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Correlation between the cumulative analgesic effect of electroacupuncture intervention and synaptic plasticity of hypothalamic paraventricular nucleus neurons in rats with sciatica 被引量:6
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作者 Qiuling Xu Tao Liu +4 位作者 shuping chen Yonghui Gao Junying Wang Lina Qiao Junling Liu 《Neural Regeneration Research》 SCIE CAS CSCD 2013年第3期218-225,共8页
In the present study, a rat model of chronic neuropathic pain was established by ligation of the sciatic nerve and a model of learning and memory impairment was established by ovariectomy to investigate the analgesic ... In the present study, a rat model of chronic neuropathic pain was established by ligation of the sciatic nerve and a model of learning and memory impairment was established by ovariectomy to investigate the analgesic effect of repeated electroacupuncture stimulation at bilateral Zusanfi (ST36) and Yanglingquan (GB34). In addition, associated synaptic changes in neurons in the paraventricular nucleus of the hypothalamus were examined. Results indicate that the thermal pain threshold (paw withdrawal latency) was significantly increased in rats subjected to 2-week electroacupuncture intervention compared with 2-day electroacupuncture, but the analgesic effect was weakened remarkably in ovariectomized rats with chronic constrictive injury. 2-week electroacupuncture intervention substantially reversed the chronic constrictive injury-induced increase in the synaptic cleft width and thinning of the postsynaptic density. These findings indicate that repeated electroacupuncture at bilateral Zusanfi and Yanglingquan has a cumulative analgesic effect and can effectively relieve chronic neuropathic pain by remodeling the synaptic structure of the hypothalamic paraventricular nucleus. 展开更多
关键词 neural regeneration acupuncture and moxibustion Chronic neuropathic pain electroacupuncture acupuncture analgesia cumulative effect synaptic plasticity HYPOTHALAMUS learning and memory NEUROBIOLOGY grants-supported paper photographs-containing paper neuroregeneration
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The cumulative analgesic effect of repeated electroacupuncture involves synaptic remodeling in the hippocampal CA3 region 被引量:5
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作者 Qiulinq Xu Tao Liu +4 位作者 shuping chen Yonghui Gao Junying Wang Lina Qiao Junling Liu 《Neural Regeneration Research》 SCIE CAS CSCD 2012年第18期1378-1385,共8页
In the present study, we examined the analgesic effect of repeated electroacupuncture at bilateral Zusanfi (ST36) and Yanglingquan (GB34) once a day for 14 consecutive days in a rat model of chronic sciatic nerve ... In the present study, we examined the analgesic effect of repeated electroacupuncture at bilateral Zusanfi (ST36) and Yanglingquan (GB34) once a day for 14 consecutive days in a rat model of chronic sciatic nerve constriction injury-induced neuropathic pain. In addition, concomitant changes in calcium/calmodulin-dependent protein kinase II expression and synaptic ultrastructure of neurons in the hippocampal CA3 region were examined. The thermal pain threshold (paw withdrawal latency) was increased significantly in both groups at 2 weeks after electroacupuncture intervention compared with 2 days of electroacupuncture. In ovariectomized rats with chronic constriction injury, the analgesic effect was significantly reduced. Electroacupuncture for 2 weeks significantly diminished the injury-induced increase in synaptJc cleft width and thinning of the postsynaptJc density, and it significantly suppressed the down-regulation of intracellular calcium/ calmodulin-dependent protein kinase II expression in the hippocampal CA3 region. Repeated electroacupuncture intervention had a cumulative analgesic effect on injury-induced neuropathic pain reactions, and it led to synaptic remodeling of hippocampal neurons and upregulated calcium/calmodulin-dependent protein kJnase II expression in the hippocampal CA3 region. 展开更多
关键词 chronic neuropathic pain acupuncture analgesia cumulative effect synaptic plasticity hippocampal CA3 region calcium/calmodulin-dependent protein kinase II NEUROBIOLOGY ELECTROACUPUNCTURE neural regeneration
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A Study on Genotype-by-Environment Interaction Analysis for Agronomic Traits of Maize Genotypes Across Huang-Huai-Hai Region in China 被引量:5
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作者 Haiwang Yue Jianwei Wei +5 位作者 Junliang Xie shuping chen Haicheng Peng Hongmei Cao Junzhou Bu Xuwen Jiang 《Phyton-International Journal of Experimental Botany》 SCIE 2022年第1期57-81,共25页
Facing the trend of increasing population,how to increase maize grain yield is a very important issue to ensure food security.In this study,28 nationally approved maize hybrids were evaluated across 24 different clima... Facing the trend of increasing population,how to increase maize grain yield is a very important issue to ensure food security.In this study,28 nationally approved maize hybrids were evaluated across 24 different climatic conditions for two consecutive years(2018-2019).The purpose of this study was to select high-yield with stable genotypes and identify important agronomic traits for maize breeding program improvement.The results of this study showed that the genotypeenvironment interaction effects of the 12 evaluated agronomic traits was highly significant(P<0.001).We introduced a novel multi-trait genotype-ideotype distance index(MGIDI)to select genotypes based on multiple agronomic traits.The selection process exhibited by this method is unique and easy to understand,so the MGIDI index will have more and more important applications in future multi-environment trials(METs)research.The genotypes selected by the MGIDI index were G22,G10,G12 and G1 as the high yielding and stable genotypes.The parents of these selected genotypes have the ability to play a greater role as the basic germplasm in the breeding process.A new form of genotype(G)main effects and genotype(G)-by-environment(E)interaction(GGE)technician,genotypeyieldtrait(GYT)biplot,based on multiple traits for genotypes selection was also applied in this study.The GYT biplot ranked genotypes by combining grain yield with other evaluated agronomic traits,and displayed the distribution of their traits,namely strengths and weaknesses. 展开更多
关键词 GEI MGIDI GYT biplot AMMI model GGE
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Implementation of MPC-Based Trajectory Tracking Considering Different Fidelity Vehicle Models 被引量:4
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作者 shuping chen Huiyan chen Dan Negrut 《Journal of Beijing Institute of Technology》 EI CAS 2020年第3期303-316,共14页
In order to investigate how model fidelity in the formulation of model predictive control(MPC)algorithm affects the path tracking performance,a bicycle model and an 8 degrees of freedom(DOF)vehicle model,as well as a ... In order to investigate how model fidelity in the formulation of model predictive control(MPC)algorithm affects the path tracking performance,a bicycle model and an 8 degrees of freedom(DOF)vehicle model,as well as a 14-DOF vehicle model were employed to implement the MPC-based path tracking controller considering the constraints of input limit and output admissibility by using a lower fidelity vehicle model to control a higher fidelity vehicle model.In the MPC controller,the nonlinear vehicle model was linearized and discretized for state prediction and vehicle heading angle,lateral position and longitudinal position were chosen as objectives in the cost function.The wheel step steering and sine wave steering responses between the developed vehicle models and the Carsim model were compared for validation before implementing the model predictive path tracking control.The simulation results of trajectory tracking considering an 8-shaped curved reference path were presented and compared when the prediction model and the plant were changed.The results show that the trajectory tracking errors are small and the tracking performances of the proposed controller considering different complexity vehicle models are good in the curved road environment.Additionally,the MPC-based controller formulated with a high-fidelity model performs better than that with a low-fidelity model in the trajectory tracking. 展开更多
关键词 model predictive control vehicle dynamics path tracking autonomous vehicle
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Big Wave of the Intelligent Connected Vehicles 被引量:2
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作者 Yan Li Yiqing Cao +3 位作者 Hong Qiu Lu Gao Zhimin Du shuping chen 《China Communications》 SCIE CSCD 2016年第S2期27-41,共15页
Internet of things is deemed as the one of the great revolution after the age of Industrial Revolution.With the development of the communication technology,more and more entities are connected to the communication net... Internet of things is deemed as the one of the great revolution after the age of Industrial Revolution.With the development of the communication technology,more and more entities are connected to the communication network and become one of the elements in the network.Over recent decades,in the area of intelligent transportation,pedestrian and transport infrastructure are connected to the communication network to improve the driving safety and traffic efficiency which is known as the ICV(Intelligent Connected Vehicle).This paper summarizes the global ICV progresses in the past decades and the latest activities of ICV in China,and introduces various aspects regarding the recent development of the ICV,including industry development,spectrum and standard,at the same time. 展开更多
关键词 intelligent connected vehicle ICV vehicle to X V2X DSRC dedicated short range communication LTE-V2X ITS intelligent transportation system
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Numerical Simulation of the Water Entry of a Structure in Free Fall Motion 被引量:1
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作者 Qingtong chen Baoyu Ni +1 位作者 shuping chen Jiangguang Tang 《Journal of Marine Science and Application》 2014年第2期173-177,共5页
To solve the problems concerning water entry of a structure, the RANS equations and volume of fluid (VOF) method are used. Combining the user-defined function (UDF) procedure with dynamic grids, the water impact o... To solve the problems concerning water entry of a structure, the RANS equations and volume of fluid (VOF) method are used. Combining the user-defined function (UDF) procedure with dynamic grids, the water impact on a structure in free fall is simulated, and the velocity, displacement and the pressure distribution on the structure are investigated. The results of the numerical simulation were compared with the experimental data, and solidly consistent results have been achieved, which validates the numerical model. Therefore, this method can be used to study the water impact problems of a structure. 展开更多
关键词 STRUCTURE free fall motion water impact RANSequations VOF water entry
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Analysis of Thermal Conductivity of Frost on Cryogenic Finned-tube Vaporizer Using Fractal Method 被引量:1
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作者 shuping chen Shuting Yao Fushou Xie 《Energy and Power Engineering》 2013年第4期109-115,共7页
Thermal conductivity of frost is not only related to density, but also affected by its microstructure and environmental conditions, and it will continuously change with the formation and growth of frost. Images of fro... Thermal conductivity of frost is not only related to density, but also affected by its microstructure and environmental conditions, and it will continuously change with the formation and growth of frost. Images of frost formation and growth on the cryogenic surface in various shapes at different stages were obtained by experimental measurements, and a numerical simulation of frost formation and growth was carried out based on Diffusion Limited Aggregation (DLA) model of fractal theory in this paper. Based on the frost structure obtained by experiment, the fractal dimension of pore area distribution and porosity of frost layer on the cryogenic finned-tube?vaporizer were calculated by using fractal method, and combined with heat conduction model of frost layer obtained by thermal resistance method, the thermal conductivity of frost on the cryogenic surface was calculated. The result shows that the thermal conductivity calculated by the fractal model coincides with the range of the experimental data. Additionally, comparison with other heat conduction models indicated that it is feasible to introduce the fractal dimension of pore area distribution into heat conduction model to deduce the thermal conductivity of frost. 展开更多
关键词 CRYOGENIC Finned-tube VAPORIZER Thermal Conductivity FROST Layer FRACTAL
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The earth dynamic system: the earth rotation vs mantle convection 被引量:1
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作者 shuping chen 《Natural Science》 2010年第12期1333-1340,共8页
The earth dynamic system is one of the key scientific questions on the earth science. The thermodynamic behavior and gravity force of the earth and the rheology nature of the mantle prove that mantle convection is the... The earth dynamic system is one of the key scientific questions on the earth science. The thermodynamic behavior and gravity force of the earth and the rheology nature of the mantle prove that mantle convection is the main power source leading the lithosphere to break and move. Yet the directivity of both the structures in the crust and plate movement reminds of the earth rotation. Here we demonstrate that the mantle convection and inertia force of the earth rotation affect each other, the former being the power source of lithosphere plate break and motion, and the latter determining the direction of the mantle convection and plate motion. The sense of plate motion depends on the mantle upwells, whose trends are controlled by the earth rotation. The geometric shapes of the plate boundaries can adjust the direction of plate movement. 展开更多
关键词 PLATE TECTONICS EARTH ROTATION MANTLE CONVECTION Global Dynamics
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Synergistic Effects of Targeting Survivin and CDK1 on Nasopharyngeal Carcinoma <i>in Vitro</i>and <i>in Vivo</i> 被引量:1
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作者 Hongtao Zhou Xinping chen +3 位作者 shuping chen Junhong Cai Jiye Zhang Shengmiao Fu 《Journal of Cancer Therapy》 2019年第4期305-315,共11页
Background: To explore the impact of pU6-based tandem survivin and CDK1-specific short hairpin RNA on the biological behaviors of CNE-2 nasopharyngeal carcinoma cells in vitro and in vivo. Patients and Methods: The ve... Background: To explore the impact of pU6-based tandem survivin and CDK1-specific short hairpin RNA on the biological behaviors of CNE-2 nasopharyngeal carcinoma cells in vitro and in vivo. Patients and Methods: The vectors of pU6-survivinshRNA, pU6-CDK1shRNA and pU6-survivinshRNA-CDK1shRNA were constructed and transfected into CNE-2 cells with Lipofectamine TM 2000, respectively. The mRNAs and proteins of CDK1 and survivin were determined by RT-PCR and Western blotting, accordingly. MTT assay was employed to evaluate the proliferation of CNE-2 cells, and flow cytometry was performed to determine the apoptosis of CNE-2 cells. The effects of interfering survivin and CDK1 on tumorigenesis were evaluated by tumor xenografts experiments. Results: Effective plasmids were successfully constructed knocking down survivin and/or CDK1. The proliferation inhibition of CNE-2 cells by pU6-survivinshRNA-CDK1shRNA (32.5%) was higher than that of by pU6-survivinshRNA (25.6%) and pU6-CDK1shRNA (15.6%), and apoptosis in CNE-2 cells simultaneously interfering survivin and CDK1 (15.2%) dramatically increased when compared to those of interfering survivin (5.4%) or CDK1 (4.7%) alone. Furthermore, simultaneously interfering survivin and CDK1 is more effective than interfering alone component in inhibiting tumor growth of fBalb/C nude mice xenografted with CNE-2 cells. Conclusion: The results altogether indicate that interfering survivin and CDK1simutaneously can produce synergistic effects of anti-nasopharyngeal carcinoma, which could be a potential therapeutic method. 展开更多
关键词 SURVIVING Cyclin-Dependent Kinase1 RNA Interference CNE-2
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On the Reactivation of the Pre-Existing Normal Fault 被引量:1
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作者 shuping chen Zongpeng chen 《World Journal of Mechanics》 2018年第5期210-217,共8页
The reactivation of pre-existing faults is a common phenomenon in a basin. This paper discusses the relationship between the pre-existing faults and the newly formed Coulomb shear fractures regarding pore fluid pressu... The reactivation of pre-existing faults is a common phenomenon in a basin. This paper discusses the relationship between the pre-existing faults and the newly formed Coulomb shear fractures regarding pore fluid pressures. Based on the Coulomb fracture criterion and Byerlee frictional sliding criterion, an equation relating pore pressure coefficient (&lambda;e), minimum dip angle (αe) of the reactive pre-existing fault and the intersection point depth (z) between the pre-existing fault and a newly formed Coulomb shear fault in an extensional basin, is established in this paper. This equation enhanced the understanding on the reactivation of pre-existing faults and can be used to calculate paleo-pore fluid pressures. The bigger the pore fluid pressure in a pre-existing fault is, the less the minimum dip angle for a reactive pre-existing fault will be. The minimum dip angle is less in shallow area than that in deep area. This will be of significance in petroleum exploration and development. 展开更多
关键词 COULOMB CRITERION Frictional SLIDING CRITERION Pre-Existing FAULT PORE Fluid Pressure REACTIVATION
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On the Occurrences of Fractures in Wrench Zones 被引量:1
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作者 shuping chen 《World Journal of Mechanics》 2020年第3期27-38,共12页
The formation conditions and time sequences for various types of wrench-related fractures are not clear. Based on a parabola-type failure criterion, this paper has gotten new insights on those questions. In a simple s... The formation conditions and time sequences for various types of wrench-related fractures are not clear. Based on a parabola-type failure criterion, this paper has gotten new insights on those questions. In a simple shear, the occurrence of either tensional fractures or Riedel shears is controlled by the ratio (Rtc) of tensile strength to cohesion. In a pure shear, the occurrence of either second order tensional fractures or second order Riedel shears is controlled by the ratio (Rtci) of tensile strength to cohesion, given a constant inner frictional coefficient. Where the Rtc or the Rtci is less than a certain value, the en echelon tensional fractures will occur first. Where the Rtc or the Rtci is bigger than the certain value, the Riedel shears will occur first. Where the Rtc or the Rtci is equal to the certain value, the en echelon tensional fractures and the Riedel shears will occur simultaneously. The understandings will enhance the research on wrench related fractures and will be of significance in petroleum exploration and development, because fractures are both important accumulation spaces and key migration paths for oil and gas. 展开更多
关键词 WRENCH Simple SHEAR PURE SHEAR Tensional Fracture Riedel SHEAR Time SEQUENCE
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On the Orientation of Fractures with Transpressional and Transtensional Wrenches in Pre-Existing Faults 被引量:1
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作者 shuping chen 《World Journal of Mechanics》 2020年第11期199-209,共11页
The orientation of fractures with transpressional and transtensional wrenches in pre-existing faults has not been quantitatively determined. Based on Coulomb failure criterion and Byerlee’s frictional sliding criteri... The orientation of fractures with transpressional and transtensional wrenches in pre-existing faults has not been quantitatively determined. Based on Coulomb failure criterion and Byerlee’s frictional sliding criterion, this paper has indicated quantitative geometric relationships between the pre-existing fault and the local induced principal stress axes caused by the rejuvenation of the pre-existing fault. For a hidden pre-existing fault with some cohesion, the angles between the local induced principal stress axes and the pre-existing fault quantitatively vary with the applied stress and the cohesion coefficient, the ratio of the thickness of the cover layer to the thickness of the whole wrench body, whether transpressional or transtensional wrenches occur. For a surface pre-existing fault with zero cohesion, the angles between the pre-existing fault and the local induced principal stress axes are related to the rock inner frictional angle regardless of both the applied stress and the cohesion coefficient where transpressional wrenches occur, and the local induced maximum principal stress axis is identical with the applied maximum principal stress axis where transtensional wrenches occur. Therefore, the geometric relationships between the pre-existing faults and their related fractures are defined, because the local induced principal stress axes determine the directions of the related fractures. The results can be applied to pre-existing weak fabrics. They can help to understand and analyze wrench structures in outcrops or subsurface areas. They are of significance in petroleum exploration. 展开更多
关键词 WRENCH Pre-Existing Fault Wrench Related Fracture Geometric Relationship
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Comparative Study of Grain Filling Characteristics in Maize
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作者 Haiwang YUE shuping chen +6 位作者 Haicheng PENG Congmin SONG Junliang XIE Jianwei WEI Jie LI Anqiang GUO Junzhou BU 《Agricultural Science & Technology》 CAS 2017年第1期41-46,共6页
Abstract This study was conducted to illustrate the differences in grain filling characteristics between different maize materials in the Northern area of Huanghuaihai Plain, to provide a theoretical basis for the bre... Abstract This study was conducted to illustrate the differences in grain filling characteristics between different maize materials in the Northern area of Huanghuaihai Plain, to provide a theoretical basis for the breeding of maize varieties with suitable maturation stage. The new maize hybrid Hengzao 8 was selected as an experimental material, and varieties Huamei 1 and Zhengdan 958 were selected as CK. The changes in grain size, water content, dry weight and grain filling characteristics during grain filling process were studied, and the yield components were analyzed. The grain sizes of the 3 maize materials increased rapidly within 20 d after pollination and reached their peak values on the 45^th d after pollination. Hengzao 8 had the biggest grains, while Zhengdan 958 showed the smallest grains. The 3 maize materials showed high growth speeds of dry matter from the 15^th to the 55^th d after pollination, Hengzao 8 being the fastest and Zhengdan 958 being the slowest. The growth speeds of grain dry matter dropped afterwards. The grain filling rates of the 3 materials fit the unimodal distribution; and Hengzao 8 presented the highest peak value, while Zhengdan 958 exhibited the lowest peak value. Grain size was positively correlated with water amount and negatively correlated with water content, and the grain filling rate was positively correlated with water amount. Regression analysis revealed that when the water contents of the 3 materials reached 57%, grain filling rates reached their peak values. The Logistic model showed that the maximum grain filling rate (Gmax) and the mean filling rate (Gmean) were higher in Hengzao 8 whose active grain filling stage, early stage (T1) , middle stage (T2) and late stage (T3) were shorter than other 2 varieties. The differences in 1 000-grain weight between the 3 materials were responsible for the differences in the yield. The grain filling characteristics of Hengzao 8 are decisive for achieving early maturation and high yield. 展开更多
关键词 MAIZE Grain filling characteristics YIELD
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靶向蛋白降解技术及其在疾病治疗中的研究进展 被引量:1
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作者 陈淑萍 杨晗 +3 位作者 蒋金露 于思远 李廷栋 葛胜祥 《生物工程学报》 CAS CSCD 北大核心 2021年第11期3915-3932,共18页
靶向蛋白降解(Targeted protein degradation,TPD)技术利用细胞内天然存在的两大蛋白降解系统:泛素化-蛋白酶体系统与溶酶体降解途径实现对疾病相关蛋白的特异、高效降解,从而达到疾病治疗的效果。相较于传统的小分子抑制剂,基于TPD技... 靶向蛋白降解(Targeted protein degradation,TPD)技术利用细胞内天然存在的两大蛋白降解系统:泛素化-蛋白酶体系统与溶酶体降解途径实现对疾病相关蛋白的特异、高效降解,从而达到疾病治疗的效果。相较于传统的小分子抑制剂,基于TPD技术的药物在靶点蛋白的选择上限制性更小,能够作用于"无成药性"的蛋白,从而拥有更为丰富的靶点库。与在基因、m RNA层面干扰蛋白表达的技术相比,TPD药物具有特异、快速以及不受蛋白翻译后修饰约束等特点。在过去的20年里,基于TPD技术的各类降解系统层出不穷,相关研究成果在近些年呈爆发式增长,更令人兴奋的是,2019年两种基于TPD技术的治疗性药物进入临床阶段并初步显示出良好的治疗效果。虽然TPD技术的发展处于起步阶段,目前仍存在诸多缺陷,但凭借其独有的优势,在不久的将来,该技术必将成为药物研发的主要手段之一,同时,也将给学术界和产业界带来前所未有的机遇。本综述详细介绍了基于TPD技术的不同降解系统的研究现状,阐述了各系统在疾病治疗中的应用,系统地总结了各自的优势和不足,以期为TPD技术在科学研究和药物研发中的进一步应用提供理论指导。 展开更多
关键词 泛素化-蛋白酶体系统 蛋白降解靶向嵌合体 溶酶体降解途径 疾病治疗
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Communication-Based Attacks Detection in Android Applications 被引量:2
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作者 Chuan Ma Tao Wang +3 位作者 Limin Shen Dongkui Liang shuping chen Dianlong You 《Tsinghua Science and Technology》 SCIE EI CAS CSCD 2019年第5期596-614,共19页
The Android operating system provides a rich Inter-Component Communication(ICC) method that brings enormous convenience. However, the Android ICC also increases security risks. To address this problem, a formal method... The Android operating system provides a rich Inter-Component Communication(ICC) method that brings enormous convenience. However, the Android ICC also increases security risks. To address this problem, a formal method is proposed to model and detect inter-component communication behavior in Android applications. Firstly,we generate data flow graphs and data facts for each component through component-level data flow analysis.Secondly, our approach treats ICC just like method calls. After analyzing the fields and data dependencies of the intent, we identify the ICC caller and callee, track the data flow between them, and construct the ICC model. Thirdly,the behavior model of Android applications is constructed by a formal mapping method for component data flow graph based on Pi calculus. The runtime sensitive path trigger detection algorithm is then given. Communicationbased attacks are detected by analyzing intent abnormity. Finally, we analyze the modeling and detection efficiency,and compare it with relevant methods. Analysis of 57 real-world applications partly verifies the effectiveness of the proposed method. 展开更多
关键词 ANDROID inter-component COMMUNICATION intents COMPONENT HIJACKING attack DETECTION
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Implementation of MPC-Based Path Tracking for Autonomous Vehicles Considering Three Vehicle Dynamics Models with Different Fidelities 被引量:6
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作者 shuping chen Huiyan chen Dan Negrut 《Automotive Innovation》 CSCD 2020年第4期386-399,共14页
Model predictive control(MPC)algorithm is established based on a mathematical model of a plant to forecast the system behavior and optimize the current control move,thus producing the best future performance.Hence,mod... Model predictive control(MPC)algorithm is established based on a mathematical model of a plant to forecast the system behavior and optimize the current control move,thus producing the best future performance.Hence,models are core to every form of MPC.An MPC-based controller for path tracking is implemented using a lower-fidelity vehicle model to control a higher-fidelity vehicle model.The vehicle models include a bicycle model,an 8-DOF model,and a 14-DOF model,and the reference paths include a straight line and a circle.In the MPC-based controller,the model is linearized and discretized for state prediction;the tracking is conducted to obtain the heading angle and the lateral position of the vehicle center of mass in inertial coordinates.The output responses are discussed and compared between the developed vehicle dynamics models and the CarSim model with three different steering input signals.The simulation results exhibit good path-tracking performance of the proposed MPC-based controller for different complexity vehicle models,and the controller with high-fidelity model performs better than that with low-fidelity model during trajectory tracking. 展开更多
关键词 Autonomous vehicles Model predictive control Vehicle dynamics Path tracking
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