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Research on simultaneous localization and mapping for AUV by an improved method:Variance reduction FastSLAM with simulated annealing

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Defence Technology（防务技术） 2020年第3期16卷 651-661页

作者： Jiashan Cui Dongzhu Feng yunhui li Qichen Tian School of Aerospace Science and Technology Xidian UniversityXi’an 710126China Key Laboratory of Equipment Efficiency in Extreme Environment Ministry of EducationXi’an 710126China School of Astronautics Harbin Institute of TechnologyHarbin 150010China

At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research *** at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method of variance reduction fast simultaneous localization and mapping(FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation,particle depletion and particle loss in traditional FastSLAM,which lead to the reduction of AUV location estimation *** adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace *** increasing the weight of small particles and decreasing the weight of large particles,the variance of particle weight can be reduced,the number of effective particles can be increased,and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by *** experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation,maintains the diversity of particles,weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system.

关键词： Autonomous underwater vehicle(AUV) Sonar Simultaneous localization and mapping(SLAM) Simulated annealing FastSLAM

Design and Analysis of Microstrip Multi-Channeled Filter Using Photonic Crystal Branchy Defect

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Journal of Rare Earths 2006年第z1期24卷 136-139页

作者： li yunhui Jiang Haitao He li li Hongqiang Zhang Yewen Chen Hong Pohl Institute of Solid State Physics Tongji University Shanghai 200092 China Pohl Institute of Solid State Physics Tongji University Shanghai 200092 China Pohl Institute of Solid State Physics Tongji University Shanghai 200092 China Pohl Institute of Solid State Physics Tongji University Shanghai 200092 China Pohl Institute of Solid State Physics Tongji University Shanghai 200092 China Pohl Institute of Solid State Physics Tongji University Shanghai 200092 China

A multi-channeled filter based on branchy defect in a microstrip photonic crystal was proposed. By introducing a branchy structure across the defect region, multiple defect modes will appear inside the photonic gap, leading to the multi-channeled filtering phenomenon. In comparison with the conventional multi-channeled filters, the proposed structure is more compact and tunable as far as the device volume and fabrication are concerned. The microwave experiment results are found in agreement with simulation results.

关键词： photonic crystals defect mode multi-channeled filter

Using the nematode Caenorhabditis elegans as a model animal for assessing the toxicity induced by microcystin-LR

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Journal of Environmental Sciences 2009年第3期21卷 395-401页

作者： li yunhui WANG Yang YIN lihong PU Yuepu WANG Dayong School of Public Health Southeast University Nanjing 210009 China Key Laboratory of Developmental Genes and Human Disease Ministry of Education Nanjing 210009 China Department of Genetics and Developmental Biology Southeast University Nanjing 210009 China

Among more than 75 variants of microcystin （MC）, microcystin-LR （MC-LR） is one of the most common toxins. In this study, the feasibility of using Caenorhabditis elegans to evaluate MC-LR toxicity was studied. C. elegans was treated with MC-LR at different concentrations ranging from 0.1 to 80 μg/L. The results showed that MC-LR could reduce lifespan, delay development, lengthen generation time, decrease brood size, suppress locomotion behavior, and decreases hsp-16-2-gfp expression. The endpoints of generation time, brood size, and percentage of the population expressing hsp-16-2-gfp were very sensitive to 1.0μg/L of MC-LR, and would be more useful for the evaluation of MC-LR toxicity. Furthermore, the tissue-specific hsp-16-2-gfp expressions were investigated in MC-LR-exposed animals, and the nervous system and intestine were primarily affected by MC-LR. Therefore, the generation time, brood size, and hsp-16-2-gfp expression in C. elegans can be explored to serve as valuable endpoints for evaluating the potential toxicity from MC-LR exposure.

关键词： microcystin-LR toxicity assessment brood size stress response Caenorhabditis elegans

A new FTO/TiO_(2)/PbO_(2)electrode for eco-friendly electrochemical determination of chemical oxygen demand

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Nano Research 2023年第8期16卷 11042-11047页

作者： Lei Wang Yuehan Zhang Xiaoxuan Sun yunhui li Junfeng Zhai Shaojun Dong School of Chemistry and Environmental Engineering Changchun University of Science and TechnologyChangchun 130022China Zhongshan Institute of Changchun University of Science and Technology Zhongshan 528437China State Key Laboratory of Electroanalytical Chemistry Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun 130022China University of Science and Technology of China Hefei 230026China College of Chemistry Jilin UniversityChangchun 130012China

Eco-friendly chemical oxygen demand(COD)sensors are highly desired with respect to the importance of COD determination in environmental *** this work,a new FTO/TiO_(2)/PbO_(2)(FTO=fluorine-doped tin oxide)electrode was fabricated with a two-step method and used as an eco-friendly electrochemical COD *** interlayer TiO_(2)was employed to strengthen the adhesion of PbO_(2)on the FTO substrates by providing a large TiO_(2)/PbO_(2)interface *** effects of the factors including applied potential,supporting electrolyte concentration and stirring speed on the sensing performance were *** the optimized conditions,linear responses to the COD of water with different COD sources were achieved,and a linear range from 5 to 120 mg/L was obtained in the case of sucrose as the COD *** relative standard deviations(RSD)were determined to be less than 9%for the glucose solutions with the COD of 7.5,12.5 and 17.5 mg/*** real sample analysis,the obtained results were comparable with those measured with the conventional dichromate method,with a relative error less than 11%.

关键词： chemical oxygen demand organic pollution chloride interference PbO_(2)electrode

Reproductive toxicity and underlying mechanisms of di(2-ethylhexyl) phthalate in nematode Caenorhabditis elegans

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Journal of Environmental Sciences 2021年第7期33卷 1-10页

作者： Jingjing li Man Qu Mei Wang Ying Yue Zhaofang Chen Ran liu Yuanqing Bu yunhui li Key Laboratory of Environmental Medicine Engineering Ministry of EducationSchool of Public HealthSoutheast UniversityNanjing 210009China State Key Laboratory of Pollution Control&Resource Reuse School of the EnvironmentNanjing UniversityNanjing 210023China Nanjing Institute of Environmental Science Key Laboratory of Pesticide Environmental Assessment and Pollution ControlMinistry of Ecology and EnvironmentNanjing 210042China

DEHP(di(2-ethylhexyl) phthalate) is an endocrine disruptor commonly found in plastic products that has been associated with reproduction alterations, but the effect of DEHP on toxicity is still widely unknown. Using DEHP concentrations of 10, 1, and 0.1 mg/L, we showed that DEHP reduced the reproductive capacity of Caenorhabditis elegans after 72 hr. of exposure. DEHP exposure reduced the reproductive capacity in terms of decreased brood sizes, egg hatchability(0.1, 1 and 10 mg/L), and egg-laying rate(1 and 10 mg/L), and increased numbers of fertilized eggs in the uterus(1 and 10 mg/L). DEHP also caused damage to gonad development. DEHP decreased the total number of germline cells, and decreased the relative area of the gonad arm of all exposure groups, with worms in the 1 mg/L DEHP exposure group having the minimum gonad arm area. Additionally, DEHP caused a significant concentration-dependent increase in the expression of unc-86. Autophagy and ROS contributed to the enhancement of DEHP toxicity in reducing reproductive capacity, and glutathione peroxidase and superoxide dismutase were activated as the antioxidant defense in this study. Hence, we found that DEHP has a dual effect on nematodes. Higher concentration(10 mg/L) DEHP can inhibit the expression of autophagy genes( atg-18, atg-7, bec-1, lgg-1 and unc-51), and lower concentrations(0.1 and 1 mg/L) can promote the expression of autophagy genes. Our data highlight the potential environmental risk of DEHP in inducing reproductive toxicity toward the gonad development and reproductive capacity of environmental organisms.

关键词： DEHP Brood sizes Autophagy Reactive oxygen species Superoxide dismutase Glutathione peroxidase

Topological bound state in the continuum induced unidirectional acoustic perfect absorption

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Science China(Physics,Mechanics & Astronomy) 2023年第8期66卷 75-82页

作者： Haiyan Zhang Shanshan liu Zhiwei Guo Shengyu Hu Yuguang Chen yunhui li Yong li Hong Chen MOE Key Laboratory of Advanced Micro-structured Materials School of Physics Sciences and EngineeringTongji UniversityShanghai 200092China Institute of Acoustics Tongji UniversityShanghai 200092China Department of Electrical Engineering Tongji UniversityShanghai 201804China

The interaction between cavity field and atoms plays an important role in exploring the abundant non-Hermitian physics and constructing powerful wave function *** this work,we propose theoretically and realize experimentally unidirectional perfect absorption in a non-Hermitian acoustic system with the help of the topological bound state in the continuum(BIC),which is established by the hybrid interaction between one trivial BIC and another conventional resonant *** the 2D parameter space spanned by frequency and distance between the two resonators,the topological scattering singularities appear in pairs and are associated with topological distinguished ***,we reveal the origin of topological charges and their continuous evolution with the loss *** a specific loss factor,two topological charges just annihilate together,and acoustic perfect absorption induced by topological BIC is realized at the left incidence,while there is no phase singularity and near-total reflection is observed at the right incidence,hence the system presents extreme *** work bridges the gap between scattering characteristics of non-Hermitian acoustic systems and topological scattering singularities,which may contribute to the research of novel non-Hermitian physics and the practical applications of advanced absorbers and sensors.

关键词： non-Hermitian physics topological scattering singularities bound state in the continuum unidirectional perfect absorption exceptional points

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A universal non-Hermitian platform for bound state in the continuum enhanced wireless power transfer

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Frontiers of physics 2024年第4期19卷 37-46页

作者： Haiyan Zhang Zhiwei Guo yunhui li Yaping Yang Yuguang Chen Hong Chen School of Physics Science and Engineering Tongji UniversityShanghai 200092China Department of Electrical Engineering Tongji UniversityShanghai 201804China

Non-Hermitian systems with parity–time(PT)-symmetry have been extensively studied and rapidly developed in resonance wireless power transfer(WPT).The WPT system that satisfies PT-symmetry always has real eigenvalues,which promote efficient energy ***,meeting the condition of PT-symmetry is one of the most puzzling *** power transfer under different transmission conditions is also a great *** state in the continuum(BIC)supporting extreme quality-factor mode provides an opportunity for efficient ***,we propose theoretically and demonstrate experimentally that BIC widely exists in resonance-coupled systems without PT-symmetry,and it can even realize more stable and efficient power transfer than PT-symmetric ***,BIC for efficient WPT is universal and suitable in standard second-order and even high-order WPT *** results not only extend non-Hermitian physics beyond PT-symmetry,but also bridge the gap between BIC and practical application engineering,such as highperformance WPT,wireless sensing and communications.

关键词： non-Hermitian physics parity-time asymmetry bound state in the continuum wireless power transfer

Site-specific PEGylation of Human Growth Hormone by Mutated Sortase A

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Chemical Research in Chinese Universities 2018年第3期34卷 428-433页

作者： SHI Hui SHI Qingyang James T. OSWALD GAO Ying li Leijiao li yunhui School of Chemistry & Environmental Engineering Changchun University of Science & Technology Changchun 130022 P R. China Key Laboratory of Regenerative Biology of the Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Stem Cells and Regenerative Medicine Guangzhou Institutes of Biomedicine and Health Chinese Academy of Sciences Guangzhou 510530 P. R. China University of Chinese Academy of Sciences Beijing P. R. China 100049 Centre for Reproductive Medicine Centre for Prenatal Diagnosis the First Hospital of Jilin Universi(y. Changchun 130021 P. R. China School of Nanoteehnology & Chemical Engineering University of Waterloo Waterloo ON Canada

Human growth hormone（hGH）, a classic therapeutic protein, which promotes growth and wound healing, is released from the pituitary gland. As a protein drug, its short half-life is its main barrier to therapeutic efficacy. Various strategies have been designed to prolong its serum half-life, the most conunon of which is the conjugation with polyethylene glycol（PEG）, as this has been shown to significantly extend protein＇s serum half-life. However, PEGylation often results in random conjugation, which can lead to impaired protein function and hinder purification, characterization and evaluation of the PEGylated protein. Therefore, site specific PEGylation is a promising direction for PEG-protein conjugation. Here we took advantages of the mutated sortase A（7M） enzyme, which can enzymati- cally ligate the universal a-amino acids to a C-terminal tagged protein. This then allows specific modification of the C-terminal of hGH with PEG. This site-specific bound PEG-hGH has similar efficacy, receptor binding and cell proliferation as wild-type hGH; however, pharmacokinetic analysis demonstrates that its serum half-life is almost 24 times that of wild-type hGH. Herein, we provided a promising advancement in the development of site specific PEGylated therapeutic proteins.

关键词： Human growth hormone PEGylation Site specific modification

Induction of chemotaxis to sodium chloride and diacetyl and thermotaxis defects by microcystin-LR exposure in nematode Caenorhabditis elegans

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Journal of Environmental Sciences 2009年第7期21卷 971-979页

作者： li yunhui YE Huayue DU Min ZHANG Yanfen YE Boping PU Yuepu WANG Dayong Key Laboratory of Developmental Genes and Human Disease in Ministry of Education Nanjing 210009 China Department of Genetics and Developmental Biology Southeast University Nanjing 210009 China School of Public Health Southeast University Nanjing 210009 China College of life Science and Technology China Pharmaceutical University Nanjing 210009 China

Apart from the liver disruption, embryotoxicity and genotoxicity, microcystin （MC）-LR also could cause neurotoxicity. Nematode Caenorhabditis elegans was explored as a model to study the neurotoxicity. In the present study, we provided evidence to indicate the neurotoxicity on chemotaxis to NaCl and diacetyl, and thermotaxis from MC-LR exposure to C. elegans. As a result, higher concentrations of MC-LR caused significantly severe defects of chemotaxis to NaCl and diacetyl, and thermotaxis. The neurotoxicity on chemotaxis to NaCl and diacetyl, and thermotaxis from MC-LR exposure might be largely mediated by the damage on the corresponding sensory neurons （ASE, AWA, and AFD） and interneuron AIY. The expression levels ofche-1 and odr-7 were significantly decreased （P 〈 0.01） in animals exposed to MC-LR at concentrations lower than 10 μg/L, whereas the expression levels of ttx-1 and ttx-3 could be significantly （P 〈 0.01） lowered in animals even exposed to 1 μg/L of MC-LR. Moreover, both the chemotaxis to NaCl and diacetyl and the thermotaxis were more significantly reduced in MC-LR exposed mutants of che-1（p674）, odr-7（ky4）, ttx-1（p767）, and ttx-3（ks5） than those in exposed wild-type N2 animals at the same concentrations.

关键词： MC-LR chemotaxis thermotaxis neurotoxicity Caenorhabditis elegans