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Circular Formation Control of Car-like Robots with Local Position Measurements
Ran Wang,Weiguo Xia,Xi-Ming Sun 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
This paper investigates the circular formation control problem of car-like robots with limited sensing range. A path following strategy is proposed to drive the robots to the target circle by controlling the steering velocity. The forward speed controller is designed using the relative position measurements of neighboring robots to guarantee collision avoidance, and finally makes the robots realize a desired spacing configuration. Simulations on enclosing a static target and a moving target with circular formation are both given to validate our results.
Ran An,Shuai Wen,Dong-Li Li,Qiu-Hua Li,Xing-Fei Lai,Wen-Ji Zhang,Ruo-Hong Chen,Jun-Xi Cao,Zhi-Gang Li,Qiu-Sheng Huang,Ling-Li Sun,Shi-Li Sun 한국식품영양과학회 2020 Journal of medicinal food Vol.23 No.9
Tea and citrus maxima are natural, medicinal homologous plants, typically used for making beverages, which have anticancer, antiobesity, and antioxidation properties. Green tea, yellow tea, and black tea were combined with citrus maxima to obtain green tea and Citrus maxima (GTCM), yellow tea and Citrus maxima (YTCM), and black tea and Citrus maxima (BTCM). The biochemical components of these mixtures were analyzed, and their possible effects and mechanisms on relieving liver lipid deposition were explored. The tea polyphenols, free amino acids, phenolamine ratio, and caffeine were comparable in YTCM and GTCM, being significantly higher than those in BTCM. In addition, the content of esterified catechins, nonesterified catechins, and total catechins in YTCM was significantly higher than those in GTCM and BTCM. All three mixtures of Citrus maxima tea significantly reduced lipid deposition in HepG2 cells, with GTCM and YTCM being slightly more effective than BTCM. Regarding the possible mechanism, Western blot analysis revealed that the three Citrus maxima tea mixtures could activate the AMPK/ACC signaling pathway, upregulate the expression of p-AMPK, p-ACC, and CPT-1 proteins, and downregulate the expression of SREBP1c and fatty acid synthase proteins to inhibit fat synthesis, thereby relieving lipid deposition in liver cells. In conclusion, as a novel and healthy beverage, Citrus maxima tea has the potential to alleviate liver lipid deposition, and further could be responsible for obesity treatment.
Ran Chu,Penglin Liu,Jingying Chen,Xiaodong Cheng,Kezhen Li,Yanci Che,Jianliu Wang,Li Li,Xi Zhang,Shu Yao,Li Song,Ying Zhao,Changzhen Huang,Ying Xue,Xiyu Pan,Junting Li,Zhongshao Chen,Jie Jiang,Beihua 대한부인종양학회 2023 Journal of Gynecologic Oncology Vol.34 No.2
Objective: To evaluate the impact of bleomycin/etoposide/cisplatin (BEP) and paclitaxel/carboplatin (PC) chemotherapy regimens on the fertility and prognostic outcomes in malignant ovarian germ cell tumor (MOGCT) patients who underwent fertility-sparing surgery (FSS). Methods: A propensity score matching algorithm was performed between the BEP and PC groups. The χ2 test and the Kaplan-Meier method were used to compare the fertility outcome, disease-free survival (DFS) and overall survival (OS). The Cox proportional hazards regression analysis was used to identify risk factor of DFS. Results: We included 213 patients, 185 (86.9%) underwent BEP chemotherapy, and 28 (13.1%) underwent PC chemotherapy. The median age was 22 years (range, 8–44 years), and the median follow-up period was 63 months (range, 2–191 months). Fifty-one (29.3%) patients had a pregnancy plan, and 35 (85.4%) delivered successfully. In the before and after propensity score matching cohorts, there were no significant differences in spontaneous abortion, selective termination of pregnancy, during-pregnancy status, and live birth between the BEP and PC groups (p>0.05). Fourteen (6.6%) patients experienced recurrence, including 11 (5.9%) in the BEP group and 3 (10.7%) in the PC group. Four (1.9%) patients in the BEP group died. Kaplan-Meier analysis revealed no significant differences in DFS (p=0.328) and OS (p=0.446) between the BEP and PC groups, and the same survival results were observed in the after matching cohort. Conclusion: The PC regimen is as safe as the BEP regimen for MOGCT patients with fertility preservation treatment, and no differences were observed in fertility and clinical prognosis.
Acupuncture and Moxibustion for Cancer-related Fatigue: a Systematic Review and Meta-analysis
He, Xi-Ran,Wang, Quan,Li, Ping-Ping Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.5
Background: Faced with highly prevalent and recalcitrant cancer-related fatigue (CRF), together with the absence of any official guidelines on management, numerous groups have been striving to seek and test alternative therapies including acupuncture and moxibustion. However, different patients have various feedbacks, and the many clinical trials have given rise to varied conclusions. In terms of the therapeutic effect of acupuncture and moxibustion, there exist vast inconsistencies. Objective: The aim of the study was to evaluate the auxiliary effectiveness of acupuncture and moxibustion in the treatment of CRF, and to provide more reliable evidence to guide clinical practice. Methods: Randomized controlled trials (RCTs) published before December 2012 were all aggregated, focusing on evaluation of acupuncture or moxibustion for CRF. The quality of the included studies was assessed basing on Cochrane handbook 5.1.0, and the available data were analyzed with RevMan software (version 5.2.0). Descriptive techniques were performed when no available data could be used. Results: A total of 7 studies involving 804 participants were eligible. With real acupuncture versus sham acupuncture, subjects receiving true acupuncture benefited more in the reduction of fatigue. With real acupuncture versus acupressure or sham acupressure, fatigue level appeared 36% improved in the acupuncture group, but 19% in the acupressure group and only 0.6% with sham acupressure. When real acupuncture plus enhanced routine care was compared with enhanced routine care, the combination group improved mean scores for general fatigue, together with physical and mental fatigue. With real acupuncture versus sham acupuncture or wait list controls, the real acupuncture group displayed significant advantages over the wait list controls at 2 weeks for fatigue improvement and better well-being effects at 6 weeks. When moxibustion plus routine care was compared with routine care alone, the meta-analyses demonstrated the combination had a relatively significant benefit in improving severe fatigue and QLQ-C30. Conclusion: Up to the search date, there exist few high quality RCTs to evaluate the effect of acupuncture and moxibustion, especially moxibustion in English. Yet acupuncture and moxibustion still appeared to be efficacious auxiliary therapeutic methods for CRF, in spite of several inherent defects of the included studies. Much more high-quality studies are urgently needed.
Guang-Xi Hu,Ran Liu,Ting-Ao Tang,Ling-Li Wang 한국물리학회 2008 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.52 No.6
Analytic solutions for the surrounding-gate (SG) metal-oxide-semiconductor field-effect transistor (MOSFET) are obtained by solving Poisson's equation. The analytic expressions for the electric potential and the threshold voltage are obtained by taking into account the short-channel effects. Our analytic results fit with other numerical and simulated results quite well. The analytic expressions will be of great help in ultralarge-scale integrated-circuit (ULSI) design. Analytic solutions for the surrounding-gate (SG) metal-oxide-semiconductor field-effect transistor (MOSFET) are obtained by solving Poisson's equation. The analytic expressions for the electric potential and the threshold voltage are obtained by taking into account the short-channel effects. Our analytic results fit with other numerical and simulated results quite well. The analytic expressions will be of great help in ultralarge-scale integrated-circuit (ULSI) design.
Comparison of carcass and meat quality traits between lean and fat Pekin ducks
Ding, Si-Ran,Li, Guang-Sheng,Chen, Si-Rui,Zhu, Feng,Hao, Jin-Ping,Yang, Fang-Xi,Hou, Zhuo-Cheng Asian Australasian Association of Animal Productio 2021 Animal Bioscience Vol.34 No.7
Objective: According to market demand, meat duck breeding mainly includes 2 breeding directions: lean Pekin duck (LPD) and fat Pekin duck (FPD). The aim of the present study was to compare carcass and meat quality traits between 2 strains, and to provide basic data for guidelines of processing and meat quality improvement. Methods: A total of 62 female Pekin ducks (32 LPDs and 30 FPDs) were slaughtered at the age of 42 days. The live body weight and carcass traits were measured and calculated. Physical properties of breast muscle were determined by texture analyzer and muscle fibers were measured by paraffin sections. The content of inosine monophosphate (IMP), intramuscular fat (IMF) and fatty acids composition were measured by high-performance liquid chromatography, Soxhlet extraction method and automated gas chromatography respectively. Results: The results showed that the bodyweight of LPDs was higher than that of FPDs. FPDs were significantly higher than LPDs in subcutaneous fat thickness, subcutaneous fat weight, subcutaneous fat percentage, abdominal fat percentage and abdominal fat shear force (p<0.01). LPDs were significantly higher than FPDs in breast muscle thickness, breast muscle weight, breast muscle rate and breast muscle shear force (p<0.01). The muscle fiber average area and fiber diameter of LPDs were significantly higher than those of FPDs (p<0.01). The muscle fiber density of LPDs was significantly lower than that of FPDs (p<0.01). The IMF of LPDs in the breast muscle was significantly higher than that in the FPDs (p<0.01). There was no significant difference between the 2 strains in IMP content (p>0.05). The polyunsaturated fatty acid content of LPDs was significantly higher than that of FPDs (p<0.01), and FPDs had higher saturated fatty acid and monounsaturated fatty acid levels (p<0.05). Conclusion: Long-term breeding work resulted in vast differences between the two strains Pekin ducks. This study provides a reference for differences between LPD and FPD that manifest as a result of long-term selection.
Zhihao Ding,Guang-Xi Hu,Ran Liu,Ling-Li Wang,Shuyan Hu,Xing Zhou 한국물리학회 2013 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.62 No.8
Analytical models for the electric potential, threshold voltage and drain current of long-channel junctionless (JL) double-gate (DG) field-effect transistors (FET) are presented. A regional method is used to solve the Poisson equation under different gate biases, and the electric potential is obtained. With the potential model, an analytical expression for the threshold voltage is achieved. An expression for the drain current is derived from the potential model. The analytical results are compared with simulations, and excellent agreements are observed. The models accurately describe the characteristics of JLDG FETs, and they are very helpful for the design and optimization of devices.
( Liang Chen ),( Xiang Zou ),( Ran-xi Zhang ),( Chang-jun Pi ),( Nian Wu ),( Liang-jun Yin ),( Zhong-liang Deng ) 생화학분자생물학회(구 한국생화학분자생물학회) 2016 BMB Reports Vol.49 No.2
Engineered bone tissue is thought to be the ideal alternative for bone grafts in the treatment of related bone diseases. BMP9 has been demonstrated as one of the most osteogenic factors, and enhancement of BMP9-induced osteogenesis will greatly accelerate the development of bone tissue engineering. Here, we investigated the effect of insulin-like growth factor 1 (IGF1) on BMP9-induced osteogenic differentiation, and unveiled a possible molecular mechanism underling this process. We found that IGF1 and BMP9 are both detectable in mesenchymal stem cells (MSCs). Exogenous expression of IGF1 potentiates BMP9-induced alkaline phosphatase (ALP), matrix mineralization, and ectopic bone formation. Similarly, IGF1 enhances BMP9-induced endochondral ossification. Mechanistically, we found that IGF1 increases BMP9-induced activation of BMP/Smad signaling in MSCs. Our findings demonstrate that IGF1 can enhance BMP9-induced osteogenic differentiation in MSCs, and that this effect may be mediated by the enhancement of the BMP/Smad signaling transduction triggered by BMP9. [BMB Reports 2016; 49(2): 122-127]