A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initializatio...A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initialization, and good robustness and redundancy. The mathematical method for realizing the system is given. The system can provide attitude and other navigation information even without GPS measurement for a period of time. Experimental results show that, under the condition of 200 Hz, the attitude, the position, the velocity, the acceleration, and the angular rate can achieve 0. 08°/s, 1.5 m, 0. 1 m/s, 0. 12 m/s^2 and 0. 1°/s.展开更多
A novel periodic mount was presented. A theoretical model was developed to describe the dynamics of wave propagation in the novel periodic mount. The model was derived using Hamilton's energy conservation principl...A novel periodic mount was presented. A theoretical model was developed to describe the dynamics of wave propagation in the novel periodic mount. The model was derived using Hamilton's energy conservation principle. The characteristics of wave propagation in unit cell were analyzed by transfer matrix formulation. Numerical examples were given to illustrate the effectiveness of the periodic mount. The experiments were carried out to identify the predications of the theoretical model. The obtained results show that the experimental results coincide with the prediction of theoretical model. No pass bands appear in the overall frequency range measured when waves propagate in the longitude direction of the periodic mount. These dramatic results demonstrate its potential as an excellent mount in attenuating and isolating vibration transmission.展开更多
AIM：To clarify the role of activated Notch2 in the invasiveness of gastric cancer.METHODS：To investigate the invasiveness of silencing Notch2 gene expression,we established a Notch2small interfering RNA（siRNA） tra...AIM：To clarify the role of activated Notch2 in the invasiveness of gastric cancer.METHODS：To investigate the invasiveness of silencing Notch2 gene expression,we established a Notch2small interfering RNA（siRNA） transfected cell line using the MKN-45 gastric cancer cell line.After the successful transfection confirmed by real-time reverse transcription-polymerase chain reaction（RT-PCR） and Western blotting,migration and invasion assays were employed to evaluate the aggressiveness of the gastric cancer.RT-PCR and Western blottings were employed to confirm the down-regulation of Notch2 and to evaluate the expression of epithelial mesenchymal transition-related gene matrix metallopeptidase 9（MMP9）,Akt,p-Akt.To confirm the relationship between PI3KAkt and MMP9,the PI3K inhibitor LY294002 was used to treat MKN-45 cells.RESULTS：Notch2 expression was dramatically decreased after Notch2 siRNA transfection（100.00% ± 9.74% vs 11.61% ± 3.85%,P 〈 0.01 by qRT-PCR）.There was also a marked reduction of Notch target gene Hes1（100.00% ± 4.74% vs 61.61% ± 3.58%,P 〈 0.05） at the mRNA,indicating an inhibition of Notch signaling.Inhibition of Notch signaling was also confirmed by the marked reduction of Notch2 intracellular domain at the protein levels（100.00% ± 9.74% vs 65.61% ± 7.58%,P 〈 0.05）.Down-regulation of Notch2 by siRNA enhanced tumor cell invasion（100.00% ± 21.64% vs 162.22% ± 16.84%,P 〈 0.05） and expression of MMP9（1.56 fold,P 〈 0.05）,and activated the pro-MMP9 protein to its active form（1.48 fold,P 〈 0.05）.There was no significant difference in the protein levels of Akt between the two groups（100.00% ± 10.87% vs 96.61% ± 7.33%,P 〉 0.05）,while down-regulation of Notch2 elevated p-Akt expression（100.00% ± 9.87% vs 154.61% ± 13.10%,P 〈 0.05）.Furthermore,p-Akt and MMP9 was down-regulated in response to the inhibitor LY294002（p-Akt 100.00% ± 8.87% vs 58.27% ± 5.01%,P 〈 0.05;MMP9 100.00% ± 9.17% vs 50.03% ± 4.88%,P 〈 0.05）.CONCLUSION：Notch2 may negatively regulate cell invasion by inhibiting the PI3K-Akt signaling pathway展开更多
By direct calculation of rotation matrices of SO(3),we show how certain specific sequence of eight consecutiverotations of digital angles can yield a tilting of a facet mirror.We also design a detailed program specifi...By direct calculation of rotation matrices of SO(3),we show how certain specific sequence of eight consecutiverotations of digital angles can yield a tilting of a facet mirror.We also design a detailed program specifically to tiltan array of mirrors from planar orientation to the required focusing orientation.We describe how to use the 8-step torealize the focusing of the mirror array.We have found,in our designed program,an important feature of row-sharingduring the rotations for the columns and similarly the column-sharing during the rotations for the row.This feature cansave a lot of operating time during the actual realization of the mechanical movements.展开更多
The unbalanced voltages cause negative effects on the doubly fed induction generator （DFIG） sucn as torque pulsation,and increased stator current. Based on the symmetrical component theory, the torque pulsation is t...The unbalanced voltages cause negative effects on the doubly fed induction generator （DFIG） sucn as torque pulsation,and increased stator current. Based on the symmetrical component theory, the torque pulsation is the consequence of the interaction of stator and rotor currents of different sequences. This paper presents a control technique to reduce the effect of unbalanced voltages on the DFIG in wind energy conversion systems. The negative sequence stator voltage is derived from the unbalanced three phase stator voltages. The compensated rotor voltage in terms of the derived negative sequence stator voltage and slip which minimizes the negative stator and rotor currents is proposed. The results from the simulation of control system with steady state model and dynamic model of the DFIG show that additional control loop with compensated voltage can significantly reduce torque and reactive power pulsations.展开更多
In this paper, an improved PI （proportional integral） stator resistance estimation for a DTC （direct torque controlled） induction motor is proposed. This estimation method is based on an on-line stator resistance ...In this paper, an improved PI （proportional integral） stator resistance estimation for a DTC （direct torque controlled） induction motor is proposed. This estimation method is based on an on-line stator resistance correction regarding the variations of the stator current estimation error. In fact, the input variable of the P1 estimator is the stator current estimation error. The main idea is to tune accurately the stator resistance value relatively to the evolution of the stator current estimation error gradient to avoid the drive instability and ensure the tracking of the actual value of the stator resistance. But there is an unavoidable steady state error between the filtered stator current modulus and its estimated value from the dq model of the machine which is due to pseudo random commutations of the inverter switches. This may deteriorate the performance of the proposed fuzzy stator resistance estimator. An offset has been introduced in order to overcome this problem, for different speed command values and load torques. Simulation results show that the proposed estimator was able to successfully track the actual value of the stator resistance lbr different operating conditions.展开更多
In this study, the static stability of the grasp of a single planar object is analyzed using the potential energy method. In previous papers, we considered cases in which individual fingers were replaced by a multidim...In this study, the static stability of the grasp of a single planar object is analyzed using the potential energy method. In previous papers, we considered cases in which individual fingers were replaced by a multidimensional translational spring model, in which each finger is constructed with prismatic joints. Human hands and the most developed mechanical hands are constructed with revolute joints. In this paper, the effects of fingertip rotation and a revolute joint spring model are investigated. A grasp stiffness matrix is analytically derived by considering not only frictional rolling contact but also frictionless sliding contact. The difl＇erence between the frictional stiffness matrix and the frictionless one is analytically obtained. The effect of local curvature at contact points is analytically derived. The grasp displacement directions affected by the change in curvature and the contact condition are also obtained. The derived stiffness matrix of the revolute joint model is compared with that of the prismatic joint model, and then the stiffness relation is clarified. The gravity effect of the object is also considered. The effectiveness of our method is demonstrated through numerical examples. The stability is evaluated by the eigenvalues of the grasp stiffness matrix, and the grasp displacement direction is obtained by the corresponding eigenvectors. The effect of joint angle is also discussed.展开更多
文摘A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initialization, and good robustness and redundancy. The mathematical method for realizing the system is given. The system can provide attitude and other navigation information even without GPS measurement for a period of time. Experimental results show that, under the condition of 200 Hz, the attitude, the position, the velocity, the acceleration, and the angular rate can achieve 0. 08°/s, 1.5 m, 0. 1 m/s, 0. 12 m/s^2 and 0. 1°/s.
基金Project(50775225) supported by the National Natural Science Foundation of China
文摘A novel periodic mount was presented. A theoretical model was developed to describe the dynamics of wave propagation in the novel periodic mount. The model was derived using Hamilton's energy conservation principle. The characteristics of wave propagation in unit cell were analyzed by transfer matrix formulation. Numerical examples were given to illustrate the effectiveness of the periodic mount. The experiments were carried out to identify the predications of the theoretical model. The obtained results show that the experimental results coincide with the prediction of theoretical model. No pass bands appear in the overall frequency range measured when waves propagate in the longitude direction of the periodic mount. These dramatic results demonstrate its potential as an excellent mount in attenuating and isolating vibration transmission.
基金Supported by The National Natural Science Foundation of China,No. 30870364Fund for Key Laboratory of Digestive System Tumors,Gansu Province,No. lzujbky-2011-t03
文摘AIM：To clarify the role of activated Notch2 in the invasiveness of gastric cancer.METHODS：To investigate the invasiveness of silencing Notch2 gene expression,we established a Notch2small interfering RNA（siRNA） transfected cell line using the MKN-45 gastric cancer cell line.After the successful transfection confirmed by real-time reverse transcription-polymerase chain reaction（RT-PCR） and Western blotting,migration and invasion assays were employed to evaluate the aggressiveness of the gastric cancer.RT-PCR and Western blottings were employed to confirm the down-regulation of Notch2 and to evaluate the expression of epithelial mesenchymal transition-related gene matrix metallopeptidase 9（MMP9）,Akt,p-Akt.To confirm the relationship between PI3KAkt and MMP9,the PI3K inhibitor LY294002 was used to treat MKN-45 cells.RESULTS：Notch2 expression was dramatically decreased after Notch2 siRNA transfection（100.00% ± 9.74% vs 11.61% ± 3.85%,P 〈 0.01 by qRT-PCR）.There was also a marked reduction of Notch target gene Hes1（100.00% ± 4.74% vs 61.61% ± 3.58%,P 〈 0.05） at the mRNA,indicating an inhibition of Notch signaling.Inhibition of Notch signaling was also confirmed by the marked reduction of Notch2 intracellular domain at the protein levels（100.00% ± 9.74% vs 65.61% ± 7.58%,P 〈 0.05）.Down-regulation of Notch2 by siRNA enhanced tumor cell invasion（100.00% ± 21.64% vs 162.22% ± 16.84%,P 〈 0.05） and expression of MMP9（1.56 fold,P 〈 0.05）,and activated the pro-MMP9 protein to its active form（1.48 fold,P 〈 0.05）.There was no significant difference in the protein levels of Akt between the two groups（100.00% ± 10.87% vs 96.61% ± 7.33%,P 〉 0.05）,while down-regulation of Notch2 elevated p-Akt expression（100.00% ± 9.87% vs 154.61% ± 13.10%,P 〈 0.05）.Furthermore,p-Akt and MMP9 was down-regulated in response to the inhibitor LY294002（p-Akt 100.00% ± 8.87% vs 58.27% ± 5.01%,P 〈 0.05;MMP9 100.00% ± 9.17% vs 50.03% ± 4.88%,P 〈 0.05）.CONCLUSION：Notch2 may negatively regulate cell invasion by inhibiting the PI3K-Akt signaling pathway
文摘By direct calculation of rotation matrices of SO(3),we show how certain specific sequence of eight consecutiverotations of digital angles can yield a tilting of a facet mirror.We also design a detailed program specifically to tiltan array of mirrors from planar orientation to the required focusing orientation.We describe how to use the 8-step torealize the focusing of the mirror array.We have found,in our designed program,an important feature of row-sharingduring the rotations for the columns and similarly the column-sharing during the rotations for the row.This feature cansave a lot of operating time during the actual realization of the mechanical movements.
文摘The unbalanced voltages cause negative effects on the doubly fed induction generator （DFIG） sucn as torque pulsation,and increased stator current. Based on the symmetrical component theory, the torque pulsation is the consequence of the interaction of stator and rotor currents of different sequences. This paper presents a control technique to reduce the effect of unbalanced voltages on the DFIG in wind energy conversion systems. The negative sequence stator voltage is derived from the unbalanced three phase stator voltages. The compensated rotor voltage in terms of the derived negative sequence stator voltage and slip which minimizes the negative stator and rotor currents is proposed. The results from the simulation of control system with steady state model and dynamic model of the DFIG show that additional control loop with compensated voltage can significantly reduce torque and reactive power pulsations.
文摘In this paper, an improved PI （proportional integral） stator resistance estimation for a DTC （direct torque controlled） induction motor is proposed. This estimation method is based on an on-line stator resistance correction regarding the variations of the stator current estimation error. In fact, the input variable of the P1 estimator is the stator current estimation error. The main idea is to tune accurately the stator resistance value relatively to the evolution of the stator current estimation error gradient to avoid the drive instability and ensure the tracking of the actual value of the stator resistance. But there is an unavoidable steady state error between the filtered stator current modulus and its estimated value from the dq model of the machine which is due to pseudo random commutations of the inverter switches. This may deteriorate the performance of the proposed fuzzy stator resistance estimator. An offset has been introduced in order to overcome this problem, for different speed command values and load torques. Simulation results show that the proposed estimator was able to successfully track the actual value of the stator resistance lbr different operating conditions.
文摘In this study, the static stability of the grasp of a single planar object is analyzed using the potential energy method. In previous papers, we considered cases in which individual fingers were replaced by a multidimensional translational spring model, in which each finger is constructed with prismatic joints. Human hands and the most developed mechanical hands are constructed with revolute joints. In this paper, the effects of fingertip rotation and a revolute joint spring model are investigated. A grasp stiffness matrix is analytically derived by considering not only frictional rolling contact but also frictionless sliding contact. The difl＇erence between the frictional stiffness matrix and the frictionless one is analytically obtained. The effect of local curvature at contact points is analytically derived. The grasp displacement directions affected by the change in curvature and the contact condition are also obtained. The derived stiffness matrix of the revolute joint model is compared with that of the prismatic joint model, and then the stiffness relation is clarified. The gravity effect of the object is also considered. The effectiveness of our method is demonstrated through numerical examples. The stability is evaluated by the eigenvalues of the grasp stiffness matrix, and the grasp displacement direction is obtained by the corresponding eigenvectors. The effect of joint angle is also discussed.
