To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)controller.First,an arm joint m...To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)controller.First,an arm joint model of the humanoid robot is established.Then the influence of resonance frequency on the performance of the control system with the robot arm is analyzed.The voltage fluctuation of the drive motor caused by the changes in arm motion is recognized as the disturbance of the current loop.The PR controller has the characteristic of disturbance rejection at a specific frequency.The output fluctuation of the driving system caused by the change of arm motion state at the resonance frequency is suppressed.Therefore the output current of the inverter will not be affected by the vibration of the arm at the resonance frequency.Finally,the control system is verified by MATLAB/Simulink simulation.The simulation results demonstrate that the control strategy for the humanoid robot arm based on the PR controller can suppress the resonance of the arm effectively,improving the dynamic performance and system stability.展开更多
This study aimed to explore the expression,function,and molecular mechanism of ANXA8,the gene for annexin 8,in cervical cancer.Methods:The gene expression of the ANX family members in cervical cancer tissues was class...This study aimed to explore the expression,function,and molecular mechanism of ANXA8,the gene for annexin 8,in cervical cancer.Methods:The gene expression of the ANX family members in cervical cancer tissues was classified via The Cancer Genome Atlas(TCGA)database.The expression of ANXA8 in paracancerous tissues,cervical cancer tissues,and cell lines was identified by fluorescence quantitative polymerase chain reaction(PCR)and immunohistochemistry.The effects of ANXA8 knockdown on the cellular growth and cell invasion of cervical cancer were examined by MTT,clone-formation assay,scratch test,and Transwell assay.The effect of ANXA8 knockdown on the proliferative potency of cervical cancer cells was assessed through an in vivo nude-mouse tumor-formation test.The gene expression levels of Ki-67 and ANXA8 in tumor-bearing tissues were measured through Immunohistochemical analysis.Results:TCGA data analysis and fluorescence quantitative PCR exhibited significantly increased expression of ANXA8 in cervical cancer tissues.Further examination exhibited that ANXA8 was expressed exceedingly in cervical cancer tissue,and it was associated with lymph node metastasis,FIGO stage,degree of differentiation,and infiltration depth of cancer patients.Cell-function assays revealed that knocking down ANXA8 may substantially suppress the propagation,colony formation,invasion,and migration of cervical cancer cells.In vivo experiments demonstrated that ANXA8 knockdown had a substantial inhibitory effect on the propagation of cervical cancer cells in nude mice and inhibited the expression of Ki-67.Conclusion:ANXA8 is specifically and significantly upregulated within cervical cancer tissues.The knockdown of this gene showed remarkable outcomes,as evidenced by the substantial inhibition of cervical cancer cell proliferation in in vitro and in vivo experimentations.Therefore,ANXA8 is a potential target or a marker that can serve as a therapeutic or diagnostic tool for cervical cancer.展开更多
Due to the strict requirements of extremely high accuracy and fast computational speed, real-time transient stability assessment(TSA) has always been a tough problem in power system analysis.Fortunately, the developme...Due to the strict requirements of extremely high accuracy and fast computational speed, real-time transient stability assessment(TSA) has always been a tough problem in power system analysis.Fortunately, the development of artificial intelligence and big data technologies provide the new prospective methods to this issue, and there have been some successful trials on using intelligent method, such as support vector machine(SVM) method.However, the traditional SVM method cannot avoid false classification, and the interpretability of the results needs to be strengthened and clear.This paper proposes a new strategy to solve the shortcomings of traditional SVM,which can improve the interpretability of results, and avoid the problem of false alarms and missed alarms.In this strategy, two improved SVMs, which are called aggressive support vector machine(ASVM) and conservative support vector machine(CSVM), are proposed to improve the accuracy of the classification.And two improved SVMs can ensure the stability or instability of the power system in most cases.For the small amount of cases with undetermined stability, a new concept of grey region(GR) is built to measure the uncertainty of the results, and GR can assessment the instable probability of the power system.Cases studies on IEEE 39-bus system and realistic provincial power grid illustrate the effectiveness and practicability of the proposed strategy.展开更多
The growing water stress both in terms of water scarcity and quality deterioration promotes the development of reclaimed water as a new water resource use. This paper reviewed wastewater reuse practices in China, and ...The growing water stress both in terms of water scarcity and quality deterioration promotes the development of reclaimed water as a new water resource use. This paper reviewed wastewater reuse practices in China, and the opportunities and challenges of expanding reclaimed water use were analyzed. Rapid urbanization with the increasing of water demand and wastewater discharge provides an opportunity for wastewater reuse. The vast amount of wastewater discharge and low reclaimed water production mean that wastewater reuse still has a great potential in China. Many environmental and economic benefits and successful reclamation technologies also provide opportunities for wastewater reuse. In addition, the overall strategy in China is also encouraging for wastewater reuse. In the beginning stage of wastewater reclamation and reuse, there are many significant challenges to expand wastewater reuse in China including slow pace in adopting urban wastewater reuse programs, the establishment of integrated water resources management framework and guidelines for wastewater reuse programs, incoherent water quality requirements, the limited commercial development of reclaimed water and the strengthening of public awareness and cooperation among stakeholders.展开更多
Importance:Cancer is the main cause of death by disease in children.Children experience the highest incidence of cancer in the first year of life.However,there is no comprehensive registration system for children with...Importance:Cancer is the main cause of death by disease in children.Children experience the highest incidence of cancer in the first year of life.However,there is no comprehensive registration system for children with tumors in China.Objective:To summarize the diagnosis and treatment of infant cancer and analyze the status of standardized diagnosis and management among several treatment centers in Beijing,China,thereby providing evidence to guide further clinical research.Methods:From January 1,2010 to December 31,2019,patients with newly diagnosed infantile malignant solid tumors were admitted to six large tertiary pediatric solid tumor diagnosis and treatment centers in Beijing.The epidemiology,clinical features,and therapeutic effects of tumors in these patients were analyzed retrospectively.All patients were followed up until March 31,2020.Results:In total,938 patients were enrolled in this study.There were 530 boys(56.5%)and 408 girls(43.5%);the median age was 6.0 months(range,0-12.0 months).The three most common tumors were retinoblastoma in 366 patients(39.0%),neuroblastoma in 266 patients(28.4%),hepatoblastoma in 133 patients(14.2%),and central nervous system tumors in 52 patients(5.5%).The estimated 5-year overall survival rate was 81.3%±1.8%,and the 5-year event-free survival rate was 71.8%±2.9%.The 5-year overall survival rates of non-rhabdomyosarcoma soft tissue sarcoma,neuroblastoma,and retinoblastoma were 100%,88%±2.2%,and 86.9%±2.1%,respectively.The 5-year event-free survival rates were 81.1%±2.7%for neuroblastoma,81.6%±9.8%for non-rhabdomyosarcoma soft tissue sarcoma,and 72.7%±14.1%for extracranial malignant germ cell tumors.Interpretation:The three most common infantile malignant solid tumors were retinoblastoma,neuroblastoma,and hepatoblastoma.Multidisciplinary combined diagnosis and treatment is needed for infantile tumors.展开更多
基金Supported by the National Key Technology Research and Development Program of China(2018YFC1707104)National Natural Science Foundation of China(62076152)+1 种基金Natural Science Foundation of Shandong Province(ZR2017MF045)Beijing Advanced Innovation Center for Intelligent Robots and Systems。
文摘To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)controller.First,an arm joint model of the humanoid robot is established.Then the influence of resonance frequency on the performance of the control system with the robot arm is analyzed.The voltage fluctuation of the drive motor caused by the changes in arm motion is recognized as the disturbance of the current loop.The PR controller has the characteristic of disturbance rejection at a specific frequency.The output fluctuation of the driving system caused by the change of arm motion state at the resonance frequency is suppressed.Therefore the output current of the inverter will not be affected by the vibration of the arm at the resonance frequency.Finally,the control system is verified by MATLAB/Simulink simulation.The simulation results demonstrate that the control strategy for the humanoid robot arm based on the PR controller can suppress the resonance of the arm effectively,improving the dynamic performance and system stability.
基金supported by the project in Nantong Health and Family Planning Commission(MS2022045).
文摘This study aimed to explore the expression,function,and molecular mechanism of ANXA8,the gene for annexin 8,in cervical cancer.Methods:The gene expression of the ANX family members in cervical cancer tissues was classified via The Cancer Genome Atlas(TCGA)database.The expression of ANXA8 in paracancerous tissues,cervical cancer tissues,and cell lines was identified by fluorescence quantitative polymerase chain reaction(PCR)and immunohistochemistry.The effects of ANXA8 knockdown on the cellular growth and cell invasion of cervical cancer were examined by MTT,clone-formation assay,scratch test,and Transwell assay.The effect of ANXA8 knockdown on the proliferative potency of cervical cancer cells was assessed through an in vivo nude-mouse tumor-formation test.The gene expression levels of Ki-67 and ANXA8 in tumor-bearing tissues were measured through Immunohistochemical analysis.Results:TCGA data analysis and fluorescence quantitative PCR exhibited significantly increased expression of ANXA8 in cervical cancer tissues.Further examination exhibited that ANXA8 was expressed exceedingly in cervical cancer tissue,and it was associated with lymph node metastasis,FIGO stage,degree of differentiation,and infiltration depth of cancer patients.Cell-function assays revealed that knocking down ANXA8 may substantially suppress the propagation,colony formation,invasion,and migration of cervical cancer cells.In vivo experiments demonstrated that ANXA8 knockdown had a substantial inhibitory effect on the propagation of cervical cancer cells in nude mice and inhibited the expression of Ki-67.Conclusion:ANXA8 is specifically and significantly upregulated within cervical cancer tissues.The knockdown of this gene showed remarkable outcomes,as evidenced by the substantial inhibition of cervical cancer cell proliferation in in vitro and in vivo experimentations.Therefore,ANXA8 is a potential target or a marker that can serve as a therapeutic or diagnostic tool for cervical cancer.
基金supported by Science and Technology Project of State Grid Corporation of ChinaNational Natural Science Foundation of China (No.51777104)China State Key Laboratory of Power System (No.SKLD16Z08)
文摘Due to the strict requirements of extremely high accuracy and fast computational speed, real-time transient stability assessment(TSA) has always been a tough problem in power system analysis.Fortunately, the development of artificial intelligence and big data technologies provide the new prospective methods to this issue, and there have been some successful trials on using intelligent method, such as support vector machine(SVM) method.However, the traditional SVM method cannot avoid false classification, and the interpretability of the results needs to be strengthened and clear.This paper proposes a new strategy to solve the shortcomings of traditional SVM,which can improve the interpretability of results, and avoid the problem of false alarms and missed alarms.In this strategy, two improved SVMs, which are called aggressive support vector machine(ASVM) and conservative support vector machine(CSVM), are proposed to improve the accuracy of the classification.And two improved SVMs can ensure the stability or instability of the power system in most cases.For the small amount of cases with undetermined stability, a new concept of grey region(GR) is built to measure the uncertainty of the results, and GR can assessment the instable probability of the power system.Cases studies on IEEE 39-bus system and realistic provincial power grid illustrate the effectiveness and practicability of the proposed strategy.
基金supported by the National Natural Science Foundation of China(No.41271501)
文摘The growing water stress both in terms of water scarcity and quality deterioration promotes the development of reclaimed water as a new water resource use. This paper reviewed wastewater reuse practices in China, and the opportunities and challenges of expanding reclaimed water use were analyzed. Rapid urbanization with the increasing of water demand and wastewater discharge provides an opportunity for wastewater reuse. The vast amount of wastewater discharge and low reclaimed water production mean that wastewater reuse still has a great potential in China. Many environmental and economic benefits and successful reclamation technologies also provide opportunities for wastewater reuse. In addition, the overall strategy in China is also encouraging for wastewater reuse. In the beginning stage of wastewater reclamation and reuse, there are many significant challenges to expand wastewater reuse in China including slow pace in adopting urban wastewater reuse programs, the establishment of integrated water resources management framework and guidelines for wastewater reuse programs, incoherent water quality requirements, the limited commercial development of reclaimed water and the strengthening of public awareness and cooperation among stakeholders.
基金Special Fund of The Pediatric Medical Coordinated Development Center of Beijing Municipal Administration of Hospitals(No.XTYB201803)Capitafs Funds for Health Improvement and Research(No.2018-2-2095)National Science and Technology Key Projects(No.2017ZX09304029)。
文摘Importance:Cancer is the main cause of death by disease in children.Children experience the highest incidence of cancer in the first year of life.However,there is no comprehensive registration system for children with tumors in China.Objective:To summarize the diagnosis and treatment of infant cancer and analyze the status of standardized diagnosis and management among several treatment centers in Beijing,China,thereby providing evidence to guide further clinical research.Methods:From January 1,2010 to December 31,2019,patients with newly diagnosed infantile malignant solid tumors were admitted to six large tertiary pediatric solid tumor diagnosis and treatment centers in Beijing.The epidemiology,clinical features,and therapeutic effects of tumors in these patients were analyzed retrospectively.All patients were followed up until March 31,2020.Results:In total,938 patients were enrolled in this study.There were 530 boys(56.5%)and 408 girls(43.5%);the median age was 6.0 months(range,0-12.0 months).The three most common tumors were retinoblastoma in 366 patients(39.0%),neuroblastoma in 266 patients(28.4%),hepatoblastoma in 133 patients(14.2%),and central nervous system tumors in 52 patients(5.5%).The estimated 5-year overall survival rate was 81.3%±1.8%,and the 5-year event-free survival rate was 71.8%±2.9%.The 5-year overall survival rates of non-rhabdomyosarcoma soft tissue sarcoma,neuroblastoma,and retinoblastoma were 100%,88%±2.2%,and 86.9%±2.1%,respectively.The 5-year event-free survival rates were 81.1%±2.7%for neuroblastoma,81.6%±9.8%for non-rhabdomyosarcoma soft tissue sarcoma,and 72.7%±14.1%for extracranial malignant germ cell tumors.Interpretation:The three most common infantile malignant solid tumors were retinoblastoma,neuroblastoma,and hepatoblastoma.Multidisciplinary combined diagnosis and treatment is needed for infantile tumors.