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Bao-Lin Ye,Shaofeng Niu,Lingxi Li,Weimin Wu 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.9
Efficient trajectory tracking approaches can enable autonomous vehicles not only to get a smooth trajectory but to achieve a lower energy dissipation. Since vehicle model plays an important role in trajectory tracking, this paper investigates and compares the performance of two classical vehicle models for trajectory tracking of autonomous vehicles using model predictive control (MPC). Firstly, a two-degree-of-freedom kinematic model and a three-degree-of-freedom yaw dynamic model are established for autonomous vehicles. Meanwhile, in order to carry out tracking control more effectively and smoothly, the tire slip angle has been taken into account by the dynamic model. Then, we design two MPC controllers for trajectory tracking, which are based on the kinematic model and the dynamic model, respectively. The performances of two MPC controllers are evaluated and compared on the Carsim/Matlab joint simulation platform. Experimental results demonstrated that, under low-speed working conditions, both two MPC controllers can follow the reference trajectory with high accuracy and stability. However, under high-speed working conditions, the tracking error of the kinematic model is too large to be used in the real trajectory tracking problem. On the contrary, the controller based on the dynamic model still performs a good tracking effect. In addition, this study offers guidance on how to select a suitable vehicle model for autonomous vehicles under different speed working conditions.
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( Mao Qing Ye ),( Zheng Hu ),( Ying Fan ),( Ling He ),( Fu Bao Xia ),( Guo Lin Zou ) 생화학분자생물학회 2004 BMB Reports Vol.37 No.4
A new acid deoxyribonuclease (DNase) was purified from the cultured mycelia of Cordyceps sinensis, and designated CSDNase. CSDNase was purified by (NH₄)₂SO₄ precipitation, Sephacryl S-100 HR gel filtration, weak anion-exchange HPLC, and gel filtration HPLC. The protein was single-chained, with an apparent molecular mass of ca. 34 kDa, as revealed by SDS-PAGE, and an isoelectric point of 7.05, as estimated by isoelectric focusing. CSDNase acted on both double-stranded (ds) and single- stranded (ss) DNA, but preferentially on dsDNA. The optimum pH of CSDNase was pH 5.5 and its optimum temperature 55. The activity of CSDNase was not dependent on divalent cations, but its enzymic activity was inhibited by high concentration of the cation: MgC1₂ above 150 mM, MnCl₂ above 200 mM, ZnCl₂ above 150 mM, CaCl₂ above 200 mM, NaCl above 300 mM, and KCI above 300 mM. CSDNase was found to hydrolyze DNA, and to generate 3-phosphate and 5-OH termini. These results indicate that the nucleolytic properties of CSDNase are essentially the same as those of other well-characterized acid DNases, and that CSDNase is a member of the acid DNase family. To our knowledge, this is the first report of an acid DNase in a fungus.
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Zhu, Hai-Li,Bao, Ji-Ming,Lin, Pei-Xin,Li, Wen-Xia,Zou, Zhen-Ning,Huang, Ye-En,Chen, Qing,Shen, Hong Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.16
Background: Numerous studies have explored the influence of XPD Lys751Gln and/or Asp312Asn polymorphisms on skin cancer susceptibility. However, the results remain inconclusive. To derive a more precise estimation, we conducted a comprehensive search to identify all available published studies and performed a meta-analysis. Materials and Methods: Electronic literature searches of the PubMed, CBM and CNKI databases were performed up to March 2014. Odds ratios (ORs) with 95% confidence intervals (CIs) were applied to assess the strength of associations. Results: Seventeen case-control studies were included with a total sample size of 6, 113 cases and 11, 074 controls for the XPD Lys751Gln polymorphism, and 10 studies (3, 840cases and 7, 637 controls) for the XPD Asp312Asn polymorphism were pooled for analysis. Overall, no significant associations were found between the XPD Lys751Gln polymorphism and skin cancer risk in any genetic model. On stratified analysis by tumor type, XPD Lys751Gln polymorphism was not associated with increased risk of non-melanoma skin cancer, but was significantly related with increased risk of cutaneous melanoma (Gln/Gln vs Lys/Lys: OR=1.15, 95%CI=1.02-1.29, p=0.023; dominant model: OR=1.09, 95%CI=1.01-1.18, p=0.036). For the XPD Asp312Asn polymorphism, no significant association with skin cancer risk was observed in overall or subgroup analyses. Conclusions: The present meta-analysis suggests that the XPD Lys751Gln polymorphism may contribute to the risk of cutaneous melanoma from currently available evidence. Further investigations are needed to obtain more insight into possible roles of these two polymorphisms in skin carcinogenesis.
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Yang, Yun,Peng, Wei,Tang, Tian,Xia, Lin,Wang, Xiao-Dong,Duan, Bao-Feng,Shu, Ye Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.13
Objective: In this study, tumor-stage predictive abilities of miR21, miR155, miR29a and miR92a were evaluated in rectal cancer (RC). Methods: Expression of miR21, miR155, miR29a and miR92a was detected and quantitated in tumor tissue and in adjacent normal tissue from 40 patients by TaqMan MicroRNA assay. Results: Significant overexpression of miR21, miR155, miR29a and miR92a was observed in RC tissues. While high expression of miR21, miR155 and miR29a in N1-2 and C-D stages presented a potential correlation with N and Duke stages, partial correlation analysis suggested that only miR155 rather than miR21 and miR29a played a greater influencing role. Receiver operating characteristics (ROC) curve analysis showed that miR155 could discriminate N0 from N1-2 with 85.0% sensitivity and 85.0% specificity, N2 from N0-1 with 90.0% sensitivity and 96.7% specificity, and C-D stage from A-B stage with 81.0% sensitivity and 84.2% specificity. Conclusions: Increase in expression of miR155 might represent a novel predictor for RC N and Dukes staging.
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Transcriptional analysis of Pieris rapae in response to P. rapae granulovirus
Hai-Jian Huang,Tong-Qiang Zhang,Qiao Lin, Jian-Hui Ye,Chuan-Xi ZHANG,Bao-Qin Zhang 한국응용곤충학회 2018 Journal of Asia-Pacific Entomology Vol.21 No.2
Pieris rapae granulovirus (PrGV) is an important pathogen that has been exploited as a microbial insecticide to control agriculture pests. They can specifically infect cabbage butterfly (Pieris rapae), causing a series of pathological symptoms. In this infected P. rapae at 6 h and 72 h. As a result, a series of host genes were significantly modulated following PrGV infection, including those correlated with exoskeleton, ribosome, heat shock protein (HSP), proteasome, oxidation-reduction and apoptosis. Taken together, our study unveiled the P. rapae response to PrGV at different time point and provided a potential strategy for pest management.
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