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.

Study on Anti-Proliferative Activity in Cancer Cells and Preliminary Structure–Activity Relationship of Pseudo-Peptide Chiral Thioureas

Peng Liao,Shi-Qin Hu,Hong Zhang,Liang-Bi Xu,Jing-Zi Liu,Bin He,Shang-Gao Liao,Yong-Jun Li 대한화학회 2018 Bulletin of the Korean Chemical Society Vol.39 No.3

In our previous studies, we have shown that thiourea compounds containing phosphate esters have potent antitumor activity and can be used as a novel strategy for the development of antitumor agents. Herein, a series of novel phosphonate thioureas 5–38 have been synthesized, which were fully characterized by 1H NMR, 13C NMR spectrum, elemental analysis. Three human cancer cell lines (Bcap-37, BGC-823, and PC-3) have been used to investigate these compounds’ antitumor activities. After the summarization of the structure–activity relationships, we found that the variation of R, R1, and R2 in these novel phosphonate thioureas contribute to the antitumor activities. All these SAR-guided efforts may lead to novel antitumor drugs in the market in the near future.

A taxonomic revision of the genus Mesa Saussure, 1892 from China, with a key to the Oriental species (Hymenoptera: Tiphiidae: Myzininae)

Liao Xiang-Ping,Chen Bin,Li Ting-Jing 한국응용곤충학회 2021 Journal of Asia-Pacific Entomology Vol.24 No.4

In this study, a total of eight fossorial aculeate wasps of the tiphiid genus Mesa Saussure, 1892 from China are revised, including two new species, viz., Mesa hongchibaensis sp. nov., and Mesa glaber sp. nov.. The following species Mesa dimidiata (Guérin-Méneville, 1837) and Mesa nursei (Turner, 1909) are newly recorded from China. The male specimen of Mesa formosensis Tsuneki (1986) is firstly found. In addition, an updated key to the Ori ental species of the genus is provided.

Comparative transcriptome analyses provide insights into the adaptation mechanisms to acute salt stresses in juvenile Sinonovacula constricta

Bin Ma,Zhaoshou Ran,Xiaorong Xu,Jilin Xu,Kai Liao,Jiayi Cao,Xiaojun Yan 한국유전학회 2019 Genes & Genomics Vol.41 No.5

Background Sinonovacula constricta is an economically important bivalve species in China, Korea and Japan that widely resides in estuarine and coastal areas where salinity fluctuates rapidly. However, little is known about its adaptation mechanisms to acute salt stresses. Objective To reveal the underlying molecular mechanisms involved in acute salt stresses in juvenile S. constricta. Methods Nine cDNA libraries (triplicate each trial) were established from juvenile S. constricta, which were subjected to low salinity (5 psu), optimal salinity (15 psu) and high salinity (25 psu) for 6 h, respectively. Results Illumina sequencing generated 478,587,310 clean reads totally, which were assembled into 427,057 transcripts of 246,672 unigenes. Compared with the control, 1259 and 2163 differentially expressed genes (DEGs) were identified under acute low and high salt stresses, respectively. GO and KEGG enrichment analyses of DEGs revealed that several key metabolic modulations were mainly responsible for the acute salt stresses. According to the significantly highlighted KEGG pathways, some key DEGs were identified and discussed in details. Notably, based on which, some potential osmolytes were further speculated. Conclusion Here, we carried out a unique report of comparative transcriptome analyses in juvenile S. constricta in response to acute salt stresses. The identified DEGs and their significantly enriched GO terms and KEGG pathways were critical for understanding and further investigating the underlying the physical and biochemical performances, and ultimately facilitated S. constricta breeding. Besides, the transcriptome data greatly enriched the genetic information of S. constricta, which were valuable for promoting its molecular biology researches.

Effect of Heat Treatment on the Microstructure and Properties of High Strain Rate Rolled 7050 Aluminum Alloy

Yang Liao,Hongge Yan,Weijun Xia,Jihua Chen,Bin Su,Xinyu Li,Lu Zhao 대한금속·재료학회 2022 METALS AND MATERIALS International Vol.28 No.4

High strain rate rolling (HSRR) is developed to improve the strength, plasticity and stress corrosion resistance of 7050 aluminumalloy simultaneously. The volume fraction of the small-angle grain boundary in the HSRRed alloy sheet is 89.9%. TEM shows that the presence of dislocations and sub-grains promotes the precipitation of the second phase. The alloy inthe T6 state has the highest strength (622 MPa) and the biggest elongation to rupture (20.6%), but poor corrosion resistance. The over-aged state shows the best corrosion resistance. The RRA state can achieve the tensile strength equivalent to T6 of614 MPa, the highest yield strength of 561 MPa and corrosion resistance comparable to the over-aged state. TEM observationshows the existence of sub-grains and dislocations plays an important role in the nucleation of the second phase. Thehigh strength can be attributed to the higher volume fraction of the precipitates, and the high plasticity can be attributed tothe higher work hardening rate. The better corrosion resistance can be ascribe to the wider precipitate-free zones at the grainboundary and the presence of the larger size second phase particles.

Failure Mode, Effects and Criticality Analysis of Remanufactured Machine Tools in Service

Yan-bin Du,Lan Liao,Le-su Wang 한국정밀공학회 2017 International Journal of Precision Engineering and Vol.18 No.3

Failure Mode, Effects and Criticality Analysis (FMECA) of remanufactured machine tools is one of the key issues for improving their quality and reliability. According to the characteristics of remanufactured machine tools and the basic principle of FMECA, the method of failure mode analysis for remanufactured machine tools in service is proposed, with the FMECA procedure being expounded in detail. In addition, failure criticality of each failure mode for remanufactured machine tools is analyzed by risk priority number (RPN) method. Finally, the method is demonstrated in a case study of remanufactured YX3120 gear hobbing machine. The results from the case study are discussed and conclusions are drawn.

NEDD4L suppresses PD-L1 expression and enhances anti-tumor immune response in A549 cells

Zhong Bin,Zheng Jie,Wen Huilan,Liao Xinhui,Chen Xingxiang,Rao Yunwei,Yuan Ping 한국유전학회 2022 Genes & Genomics Vol.44 No.9

Background: Non-small cell lung cancer (NSCLC) poses a salient threat to public health. E3 ubiquitin ligase commonly functions as an anti-tumor role. Objective: This study probed the effect of E3 ligase NEDD4L on A549 cells. Methods: NEDD4L expression in NSCLC and its correlation with NSCLC patient's prognosis were predicted and verified. PD-L1 protein level was measured, and the correlation between NEDD4L and PD-L1 was analyzed. The effects of NEDD4L overexpression on the binding of NEDD4L to PD-L1 and ubiquitination level of PD-L1 were examined. Xenograft tumor model was established in mice. The volume and weight of xenograft tumors were recorded. The proportion of CD8+ T cells and contents of IL-2 and INF-γ were detected. Results: NEDD4L expression was downregulated in NSCLC tissues and A549 cells, and correlated with poor prognosis of NSCLC patients. PD-L1 was upregulated in NSCLC and negatively correlated with NEDD4L. Overexpression of NEDD4L upregulated ubiquitination level of PD-L1 and reduced protein level of PD-L1. Overexpression of NEDD4L decreased tumor volume and weight and enhanced proportion of CD8+ T cells and contents of IL-2 and INF-γ. Conclusions: Collectively, overexpression of NEDD4L suppressed PD-L1 protein level through ubiquitination, thereby enhancing anti-tumor immune response and retarding NSCLC progression.

Distribution Characteristics of 3,369 Chinese Colorectal Cancer Patients for Gender, Age, Location and Tumor Size During Colonoscopy

Cai, Bin,Wang, Mu-Yong,Liao, Kai,Xu, Yan-Song,Wei, Wei-Yuan,Zhuang, Yuan,Zhang, Sen Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.20

Background: Studies have shown the existence of gender- and age-related differences in the incidence and anatomic distribution of colorectal cancers. The purposes of this study were to analyze the distribution characteristics of colorectal cancer patients regarding gender, age, location and tumor size in the course of colonoscopy. Materials and Methods: All colorectal cancer patients who underwent colonoscopy in the First Affiliated Hospital of Guangxi Medical University from 2003 to 2012 were included in our retrospective study. Demographic information (age and gender) and colonoscopy report information (tumor size and location) were collected and analyzed. To compare the gender differences in tumor location and tumor size, as well as the size differences in tumor location, the chi-square test was used. Results: A total of 3, 369 colorectal cancer patients (2, 007 men vs 1, 362 women) were included in our study. Statistical analysis showed there was no gender difference in the anatomic distribution of the tumors (p>0.05). However, there was a gender difference in tumor size (p<0.05). In addition, our study found there was a significant difference in tumor size between rectal and colon tumors (p<0.001). Conclusions: There was no gender difference in the anatomic distribution of colorectal tumors. In addition, tumors observed in men were larger than in women.

Effect of Exogenous Nitric Oxide on Vegetative and Reproductive Growth of Oriental Lily ‘Siberia’

Meng Wang,Bin Li,Yong-Chao Zhu,Li-Juan Niu,Xin Jin,Qing-Qing Xu,Wei-Biao Liao 한국원예학회 2015 Horticulture, Environment, and Biotechnology Vol.56 No.5

Recent studies have shown that nitric oxide (NO) may be involved in diverse plant developmental processes as an important signal molecule. However, the effects of NO on vegetative and reproductive growth of intact plants are not fully understood. In our study, the NO donor sodium nitroprusside (SNP) at 3,000, 6,000 and 9,000 μM was used to characterize the roles of NO in vegetative and reproductive growth of “Siberia” lily. The results showed that the effects of NO on growth in “Siberia” lily were dose-dependent. Compared with the control (distilled water treatment), 3,000 μM SNP caused a significant increase in plant height and internode length. Significant differences were recorded in flowering period, lifetime of individual flowers, number of flowers per plant, flower diameter, and bud length with 6,000 μM SNP. However, 9,000 μM SNP resulted in negative effects on these parameters as compared to the control. Moreover, 3,000 μM SNP caused a significant increase in the contents of leaf chlorophyll, water soluble carbohydrate (WSC), starch, total carbohydrate, total soluble protein, and total nitrogen, all of which were decreased by high levels of SNP (9,000 μM). Together, these results indicated that NO treatments at the proper dosage can promote vegetative and reproductive growth, possibly by improving the levels of leaf chlorophyll, WSC, starch, total carbohydrate, total soluble protein and total nitrogen.

Stability of Hybrid Impulsive and Switching Stochastic Systems with Time-delay

Xuegang Tan,Bin Hu,Zhi-Hong Guan,Rui-Quan Liao,Jiang-Wen Xiao,Yuehua Huang 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4

This paper investigates a model of hybrid impulsive and switching stochastic systems (HISSS) with time-delay. Several stability criteria, including the globally asymptotical and exponential stability criteria in the pth moment and mean square, are established by using Itô formula, a generalized switching Lyapunov functions and some relating techniques. Especially, a more general Lyapunov-Krasivskii functional is constructed, and it is observed that the mean square asymptotic and exponential stability conditions of HISSS are delay-dependent. A numerical example shows that the obtained stability results can reduce the conservativeness.