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多轴隧道机器人非线性环形耦合协同控制
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作者 杨贤昭 黄晶晶 +1 位作者 刘惠康 王立辉 《机械设计与制造》 北大核心 2023年第9期277-281,共5页
为了提高隧道智能巡检机器人多轴同步的控制精度,将一种新型近似势能函数引入到传统PID控制算法中,由此提出了一种改进N-PD(非线性PD)环形耦合同步控制算法。所引入的函数具有“小误差放大、大误差饱和”的特性,能够很好地提高系统的响... 为了提高隧道智能巡检机器人多轴同步的控制精度,将一种新型近似势能函数引入到传统PID控制算法中,由此提出了一种改进N-PD(非线性PD)环形耦合同步控制算法。所引入的函数具有“小误差放大、大误差饱和”的特性,能够很好地提高系统的响应速度。通过Lyapunov稳定性理论,证明了隧道智能巡检机器人多轴同步控制策略的全局渐进稳定性。最后,通过仿真对比实验,验证了所提出的控制算法能够有效提高隧道智能巡检机器人的控制精度,明显加快了系统的响应速度,有效降低多轴之间位置误差和同步误差,改良了隧道巡检机器人多轴同步控制系统的协调性。 展开更多
关键词 智能巡检机器人 多轴同步 非线性PD 环形耦合控制 同步误差
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基于CIoU改进边界框损失函数的目标检测方法 被引量:8
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作者 刘雄彪 杨贤昭 +1 位作者 陈洋 赵帅通 《液晶与显示》 CAS CSCD 北大核心 2023年第5期656-665,共10页
损失函数对于目标检测任务的检测精度和模型收敛速度具有重要作用,而损失函数中的边界框损失函数是影响检测结果和模型收敛速度的重要因素。针对传统模型定位精度低和训练时模型收敛慢的问题,本文在CIoU边界框损失函数的基础上提出一种... 损失函数对于目标检测任务的检测精度和模型收敛速度具有重要作用,而损失函数中的边界框损失函数是影响检测结果和模型收敛速度的重要因素。针对传统模型定位精度低和训练时模型收敛慢的问题,本文在CIoU边界框损失函数的基础上提出一种改进的边界框损失函数,解决了CIoU损失函数求导过程中由边界框宽高比带来的梯度爆炸问题和模型提前退化的问题,并且引入重叠区域与目标框的宽高关系和中心点之间的归一化距离作为附加的惩罚项,提高了模型的检测精度和收敛速度,这种损失函数称为BCIoU(Better CIoU)。在PASACL VOC 2007数据集上的实验结果表明,改进的BCIoU边界框损失函数在YOLOv3网络下相对于IoU损失的mAP50指标相对提升了2.09%,AP指标相对提升了6.88%;相对于CIoU损失的mAP50指标相对提升了1.64%,AP指标相对提升了5.35%。模型的收敛速度也有一定程度的提升。本文提出的BCIoU损失函数提高了模型的检测精度和模型收敛速度,并且可以很方便地纳入到当前目标检测算法中。 展开更多
关键词 计算机视觉 目标检测 边界框回归 梯度 损失函数
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抗纤抑癌方对肝癌前病变大鼠Ras/Erk信号通路的调控作用研究 被引量:3
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作者 杨先照 刘蕊洁 +3 位作者 焦云涛 张鹏 李莹 叶永安 《世界中西医结合杂志》 2018年第10期1340-1343,共4页
目的观察抗纤抑癌方对肝癌前病变大鼠Ras/Erk信号通路的调控作用,探讨抗纤抑癌方防治肝癌前病变的作用机制。方法雄性Wistar大鼠55只,随机分为正常组10只,模型组、扶正化瘀组及抗纤抑癌组各15只。模型组、扶正化瘀组及抗纤抑癌组均以二... 目的观察抗纤抑癌方对肝癌前病变大鼠Ras/Erk信号通路的调控作用,探讨抗纤抑癌方防治肝癌前病变的作用机制。方法雄性Wistar大鼠55只,随机分为正常组10只,模型组、扶正化瘀组及抗纤抑癌组各15只。模型组、扶正化瘀组及抗纤抑癌组均以二乙基亚硝胺(50 mg/kg)腹腔注射诱导肝癌前病变形成,每周1次,持续14周。正常组予生理盐水腹腔注射作为对照。同时,连续给予相应药物灌胃干预,1次/d,在第14周末取材。采用HE和Masson染色以观察大鼠肝癌前病变情况及纤维化程度;采用Western-Blot方法检测大鼠肝脏中Ras、Erk及p-Erk蛋白的表达情况。结果 HE和Masson染色显示模型组肝脏细胞异常增生明显,纤维化程度较重。与模型组比较,抗纤抑癌组和扶正化瘀组肝脏纤维堆积及肝细胞异常增生情况明显减轻,尤其以抗纤抑癌组作用明显。Western-Blot结果显示,p-Erk在模型组中高表达,与正常组比较,两者之间差异有统计学意义(P <0. 05);抗纤抑癌组p-Erk表达低于模型组、扶正化瘀组,分别与之比较,差异均具有统计学意义(P <0. 05);扶正化瘀组与模型组之间比较差异无统计学意义(P> 0. 05)。Erk表达在各组间差异无统计学意义(P> 0. 05)。Erk磷酸化率(p-Erk/Erk)在模型组中最高,与正常组比较,两者之间差异有统计学意义(P <0. 05);抗纤抑癌组p-Erk/Erk低于模型组、扶正化瘀组,分别与之比较,差异均具有统计学意义(P <0. 05);扶正化瘀组与模型组之间差异比较无统计学意义(P> 0. 05)。Ras表达在各组间比较差异无统计学意义(P> 0. 05)。结论抗纤抑癌方具有抗纤维化、阻断肝癌前病变的作用,并能抑制肝癌前病变大鼠Ras/Erk信号通路的激活,这可能是其防治肝癌前病变的作用机制之一。 展开更多
关键词 抗纤抑癌方 肝癌前病变 Ras/Erk信号通路
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益肝消癥方对大鼠肝癌前病变肝细胞凋亡因子Bcl-2、Bax mRNA及蛋白质表达的影响 被引量:4
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作者 刘蕊洁 杨先照 +1 位作者 张嘉鑫 叶永安 《中西医结合肝病杂志》 CAS 2021年第1期56-59,共4页
目的:观察益肝消癥方对二乙基亚硝胺诱导的大鼠肝癌前病变肝细胞凋亡因子Bcl-2、Bax mRNA及蛋白质表达的影响。方法:将40只Wistar雄性大鼠随机分为对照组10只、模型组15只和益肝消癥组15只,除对照组外,其余各组大鼠以二乙基亚硝胺腹腔... 目的:观察益肝消癥方对二乙基亚硝胺诱导的大鼠肝癌前病变肝细胞凋亡因子Bcl-2、Bax mRNA及蛋白质表达的影响。方法:将40只Wistar雄性大鼠随机分为对照组10只、模型组15只和益肝消癥组15只,除对照组外,其余各组大鼠以二乙基亚硝胺腹腔注射诱导肝癌前病变模型,持续14周。第8周起,每天分别以生理盐水、益肝消癥颗粒的水溶剂给予相应组大鼠灌胃给药,第14周末给药后取材,检测大鼠0、7、14周体重,Bcl-2、Bax mRNA及蛋白质表达,观察肝脏病理情况。结果:益肝消癥方可改善肝癌前病变大鼠一般状况、肝脏病理,下调Bcl-2、Bax mRNA、Bax蛋白表达及Bax/Bcl-2比值。结论:益肝消癥方通过Bcl-2/Bax途径抑制肝细胞凋亡,减轻肝星状细胞增殖,从而对大鼠肝癌前病变具有一定改善作用。 展开更多
关键词 肝癌前病变 凋亡 Bcl-2 BAX 益肝消癥方
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唐代休咎禅师与广东灵化寺、海光寺的关系辨析
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作者 杨宪钊 《岭南文史》 2023年第1期92-96,共5页
扶胥港是唐宋时代广州海上丝路的重要港口,除南海神庙外,尚有佛教寺宇落户于此,灵化寺与海光寺即为其中著名寺庙。在海运史上,民间流传休咎禅师度化南海神,而使其性情温顺,船毁人亡现象得以缓解的历史故事,史书与佛教典籍也记录此事。... 扶胥港是唐宋时代广州海上丝路的重要港口,除南海神庙外,尚有佛教寺宇落户于此,灵化寺与海光寺即为其中著名寺庙。在海运史上,民间流传休咎禅师度化南海神,而使其性情温顺,船毁人亡现象得以缓解的历史故事,史书与佛教典籍也记录此事。在这则故事的宗教语境下,神庙与佛寺并行不悖,扶胥港成为人们修佛拜神的停泊之地. 展开更多
关键词 南海神 佛教典籍 唐宋时代 海上丝路 关系辨析 宗教语境 禅师
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Adefovir Dipivoxil plus Chinese Medicine in HBeAg-Positive Chronic Hepatitis B Patients:A Randomized Controlled 48-Week Trial 被引量:12
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作者 LI Xiao-ke ZHANG Ming-xiang +25 位作者 SHAO Feng-zhen ZHOU Da-qiao XUE Jing-dong LIU Tie-jun CHI Xiao-ling LU Bing-jiu WANG Xian-bo LI Qin LI Jun MAO De-wen yang Hua-sheng yang Hong-zhi ZHAO Wen-xia LI Yong ZHANG Guo-liang ZHAO Yi-ming ZOU Jian-dong LIU Meng-yang ZHANG Ke-ke yang xian-zhao GAN Da-nan LI Ying ZHANG Peng LI Zhi-guo LI Shuo YE Yong-an 《Chinese Journal of Integrative Medicine》 SCIE CAS CSCD 2020年第5期330-338,共9页
Objective:To evaluate the effects of a 48-week course of adefovir dipivoxil(ADV)plus Chinese medicine(CM)therapy,namely Tiaogan Jianpi Hexue(调肝健脾和血)and Tiaogan Jiedu Huashi(调肝解毒化湿)fomulae,in hepatitis B e ... Objective:To evaluate the effects of a 48-week course of adefovir dipivoxil(ADV)plus Chinese medicine(CM)therapy,namely Tiaogan Jianpi Hexue(调肝健脾和血)and Tiaogan Jiedu Huashi(调肝解毒化湿)fomulae,in hepatitis B e antigen(HBeAg)-positive Chinese patients.Methods:A total of 605 HBeAg-positive Chinese CHB patients were screened and 590 eligible participants were randomly assigned to 2 groups in 1:1 ratio including experimental group(EG,received ADV plus CM)and control group(CG,received ADV plus CM-placebo)for 48 weeks.The major study outcomes were the rates of HBeAg and HBV-DNA loss on week 12,24,36,48,respectively.Secondary endpoints including liver functions(enzymes and bilirubin readings)were evaluated every 4 weeks at the beginning of week 24,36,and 48.Routine blood,urine,and stool analyses in addition to electrocardiogram and abdominal B scan were monitored as safety evaluations.Adverse events(AEs)were documented.Results:The combination therapy demonstrated superior HBeAg loss at 48 weeks,without additional AEs.The full analysis population was 560 and 280 in each group.In the EG,population achieved HBeAg loss on week 12,24,36,and 48 were 25(8.90%),34(12.14%),52(18.57%),and 83(29.64%),respectively;the equivalent numbers in the CG were 20(7.14%),41(14.64%),54(19.29%),and 50(17.86%),respectively.There was a statistically significant difference between two groups on week 48(P<0.01).No additional AEs were found in EG.Subgroup analysis suggested different outcomes among treatment patterns.Conclusion:Combination of CM and ADV therapy demonstrated superior HBeAg clearance compared with ADV monotherapy.The finding indicates that this combination therapy may provide an improved therapeutic effect and safety profile(ChiCTR-TRC-11001263). 展开更多
关键词 ADEFOVIR dipivoxil Tiaogan Jianpi Hexue Tiaogan Jiedu Huashi Chinese medicine HBEAG combination therapy
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益肝消癥方联合恩替卡韦对乙型肝炎病毒诱导肝星状细胞增殖、凋亡的调节作用
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作者 刘蕊洁 曹旭 +2 位作者 杨先照 梁亦骏 叶永安 《中华中医药杂志》 CAS CSCD 北大核心 2022年第11期6796-6800,共5页
目的:观察益肝消癥方联合恩替卡韦对HepG2.2.15细胞诱导的LX-2细胞增殖的抑制作用。方法:建立HepG2.2.15细胞与LX-2细胞共培养模型,CCK-8法筛选益肝消癥方含药血清最优剂量,分别以不含药血清、恩替卡韦水溶剂、益肝消癥方最优剂量联合... 目的:观察益肝消癥方联合恩替卡韦对HepG2.2.15细胞诱导的LX-2细胞增殖的抑制作用。方法:建立HepG2.2.15细胞与LX-2细胞共培养模型,CCK-8法筛选益肝消癥方含药血清最优剂量,分别以不含药血清、恩替卡韦水溶剂、益肝消癥方最优剂量联合恩替卡韦进行细胞给药,48 h后检测各组细胞HBV DNA载量、α-SMA mRNA、细胞周期及细胞凋亡水平。结果:与模型组比较,益肝消癥方+恩替卡韦组可显著降低LX-2细胞HBV DNA载量、α-SMA mRNA表达(P<0.01,P<0.05),抑制LX-2细胞增殖(P<0.05),促进LX-2细胞凋亡(P<0.05)。结论:益肝消癥方联合恩替卡韦通过抑制HepG2.2.15细胞诱导的肝星状细胞增殖、促进其凋亡,发挥抗乙肝肝硬化的作用。 展开更多
关键词 HEPG2.2.15细胞 LX-2细胞 肝星状细胞 益肝消癥方 细胞增殖 细胞凋亡 机制 Α-平滑肌肌动蛋白
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Chinese Herbal Medicine Combined with Entecavir for HBeAg Positive Chronic Hepatitis B:Study Protocol for a Multi-Center,Double-Blind Randomized-Controlled Trial 被引量:11
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作者 YE Yong-an LI Xiao-ke +19 位作者 ZHOU Da-qiao CHI Xiao-ling LI Qin WANG Li LU Bing-jiu MAO De-wen WU Qi-kai WANG Xian-bo ZHANG Ming-xiang XUE Jing-dong LI Yong LU Wei GUO Jian-chun JIANG Feng ZHANG Xin-wei DU Hong-bo yang xian-zhao GUO Hui GAN Da-nan LI Zhi-guo 《Chinese Journal of Integrative Medicine》 SCIE CAS CSCD 2018年第9期653-660,共8页
Background: The domestic prevalence of chronic hepatitis B (CHB) in China is 7.18% in 2006, imposing great societal healthcare burdens. Nucleot(s)ide analogues (NUCs) anti-hepatitis B virus (HBV) therapies ar... Background: The domestic prevalence of chronic hepatitis B (CHB) in China is 7.18% in 2006, imposing great societal healthcare burdens. Nucleot(s)ide analogues (NUCs) anti-hepatitis B virus (HBV) therapies are widely applied despite the relatively low rate of seroconversion and high risk of drug-resistant mutation. More effective treatments for CHB deserve further explorations. Combined therapy of NUCs plus Chinese herbal medicine (CHM) is widely accepted in China, which is recognized as a prospective alternative approach. The study was primarily designed to confirm the hypothesis that Tiaogan-Yipi Granule (调肝益脾颗粒, TGYP) or Tiaogan-Jianpi-Jiedu Granule (调肝健脾解毒颗粒, TGJPJD) plus entecavir tablet (ETV) was superior over ETV monotherapy in enhancing HBeAg loss rate. Methods: The study was a nationwide, large-scale, multi-center, double-blind, randomized, placebo-controlled trial with a designed duration of 108 weeks. A total of 16 hospitals and 596 eligible Chinese HBeAg positive CHB patients were enrolled from November 2012 to September 2013 and randomly allocated into 2 groups in 1:1 ratio via central randomization system: experimental group (EG) and control group (CG). Subjects in EG received CM formulae (TGYP or TGJPJD, 50 g per dose, twice daily) plus ETV tablet (or ETV placebo) 0.5 mg per day in the first 24 weeks (stage 1), and CHM granule plus ETV tablet (0.5 mg per day) from week 25 to 108 (stage 2). Subjects in CG received CHM Granule placebo plus E'IV tablet (0.5 mg per day) for 108 weeks throughout the trial. The assessments of primary outcomes (HBV serum markers and HBV-DNA) were conducted by a third-party College of American Pathologists (CAP) qualified laboratory. Adverse effects were observed in the hospitals of recruitment. Discussion: The study was designed to compare the curative effect of CM plus E'IV and ETV monotherapy in respect of HBeAg loss, which is recognized by the European Association for the Study of the Liver as "a valuable endpoint". We believe this trial could provide a reliable status for patients' "joumey" towards durable responses after treatment discontinuation. The trial was registered before recruitment on Chinese Clinical trial registry (No. ChiCTR-TRC-12002784, Version 1.0, 2015/12/23). 展开更多
关键词 chronic hepatitis B Chinese herbal medicine Tiaogan-Jianpi-Jiedu Granule Tiaogan-Yipi Granule protocol randomized-controlled trial
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Comprehensive analysis of the chemical constituents in sulfur-fumigated Lonicerae Japonicae Flos using UHPLC-LTQ-Orbitrap mass spectrometry 被引量:4
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作者 LIU Zi-Han WANG Yu-Qi +5 位作者 MEI Xiao-Dan WANG Fei yang xian-zhao LI Xiao-Dong JIANG Feng ZHANG Jia-Yu 《Chinese Journal of Natural Medicines》 SCIE CAS CSCD 2020年第2期148-160,共13页
Lonicerae Japonicae Flos(LJF),a kind of traditional Chinese medicines(TCMs),has functions of detoxifying and evacuating heat.In the study,a method based on ultra-high performance liquid chromatography coupled with lin... Lonicerae Japonicae Flos(LJF),a kind of traditional Chinese medicines(TCMs),has functions of detoxifying and evacuating heat.In the study,a method based on ultra-high performance liquid chromatography coupled with linear ion trap-Orbitrap mass spectrometry(UHPLC-LTQ-Orbitrap MS)was developed for the chemical constituent analysis of organic acids,flavonoids,iridoids and new-generated compounds in sulfur-fumigated LJF(SF-LJF).Based on the accurate mass measurement(<±5 ppm),chromatographic behavior and diagnostic product ions(DPIs),113 constituents were unambiguously or tentatively characterized from SFLJF extract,including 46 chlorogenic acids,19 flavonoids,29 iridoid glycosides and 19 newly-generated compounds(including 17 sulfur-containing derivatives).In addition,5-CQA(5-caffeoylquinic acid,chlorogenic acid)was chosen to be sulfur-fumigated for the result validation.It was found that the most significant change of LJF after sulfur fumigation was the occurrence of sulfate or sulfite esterification reactions,which resulted in the emergence of many new sulfur-containing components.Our results demonstrated that the established method was a useful and efficient analytical tool to comprehensively characterize the material basis of SF-LJF,and also an excellent guidance of quality control about LJF. 展开更多
关键词 SULFUR FUMIGATION Lonicerae Japonicae Flos CHEMICAL components analysis UHPLC-LTQ-Orbitrap MS
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