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- 저자 : Xiudong Xu (검색결과 3 건)
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Coordinated Control Method of Space-tethered Robot System for Tracking Optimal Trajectory
Xiudong Xu,Panfeng Huang 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.1
Space-tethered robot system is a new kind of space robot, which consists of a robot platform, space tether, and operation robot. This paper presents the coordinated control method in order to save thruster fuel of operation robot in the process of tracking the optimal approach trajectory. First, the optimal approach trajectory of an operation robot is designed using the Gauss pseudospectral method, which resulted in continuous optimal control force using the Lagrange interpolation scheme. The optimal control force is optimized and distributed to space tether and thrusters through simulated annealing algorithm in discrete points, which minimized fuel consumption of thrusters. The distributive continuous force is obtained via cubic polynomial fitting of optimal distributive force in 0.1s discrete time point. To tracking the optimal trajectory, Fuzzy Proportional-Derivative controller is designed with the help of optimal distribution force which come from optimization model. Simultaneously, the relative attitude of the operation robot is stabilized using attitude time-delay algorithm through the reaction wheels. Numerical results are presented, demonstrating the validity of saving thruster fuel and well performance in tracking the optimal trajectory.
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Zheng Lin Zhao,XiuDong Jin,Yi Yan Wu,Xu Dong Yang,YanJi Xu,James ZhongJian Jiang,김상찬,이봉효,양재하,조용걸 사단법인약침학회 2013 Journal of Acupuncture & Meridian Studies Vol.6 No.5
In a previous study, acupuncture at acupoint HT7 attenuated ethanol withdrawal-induced anxiety-like behavior in rats by normalizing amygdaloid catecholamines. In the present study, the involvement of amygdaloid corticotropin-releasing factor (CRF) in the anxiolytic effect of acupuncture was investigated during ethanol withdrawal. Rats were intraperitoneally treated with 3 g /kg/day of ethanol for 28 days, and the CRF mRNA levels in the central nucleus of the amygdala (CEA) were measured by using a RT-PCR analysis 72 hours after the last dose of ethanol. During ethanol withdrawal, the rats were bilaterally treated with acupuncture at acupoints HT7, PC6 or at a non-acupoint (Tail) for one min/day for three days. Also, rats were bilaterally injected with CRF into the CEA five minutes after the third acupuncture treatment , after which followed by the elevated-plus maze (EPM) test and the plasma corticosterone radioimmunoassay (RIA) were administered. The RT-PCR analysis showed a significant increase in the amygdaloid CRF mRNA levels in the ethanol-withdrawn rats compared with both the saline-treated rats and the rats treated with acupuncture at HT7, but neither acupuncture at PC6 nor acupuncture at a non-acupoint significantly inhibited the increased mRNA expression. The EPM test and the RIA also showed that the post-acupuncture infusion of CRF greatly reduced the anxiolytic effect of acupuncture at HT7. These results suggest that during ethanol withdrawal, the anxiolytic effect of acupuncture may be mediated through the modulation of amydaloid CRF during ethanol withdrawal.
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Injectable In situ Forming Chitosan-Based Hydrogels For Curcumin Delivery
Titima Songkroh,Xiaojun Ma,Hongguo Xie,Weiting Yu,Xiudong Liu,Guangwei Sun,Xiaoxi Xu 한국고분자학회 2015 Macromolecular Research Vol.23 No.1
In this paper, a series of injectable in situ forming chitosan-based hydrogels were prepared by chemicalcrosslinking of chitosan and genipin with the cooperation of ionic bonds between chitosan and sodium salts at roomtemperature. Four hydrogels (A, B, C, and D) were obtained by mixing chitosan, genipin and a sodium salt of trisodiumphosphate (Na3PO4·12H2O), sodium sulfate (Na2SO4), sodium sulfite (Na2SO3), or sodium bicarbonate (NaHCO3)and examined for their characteristics, morphology, and rheological properties. Their cell viability assaysexhibited low toxicity and the localized in situ gel formation was detected after subcutaneous injections in rat. Curcuminwhich possesses many pharmaceutical potentials but has low bioavailability, was chosen as a drug model. Invitro curcumin release profiles exhibit sustained release properties with initial burst release for all hydrogels withabout 3 to 6 times higher cumulative release than other gel controls. The results of this study demonstrate that ourhydrogels have a potential as local curcumin carriers.
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