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Efficient obstacle avoidance planning for multi-robot suspension system based on a collaborative optimization for force and position 认领 引用 被引量：1
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作者 Xiangtang Zhao Zhigang Zhao +2 位作者 Cheng Su Jiadong Meng Hutang Sang 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2025年第12期135-154,共20页
To avoid collisions between a suspended object,cables,towing robots,and obstacles in the environment in a multi-robot suspension system,obstacle avoidance planning was studied based on a collaborative optimization met... To avoid collisions between a suspended object,cables,towing robots,and obstacles in the environment in a multi-robot suspension system,obstacle avoidance planning was studied based on a collaborative optimization method for force and position.Based on the analysis of the kinematics and dynamics of the system,the inverse kinematics and inverse dynamics of the system are solved using the least variance method.The obstacle avoidance planning is performed in the solved collisionfree feasible space using the stable dung beetle optimization(SDBO)algorithm,which ensures that the suspended object can move stably to the target point in the workspace.The optimal obstacle avoidance trajectory of the multi-robot suspension system can be accurately determined by using the collaborative optimization method for force and position to plan the towing robot and the cable.Finally,the correctness of the obstacle avoidance planning method is verified by simulations.By taking a special scenario,the remarkable findings reveal that the SDBO algorithm outperforms the dung beetle optimization algorithm by reducing the length of the planned trajectory of the suspended object by 14.51%and the height by 79.88%,and reducing the minimum fitness by 95.84%and the average fitness by 94.77%.The results can help the multi-robot suspension system to perform various towing tasks safely and stably,and extend the related planning and control theory. 展开更多
关键词 Suspension system Obstacle avoidance planning Collision-free feasible space Stable dung beetle optimization Collaborative optimization for force and position
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Robustness of ferromagnetism in van der Waals magnet Fe3GeTe2 to hydrostatic pressure 认领 引用
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作者 Yonglin Wang Xu-Tao Zeng +4 位作者 Bo Li Cheng Su Takanori Hattori Xian-Lei Sheng Wentao Jin 《Chinese Physics B》 SCIE EI CAS CSCD 2025年第4期102-107,共6页
Two-dimensional van der Waals ferromagnet Fe3GeTe2(FGT)holds a great potential for applications in spintronic devices due to its high Curie temperature,easy tunability,and excellent structural stability in air.T... Two-dimensional van der Waals ferromagnet Fe3GeTe2(FGT)holds a great potential for applications in spintronic devices due to its high Curie temperature,easy tunability,and excellent structural stability in air.Theoretical studies have shown that pressure,as an external parameter,significantly affects its ferromagnetic properties.In this study,we have performed comprehensive high-pressure neutron powder diffraction(NPD)experiments on FGT up to 5 GPa to investigate the evolution of its structural and magnetic properties with hydrostatic pressure.The NPD data clearly reveal the robustness of the ferromagnetism in FGT,despite of an apparent suppression by hydrostatic pressure.As the pressure increases from 0 to 5 GPa,the Curie temperature is found to decrease monotonically from 225(5)K to 175(5)K,together with a dramatically suppressed ordered moment of Fe,which is well supported by the first-principles calculations.Although no pressure-driven structural phase transition is observed up to 5 GPa,quantitative analysis on the changes of bond lengths and bond angles indicates a significant modification of the exchange interactions,which accounts for the pressure-induced suppression of the ferromagnetism in FGT. 展开更多
关键词 van der Waals material ferromagnetism hydrostatic pressure neutron diffraction
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2.5D process path planning for multi-genus shapes based on combining of topological and geometric properties of medial axis transformation 认领 引用 被引量：1
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作者 Xin JIANG Wenjie ZHAO +3 位作者 Cheng SU Guanying HUO Shirong LI Zhiming ZHENG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第4期640-653,共14页
The 2.5D process is widely utilized in modern industries,with multi-genus cross-sections increasingly encountered in both additive and subtractive manufacturing.Tool paths for multigenus shapes often suffer from disco... The 2.5D process is widely utilized in modern industries,with multi-genus cross-sections increasingly encountered in both additive and subtractive manufacturing.Tool paths for multigenus shapes often suffer from discontinuities that lead to frequent tool liftings,and selfintersections in offset paths,adversely affecting machining accuracy and efficiency.In this context,path topology,stepover uniformity,and degeneration of offset paths represent three fundamental concerns that must be considered in an integrated manner in 2.5D path planning for multi-genus shapes.This study proposes a tool path planning method based on combining of topological and geometric characteristics of medial axis transformation for the shape with multi-genus.A region segmentation strategy tailored to multi-genus shapes is first introduced to prevent global selfintersections in equidistant offset paths.Subsequently,the graph structure of the segmented shape is extracted,and the minimization of tool liftings is formulated as a minimum path cover problem in an undirected graph.A Fermat-spiral-like path topology is adopted within sub-regions to preserve the connectivity of graph and ensure smooth transitions between successive layers of contourparallel paths.Numerical and physical experiment results confirm the proposed method's effectiveness in maintaining stepover uniformity,avoiding degeneration of global self-intersections,and ensuring path connectivity. 展开更多
关键词 2.5D process Medial axis transformation Multi-genus shape Topological segmentation Tool path planning
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Predicting gastrointestinal bleeding and audio biomarkers based on machine learning analysis of bowel sounds 认领 引用
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作者 Lei Zhang Meng-Yue Wang +6 位作者 Shi-Yu Wei Cheng Su Sen-Yi Hu Xiao-Yang Ren Ya-Ping Liu Chang Liu Yong Wan 《World Journal of Gastroenterology》 SCIE CAS 2026年第14期81-95,共15页
BACKGROUND Early diagnosis of upper gastrointestinal bleeding(UGIB)relies on invasive endoscopy and laboratory tests,which carry procedural risks and diagnostic delays.The pathophysiological relationship between bowel... BACKGROUND Early diagnosis of upper gastrointestinal bleeding(UGIB)relies on invasive endoscopy and laboratory tests,which carry procedural risks and diagnostic delays.The pathophysiological relationship between bowel sounds(BSs)as a noninvasive monitoring metric and UGIB remains to be elucidated.AIM To investigate the feasibility of BS acoustic signatures as UGIB screening biomarkers,analyze their pathological correlations with hematological indices,and construct a machine learning-assisted diagnostic model.METHODS A prospective study enrolled 40 UGIB patients(endoscopy-confirmed within 24 hours)and 40 age-/sex-matched healthy controls.BS signals were recorded at the right lower umbilical quadrant using a G-200 device(60 seconds/subject,4 kHz sampling).After denoising via variational mode decomposition,78-dimensional features were extracted across four domains:Time-domain,frequency-domain,time-frequency domain,and nonlinear dynamics.Weighted feature importance was calculated using an integrated strategy and gradient-optimized feature subsets were used to train four classifiers:Support vector machine,random forest,logistic regression,and K-nearest neighbor.SHapley Additive exPlanations analysis was conducted on the features of the optimal model.Model performance was evaluated by fivefold cross-validation.Spearman’s correlation analysis was performed to assess key BS features against red blood cell count,hemoglobin,hematocrit,C-reactive protein(CRP),and high-sensitivity CRP.RESULTS The support vector machine classifier with 25-feature subsets achieved optimal performance(area under the curve>0.89),significantly outperforming other models.Acoustic feature importance analysis identified band_Energy and Mel-frequency cepstral coefficient variance as core biomarkers(cumulative contribution>60%).Key pathological correlations included:(1)Significant negative correlations between spectral centroid and red blood cell count/hemoglobin/hematocrit(P<0.01);(2)Positive correlation between wavelet entropy and these hematological parameters(P<0.05),suggesting multiscale microcirculatory flow fluctuations;and(3)Positive wavelet energy correlations with CRP/high-sensitivity-CRP(P<0.05).CONCLUSION Multidimensional BS features enable noninvasive UGIB screening.Their strong correlation with anemia/inflammation indicators reveals an acoustic-hemato-physiological coupling mechanism,providing a novel paradigm for early UGIB monitoring. 展开更多
关键词 Bowel sound analysis Upper gastrointestinal bleeding Support vector machine Machine learning Non-invasive diagnosis
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Stability Analysis of a Floating Multirobot Coordinated Towing System Based on the Stability Cone Method 认领 引用
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作者 Xiangtang Zhao Zhigang Zhao +1 位作者 Cheng Su Jiadong Meng 《哈尔滨工程大学学报（英文版）》 CSCD 2025年第2期449-457,共9页
Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the fle... Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the flexibility of rope-driven robots,the one-way pulling characteristics of the rope,and the floating characteristics of the base,towing robots are easily overturned.First,the spatial configuration of the towing system was established according to the towing task,and the kinematic model of the towing system was established using the coordinate transformation.Then,the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory.Finally,the stability of the towing system was analyzed using the stability cone method.The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system,which can improve the stability of towing systems by changing the configuration of the towing robot. 展开更多
关键词 Offshore towing Kinematic model Dynamic model Stability cone method Stability
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新时代高校科研育人:问题、原因及对策——基于福建省5所高校研究生培养的调查 认领 引用 被引量：2
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作者 黄发友 程甦 +1 位作者 施微丹 丁燕婷 《福建医科大学学报（社会科学版）》 2025年第1期59-65,共7页
科研育人是提升高校思想政治工作质量的重要方法途径。当前,由于研究生科研探索态度、导师指导教育、高校培养机制和管理制度、西方思潮和网络媒介等原因,高校科研育人存在研究生参与科研的积极性不高、导师科研育人作用发挥不充分、高... 科研育人是提升高校思想政治工作质量的重要方法途径。当前,由于研究生科研探索态度、导师指导教育、高校培养机制和管理制度、西方思潮和网络媒介等原因,高校科研育人存在研究生参与科研的积极性不高、导师科研育人作用发挥不充分、高校对科研育人工作重视不够,以及高校科研育人机制还不够完善、氛围尚未形成等问题,必须通过激发主体意识、加强队伍建设、健全保障机制、营造环境氛围等途径加强科研育人工作。 展开更多
关键词 科研育人 科研能力 立德树人 思想政治教育 高校研究生
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Application of the Mathieu combined tunnel technique for repairing glans dehiscence after failed hypospadias repair 认领 引用 被引量：6
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作者 Qi-Gen Xie Kai Xia +4 位作者 Xiang-Ping Li Peng Luo Zuo-Qing Li Cheng Su Chun-Hua Deng 《Asian Journal of Andrology》 SCIE CAS CSCD 2022年第3期311-316,共6页
Repairing glans dehiscence after failed hypospadias repair is challenging for pediatric surgeons.Here,we introduced and evaluated a newly modified Mathieu technique,Mathieu combined tunnel(MCT),which involves multiple... Repairing glans dehiscence after failed hypospadias repair is challenging for pediatric surgeons.Here,we introduced and evaluated a newly modified Mathieu technique,Mathieu combined tunnel(MCT),which involves multiple custom-designed flaps for the shortage of flap source material after repeated operations;we also constructed a tunnel to avoid the glans incision that may carry new risks of dehiscence.This retrospective study included 26 patients who were consecutively admitted to the First Affiliated Hospital of Sun Yat-Sen University(Guangzhou,China)for glans dehiscence repair after failed hypospadias repair from October 2014 to October 2020;sixteen patients underwent surgery using the MCT(MCT group)and ten patients underwent surgery using the tubularized incised plate(TIP)technique(TIP group).The operative time,blood loss,postoperative complications,normal urethral meatus rate,success rate,and Hypospadias Objective Penile Evaluation(HOPE)score were compared between the two groups.The MCT group achieved an overall satisfactory penile appearance and voiding function,with a higher rate of normal urethral meatus(15/16,93.8%)and a lower rate of glans dehiscence(1/16,6.2%),compared with the TIP group(70.0%and 30.0%,respectively).However,these differences were not statistically significant,possibly because of the limited number of patients(all P>0.05).Mean postoperative HOPE scores were similar in the MCT group(mean±standard deviation:8.83±0.89)and TIP group(8.94±0.57)(P>0.05).No significant differences were found between the two groups in terms of blood loss and success rate,nor in the rates of various complications(e.g.,fistula,urethral stricture,and glans dehiscence).In conclusion,the MCT technique appears to be feasible and reliable for repairing glans dehiscence after failed hypospadias repair. 展开更多
关键词 failed hypospadias glans dehiscence Mathieu tubularized incised plate(TIP) tunnel
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Geological context and vents morphology in the ultramafic-hosted Tianxiu field, Carlsberg Ridge 认领 引用
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作者 Jin Liang Chunhui Tao +6 位作者 Xiangxin Wang Cheng Su Wei Gao Yadong Zhou Weikun Xu Xiaohe Liu Zhongjun Ding 《Acta Oceanologica Sinica》 SCIE CAS CSCD 2023年第9期62-70,共9页
The Tianxiu hydrothermal field(TXHF) located on Carlsberg Ridge is one of the few active ultramafic-hosted venting systems known in the Indian Ocean. Despite numerous investigations, there is limited understanding of ... The Tianxiu hydrothermal field(TXHF) located on Carlsberg Ridge is one of the few active ultramafic-hosted venting systems known in the Indian Ocean. Despite numerous investigations, there is limited understanding of its sulfide structure morphology, and the factors controlling the formation of TXHF are poorly understood. In this study, we conducted detailed seafloor mapping using visual data obtained by dives using the human-occupied vehicle(HOV) Jiaolong. The TXHF is found to be an active, off-axis, ultramafic-hosted, high-temperature hydrothermal area in which serpentine peridotite is exposed. Two main hydrothermal sites were identified, i.e., P and Y, both of which feature a complex of chimneys and beehive diffusers constituting a “chimney jungle” and isolated large steep-sided structures developed on flat-lying sulfide mounds. In addition, some sporadic inactive chimneys and outcrops of hydrothermal deposits were noted. The chimneys are rich in Fe and Zn sulfide, and lack the central fluid channel formed by focused high-temperature fluid flow. Hydrothermal venting at TXHF is likely related to low-angle detachment faults that focus and transport hydrothermal fluids away from a heat source along the valley wall. Our results complement and expand upon previous works concerning sulfide chimney morphology and their corresponding mineral paragenesis in ultramafic-hosted hydrothermal systems in the Indian Ocean and further our understanding of modern seafloor hydrothermal systems. 展开更多
关键词 hydrothermal activity sulfide accumulation morphology ultramafic-hosted Carlsberg Ridge
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ZBTB7A governs 2-DG-inhibited glycolysis by regulating GLUT1 in nasopharyngeal carcinoma 认领 引用
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作者 FEI LIU JIAZHANG WEI +13 位作者 JIAO LAN YONGLI WANG JIANXIANG YE CHENG SU MINGZHENG MO FENGZHU TANG BING LI MIN LI WEIMING DENG LINSONG YE WENLIN HUANG JINGJIN WENG WEI JIAO SHENHONG QU 《BIOCELL》 SCIE 2022年第12期2659-2669,共11页
Our previous studies suggested a potential interaction between the POK erythroid myeloid ontogenic factor ZBTB7A and glucose transporter 1(GLUT1)in nasopharyngeal carcinoma(NPC).This study was designed to confirm the ... Our previous studies suggested a potential interaction between the POK erythroid myeloid ontogenic factor ZBTB7A and glucose transporter 1(GLUT1)in nasopharyngeal carcinoma(NPC).This study was designed to confirm the interaction and further evaluate the precise mechanism by which ZBTB7A and GLUT1 regulate NPC development.The binding sites between ZBTB7A and the promoter of GLUT1 were predicted by bioinformatics.Gene expression was measured by quantitative real-time polymerase chain reaction(qPCR),western blotting,and immunohistochemistry.The activities of key glycolysis enzymes,including hexokinase(HK),pyruvate kinase(PK),lactate dehydrogenase(LDH),and lactate,were detected using specific enzyme-linked immunosorbent assay kits.The connection between ZBTB7A and GLUT1 was analyzed by dual-luciferase reporter assay and chromatin immunoprecipitation-qPCR.The vitality,proliferation,and tumorigenicity of the cells expressing different levels of ZBTB7A were tested by adding the glycolysis inhibitor 2-deoxy-D-glucose(2-DG),followed by MTT,colorimetric focus forming,and xenograft assays,respectively.Our results showed that high expression of GLUT1 was associated with late-stage NPC.After constructing stably transfected cells with lentiviruses,ZBTB7A was effectively knocked down in 5-8F cells(RNAi-5-8F)and overexpressed in 6-10B cells(ZBTB7A-6-10B).The up-or downregulation of GLUT1 secondary to ZBTB7A changes was also limited.The vitality and proliferation of the cells expressing low ZBTB7A were notably blocked by 2-DG.The cells expressing high ZBTB7A were not very sensitive to 2-DG.The growth of RNAi-5-8F xenografts was strongly suppressed by 2-DG.The activities of HK,PK,and LDH were suppressed by 2-DG in the cells expressing low ZBTB7A.RNAi-5-8F cells had the lowest 2-DG-induced lactate production.ZBTB7A directly suppressed the promoter region of GLUT1 to regulate GLUT1 expression.Thus,ZBTB7A controls the 2-DG-induced inhibition of glycolysis by affecting GLUT1. 展开更多
关键词 Nasopharyngeal carcinoma ZBTB7A GLUT1 Glycolysis 2-DG
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巨型低轨星座军事潜力分析及其在精确制导领域杀伤网中的应用 认领 引用
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作者 杨若辰 成谡 赵海楠 《弹箭与制导学报》 CSCD 北大核心 2025年第5期591-601,共11页
近年来巨型低轨星座项目迅猛发展,其在军事领域的应用潜力日益凸显,我国的相关项目也在稳步推进。文章介绍了巨型低轨星座的发展情况,分析了其在军事领域应用方向。文章以典型的作战场景为实例分析了巨型低轨星座如何影响精确打击领域... 近年来巨型低轨星座项目迅猛发展,其在军事领域的应用潜力日益凸显,我国的相关项目也在稳步推进。文章介绍了巨型低轨星座的发展情况,分析了其在军事领域应用方向。文章以典型的作战场景为实例分析了巨型低轨星座如何影响精确打击领域杀伤网的构建和杀伤链的闭合,为基于巨型低轨星座的全域体系化杀伤网构建提供参考。本研究对我国反介入/区域拒止(A2/AD)战略体系建设具有重要参考意义。 展开更多
关键词 巨型低轨星座 军事领域应用 杀伤链 杀伤网
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Stochastic transient analysis of thermal stresses in solids by explicit time-domain method 认领 引用 被引量：1
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作者 Houzuo Guo Cheng Su Jianhua Xian 《Theoretical & Applied Mechanics Letters》 CAS CSCD 2019年第5期293-296,I0004,共4页
Stochastic heat conduction and thermal stress analysis of structures has received considerable attention in recent years.The propagation of uncertain thermal environments will lead to stochastic variations in temperat... Stochastic heat conduction and thermal stress analysis of structures has received considerable attention in recent years.The propagation of uncertain thermal environments will lead to stochastic variations in temperature fields and thermal stresses.Therefore,it is reasonable to consider the variability of thermal environments while conducting thermal analysis.However,for ambient thermal excitations,only stationary random processes have been investigated thus far.In this study,the highly efficient explicit time-domain method(ETDM)is proposed for the analysis of non-stationary stochastic transient heat conduction and thermal stress problems.The explicit time-domain expressions of thermal responses are first constructed for a thermoelastic body.Then the statistical moments of thermal displacements and stresses can be directly obtained based on the explicit expressions of thermal responses.A numerical example involving non-stationary stochastic internal heat generation rate is investigated.The accuracy and efficiency of the proposed method are validated by comparison with the Monte-Carlo simulation. 展开更多
关键词 Stochastic Non-stationary Heat conduction Thermal stress Explicit time-domain method
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越婢汤调控肾脏毛细血管通透性对阿霉素肾病大鼠水肿的干预作用 认领 引用 被引量：10
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作者 李婷婷 周圆 +2 位作者 徐琳 程苏 邵命海 《中成药》 CAS CSCD 北大核心 2023年第3期748-755,共8页
目的观察越婢汤对阿霉素肾病大鼠肾脏毛细血管通透性的影响,阐明其干预肾病综合征大鼠水肿的作用机制。方法采用尾静脉注射阿霉素建立大鼠肾病综合征模型。大鼠随机分为正常组、模型组及越婢汤低、中、高剂量组(6.6、11.1、22.2 g/kg),... 目的观察越婢汤对阿霉素肾病大鼠肾脏毛细血管通透性的影响,阐明其干预肾病综合征大鼠水肿的作用机制。方法采用尾静脉注射阿霉素建立大鼠肾病综合征模型。大鼠随机分为正常组、模型组及越婢汤低、中、高剂量组(6.6、11.1、22.2 g/kg),灌胃给予相应药物14 d。给药结束后,检测肾脏毛细血管通透性、肾脏及皮肤干湿重比例,观察肾脏病理学变化,检测血清Scr、BUN、TC、ALB及尿液24 h UTP水平,ELISA法检测肾组织VEGF水平,免疫组化法检测肾组织VEGF、VEGFA、VEGFR2阳性表达,Western blot法检测肾组织VEGF、VEGFA、VEGFR2、p-ERK1/2、ERK1/2和Rap1蛋白表达。结果与模型组比较,越婢汤高剂量组大鼠肾脏及皮肤干湿重比例升高(P<0.05,P<0.01),VEGF和VEGFA蛋白表达降低(P<0.01);中、高剂量组大鼠肾脏毛细血管通透性,血清Scr、BUN、TC水平,尿液24 h UTP水平,肾组织VEGF水平和VEGFR2蛋白表达降低(P<0.05,P<0.01),ALB水平升高(P<0.01),肾组织病理学改善;越婢汤各剂量组大鼠肾组织p-ERK1/2/ERK1/2蛋白表达比值降低(P<0.01),Rap1蛋白表达升高(P<0.01)。结论越婢汤可以减轻阿霉素肾病大鼠皮肤和肾脏水肿,其作用机制和调控VEGF/ERK信号通路,改善肾脏毛细血管通透性有关。 展开更多
关键词 越婢汤 阿霉素肾病 肾病综合征 水肿 毛细血管通透性 VEGF/ERK
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碳/碳复合材料的激光烧蚀行为与机制 认领 引用 被引量：6
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作者 耿莉 成溯 +1 位作者 付前刚 李贺军 《复合材料学报》 EI CAS CSCD 北大核心 2022年第9期4337-4343,共7页
碳/碳(C/C)复合材料作为性能优良的耐烧蚀材料得到了广泛的应用,其作为抗激光烧蚀材料的潜力待被发掘。本文制备了不同密度的C/C复合材料,在无氧环境下以CO激光器为光源,探究了高能激光与C/C复合材料之间的作用机制,系统地分析了材料的... 碳/碳(C/C)复合材料作为性能优良的耐烧蚀材料得到了广泛的应用,其作为抗激光烧蚀材料的潜力待被发掘。本文制备了不同密度的C/C复合材料,在无氧环境下以CO激光器为光源,探究了高能激光与C/C复合材料之间的作用机制,系统地分析了材料的特性和激光参数不同对烧蚀表现的影响。采用三维轮廓仪对线烧蚀率进行表征。结果表明,随着烧蚀时间或激光功率的变化,C/C复合材料的烧蚀表现均为非线性变化。C/C复合材料的本征特性决定了其热量载荷。密度越高的C/C复合材料,其热量载荷越高,烧蚀性能越好。热量载荷与激光热流密度之间的关系则决定了材料的烧蚀表现,当激光的热流密度大于材料的热流载荷时,烧蚀速率会呈阶跃式攀升。 展开更多
关键词 碳/碳(C/C)复合材料 激光烧蚀 烧蚀速率 机制 热量载荷
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浮动基多机协调吊运系统的工作空间分析 认领 引用 被引量：3
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作者 苏程 赵祥堂 +2 位作者 闫增祯 赵志刚 孟佳东 《哈尔滨工程大学学报（英文版）》 CSCD 2024年第1期148-159,共12页
At present,the cranes used at sea have several shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting require... At present,the cranes used at sea have several shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting requirements.First,the structure of the lifting system is established according to the lifting task,the kinematic model of the system is developed by using the D–H coordinate transformation,and the dynamic model is developed based on rigid-body dynamics and hydrodynamics.Then,the static and dynamic workspace of the lifting system are analyzed,and the solving steps of the workspace are given by using the Monte–Carlo method.The effect of the load mass and the maximum allowable tension of the cable on the workspace is examined by simulation.Results show that the lifting system has limited carrying capacity and a data reference for selecting the structural parameters by analyzing the factors affecting the workspace.Findings provide a basis for further research on the optimal design of structural parameters and the determination of safe configurations of the lifting system. 展开更多
关键词 Offshore lifting Multi-robot system Kinematic model Dynamic model Static workspace Dynamic workspace
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越婢汤对阿霉素诱导的人脐静脉内皮细胞高通透性的影响及机制研究 认领 引用 被引量：2
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作者 程苏 李婷婷 +1 位作者 王艳茹 邵命海 《中国中医药信息杂志》 CAS CSCD 2024年第5期92-98,共7页
目的研究越婢汤对阿霉素诱导的人脐静脉血管内皮细胞(HUVEC)高通透性的影响,探讨其治疗肾病综合征水肿的可能作用机制。方法将HUVEC分为对照组、模型组和越婢汤低、中、高剂量组(200、300、400μg/mL),CCK-8法检测细胞活力,Transwell法... 目的研究越婢汤对阿霉素诱导的人脐静脉血管内皮细胞(HUVEC)高通透性的影响,探讨其治疗肾病综合征水肿的可能作用机制。方法将HUVEC分为对照组、模型组和越婢汤低、中、高剂量组(200、300、400μg/mL),CCK-8法检测细胞活力,Transwell法检测细胞通透性,Western blot检测凋亡信号调节激酶1(ASK1)、闭锁小带蛋白-1(ZO-1)、血管内皮-钙黏蛋白(VE-cadherin)、p38蛋白表达,免疫荧光法检测ZO-1和VE-cadherin表达。结果与对照组比较,模型组HUVEC细胞活力明显降低,细胞通透性明显增加,细胞肿胀、膜结构破坏,ASK1、p-p38蛋白表达明显升高,ZO-1、VE-cadherin蛋白表达明显降低(P<0.01);与模型组比较,越婢汤各剂量组细胞活力明显增加,细胞通透性明显降低,ASK1、p-p38蛋白表达明显降低,ZO-1、VE-cadherin蛋白表达明显升高(P<0.05,P<0.01)。结论越婢汤可改善阿霉素诱导的HUVEC高通透性,其作用机制可能与抑制ASK1/p38信号通路、上调细胞连接蛋白表达相关。 展开更多
关键词 越婢汤 人脐静脉血管内皮细胞 肾病综合征 凋亡信号调节激酶1 p38
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离子型稀土矿山集液沟区域耐盐异养硝化细菌的筛选及其脱氮特征 认领 引用 被引量：2
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作者 余水静 程素 +3 位作者 彭涛 彭芷芬 赵永红 钟常明 《有色金属科学与工程》 CAS 2017年第5期137-142,共6页
为筛选处理高盐含氨氮矿冶废水的耐盐微生物,从赣南离子型稀土矿山集液沟区域采集样品,利用选择性培养基富集培养分离耐盐异养硝化细菌,并考察碳源、pH、盐度等因素对其脱氮性能的影响.结果表明,分离得到一株耐盐异养硝化细菌X1,经16S r... 为筛选处理高盐含氨氮矿冶废水的耐盐微生物,从赣南离子型稀土矿山集液沟区域采集样品,利用选择性培养基富集培养分离耐盐异养硝化细菌,并考察碳源、pH、盐度等因素对其脱氮性能的影响.结果表明,分离得到一株耐盐异养硝化细菌X1,经16S rDNA鉴定为肠杆菌属Enterobacter sp.X1,确定该菌适宜的脱氮条件为:以蔗糖作为碳源,pH值为5,盐度≤15%.菌株X1的NH_4^+-N去除率可达到60%以上.研究结果可为高盐含氨氮矿冶废水的微生物处理提供菌株和数据参考. 展开更多
关键词 异养硝化细菌 脱氮 耐盐 肠杆菌属
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凋亡信号调节激酶1信号通路在肾脏疾病中的作用 认领 引用 被引量：2
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作者 程苏 李婷婷 +1 位作者 王艳茹 邵命海 《基因组学与应用生物学》 CAS CSCD 北大核心 2024年第1期1-8,共8页
凋亡信号调节激酶1(apoptosis signal-regulating kinase 1,ASK1)是丝裂原激活蛋白激酶激酶激酶(mitogen-activated proteinkinase kinases kinase,MAP3K)的家族成员之一,可以响应氧化应激、内质网(endoplasmic reticulum,ER)应激等多... 凋亡信号调节激酶1(apoptosis signal-regulating kinase 1,ASK1)是丝裂原激活蛋白激酶激酶激酶(mitogen-activated proteinkinase kinases kinase,MAP3K)的家族成员之一,可以响应氧化应激、内质网(endoplasmic reticulum,ER)应激等多种应激刺激,从而激活下游丝裂原激活蛋白激酶(mitogen-activated protein kinase,MAPK)中的c-Jun N末端激酶(c-Jun N-terminal kinase,JNK)和p38丝裂原激活蛋白激酶(p38 mitogen-activated protein kinase,p38 MAPK)信号通路,调节细胞凋亡、炎症和纤维化,介导急性肾损伤(acute kidney injury,AKI)、糖尿病肾病(diabetic kidney disease,DKD)、心肾综合征(cardiorenal syndrome,CRS)等多种肾脏疾病的进展。本文讨论了ASK1主要的激活和失活机制及其在多种肾脏疾病进展中的作用,对ASK1的抑制剂GS-4997、GS444217和GS459679进行了概述,探究ASK1抑制剂在临床应用中的潜力。 展开更多
关键词 凋亡信号调节激酶1(ASK1) 急性肾损伤 糖尿病肾病 ASK1抑制剂
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越婢汤含药血清对阿霉素损伤的人脐静脉血管内皮细胞的干预作用 认领 引用 被引量：1
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作者 李婷婷 程苏 +1 位作者 王艳茹 邵命海 《上海中医药杂志》 CSCD 2024年第3期25-31,共7页
目的基于小窝蛋白-1(Cav-1)/内皮型一氧化氮合酶(eNOS)通路,探讨越婢汤含药血清对阿霉素(ADR)损伤的人脐静脉血管内皮细胞(HUVEC)模型的作用机制。方法制备越婢汤含药血清及空白血清,体外培养HUVEC,采用ADR诱导建立HUVEC损伤模型,将细... 目的基于小窝蛋白-1(Cav-1)/内皮型一氧化氮合酶(eNOS)通路,探讨越婢汤含药血清对阿霉素(ADR)损伤的人脐静脉血管内皮细胞(HUVEC)模型的作用机制。方法制备越婢汤含药血清及空白血清,体外培养HUVEC,采用ADR诱导建立HUVEC损伤模型,将细胞分为对照组、模型组、越婢汤组(2.5%、5%、10%、20%含药血清),给予相应药物处理24 h。细胞增殖-毒性检测(CCK-8)法检测细胞存活率,划痕实验检测细胞迁移能力,Western blot法检测Cav-1/eNOS信号通路相关蛋白表达,免疫荧光法检测细胞Cav-1表达水平,酶联免疫吸附测定(ELISA)法检测细胞上清液Cav-1的含量。结果与对照组比较,模型组细胞增殖及迁移能力降低(P0.05)。与模型组比较,越婢汤各组能促进细胞迁移(P0.05);5%、10%、20%浓度含药血清能增加细胞内Cav-1、p-eNOS、VE-cadherin蛋白的表达(P<0.05),下调细胞上清液Cav-1的含量(P<0.05)。结论越婢汤含药血清可以降低ADR对HUVEC细胞的损伤,促进HUVEC细胞的增殖、迁移,其保护作用可能与调控Cav-1/eNOS信号通路有关。 展开更多
关键词 肾病综合征 越婢汤 经典名方 血管内皮细胞 水肿 作用机制 中药研究
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C/SiC复合材料在超高温燃烧室环境下的烧蚀行为 认领 引用 被引量：5
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作者 成溯 段刘阳 +1 位作者 耿莉 王一光 《硅酸盐学报》 EI CAS CSCD 北大核心 2018年第12期1685-1693,共9页
针对化学气相渗透法制备的C/SiC复合材料燃烧室,采用发动机燃烧风洞,研究了其在超高温燃气环境下的氧化烧蚀行为,分析了C/SiC复合材料燃烧室内各个区域的烧蚀形貌特征。结果表明:SiC在不同区域表现出不同的烧蚀行为,包括主被动氧化、层... 针对化学气相渗透法制备的C/SiC复合材料燃烧室,采用发动机燃烧风洞,研究了其在超高温燃气环境下的氧化烧蚀行为,分析了C/SiC复合材料燃烧室内各个区域的烧蚀形貌特征。结果表明:SiC在不同区域表现出不同的烧蚀行为,包括主被动氧化、层流冲刷、湍流冲刷等,这些烧蚀及其耦合作用使得SiC基体被侵蚀以及碳纤维被氧化,最终导致C/SiC复合材料在燃烧时失效。C/SiC复合材料是一种重要的超高温热防护材料,了解在服役环境下这种材料的失效机理是其应用和优化的基础。 展开更多
关键词 发动机燃烧风洞 超高温燃烧室环境 碳纤维/氧化硅复合材料 烧蚀失效
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C/SiC复合材料波纹点阵结构进气道前缘设计与制备 认领 引用 被引量：2
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作者 陈彦飞 艾士刚 +2 位作者 何汝杰 成夙 徐宝升 《装备环境工程》 CAS 2020年第1期71-76,共6页
目的C/SiC复合材料进气道前缘轻量化设计与制备。方法基于进气道气动外形和结构要求,建立波纹点阵夹芯结构的进气道前缘有限元模型,然后按照德国航空中心H2K超声速风洞试验室试验的数据进行反演,得到进气道前缘的热流密度分布,据此进行... 目的C/SiC复合材料进气道前缘轻量化设计与制备。方法基于进气道气动外形和结构要求,建立波纹点阵夹芯结构的进气道前缘有限元模型,然后按照德国航空中心H2K超声速风洞试验室试验的数据进行反演,得到进气道前缘的热流密度分布,据此进行边界条件加载,在模型中考虑固体导热、表面辐射以及空腔辐射三种传热方式。采用瞬态传热算法,求解100 s下进气道前缘的温度场,为了进一步降低C/SiC复合材料波纹点阵结构进气道前缘的最高温度,设计不同的进气道前缘尖端半径,并进行优化。最后根据优化得到的波纹点阵进气道几何参数,采用PIP法制备出C/SiC复合材料点阵结构进气道前缘。结果进气道尖端半径小于0.5mm时,最高温度高于1800℃,超过C/SiC复合材料极限温度;进气道尖端半径大于1.0 mm时,最高温度为1520℃,低于C/SiC复合材料极限温度;进气道尖端半径大于2.0 mm时,增大半径对降低进气道前缘最高温度没有明显的作用。不同进气道前缘尖端半径下,最高温度达到稳态的时间不一样,半径等于0.5 mm时,进气道前缘达到稳态的时间约为30 s左右。随着前缘尖端半径增大,最高温度达到稳态的时间增加,半径为1.0 mm时,达到稳态时间约为60 s。结论进气道前缘最高温度随着尖端半径增大明显降低,当半径大于2.0 mm时,增大半径对降低进气道前缘最高温度没有明显的作用。 展开更多
关键词 C/SiC复合材料 进气道前缘 波纹点阵结构
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