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Rotation Estimation for Mobile Robot Based on Single-axis Gyroscope and Monocular Camera

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International Journal of Automation and computing 2012年第3期9卷 292-298页

作者： Yang, Ke-Hu yu, wen-sheng Ji, Xiao-Qiang School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing 100083 China Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai 200062 China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.

关键词： Rotation matrix estimation quaternion extended Kalman filter (EKF) monocular camera gyroscope.

Immunogenicity of C-terminus of Plasmodium falciparum Merozoite Surface Protein 1 Expressed as a Non-glycosylated Polypeptide in Yeast

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Acta Biochimica et Biophysica Sinica 2006年第6期38卷 403-409页

作者： Zhong-Guang ZHANG wen-Gang yu wen-sheng QIU Heng-Mei ZHAO Medical College of Qingdao University,Qingdao 266021,China Medical College of Qingdao UniversityQingdao 266021 China

The C-terminal region of the merozoite surface protein 1 (MSP119) is one of the mostpromising vaccine candidates against the erythrocytic forms of *** the present study,a gene encodingPlasmodium falciparum MSP119 was expressed in yeast Pichia pastoris.A non-glycosylated form of therecombinant protein MSP119 was purified from culture *** recombinant protein maintains *** immune responses were seen in C57BL/6 mice after the second ***,the specific antibodies recognized the native antigens of ***,The prevailing isotypesof immunoglobulin （Ig）G associated with immunization were IgG1,IgG2a and *** antibodiesisolated from mouse sera immunized with MSP119 can inhibit parasite growth in *** on theseimmunological studies,we concluded that MSP119 deserves further evaluation in pre-clinical immunizationsagainst ***.

关键词： Plasmodium falciparum C-terminal region of merozoite surface protein 1(MSP119) Pichia pastoris immunity

Water quality, agriculture and food safety in China:Current situation, trends, interdependencies, and management

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Journal of Integrative Agriculture 2015年第11期14卷 2365-2379页

作者： ZHANG Xiao-nan GUO Qiu-ping SHEN Xiao-xue yu sheng-wen QIU Guo-yu Shenzhen Engineering Laboratory for Water Desalinization with Renewable Energy School of Environment and EnergyPeking University Chinese Academy for Environmental Planning

Water quality in China is becoming a severe challenge for agriculture and food safety, and it might also impact health of population via agriculture and food. Thus, it is causing widespread concern. Based on extensive literatures review and data mining, current situation of water pollution in China and its effects on food safety were analyzed. The 2nd National Water Resource Survey in China show that the surface water all over the country was under slight pollution and about 60% of groundwater is polluted. Drinking water quality is basically guaranteed in urban area but it is worrisome in rural areas. In addition, China is the largest consumer of fertilizer and pesticide in the world and the amounts of application still show increasing trends. Fertilizers and pesticides are the most important sources of pollution, which affect human health as persistent organic pollutants and environmental endocrine disruptors. Eutrophication of surface water and nitrate pollution of groundwater are serious threats to drinking water safety. Sewage irrigation is becoming a pollution source to China＇s water and land because of lacking of effective regulations. Although, with the advance in technology and management level, control of nitrogen and phosphorus emissions and reducing water pollution is still a major challenge for China.

关键词： agriculture drinking water eutrophication fertilizer food safety groundwater heavy metals microcystin nitrate pesticide pollution water quality

Nonlinear metamaterial enabled aeroelastic vibration reduction of a supersonic cantilever wing plate

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Applied Mathematics and Mechanics(English Edition) 2024年第10期45卷 1749-1772页

作者： Peng sheng Xin FANG Dianlong yu Jihong wen Laboratory of Science and Technology on Integrated Logistics Support College of Intelligence Science and TechnologyNational University of Defense TechnologyChangsha 410073China

The violent vibration of supersonic wings threatens aircraft *** paper proposes the strongly nonlinear acoustic metamaterial(NAM)method to mitigate aeroelastic vibration in supersonic wing *** employ the cantilever plate to simulate the practical behavior of a *** aeroelastic vibration model of the NAM cantilever plate is established based on the mode superposition method and a modified third-order piston *** aerodynamic properties are systematically studied using both the timedomain integration and frequency-domain harmonic balance *** presenting the flutter and post-flutter behaviors of the NAM wing,we emphasize more on the preflutter broadband vibration that is prevalent in *** results show that the NAM method can reduce the low-frequency and broadband pre-flutter steady vibration by 50%-90%,while the post-flutter vibration is reduced by over 95%,and the critical flutter velocity is also slightly *** clarified,the significant reduction arises from the bandgap,chaotic band,and nonlinear resonances of the NAM *** reduction effect is robust across a broad range of parameters,with optimal performance achieved with only 10%attached *** work offers a novel approach for reducing aeroelastic vibration in aircraft,and it expands the study of nonlinear acoustic/elastic metamaterials.

关键词： nonlinear acoustic metamaterial(NAM) hypersonic aeroelastic vibration vibration reduction fluid-structure interaction

Non-Gaussian feature of the output field from a double qubit-cavity ultrastrong coupling system

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Communications in Theoretical Physics 2024年第7期76卷 30-36页

作者： sheng-wen Xu Shi-yu Dai Teng Zhao Center for Quantum Science and Technology Jiangxi Normal UniversityNanchang 330022China

We investigate the non-Gaussian feature of radiation in a circuit quantum electrodynamics(QED)system where two qubits are strongly coupled to a single-mode *** the regime of ultrastrong coupling(USC),the rotating-wave approximation is not valid,and the Rabi Hamiltonian contains counter-rotating wave terms,leading to level crossing and avoided crossings in the energy *** further analyze the intensity-amplitude correlation of the output field in these two novel *** the USC regime,the creation and annihilation operators in the correlation function are replaced,allowing for the identification of non-Gaussian features in the output *** findings reveal that despite the absence of squeezing effects in the output light,significant non-Gaussian characteristics are ***,we demonstrate that as the driving or coupling strength increases,the non-Gaussian features of the output field become more *** suggests that USC systems hold broad potential applications in the realms of nonlinear optics and the generation of non-Gaussian states.

关键词： ultrastrong coupling non-Gaussian intensity-amplitude correlation

BL03HB: a Laue microdiffraction beamline for both protein crystallography and materials science at SSRF

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Nuclear Science and Techniques 2024年第7期35卷 68-78页

作者： Zhi-Jun Wang Si-sheng Wang Zheng-Huang Su Li yu yu-Zhu Wang Bo Sun wen wen Xing-yu Gao Shanghai Advanced Research Institute Chinese Academy of SciencesShanghai201210China University of Chinese Academy of Science Beijing100049China

A Laue microdiffraction beamline(BL03HB) was constructed at the Shanghai Synchrotron Radiation Facility(SSRF).This beamline features two consecutive focusing points in two different sectors within its end station, the first dedicated to protein crystallography and the other tailored to materials science applications. Based on a superbend dipole magnet with a magnetic field of 2.29 T, a two-stage focusing design was implemented with two sets of Kirkpatrick-Baez mirrors to achieve a micro white beam as small as 4.2 μ m ×4.3 μ m at the first sector and 0.9 μ m ×1.3 μ m at the second sector in the standard beamline operation mode at SSRF. The X-ray microbeam in the two sectors can be easily switched between monochromatic and white beams by moving a four-bounce monochromator in or out of the light path, respectively. In the protein crystallography sector, white-beam Laue microdiffraction was demonstrated to successfully determine the structure of protein crystals from only a few images of diffraction data collected by a Pilatus 2 M area detector. In the materials science sector,the white-beam Laue diffraction was collected in a reflection geometry using another Pilatus 2 M area detector, which could map the microstructural distribution on the sample surface by scanning the samples. In general, the BL03HB beamline promotes the application of Laue microdiffraction in both protein crystallography and materials science. This paper presents a comprehensive overview of the BL03HB beamline, end station, and the first commission results.

关键词： Crystallography White-beam Laue microdiffraction Beamline Synchrotron

Postoperative pneumocranium after endoscopic transnasal optic canal decompression

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International Journal of Ophthalmology(English edition) 2024年第5期17卷 973-975页

作者： sheng-Jian Lu Bo yu wen-Can Wu The Eye Hospital School of Ophthalmology&OptometryWenzhou Medical UniversityWenzhou 325027Zhejiang ProvinceChina

Dear Editor,We present the first time,a case of a patient developed cerebrospinal fluid(CSF)leak and pneumocranium following optic canal decompression(OCD).INTRODUCTION Indirect traumatic optic neuropathy(ITON)impairs visual functions and quality of *** transnasal optic canal decompression(ETOCD)is one of the standard treatment strategies for the *** the ETOCD,the optic nerve sheath are usually incised for sufficient decompression of optic nerve after removal of optic canal,which is associated with complications like CSF leakage,ophthalmic artery injury,and optic nerve injury[1].Generally,the mild CSF leak is common and can heal spontaneously using conventional treatment,the severe CSF leak requires surgical repair[2].

关键词： decompression nasal traumatic

An Efficient Optimization Design Framework for Low-Resistance Shape of Bionic Amphibious Robot

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China Ocean Engineering 2024年第1期38卷 117-128页

作者： ZHANG Dai-yu ZHANG Man-yu WANG Zhi-dong ZHENG wen-sheng LING Hong-jie HU Jun-ming School of Naval Architecture and Ocean Engineering Jiangsu University of Science and TechnologyZhenjiang 212003China

To realize the low-resistance shape optimization design of amphibious robots,an efficient optimization design framework is proposed to improve the geometric deformation flexibility and optimization *** the proposed framework,the free-form deformation parametric model of the flat slender body is established and an analytical calculation method for the height constraints is *** method is introduced to carry out the high-precision resistance calculation and a constrained Kriging-based optimization method is built to improve the optimization efficiency by circularly infilling the new sample points which satisfying the ***,the shape of an amphibious robot example is optimized to get the low-resistance shape and the results demonstrate that the presented optimization design framework has the advantages of simplicity,flexibility and high efficiency.

关键词： amphibious robot optimization method free-form deformation CFD-based hydrodynamic calculation

In Situ Atomic Reconstruction Engineering Modulating Graphene-Like MXene-Based Multifunctional Electromagnetic Devices Covering Multi-Spectrum

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Nano-Micro Letters 2024年第9期16卷 247-261页

作者： Ting‑Ting Liu Qi Zheng wen‑Qiang Cao yu‑Ze Wang Min Zhang Quan‑Liang Zhao Mao‑sheng Cao School of Materials Science and Engineering Beijing Institute of TechnologyBeijing 100081People’s Republic of China Department of Physics Beijing Technology and Business UniversityBeijing 100048People’s Republic of China School of Mechanical and Materials Engineering North China University of TechnologyBeijing 100144People’s Republic of China

With the diversified development of big data,detection and precision guidance technologies,electromagnetic(EM)functional materials and devices serving multiple spectrums have become a hot *** the multispectral response of materials is a challenging and meaningful scientific *** this study,MXene/TiO_(2)hybrids with tunable conduction loss and polarization relaxation are fabricated by in situ atomic reconstruction *** importantly,MXene/TiO_(2)hybrids exhibit adjustable spectral responses in the GHz,infrared and visible spectrums,and several EM devices are constructed based on *** antenna array provides excellent EM energy harvesting in multiple microwave bands,with|S11|up to−63.2 dB,and can be tuned by the degree of *** ultra-wideband bandpass filter realizes a passband of about 5.4 GHz and effectively suppresses the transmission of EM signals in the *** infrared stealth device has an emissivity of less than 0.2 in the infrared spectrum at wavelengths of 6-14μ*** work can provide new inspiration for the design and development of multifunctional,multi-spectrum EM devices.

关键词： Graphene-like MXene hybrids Multi-spectral response Multi-function antenna Ultra-wideband bandpass filter Electromagnetic device