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Camera,LiDAR,and IMU Based Multi-Sensor Fusion SLAM:A Survey

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Tsinghua Science and Technology 2024年第2期29卷 415-429页

作者： jun Zhu Hongyi Li Tao zhang Department of Automation Tsinghua UniversityBeijing 100084China

In recent years,Simultaneous Localization And Mapping(SLAM)technology has prevailed in a wide range of applications,such as autonomous driving,intelligent robots,Augmented Reality(AR),and Virtual Reality(VR).Multi-sensor fusion using the most popular three types of sensors(e.g.,visual sensor,LiDAR sensor,and IMU)is becoming ubiquitous in SLAM,in part because of the complementary sensing capabilities and the inevitable shortages(e.g.,low precision and long-term drift)of the stand-alone sensor in challenging *** this article,we survey thoroughly the research efforts taken in this field and strive to provide a concise but complete review of the related ***,a brief introduction of the state estimator formation in SLAM is ***,the state-of-the-art algorithms of different multi-sensor fusion algorithms are *** we analyze the deficiencies associated with the reviewed approaches and formulate some future research *** paper can be considered as a brief guide to newcomers and a comprehensive reference for experienced researchers and engineers to explore new interesting orientations.

关键词： multi-sensor fusion Simultaneous Localization And Mapping(SLAM) navigation localization

New method for multibody dynamics based on unknown constraint force

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Science China(Technological Sciences) 2024年第3期67卷 791-808页

作者： TIAN Ying JIA YingHong zhang jun School of Astronautics Beihang UniversityBeijing 100191China Beijing Institute of Control Engineering Beijing 100190China National Laboratory of Space Intelligent Control Beijing 100190China

This paper presents a new method for the dynamics of multibody systems based on unknown constraint force. The method can uniformly solve multibody systems with typical configurations, including the system with rigid-flexible coupling, the system in tree topology, and the system with loop constraints. Unlike common methods, the proposed method can model the loop system without “cutting off” loop constraints, leading to the exact same modelling process as the tree-like system performs. Based on graph theory, a topological record matrix M_(rec) is proposed to capture the arbitrary system configuration. Moreover, constraint forces are selected as the key variables in semi-recursive framework. With the recursive kinematics relationship between adjacent bodies, the constraint force equation is further assembled to achieve the full-state system solution. The numerical simulations demonstrate the accuracy of the proposed method.

关键词： multibody system dynamic modelling rigid-flexible coupling unknown constraint force graph theory semi-recursive algorithm

Acupuncture plus Herbal Medicine Treated 30 Cases of Minor Chorea

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Journal of Acupuncture and Tuina Science 2003年第1期1卷 34-35页

作者： zhang shu-jun FENG Fu-hai HUANG Guo-qi Henan College of Traditional Chinese Medicine Zhengzhou 450003 China Henan College of Traditional Chinese Medicine Zhengzhou 450003 China

In the treatment of 30 cases of minor chorea by puncturing Baihui (GV 20), Sishencong (Ex-HN 1) and Fengchi (GB 20), in combination of oral administration of herbal medicine, the total effective rate is 96.7%. Key Words Acupuncture Therapy - Chorea - Drug Therapy Author: zhang shu-jun (1961-), female, lecturerTranslator: HUANG Guo-qiAn erratum to this article is available at http://***/10.1007/BF02850966.

关键词： Acupuncture Therapy Chorea Drug Therapy

Self-Triggered Set Stabilization of Boolean Control Networks and Its Applications

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1631-1642页

作者： Rong Zhao jun-e Feng Dawei zhang the School of Mathematics Shandong UniversityShandong UniversityJinan 250100China

Set stabilization is one of the essential problems in engineering systems, and self-triggered control(STC) can save the storage space for interactive information, and can be successfully applied in networked control systems with limited communication resources. In this study, the set stabilization problem and STC design of Boolean control networks are investigated via the semi-tensor product technique. On the one hand, the largest control invariant subset is calculated in terms of the strongly connected components of the state transition graph, by which a graph-theoretical condition for set stabilization is derived. On the other hand, a characteristic function is exploited to determine the triggering mechanism and feasible controls. Based on this, the minimum-time and minimum-triggering open-loop, state-feedback and output-feedback STCs for set stabilization are designed,respectively. As classic applications of self-triggered set stabilization, self-triggered synchronization, self-triggered output tracking and self-triggered output regulation are discussed as well. Additionally, several practical examples are given to illustrate the effectiveness of theoretical results.

关键词： Boolean control networks(BCNs) output regulation self-triggered control semi-tensor product of matrices set stabilization synchronization

Zinc finger protein 831 promotes apoptosis and enhances chemosensitivity in breast cancer by acting as a novel transcriptional repressor targeting the STAT3/Bcl2 signaling pathway

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Genes & Diseases 2024年第1期11卷 430-448页

作者： jun Fan Zhe zhang Hongqiang Chen Dongjiao Chen Wenbo Yuan Jingzhi Li Yong Zeng Shimeng Zhou shu zhang Gang zhang Jiashen Xiong Lu Zhou Jing Xu Wenbin Liu Yan Xu Department of Breast and Thyroid Surgery Daping HospitalArmy Medical University(Third Military Medical University)Chongqing 400042China Institute of Toxicology College of Preventive MedicineArmy Medical University(Third Military Medical University)Chongqing 400038China Department of Environmental Health College of Preventive MedicineArmy Medical University(Third Military Medical University)Chongqing 400038China Anesthesia and Intensive Care Chinese University of Hong KongHong Kong SAR 999077China School of Public Health Xinxiang Medical UniversityXinxiangHenan 453003China School of Public Health China Medical UniversityShenyangLiaoning 110122China

Emerging evidence suggested that zinc finger protein 831(ZNF831)was associated with immune activity and stem cell regulation in breast ***,the roles and molec-ular mechanisms of ZNF831 in oncogenesis remain ***831 expression was significantly diminished in breast cancer which was associated with promoter CpG methylation but not *** over-expression of ZNF831 suppressed breast cancer cell proliferation and col-ony formation and promoted apoptosis in vitro,while knockdown of ZNF831 resulted in an opposite ***-proliferation effect of ZNF831 was verified in *** analysis of public databases and transcriptome sequencing both showed that ZNF831 could enhance apoptosis through transcriptional regulation of the JAK/STAT *** and luciferase report assays demonstrated that ZNF831 could directly bind to one specific region of STAT3 promoter and induce the transcriptional inhibition of *** a result,the attenuation of STAT3 led to a restraint of the transcription of Bcl2 and thus accelerated the apoptotic *** of STAT3 diminished the apoptosis-promoting effect of ZNF831 in breast cancer cell ***,ZNF831 could ameliorate the anti-proliferation effect of capecitabine and gemcitabine in breast cancer cell *** findings demonstrate for the first time that ZNF831 is a novel transcriptional suppressor through inhibiting the expression of STAT3/Bcl2 and promoting the apoptosis process in breast cancer,suggesting ZNF831 as a novel biomarker and potential therapeutic target for breast cancer patients.

关键词： Apoptosis Breast cancer Chemosensitivity STAT3 ZNF831

Effect of Wave Nonlinearity on the Instantaneous Seabed Liquefaction

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China Ocean Engineering 2024年第1期38卷 93-103页

作者： WANG Zhao-jun SUI Ti-ti zhang Chi PAN jun-ning Key Laboratory of Port Waterway and Sedimentation Engineering of the Ministry of TransportNanjing Hydraulic Research InstituteNanjing 210024China Key Laboratory of Coastal Disaster and Protection(Hohai University) Ministry of EducationNanjing 210098China The National Key Laboratory of Water Disaster Prevention Nanjing 210098China

The nonlinear variation of wave is commonly seen in nearshore area,and the resulting seabed response and liquefaction are of high concern to coastal *** this study,an analytical formula considering the nonlinear wave skewness and asymmetry is adopted to provide wave pressure on the seabed *** liquefaction depth attenuation coefficient and width growth coefficient are defined to quantitatively characterize the nonlinear effect of wave on seabed *** on the 2D full dynamic model of wave-induced seabed response,a detailed parametric study is carried out in order to evaluate the influence of the nonlinear variation of wave loadings on seabed ***,new empirical prediction formulas are proposed to fast predict the maximum liquefaction under nonlinear *** indicate that(1)Due to the influence of wave nonlinearity,the vertical transmission of negative pore water pressure in the seabed is hindered,and therefore,the amplitude decreases significantly.(2)In general,with the increase of wave nonlinearity,the liquefaction depth of seabed decreases *** under asymmetric and skewed wave loading,the attenuation of maximum seabed liquefaction depth is the most significant among all the nonlinear wave ***,highly skewed wave can cause the liquefaction depth of seabed greater than that under linear wave.(3)The asymmetry of wave pressure leads to the increase of liquefaction width,whereas the influence of skewedness is not significant.(4)Compared with the nonlinear waveform,seabed liquefaction is more sensitive to the variation of nonlinear degree of wave loading.

关键词： nonlinear wave seabed response seabed liquefaction numerical simulation liquefaction prediction

Microbiome and intestinal pathophysiology in post-acute sequelae of COVID-19

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Genes & Diseases 2024年第3期11卷 220-231页

作者： Jilei zhang Yongguo zhang Yinglin Xia jun Sun Division of Gastroenterology and Hepatology Department of MedicineUniversity of Ilinois ChicagoIL60612USA Uic Cancer Center Department of Microbiology and ImmunologyUniversity of Ilinois ChicagoChicagoIL60612USA Jesse Brown VA Medical Center ChicagoIL60612USA

Long CoVID,also known for post-acute sequelae of CovID-19,describes the people who have the signs and symptoms that continue or develop after the acute coviD-19 *** CovID patients suffer from an inflammation or host responses towards the virus approx-imately 4 weeks after initial infection with the SARS CoV-2 virus and continue for an unchar-acterized *** infected with CovID-19 before could experience long-CcovID conditions,including the patients who were infected with SARS CoV-2 virus confirmed by tests and those who never knew they had an infection *** with long CoviD may experience health problems from different types and combinations of symptoms over time,such as fa-tigue,dyspnea,cognitive impairments,and gastrointestinal(Gl)symptoms(e.g.,nausea,vom-iting,diarrhea,decreased or loss of appetite,abdominal pain,and dysgeusia).The critical role of the microbiome in these Gl symptoms and long CovID were reported in clinical patients and experimental ***,we provide an overall view of the critical role of the Gl tract and microbiome in the development of long COVID,including the clinical Gl symptoms in patients,dysbiosis,viral-microbiome interactions,barrier function,and inflammatory bowel disease patients with long *** highlight the potential mechanisms and possible treatment based on Gl health and ***,we discuss challenges and future direction in the long CoVID clinic and research.

关键词： Gastrointestinal symptoms Gl tract Gut microbiome Inflammatorybowel diseases Intestinal barrier Long CoVID Metabolites Tight junctions

Formation and properties of a Zr-based amorphous coating by laser cladding

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Rare Metals 2024年第4期43卷 1809-1814页

作者： Ning zhang Ying Liu Wei Yang shu-Jie Pang Key Laboratory of Aerospace Materials and Performance(Ministry of Education) School of Materials Science and EngineeringBeihang UniversityBeijing100191China

(Zr_(0.53)Al_(0.1)Ni_(0.05)Cu_(0.3)Ti_(0.02))_(99)Y_1(at%)coating with amorphous layer of about 180μm thick was prepared on a steel substrate by using laser cladding *** coating is compact and shows good metallurgical bonding with *** microstructure,microhardness and corrosion behavior along the depth from the coating surface to the substrate were *** is found that a gradient structure consisted of amorphous surface layer,amorphous-crystalline transitional layer and substrate is formed after the laser *** microhardness and corrosion behavior exhibit variation with the microstructural evolution at different depths from the coating *** microhardness and corrosion resistance in 3.5 wt%NaCl solution of the amorphous surface layer are comparable to those of the as-cast Zr-based BMG with the same composition,and higher than those of the steel substrate.

关键词： Laser cladding Amorphous coating Microstructure Hardness Corrosion resistance

A condition-based maintenance policy for reconfigurable multi-device systems

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Advances in Manufacturing 2024年第2期12卷 252-269页

作者： shu-Lian Xie Feng Xue Wei-Min zhang Jia-Wei Zhu School of Mechanical Engineering Tongji UniversityShanghai201804People’s Republic of China

The exploration of component states for optimizing maintenance schedules in complex systems has garnered significant interest from ***,current literature usually overlooks the critical aspects of system flexibility and *** implementation of system reconfiguration can effectively mitigate system downtime and enhance production *** study proposes a dynamic condition-based maintenance policy considering reconfiguration for reconfigurable systems.A double-layer decision rule was constructed for the devices and *** achieve the best overall maintenance effect of the system,the remaining useful life probability distribution and recommended maintenance time of each device were used to optimize the concurrent maintenance time window of the devices and determine whether to reconfigure them.A comprehensive maintenance efficiency index was introduced that simultaneously considered the maintenance cost rate,reliability,and availability of the system to characterize the overall maintenance *** reconfiguration cost was included in the maintenance *** proposed policy was tested through numerical experiments and compared with different-level *** results show that the proposed policy can significantly reduce the downtime and maintenance costs and improve the overall system reliability and availability.

关键词： Condition-based maintenance(CBM) Reconfigurable system Remaining useful life Maintenance cost System reliability