Multiple UAVs are usually deployed to provide robustness through redundancy and to accomplish surveillance,search,attack and rescue missions.Formation reconfiguration was inevitable during the flight when the mission ...Multiple UAVs are usually deployed to provide robustness through redundancy and to accomplish surveillance,search,attack and rescue missions.Formation reconfiguration was inevitable during the flight when the mission was adjusted or the environment varied.Taking the typical formation reconfiguration from a triangular penetrating formation to a circular tracking formation for example,a path planning method based on Dubins trajectory and particle swarm optimization(PSO)algorithm is presented in this paper.The mathematic model of multiple UAVs formation reconfiguration was built firstly.According to the kinematic model of aerial vehicles,a process of dimensionality reduction was carried out to simplify the model based on Dubins trajectory.The PSO algorithm was adopted to resolve the optimization problem of formation reconfiguration path planning.Finally,the simulation and vehicles flight experiment are executed.Results show that the path planning method based on the Dubins trajectory and the PSO algorithm can generate feasible paths for vehicles on time,to guarantee the rapidity and effectiveness of formation reconfigurations.Furthermore,from the simulation results,the method is universal and could be extended easily to the path planning problem for different kinds of formation reconfigurations.展开更多
探讨温阳振衰颗粒调控微小核糖核酸-132-3p(microribonucleic acid-132-3p,miR-132-3p)/解偶联蛋白2(uncoupling protein 2,UCP2)表达对脓毒症大鼠心肌细胞自噬、凋亡的影响。取60只SD大鼠随机分为模型组(50只)和假手术组(10只)。模型...探讨温阳振衰颗粒调控微小核糖核酸-132-3p(microribonucleic acid-132-3p,miR-132-3p)/解偶联蛋白2(uncoupling protein 2,UCP2)表达对脓毒症大鼠心肌细胞自噬、凋亡的影响。取60只SD大鼠随机分为模型组(50只)和假手术组(10只)。模型组大鼠通过盲肠结扎穿孔术构建脓毒症大鼠模型,将建模成功的大鼠随机分为温阳振衰颗粒低、中、高剂量组,模型组,阳性对照组。假手术组大鼠仅开腹游离盲肠不进行穿孔结扎。苏木素-伊红(hematoxylin-eosin,HE)染色观察大鼠心肌组织病理学改变;原位末端标记法(TdT-mediated dUTP nick end labeling,TUNEL)检测大鼠心肌细胞凋亡;RT-qPCR检测大鼠心肌组织miR-132-3p表达、UCP2、微管相关蛋白轻链3(microtubule-associated protein light chain 3,LC3-Ⅱ/LC3-Ⅰ)、Beclin-1、半胱氨酸蛋白酶-3(caspase-3)mRNA表达;Western blot检测大鼠心肌组织UCP2、LC3-Ⅱ/LC3-Ⅰ、Beclin-1、caspase-3蛋白表达;双荧光素酶报告基因实验验证miR-132-3p与UCP2的调控关系。脓毒症模型大鼠心肌纤维排列紊乱,有明显炎症细胞浸润和心肌细胞水肿、坏死现象。随温阳振衰颗粒剂量的增加,心肌组织病理学改变均得到不同程度的改善。与假手术组比,模型组,阳性对照组,温阳振衰颗粒低、中、高剂量组大鼠生存率及LVEF降低,心肌损伤评分和细胞凋亡率升高;与模型组比,阳性对照组及温阳振衰颗粒低、中、高剂量组大鼠生存率及LVEF升高,心肌损伤评分和细胞凋亡率降低。与假手术组比,模型组,阳性对照组,温阳振衰颗粒低、中、高剂量组大鼠心肌组织miR-132-3p、UCP2 mRNA表达及蛋白表达降低,LC3-Ⅱ/LC3-Ⅰ、Beclin-1、caspase-3 mRNA及蛋白表达升高;与模型组比,阳性对照组及温阳振衰颗粒低、中、高剂量组大鼠心肌组织miR-132-3p表达、UCP2 mRNA及蛋白表达升高,LC3-Ⅱ/LC3-Ⅰ、Beclin-1、caspase-3 mRNA及蛋白表达降低。温阳振衰颗粒可抑制脓毒症大鼠心肌细胞过度自噬和凋亡,改善心肌损伤,可能是通过调控miR-132-3p/UCP2表达发挥上述作用的。展开更多
基金Project (61703414) supported by the National Natural Science Foundation of ChinaProject (3101047) supported by the Defense Science and Technology Foundation of China+1 种基金Project (2017JJ3366) supported by the Natural Science Foundation of Hunan ChinaProject (2015M582881) supported by the China Postdoctoral Science Foundation
文摘Multiple UAVs are usually deployed to provide robustness through redundancy and to accomplish surveillance,search,attack and rescue missions.Formation reconfiguration was inevitable during the flight when the mission was adjusted or the environment varied.Taking the typical formation reconfiguration from a triangular penetrating formation to a circular tracking formation for example,a path planning method based on Dubins trajectory and particle swarm optimization(PSO)algorithm is presented in this paper.The mathematic model of multiple UAVs formation reconfiguration was built firstly.According to the kinematic model of aerial vehicles,a process of dimensionality reduction was carried out to simplify the model based on Dubins trajectory.The PSO algorithm was adopted to resolve the optimization problem of formation reconfiguration path planning.Finally,the simulation and vehicles flight experiment are executed.Results show that the path planning method based on the Dubins trajectory and the PSO algorithm can generate feasible paths for vehicles on time,to guarantee the rapidity and effectiveness of formation reconfigurations.Furthermore,from the simulation results,the method is universal and could be extended easily to the path planning problem for different kinds of formation reconfigurations.
文摘探讨温阳振衰颗粒调控微小核糖核酸-132-3p(microribonucleic acid-132-3p,miR-132-3p)/解偶联蛋白2(uncoupling protein 2,UCP2)表达对脓毒症大鼠心肌细胞自噬、凋亡的影响。取60只SD大鼠随机分为模型组(50只)和假手术组(10只)。模型组大鼠通过盲肠结扎穿孔术构建脓毒症大鼠模型,将建模成功的大鼠随机分为温阳振衰颗粒低、中、高剂量组,模型组,阳性对照组。假手术组大鼠仅开腹游离盲肠不进行穿孔结扎。苏木素-伊红(hematoxylin-eosin,HE)染色观察大鼠心肌组织病理学改变;原位末端标记法(TdT-mediated dUTP nick end labeling,TUNEL)检测大鼠心肌细胞凋亡;RT-qPCR检测大鼠心肌组织miR-132-3p表达、UCP2、微管相关蛋白轻链3(microtubule-associated protein light chain 3,LC3-Ⅱ/LC3-Ⅰ)、Beclin-1、半胱氨酸蛋白酶-3(caspase-3)mRNA表达;Western blot检测大鼠心肌组织UCP2、LC3-Ⅱ/LC3-Ⅰ、Beclin-1、caspase-3蛋白表达;双荧光素酶报告基因实验验证miR-132-3p与UCP2的调控关系。脓毒症模型大鼠心肌纤维排列紊乱,有明显炎症细胞浸润和心肌细胞水肿、坏死现象。随温阳振衰颗粒剂量的增加,心肌组织病理学改变均得到不同程度的改善。与假手术组比,模型组,阳性对照组,温阳振衰颗粒低、中、高剂量组大鼠生存率及LVEF降低,心肌损伤评分和细胞凋亡率升高;与模型组比,阳性对照组及温阳振衰颗粒低、中、高剂量组大鼠生存率及LVEF升高,心肌损伤评分和细胞凋亡率降低。与假手术组比,模型组,阳性对照组,温阳振衰颗粒低、中、高剂量组大鼠心肌组织miR-132-3p、UCP2 mRNA表达及蛋白表达降低,LC3-Ⅱ/LC3-Ⅰ、Beclin-1、caspase-3 mRNA及蛋白表达升高;与模型组比,阳性对照组及温阳振衰颗粒低、中、高剂量组大鼠心肌组织miR-132-3p表达、UCP2 mRNA及蛋白表达升高,LC3-Ⅱ/LC3-Ⅰ、Beclin-1、caspase-3 mRNA及蛋白表达降低。温阳振衰颗粒可抑制脓毒症大鼠心肌细胞过度自噬和凋亡,改善心肌损伤,可能是通过调控miR-132-3p/UCP2表达发挥上述作用的。
