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- 저자 : Biying Xu (검색결과 2 건)
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Motion planning of a steam generator mobile tube-inspection robot
Biying Xu,Ge Li,Kuan Zhang,Hegao Cai,Jie Zhao,Jizhuang Fan 한국원자력학회 2022 Nuclear Engineering and Technology Vol.54 No.4
Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factorin the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trendof NPP robot development. To achieve motion planning, conditional traversal is usually used for baseposition optimization, and then the A* algorithm is used for path planning. However, the proposedapproach requires considerable processing time and has a single expansion during path planning andplan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce thecalculation time and improve the efficiency of motion planning, modifications such as the matrixmethod, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-typetube arrays and experimenting with Model SG.
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Haowen Xue,Chunyi Hu,Haoyuan Ma,Yanhao Song,Kunru Zhu,Jingfeng Fu,Biying Mu,Xu Gao 대한수의학회 2023 Journal of Veterinary Science Vol.24 No.2
Background: Feline panleukopenia virus (FPV) is a widespread and highly infectious pathogen in cats with a high mortality rate. Although Yanji has a developed cat breeding industry, the variation of FPV locally is still unclear. Objectives: This study aimed to isolate and investigate the epidemiology of FPV in Yanji between 2021 and 2022. Methods: A strain of FPV was isolated from F81 cells. Cats suspected of FPV infection (n = 80) between 2021 and 2022 from Yanji were enrolled in this study. The capsid protein 2 (VP2) of FPV was amplified. It was cloned into the pMD-19T vector and transformed into a competent Escherichia coli strain. The positive colonies were analyzed via VP2 Sanger sequencing. A phylogenetic analysis based on a VP2 coding sequence was performed to identify the genetic relationships between the strains. Results: An FPV strain named YBYJ-1 was successfully isolated. The virus diameter was approximately 20–24 nm, 50% tissue culture infectious dose = 1 × 10−4.94/mL, which caused cytopathic effect in F81 cells. The epidemiological survey from 2021 to 2022 showed that 27 of the 80 samples were FPV-positive. Additionally, three strains positive for CPV-2c were unexpectedly found. Phylogenetic analysis showed that most of the 27 FPV strains belonged to the same group, and no mutations were found in the critical amino acids. Conclusions: A local FPV strain named YBYJ-1 was successfully isolated. There was no critical mutation in FPV in Yanji, but some cases with CPV-2c infected cats were identified.
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