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CBBR: enabling distributed shared memory-based coordination among mobile robots

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Science China(Information Sciences) 2016年第8期59卷 23-39页

作者： xue jiang Yu HUANG State Key Laboratory for Novel Software Technology Nanjing University

Coordinating mobile robots are widely used in commercial and industrial settings to fulfill various tasks. However, to program the coordination among mobile robots is challenging. A coordination framework is needed to shield the programmer from handling low-level details of robot control and communication, while supporting flexible and cost-effective coordination at the same time. The coordination framework should also be able to well coexist with the underlying robot control. To this end, we propose the Coordination-enabled Behavior-Based Robotics(CBBR) framework. CBBR employs Distributed Shared Memory(DSM) to support coordination. The shared memory illusion built by the DSM greatly simplifies the coordination logic. Moreover,the flexible access patterns of the DSM and the rich consistency semantics of the DSM reads and writes enable flexible and cost-effective coordination. With the coordination support from the DSM, CBBR naturally extends the classical Behavior-Based Robotics(BBR) for robot control. From the perspective of robot control using BBR, the shared variables in the DSM act as the logical sensors capturing the status of coordination. The coordination algorithms are encapsulated into coordination behaviors. Thus, the physical environment status and the coordination status may trigger the physical and the coordination behaviors. The scheduling of both types of behaviors integrates coordination into robot control. We conduct a case study to demonstrate the use of CBBR. The performance measurements show the cost-effectiveness of coordinating mobile robots based on CBBR, in terms of time, space, and energy consumption.

关键词： distributed shared memory behavior-based robotics coordination behavior hierarchy behavior scheduling

The Discrete Approximation Problem for a Special Case of Hermite-Type Polynomial Interpolation

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Journal of Systems Science & Complexity 2022年第5期35卷 2004-2015页

作者： GONG Yihe jiang xue ZHANG Shugong College of Science Northeast Electric Power UniversityJilin 132000China School of Mathematics and Systematic Sciences Shenyang Normal UniversityShenyang 110034China Institute of Mathematics Key Lab.of Symbolic Computation and Knowledge Engineering(Ministry of Education)Jilin UniversityChangchun 130012China

Every univariate Hermite interpolation problem can be written as a pointwise limit of Lagrange ***,this property is not preserved for the multivariate *** this paper,the authors first generalize the result of *** an application,the authors consider the discrete approximation problem for a special case when the interpolation condition contains all partial derivatives of order less than n and one nth order differential *** addition,for the case of n≥3,the authors use the concept of Cartesian tensors to give a sufficient condition to find a sequence of discrete points,such that the Lagrange interpolation problems at these points converge to the given Hermite-type interpolant.

关键词： Discrete approximation problem Hermite interpolation Lagrange interpolation

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中国实用神经疾病杂志 2025年第1期28卷 47-52页

作者：李莉姜雪姜荣格李恳保定市第一中心医院河北保定071000 石家庄医学高等专科学校临床医学系河北石家庄050000

目的基于Toll样受体4(TLR4)核因子-κB(NF-κB)通路-神经相关因子探究依达拉奉对急性脑梗死(ACI)患者炎症反应与神经损伤的保护机制。方法选取2020-07—2023-07保定市第一中心医院收治的110例ACI患者,以随机数字表法分为观察组、对照组,... 详细信息

目的基于Toll样受体4(TLR4)核因子-κB(NF-κB)通路-神经相关因子探究依达拉奉对急性脑梗死(ACI)患者炎症反应与神经损伤的保护机制。方法选取2020-07—2023-07保定市第一中心医院收治的110例ACI患者,以随机数字表法分为观察组、对照组,各55例,对照组给予阿替普酶溶栓,观察组给予阿替普酶溶栓联合依达拉奉治疗。比较2组疗效、神经功能[美国国立卫生研究院卒中量表(NIHSS)评分、改良Rankin评分]、TLR4 NF-κB通路指标(TLR4、NF-κB)、神经损伤相关因子[神经元特异性烯醇化酶(NSE)、中枢神经特异性蛋白(S-100β)、脑源性神经营养因子(BDNF)]、TLR4 NF-κB通路相关炎症因子[白介素-1β(IL-1β)、超敏C反应蛋白(hs-CRP)、肿瘤坏死因子(TNF-α)、五聚素3(PTX3)、脂蛋白相关磷脂酶A2(Lp-PLA2)]。结果观察组总有效率96.36%,高于对照组的83.64%(P<0.05)。治疗1、2周观察组NIHSS评分、改良Rankin评分均低于对照组(P<0.05),观察组TLR4、NF-κB均低于对照组(P<0.05)。相较于治疗前,2组治疗1、2周后S-100β、NSE水平明显下降,BDNF水平明显升高,观察组S-100β、NSE水平均低于对照组,BDNF水平高于对照组(P<0.05)。相较于治疗前,2组治疗1、2周后IL-1β、hs-CRP、TNF-α、PTX3、Lp-PLA2水平均明显下降,观察组IL-1β、hs-CRP、TNF-α、PTX3、Lp-PLA2水平均低于对照组(P<0.05)。结论依达拉奉对ACI患者的疗效显著,有利于缓解炎症反应,改善神经损伤,其保护机制可能与TLR4 NF-κB通路调控神经损伤、炎症反应相关因子有关。

关键词：急性脑梗死 Toll样受体4 核因子-κB 依达拉奉 TLR4 NF-κB通路

An Algorithm for the Discretization of an Ideal Projector

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Journal of Systems Science & Complexity 2016年第5期29卷 1400-1410页

作者： jiang xue ZHANG Shugong LI Zhe Institute of Mathematics Key Laboratory of Symbolic Computation and Knowledge Engineering (Ministry of Education) Jilin University Department of Applied Mathematics School of Science Changchun University of Science and Technology

Ideal interpolation is a generalization of the univariate Hermite interpolation. It is well known that every univariate Hermite interpolant is a pointwise limit of some Lagrange ***, a counterexample provided by Shekhtman Boris shows that, for more than two variables,there exist ideal interpolants that are not the limit of any Lagrange interpolants. So it is natural to consider: Given an ideal interpolant, how to find a sequence of Lagrange interpolants(if any) that converge to it. The authors call this problem the discretization for ideal interpolation. This paper presents an algorithm to solve the discretization problem. If the algorithm returns "True", the authors get a set of pairwise distinct points such that the corresponding Lagrange interpolants converge to the given ideal interpolant.

关键词： Discretization ideal interpolation Lagrange interpolation.

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数学术语体系在中国的形成与发展

中国科技术语 2025年第1期27卷 157-160页

作者：姜雪黄丽萍井冈山大学教育学院江西吉安343009

论文重点聚焦数学术语在中国的产生、发展及演变过程中的关键节点与影响因素。调查内容覆盖了从古代传统数学术语的形成、以直观日常用语为主体的术语到近现代外来数学术语的引入以及与传统术语的融合过程。主要采用了文献综述、历史资... 详细信息

论文重点聚焦数学术语在中国的产生、发展及演变过程中的关键节点与影响因素。调查内容覆盖了从古代传统数学术语的形成、以直观日常用语为主体的术语到近现代外来数学术语的引入以及与传统术语的融合过程。主要采用了文献综述、历史资料分析的方法,系统梳理了如《周髀算经》《九章算术》等数学史著作的相关文献,用以追溯数学术语体系形成的历史沿革。针对重要数学著述中术语的使用情况,整理出术语变迁的时序脉络。力求深入探析中国数学术语演变的社会文化背景和内在逻辑。

关键词：数学术语术语起源数学术语体系

Microneedle-based skin patch for blood-free rapid diagnostic testing

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Microsystems & Nanoengineering 2020年第1期6卷 255-265页

作者： xue jiang Peter B.Lillehoj Department of Mechanical Engineering Rice UniversityHoustonTX 77005USA Department of Bioengineering Rice UniversityHoustonTX 77030USA

Rapid diagnostic tests are one of the most commonly used tests to detect and screen for infectious diseases in the developing *** these tests are simple,inexpensive,and readily available,they rely on finger-prick blood sampling,which requires trained medical personnel,poses risks of infection,and can complicate cooperation in young children,asymptomatic individuals,and communities with blood ***,we report a novel microneedle-based skin patch for the rapid detection of protein biomarkers in dermal interstitial *** collection is facilitated by a hydrophilic hollow microneedle array that autonomously extracts and transports interstitial fluid to an antibody-based lateral flow test strip via surface tension for colorimetric antigen *** employ a simple gold enhancement treatment to enhance the detection sensitivity of this colloidal gold-based lateral flow assay and elucidate the underlying mechanism of this enhancement mechanism through experimental *** proof-of-concept,this device was used to detect Plasmodium falciparum histidine-rich protein 2,a biomarker for malaria infection,which could be detected at concentrations as low as 8ng/*** test can be completed in<20 min and requires no *** the best of our knowledge,this work is the first demonstration of a microneedle-based lateral flow assay for rapid protein detection in dermal interstitial *** addition to its simplicity,minimally invasive nature,and low cost,this diagnostic device can be readily adapted to detect other protein biomarkers in interstitial fluid,making it a promising tool for point-of-care testing.

关键词： needle patch readily

On Counting Certain Abelian Varieties Over Finite Fields

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Acta Mathematica Sinica,English Series 2021年第1期37卷 205-228页

作者： jiang Wei xue Chia Fu YU Collaborative Innovation Center of Mathematics School of Mathematics and StatisticsWuhan UniversityWuhan 430072P.R.China Institute of Mathematics Academia Sinica and NCTS6th FloorAstronomy Mathematics BuildingNo.1Roosevelt Rd.Sec.4Taipei 10617TaiwanChina

This paper contains two parts toward studying abelian varieties from the classification point of *** a series of papers[***.,21,1607–1643(2016)],[Taiwan Residents ***.,20(4),723–741(2016)],etc.,the current authors and *** obtain explicit formulas for the numbers of superspecial abelian surfaces over finite *** this paper,we give an explicit formula for the size of the isogeny class of simple abelian surfaces with real Weil number q1/*** establishes a key step that extends our previous explicit calculation of superspecial abelian surfaces to those of supersingular abelian *** second part is to introduce the notion of genera and idealcomplexes of abelian varieties with additional structures in a general *** purpose is to generalize the previous work by the second named author[Forum Math.,22(3),565–582(2010)]on abelian varieties with additional structures to similitude classes,which establishes more results on the connection between geometrically defined and arithmetically defined masses for further investigations.

关键词： Mass formula abelian varieties over finite fields

Obituary＂ Professor Ying-Xiang Wang （1938-2016）

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Zoological Research 2016年第2期37卷 61-64页

作者： jiang, xue-Long State Key Laboratory of Genetic Resources and Evolution Kunming Institute of Zoology Chinese Academy of Sciences

It is with great sadness that I share the sorrowful news that mammalogy and wildlife science lost a respected scientist, patient teacher, and wonderful mentor on 10 February, 2016, when Professor Ying-Xiang Wang died in Kunming, Yunnan Province, due to heart failure following a lung infection. He is survived by his wife Professor Rui-Qing Liu, daughter Li Wang, son Tao Wang, daughter-in-law Qing Sun and granddaughter Jun-Qi Wang.

关键词： Professor Ying-Xiang Wang Obituary Nature

Perfectly Matched Layer Method for Acoustic Scattering Problem by a Locally Perturbed Line with Impedance Boundary Condition

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Advances in Applied Mathematics and Mechanics 2020年第1期12卷 101-140页

作者： xue jiang Xujing Li College of Applied Sciences Beijing University of TechnologyBeijing 100124China Department of Mathematics Hangzhou Normal UniversityHangzhouZhejiang 310036China

In this paper,we study the two-dimensional Helmholtz scattering problem by a locally perturbed line with impedance boundary *** from the problem with Dirichlet boundary condition,the Green function of the Helmholtz equation with impedance boundary condition becomes very complicated and comprises surface waves along the locally perturbed line.A uniaxial perfectly matched layer(UPML)method is proposed to truncate the half plane into a bounded computational *** main contribution of this paper is to prove the well-posedness of the PML problem and the exponential convergence of the approximate solution to the exact solution as either the thickness or the medium parameter of PML increases.

关键词： Uniaxial perfectly matched layer Helmholtz equation locally perturbed half-plane,impedance condition