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Robust Multi-mode Flight Control Design for an Unmanned Helicopter Based on Multi-loop Structure
Hong-qiang Wang,Dao-bo Wang,Hai-bin Duan,Ashfaq Ahmad Mian 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.5
In this paper, a novel multi-mode flight control strategy for unmanned helicopter, in presence of model uncertainty, atmospheric disturbances and handling qualities specification requirements (as in ADS-33E), based on multi-loop control structure combining robust H-infinity and PI control is presented. In inner loop H-infinity optimal control technique is utilized ensuring the stability of flight control system in case of change of helicopter dynamics, model uncertainties and eliminates effect of gust disturbance on helicopter states and collective/cyclic inputs. PI control in outer loop is used to improve the dynamic and static operation characteristics. Attitude control and attitude holding flight mode with satisfactory command response and decoupling characteristics is designed using the proposed control strategy. Analysis and simulation results show that Level 1 handling requirements as defined in ADS-33E are accomplished even when helicopter is under constant wind circumstance.
Galectin-9 Acts as a Prognostic Factor with Antimetastatic Potential in Hepatocellular Carcinoma
Zhang, Zhao-Yang,Dong, Jia-Hong,Chen, Yong-Wei,Wang, Xian-Qiang,Li, Chong-Hui,Wang, Jian,Wang, Guo-Qiang,Li, Hai-Lin,Wang, Xue-Dong Asian Pacific Journal of Cancer Prevention 2012 Asian Pacific journal of cancer prevention Vol.13 No.6
Considerable research has been conducted concerning galectin-9 and carcinomas, but little information is available about any relation with the hepatocellular carcinoma. In this study, we employed a small interfering RNA (siRNA) targeting galectin-9 to down-regulate the expression in HepG2 cells. As a result, after galectin-9 expression was reduced, cell aggregation was suppressed, while other behaviour such as the proliferation, adhesion and invasion to ECM, cell-endothelial adhesion and transendothelial invasion of the cells were markedly enhanced. When tumors of 200 patients with hepatocellular carcinoma were tested for galectin-9 expression by immunohistochemistry, binding levels demonstrated intimate correlations with the histopathologic grade, lymph node metastasis, vascular invasion and intrahepatic metastasis (P<0.05). Moreover, survival analysis indicated that patients with galectin-9 expression had much longer survival time than those with negative lesions, and the Log-rank test indicated that this difference was statistical significant (P<0.0001). The Cox proportional hazards model suggested that negative galectin-9 expression in hepatocellular carcinoma represented a significant risk factor for patient survival. We propose that galectin-9 might be a new prognostic factor with antimetastatic potential in patients with hepatocellular carcinoma.
Wang, Hong,Li, Yu-Yuan,Wu, Ying-Ying,Nie, Yu-Qiang Asian Pacific Journal of Cancer Prevention 2012 Asian Pacific journal of cancer prevention Vol.13 No.5
Aim: To investigate the expression of three components of the Hedgehog (Hh) signaling pathway (SHH, SMO and GLI1) in human colorectal cancer (CRC) tissues and evaluate their association with clinicopathologic characteristics of the patients. Methods: Fresh tumor tissues and matched tissues adjacent to the tumor were collected from 43 CRC patients undergoing surgery. Normal colorectal tissues from 20 non-CRC cases were also sampled as normal controls. The expression of SHH, SMO, GLI1 mRNAs was assessed by RT-PCR and proteins were detected by immunohistochemical staining. Associations with clinicopathological characteristics of patients were analyzed. Results: SHH mRNA was expressed more frequently in tumor tissues than in normal tissues, but the difference did not reach significance in comparison to that in the adjacent tissues. SMO and GLI1 mRNAs were expressed more frequently in tumor tissues than in both adjacent andnormal tissues. The expression intensities of SHH, SMO, GLI1 mRNA in tumor tissues were significantly higher than those in adjacent tissues and normal tissues. Proteins were also detected more frequently in tumors than other tissues. No significant links were apparent with gender, age, location, degree of infiltration or Dukes stage. Conclusion: Positive rates and intensities of mRNA and protein expression of Hh signaling pathway related genes SHH, SMO, GLI1 were found to be significantly increased in CRC tissues. However, over-expression did not appear to be associated with particular clinicopathological characteristics.
The Design of Malocclusion Model Diagnosis and Treatment Planning CAD System
Hong, Zhao,qiang, Zhai Zhan,Zheng, Wang Yu,Yie, Ke,Zhu, Lin 대한전자공학회 1992 HICEC:Harbin International Conference on Electroni Vol.1 No.1
Malocclusion model diagnosis and treatment is an important branch of stomatology. It means that dental diseases is treated through diagnosis and correction of dental deformity disease. In this paper, the objective, content, and method of malocclusion model diagnosis and treatment planning CAD system are introduced. Using the system, dentists are able to capture the image of dental cast, measure three dimensional feature points, extract specialized feature data, express teeth and gum with certain data structure, then provide the basis for design of treatment scheme. According to the feature points the feature data, computer aided design and simulation can be performed. The working efficiency and treatment effectivity of dentists can be improved in consequence.
Wang, Xia,Wang, Hong,Li, Qiang,Li, Hongsen,Xu, Jie,Zhao, Guoxia,Li, Hongliang,Guo, Peizhi,Li, Shandong,Sun, Yang-kook The Electrochemical Society 2017 Journal of the Electrochemical Society Vol.164 No.13
<P>A promising anode material for lithium-ion batteries (LIBs) consisting of Sb2Se3 nanorods and reduced graphene oxide (rGO) sheets has been prepared by an effective solvothermal approach. The synergetic effect between Sb2Se3 nanorods and rGO matrix provides not only high conductivity paths and strong electron contact interface, but also alleviates the volume change of Sb2Se3 nanorods, resulting in excellent lithium-storage performance. When tested as an anode material for LIBs, a high capacity of 868.30 mAh g(-1) can be retained after 100 cycles at 200 mA g(-1). Even at 2000 mA g(-1), a satisfactory capacity of 430.40 mAh g(-1) after long 550 cycles can be delivered. Ex situ X-ray diffraction study suggests that the Sb2Se3/rGO composite follows the combined Li+ intercalation, conversion reaction and alloying reaction mechanism. These features suggest the Sb2Se3/rGO composite a viable choice for application as an anode material in high-performance LIBs. (C) 2017 The Electrochemical Society. All rights reserved.</P>
Wang Ben,Wang Hong,Zhang Zhi-qiang 보안공학연구지원센터 2016 International Journal of Smart Home Vol.10 No.10
After considering the actual dimension of reinforced concrete structure, the thickness and geometrical boundary condition of concrete cover, the model of corrosion-induced expansion can be simplified as a plane model of semi-infinite body. Through theoretical analysis, formulas are got to calculate corrosion-induced expansive stress of concrete cover. The results shows that: the corrosion-induced crack originated on the interface between concrete and the corrosion layer, if initial cracking is not in vertical direction to the surface of concrete cover, cracks along the rebar induced by the uplift and horizontal tension stress on the surface of the concrete cover may occur from its outer to inner, it also presents that the anti-rust ability of reinforced concrete structures could be improved by increasing the thickness of concrete cover, raising the grade of concrete, and increasing the diameter of rebar. Compared with the existing literatures, the precision of the theoretical solutions is verified.
Hong-Zhi Liu,Qiang Wang,Yuan-Yuan Liu,Fang Fang 한국생물공학회 2009 Biotechnology and Bioprocess Engineering Vol.14 No.5
In view of the increase in Saccharomyces cerevisiae mannan content, the culture medium and condition for S.cerevisiae were optimized in this study. The influence of culture medium ingredients such as carbon and nitrogen sources, inorganic ion, and enzyme activator on mannan production were evaluated using factional design. The mathematical model was established by the quadratic rotary combination design through response surface analysis. The optimized concentrations of culture medium were determined as follows: 4.98 g/100 mL, sucrose; 4.39 g/100 mL, soybean peptone; 3.10 g/100 mL, yeast extract; and 2.21 g/100 mL, glycerol. The optimized culture medium increased mannan production from 82.7 ± 3.4 mg/100 mL to 162.53 ± 3.47 mg/100 mL. The influence of original pH, inoculum size, temperature, and media volume on mannan production was evaluated and confirmed by orthogonale experimental design, with the order of effect as follows: media volume > temperature > initial pH > inoculation size. The optimized culture condition was pH, 5; inoculum size, 5 ml; temperature, 32oC; and media volume, 40 mL. The maximum mannan production increased to 258.5 ± 9.1 mg/100 mL at the optimum culture condition.=It was evident that the mannan production was affected significantly by culture medium and condition optimization (é < 0.01). In view of the increase in Saccharomyces cerevisiae mannan content, the culture medium and condition for S.cerevisiae were optimized in this study. The influence of culture medium ingredients such as carbon and nitrogen sources, inorganic ion, and enzyme activator on mannan production were evaluated using factional design. The mathematical model was established by the quadratic rotary combination design through response surface analysis. The optimized concentrations of culture medium were determined as follows: 4.98 g/100 mL, sucrose; 4.39 g/100 mL, soybean peptone; 3.10 g/100 mL, yeast extract; and 2.21 g/100 mL, glycerol. The optimized culture medium increased mannan production from 82.7 ± 3.4 mg/100 mL to 162.53 ± 3.47 mg/100 mL. The influence of original pH, inoculum size, temperature, and media volume on mannan production was evaluated and confirmed by orthogonale experimental design, with the order of effect as follows: media volume > temperature > initial pH > inoculation size. The optimized culture condition was pH, 5; inoculum size, 5 ml; temperature, 32oC; and media volume, 40 mL. The maximum mannan production increased to 258.5 ± 9.1 mg/100 mL at the optimum culture condition.=It was evident that the mannan production was affected significantly by culture medium and condition optimization (é < 0.01).