A Novel Hybrid Control Strategy for an Underactuated 3-D Biped with Asymmetric Structure

Hai-hui Yuan,Yi-min Ge,Chun-biao Gan 대한전기학회 2019 Journal of Electrical Engineering & Technology Vol.14 No.3

In reality, due to the manufacturing error or the component loss in the service process, the structural parameters of bipedal robots may exhibit asymmetry. In this work, we consider the stable walking of an underactuated 3-D bipedal robot with asymmetric structure, and a novel hybrid control strategy is proposed. The control strategy consists of a continous heuristic motion controller, which asymptotically drive the state of the robot to the zero dynamics manifold, and an event-based feedback controller that renders the hybrid zero dynamics locally asymptotically stable. The heuristic motion controller uses heuristic state variables as controlled variables rather than simply the actuated variables, and the controller parameters of the event-based feedback controller are designed in an analytical method rather than relying on the left–right symmetry property. The eff ectiveness of the presented control strategy is illustrated by a numerical simulation example.

Pectinase and Naringinase Help to Improve Juice Production and Quality from Pummelo (Citrus grandis) Fruit

Hui Ni,Yuan Fan Yang,Feng Chen,Hai Feng Ji,Hu Yang,Wu Ling,Hui Nong Cai 한국식품과학회 2014 Food Science and Biotechnology Vol.23 No.3

Pectinase and naringinase were investigated forimproving the production of pummelo juice by increasingthe juice yield and eliminating juice bitterness. Comparedto a control, the enzymatic treatment significantly (p<0.05)increased the juice yield, soluble pectin and total solublesolid (TSS) contents, and the clarity, while decreasing theconcentrations of the bitter chemicals naringin, limonin,and nomilin. A combined processing treatment of peelingand enzymatic hydrolyses using 5U/g of pectinase and 0.4 U/gof naringinase at 50oC for 60 min resulted in a juice yieldof 42.3%, a TSS content of 11.4oBx, a titrable acidity (TA)of 0.96%, a vitamin C concentration of 38.4 mg/100 mL,and concentrations of naringin, limonin, and nomilin of42.4 μg/mL, 33.5 μg/mL, and 13.3 μg/mL, respectively. The enzymatic method was effective and practical forproduction of high quantity pummelo juice.

Diagnostic Performance of 68Gallium Labelled Prostate-Specific Membrane Antigen Positron Emission Tomography/Computed Tomography and Magnetic Resonance Imaging for Staging the Prostate Cancer with Intermediate or High Risk Prior to Radical Prostatectomy:

Hui Wu,Ting Xu,Xiao Wang,Yong-Bo Yu,Zhong-Yuan Fan,Dan-Xia Li,Lei Luo,Xue-Cheng Yang,Wei Jiao,Hai-Tao Niu 대한남성과학회 2020 The World Journal of Men's Health Vol.38 No.2

Purpose: To compare the diagnostic efficiency of 68Gallium labelled prostate-specific membrane antigen positron emission tomography (68Ga-PSMA PET) and magnetic resonance imaging (MRI) for staging the lymph node metastases (LNMs) in the prostate cancer. Materials and Methods: A broad search of scientific databases including PubMed, EMBASE, Web of Science, Cochrane Database, and Chinese Biomedicine Literature Database (updated prior to November 1st, 2018) was conducted systematically by two reviewers. In this paper, we evaluated the methodological quality of each included article independently and performed a systematic review and meta-analysis to reveal the summary of the diagnostic performance of 68Ga-PSMA PET and MRI in properly identifying LNMs of intermediate- and/or high-risk prostate cancer.Results: Thirteen eligible articles comprising 1,597 patients were included. For LNMs detection, the pooled sensitivity and specificity of 68Ga-PSMA PET were 0.65 (95% confidence interval [CI]: 0.49–0.79) and 0.94 (95% CI: 0.88–0.97), respectively, while the corresponding values of MRI were 0.41 (95% CI: 0.26–0.57) and 0.92 (95% CI: 0.86–0.95). The area under the symmetric receiver-operating characteristic (SROC) curve for 68Ga-PSMA PET and MRI were 0.92 and 0.83, respectively. Conclusions: In intermediate- or high-risk pre-treatment prostate cancer, 68Ga-PSMA PET had a higher sensitivity and a slightly different specificity in probing the LNMs when comparing with MRI. Moreover, the area under the SROC curve indicated that 68Ga-PSMA PET was a more effective weapon for predicting the LNMs prior to radical surgery.

Hydrogen-water ameliorates radiation-induced gastrointestinal toxicity via MyD88’s effects on the gut microbiota

Hui-wen Xiao,Yuan Li,Dan Luo,Jia-li Dong,Li-xin Zhou,Shu-yi Zhao,Qi-sheng Zheng,Hai-chao Wang,Ming Cui,Sai-jun Fan 생화학분자생물학회 2018 Experimental and molecular medicine Vol.50 No.-

Although radiation therapy is a cornerstone of modern management of malignancies, various side effects are inevitably linked to abdominal and pelvic cancer after radiotherapy. Radiation-mediated gastrointestinal (GI) toxicity impairs the life quality of cancer survivors and even shortens their lifespan. Hydrogen has been shown to protect against tissue injuries caused by oxidative stress and excessive inflammation, but its effect on radiation-induced intestinal injury was previously unknown. In the present study, we found that oral gavage with hydrogen-water increased the survival rate and body weight of mice exposed to total abdominal irradiation (TAI); oral gavage with hydrogen-water was also associated with an improvement in GI tract function and the epithelial integrity of the small intestine. Mechanistically, microarray analysis revealed that hydrogen-water administration upregulated miR-1968-5p levels, thus resulting in parallel downregulation of MyD88 expression in the small intestine after TAI exposure. Additionally, high-throughput sequencing showed that hydrogen-water oral gavage resulted in retention of the TAI-shifted intestinal bacterial composition in mice. Collectively, our findings suggested that hydrogen-water might be used as a potential therapeutic to alleviate intestinal injury induced by radiotherapy for abdominal and pelvic cancer in preclinical settings.

SEDs and Beaming Effect for Fermi Blazars

Jun-Hui Fan,Jiang-He Yang,Yi Liu,Yu-Hai Yuan,Cao Lin,Hu-Bing Xiao 한국우주과학회 2016 Journal of Astronomy and Space Sciences Vol.33 No.2

In this work, based on our previous calculations of spectral energy distributions for a sample of Fermi blazars (Fan et al. 2015a), we calculated the radio loudness and performed correlation analyses. Our analysis results show that radio loudness is closely anti-correlated with synchrotron peak frequency and positively correlated with gamma-ray luminosity, suggesting that the gamma-ray emissions are strongly beamed.

An Iterative Calculation Method for Internal Forces and Deformation of Curved Tunnel Lining

Lu-yuan Wu,Meng Li,Hai-bo Bai,Yong-feng Yun,Hui Li,Yi Feng 대한토목학회 2024 KSCE Journal of Civil Engineering Vol.28 No.4

The accurate prediction of lining forces and deformations is crucial for the design of arched tunnel lining. However, in traditional tunnel structural mechanics methods, the distribution shape of the surrounding rock elastic resistance (SRER), as well as the zero point and maximal point locations of SRER, are not clearly defined. In this paper, an iterative calculation method is proposed based on the gradual convergence of the unitized values of SRER and total displacement (TD) of the lining, and the one-to-one functional relationship between the two in the stability process of the surrounding rock and lining. In this method involves using the initial displacement caused by the pressure of the surrounding rock pressure is used to initiate the iterative process, and iterative calculation is carried out until the errors between the unitized value of SRER and the unitized value of TD of the lining structure meet the error requirements. This enables precise determination of the SRER and TD. In order to verify the effectiveness of the proposed method, a case study is conducted on the tunnel of Lianghe Expressway tunnel in Yunnan province, China . The results showed that when the semi-lining structure is divided into unit blocks and the average error of consistency is required to be less than 1e-3, it takes about 20 iterations are needed to meet the error requirement. Furthermore, the accuracy of the calculated results is verified through site-measuring experiments. This method provides an effective tool for failure analysis of arched tunnel lining structures.

Expression of bcl-2 and p53 in Induction of Esophageal Cancer Cell Apoptosis by ECRG2 in Combination with Cisplatin

Song, Hai-Yan,Deng, Xiao-Hui,Yuan, Guo-Yan,Hou, Xin-Fang,Zhu, Zhen-Dong,Zhou, Li,Ren, Ming-Xin Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.3

Aim: To investigate the mechanisms of induction of apoptosis of esophageal cancer cells by esophageal cancer-related gene 2 (ECRG2) in combination with cisplatin (DDP). Methods: Hoechest staining was performed to analyze the effects of single ECRG2 and ECRG2 in combination with DDP on apoptosis of EC9706 cells. The expression levels of p53 and bcl-2 mRNA and protein were determined by RT-PCR and Western blotting, respectively. Results: The number of apoptotic cells after the treatment with ECRG2 in combination with DDP for 24 hours was more than that after the treatment with single ECRG2. RT-PCR and Western blotting showed that the expression levels of bcl-2 mRNA and protein were both down-regulated, while p53 mRNA and protein were both up-regulated in the cells treated with ECRG2 in combination with DDP compared with those given ECRG2 alone. Conclusion: ECRG2 in combination with DDP can enhance the apoptosis of EC9706 cells, possibly by down-regulating bcl-2 expression and up-regulating p53.

Effects of Nutrient Levels on Cell Growth and Secondary Carotenoids Formation in the Freshwater Green Alga, Chlorococcum sp.

Liu, Bei Hui,Dao Hai Zhang,Lee, Yuan Kun 한국미생물 · 생명공학회 2000 Journal of microbiology and biotechnology Vol.10 No.2

The freshwater green alga Chlorococcum sp. grew on NH_4^+, NO_3^-, urea, yeast extract, and peptone as the nitrogen source showing similar patterns of growth and secondary carotenoid (SC) production. However, the most suitable nitrogen source for the induction of SC was urea. The effects of nutrient levels (urea, phosphate, sulfate, ferrous iron, and salt) on growth and SC production were studied by varying the concentration of each nutrient in batch cultures. High biomass production was achieved in cultures containing 20- 28mM urea, 4.8-10mM phosphate, 1.6mM sulfate, 70mM NaCl, and 20-100μM iron. The highest SC content in biomass was obtained when cultured at 5-10mM urea, 12mM phosphate, 1.6mM sulfate, 170mM NaCl, and 50μM iron. The optimum concentrations of nutrients for biomass and for the SC accumulation in biomass were evaluated and the two media for achieving high biomass production and SC production were thus developed. The extent to which each parameter to stimulate the formation of SC in the alga were varied and the potentially improved SC production by manipulating the nutrient levels in the modified media were discussed.

Single Nucleotide Polymorphisms of the GnRHR Gene Associated with Reproductive Traits of Japanese Flounder (Paralichthys olivaceus)

He, Feng,Wen, Hai-Shen,Li, Ji-Fang,Yu, Da-Hui,Ma, Rui-Qin,Shi, Dan,Mu, Wei-Jie,Zhang, Yuan-Qing,Hu, Jian,Liu, Miao,Han, Wei-Guo,Zhang, Jia-Nan,Wang, Qing-Qing,Yuan, Yu-Ren,Liu, Qun Asian Australasian Association of Animal Productio 2011 Animal Bioscience Vol.24 No.4

Gonadotropin-releasing hormone receptor (GnRHR) gene is expressed at the anterior pituitary gland and plays a key role in gonad development. This study aimed to investigate molecular genetic characteristics of the GnRHR gene and elucidate the effects of single nucleotide polymorphisms (SNPs) of GnRHR gene on sex steroid level in Japanese flounder (Paralichthys olivaceus). We used polymerase chain reaction single-strand conformation polymorphism (PCR-SSCP) and sequencing of the GnRHR gene in 75 individuals. We identified three SNPs in the GnRHR gene: P1 locus (C759A and C830T) in the coding region of exon2 which were both linked together and P2 locus (G984T) in the coding region of exon3, which added a new transcript factor (ADR1) and a new methylation site (CG). Only C830T of P1 leads to amino acid changes Thr266Ile. Statistical analysis showed that P1 was significantly associated with $17{\beta}$-estradiol ($E_2$) level (p<0.01) and gonadosomatic index (GSI) (p<0.05). Individuals with genotype BB of P1 had significantly higher serum $E_2$ levels (p<0.01) and GSI (p<0.05) than those of genotype AA or AB. Another SNP, P2, synonymous mutation, was significantly associated with GSI (p<0.05). Individuals with genotype AB of P2 had significantly higher GSI (p<0.05) than that of genotype AA. In addition, there was a significant association between one diplotype based on three SNPs and reproductive traits. The genetic effects for both serum $E_2$ level and GSI of diplotype D4 were super diplotypes (p<0.05). These results suggest that the SNPs in Japanese Flounder GnRHR are associated with $E_2$ level and GSI.

Intraperitoneal Perfusion Therapy of Endostar Combined with Platinum Chemotherapy for Malignant Serous Effusions: A Meta-analysis

Liang, Rong,Xie, Hai-Ying,Lin, Yan,Li, Qian,Yuan, Chun-Ling,Liu, Zhi-Hui,Li, Yong-Qiang Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.18

Background: Malignant serous effusions (MSE) are one complication in patients with advanced cancer. Endostar is a new anti-tumor drug targeting vessels which exerts potent inhibition of neovascularization. This study aimed to systematically evaluate the efficacy and safety of intraperitoneal perfusion therapy of Endostar combined with platinum chemotherapy for malignant serous effusions (MSE). Materials and Methods: Randomized controlled trials (RCTs) on intraperitoneal perfusion therapy of Endostar combined with platinum chemotherapy for malignant serous effusions were searched in the electronic data of PubMed, EMBASE, Web of Science, CNKI, VIP, CBM and WanFang. The quality of RCTs was evaluated by two independent researchers and a meta-analysis was performed using RevMan 5.3 software. Results: The total of 25 RCTs included in the meta-analysis covered 1,253 patients, and all literature quality was evaluated as "B" grade. The meta-analysis showed that Endostar combined with platinum had an advantage over platinum alone in terms of response rate of effusions (76% vs 48%, RR=1.63, 95%CI: 1.50-1.78, P<0.00001) and improvement rate in quality of life (69% vs 44%, RR=1.57, 95%CI: 1.42-1.74, P<0.00001). As for safety, there was no significant difference between the two groups in the incidences of nausea and vomiting (35% vs 34%, RR=1.01, 95%CI: 0.87-1.18, P=0.88), leucopenia (38% vs 38%, RR=1, 95%CI: 0.87-1.15, P=0.99), and renal impairment (18% vs 20%, RR=0.86, 95%CI: 0.43-1.74, P=0.68). Conclusions: Endostar combined with platinum by intraperitoneal perfusion is effective for malignant serous effusions, and patient quality of life is significantly improved without the incidence of adverse reactions being obviously increased.