A Spraying Path Planning Algorithm Based on Point Cloud Segmentation and Trajectory Sequence Optimization

Ru-Xiang Hua,Hong-Xuan Ma,Wei Zou,Wei Zhang,Zhuo Wang 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.2

Spraying trajectory planning is a key and challenging work for intelligent spraying robot. In order to effectively fulfill spraying on complex surfaces without CAD model, a novel spraying trajectory planning method based on segmentation and trajectory sequence optimization is proposed in this paper, which is mainly composed by three steps: surface segmentation, trajectories generation and trajectories connection. In surface segmentation, a method named regional growth with minimum curvature point (RGMCP) is proposed to segment a 3D entity into different subsurfaces by taking normals and curvatures into consideration simultaneously. In trajectories generation step, an intersection of plane and point cloud (IPPC) algorithm is used to generate the optimal spraying trajectory for each segmented subsurface. Finally, for trajectories connection, a sequence optimization algorithm based on swap-evolution particles (SOSP) is proposed to connect all the subsurface trajectories as a complete spraying one in an optimum manner by regarding it as a sequence optimization problem. The effectiveness of the proposed method is validated by simulation and practical experiment simultaneously. Comparatively, our method can improve the efficiency of a spray task with 367 trajectories and 627 s time-consuming to 215 trajectories and 413 s, while the coating thickness variances are lowered from 51.9 µm2 and 30.4 µm2 to 3.64 µm2 and 7.89 µm2 respectively, which shows that the proposed method is more effective and can keep better coating thickness uniformity.

Bayesian Prediction Model Based on Attribute Weighting and Kernel Density Estimations

Xiang, Zhong-Liang,Yu, Xiang-Ru,Kang, Dae-Ki Hindawi Limited 2015 Mathematical problems in engineering Vol.2015 No.-

<P>Although naïve Bayes learner has been proven to show reasonable performance in machine learning, it often suffers from a few problems with handling real world data. First problem is conditional independence; the second problem is the usage of frequency estimator. Therefore, we have proposed methods to solve these two problems revolving around naïve Bayes algorithms. By using an attribute weighting method, we have been able to handle conditional independence assumption issue, whereas, for the case of the frequency estimators, we have found a way to weaken the negative effects through our proposed smooth kernel method. In this paper, we have proposed a compact Bayes model, in which a smooth kernel augments weights on likelihood estimation. We have also chosen an attribute weighting method which employs mutual information metric to cooperate with the framework. Experiments have been conducted on UCI benchmark datasets and the accuracy of our proposed learner has been compared with that of standard naïve Bayes. The experimental results have demonstrated the effectiveness and efficiency of our proposed learning algorithm.</P>

Association of Novel Polymorphisms in Lymphoid Enhancer Binding Factor 1 (LEF-1) Gene with Number of Teats in Different Breeds of Pig

Xu, Ru-Xiang,Wei, Ning,Wang, Yu,Wang, Guo-Qiang,Yang, Gong-She,Pang, Wei-Jun Asian Australasian Association of Animal Productio 2014 Animal Bioscience Vol.27 No.9

Lymphoid enhancer binding factor 1 (LEF-1) is a member of the T-cell specific factor (TCF) family, which plays a key role in the development of breast endothelial cells. Moreover, LEF-1 gene has been identified as a candidate gene for teat number trait. In the present study, we detected two novel mutations (NC_010450.3:g. 99514A>G, 119846C>T) by DNA sequencing and polymerase chain reaction-restriction fragment length polymorphism in exon 4 and intron 9 of LEF-1 in Guanzhong Black, Hanjiang Black, Bamei and Large White pigs. Furthermore, we analyzed the association between the genetic variations with teat number trait in these breeds. The 99514A>G mutation showed an extremely significant statistical relevance between different genotypes and teat number trait in Guanzhong (p<0.001) and Large White (p = 0.002), and significant relevance in Hanjiang (p = 0.017); the 119846C>T mutation suggested significant association in Guanzhong Black pigs (p = 0.042) and Large White pigs (p = 0.003). The individuals with "AG" or "GG" genotype displayed more teat numbers than those with "AA"; the individuals with "TC" or "CC" genotype showed more teat numbers than those with "TT". Our findings suggested that the 99514A>G and 119846C>T mutations of LEF-1 affected porcine teat number trait and could be used in breeding strategies to accelerate porcine teat number trait improvement of indigenous pigs breeds through molecular marker assisted selection.

Study on the Heterogeneous Reaction of the Main Components of Fly Ash with SO₂ and NO₂ Under Various Experiment Conditions

Ru-Jiao Song,Zi-Xiang Xu,Joo-Chang Park,Li-Hua Xu,Hyung-Taek Kim 한국에너지기후변화학회 2018 한국에너지기후변화학회 학술대회 Vol.2018 No.5

Fancd2os Reduces Testosterone Production by Inhibiting Steroidogenic Enzymes and Promoting Cellular Apoptosis in Murine Testicular Leydig Cells

Xiang Zhai,Xin-yang Li,Yu-jing Wang,Ke-ru Qin,Jin-rui Hu,Mei-ning Li,Hai-long Wang,Rui Guo 대한내분비학회 2022 Endocrinology and metabolism Vol.37 No.3

Background: It is well-established that serum testosterone in men decreases with age, yet the underlying mechanism of this changeremains elusive. Methods: The expression patterns of Fancd2 opposite-strand (Fancd2os) in BALB/c male mice and testicular tissue derived celllines (GC-1, GC-2, TM3, and TM4) were assessed using real-time polymerase chain reaction (RT-PCR), Western blot and immunofluorescence. The Fancd2os-overexpressing or knockdown TM3 cells were constructed by infecting them with lentivirus particlesand were used to evaluated the function of Fancd2os. The testosterone production was measured using enzyme linked immunosorbent assay (ELISA) and the steroidogenic enzymes such as steroidogenic acute regulatory protein (StAR), P450 cholesterol sidechain cleavage (P450scc), and 3β-hydroxysteroid dehydrogenase (3β-HSD) were analysed using RT-PCR. The apoptosis of TM3cells induced by ultraviolet light or testicular tissues was detected using flow cytometry, Western blot or dUTP-biotin nick end labeling (TUNEL) assays. Pearson correlation analysis was used to assess the correlation between the Fancd2os expression and TUNELpositive staining in mouse testicular Leydig cells. Results: The Fancd2os protein was predominantly expressed in mouse testicular Leydig cells and its expression increased with age. Fancd2os overexpression inhibited testosterone levels in TM3 Leydig cells, whereas knockdown of Fancd2os elevated testosteroneproduction. Fancd2os overexpression downregulated the levels of StAR, P450scc and 3β-HSD, while Fancd2os knockdown reversed this effect. Fancd2os overexpression promoted ultraviolet light-induced apoptosis of TM3 cells. In contrast, Fancd2os knockdown restrained apoptosis in TM3 cells. In vivo assays revealed that higher Fancd2os levels and mouse age were associated with increased apoptosis in Leydig cells and decreased serum testosterone levels. Pearson correlation analysis exhibited a strong positivecorrelation between the expression of Fancd2os and TUNEL-positive staining in mouse testicular Leydig cells. Conclusion: Our findings suggest that Fancd2os regulates testosterone synthesis via both steroidogenic enzymes and the apoptoticpathway.

Long-term monitoring of super-long stay cables on a cable-stayed bridge

Xiang Shen,Ru-jin Ma,Chun-xi Ge,Xiao-hong Hu 한국풍공학회 2018 Wind and Structures, An International Journal (WAS Vol.27 No.6

For a long cable-stayed bridge, stay cables are its most important load-carrying components. In this paper, long-term monitoring of super-long stay cables of Sutong Bridge is introduced. A comprehensive data analysis procedure is presented, in which time domain and frequency domain based analyses are carried out. In time domain, the vibration data of several long stay cables are firstly analyzed and the standard deviation of the acceleration of stay cables, and its variation with time are obtained, as well as the relationship between in-plane vibration and out-plane vibration. Meanwhile, some vibrations such as wind and rain induced vibration are detected. Through frequency domain analysis, the basic frequencies of the stay cables are identified. Furthermore, the axial forces and their statistical parameters are acquired. To investigate the vibration deflection, an FFT-based decomposition method is used to get the modal deflection. In the end, the relationship between the vibration amplitude of stay cables and the wind speed is investigated based on correlation analysis. Through the adopted procedure, some structural parameters of the stay cables have been derived, which can be used for evaluating the component performance and corresponding management of stay cables.

Isolation and characterization of LHT-type plant amino acid transporter gene from Panax ginseng Meyer

Ru Zhang,Jie Zhu,Hong-Zhe Cao,Xiao-Lei Xie,Jing-Jia Huang,Xiang-Hui Chen,Zhi-Yong Luo 고려인삼학회 2013 Journal of Ginseng Research Vol.37 No.3

A lysine histidine transporter (LHT) cDNA was isolated and characterized from the roots of Panax ginseng, designated PgLHT. The cDNA is 1,865 bp with an open reading frame that codes for a protein with 449 amino acids and a calculated molecular mass of 50.6 kDa with a predicted isoelectric point of 8.87. Hydropathy analysis shows that PgLHT is an integral membrane protein with 9 putative membrane-spanning domains. Multiple sequence alignments show that PgLHT shares a high homology with other plant LHTs. The expression profile of the gene was investigated by real-time quantitative polymerase chain reaction during various chemical treatments. PgLHT was up-regulated in the presence of abscisic acid, salicylic acid, methyl jasmonate, NaCl, and amino acids. To further explore the function of PgLHT gene, full-length cDNA of PgLHT was introduced into P. ginseng by Agrobacterium rhizogenes A4. The overexpression of PgLHT in the hairy roots led to an obviously increase of biomass compared to the controls, and after addition of the amino acids, the overexpressed-PgLHT hairy roots grew more rapidly than untreated controls during early stage of the culture cycle. The results suggested that the PgLHT isolated from ginseng might have role in the environmental stresses and growth response.

Impact of single metal oxide and coal ash on secondary ultrafine particle generation through SO₂ and NO₂ heterogeneous reaction

Ru-Jiao Song(숭루죠),Zi-Xiang Xu(쉬지샹),Joo-Chang Park(박주창),Li-Hua Xu(허려화),Hyung-Taek Kim(김형택) 한국환경에너지공학회 2020 열환경공학 Vol.15 No.1

Study on the Secondary Particles Production in the Mixture of SO₂ and NO₂ on the Surface of Coal Ash

Ru-Jiao Song,Zi-Xiang Xu,Joo-Chang Park,Hueon-Namkung,Li-Hua Xu,Hyung-Taek Kim 한국에너지학회 2019 한국에너지공학회 학술발표회 Vol.2019 No.5

Study on the Heterogeneous Reaction of SO₂ and NO₂ on Coal Ash

Ru-Jiao Song,Zi-Xiang Xu,Joo-Chang Park,Hueon Namkung,Li-Hua Xu,Hyung-Taek Kim 한국열환경공학회 2019 한국열환경공학회 학술대회지 Vol.2019 No.춘계

Harmful substances such as sulfur dioxide produced by coal combustion are the main source of air pollution. The heterogeneous reaction of polluting gases and coal ash particles has an important impact on atmospheric pollution. The sulphate formed by the oxidation of SO2 from coal combustion is combined with the dust generated by coal combustion, resulting in a large amount of adsorbed water on the surface becoming agglomerated nucleus, which forms a dense fog, affects the visibility of the atmosphere, and endangers human health. The existing research results show that serious damage to personnel is not only polluted gases such as SO2 and primary particulate matter directly discharged from coal combustion, but mainly secondary particles such as sulfate and nitrate formed by chemical reaction of SO2 and NO2 on the surface of particulate matter. Studying the formation process of secondary particulate matter on the surface of coal ash is crucial to improve the atmospheric environment around the power plant and other institutions. The heterogeneous reaction of mixed gas SO2, NO2 and air on the surface of the coal ash particles was investigated based on the laboratory-built aerosol reactor under ambient temperature and pressure conditions. Experimental studies have found that the relative humidity, light conditions and gas concentration will affect the process of SO2 and NO2 gas in the heterogeneous transformation of coal ash into secondary particles.