AUTONOMOUS LAND VEHICLE PATH PLANNING USING TERRAIN DATABASE

Bin, Zhang Shi,Wei, Tang Guo,Yue, Ma,Wen, Zhang Tian,Xiong, Zhang Shi 대한전자공학회 1992 HICEC:Harbin International Conference on Electroni Vol.1 No.1

We describe a new path planning system using terrain database. The system is adapt to the navigation of autonomous land vehicle under known environment such as road network without unknown moving obstacles. We discuss the terrain database structure, terrain representation, global path planning, local path planning under the direction of global path planning.

AUTONOMOUS LAND VEHICLE PATH PLANNING USING TERRAIN DATABASE

Zhang Shi Bin,Tang Guo Wei,Ma Yue,Zhang Tian Wen,Zhang Shi Xiong 대한전자공학회 1992 대한전자공학회 Conference Vol.1992 No.2

Construction and Characterization of Vitreoscilla Hemoglobin (VHb) with Enhanced Peroxidase Activity for Efficient Degradation of Textile Dye

( Zi Dong Zhang ),( Wei Li ),( Hai Chao Li ),( Jing Zhangi ),( Yue Bin Zhang ),( Yu Feng Cao ),( Jian Zhang Ma ),( Zheng Qiang Li ) 한국미생물 · 생명공학회 2015 Journal of microbiology and biotechnology Vol.25 No.9

Pollution resulting from the discharge of textile dyes into water systems has become a major global concern. Because peroxidases are known for their ability to decolorize and detoxify textile dyes, the peroxidase activity of Vitreoscilla hemoglobin (VHb) has recently been studied. It is found that VHb and variants of this enzyme show great promise for enzymatic decolorization of dyes and may play a role in achieving their successful removal from industrial wastewater. The level of VHb peroxidase activity correlates with two amino acid residues present within the conserved distal pocket, at positions 53 and 54. In this work, sitedirected mutagenesis of these residues was performed and resulted in improved VHb peroxidase activity. The double mutant, Q53H/P54C, shows the highest dye decolorization and removal efficiency, with 70% removal efficiency within 5 min. UV spectral studies of Q53H/P54C reveals a more compact structure and an altered porphyrin environment (λSoret = 413 nm) relative to that of wild-type VHb (λSoret = 406), and differential scanning calorimetry data indicate that the VHb variant protein structure is more stable. In addition, circular dichroism spectroscopic studies indicate that this variant’s increased protein structural stability is due to an increase in helical structure, as deduced from the melting temperature, which is higher than 90°C. Therefore, the VHb variant Q53H/P54C shows promise as an excellent peroxidase, with excellent dye decolorization activity and a more stable structure than wild-type VHb under high-temperature conditions.

Relationships of uPA and VEGF Expression in Esophageal Cancer and Microvascular Density with Tumorous Invasion and Metastasis

Jiang, Jian-Tao,Zhang, Lan-Fang,Zhou, Bin,Zhang, Shun-Qun,Li, Shao-Min,Zhang, Wei,Zhang, Jin,Qiao, Zhe,Kong, Ran-Ran,Ma, Yue-Feng,Chen, Sheng Asian Pacific Journal of Cancer Prevention 2012 Asian Pacific journal of cancer prevention Vol.13 No.7

Objective: To investigate uPA and VEGF expression in esophageal cancer and relations with tumorous invasion and metastasis. Methods: Immunohistochemistry was used to detect uPA and VEGF expression in the normal epithelial tissue of esophageal mucosa and cancer tissue and detect CD34 labeled micrangium and analyze the relationships with clinical pathological features and tumor angiogenesis. Results: Positive rates for uPA and VEGF protein expression were significantly greater in esophageal cancer than normal epithelial tissue (P < 0.05), the two being linked (P <0.05). In addition, uPA and VEGF protein expression of the high microvessel density (MVD) group was significantly lower than in the low MVD group (P < 0.05), with relation to clinical pathological staging, differentiation and lymph node metastasis (P < 0.05). Conclusion: In esophageal cancer tissue, uPA and VEGF proteins are overexpressed and promote tumor angiogenesis, indicative of a poor prognosis.

Chinese herbal medicine for drug-induced liver injury in patients with HIV/AIDS: A systematic review of randomized controlled trials

Zhang Xiao-wen,Li Jing,Hou Wen-Bin,Jiang Yue,Zheng Ruo-Xiang,Xu De-hao,Shen Chen,Robinson Nicola,Liu Jian-Ping 한국한의학연구원 2023 Integrative Medicine Research Vol.12 No.1

Background: To explore the effectiveness and safety of Chinese herbal medicine (CHM) for drug-induced liver injury (DILI) in patients with human immunodeficiency virus (HIV)/acquired immunodeficiency syn- drome (AIDS). Methods: A systematic search was made of eight databases (Pubmed, Cochrane Library, Web of Science, Embase, CNKI, Wanfang, VIP, Sinomed) and two trial registries (WHO ICTRP, ClinicalTrials.gov) from in- ception to September 2022. The effect size was presented as risk ratio (RR) or mean difference (MD) with their 95% confidence interval (CI). The Cochrane Risk of Bias and Grading of Recommendations, Assess- ment, Development and Evaluations (GRADE) tools were used for quality appraisal. Results: Ten randomized controlled trials (RCTs) involving 732 participants were included. Comparing CHM alone with routine treatment, the CHM group showed lower aspartate aminotransferase (MD = -11.47 U/L, 95%CI[-13.05, -9.89], low certainty), lower alanine aminotransferase (MD = -2.68 U/L, 95%CI[-4.27, - 1.08], low certainty), lower total bilirubin (MD = -4.31 mmol/L, 95%CI[-5.66, -2.96], low certainty), lower bilirubin direct (MD = -3.19 mmol/L, 95%CI[-3.87, -2.51], low certainty), and higher effective rate (assessed by symptoms and liver indicators) (RR = 1.13, 95%CI[1.06, 1.20], low certainty). A significant difference was also found in CHM plus routine treatment versus routine treatment in the previous outcomes. No signif- icant difference was found on helper T cells among these comparisons. Only one RCT reported safety of CHM and found no adverse reaction during the trial. Conclusions: CHM may improve the liver function indices and effective rate for HIV/AIDS patients with DILI. However, the sample size was small and quality was low. Larger-samples of high-quality trials are needed.

Laparoscopic left hepatectomy in swine: a safe and feasible technique

Hua Zhang,Tao Liu,Yue Wang,Hai-feng Liu,Jian-tao Zhang,Yan-shuang Wu,Lei Lei,Hong-bin Wang 대한수의학회 2014 JOURNAL OF VETERINARY SCIENCE Vol.15 No.3

A purely laparoscopic four-port approach was created forleft hepatectomy in pigs. A polyethylene loop was placed onthe left two hepatic lobes for traction and lift. Next,penetrating ligation of the lobes using of a double row of silksutures was performed to control bleeding. A direct hepatictransection was completed using a monopolar hook electrodewithout meticulous dissection of the left hepatic vein. Theraw surface of the liver was coagulated and sealed with fibringlue. Lobes were retrieved through an enlarged portal. Laparoscopic hepatic lobectomy was completed in all pigswithout the use of specialized instruments and with a meanoperative time of 179 ± 9 min. No significant perioperativecomplications were observed. The average weight of eachresected lobe was 180 ± 51 g. Complete blood count as well asserum organics and enzyme levels normalized after about 2weeks. During necropsy, adhesion of the hepatic raw surfaceto the gastric wall and omentum were observed. No otherabnormalities were identified. This minimally invasive lefthepatectomy technique in swine could serve as a usefulmodel for investigating liver diseases and regeneration, andoffer preclinical information to improve hepatobiliary surgical procedures.

Research on Friction Characteristics of AlCrN and TiAlSiN Coatings and Properties of Coated Tools

Qi-Bin Yue,Hui-Bo He,Hua-Ying Li,Jun Zhang,Yuan-ming Li,Lu Ma 한국정밀공학회 2019 International Journal of Precision Engineering and Vol.20 No.9

AlCrN and TiAlSiN coatings were deposited on the surface of 30CrMnSi steel and cemented carbide YT15 by multi-arc ion plating technique. A scanning electron microscopy was used to observe the surface morphologies of both coatings. The reciprocating sliding tests of AlCrN and TiAlSiN coating were performed to investigate the friction coefficients and the wear mechanisms of both coatings were analyzed as well. Dry machining tests on 30CrMnSi hardened steel were carried out with the AlCrN and TiAlSiN coated tools on a CA6140A lathe. The effects of cutting speed on cutting forces and cutting temperatures of AlCrN and TiAlSiN coated tools were obtained and analyzed. The microcosmic micrographs of wear areas of both coated tools were observed and investigated by scanning electron microscope and energy dispersive spectrum. The results show that the hardness and bonding strength of AlCrN coating are higher than that of TiAlSiN coating, while the friction coefficient of AlCrN coating is lower than that of TiAlSiN coating. Both the cutting force and cutting temperature of AlCrN coated tool are lower than TiAlSiN coated tool. The time required for the bluntness of the AlCrN coated tool is approximately 33.3% longer than that of the TiAlSiN coated tool, and the main wear mechanisms of both tools are mainly crater wear, diffusion wear and oxidation wear.

A Whole-Tumor Histogram Analysis of Apparent Diffusion Coefficient Maps for Differentiating Thymic Carcinoma from Lymphoma

Wei Zhang,Yue Zhou,Xiao-Quan Xu,Ling-Yan Kong,Hai Xu,Tong-Fu Yu,Hai-Bin Shi,Qing Feng 대한영상의학회 2018 Korean Journal of Radiology Vol.19 No.2

Objective: To assess the performance of a whole-tumor histogram analysis of apparent diffusion coefficient (ADC) maps in differentiating thymic carcinoma from lymphoma, and compare it with that of a commonly used hot-spot region-of-interest (ROI)-based ADC measurement. Materials and Methods: Diffusion weighted imaging data of 15 patients with thymic carcinoma and 13 patients with lymphoma were retrospectively collected and processed with a mono-exponential model. ADC measurements were performed by using a histogram-based and hot-spot-ROI-based approach. In the histogram-based approach, the following parameters were generated: mean ADC (ADCmean), median ADC (ADCmedian), 10th and 90th percentile of ADC (ADC10 and ADC90), kurtosis, and skewness. The difference in ADCs between thymic carcinoma and lymphoma was compared using a t test. Receiver operating characteristic analyses were conducted to determine and compare the differentiating performance of ADCs. Results: Lymphoma demonstrated significantly lower ADCmean, ADCmedian, ADC10, ADC90, and hot-spot-ROI-based mean ADC than those found in thymic carcinoma (all p values < 0.05). There were no differences found in the kurtosis (p = 0.412) and skewness (p = 0.273). The ADC10 demonstrated optimal differentiating performance (cut-off value, 0.403 x 10-3 mm2/s; area under the receiver operating characteristic curve [AUC], 0.977; sensitivity, 92.3%; specificity, 93.3%), followed by the ADCmean, ADCmedian, ADC90, and hot-spot-ROI-based mean ADC. The AUC of ADC10 was significantly higher than that of the hot spot ROI based ADC (0.977 vs. 0.797, p = 0.036). Conclusion: Compared with the commonly used hot spot ROI based ADC measurement, a histogram analysis of ADC maps can improve the differentiating performance between thymic carcinoma and lymphoma.

Preparation of Carbon Nanotubes/Polyurethane Hybrids as a Synergistic Absorbent for Efficient Oil/Water Separation

Tao Zhang,Bin Gu,Fengxian Qiu,Xiaoming Peng,Xuejie Yue,Dongya Yang 한국섬유공학회 2018 Fibers and polymers Vol.19 No.10

Polyurethane (PU) hybrid materials have attracted a great deal of attention as oil-absorbents in oil/water separation because they combine the surface properties of nanomaterials and the excellent absorption properties of PU. Herein, we report a facile two-step process to synthesize the oil-absorbing hybrid materials by integrating carbon nanotubes (CNTs) into porous PU foam architectures. First, the multi-walled carbon nanotubes (MWCNTs) were modified by oxidation in binary H2SO4-HNO3 mixed acid, followed by grafting the silane coupling agent (KH 570) on the on surfaces of MWCNTs. Then, the MWCNTs/PU hybrid materials were synthesized using isocyanate and polyether polyol as monomers for polymerization and surface modified MWCNTs as inorganic components. The physical and chemical properties of hybrid materials were validated by XRD, TEM, SEM, N2 sorption and contact angle analysis. The surface grafted MWCNTs possess superhydrophobic properties with the maximum water contact angle of 153 o. The SEM results indicate that the WCNTs/PU hybrid materials consisted of spherical structures with microscale holes, which can separate oils from oil/water mixtures with high absorption properties and high selectivity. Effects of the various MWCNTs contents on the oil absorption behavior of the WCNTs/PU hybrid materials were investigated. The results show that the modified MWCNTs significantly improves the oil absorption properties with the optimal MWCNTs content of 3 %. By combining the structural features of WCNTs and PU foams, the hybrid materials not only exhibit excellent absorption properties for various types of oils and organic solvents, but also show excellent oil recoverability and absorbent regenerability. The as-synthesized WCNTs/PU hybrid have significant potential as oil absorbents for efficient separation of oils and organic solvents from water.

Synthesis of Trilaminar Core–Shell Au/α-Fe2O3@SnO2 Nanocomposites and their Application for Nonenzymatic Dopamine Electrochemical Sensing

Sai Zhang,Shijun Yue,Jiajia Li,Jian-Bin Zheng,Guojie Gao 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2019 NANO Vol.14 No.11

Au nanoparticles anchored on core–shell α-Fe2O3@SnO2 nanospindles were successfully constructed through hydrothermal synthesis process and used for fabricating a novel nonenzymatic dopamine (DA) sensor. The structure and morphology of the Au/α-Fe2O3@SnO2 trilaminar nanohybrid film were characterized by scanning electron microscopy (SEM), energy-dispersive X-ray spectroscopy (EDS), transmission electron microscopy (TEM) and X-ray diffraction (XRD). The electrochemical properties of the sensor were investigated by cyclic voltammetry and amperometry. The experimental results suggest that the composites have excellent catalytic property toward DA with a wide linear range from 0.5 μM to 0.47 mM, a low detection limit of 0.17 μM (S/N = 3) and high sensitivity of 397.1 μA mM -1 cm -2. In addition, the sensor exhibits long-term stability, good reproducibility and anti-interference.