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Calibration Method of Roof Weld Coating Robot System Based on Plane-to-Plane Intersection Model
Shanming Luo,Fuqiang Li,Pingjiang Wang,Yin Yang,Jingyu Mo 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.8
In order to solve the problems of traditional calibration methods, such as assigning internal and external parameters for camera and hand-eye relation matrices, a new method to calibrate weld coating robots based on plane-to-plane intersection model is developed in this paper. The mathematical model of the system is established by the homogeneous transformation theory, and then used to calibrate the line structured light sensor (LSLS). By adjusting the robot, the coordinate systems of the LSLS and the workpiece are superposed to solve the hand-eye relation matrix of the car roof weld coating robot. Finally, the calibrated experimental process and results towards car roof weld coating robot system are analyzed. The results show that this method is simple and high accuracy in roof weld coating robot system, and can be applied to the field calibration of car roof weld coating robot system. Furthermore, it can provide guiding significance for calibration of other robot systems.
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Ping Jiang,Dufang Ma,Xue Wang,Yongcheng Wang,Yuxin Bi,Jinlong Yang,Xuebing Wang,Xiao Li 한국분자세포생물학회 2018 Molecules and cells Vol.41 No.3
Low-grade pro-inflammatory state and leptin resistance are important underlying mechanisms that contribute to obesityassociated hypertension. We tested the hypothesis that Astragaloside IV (As IV), known to counteract obesity and hypertension, could prevent obesity-associated hypertension by inhibiting pro-inflammatory reaction and leptin resistance. High-fat diet (HFD) induced obese rats were randomly assigned to three groups: the HFD control group (HF con group), As IV group, and the As IV + α-bungaratoxin (α-BGT) group (As IV+α-BGT group). As IV (20 mg·Kg-1·d-1) was administrated to rats for 6 weeks via daily oral gavage. Body weight and blood pressure were continuously measured, and NE levels in the plasma and renal cortex was evaluated to reflect the sympathetic activity. The expressions of leptin receptor (LepRb) mRNA, phosphorylated signal transducer and activator of transcription-3 (p-STAT3), phosphorylated phosphatidylinositol 3-kinase (p-PI3K), suppressor of cytokine signaling 3 (SOCS3) mRNA, and protein-tyrosine phosphatase 1B (PTP1B) mRNA, pro-opiomelanocortin (POMC) mRNA and neuropeptide Y (NPY) mRNA were measured by Western blot or qRT-PCR to evaluate the hypothalamic leptin sensitivity. Additionally, we measured the protein or mRNA levels of α7nAChR, inhibitor of nuclear factor κB kinase subunit β/nuclear factor κB (IKKβ/NF-KB) and pro-inflammatory cytokines (IL-1β and TNF-α) in hypothalamus and adipose tissue to reflect the anti-inflammatory effects of As IV through upregulating expression of α7nAChR. We found that As IV prevented body weight gain and adipose accumulation, and also improved metabolic disorders in HFD rats. Furthermore, As IV decreased BP and HR, as well as NE levels in blood and renal tissue. In the hypothalamus, As IV alleviated leptin resistance as evidenced by the increased p-STAT3, LepRb mRNA and POMC mRNA, and decreased p-PI3K, SOCS3 mRNA, and PTP1B mRNA. The effects of As IV on leptin sensitivity were related in part to the up-regulated α7nAchR and suppressed IKKβ/NF-KB signaling and pro-inflammatory cytokines in the hypothalamus and adipose tissue, since co-administration of α7nAChR selective antagonist α-BGT could weaken the improved effect of As IV on central leptin resistance. Our study suggested that As IV could efficiently prevent obesityassociated hypertension through inhibiting inflammatory reaction and improving leptin resistance; furthermore, these effects of As IV was partly related to the increased α7nAchR expression.
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