A Voronoi path planning extracted from improved skeleton for dynamic environments

Lin Jiang,Jun Li,Yuxin Hu,Feng Pan,Jianyang Zhu,Bin Lei,Rui Lin 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.4

Aiming at the problems that the robot being in the process of navigation cannot meet the requirements of real-time and accuracy at the same time, moreover is too close to obstacles and lacks the initiative to avoid obstacles, a Voronoi diagram algorithm for improved skeleton extraction suitable for dynamic environment is proposed. On the one hand, firstly the grid map is preprocessed by binarization, corrosion and expansion, so the reduced skeleton map suitable for navigation is obtained, then the reduced skeleton map is extracted for searching the global path, finally the improved cubic spline smoothing algorithm is used to optimize the global path each planned, thus overcoming the defects of bloated and tortuous in the path obtaining by original Voronoi diagram algorithm. On the other hand, the position information of all obstacles is obtained by a single scan lidar. Firstly, segmenting and linearly fitting all laser point clouds to remove the known obstacles in the map. Then to mark new possible dynamic obstacles with circles of appropriate size. Secondly detecting dynamic obstacles by the alteration of their center coordinates, moreover, solving their motion equations. Finally expanding the cost map along the speed direction of dynamic obstacles and combining DWA dynamic window method to realize dynamic obstacle avoidance. Compared with the original DWA algorithm, it can predict the motion state of dynamic obstacles in advance, which improves the safety of the robot in the dynamic environment. Moreover, the effectiveness of the algorithm is verified by many simulation experiments and real environment experiments.

Fault-tolerant Controller Design for Active Suspension System with Proportional Differential Sliding Mode Observer

Bin Lin,Xiaoyu Su 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.7

This paper proposes a fault-tolerant control scheme for the quarter active suspension systems with uncertainties and nonlinear. First, by the generalized augmented transformation, state variables, actuator faults, sensorfaults and external disturbances are converted to the augmented states then the subsequent calculation becomessimple. Second, on the basis of the generalized augmented system, a new sliding mode observer with proportional terms and differential terms is designed for state estimation and fault reconstruction. In order to improve theride comfort and operation stability of the automobile in an all-round way, a fault-tolerant controller is designedfor active suspension system. The simulations are conducted to illustrate the effectiveness and advantages of thisproposed observer and control strategy.

Experimental study on vibration projection of seawater circulation pumps in nuclear power plant

Bin Lin,Qian Huang,Rongyong Zhang,Rongsheng Zhu,Qiang Fu,Xiuli Wang 한국원자력학회 2024 Nuclear Engineering and Technology Vol.56 No.7

In this paper, the similarity criterion and dimensionless conversion method combined with the elasticity condition and Hooke’s law are used to derive the functional relationship of the maximum effective value of the vibration velocity between the prototype pump and the model pump. The seawater circulation pump of a nuclear power plant is used as the prototype pump, and the model pump is obtained by performance conversion and choosing the appropriate scale, and the vibration state of the model pump under different flow rates is measured and analyzed. The vibration data of the model pump through the function relationship to find out the vibration parameters of the prototype model pump, and compare with the vibration data of the seawater circulation pump in reality. It can be seen that with the increase of flow rate, the maximum effective value of the vibration velocity of both model and prototype decreases and then increases, and the relative error is small, the maximum value is 7.7757%. Therefore, it can be considered that the functional relationship of model pump converted to prototype pump derived in this paper can be used to analyze the vibration of the actual seawater circulation pump of coastal nuclear power plant.

CNOP-Based Sensitive Areas Identification for Tropical Cyclone Adaptive Observations with PCAGA Method

Lin-Lin Zhang,Shi-Jin Yuan,Bin Mu,Fei-Fan Zhou 한국기상학회 2017 Asia-Pacific Journal of Atmospheric Sciences Vol.53 No.1

In this paper, conditional nonlinear optimal perturbation (CNOP) was investigated to identify sensitive areas for tropical cyclone adaptive observations with principal component analysis based genetic algorithm (PCAGA) method and two tropical cyclones, Fitow (2013) and Matmo (2014), were studied with a 120 km resolution using the fifth-generation Mesoscale Model (MM5). To verify the effectiveness of PCAGA method, CNOPs were also calculated by an adjoint-based method as a benchmark for comparison on patterns, energies, and vertical distributions of temperatures. Comparing with the benchmark, the CNOPs obtained from PCAGA had similar patterns for Fitow and a little different for Matmo; the vertically integrated energies were located closer to the verification areas and the initial tropical cyclones. Experimental results also presented that the CNOPs of PCAGA had a more positive impact on the forecast improvement, which gained from the reductions of the CNOPs in the whole domain containing sensitive areas. Furthermore, the PCAGA program was executed 40 times for each case and all the averages of benefits were larger than the benchmark. This also proved the validity and stability of the PCAGA method. All results showed that the PCAGA method could approximately solve CNOP of complicated models without computing adjoint models, and obtain more benefits of reducing the CNOPs in the whole domain.

An Arabidopsis SUMO E3 Ligase, SIZ1, Negatively Regulates Photomorphogenesis by Promoting COP1 Activity

Lin, Xiao-Li,Niu, De,Hu, Zi-Liang,Kim, Dae Heon,Jin, Yin Hua,Cai, Bin,Liu, Peng,Miura, Kenji,Yun, Dae-Jin,Kim, Woe-Yeon,Lin, Rongcheng,Jin, Jing Bo Public Library of Science 2016 PLoS genetics Vol.12 No.4

<P>COP1 (CONSTITUTIVE PHOTOMORPHOGENIC 1), a ubiquitin E3 ligase, is a central negative regulator of photomorphogenesis. However, how COP1 activity is regulated by post-translational modifications remains largely unknown. Here we show that SUMO (small ubiquitin-like modifier) modification enhances COP1 activity. Loss-of-function siz1 mutant seedlings exhibit a weak constitutive photomorphogenic phenotype. SIZ1 physically interacts with COP1 and mediates the sumoylation of COP1. A K193R substitution in COP1 blocks its SUMO modification and reduces COP1 activity in vitro and in planta. Consistently, COP1 activity is reduced in siz1 and the level of HY5, a COP1 target protein, is increased in siz1. Sumoylated COP1 may exhibits higher transubiquitination activity than does non-sumoylated COP1, but SIZ1-mediated SUMO modification does not affect COP1 dimerization, COP1-HY5 interaction, and nuclear accumulation of COP1. Interestingly, prolonged light exposure reduces the sumoylation level of COP1, and COP1 mediates the ubiquitination and degradation of SIZ1. These regulatory mechanisms may maintain the homeostasis of COP1 activity, ensuing proper photomorphogenic development in changing light environment. Our genetic and biochemical studies identify a function for SIZ1 in photomorphogenesis and reveal a novel SUMO-regulated ubiquitin ligase, COP1, in plants.</P>

Focus on anti-oxidative and free radical scavenging activity of Ganoderma lucidum

( Lin Zhi Bin ) 한국응용약물학회 2004 학술대회 Vol.2004 No.1

Energy-Efficient Traffic Grooming in Bandwidth Constrained IP over WDM Networks

( Bin Chen ),( Zijian Yang ),( Rongping Lin ),( Mingjun Dai ),( Xiaohui Lin ),( Gongchao Su ),( Hui Wang ) 한국인터넷정보학회 2018 KSII Transactions on Internet and Information Syst Vol.12 No.6

Minimizing power consumption in bandwidth limited optical traffic grooming networks is presented as a two-objective optimization problem. Since the main objective is to route a connection, the network throughput is maximized first, and then the minimum power consumption solution is found for this maximized throughput. Both transparent IP over WDM (Tp-IPoWDM) and translucent IP over WDM (Tl-IPoWDM) network may be applied to examine such bi-objective algorithms. Simulations show that the bi-objective algorithms are more energy-efficient than the single objective algorithms where only the throughput is optimized. For a Tp-IPoWDM network, both link based ILP (LB-ILP) and path based ILP (PB-ILP) methods are formulated and solved. Simulation results show that PB-ILP can save more power than LB-ILP because PB-ILP has more path selections when lightpath lengths are limited. For a Tl-IPoWDM network, only PB-ILP is formulated and we show that the Tl-IPoWDM network consumes less energy than the Tp-IPoWDM network, especially under a sparse network topology. For both kinds of networks, it is shown that network energy efficiency can be improved by over-provisioning wavelengths, which gives the network more path choices.

Inequalities in Awareness and Attitude towards HPV and Its Vaccine between Local and Migrant Residents Who Participated in Cervical Cancer Screening in Shenzhen, China

Wei Lin,Yueyun Wang,Zhihua Liu,Bin Chen,Shixin Yuan,Bo Wu,Lin Gong 대한암학회 2020 Cancer Research and Treatment Vol.52 No.1

Purpose A cross-sectional survey was conducted to evaluate the differences on awareness and attitude towards human papillomavirus (HPV) and its vaccine between local and migrant residents who participated in cervical cancer screening in Shenzhen, China. Materials and Methods A total of 9,855 females sampled from healthcare institutions in 20 street blocks through the Cervical Cancer Prevention Network were surveyed in this study by a self-administered questionnaire. Multivariate logistic regression was conducted to explore the role of the hukou and resident status in the willingness to receive HPV vaccination. Results Local residents had a relatively higher awareness of HPV (62.0% vs. 35.6% vs. 29.9%, p < 0.001) and its vaccine (35.3% vs. 15.4% vs. 14.8%, p < 0.001), as well as a higher willingness to receive HPV vaccination (68.5% vs. 62.5% vs. 56.2%, p < 0.001) than non-permanent residents and floating population. Except for age, education level, marital status, monthly income, having daughter(s), and heard of HPV and its vaccine, the hukou and resident status significantly associated with the willingness to receive HPV vaccination (local residents vs. floating population: odds ratio, 1.216; 95% confidence interval, 1.057 to 1.398). None significant difference on the associated factors was found between local residents and internal migrants (p for interactions > 0.05). Conclusion Inequalities in awareness and attitude towards HPV and its vaccine existed between local and migrant residents in Shenzhen. The hukou and resident status did impact on the willingness to receive HPV vaccination, therefore, it is critical to implement effective health education campaigns on HPV and its vaccine among internal migrants.

Dynamic Equivalent Modeling of Motors Based on Improved Hierarchical Clustering Algorithm

Xueshan Lin,Hongbin Wu,Bin Ye,Bin Xu,Weiqing Tao 대한전기학회 2019 Journal of Electrical Engineering & Technology Vol.14 No.3

As the most important part of the power system load, the dynamic characteristics of motors are very important for power system simulation. The calculation is very large if all motors are modeled respectively. In order to reduce the amount of calculations, a dynamic equivalent modeling method of motors based on the improved hierarchical clustering algorithm is proposed in this paper. The two state parameters, the load rate and the product of inertia time constant and rotor resistance, are taken as clustering indexes. The improved hierarchical clustering algorithm is used to cluster dynamically the motors. And with the pseudo t 2 statistics, it can obtain the best clustering results. Then it establishes the dynamic multi-machine equivalent model after each motor group equivalent. With the example system, the simulation results show that the proposed dynamic equivalent method can keep the dynamic characteristics of models and improve the equivalent accuracy.

Ginsenoside Ro, an oleanolic saponin of Panax ginseng, exerts antiinflammatory effect by direct inhibiting toll like receptor 4 signaling pathway

Hong-Lin Xu,Guang-Hong Chen,Yu-Ting Wu,Ling-Peng Xie,Zhang-Bin Tan,Bin Liu,Hui-Jie Fan,Hong-Mei Chen,Gui-Qiong Huang,Min Liu,Ying-Chun Zhou 고려인삼학회 2022 Journal of Ginseng Research Vol.46 No.1

Background: Panax ginseng Meyer (P. ginseng), a herb distributed in Korea, China and Japan, exerts benefits on diverse inflammatory conditions. However, the underlying mechanism and active ingredients remains largely unclear. Herein, we aimed to explore the active ingredients of P. ginseng against inflammation and elucidate underlying mechanisms. Methods: Inflammation model was constructed by lipopolysaccharide (LPS) in C57BL/6 mice and RAW264.7 macrophages. Molecular docking, molecular dynamics, surface plasmon resonance imaging (SPRi) and immunofluorescence were utilized to predict active component. Results: P. ginseng significantly inhibited LPS-induced lung injury and the expression of proinflammatory factors, including TNF-a, IL-6 and IL-1b. Additionally, P. ginseng blocked fluorescence-labeled LPS (LPS488) binding to the membranes of RAW264.7 macrophages, the phosphorylation of nuclear factor-kB (NF-kB) and mitogen-activated protein kinases (MAPKs). Furthermore, molecular docking demonstrated that ginsenoside Ro (GRo) docked into the LPS binding site of toll like receptor 4 (TLR4)/myeloid differentiation factor 2 (MD2) complex. Molecular dynamic simulations showed that the MD2-GRo binding conformation was stable. SPRi demonstrated an excellent interaction between TLR4/MD2 complex and GRo (KD value of 1.16 × 10<SUP>-9</SUP> M). GRo significantly inhibited LPS488 binding to cell membranes. Further studies showed that GRo markedly suppressed LPS-triggered lung injury, the transcription and secretion levels of TNF-α, IL-6 and IL-1β. Moreover, the phosphorylation of NF-kB and MAPKs as well as the p65 subunit nuclear translocation were inhibited by GRo dose-dependently. Conclusion: Our results suggest that GRo exerts anti-inflammation actions by direct inhibition of TLR4 signaling pathway.