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RISS 인기검색어
- 검색키워드
- 저자 : Jinghang Li (검색결과 2 건)
- 무료
- 기관 내 무료
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Dynamics and workspace analysis of a multi-robot collaborative towing system with floating base
Jinghang Li,Zhigang Zhao,Shaohui Zhang,Cheng Su 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.10
A multi-robot collaborative towing system fixed on floating base for high load marine work was established in this paper, and its dynamics and workspace were analyzed. An improved Monte-Carlo method was optimized, considering that this method cannot be directly used for the multi-robot system. Firstly, according to the structure of the system, the dynamics equations of the towing mechanism and the floating base were established by using the Newton-Euler method and rigid body dynamics, respectively. Then, an improved Monte-Carlo method was optimized, and the specific steps of solving the dynamic workspace by the optimized method were provided. Lastly, the system was divided into three types according to the actuator, and their dynamic workspace were simulated with a practical example by the traditional Monte-Carlo method and the optimized method. The simulation results show that, compared with traditional method, the optimized method has higher efficiency and can figure a workspace with clear boundary. Results of this study lay a basis for the subsequent trajectory plan and stability analysis of the system.
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The study of blood transcriptome profiles in Holstein cows with miscarriage during peri-implantation
Guoli Zhao,Yanyan Li,Xiaolong Kang,Liang Huang,Peng Li,Jinghang Zhou,Yuangang Shi 아세아·태평양축산학회 2019 Animal Bioscience Vol.32 No.1
Objective: In this study, the transcriptome profile of cow experiencing miscarriage during peri-implantation was investigated. Methods: Total transcriptomes were checked by RNA sequencing, and the analyzed by bioinformatics methods, the differentially expressed genes (DEGs) were analysed with hierarchical clustering and Kyoto encyclopedia of genes and genomes (KEGG) pathway analysis. Results: The results suggested that serum progesterone levels were significantly decreased in cows that miscarried as compared to the pregnant cows at 18, 21, 33, 39, and 51 days after artificial insemination. The RNA sequencing results suggested that 32, 176, 5, 10, and 2 DEGs were identified in the pregnant cows and miscarried cows at 18, 21, 33, 39, and 51 d after artificial insemination. And 15, 101, 1, 2, and 2 DEGs were upregulated, and 17, 74, 4, and 8 DEGs were downregulated in the cows in the pregnant and miscarriage groups, respectively at 18, 21, 33, and 39, but no gene was downregulated at 51 d after artificial insemination. These DEGs were distributed to 13, 20, 3, 6, and 20 pathways, and some pathway essential for pregnancy, such as cell adhesion molecules, tumor necrosis factor signaling pathway and PI3K-Akt signaling pathway. Conclusion: This analysis has identified several genes and related pathways crucial for pregnancy and miscarriage in cows, as well as these genes supply molecular markers to predict the miscarriage in cows.
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