http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Stack-RRT*: A Random Tree Expansion Algorithm for Smooth Path Planning
Bin Liao,Yi Hua,Fangyi Wan,Shenrui Zhu,Yipeng Zong,Xinlin Qing 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.3
Most RRT-based extension algorithms can generate safe and smooth paths by combining parameter curve-based smoothing schemes. For example, the Spline-based Rapidly-exploring Random Tree (SRRT) guarantees that the generated paths are G2-continuous by considering a Bezier curve-based smoothing scheme. In this paper, we propose Stack-RRT*, a random tree expansion method that can be combined with different parameter curve-based smoothing schemes to produce feasible paths with different continuities for non-holonomic robots. Stack-RRT* expands the search for possible parent vertices by considering not only the set of vertices contained in the tree, as in the RRT-based algorithm, but also some newly created nodes close to obstacles, resulting in a shorter initial path than other RRT-based algorithms. In addition, the Stack-RRT* algorithm can achieve convergence by locally optimizing the connection relation of random tree vertices after each expansion. Rigorous simulations and analysis demonstrate that this new approach outperforms several existing extension schemes, especially in terms of the length of the planned paths.
Sun, Chuanxi,Zhu, Tianyi,Zhu, Yuwei,Li, Bing,Zhang, Jiaming,Liu, Yixin,Juan, Changning,Yang, Shifa,Zhao, Zengcheng,Wan, Renzhong,Lin, Shuqian,Yin, Bin 대한수의학회 2022 Journal of Veterinary Science Vol.23 No.3
Background: At the therapeutic doses, diclofenac sodium (DFS) has few toxic side effects on mammals. On the other hand, DFS exhibits potent toxicity against birds and the mechanisms remain ambiguous. Objectives: This paper was designed to probe the toxicity of DFS exposure on the hepatic proteome of broiler chickens. Methods: Twenty 30-day-old broiler chickens were randomized evenly into two groups (n = 10). DFS was administered orally at 10mg/kg body weight in group A, while the chickens in group B were perfused with saline as a control. Histopathological observations, serum biochemical examinations, and quantitative real-time polymerase chain reaction were performed to assess the liver injury induced by DFS. Proteomics analysis of the liver samples was conducted using isobaric tags for relative and absolute quantification (iTRAQ) technology. Results: Ultimately, 201 differentially expressed proteins (DEPs) were obtained, of which 47 were up regulated, and 154 were down regulated. The Gene Ontology classification and Kyoto Encyclopedia of Genes and Genomes pathway analysis were conducted to screen target DEPs associated with DFS hepatotoxicity. The regulatory relationships between DEPs and signaling pathways were embodied via a protein-protein interaction network. The results showed that the DEPs enriched in multiple pathways, which might be related to the hepatotoxicity of DFS, were "protein processing in endoplasmic reticulum," "retinol metabolism," and "glycine, serine, and threonine metabolism." Conclusions: The hepatotoxicity of DFS on broiler chickens might be achieved by inducing the apoptosis of hepatocytes and affecting the metabolism of retinol and purine. The present study could provide molecular insights into the hepatotoxicity of DFS on broiler chickens.
Zhuhong Ding,Bin Gao,Yongshang Wan,Xinhua Zhu,Shengsen Wang,Andrew R. Zimmerman 한국공업화학회 2016 Journal of Industrial and Engineering Chemistry Vol.37 No.-
Hickory biochars were obtained through slow pyrolysis under 350 8C, 450 8C, and 600 8C. Multiplecharacterization techniques were used to characterize the biochars and showed pyrolysis temperatureaffected their O/C ratios, surface areas, cation-exchange capacities, zeta potential, surface acidic groups. As the result, the biochars showed different adsorption ability to Pb(II) and methylene blue in aqueoussolutions, which was due to the important roles of the physicochemical properties of the biochars incontrolling the sorption processes. This work provided a comprehensive evaluation of biochars, and thusexpanded on previous research on effects of pyrolysis temperature on biochar properties.
Chuanxi Sun,Tianyi Zhu,Yuwei Zhu,Bing Li,Jiaming Zhang,Yixin Liu,Changning Juan,Shifa Yang,Zengcheng Zhao,Renzhong Wan,Shuqian Lin,Bin Yin 대한수의학회 2022 Journal of Veterinary Science Vol.23 No.4
Background: At the therapeutic doses, diclofenac sodium (DFS) has few toxic side effects on mammals. On the other hand, DFS exhibits potent toxicity against birds and the mechanisms remain ambiguous. Objectives: This paper was designed to probe the toxicity of DFS exposure on the hepatic proteome of broiler chickens. Methods: Twenty 30-day-old broiler chickens were randomized evenly into two groups (n = 10). DFS was administered orally at 10 mg/kg body weight in group A, while the chickens in group B were perfused with saline as a control. Histopathological observations, serum biochemical examinations, and quantitative real-time polymerase chain reaction were performed to assess the liver injury induced by DFS. Proteomics analysis of the liver samples was conducted using isobaric tags for relative and absolute quantification (iTRAQ) technology. Results: Ultimately, 201 differentially expressed proteins (DEPs) were obtained, of which 47 were up regulated, and 154 were down regulated. The Gene Ontology classification and Kyoto Encyclopedia of Genes and Genomes pathway analysis were conducted to screen target DEPs associated with DFS hepatotoxicity. The regulatory relationships between DEPs and signaling pathways were embodied via a protein-protein interaction network. The results showed that the DEPs enriched in multiple pathways, which might be related to the hepatotoxicity of DFS, were “protein processing in endoplasmic reticulum,” “retinol metabolism,” and “glycine, serine, and threonine metabolism.” Conclusions: The hepatotoxicity of DFS on broiler chickens might be achieved by inducing the apoptosis of hepatocytes and affecting the metabolism of retinol and purine. The present study could provide molecular insights into the hepatotoxicity of DFS on broiler chickens.
The Interactive Modeling Method of Virtual City Scene Based on Building Codes
( Wei-long Ding ),( Xiao-jie Zhu ),( Bin Xu ),( Yan Xu ),( Kai Chen ),( Zang-xin Wan ) 한국인터넷정보학회 2021 KSII Transactions on Internet and Information Syst Vol.15 No.1
For higher-level requirements of urban planning and management and the recent development of "digital earth" and "digital city", it is urgent to establish protocols for the construction of three-dimensional digital city models. However, some problems still exist in the digital technology of the three-dimensional city model, such as insufficient precision of the three-dimensional model, not optimizing the scene and not considering the constraints of building codes. In view of those points, a method to interactively simulate a virtual city scene based on building codes is proposed in this paper. Firstly, some constraint functions are set up to restrict the models to adhere to the building codes, and an improved directional bounding box technique is utilized to solve the problem that geometric objects may intersect in a virtual city scene. The three-dimensional model invocation strategy is designed to convert two-dimensional layouts to a three-dimensional urban scene. A Leap Motion hardware device is used to interactively place the 3D models in a virtual scene. Finally, the design and construction of the three-dimensional scene are completed by using Unity3D. The experiment shows that this method can simulate urban virtual scenes that strictly adhere to building codes in a virtual scene of the city environment, but also provide information and decision-making functions for urban planning and management.
( Gao Rui Fang ),( Xu Feng Yuan ),( Jia Jia Li ),( Xiao Fen Wang ),( Xu Cheng ),( Wan Bin Zhu ),( Zong Jun Cui ) 한국미생물 · 생명공학회 2012 Journal of microbiology and biotechnology Vol.22 No.8
A novel two-phase anaerobic treatment technology was developed to treat high-concentration organic cassava bioethanol wastewater. The start-up process and contribution of organics (COD, total nitrogen, and NH4+-N) removal in spatial succession of the whole process and spatial microbial diversity changing when sampling were analyzed. The results of the start-up phase showed that the organic loading rate could reach up to 10 kg COD/m3d, with the COD removal rate remaining over 90% after 25 days. The sample results indicated that the contribution of COD removal in the pre-anaerobic and anaerobic phases was 40% and 60%, respectively, with the highest efficiency of 98.5%; TN and NH4+-N had decreased to 0.05 g/l and 0.90 g/l, respectively, and the mineralization rate of total nitrogen was 94.8%, 76.56% of which was attributed to the anaerobic part. The microbial diversity changed remarkably among different sample points depending on the physiological characteristics of identified strains. Moraxellaceae, Planococcaceae, and Prevotellaceae were dominant in the pre-anaerobic phase and Bacteroidetes, Campylobacterales, Acinetobacter, Lactobacillus, Clostridium, and Bacillus for the anaerobic phase. Methanosarcinaceae and Methanosaeta were the two main phylotypes in the anaerobic reactor.