PID在汽车防抱死系统中的仿真应用

本文通过数学建模建立了车辆动力学模型、滑移率模型、制动系统模型、轮胎模型、PID控制器等主要模型,然后建立了基于二轮车辆无ABS系统仿真模型、有PID控制器仿真模型,接着分别在高附着系数路面、低附着系数路面和对接路面上进行仿真试验。将三种不同车辆系统的制动时间、制动距离以及车轮是否抱死等性能参数进行对比分析,结果表明无ABS系统的车辆无论在哪种路况下制动,车轮均很快抱死,且制动时间最长,制动距离最大;有PID控制器的车辆可以使车轮滑移率在较短的时间内稳定在最佳滑移率处,避免了车轮抱死,制动距离与制动时间相比无ABS车辆都有明显改善。     

Novel experimental strategy for high resolution AFM imaging of membrane-associated bacterial toxins

Bacterial pore-forming toxins （PFTs） are essential virulence factors of many human pathogens. Knowl- edge of their structure within the membrane is critical for an understanding of their function in pathogenesis and for the development of useful therapy. Atomic force microscopy （AFM） has often been employed to structurally interrogate many membrane proteins, including PFTs, owing to its ability to produce sub-nanometer resolution images of samples under aqueous solution. However, an absolute prerequisite for AFM studies is that the samples are single-layered and closely-packed, which is frequently challenging with PFTs. Here, using the prototypical member of the cholesterol-dependent cytolysin family of PFTs, perfringolysin O （PFO）, as a test sample, we have developed a simple, highly robust method that routinely produces clean, closely-packed samples across the entire specimen surface. In this approach, we first use a small Teflon well to prepare the supported lipid bilayer, remove the sample from the well, and then directly apply the proteins to the bilayer. For reasons that are not clear, bilayer preparation in the Teflon well is essential. We anticipate that this simple method will prove widely useful for the preparation of similar samples, and thereby enable AFM imaging of the greatest range of bacterial PFTs to the highest possible resolution.     

Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system

A four-wheel-independent-steering (4WIS) electric vehicle (EV) with steer-by-wire (SBW) system is proposed in this paper. The fast terminal sliding mode controller (FTSMC) is designed for the SBW system to suppress external disturbances. Taking unstructured and structured uncertainties into consideration, a robust controller is designed for the 4WIS EV utilizing μ synthesis approach and the controller order reduction is implemented based on Hankel-Norm approximation. Since sideslip angle is the feedback signal of robust controller and it is hard to measure, the extended Kalman filter (EKF) is employed to estimate sideslip angle. To evaluate the vehicle performance with the designed control system, step and sinusoidal steering maneuvers are simulated and analyzed. Simulation results show that the designed control system have good tracking ability, strong robust stability and good robust performance to improve vehicle stability and handing performance.     

A signal-based fault detection and classification method for heavy haul wagons

This paper proposes a signal-based fault detection and isolation (FDI) system for heavy haul wagons considering the special requirements of low cost and robustness. The sensor network of the proposed system consists of just two accelerometers mounted on the front left and rear right of the carbody. Seven fault indicators (FIs) are proposed based on the cross-correlation analyses of the sensor-collected acceleration signals. Bolster spring fault conditions are focused on in this paper, including two different levels (small faults and moderate faults) and two locations (faults in the left and right bolster springs of the first bogie). A fully detailed dynamic model of a typical 40t axle load heavy haul wagon is developed to evaluate the deterioration of dynamic behaviour under proposed fault conditions and demonstrate the detectability of the proposed FDI method. Even though the fault conditions considered in this paper did not deteriorate the wagon dynamic behaviour dramatically, the proposed FIs show great sensitivity to the bolster spring faults. The most effective and efficient FIs are chosen for fault detection and classification. Analysis results indicate that it is possible to detect changes in bolster stiffness of ±25% and identify the fault location.     

行人微观仿真中的运动模型与行为模型——STEPS与NOMAD模型对比

为了解各类行人仿真模型的性能差异和适用范围,以选取适当模型进行交通枢纽行人仿真,对两种典型行人仿真模型进行研究。依据模型对行人行为描述的复杂程度,将行人仿真模型分为运动模型、部分行为模型、行为模型3类,并分别介绍了各自的特点。选取典型的运动模型软件STEPS和行为模型软件NOMAD,详细探讨其采用的数学模型,并通过4个仿真实例对比分析这两种模型的特点。分析结果得出两种模型在宏观与微观层面的异同点以及存在的问题。     

TNFα、Leptin-Rb、NF-κB和PPAR-γ在酒精性肝病大鼠肝细胞中的表达

目的 探讨TNFα、NF-κB、Leptin-Rb和PPAR-γ等在大鼠酒精性肝病中与肝组织炎症、坏死和纤维化的关系.方法 胃造瘘法建立长期大鼠酒精性肝病模型,分别在第4、8、12、24和52周用免疫组化、原位杂交和RT-PCR技术检测不同阶段大鼠肝组织中TNFα、NF-κB、PPAR-γ和Leptin-Rb等的表达.结果 TNFα、NF-κB和Leptin-Rb水平在模型组大鼠肝细胞中,第8周表达逐渐增强,第24周起高水平表达一直持续至52周(P<0.01).PPAR-γ在对照组和第4、8周模型组肝细胞中表达最强,第12周表达开始减弱.TNFα和NF-κB在肝细胞中的表达呈明显正相关关系,与PPAR-γ则呈负相关关系(P<0.01).结论 TNFα和NF-κB与肝细胞病变程度有很好的一致性关系,Leptin-Rb在肝细胞的表达与肝纤维化发展相一致,PPAR-γ则刚好相反.     

5-羟色胺转运体基因多态性和抑郁症的发病、性别、严重程度及自杀行为的相关性

目的探讨中国汉族人群5-羟色胺转运体启动区(5-HTTLPR)基因多态性和抑郁症的发病、性别、严重程度及自杀是否相关。方法应用聚合酶链式反应(PCR)扩增技术测定150例抑郁症患者和150例正常对照者的5-HT-TLPR基因型和等位基因,分别验证各种基因型与中、重度抑郁症发病、性别及自杀行为的相关性。结果病例组SS、LS基因型及S等位基因频率均高于对照组(26.0% vs.20.0%;52.7% vs.46.0%;52.3% vs.43.0%;P均<0.05);两组性别分层比较,女性S等位基因频率高于对照组(55.3% vs.43.6%,P<0.05);病例组严重程度分层比较差异无统计学意义(P>0.05);病例组有无自杀行为分层比较,有自杀行为患者SS基因型频率(37.3% vs.20.2%)及S等位基因频率(61.8% vs.47.5%)均高于无自杀行为患者(P<0.05);抑郁自杀组性别分层比较未显示显著性差异(P>0.05);抑郁自杀组病情程度分层比较,重度抑郁自杀者SS基因型频率(42.5% vs.18.2%)及S等位基因频率(68.7% vs.36.4%)均高于中度抑郁自杀者(P<0.05)。结论在中国汉族人群中,5-HTTLPR多态性和抑郁症相关。S等位基因可能是抑郁症的易感基因,特别是女性,SS型可能是抑郁症易感基因型;S等位基因可能是抑郁症患者自杀的危险基因,SS基因型人群可能是抑郁症患者自杀的危险人群,特别是携带S等位基因的重度抑郁症患者更易自杀。     

Singular perturbation composite control of a free-floating flexible dual-arm space robot

The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.     

EGFR、Ku70、NF-κB及Bcl-2在Graves病中的表达及意义

目的研究Graves病患者细针穿刺组织中EGFR、Ku70、NF-κB和Bcl-2基因的表达水平,探讨其在Graves病发生发展中的作用。方法 Graves病组患者59例,平均年龄(44.66+12.94)岁,其中男16例,女43例;甲状腺结节周围正常甲状腺组织标本27例为对照组,平均年龄(44.64+14.27)岁,其中男6例,女21例。采用实时荧光定量逆转录-多聚酶链反应(RT-PCR)法检测EGFR、Ku70、NF-κB和Bcl-2在Graves病及对照组甲状腺组织中的表达,t检验分析基因表达水平差异;Pearson相关法分析基因表达与临床特征及相关血清学指标之间的关系。结果上述基因在对照组及Graves病甲状腺组织中都有不同程度的表达。Graves病患者组织中EGFR及Ku70的表达水平明显高于对照组甲状腺组织(1.752±0.660 vs.0.859±0.125,P<0.05;3.304±0.402 vs.0.768±0.102,P<0.001);NF-κB及Bcl-2的表达水平明显低于对照组甲状腺组织(0.578±0.066 vs.0.884±0.085,P<0.001;0.834±0.086vs.1.235±0.261,P<0.05)。Graves病组织中NF-κB与Bcl-2表达水平呈正相关(r=0.399,P<0.001)。Graves病组织中Ku70的表达水平与血清TgAb水平呈正相关(r=0.263,P<0.05),而其他基因表达与相关血清学指标无关(P均>0.05)。结论 Ku70、EGFR、NF-κB、Bcl-2介导的信号转导通路可能参与了Graves病的发生、发展过程。     

转化生长因子-β_1抗体对人翼状胬肉成纤维细胞增殖及TGF-β_1-Smad4信号转导通路的影响

目的探讨转化生长因子-β1(TGF-β1)抗体对体外培养的翼状胬肉成纤维细胞增殖的抑制作用及对TGF-β1-Smad4信号转导通路的影响,评估其在翼状胬肉发病机制中的作用。方法人翼状胬肉切除后,体外培养其成纤维细胞并传至4~6代时,分别用6.25、12.5、25、50mg/mL TGF-β1抗体处理24、48、72h,采用MTT法检测成纤维细胞的生长抑制率,RT-PCR检测TGF-β1mRNA表达,Western blot检测Smad4蛋白的表达。所得数据采用SPSS19.0统计软件处理。结果 TGF-β1抗体可不同程度抑制成纤维细胞的增殖;TGF-β1抗体处理组TGF-β1mRNA的表达明显低于对照组,且不同浓度组间差异有统计学意义(P<0.05),随着浓度增大和作用时间延长,TGF-β1抗体处理组TGF-β1 mRNA的表达量呈逐渐降低趋势。不同浓度的TGF-β1抗体对Smad4的蛋白表达具有明显增强作用,且各组间差异有统计学意义(P<0.05)。结论 TGF-β1抗体对人翼状胬肉体外培养的成纤维细胞生长具有明显抑制作用,其可能通过调节TGF-β1和Smad4的表达而实现。