang Deng Chengyang Li Zhiwen Chen Xiaozhou Zhou Fengshuo Jin Xudong Liu Jinxin Wei Lei Shi Xin Gou Weiyang He Liqun Zhou Lin Cai Baiye Jin Guanghou Fu Xiangbo Kong Hongyan Sun Ye Tian Lang Feng Tiejun Pan Yiyi Wu Dongwen Wang Hailong Hao Benkang Shi Yaofeng Zhu Qiang Wei Ping Han Changli Wu Dawei Tian Zhangqun Ye Zheng Liu Zhiping Wang Junqiang Tian Lin Qi Minfeng Chen Wei Li Jinchun Qi Gongxian Wang Longlong Fu Zhaolin Sun Guangheng Luo Zhoujun Shen Zhaowei Zhu Jinchun xing Zhun Wu Dong Wei Xin Chen Yanqun Na Hongfeng Guo Chunxi Wang Zhihua Lu Chuize Kong Yang Liu Jin Yang Jianyun Hu Xin Gao Jielin Li Changjun Yin Pu Li Shan Chen Zhen Du Jiongming Li Yongji Yan Xu Zhang Shuang Huang Fangjian Zhou Zhiling Zhang Yinghao Sun Shuxiong Zeng Song Cen Jiaquan Zhou Hanzhong Li Jin Wen Jian Huang Department of Urology Sun Yat-sen Memorial HospitalSun Yat-sen UniversityGuangzhouChina Chinese Bladder Cancer Consortium Department of Urology Renji HospitalShanghai Jiaotong University School of MedicineShanghaiChina Department of Urology Fujian Medical University Union HospitalFuzhouChina Department of Urology General Hospital of Ningxia Medical UniversityYinchuanChina Department of Urology Peking University Third HospitalBeijingChina Department of Urology The First Affiliated Hospital of Anhui Medical UniversityHefeiChina Department of Urology The Xinjiang Uygur Autonomous Region People’s HospitalUygurChina Department of Urology The First Affiliated Hospital of Fujian Medical UniversityFuzhouChina Department of Urology The First Affiliated Hospital of Guangxi Medical UniversityNanningChina Department of Urology Southwest HospitalThird Military Medical UniversityChongqingChina Department of Urology Daping HospitalThird Military Medical UniversityChongqingChina Department of Urology The First Affiliated Hospital of Zhengzhou UniversityZhengzhouChina Department of Urology The First Affiliated Hospital of Chongqing Medical UniversityChongqingChina Department of Urology Peking University First HospitalBeijingChina Department of Urology The First Affiliated Hospital of Zhejiang UniversityHangzhouChina Department of Urology China Japan Friendship Hospital of Jilin UniversityChangchunChina Department of Urology Beijing Friendship HospitalCapital Medical UniversityBeijingChina Department of Urology Wuhan General Hospital of Guangzhou MilitaryWuhanChina Department of Urology The First Affiliated Hospital of Shanxi UniversityTaiyuanChina Department of Urology Qilu Hospital of Shandong UniversityJinanChina Department of Urology West China HospitalSichuan UniversityChengduChina Department of Urology The Second Affiliated Hospital of Tianjin Medical UniversityTianjinChina Department of Urology Tongji Medical CollegeHuazhong University of Science and TechnologyWuhanChina

Objective:To investigate current status of diagnosis and treatment of bladder cancer in ***:A database was generated by Chinese Bladder Cancer Consortium(CBCC).From January 2007 to December 2012,14,260 cases from 44 CBCC centers were *** of diagnosis,treatment and pathology were ***:The average age was 63.5 year-old and most patients were male(84.3%).The most common histologic types were urothelial carcinoma(91.4%),adenocarcinoma(1.8%),and squamous carcinoma(1.9%).According to 1973 and 2004 WHO grading system,42.0%,41.0%,and 17.0% of patients were grade 1,2,and 3,and 16.0%,48.7%,and 35.3% of patients were papillary urothelial neoplasms of low malignant potential,low,and high grade,***-muscle invasive bladder cancer(NMIBC)and muscle invasive bladder cancer(MIBC)were 25.2% and 74.1%,respectively(0.8% not clear).Carcinoma in situ was only 2.4%.Most patients were diagnosed by white-light cystoscopy with biopsy(74.3%).Fluorescence and narrow band imaging cystoscopy had additional detection rate of 1.0% and 4.0%,*** transurethral resection(TUR)provided detection rate of 16.9%.Most NMIBCs were treated with TUR(89.2%).After initial TUR,2.6%accepted second TUR,and 45.7%,69.9%,and 58.7% accepted immediate,induced,and maintenance chemotherapy instillation,*** MIBCs were treated with radical cystectomy(RC,59.7%).Laparoscopic RCs were 35.1%,while open RC 63.4%.Extended and standard pelvic lymph node dissection were 7% and 66%,*** most common urinary diversions were orthotopic neobladder(44%),ileal conduit(31%),and ureterocutaneostomy(23%).Only 2.3% of patients accepted neo-adjuvant chemotherapy and only 18%of T3 and T4 patients accepted adjuvant ***:Disease characteristics are similar to international reports,while differences of diagnosis and treatment *** study can provide evidences for revisions of the guideline on bladder cancer in China.

关键词： Bladder cancer Diagnosis Treatment