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Design of a Simulation Framework for Evaluation of Robot Vision and Manipulation Algorithms

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Design of a Simulation Framework for Evaluation of Robot Vis...

Asian Simulation Conference/The 6th International conference on system Simulation and Scientific Computing

作者： Baerbel Mertsching muhammad Zaheer Aziz Ralf Stemmer GET Lab University of Paderborn Pohlweg 47-49 33098 Paderborn Germany GET Lab University of Paderborn Pohlweg 47-49 33098 Paderborn Germany GET Lab University of Paderborn Pohlweg 47-49 33098 Paderborn Germany

In continuation of our previous work on simulation of robots in a virtual environment, we propose the next version of the simulation framework according to requirements of our ongoing research on algorithms of robot vision and manipulation. A dynamic 3D environment has been created in which the simulated robot is manipulated. Multiple methods to operate the robot are provided including control by input devices, graphical user interface, and program commands. In the current version, visual sensors comprising of simulated stereo cameras are built on the robot to obtain visual input from the virtual world. The interface to the simulator core is made transparent so that the control could directly be shifted to the real hardware platform when algorithms have been successfully tested. The system is designed to be modular and flexible in order to accommodate future extensions and enhancements, such as inclusion of non-visual sensors.

关键词： Robot Simulator, Virtual Environment, Robot Vision

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基于拟人策略的三峡永久闸室编排新算法

水电能源科学 2015年第5期33卷 148-151,68页

作者：吴小涛袁晓辉 muhammad Adnan Ikram 武汉科技大学城市学院湖北武汉430083 华中科技大学水电与数字化工程学院湖北武汉430074

为了提高三峡永久船闸闸室编排算法中的闸室面积利用率,根据"金角银边草肚皮"的拟人策略提出先从待选船舶集中选出宽度之和最接近闸室宽度的船舶组合纵向编排到闸室的左右两边,然后再选出长度之和最接近闸室剩余长度的船舶组合横向编排... 详细信息

为了提高三峡永久船闸闸室编排算法中的闸室面积利用率,根据"金角银边草肚皮"的拟人策略提出先从待选船舶集中选出宽度之和最接近闸室宽度的船舶组合纵向编排到闸室的左右两边,然后再选出长度之和最接近闸室剩余长度的船舶组合横向编排到闸室的上下两边,最后按照闸室剩余中间部分的长度和宽度选取船舶组合横向编排到闸室中间的新算法。通过算例验证了该算法在入选船舶数量以及闸室面积利用率方面都有明显改善,从而证明了算法的可行性及有效性。同时,该算法在实际编排过程中操作简单、编排速度快,给三峡闸室编排提供了一种新方法。

关键词：闸室编排面积利用率拟人策略入选船舶数量

Aeriscardovia aeriphila对肉鸡生长性能、抗氧化功能、免疫应答和肠道菌群的影响（英文）

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2023年第11期 1014-1027页

作者： muhammad Zahid FAROOQ 王新锴晏向华华中农业大学动物科学技术学院农业微生物资源发掘与利用全国重点实验室湖北洪山实验室动物育种与健康养殖前沿科学中心巴基斯坦兽医和动物科学大学(Jhang校区)动物科学系

Aeriscardovia aeriphila，又名Bifidobacterium aerophilum，是从猪盲肠内容物中分离出的一种双歧杆菌。***在预防肠道感染、降低胆固醇水平和刺激免疫系统方面具有重要作用。本研究首先从肉鸡十二指肠肠道内容物中分离出一株菌，经16... 详细信息

Aeriscardovia aeriphila，又名Bifidobacterium aerophilum，是从猪盲肠内容物中分离出的一种双歧杆菌。***在预防肠道感染、降低胆固醇水平和刺激免疫系统方面具有重要作用。本研究首先从肉鸡十二指肠肠道内容物中分离出一株菌，经16S测序鉴定为***，然后我们评估了***对商用肉鸡生长性能、抗氧化功能、免疫功能和肠道菌群的影响。实验对21日龄的实验鸡进行了为期3周的灌服***(1×109 CFU/m L）处理。研究结果显示：***处理显著增加了鸡的平均日增重，降低了饲料转化率（P<0.001）。***处理后，血清生长激素（GH）和胰岛素样生长因子1(IGF-1）水平显著升高（P<0.05）。***处理降低了血尿素氮和天门冬氨酸氨基转移酶水平，增加了血糖和肌酐水平。同时，***处理显著提高了血清中抗氧化酶水平（包括过氧化氢酶（P<0.01）、超氧化物歧化酶（P<0.001）和谷胱甘肽过氧化物酶（P<0.05））及总抗氧化能力（P<0.05）。***处理显著增加了血清免疫球蛋白A(Ig A)(P<0.05）、Ig G(P<0.01）、Ig M(P<0.05）、白细胞介素-1(IL-1)(P<0.05）、IL-4(P<0.05）和IL-10(P<0.05）的水平。与对照组相比，***组肉鸡在十二指肠（P<0.01）、空肠（P<0.001）和盲肠（P<0.001）中的分泌型免疫球蛋白A(SIg A）水平显著提高。在肠道黏膜（包括十二指肠、空肠和盲肠）中，***组鸡的IL-10(P<0.05）、IL-4(P<0.001）和NF-κB(P<0.001）信使RNA(m RNA）相对表达水平高于对照组。肠道微生物门水平分析显示，两组的差异菌群主要是厚壁菌门，其次是拟杆菌门。此外，***可提高肠道中Phascolarctobacterium和Barnesiella的丰度。综上所述，灌服***可改善肉鸡的生长性能、血清抗氧化能力、免疫调节和肠道健康。因此，本研究结果可以为***在家禽生产中的应用提供理论依据。

关键词：鸡 Aeriscardovia aeriphila 肠道健康菌群免疫功能

Parasitic Effects on the Performance of DC-DC SEPIC in Photovoltaic Maximum Power Point Tracking Applications

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Smart Grid and Renewable Energy 2013年第1期4卷 113-121页

作者： Nur Mohammad muhammad Quamruzzaman Mohammad Rubaiyat Tanvir Hossain Mohammad Rafiqul Alam Department of Electrical & Electronic Engineering Bangladesh University of Engineering & Technology Dhaka Bangladesh. Department of Electrical & Electronic Engineering Chittagong University of Engineering & Technology Chittagong Bangladesh

This paper presents an analysis of the effect of parasitic resistances on the performance of DC-DC Single Ended Pri- mary Inductor Converter (SEPIC) in photovoltaic maximum power point tracking (MPPT) applications. The energy storage elements incorporated in the SEPIC converter possess parasitic resistances. Although ideal components significantly simplifies model development, but neglecting the parasitic effects in models may sometimes lead to failure in predicting first scale stability and actual performance. Therefore, the effects of parasitics have been taken into consideration for improving the model accuracy, stability, robustness and dynamic performance analysis of the converter. Detail mathematical model of SEPIC converter including inductive parasitic has been developed. The performance of the converter in tracking MPP at different irradiance levels has been analyzed for variation in parasitic resistance. The converter efficiency has been found above 83% for insolation level of 600 W/m2 when the parasitic resistance in the energy storage element has been ignored. However, as the parasitic resistance of both of the inductor has increased to 1 ohm, a fraction of the power managed by the converter has dissipated;as a result the efficiency of the converter has reduced to 78% for the same insolation profile. Although the increasing value of the parasitic has assisted the converter to converge quickly to reach the maximum power point. Furthermore it has also been observed that the peak to peak load current ripple is reduced. The obtained simulation results have validated the competent of the MPPT converter model.

关键词： Photovoltaic (PV) Renewable Energy Systems DC-DC Converter Parasitic Resistance Maximum Power Point Tracking (MPPT) Single Ended Primary Inductance Converter (SEPIC)

New Method for Optimization and Simultaneous Determination of Sparfloxacin and Non Steroidal Anti-Inflammatory Drugs: Its <i>In-Vitro</i>Application

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American Journal of Analytical Chemistry 2012年第4期3卷 328-337页

作者： Somia Gul Najma Sultana muhammad Saeed Arayne Sana Shamim Mahwish Akhtar College of Pharmacy Dow University of Health Sciences Karachi Pakistan Faculty of Pharmacy Jinnah University for Women Karachi Pakistan United Biotech (Pvt) Ltd. Karachi Pakistan

A simple reversed phase HPLC method was developed and validated for the simultaneous determination of sparfloxacin (SPFX), diclofenac sodium, meloxicam, ibuprofen, flurbiprofen, naproxen and mefenemic acid in a relatively short time with high linearity in bulk material, pharmaceutical formulations and human serum. Purospher STAR C18 (250 × 4.6 mm, 5 μm) column was utilized with mobile phase, methanol and water (90:10, v/v pH 2.70 adjusted by phosphoric acid), was delivered at a flow rate of 1.5 ***–1. Eluent was monitored using UV detector at 240 nm. The proposed method is specific, accurate (98.42% - 102.75%), precise (intra-day and inter-day variation 0.011% - 1.85%) and linear (R2 > 0.999) with in the desired range 0.15 - 40 μ***–1 and the detection and quantification limit was 1.19E+08 – 0.150 μ***–1 and 3.62E+08 – 0.4574 μ***–1 respectively for SPFX and NSAIDs. The analysis of variance (ANOVA) and student’s t-test were applied to verify the results. The anticipated method is applicable to routine analysis of SPFX and NSAIDs in pharmaceutical formulations as well as in human serum samples. It has also applied on interaction of SPFX with NSAIDs.

关键词： Sparfloxacin NSAIDs HPLC Interactions ANOVA

First-Principles Calculations of the Structural, Mechanical and Thermodynamics Properties of Cubic Zirconia

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World Journal of Nano Science and Engineering 2014年第2期4卷 97-103页

作者： Ibrahim D. muhammad Mokhtar Awang Othman Mamat Zilati Bt Shaari Chemical Engineering Department Universiti Teknologi Petronas Seri Iskandar Malaysia Mechanical Engineering Department Universiti Teknologi Petronas Seri Iskandar Malaysia

The structural, mechanical and thermodynamics properties of cubic zirconium oxide (cZrO2) were investigated in this study using ab initio or first-principles calculations. Density functional theory was used to optimize the crystal structure of cZrO2 and thereafter, simulations were conducted to predict the lattice parameters and elastic constants. The Zr-O bond distance was calculated as 2.1763 Å with unit cell density of 6.4179 g/cm3. The data obtained were used to determine Young’s modulus, bulk modulus, Poisson’s ratio and hardness of cZrO2 as 545.12 GPa, 136.464 GPa, 0.1898 and 12.663(Hv) respectively. The result indicates that cZrO2 is mechanically stable with thermodynamics properties of a refractory material having potential for structural and catalytic applications in various forms as a nanomaterial.

关键词： Cubic Zirconium Oxide First-Principles Calculation CASTEP Elastic Constants

High Frequency Plant Regeneration from Leaf Derived Callus of <i>Dianthus caryophyllus</i>L.

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American Journal of Plant Sciences 2014年第15期5卷 2454-2463页

作者： muhammad Arif Saima Rauf Aziz Ud Din Mamoona Rauf Humera Afrasiab Department of Botany University of the Punjab Quaid-e-Azam Campus Lahore Pakistan Department of Genetics Hazara University Garden Campus Mansehra Pakistan Institute of Agricultural Sciences University of the Punjab Lahore Pakistan National Institute for Biotechnology and Genetic Engineering Faisalabad Pakistan

An efficient procedure was developed for in vitro callus induction, proliferation and regeneration of carnation cultivar (Dianthus caryophyllus L.) using leaf, nodal and inter-nodal explants on Murashige and Skoog’s medium (MS) supplemented with exogenous plant growth regulators. For morphogenic callus induction and proliferation from various explants, MS medium supplemented with 3.0 mg/l 2,4-D was highly efficient with 100% callus induction frequency from inter-nodal explants. Leaf explants showed quicker response than nodal and inter-modal explants, for callus initiation within 6 days of inoculation. Best grown callus was obtained from leaf explant. The leaf-derived callus was maintained up to several weeks, which indicated that 8-week incubation period was the most suitable for obtaining well proliferated, morphogenic callus. Temperature variation also affected the growth of in vitro induced morphogenic callus from various explants. Results have shown that 27°C proved to be the best temperature for morphogenic callus induction and proliferation from leaf and inter-nodal explants. Among the auxin-cytokinin combination, MS medium containing 1.0 mg/l N(6)-benzylaminopurin (BAP) and 2.0 mg/l NAA showed the highest efficiency of callus initiation and proliferation from leaf, nodal and inter-nodal explants. Light conditions proved better for callogenesis and proliferation from leaf, nodal and inter-nodal explants. Regeneration response from well grown morphogenic callus was prominent on MS medium supplemented with 3.0 mg/l BAP alone and 1.0 mg/l NAA with 3.0 mg/l BAP.

关键词： Dianthus caryophyllus L. Regeneration Potential Plant Growth Regulators Morphogenic Callus Induction

同源四倍体水稻:低育性机理、改良与育种展望

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遗传 2023年第9期45卷 781-792页

作者：刘向东吴锦文陆紫君 muhammad Qasim Shahid 华南农业大学亚热带农业生物资源保护与利用国家重点实验室广州510642 岭南现代农业科学与技术广东省实验室广州510642 华南农业大学广东省植物分子育种重点实验室广州510642

同源四倍体水稻具有籽粒增大、营养成分增加和抗性增强等特点,但其育性普遍偏低,影响产量,无法直接应用。高育性四倍体水稻的成功创制解决了同源四倍体水稻育性偏低的瓶颈问题,然而该类型多倍体水稻能否在生产上推广应用需要进一步探讨... 详细信息

同源四倍体水稻具有籽粒增大、营养成分增加和抗性增强等特点,但其育性普遍偏低,影响产量,无法直接应用。高育性四倍体水稻的成功创制解决了同源四倍体水稻育性偏低的瓶颈问题,然而该类型多倍体水稻能否在生产上推广应用需要进一步探讨。本文总结了同源四倍体水稻及其杂种F1育性偏低的细胞和分子遗传学机理研究的概况,重点介绍了高育性四倍体水稻的主要类型及最新的研究进展,最后提出未来利用新型四倍体水稻开展多代杂种优势等研究的设想,以期为水稻多倍体育种提供参考。

关键词：水稻同源四倍体水稻新型四倍体水稻 PMeS多倍体水稻杂种优势利用

藏红花对2型糖尿病患者的心脏保护作用:一项系统综述和meta分析

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Digital Chinese Medicine 2023年第4期6卷 381-392页

作者： Arlinda Silva Prameswari Viskasari Pintoko Kalanjati Tri Hartini Yuliawati Abdurachman muhammad Miftahussurur Master Program of Basic Medical Science Faculty of MedicineUniversitas AirlanggaSurabayaEast Java 60132Indonesia Department of Anatomy Faculty of MedicineUniversitas Muhammadiyah SidoarjoSidoarjoEast Java 61215Indonesia Department of Emergency Medicine Pusura Candi HospitalSidoarjoEast Java 61271Indonesia Department of Anatomy Histologyand PharmacologyFaculty of MedicineUniversitas AirlanggaSurabayaEast Java 60132Indonesia Helicobacter pylori and Microbiota Study Group Institute of Tropical DiseaseUniversitas AirlanggaSurabayaEast Java 60115Indonesia Departement of Internal Medicine Faculty of MedicineDr.Soetomo General Academic HospitalUniversitas AirlanggaSurabayaEast Java 60285Indonesia

目的探讨藏红花作为潜在补充剂在2型糖尿病患者治疗过程中的心脏保护作用。方法应用系统综述和meta分析优先报告条目(PRISMA)指南对Pub Med、Science Direct、Cochrane Library、Web of Science、中国知网(CNKI)和中国生物医学文献数据... 详细信息

目的探讨藏红花作为潜在补充剂在2型糖尿病患者治疗过程中的心脏保护作用。方法应用系统综述和meta分析优先报告条目(PRISMA)指南对Pub Med、Science Direct、Cochrane Library、Web of Science、中国知网(CNKI)和中国生物医学文献数据库(CBM)检索到的文章进行分析,发表时间跨度为2015年1月15日至2023年3月20日。本研究仅纳入英文随机对照试验(RCTs)文献,研究对象为接受藏红花或安慰剂治疗2型糖尿病的成年患者。采用Review Manager 5.4软件进行meta分析。本研究在国际前瞻性系统综述注册数据库(PROSPERO)中注册,注册号为CRD42023443180。结果本研究纳入了7项RCTs,包括455例患者。数据显示,与安慰剂相比,藏红花治疗显著降低了2型糖尿病患者的肿瘤坏死因子(TNF-α,P=0.008)和空腹血糖(FBG,P=0.04)水平。藏红花与安慰剂的白细胞介素6(IL-6)、丙二醛(MDA)、高血清C反应蛋白(hs-CRP)、血脂、血压和体重指数水平(BMI)差异均无统计学意义(P>0.05)。结论藏红花治疗通过降低肿瘤坏死因子和空腹血糖水平对2型糖尿病患者具有心脏保护作用。然而,这种植物化学物质的潜在抗氧化、抗高血压和抗血脂异常作用有待进一步研究。

关键词：藏红花藏红花素炎性细胞因子 meta分析系统综述 2型糖尿病心血管疾病