The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of co...The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of collision. The global trajectory＇s interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which can generate vibrations or loops of the. trajectory. The solution consists in using polynomials in an inferior degree and to build the motion in pieces. The theoretical developments concern the motion＇s generation, the modeling of the vehicle, then the management of its redundancy steam-power. All these methods contribute to improve the robot precision （accuracy）. The authors are presenting the motion＇s generator which constructs into lines a continuous trajectory C2 while enabling the transformation of the crossing points into lines. The generator presented here as part of omnidirectional robot is adaptable to any kind of vehicle.展开更多
OBJECTIVE： This study investigated how polypeptide 2B1 is involved in regulating and governing dampness in rat models with dampness pattern defined in terms of Traditional Chinese Medicine. METHODS： We randomly divi...OBJECTIVE： This study investigated how polypeptide 2B1 is involved in regulating and governing dampness in rat models with dampness pattern defined in terms of Traditional Chinese Medicine. METHODS： We randomly divided 48 SPF 10-week-old male Sprague-Dawley （SD） rats into a normal group, normal ＋ Aristolochic acid I （AA-I） for 5 min group, normal ＋ AA-I for 60 min group, dampness pattern group （DS-Group）, dampness pattern ＋ AA-I for 5 rain tern ＋ AA-I for 60 min group, and dampness pat- group. Groups were then treated accordingly. We took out the lung, stom- ach, liver, spleen, kidney, large intestine, and small intestine tissues to detect gene and protein expres- sion of organic anion transporter polypeptide 2B1 （OATP2B1）. RESULTS= Gene expression of OATP2B1 in spleen, kidney, and small intestine of rats with dampness pattern was lower than that in normal rats （P〈0.05）. The gene expressions of OATP2B1 in liver, stomach, large intestine, and small intestine were lower than that in control rats at different time points after being stimulated by AA-I （P〈0.05）. CONCLUSION There is coordination among multiple viscera in handling the condition of dampness, and the mechanism underlying the action may rely on regulating the expression of OATP2B1.展开更多
文摘The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of collision. The global trajectory＇s interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which can generate vibrations or loops of the. trajectory. The solution consists in using polynomials in an inferior degree and to build the motion in pieces. The theoretical developments concern the motion＇s generation, the modeling of the vehicle, then the management of its redundancy steam-power. All these methods contribute to improve the robot precision （accuracy）. The authors are presenting the motion＇s generator which constructs into lines a continuous trajectory C2 while enabling the transformation of the crossing points into lines. The generator presented here as part of omnidirectional robot is adaptable to any kind of vehicle.
基金Supported by National Natural Science Foundation of China (Exprimental Study of Relation Between Transit of Dampness Turbidity in Lung,Spleen and Kidney and Adjust and Control of Organic Anion Transportingpolypeptide.No.81072806)
文摘OBJECTIVE： This study investigated how polypeptide 2B1 is involved in regulating and governing dampness in rat models with dampness pattern defined in terms of Traditional Chinese Medicine. METHODS： We randomly divided 48 SPF 10-week-old male Sprague-Dawley （SD） rats into a normal group, normal ＋ Aristolochic acid I （AA-I） for 5 min group, normal ＋ AA-I for 60 min group, dampness pattern group （DS-Group）, dampness pattern ＋ AA-I for 5 rain tern ＋ AA-I for 60 min group, and dampness pat- group. Groups were then treated accordingly. We took out the lung, stom- ach, liver, spleen, kidney, large intestine, and small intestine tissues to detect gene and protein expres- sion of organic anion transporter polypeptide 2B1 （OATP2B1）. RESULTS= Gene expression of OATP2B1 in spleen, kidney, and small intestine of rats with dampness pattern was lower than that in normal rats （P〈0.05）. The gene expressions of OATP2B1 in liver, stomach, large intestine, and small intestine were lower than that in control rats at different time points after being stimulated by AA-I （P〈0.05）. CONCLUSION There is coordination among multiple viscera in handling the condition of dampness, and the mechanism underlying the action may rely on regulating the expression of OATP2B1.
