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A Stable Gait Planning Method of Biped Robot Based on Ankle motion Smooth Fitting
Dong En Zeng,Wang Dan Dan,Tong Ji Gang,Chen Chao,Wang Zeng Hui 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.1
In ankle joint trajectory planning of biped robots, the spline interpolation generally leads to acceleration mutations on the key points, which weakens the stability of the biped robot. To solve this problem, a smooth function fitting method on ankle joint trajectory planning is proposed in this paper. In this method, the higher order derivatives of the ankle joint trajectory is smooth, and the acceleration mutation can be avoided. The biped robot gait planning of a whole cycle is accomplished by calculating the joint angle sequences of hip, knee and ankle. The effectiveness of the proposed method is demonstrated by numerical simulations on NAO robot gait planning. Experimental results show that the proposed method can improve the stability of the zero moment point (ZMP) margin effectively when it is applied to the bipedal robot gait planning on the non-horizontal ground.
Dong-Feng Chen,Xican Li,Zhiwei Xu,Xiaobing Liu,Shao-Hui Du,Hui Li,Jian-Hong Zhou,He-Ping Zeng,Zi-Chun Hua 한국식품영양과학회 2010 Journal of medicinal food Vol.13 No.4
Buzhong Yiqi decoction (BYD) is a well-known ancient tonic prescription in traditional Chinese medicine (TCM). The purpose of this study is to identify active components of BYD involved in promoting proliferation of mesenchymal stem cells (MSCs) and to investigate its mechanism. BYD was extracted with petroleum ether, ethanol, and water. Evidence provided by 3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide, bromodeoxyuridine, proliferation cell nuclear antigen immunoreactivity, cell cycle analysis, and gas chromatography-mass spectrometry indicated that hexadecanoic acid (HA) in BYD extracted with petroleum ether is the active compound responsible for increasing proliferation of MSCs. Western blot analysis show that HA significantly increase retinoic acid receptor (RAR) levels of MSCs, but not estrogen receptor, thyroid hormone receptor, vitamin D receptor, glucocorticoid receptor, and peroxisome proliferator-activated receptor. Reverse transcription-polymerase chain reaction revealed that HA significantly increased RAR mRNA levels. Furthermore, the mechanism of HA action depends on RAR pathway and up-regulates expression of mRNA for insulin-like growth factor-I, the target gene of RAR. Our findings have now allowed for a refinement in our understanding of TCM with respect to pharmacological regulation of stem cells and may be useful to stem cell biology and therapy.
Active Distribution System Planning for Low-carbon Objective using Cuckoo Search Algorithm
Zeng, Bo,Zhang, Jianhua,Zhang, Yuying,Yang, Xu,Dong, Jun,Liu, Wenxia The Korean Institute of Electrical Engineers 2014 Journal of Electrical Engineering & Technology Vol.9 No.2
In this study, a method for the low-carbon active distribution system (ADS) planning is proposed. It takes into account the impacts of both network capacity and demand correlation to the renewable energy accommodation, and incorporates demand response (DR) as an available resource in the ADS planning. The problem is formulated as a mixed integer nonlinear programming model, whereby the optimal allocation of renewable energy sources and the design of DR contract (i.e. payment incentives and default penalties) are determined simultaneously, in order to achieve the minimization of total cost and $CO_2$ emissions subjected to the system constraints. The uncertainties that involved are also considered by using the scenario synthesis method with the improved Taguchi's orthogonal array testing for reducing information redundancy. A novel cuckoo search (CS) is applied for the planning optimization. The case study results confirm the effectiveness and superiority of the proposed method.
Zeng, Yong,Jiang, Hua-Yong,Wei, Li,Xu, Wei-Dong,Wang, Ya-Jie,Wang, Ya-Di,Liu, Chuan Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.16
Background: Previous studies evaluated associations between the CYP1A2 rs762551 polymorphism and bladder cancer risk. However, the results were inconsistent. We therefore performed a meta-analysis of the published case-control studies to assess in detail the association between CYP1A2 rs762551 polymorphism and bladder cancer risk. Materials and Methods: PubMed, Embase and Web of Science were searched to identify relevant studies and the pooled odds ratio (OR) and 95 % confidence interval (95%CI) were calculated. Results: A total of seven articles including 3,013 cases and 2,771 controls were finally included. Overall, a significant association was found between the CYP1A2 rs762551 polymorphism and bladder cancer susceptibility for CC vs AA (OR=0.82, 95% CI=0.69~0.99), but no significant associations were found for the other three models (AC vs AA: OR=0.91, 95% CI=0.81~1.02; the dominant model: OR=0.90, 95% CI=0.80~1.00; the recessive model: OR=0.84, 95% CI =0.72~1.00). In the subgroup analysis by ethnicity, we detected significant associations between the CYP1A2 rs762551 polymorphism and bladder cancer susceptibility for GA vs GG (OR = 0.78, 95% CI =0.64~0.96) and for the recessive model (OR=0.80, 95% CI=0.66~0.96) in Caucasians, but not for Asians. Conclusions: The results from the meta-analysis suggested that the CYP1A2 rs762551 polymorphism is a protective factor for bladder cancer, especially in Caucasians.
Sperm-mediated Gene Transfer in the Chinese Honeybee, Apis cerana cerana (Hymenoptera: Apidae)
Dong-Sheng Guo,Liang-Xian Sun,Zhi-Jiang Zeng,Xian-Bing Xie 한국응용곤충학회 2007 Journal of Asia-Pacific Entomology Vol.10 No.4
Transgenic Apis cerana cerana were produced by sperm-mediated gene transfer (SMGT). In the experiment, the foreign DNA was linearized and introduced with sperm during the instrumental insemination of virgin queen. The descendants of the experimental colonies were analyzed. In the green fluorescent-positive offspring, green fluorescence was observed for 1- to 2-day-old larvae, the predicted fragment was isolated by means of PCR amplification of genomic DNA and the expression of transferred genes was confirmed at transcriptional level by reverse transcription-polymerase chain reaction. These results showed that the exogenous gene could be integrated in a fraction of the germ line cells of the queen Apis cerana cerana and transmitted to offspring by SMGT.
Ionic liquid extraction of silkworm pupa protein and its biological characteristics
Zeng Qing-Lei,Zhang Ning,Zhang Yue-Yue,Xin Xiang-Dong,Attaribo Thomas,Shao Ying,Tang Liu-Mei,Zhang Ran,이광식,진병래,Gui Zhongzheng 한국응용곤충학회 2021 Journal of Asia-Pacific Entomology Vol.24 No.1
Silkworm (Bombyx mori) pupa protein (SPP) is a high-quality source of animal protein with substantial nutri tional benefits and health value. To develop an efficient extraction method for SPP that is environmentally friendly, we selected choline hydroxide ionic liquid (CH-IL) as the extraction solvent and performed orthogonal experiments to optimize the extraction conditions. We demonstrated that 3% CH-IL, a solid-to-liquid ratio (g/mL) of 1:30, an extraction temperature of 40 ◦ C, and an extraction time of 1 h facilitated the most efficient extraction. Compared to the conventional alkali solubilization–acid precipitation method, the CH-IL extraction increased protein content by 12.14%. Protein structure analysis showed that the β-sheet content increased by 10.98% and that of disulfide bonds reduced by 16.4%. The processing properties of the CH-IL extracted protein showed that the solubility, emulsification, and foaming capacity were enhanced by 82.87%, 15.44%, and 18.97%, respec tively. The physical properties of SPP remarkably improved relative to the increased stretching of the poly peptide chains. The findings of this study provide technical knowledge that will enhance the processing performance of pupal proteins.
Features Extraction and Mechanism Analysis of Partial Discharge Development under Protrusion Defect
Dong, Yu-Lin,Tang, Ju,Zeng, Fu-Ping,Liu, Min The Korean Institute of Electrical Engineers 2015 Journal of Electrical Engineering & Technology Vol.10 No.1
In order to study the development of partial discharge (PD) under typical protrusion defects in gas-insulated switchgear, we applied step voltages on the defect and obtained the ${\varphi}-u$ and ${\varphi}-n$ spectrograms of ultra-high frequency (UHF) PD signals in various PD stages. Furthermore, we extracted seven kinds of features to characterize the degree of deterioration of insulation and analyzed their values, variation trends, and change rates. These characteristics were inconsistent with the development of PD. Hence, the differences of these features could describe the severity of PD. In addition, these characteristics could provide integrated characteristics regarding PD development and improve the reliability of PD severity assessment because these characteristics were extracted from different angles. To explain the variation laws of these seven kinds of parameters, we analyzed the relevant physical mechanism by considering the microphysical process of PD formation and development as well as the distortion effect generated by the space charges on the initial field. The relevant physical mechanism effectively allocated PD severity among these features for assessment, and the effectiveness and reliability of using these features to assess PD severity were proved by testing a large number of PD samples.
A New Approach for the Analysis Solution of Dynamic Systems Containing Fractional Derivative
Dong-Pyo Hong,Young-Moon Kim,Ji-Zeng Wang 대한기계학회 2006 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.20 No.5
Fractional derivative models, which are used to describe the viscoelastic behavior of material, have received considerable attention. Thus it is necessary to put forward the analysis solutions of dynamic systems containing a fractional derivative. Although previously reported such kind of fractional calculus-based constitutive models, it only handles the particularity of rational number in part, has great limitation by reason of only handling with particular rational number field. Simultaneously, the former study has great unreliability by reason of using the complementary error function which can't ensure uniform real number. In this paper, a new approach is proposed for an analytical scheme for dynamic system of a spring-mass-damper system of single-degree of freedom under general forcing conditions, whose damping is described by a fractional derivative of the order 0<α<1 which can be both irrational number and rational number. The new approach combines the fractional Green's function and Laplace transform of fractional derivative. Analytical examples of dynamic system under general forcing conditions obtained by means of this approach verify the feasibility very well with much higher reliability and universality.