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AlGORITHM AND IMPlEMENTATION OF AuTO-SEARCHING WElD lINE FOR WElDING MOBIlE ROBOT

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Chinese Journal of Mechanical Engineering 2006年第2期19卷 176-180页

作者： ZHANG Ke lü Xueqin　 Wu Yixiong l.u Songnian Institute of Welding Engineering Shanghai Jiaotong UniversityShanghai 200030 China

An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ±1.5 mm, and satisfy the requirement of practical welding project.

关键词： Welding mobile robot Auto-searching weld line Trajectory planning

Application of Reactive Ion Etching to the Fabrication of Microstructure on Mo/Si Multilayer

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Chinese Physics letters 1999年第9期16卷 665-666页

作者： lE Zi-chun l.Dreeskornfeld S.Rahn R.Segler u.Kleineberg u.Heinzmann Institute of Atomic and Molecular Physics Jilin UniversityChangchun 130012 Fakultät für Physik Universität BielefeldUniversitatsstraβe 25D-33615 BielefeldGermany

Mo/Si muitilayer mirrors(30 periods,doublelayer thickness 7nm)with the AZ-PF514 resist pattern whose smallest lines and spaces structure was 0.5pm were etched by reactive ion etching(RIE)in a fluorinated *** etch rate,selectivity and etch profile were investigated as a function of the gas mixture,pressure,and plasma rf *** groove depth and the etch proHle were investigated by an atomic force microscope before RIE,after RIE and after resist removal.

关键词： Mo/Si smallest selectivity

The Decarbonization of Construction—How Can Alkali-Activated Materials Contribute?

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Engineering 2024年第6期37卷 18-21页

作者： John l.Provis Susan A.Bernal Zuhua Zhang Department of Materials Science and Engineering University of SheffieldSheffield S13JDUK Paul Scherrer Institut Villigen PSI 5232Switzerland School of Civil Engineering University of LeedsLeeds LS29JTUK School of Materials Sciences and Engineering Tongji UniversityShanghai 201804China

*** and context Enormous emphasis is currently being paid to the decarbonization of the global built environment as a leading priority for the engineering community and related industrial sectors[1].One of the main contributors to the overall emissions footprint of the built environment-and thus a cornerstone of efforts to achieve decarbonization-is the emissions profile of construction materials during their production and *** cement and concrete sector is the largest-volume contributor to the emissions incurred in meeting the world’s construction material needs and is therefore targeted in the discussion of the deep,rapid decarbonization that must be achieved in order to minimize irreversible damage to the Earth and its ecosystems.

关键词： Alkali corners irreversible

ligand enabled none-oxidative decarbonylation of aliphatic aldehydes

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Chinese Chemical letters 2023年第7期34卷 107-111页

作者： Bo li Shihao l.u Wu Fan xiaotong Shen Jing Xu Suhua li School of Chemistry Sun Yat-Sen UniversityGuangzhou 510275China Key laboratory of Tobacco Flavor Basic Research Zhengzhou Tobaco Research Institute of CNTCZhengzhou 450001China

Decarbonylation of aldehydes is a basic organic transformation, which has been developed for more than six-decade. However, as comparing to well-studied aromatic aldehydes, fewer examples for catalytic decarbonylation of aliphatic aldehydes were reported, mainly on simple or special *** α-bulky or highly functionalized ones, stoichiometric Rh(I) were usually required for decent ***, we present a rare example of Ir(I)-catalyzed direct decarbonylation of α-quaternary aldehydes with broad substrate scope and good functional group compatibility via judicious selection of ligand. Theα-chirality is memorized in this decarbonylation process. In addition, we report a broad-spectrum decarbonylation of α-secondary and α-tertiary aldehydes containing multifunctional groups with an improved Rh(I)/DPPP recipe. Finally, we realized selective decarbonylation of α-tertiary aldehydes in the presence of α-quaternary one via the reactivity differences.

关键词： Decarbonylation Aliphatic aldehydes Rhodium Iridium ligand

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原发性高草酸尿症1型7例临床分析

中华内科杂志 2024年第8期63卷 781-786页

作者：李作林王彬王凤梅倪海锋刘玉秋施雯杨钧岚谢筱彤刘必成张晓良东南大学附属中大医院肾内科、东南大学肾脏病研究所南京210009

回顾性分析2018年1月至2023年10月于东南大学附属中大医院诊断为原发性高草酸尿症1型(PH 1型)患者的临床资料。7例PH 1型患者中,男4例,女3例;起病年龄26~42岁(平均32.1岁),诊断年龄28~51岁(平均40.6岁)。7例患者均以肾结石起病,3例患者... 详细信息

回顾性分析2018年1月至2023年10月于东南大学附属中大医院诊断为原发性高草酸尿症1型(PH 1型)患者的临床资料。7例PH 1型患者中,男4例,女3例;起病年龄26~42岁(平均32.1岁),诊断年龄28~51岁(平均40.6岁)。7例患者均以肾结石起病,3例患者起病时发现肾功能不全,其中2例患者发现时即进行血液透析。就诊时的症状包括骨痛7例,关节疼痛或关节畸形5例,乏力5例,低血压3例,皮下结节2例。4例患者有家族史。7例患者血红蛋白60~114 g/l,白蛋白16.5~32.1 g/l,D-二聚体2230~12781μg/l。7例患者已行维持性血液透析,行透析年龄26~50岁(平均37.7岁),自起病至进入透析时长为0~20年(平均5.6年)。5例患者反复发生透析通路功能不良。3例患者在明确诊断前行肾移植,移植肾均因草酸盐沉积而失去功能。随访4~38个月(平均14.43个月),死亡1例。7例患者均行腹部CT检查,可见骨骼病变、双侧肾脏多发结石和肾钙质沉着表现。6例患者检出AGXT基因突变,其中复合杂合变异4例,单纯纯合变异2例。变异位点为***(p.S275Rfs*38)(exon 8)、***(p.S275Rfs*38)(exon 8)、c.595G>A(p.G199S)(exon5)、c.32C>G(p.P11R)(exon1)、c.638C>T(p.A213V)(exon 6);经美国医学遗传学与基因组学会分级判定2个位点为可能致病变异,7个位点为致病变异,1个位点为意义未明。4例患者行组织活检,病理均表现出大量草酸盐沉积。PH 1型是一种罕见的常染色体隐性遗传病,深入理解PH 1型患者的临床特征,对早诊断早治疗具有十分重要的意义。

关键词：高草酸尿症,原发性遗传性疾病高凝状态顽固性低白蛋白血症多器官病变

Null Controllability for Some Systems of Two Backward Stochastic Heat Equations with One Control Force

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Chinese Annals of Mathematics,Series B 2012年第6期33卷 909-918页

作者： Hongheng lI Qi lÜ College of Mathematics and Information Science Leshan Normal University School of Mathematical Sciences University of Electronic Science and Technology of China Basque Center for Applied Mathematics Mazarredo 14 48009BilbaoBasque CountrySpain.

Abstract The authors establish the null controllability for some systems coupled by two backward stochastic heat equations. The desired controllability result is obtained by means of proving a suitable observability e... 详细信息

关键词： Backward stochastic heat equation, Null controllability Observabilityestimate

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生物育种在玉米逆境胁迫中的研究进展

吉林农业大学学报 2024年第1期46卷 1-9页

作者：关淑艳姜青平韩利圆魏小童焦鹏刘思言马义勇吉林农业大学农学院长春130118 吉林农业大学生命科学学院长春130118

玉米(Zea mays l.)是重要的粮食作物和饲料作物,不同生长阶段逆境会影响玉米植株的生长,从而对玉米产量产生负面影响。从育种选择到应用生物技术手段方面提高植物对逆境胁迫的适应能力,可以增加农作物产量、保护生态系统的稳定性,并为... 详细信息

玉米(Zea mays l.)是重要的粮食作物和饲料作物,不同生长阶段逆境会影响玉米植株的生长,从而对玉米产量产生负面影响。从育种选择到应用生物技术手段方面提高植物对逆境胁迫的适应能力,可以增加农作物产量、保护生态系统的稳定性,并为全球粮食安全做出贡献。对玉米育种的发展历程及生物育种中不同育种技术的优缺点进行概述,论述了生物育种在生物与非生物胁迫等逆境情况下的研究进展,同时以多学科交叉技术的整合为特征,将育种技术与信息技术相结合,展望了未来育种的发展方向和策略及生物育种在解决全球粮食安全方面所起的重要作用,以期为育种技术的革新提供有意义的帮助。

关键词：生物育种玉米逆境胁迫

Exosomes-mediated tumor treatment: One body plays multiple roles

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Asian Journal of Pharmaceutical Sciences 2022年第3期17卷 385-400页

作者： Na Xu Ranran Guo xiaotong Yang Ning li Jia Yu Peng Zhang Shenyang Pharmaceutical.university Shenyang 110016China

Exosomes are vesicles secreted by a variety of living cells,containing proteins,RNA and other components,which are nanoscale capsules commonly existed in the *** play important roles in a variety of physiological and pathological processes by participating in material and information exchange between cells,which can playmultiple roles in tumor *** the one hand,exosomes can be used as carriers and biomarkers,participate in the apoptosis signaling pathway and improve chemotherapy resistance,thus playing beneficial roles in tumor *** the other hand,exosomes play unfavorable roles in tumor *** cell exosomes contain PD-l1,which is a nuclear weapon for tumor growth,metastasis,and *** addition,exosomes can not only promote the epithelial-mesenchymal transition process,tumor angiogenesis and chemoresistance,but also participate in the autocrine *** this review,the multiple roles of exosomes and their prospects in the treatment of tumor were reviewed in detail.

关键词： Extracel.ular vesicles Exosomes Multiple roles Tumor treatment

EXPERIMENTAl APPlICATION OF A THINNING SCHEME FOR THE ASSIMIlATION OF SuRFACE OBSERVATION DATA IN GRAPES-3DVAR

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Journal of Tropical Meteorology 2018年第3期24卷 334-345页

作者： ZHAO Hong l.u Yin luhe Meteorological Bureau Nanjing 211599 China Jiangsu Meteorological Observation Center Nanjing 210009 China Jiangsu Institute of Meteorological Sciences Nanjing 210009 China

To reduce the spatial correlation of representation error in observations and computational complexity, we propose a thinning scheme that can extract typical observations within a certain range. This scheme is applied to the Global/Regional Assimilation and Prediction System(GRAPES) with three-dimensional variation(3 DVAR) to study the effect of the thinning radius on the assimilation results. The assimilation experiments indicate that when the ratio of the model resolution to the observational resolution is 1:3, the simulated results for precipitation are relatively good and have a relatively high equitable threat score(ETS). Moreover, the analysis errors in the temperature and the specific humidity are the smallest, the dependence of the norm gradient vector of the objective function on the number of iterations is slow, gentle, and close to 0, and the minimization results in improved conditions.

关键词： thinning typical observation data assimilation