Study on general inverse kinematics of rotating/tilting positioner for robotic arc welding off-line programming

Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.

Designing and Optimization of an Off-line Programming System for Robotic Belt Grinding Process

Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

Off-line Programming Technology Based on RPC Communication Method and its Application

This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model. And a new Robot off line programming method is built based on this communication method and network model. Further more, as an example, robot auto marking and auto cutting of shipbuilding profile system is developed, which proves the ideas of author’s off line programming and development methods of robot flexible automation system. As a result, this paper presents a new method for developing robot flexible automation system.

Study on path planning and compensation of off-line programming for thick walled curve welding

Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.

SMOOTHING NEWTON ALGORITHM FOR THE CIRCULAR CONE PROGRAMMING WITH A NONMONOTONE LINE SEARCH

In this paper, we present a nonmonotone smoothing Newton algorithm for solving the circular cone programming(CCP) problem in which a linear function is minimized or maximized over the intersection of an affine space with the circular cone. Based on the relationship between the circular cone and the second-order cone(SOC), we reformulate the CCP problem as the second-order cone problem(SOCP). By extending the nonmonotone line search for unconstrained optimization to the CCP, a nonmonotone smoothing Newton method is proposed for solving the CCP. Under suitable assumptions, the proposed algorithm is shown to be globally and locally quadratically convergent. Some preliminary numerical results indicate the effectiveness of the proposed algorithm for solving the CCP.

Adaptive broadband beamformer for nonuniform linear array based on second order cone programming

Adaptive broadband beamforraing is a key issue in array applications. The adaptive broadband beamformer with tapped delay line （TDL） structure for nonuniform linear array （NLA） is designed according to the rule of minimizing the beamformer＇s output power while keeping the distortionless response （DR） in the direction of desired signal and keeping the constant beamwidth （CB） with the prescribed sidelobe level over the whole operating band. This kind of beamforming problem can be solved with the interior-point method after being converted to the form of standard second order cone programming （SOCP）. The computer simulations are presented which illustrate the effectiveness of our beamformer.

Global optimality conditions for quadratic 0-1 programming with inequality constraints

Quadratic 0-1 problems with linear inequality constraints are briefly considered in this paper.Global optimality conditions for these problems,including a necessary condition and some sufficient conditions,are presented.The necessary condition is expressed without dual variables.The relations between the global optimal solutions of nonconvex quadratic 0-1 problems and the associated relaxed convex problems are also studied.

A Tabu Search Algorithm for Quadratic 0-1 Programming Problem

In this paper,quadratic 0-1 programming problem (I) is considered, in terms of its features quadratic 0-1 programming problem is solved by linear approxity heurstic algrothm and a developed tabu search ahgrothm .

Document Clustering with Evolutionary Systems through Straight-Line Programs “<i>slp</i>”

In this paper, we show a clustering method supported on evolutionary algorithms with the paradigm of linear genetic programming. “The Straight-Line Programs (slp)”, which uses a data structure which will be useful to represent collections of documents. This data structure can be seen as a linear representation of programs, as well as representations in the form of graphs. It has been used as a theoretical model in Computer Algebra, and our purpose is to reuse it in a completely different context. In this case, we apply it to the field of grouping library collections through evolutionary algorithms. We show its efficiency with experimental data we got from traditional library collections.

An Object-Oriented Robot Programming and Simulation System

ＡｎＯｂｊｅｃｔ－ＯｒｉｅｎｔｅｄＲｏｂｏｔＰｒｏｇｒａｍｍｉｎｇａｎｄＳｉｍｕｌａｔｉｏｎＳｙｓｔｅｍＺＨＡＯＣｈｕｎｘｉａ；ＦＵＹｉｌｉ；ＷＡＮＧＳｈｕｇｕｏ；ＷＵＪｉｎｇ；ＣＡＩＨｅｇａｏ赵春霞，付宜立，王树国，吴菁，蔡鹤皋（ＲｏｂｏｔＲｅｓｅ...

Nondifferentiable Multiobjective Programming under Generalized d_I-G-Type I Invexity

To relax convexity assumptions imposed on the functions in theorems on sufficient conditions and duality,new concepts of generalized dI-G-type Ⅰ invexity were introduced for nondifferentiable multiobjective programming problems.Based upon these generalized invexity,G-Fritz-John （G-F-J） and G-Karnsh-Kuhn-Tucker （G-K-K-T） types sufficient optimality conditions were established for a feasible solution to be an efficient solution.Moreover,weak and strict duality results were derived for a G-Mond-Weir type dual under various types of generalized dI-G-type Ⅰ invexity assumptions.

Machining Line Planner输出STEP-NC数控程序的研究

介绍了STEP-NC的概念、数据模型及其结构特点,然后通过对比MLP(Machining Line Planner)和STEP-NC数控程序对特征和操作的不同定义方法,分析了在MLP中特征及加工工艺与STEP-NC的对应关系,探讨了在MLP中实现输出STEP-NC格式的零件加工程序的方法。

PD-1抑制剂联合安罗替尼治疗二线化疗失败的老年晚期非小细胞肺癌的效果

目的 探究程序性死亡受体1(PD-1)抑制剂联合安罗替尼治疗二线化疗失败的老年晚期非小细胞肺癌(NSCLC)的临床疗效。方法 选取2019年1月—2021年4月泰州市第二人民医院收治的106例二线化疗失败的老年晚期NSCLC患者作为研究对象,按照随机数字表法分为单药组和联合组,各53例。单药组采用安罗替尼治疗,联合组采用PD-1抑制剂联合安罗替尼治疗。比较两组的疾病控制率、毒副反应发生情况、生存率、肿瘤标志物[细胞角蛋白19片段抗原21-1(CYFRA21-1)、癌胚抗原(CEA)、糖类抗原125(CA125)]、血管新生指标[血管内皮生长因子(VEGF)-A、VEGF受体2(VEGFR2)]、血清驱动蛋白超家族蛋白(KIF)C1、N-钙黏蛋白、生活质量核心量表(QLQ-C30)评分。结果 联合组疾病控制率高于单药组(P<0.05);治疗2个周期后,联合组血清CYFRA21-1、CA125、CEA、VEGF-A、VEGFR2、KIFC1及N-钙黏蛋白水平均低于单药组(P<0.05),QLQ-C30评分低于单药组(P<0.05);两组各毒副反应总发生率比较,差异均无统计学意义(P>0.05);Kaplan-Meier生存分析显示,联合组累积生存率高于单药组(P<0.05)。结论 PD-1抑制剂联合安罗替尼治疗二线化疗失败的老年晚期NSCLC效果显著,可有效调节血清KIFC1、N-钙黏蛋白表达,抑制VEGF-A、VEGFR2水平,降低肿瘤标志物水平,提高生活质量,延长生存时间,安全性高。

GLOBAL CONVERGENCE RESULTS OF A THREE TERM MEMORY GRADIENT METHOD WITH A NON-MONOTONE LINE SEARCH TECHNIQUE

In this paper, a new class of three term memory gradient method with non-monotone line search technique for unconstrained optimization is presented. Global convergence properties of the new methods are discussed. Combining the quasi-Newton method with the new method, the former is modified to have global convergence property. Numerical results show that the new algorithm is efficient.

Pivotal role of long non-coding ribonucleic acid-X-inactive specific transcript in regulating immune checkpoint programmed death ligand 1 through a shared pathway between miR-194-5p and miR-155-5p in hepatocellular carcinoma

BACKGROUND Anti-programmed death therapy has thrust immunotherapy into the spotlight.However,such therapy has a modest response in hepatocellular carcinoma(HCC).Epigenetic immunomodulation is a suggestive combinatorial therapy with immune checkpoint blockade.Non-coding ribonucleic acid(ncRNA)driven regulation is a major mechanism of epigenetic modulation.Given the wide range of ncRNAs that co-opt in programmed cell-death protein 1(PD-1)/programmed death ligand 1(PD-L1)regulation,and based on the literature,we hypothesized that miR-155-5p,miR-194-5p and long non-coding RNAs(lncRNAs)X-inactive specific transcript(XIST)and MALAT-1 are involved in a regulatory upstream pathway for PD-1/PD-L1.Recently,nutraceutical therapeutics in cancers have received increasing attention.Thus,it is interesting to study the impact of oleuropein on the respective study key players.AIM To explore potential upstream regulatory ncRNAs for the immune checkpoint PD-1/PD-L1.METHODS Bioinformatics tools including microrna.org and lnCeDB software were adopted to detect targeting of miR-155-5p,miR-194-5p and lncRNAs XIST and MALAT-1 to PD-L1 mRNA,respectively.In addition,Diana tool was used to predict targeting of both aforementioned miRNAs to lncRNAs XIST and MALAT-1.HCC and normal tissue samples were collected for scanning of PD-L1,XIST and MALAT-1 expression.To study the interaction among miR-155-5p,miR-194-5p,lncRNAs XIST and MALAT-1,as well as PD-L1 mRNA,a series of transfections of the Huh-7 cell line was carried out.RESULTS Bioinformatics software predicted that miR-155-5p and miR-194-5p can target PDL1,MALAT-1 and XIST.MALAT-1 and XIST were predicted to target PD-L1 mRNA.PD-L1 and XIST were significantly upregulated in 23 HCC biopsies compared to healthy controls;however,MALAT-1 was barely detected.MiR-194 induced expression elevated the expression of PD-L1,XIST and MALAT-1.However,overexpression of miR-155-5p induced the upregulation of PD-L1 and XIST,while it had a negative impact on MALAT-1 expression.Knockdown of XIST did have an impact on PD-L1 expression;however,following knockdown of the negative regulator of X-inactive specific transcript(TSIX),PD-L1 expression was elevated,and abolished MALAT-1 activity.Upon co-transfection of miR-194-5p with siMALAT-1,PD-L1 expression was elevated.Co-transfection of miR-194-5p with siXIST did not have an impact on PD-L1 expression.Upon co-transfection of miR-194 with siTSIX,PD-L1 expression was upregulated.Interestingly,the same PD-L1 expression pattern was observed following miR-155-5p cotransfections.Oleuropein treatment of Huh-7 cells reduced the expression profile of PD-L1,XIST,and miR-155-5p,upregulated the expression of miR-194-5p and had no significant impact on the MALAT-1 expression profile.CONCLUSION This study reported a novel finding revealing that opposing acting miRNAs in HCC,have the same impact on PD-1/PD-L1 immune checkpoint by sharing a common signaling pathway.

Detecting land subsidence near metro lines in the Baoshan district of Shanghai with multi-temporal interferometric synthetic aperture radar

Land subsidence is a major factor that affects metro line （ML） stability. In this study, an improved multi- temporal interferometric synthetic aperture radar （InSAR） （MTI） method to detect land subsidence near MLs is presented. In particular, our multi-temporal InSAR method provides surface subsidence measurements with high observation density. The MTI method tracks both point-like targets and distributed targets with temporal radar back- scattering steadiness. First, subsidence rates at the point targets with low-amplitude dispersion index （ADI） values are extracted by applying a least-squared estimator on an optimized freely connected network. Second, to reduce error propagation, the pixels with high-ADI values are classified into several groups according to ADI intervals and processed using a Pearson correlation coefficient and hierarchical analysis strategy to obtain the distributed targets. Then, nonlinear subsidence components at all point-like and distributed targets are estimated using phase unwrapping and spatiotemporal filtering on the phase residuals. The proposed MTI method was applied to detect land subsidence near MLs of No. 1 and 3 in the Baoshan district of Shanghai using 18 TerraSAR-X images acquired between April 21, 2008 and October 30, 2010. The results show that the mean subsidence rates of the stations distributed along the two MLs are -12.9 and -14.0 ram/year. Furthermore, three subsidence funnels near the MLs are discovered through the hierarchical analysis. The testing results demonstrate the satisfactory capacity of the proposed MTI method in providing detailed subsidence information near MLs.

MiR-25-3p attenuates the proliferation of tongue squamous cell carcinoma cell line Tca8113

Objective:To investigate the effects of miR-25-3p on the occurrence,development and proliferation of tongue squamous cell carcinoma cells.Methods:To establish tongue squamous cell carcinoma cell line Tca8113 that stably and highly express miR-25-3p using recombinant reiroviral vector-mediated gene transfer method.The proliferation of transfected Tca8113 was detected by thiazolyl blue tetrazolium bromide(MTT)and cell colony formation assays.eyclnD1,p21^(cipt)and p27^(kipt)mRNA expressions in the transfected Tca-8113 were detected by quantitative PCR.cyclinD1,p21^(cipt),p27^(kipt),AKT,p-AKT,FOXOt and p-FOX01 expressions in the transfected Tca8113 were detected by western blot analysis.In addition,miR-25-3p expression in the tongue squamous cell carcinoma cell line and tissue specimen was also detected by quantitative PCR.Results:Quantitative PCR showed that mitt-25-3p expression in the tongue squamous cell carcinoma cell lines and tissue specimen was significantly lower than that in the adjacent tissue.MTT and cell colony formation assays showed that after miR-25-3p overexpression,the proliferation of transfected Tca8113 was obviously attenuated.Western blot analysis and quantitative PCR showed that after miR-25-3p overexpression.p21^(cipt)and p27^(kipt)expressions were upregulated,while cyclinD1,AKT,FOXO1 expressions were downregulated,and AKT and FOXO1 phosphorylation was inactivated in the transfected Tca8113 cells.Conclusions:MiR-25-3p inhibited the proliferation of tongue squamous cell carcinoma cells and regulated cell cycle-related protein expression,playing an important role in the occurrence and development of squamous cell carcinoma of the tongue.

SOX7靶向ERK1/2/PD-L1通路抑制结直肠癌血管生成

目的探讨性别决定区Y框蛋白7(SOX7)对结直肠癌血管生成的影响及潜在作用机制。方法应用免疫荧光检测结直肠癌患者组织样本中SOX7表达水平,之后通过裸鼠、转染SOX7 mimic的人结直肠癌细胞系SW480细胞和人脐静脉内皮细胞(HUVEC)共培养进一步研究。用Western-blot验证SOX7与ERK1/2/PD-L1对结直肠癌细胞的相关蛋白表达的影响。用CCK8检测SOX7与ERK1/2/PD-L1对HUVEC增殖的影响。通过体外内皮细胞成管实验测定SOX7与ERK1/2/PD-L1对肿瘤血管生成的影响。结果SOX7在人结直肠癌组织中表达被抑制(P<0.01),同时SOX7的过表达抑制了小鼠体内肿瘤生长(P<0.01)。SW480细胞中SOX7的过表达抑制了ERK1/2、c-Jun的表达,并在ERK1/2的激动剂Senkyunolide I的作用下上调了SW480细胞的ERK1/2、c-Jun蛋白表达(P<0.01),逆转了SOX7对SW480细胞中ERK1/2、c-Jun蛋白表达的影响(P<0.01)。HUVEC中SOX7抑制了PD-L1、V-EGFR2、p-PI3K、HIF-1α的蛋白表达,Senkyunolide I上调了HUVEC的PD-L1、V-EGFR2、p-PI3K、HIF-1α的蛋白表达,并逆转了SOX7对HUVEC中上述相关蛋白表达的影响(P<0.01)。PD-1/PD-L1 Inhibitor 3抑制了PD-L1、V-EGFR2、p-PI3K、HIF-1α的蛋白表达,SOX7过表达在PD-1/PD-L1 Inhibitor 3的影响下并没有表现出抑制作用。CCK8实验结果显示SOX7过表达显著抑制了HUVEC的增殖能力,Senkyunolide I作用下的两组HUVEC增殖能力较SOX7 NC组与SOX7 mimic组明显上升,PD-1/PD-L1 Inhibitor 3作用下的两组HUVEC增殖能力较SOX7 NC组与SOX7 mimic组明显下降,以上均有明显统计学差异(P<0.01)。成管实验结果显示SOX7过表达抑制了HUVEC的血管生成,Senkyunolide I强烈加速了血管生成,而PD-1/PD-L1 Inhibitor 3血管生成则被显著抑制,以上均有明显统计学差异(P<0.01)。结论SOX7通过ERK1/2/PD-L1通路抑制结直肠肿瘤的增殖和血管生成,SOX7可能是晚期CRC患者临床治疗中潜在的抗血管生成靶点。

Discovery of a variable broad absorption line in the BL Lac object PKS B0138-097

We report the discovery of a broad absorption line （BAL） of - 10^4 km s^-1 in width in the previously known BL Lac object PKS 0138-097, which we tentatively identified as an Mg II BAL. This is the first detection of a BAL, which is sometimes seen in powerful quasars with high accretion rates, in a BL Lac object. The BAL was clearly detected in its spectra spanning two epochs at a high luminosity state taken in the Sloan Digital Sky Survey （SDSS）, while it disappeared in three SDSS spectra taken at a low luminosity state. The BAL and its variability pattern were also found in its historical multi-epoch spectra in the literature, but have been overlooked previously. In its high resolution radio maps, PKS 0138-097 shows a core plus a one- sided parsec-scale jet. The BAL variability can be interpreted as follows： The optical emission is dominated by the core in a high state and by the jet in a low state and the BAL material is located between the core and jet so that the BAL appears only when the core is shining. Our discovery suggests that outflows may also be produced in active galactic nuclei at a low accreting state.

Magneto-induced Line Broadening of Magneto-sensitive Lines in Solar Magnetized Atmospheres

We analyze the spectral line broadening of those magneto-sensitive lines in solar magnetized atmospheres. The broadening at the line wings is due to the increase of the effective width of energy levels involved in Zeeman splitting,and the broadening at the line core also originated in Zeeman splitting under the condition that the Zeeman components are mixed. Therefore, the magneto-induced or Zeeman broadening take effects on the whole line. The observed Stokes parameter data in a sunspot and outside it acquired by Solar Stokes Spectrum Telescope （S^3T） are analyzed for the demonstration of this mechanism, and the Zeeman broadening rates are calculated for Fe16302.5 under some assumptions.Our result shows that the broadening is increased as the magnetic field strength becomes stronger, but the rate of increase at the line core is decreased as the field strength increases, while the rate at the wing does not show such an obvious regularity. The broadening is more effective in the line core than in the wings.