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Stable Control of Single-Link Flexible-Joint Manipulator

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Stable Control of Single-Link Flexible-Joint Manipulator

A Control Strategy with zero Residual Vibration for A Planar Single-Link Flexible Manipulator

第37届中国控制会议

作者： ze Yan Xuzhi lai Qingxin Meng School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper presents a novel approach for stable control of a single-link flexible-joint manipulator（SLFJM）.The control objective is to stabilize the SLFJM at the straight-up equilibrium position from the straight-down equilibrium position and suppress vibration by only using position ***,differential homeomorphic transformation is used to equivalently convert the original system into a new handy ***,the new system is divided into two parts: linear and *** nonlinear part is considered as a virtual disturbance of the linear ***,the Equivalent-input-disturbance-based（EID-based）control system is designed to suppress this virtual nonlinear disturbance at the zero equilibrium *** this way,the control objective of the original system is effectively ***,the numerical results demonstrate its validity.

关键词： Flexible-joint manipulator Equivalent-input-disturbance Global asymptotical stabilization Underactuated system

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A Control Strategy with Zero Residual Vibration for A Planar...

Elaiophylin triggers paraptosis and preferentially kills ovarian cancer drug-resistant cells by inducing MAPK hyperactivation

第37届中国控制会议

作者： Qingxin Meng Xuzhi lai ze Yan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

The residual vibration（RV） problem of the flexible link manipulators（FLMs） is very difficult to solve due to the low stiffness and the underactuated feature of these *** paper presents a control strategy with zero RV for a planar singlelink flexible manipulator（PSLFM）.The stable control objective of the system is to stabilize the PSLFM at a target equilibrium point with zero ***,the dynamic model of the PSLFM is built by using the assumed mode method（AMM）.Then,we transform the control to the trajectory tracking control.A forward trajectory and a reverse trajectory are obtained by using a bidirectional trajectories planning ***,these two trajectories are connected by using the genetic algorithm（GA）.After doing this,we get a trajectory of the system from the initial equilibrium point to the target equilibrium ***,we design a trajectory tracking controller based on the sliding mode variable structure control method to control the PSLFM track this *** simulation results show that the PSLFM arrives the target equilibrium point with zero RV,which demonstrates the effectiveness of this control strategy.

关键词： Planar single-link flexible manipulator Underactuated systems zero residual vibration Trajectory tracking control

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Signal Transduction and Targeted Therapy 2022年第10期7卷 3925-3939页

作者： Guan-Nan Li Xue-jiao Zhao Zhen Wang Meng-Shi Luo Shen-Nan Shi Dan-Mei Yan Hua-Yi Li jia-Hao Liu Yang Yang jia-Hong Tan ze-yu Zhang Ru-Qi Chen Hui-Ling lai Xiao-yuan Huang jian-Feng Zhou Ding Ma Yong Fang Qing-Lei Gao Cancer Biology Research Center(Key Laboratory of the Ministry of Education) Tongji HospitalTongji Medical CollegeHuazhong University of Science and Technology430030 WuhanHubeiChina National Clinical Research Center for Obstetrics and Gynecology Department of Gynecological OncologyTongji HospitalTongji Medical CollegeHuazhong University of Science and Technology430030 WuhanHubeiChina Department of Hematology Tongji HospitalTongji Medical CollegeHuazhong University of Science and Technology430030 WuhanHubeiChina Department of Gynecology the Sixth Affiliated HospitalSun Yat-Sen University510000 GuangzhouGuangdongChina

Finely tuned mitogen-activated protein kinase(MAPK)signaling is important for cancer cell *** that push cells out of the MAPK fitness zone result in cell ***,in a screen of the North China Pharmaceutical Group Corporation’s pure compound library of microbial origin,we identified elaiophylin as an autophagy ***,we demonstrated a new role for elaiophylin in inducing excessive endoplasmic reticulum(ER)stress,ER-derived cytoplasmic vacuolization,and consequent paraptosis by hyperactivating the MAPK pathway in multiple cancer ***-wide CRISPR/Cas9 knockout library screening identified SHP2,an upstream intermediary of the MAPK pathway,as a critical target in elaiophylin-induced *** cellular thermal shift assay(CETSA)and surface plasmon resonance(SPR)assay further confirmed the direct binding between the SHP2 and *** of the SHP2/SOS1/MAPK pathway through SHP2 knockdown or pharmacological inhibitors distinctly attenuated elaiophylin-induced paraptosis and autophagy ***,elaiophylin markedly increased the alreadyelevated MAPK levels and preferentially killed drug-resistant cells with enhanced basal MAPK *** overcame drug resistance by triggering paraptosis in multiple tumor-bearing mouse models resistant to platinum,taxane,or PARPi,suggesting that elaiophylin might offer a reasonable therapeutic strategy for refractory ovarian cancer.

关键词： cancer activation elevated

Geniposide prevents rotenone-induced apoptosis in primary cultured neurons

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Neural Regeneration Research 2015年第10期10卷 1617-1621页

作者： Lin Li Juan Zhao Ke Liu Guang-lai Li Yan-qing Han yue-ze Liu Key Laboratory of Cellular Physiology Shanxi Medical University Second Hospital Shanxi Medical University

Geniposide, a monomer extracted from gardenia and widely used in Chinese medicine, is a novel agonist at the glucagon-like peptide-1 receptor. This receptor is involved in neuroprotection. In the present study, we sought to identify an anti-apoptotic mechanism for the treatment of neurodegenerative diseases. Primary cultured neurons were treated with different concentrations of rotenone for 48 hours. Morphological observation, cell counting kit-8 assay, lactate dehydrogenase detection and western blot assay demonstrated that 0.5 n M rotenone increased lactate dehydrogenase release, decreased the expression of procaspase-3 and Bcl-2, and increased cleaved caspase-3 expression in normal neurons. All these effects were prevented by geniposide. Our results indicate that geniposide diminished rotenone-induced injury in primary neurons by suppressing apoptosis. This may be one of the molecular mechanisms underlying the efficacy of geniposide in the treatment of neurodegenerative diseases.

关键词： nerve regeneration geniposide rotenone cell apoptosis Alzheimer's disease caspase-3 Bcl-2 neural regeneration

甲磺酸多沙唑嗪对高血压病患者血浆高敏C-反应蛋白和一氧化氮的影响

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中国现代医学杂志 2007年第16期17卷 2009-2011页

作者：赖泽仁郑州大学第一附属医院检验科河南郑州450052

目的研究甲磺酸多沙唑嗪对原发性高血压病患者血浆高敏C-反应蛋白(hs-CRP)和一氧化氮(NO)的影响。方法选择40例血压正常者作为对照组,40例高血压病患者作为试验组,对高血压病人给予甲磺酸多沙唑嗪1个月降压治疗,测定治疗前后hs-CRP和NO... 详细信息

目的研究甲磺酸多沙唑嗪对原发性高血压病患者血浆高敏C-反应蛋白(hs-CRP)和一氧化氮(NO)的影响。方法选择40例血压正常者作为对照组,40例高血压病患者作为试验组,对高血压病人给予甲磺酸多沙唑嗪1个月降压治疗,测定治疗前后hs-CRP和NO水平,并与正常对照组比较。结果高血压组治疗前血浆hs-CRP明显(P<0.01)高于正常对照组,NO明显(P<0.01)低于正常对照组;给予甲磺酸多沙唑嗪降压治疗后血浆hs-CRP降低(P<0.05);血浆NO升高(P<0.05)。结论甲磺酸多沙唑嗪对高血压病患者有降压作用的同时,还能发挥抗炎作用。

关键词：甲磺酸多沙唑嗪原发性高血压病高敏C-反应蛋白一氧化氮

Effects of Altitude Change on Nutritional Quality and Elymus nutans Regularity in Qinghai-Tibet Plateau

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Journal of Northeast Agricultural University(English Edition) 2021年第2期28卷 69-76页

作者： He jing-lei Zhou Yan-tong Kong Ling-ze-lai Li Bing yu jin-qiu Gong Hao Sun Xue Cui Guo-wen College of Animal Sciences and Technology Northeast Agricultural UniversityHarbin 150030China

In order to reveal the effects of different altitudes on the nutritional quality of wild forage in Qinghai-Tibet Plateau,this study used Elymus nutans as the tested plants to evaluate the changes of nutrient contents and the correlation between the nutrient contents and *** sampling sites were set up at altitudes of 2562,2660,2775 and 2905 m with the vertical distance among each sampling point was about 100 *** results showed that the crude protein,ash and phosphorus contents of Elymus nutans decreased significantly with an increase in *** crude protein contents decreased by 1.87%with each 100 m increase in *** variation rule of crude protein contents with altitudes in the simulated curve was"y=-0.0187x+63.244(R^(2)=0.9557)".The crude ash contents decreased by 1.77%with each 100 m increase in *** variation rule of crude ash contents with altitudes in the simulated curve was"y=-0.0177x+56.144(R^(2)=0.978)".Neutral detergent fiber(NDF)and acid detergent fiber(ADF)showed an overall increasing trend with the increase of altitudes,but the most obvious increase was at 2775 *** contents of crude fat and Ca did not change regularly with altitudes.

关键词： Elymus nutans Griseb. Qinghai-Tibet Plateau nutritional quality grey correlation analysis

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一种基于超完备字典学习的图像去噪方法

电子学报 2009年第2期37卷 347-350页

作者：蔡泽民赖剑煌中山大学数学与计算科学学院广东广州510275 广东省信息安全技术重点实验室广东广州510275 中山大学信息科学与技术学院广东广州510275

基于超完备字典的图像稀疏表示因其具有稀疏性、特征保持性、可分性等特点而被广泛应用于图像处理.本文提出一种超完备字典学习算法并应用于图像去噪.将字典学习等价于一个二次规划问题,并提出适合于大规模运算的投影梯度算法.学习所得... 详细信息

基于超完备字典的图像稀疏表示因其具有稀疏性、特征保持性、可分性等特点而被广泛应用于图像处理.本文提出一种超完备字典学习算法并应用于图像去噪.将字典学习等价于一个二次规划问题,并提出适合于大规模运算的投影梯度算法.学习所得字典能有效描述图像特征.基于此超完备学习字典,获得图像的稀疏表示,并恢复原始图像.实验结果表明,与小波类去噪方法相比,本文的学习算法能更好地去除图像噪声,保留图像细节信息,获得更高的PSNR值.

关键词：稀疏表示基追踪匹配追踪字典学习二次规划

Effect of isothermal compression and subsequent heat treatment on grain structures evolution of Al-Mg-Si alloy

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Journal of Central South University 2021年第9期28卷 2670-2686页

作者： LI ze-cheng DENG yun-lai yuAN Man-fa ZHANG jin GUO Xiao-bin Light Alloy Research Institute Central South UniversityChangsha 410083China State Key Laboratory of High Performance Complex Manufacturing Central South UniversityChangsha 410083China School of Materials Science and Engineering Central South UniversityChangsha 410083China

The constitutive relationships of Al-Mg-Si alloy deformed at various strain rates,temperatures and strains were *** microstructure evolution was quantitatively characterized and analyzed,including recrystallization fraction,grain sizes,local misorientation,geometrically necessary dislocation and stored strain energy during hot deformation and subsequent heat *** results show that the dislocation density and energy storage are linear with ln Z during hot deformation and subsequent heat treatment,indicating continuous recrystallization occurring in both *** higher ln Z,the dislocation density declines more sharply during subsequent heat *** ln Z is less than 28,dislocation density becomes more stable with less reduction during subsequent heat treatment after hot *** these dislocations distribute along low angle grain boundaries,the subgrain has good stability during subsequent heat *** main recrystallization mechanism during hot deformation is continuous dynamic recrystallization,accompanied by geometric dynamic recrystallization at higher ln Z.

关键词： Al-Mg-Si alloy zener-Hollomon parameter dislocation recrystallization grain boundaries

冻融循环作用下含盐量对Na_2SO_4土体变形特性影响的试验研究

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岩土工程学报 2017年第5期39卷 953-960页

作者：肖泽岸赖远明尤哲敏中国科学院寒区旱区环境与工程研究所冻土工程国家重点实验室甘肃兰州730000 中国科学院大学北京100049

冻融循环作用下,土体孔隙溶液中的盐分不断结晶与溶解,水分不断冻结与融化,使得含盐土体的变形不断变化。以青藏高原粉质黏土为研究对象,对洗盐后的素土分别加入质量分数为0%,1%,2%,3%的Na_2SO_4盐,研究了封闭系统下Na_2SO_4盐渍土在冻... 详细信息

冻融循环作用下,土体孔隙溶液中的盐分不断结晶与溶解,水分不断冻结与融化,使得含盐土体的变形不断变化。以青藏高原粉质黏土为研究对象,对洗盐后的素土分别加入质量分数为0%,1%,2%,3%的Na_2SO_4盐,研究了封闭系统下Na_2SO_4盐渍土在冻融循环作用下的变形规律。结果表明,在冻融循环过程中,不含盐土体和较低含盐量的土体表现出明显的冻胀融沉现象,且土体的融沉大于其的冻胀。而较高含盐量的土体在冻结过程中,土体的冻—盐胀作用显著,融沉现象却不再明显,甚至消失。利用多孔介质力学的方法,探讨了Na_2SO_4盐渍土在冻融循环作用下土体的变形规律,得出土体的变形由冰水/盐分相变、热胀冷缩、相变过程中的密度变化等引起的变形综合而成。结合Na_2SO_4溶液的性质,还分析了Na_2SO_4的结晶机理,从而为进一步研究盐渍化冻土中的变形机理提供一些参考。

关键词：冻融循环 Na_2SO_4 盐渍化冻土变形多孔介质力学