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Dynamic Modeling and Analysis of 9-DOF Omnidirectional Legged Vehicle

Chinese Journal of Mechanical Engineering 2011年第4期24卷 515-521页

作者： gao feng wang guofu cui ying yang xinhong School of Transportation Science ＆ Engineering Beihang University Beijing 100191 China

The omnidirectional legged vehicle with steering-rails has a specific mechanism feature, and it can be controlled flexibly and accurately in omnidirectional motion. Currently there lacks further research in this area. In this paper, the mechanical characteristics of independent walking control and steering control and its kinematics principle are introduced, and a vehicle has a composite motion mode of parallel link mechanism and steering mechanism is presented. The motion direction control of the proposed vehicle is only dependant on its steering rails, so its motion is simple and effective to control. When the relative motion between the walking and steering is controlled cooperatively, the vehicle can walk perfectly. By controlling the steering rails, the vehicle can walk along arbitrary trajectory on the ground. To achieve a good result of motion control, an equivalent manipulator model needs to be built. In terms of the mechanism feature and the kinematic principle, the simplified manipulator model consists of a rail in stance phase, a rail in swing phase, and an equivalent leg. Considering the ground surface slope during walking, a parameter of inclination angle is added. Based on such a RPP manipulator model, the equations of motion are derived by means of Lagrangian dynamic approach. To verify the dynamic equations, the motion of the manipulator model is simulated based on linear and nonlinear motion planning. With the same model and motion parameters, the dynamic equations can be solved by Matlab and the calculation data can be gained. Compared with the simulation data, the result confirms the manipulator dynamic equations are correct. As a result of such special characteristics of the legged mechanism with steering rails, it has a potential broad application prospects. The derivation of dynamics equation could benefit the motion control of the mechanism.

关键词： legged vehicle omnidirectional motion steering rails dynamic modeling dynamic simulation

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Geometrical optics-based ray field tracing method for complex source beam applications

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Chinese Physics B 2018年第4期27卷 184-190页

作者： Min gao feng yang Xue-Wu cui Rui wang School of Electronic Engineering University of Electronic Science and Technology of China Chengdu 611731 China

Due to the fact that traditional ray field tracking approaches require a large number of geometrical optical（GO） ray tubes,they are very inefficient in many practical *** improved ray model scheme for a complex source beam（CSB） tracking technique is proposed in this *** source field can be expressed by a superposition of CSBs,then every CSB basis function has a Gaussian-type amplitude distribution and is suitable for replacing a GO ray tube in the ray tracing *** complex phase matching technique is adopted to find the reflected beam in the reflection point where local approximation is used to represent the curved surface in its neighborhood.A new solution to multiple reflections using the conventional right-handed reflected system is used to track the field *** results show the accuracy of the proposed method.

关键词： complex source beam complex phase matching local approximation multiple reflection

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Single-image night haze removal based on color channel transfer and estimation of spatial variation in atmospheric light

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Defence Technology（防务技术） 2023年第7期25卷 134-151页

作者： Shu-yun Liu Qun Hao Yu-tong Zhang feng gao Hai-ping Song Yu-tong Jiang ying-sheng wang Xiao-ying cui Kun gao Key Laboratory of Photoelectronic Imaging Technology and System Ministry of EducationSchool of Optics and PhotonicsBeijing Institute of TechnologyBeijing100081China China North Vehicle Research Institute BeijingChina

The visible-light imaging system used in military equipment is often subjected to severe weather conditions, such as fog, haze, and smoke, under complex lighting conditions at night that significantly degrade the acquired images. Currently available image defogging methods are mostly suitable for environments with natural light in the daytime, but the clarity of images captured under complex lighting conditions and spatial changes in the presence of fog at night is not satisfactory. This study proposes an algorithm to remove night fog from single images based on an analysis of the statistical characteristics of images in scenes involving night fog. Color channel transfer is designed to compensate for the high attenuation channel of foggy images acquired at night. The distribution of transmittance is estimated by the deep convolutional network DehazeNet, and the spatial variation of atmospheric light is estimated in a point-by-point manner according to the maximum reflection prior to recover the clear image. The results of experiments show that the proposed method can compensate for the high attenuation channel of foggy images at night, remove the effect of glow from a multi-color and non-uniform ambient source of light, and improve the adaptability and visual effect of the removal of night fog from images compared with the conventional method.

关键词： Dehazing image captured at night Chromaticity fusion correction Color channel transfer Spatial change-based atmospheric light estimation DehazeNet

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Diclofenac derivatives with insulin-sensitizing activity

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Chinese Chemical Letters 2011年第4期22卷 409-412页

作者： Jian Ta wang ying wang Ji Quan Zhang Xing cui Yi Zhang gao feng Zhu Lei Tang School of Pharmacy Guiyang Medical College Guiyang 550004 China

A series of diclofenac derivatives were *** insulin-sensitizing activity of 28 new compounds was evaluated in 3T3- L1 *** compounds 10a and 10f exhibited similar insulin-sensitizing activity with positive drug rosigli... 详细信息

关键词： Diclofenac derivatives Synthesis Insulin-sensitizing activity

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Long interspersed nuclear element ORF-1 protein promotes proliferation and resistance to chemotherapy in hepatocellular carcinoma

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World Journal of Gastroenterology 2013年第7期19卷 1068-1078页

作者： Fan feng Yin-ying Lu Fan Zhang Xu-Dong gao Chuan-Fu Zhang Alex Meredith Zhong-Xian Xu Yu-Tao yang Xiu-Juan Chang Hong wang Jian-Hui Qu Zhen Zeng Jun-Lan yang Chun-Ping wang Yun-feng Zhu Jia-Jun cui Yong-Ping yang Clinical Research Center of Hepatocarcinoma 302 Military Hospital Institute of Toxicology and Pharmacology Chinese Academy of Military Medical Sciences Tumor Center PLA General Hospital Institute of Disease Control and Prevention Chinese Academy of Military Medical Sciences Department of Cancer and Cell Biology University of Cincinnati College of MedicineCincinnatiOH 45267United States Beijing Institute for Neuroscience Capital Medical University

AIM:To clarify the specific roles and mechanisms of long interspersed nuclear element-1 ORF-1 protein [human long interspersed nuclear element-1(LINE-1),ORF-1p] in chemotherapeutic drug resistance and cell proliferation regulation in hepatocellular carcinoma(HCC) ***:MTT assays were performed to identify the effect of the chemotherapeutic drug toxicity on HepG2 *** proliferation inhibition and the IC 50 were calculated by the Origin 8.0 *** blotting assays were performed to investigate whether LINE-1 ORF-1p modulates the expression of some important genes,including p53,p27,p15,Bcl-2,mdr,and *** corroborate the proliferation and anchor-independent growth results,the HepG2 cells were analyzed by flow cytometry to investigate the effect of LINE-1 ORF1p on the apoptosis ***:LINE-1 ORF-1p contributed to the resistance to several chemotherapeutic drugs(cisplatin and epirubicin) in HepG2 *** IC 50 of the epirubicin and cisplatin increased from 36.04 nmol/L to 59.11 nmol/L or from 37.94 nmol/L to 119.32 nmol/*** of LINE-1 ORF-1p expression by the siRNA could markedly enhance the response of HepG2 cells to the epirubicin and *** IC 50 correspondingly decreased from 28.06 nmol/L to 3.83 nmol/L or from 32.04 nmol/L to 2.89 nmol/***,down-regulation of LINE-1 ORF-1p level by siRNA could promote the response of HepG2 cells to the *** IC 50 decreased from 35.90 nmol/L to 7.36 nmol/***,overexpression of LINE-1 ORF-1p did not modulate the paclitaxel toxicity in HepG2 *** Western blotting revealed that LINE-1 ORF-1p enhanced mdr and p-gp gene *** a protein arrested in the nucleus,LINE-1 ORF-1p may function through modulating transcriptional activity of some important transcription ***,LINE-1 ORF-1p promoted HepG2 cell proliferation,anchor-independent growth and protected the cells against apoptosis through modulating the expression of p15,p21,p53,and B

关键词： Long interspersed nuclear element-1 ORF-1 protein Hepatocellular carcinoma Chemotherapeutic drugs Multi-drug resistance

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Epidemiological Characteristics of Human Parainfluenza Viruses Infections-China,2019-2023

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China CDC weekly 2024年第12期6卷 235-241,I0003,I0004页

作者： Yixuan gao yingwei Ma Daxing feng feng Zhang Biao wang Xiaoqing Liu Bing Zhu Hui Xie Linqing Zhao Xiaoru Long ying Chen Bing wang Jie Jiang Zhen Zhu Yan Zhang Aili cui Baicheng Xia Naiying Mao National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases National Institute for Viral Disease Control and PreventionChinese Center for Disease Control and PreventionBeijingChina Precision Medicine Research Center Children’s Hospital of ChangchunChangchun CityJilin ProvinceChina Henan Provincial Center for Disease Control and Prevention Zhengzhou CityHenan ProvinceChina Laboratory of Viral Diseases Qingdao Municipal Centre for Disease Control and PreventionQingdao CityShandong ProvinceChina Virus Laboratory Gansu Provincial Center for Disease Control and PreventionLanzhou CityGansu ProvinceChina Jiangxi Provincial Center for Disease Control and Prevention Nanchang CityGansu ProvinceChina Virus Laboratory Guangzhou Women and Children’s Medical CenterGuangzhou Medical UniversityGuangzhou CityGuangdong ProvinceChina Institute for Immunization and Prevention Beijing Center for Disease Prevention and ControlAcademy for Preventive MedicineInstitute of Tuberculosis Control Research and PreventionBeijingChina Laboratory of Virology Beijing Key Laboratory of Etiology of Viral Diseases in ChildrenCapital Institute of PediatricsBeijingChina Department of Infection Children’s Hospital of Chongqing Medical UniversityChongqingChina Inner Mongolia Autonomous Region Comprehensive Center for Disease Control and Prevention Hohhot CityInner Mongolia Autonomous RegionChina Shenyang Prefecture Center for Disease Control and Prevention Shenyang CityLiaoning ProvinceChina

Introduction:A retrospective study based on sentinel surveillance was conducted in 10 provinciallevel administrative divisions(PLADs)in China to enhance the understanding of the epidemiological characteristics of human parainfluenza viruses(HPIVs).Methods:From January 2019 to June 2023,respiratory specimens were collected from individuals with acute respiratory infections(ARIs)and screened for four HPIVs serotypes and other common respiratory viruses using multiplex real-time polymerase chain reaction(PCR).This study analyzed the association of HPIVs infections with seasonal patterns,geographical distribution,demographic profiles,clinical features,and co-infection ***:During the study period,a total of 12,866 ARIs were *** overall detection rate of HPIVs was 6.15%,varying from 5.04%in 2022 to 9.70%in *** median age of HPIVs-infected patients was 3 ***2 was more prevalent among individuals aged 5–17 years(42.57%),while HPIV4 was more common in those over 65 years(12.24%).HPIV3(54.16%)and HPIV1(27.18%)were the predominant serotypes,and their prevalence exhibited significant seasonal fluctuations postcoronavirus disease 2019(COVID-19)*** peak of HPIV3 shifted three months later in 2020 compared to 2019 and returned to a summer peak *** peaks of HPIV1 were observed in 2021 following the peak of ***,coinfections were frequent in HPIVs cases(overall rate:22.12%),with human rhinovirus being the most common co-infecting ***:The prevalence of HPIVs in China was predominantly due to HPIV3 and HPIV1,and their seasonal patterns were altered by pandemic ***,continuous surveillance of HPIVs is essential.

关键词： prevalence seasonal Human

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A proof of concept for neutralizing antibody-guided vaccine design against SARS-CoV-2

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National Science Review 2021年第8期8卷 147-157页

作者： Li Zhang Lei Cao Xing-Su gao Bin-yang Zheng Yong-Qiang Deng Jing-Xin Li Rui feng Qian Bian Xi-Ling Guo Nan wang Hong-ying Qiu Lei wang Zhen cui Qing Ye Geng Chen Kui-Kui Lu Yin Chen Yu-Tao Chen Hong-Xing Pan Jiaping Yu Wenrong Yao Bao-Li Zhu Jianping Chen Yong Liu Cheng-feng Qin Xiangxi wang feng-Cai Zhu National Health Commission of the People’s Republic of China Key Laboratory of Enteric Pathogenic Microbiology (Jiangsu Provincial Center for Disease Control and Prevention) Center for Global Health School of Public HealthNanjing Medical University CAS Key Laboratory of Infection and Immunity National Laboratory of MacromoleculesInstitute of BiophysicsChinese Academy of Sciences Guangzhou Regenerative Medicine and Health Guangdong Laboratory Jiangsu Rec-biotechnology Co.Ltd State Key Laboratory of Pathogen and Biosecurity Beijing Institute of Microbiology and Epidemiology

Mutations and transient conformational movements of the receptor binding domain(RBD) that make neutralizing epitopes momentarily unavailable present immune escape routes for severe acute respiratory syndrome coronavirus 2(SARS-CoV-2). To mitigate viral escape, we developed a cocktail of neutralizing antibodies(NAbs) targeting epitopes located on different domains of spike(S) protein. Screening of a library of monoclonal antibodies generated from peripheral blood mononuclear cells of COVID-19 convalescent patients yielded potent NAbs, targeting the N-terminal domain(NTD) and RBD domain of S, effective at n M concentrations. Remarkably, a combination of RBD-targeting NAbs and NTD-binding NAbs, FC05, enhanced the neutralization potency in cell-based assays and an animal model. Results of competitive surface plasmon resonance assays and cryo-electron microscopy(cryo-EM) structures of antigen-binding fragments bound to S unveil determinants of immunogenicity. Combinations of immunogens, identified in the NTD and RBD of S, when immunized in rabbits and macaques, elicited potent protective immune responses against SARS-CoV-2. More importantly, two immunizations of this combination of NTD and RBD immunogens provided complete protection in macaques against a SARS-CoV-2 challenge, without observable antibody-dependent enhancement of infection. These results provide a proof of concept for neutralization-based immunogen design targeting SARS-CoV-2 NTD and RBD.

关键词： SARS-CoV-2 neutralizing antibodies vaccine development structure-based immunogen design

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A Prospective Randomized Multicenter Controlled Trial on Salvianolate for Treatment of Unstable Angina Pectoris in A Chinese Elderly Population

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Chinese Journal of Integrative Medicine 2019年第10期25卷 728-735页

作者： cui Hua LI Xiao-ying gao Xue-wen LU Xiang WU Xiu-ping wang Xiao-fei ZHENG Xiang-qing HUANG Kui LIU feng LUO Zhi YUAN Hui-shu SUN Gang KONG Jian DU Xiao-hong ZHENG Jin LIU Hong-ying ZHANG Wen-ju Department of Geriatric Cardiology the General Hospital of the People's Liberation Army Beijing (100853) China the Second Department of Cardiology the Second Affiliated Hospital of Heilongjiang University of Traditional Chinese Medicine Harbin (150009) China Department of Cardiology Guizhou Province Hospital of Traditional Chinese Medicine Guiyang (550001) China Department of Cadre's Ward the First Bethune Hospital of Jilin University Changchun (130021) China Department of Cadre Health Care the First Affiliated Hospital of Wenzhou Medical University Wenzhou Zhejiang Province (325000) China Medical Department Shanghai Green Valley Pharmaceutical Co. Ltd. Shanghai (201203) China China Health Promotion Foundation Beijing (100161) China Department of Geriatric Clinic Inner Mongolia People's Hospital Hohhot (010017) China Department of Cardiology the Second Affiliated Hospital of Nanjing Medical University Nanjing (210011) China Second Department of Cadre's Ward the First Affiliated Hospital of Harbin Medical University Harbin (150001) China Department of Cadre Health Care Tianjin First Central Hospital Tianjin (300192) China Department of Cardiovascular Medicine Chongqing General Hospital Chongqing (400013) China Department of Geriatrics Shenyang Red Cross Hospital Shenyang (110063) China Department of Geriatric Cardiology Guangzhou First People's Hospital Guangzhou (510180) China Department of Cardiology Beijing Geriatric Hospital Beijing (100095) China

Objective: To evaluate the efficacy and safety of salvianolate in elderly patients with unstable angina pectoris(UAP). Methods: A prospective double-blind randomized placebo-controlled multicenter trial in elderly patients with UAP from 13 third-grade class-A hospitals in China was performed. A total of 318 patients were randomly allocated in a 1:1 ratio to an experimental group(160 patients) and a control group(158 patients). The experimental group was treated with salvianolate for 14 days on the basis of conventional medicine, and the control group was given a placebo for 14 days with the same criteria. Follow-up was lasted 28 days in both groups. The primary endpoint was biweekly frequency of angina pectoris attacks. The secondary endpoints included biweekly dosage of nitroglycerin, the Seattle Angina Questionnaire, angina pectoris severity and duration, myocardial injury markers, high-sensitivity C-reactive protein(hs-CRP) and N-terminal pro-B-type natriuretic peptide(NT-proBNP), as well as major adverse cardiovascular events(MACEs). Safety was assessed according to adverse events and serious adverse events. Results: Baseline characteristics were similar between treatment groups. Compared with those in the control group, the frequency of biweekly angi na attacks(2.92 vs. 4.08, P =0.025), th e biweekly dosage of nitroglycerin, as well as the severity and duration of angina attacks(P <0.01) were reduced by salvianolate. The Seattle Angina Questionnaire score was also significantly improved in the experimental group than in the control group(P <0.05). No significant differences were observed between the two groups with respect to the incidence of MACEs. Salvianolate was well tolerated. Conclusions: Salvianolate appear to have efficacy and well tolerated for elderly patients with UAP.

关键词： Salvianolate unstable angina pectoris elderly efficacy

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The Chromosome-Level Reference Genome of Tea Tree Unveils Recent Bursts of Nonautonomous LTR Retrotransposons in Driving Genome Size Evolution

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Molecular Plant 2020年第7期13卷 935-938页

作者： Qun-Jie Zhang Wei L i Kui Li Hong Nan Cong Shi Yun Zhang Zhang-Yan Dai yang-Lei Lin Xiao-Lan yang Yan Tong Dan Zhang cui Lu Li-ying feng Chen-feng wang Xiao-Xin Liu Jian-An Huang Wen-Kai Jiang Xing-Hua wang Xing-Cai Zhang Evan E.Eichler Zhong-Hua Liu and Li-Zhi gao Institution of Genomics and Bioinformatics South China Agricultural UniversityGuangzhou 510642China Novogene Bioinformatics Institute Building 301Zone A10 Jiuxianqiao North RoadChaoyang DistrictBeijing 100083China School of Life Sciences Nanjing UniversityNanjing 210023China Plant Germplasm and Genomics Center Kunming Institute of BotanyChinese Academy of SciencesKunming 650204China University of the Chinese Academy of Sciences Beijing 100039China Agro-biological Gene Research Center Guangdong Academy of Agricultural SciencesGuangzhou510640China Hunan Agricultural University Changsha 410128China Yunnan Pu’er Tea Tree Breeding Station No.212 Zhenxing AvenueSimao DistrictPu ErYunnan 665099China John A.Paulson School of Engineering and Applied Sciences Harvard UniversityCambridgeMA 02138USA Howard Hughes Medical Institute University of WashingtonSeattleWA 98195USA

Dear Editor,The tea tree Camellia sinensis,a member of the genus Camellia in the Theaceae family,includes two major cultivated varieties,*** ***(CSA\Assam type)and *** ***(CSS;Chinese type)(Ming and Bartholomew,2007).Due to the high economic importance of the tea tree,considerable efforts have been made to explore genetic basis of the biosynthesis of natural metabolites that determine health benefits and diverse tea flavors(Shi et al.,2011;Li et al.,2011;Li et al.,2015;Xia et aL,2017;Liu et al.,2019).

关键词： Evolution Tree Reference

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Severe human infection with a novel avian-origin influenza A(H7N4) virus

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Science Bulletin 2018年第16期63卷 1043-1050页

作者： Xiang Huo Lun-biao cui Cong Chen Dayan wang Xian Qi Ming-hao Zhou Xiling Guo fengming wang William J. Liu Weirong Kong Daxin Ni ying Chi Yiyue Ge Haodi Huang Feifei Hu Chao Li Xiang Zhao Ruiqi Ren Chang-jun Bao George F. gao feng-Cai Zhu Key Laboratories of Enteric Pathogenic Microbiology (Ministry of Health) Jiangsu Provincial Center for Disease Control and Prevention. Nanjing 210009 China Chinese Center for Disease Control and Prevention (China CDC) Beijing 102206 China National Institute for Viral Disease Control and Prevention China CDC Beijing 102206 China Changzhou Center for Disease Control and Prevention Changzhou 213022 China Liyang Center for Disease Control and Prevention Liyang 213300 China CAS Key Laboratory of Pathogenic Microbiology and Immunology Institute of Microbiology Chinese Academy of Sciences (CA5) Beijing 100101 China Center for Influenza Research and Early-Warning (CASCIRE) Chinese Academy of Sciences Beijing 100101 China Key Laboratory of Infectious Diseases School of Public Health Nanjing Medical University Nanjing 211166 China

Human infections with influenza H7 subtypes, such as H7Ng, have raised concerns worldwide. Here, we report a human infection with a novel influenza A（HTN4） virus. A 68 years-old woman with cardiovascular and cholecystic comorbidities developed rapidly progressed pneumonia with influenza-like-illness as initial symptom, recovered after 23 days-hospitalization including 8 days in ICLI. Laboratory indicators for liver and blood coagulation dysfunction were observed. Oseltamivir phosphate, glucocorticoids and antibiotics were jointly implemented, with nasal catheterization of oxygen inhalation for this patient. We obtained the medical records and collected serial respiratory and blood specimens from her. We col- lected throat, cloacal and/or feces samples of poultry and wild birds from the patient＇s backyard, neigh- borhood, local live poultry markets （LPMs） and the nearest lake. All close contacts of the patient were followed up and sampled with throat swabs and sera. Influenza viruses and other respiratory pathogens were tested by real-time RT-PCR, viral culturing and/or sequencing for human respiratory and bird sam- ples. Micro-neutralizing assay was performed for sera. A novel reassortant wild bird-origin H7N4 virus is identified from the patient and her backyard poultry （chickens and ducks） by sequencing, which is dis- tinct from previously-reported avian H7N4 and H7N9 viruses. At least four folds increase of neutralizing antibodies to H7N4 was detected in her convalescent sera. No samples from close contacts, wild birds or other poultry were tested positive for H7N4 by real-time RT-PCR.

关键词： Avian influenza virus (AIV) Human infection HTN4 Epidemiology Pneumonia

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