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基于时间弹性带的移动机器人路径优化方法 被引量:4
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作者 陈纪廷 郭晨 刘毅 《科学技术与工程》 北大核心 2021年第26期11212-11219,共8页
传统的路径规划并未明确地纳入运动的时间和动力学方面,因此忽略了运动或动态运动模型在有限的速度和加速度下施加的约束。针对这种情况,将时间弹性带算法引入局部路径优化,有效地优化了机器人轨迹的动力学约束,同时明确纳入时间信息以... 传统的路径规划并未明确地纳入运动的时间和动力学方面,因此忽略了运动或动态运动模型在有限的速度和加速度下施加的约束。针对这种情况,将时间弹性带算法引入局部路径优化,有效地优化了机器人轨迹的动力学约束,同时明确纳入时间信息以确保在最短时间内到达目标点,确保了移动机器人导航的快速性。将基于噪声的密度聚类算法(DBSCAN)引入地图转换,将局部代价地图层的点障碍物聚类为凸多边形,使得障碍物约束部分计算量大大减少,总体上减少了机器人导航所需时间,提升了导航的快速性。在仿真环境和真实场景下的实验都验证了上述改进的有效性。 展开更多
关键词 移动机器人 局部路径优化 时间弹性带算法 基于噪声的密度聚类算法(DBSCAN)
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B to O erythrocyte conversion by the recombinant α-galactosidase 被引量:13
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作者 ZHANG Yang-pei GONG Feng +14 位作者 BAO Guo-qiang GAO Hong-wei JI Shou-ping TAN Ying-xia LI Su-bo LI Li-li WANG Ying-li XU Hua XU Li-juan TIAN Shu-guang ZHANG Zhi-xin LU Qiu-shuang QIU Yan BAI Jian-shi chen ji-ting 《Chinese Medical Journal》 SCIE CAS CSCD 2007年第13期1145-1150,共6页
Background Human group O red blood cells have great benefit in specialized transfusion areas such as armed conflict and natural calamity. The group B antigen differs structurally from group O antigen only by the addit... Background Human group O red blood cells have great benefit in specialized transfusion areas such as armed conflict and natural calamity. The group B antigen differs structurally from group O antigen only by the addition of one terminal α-linked galactose residue. In this study we aimed to remove the terminal galactose from group B red blood cell to get group O red blood cell. Methods α-galactosidase cDNA was cloned by RT-PCR from Catimor coffee beans grown on Hainan Island of China. The vector for α-galactosidase cDNA expression was constructed and transferred into Pichia pastoris cells by electroporation. The transgenic cells were cloned by fermentation and the recombinant α-galactosidase was purified by ion exchange chromatography. After studying the biochemical characters of α-galactosidase, we have used it in converting human erythrocytes from group B to group O. Results The purity of recombinant α-galactosidase was higher than 96%, which was thought to be suitable for the use of blood conversion. Enzymatically converted human group O red blood cells (ECHORBC) exhibited membrane integrity, metabolic integrity, normal cell deformation and morphology. There were no coagulation between ECHORBC and any group of human blood. The ECHORBC will keep normal structure and function for a period of 21 days at 4℃ in monoammoniumphosphate nutrient solution. Experiments with Rhesus monkeys and gibbons showed that transfusion of enzymatically converted erythrocytes was safe. Conclusion ECHORBC can be easily obtained from group B red blood cell by α-galactosidase digestion. This study suggests that ECHORBC could be transfused to patients safely and efficiently. 展开更多
关键词 erythrocytes blood conversion Α-GALACTOSIDASE
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