Union examination of AFP, AFU, AFPL3 and γ-GT in early diagnosis of primary liver cancer

Objective To explore the significance of union examination of blood serum liver cancer tracers in the early diagnosis of liver cancer. Methods We observed and compared the level of blood serum liver cancer tracers armor embryo protein (AFP), crag algae glycosidase (AFU), armor embryo protein heteroplasmon (AFPL3) andγ-Gu Anxian transferase (γ-GT) in early time for primary liver cancer patients and hepatitis liver cirrhosis patients and those chronic hepatitis B patients who had liver cancer family history. Results Finally among the 30 patients in the early liver cancer group, 23 were positive with AFP, 20 with AFU, 15 with AFPL3 and 21 with γ-GT. Five were found positive with blood serum AFP, AFPL3, AFU and γ-GT at the same time; 5 with AFP, AFPL3 and γ-GT; 5 with AFP, AFU and AFPL3; 7 with AFP, AFU andγ-GT. By contrast, in the control group, among the 30 hepatitis liver cirrhosis patients and those chronic hepatitis B patients with liver cancer family history, 11 were found positive with AFP, 3 with AFPL3, 12 with AFU and 14 with γ-GT. None of the patients were found positive with union examination of AFP, AFPL3, AFU and γ-GT in the blood serum at the same time. Conclusion The union examination of AFP, AFU, AFPL3 and γ-GT is significant to the early diagnosis of primary liver cancer.     

A novel approach to design robust fault detection filter for networked control systems

In this paper, an approach for designing robust fault detection filter (RFDF) of networked control systems (NCSs) with unknown inputs is studied. The design aims at implementing the optimal trade-off between robustness of unknown inputs (including the item produced by networked-induced delay) and sensitivity of fault. The key design issue is to introduce an optimal fault detection filter based on NCSs with the control law compensation as the reference residual model of NCSs and to formulate the RFDF design as a model-matching problem. By applying H _∞ optimization technique, linear matrix inequality (LMI) approach is given to solve the model-matching problem. The validity of the proposed approach is shown by a numerical example.      

基于转角的电动助力转向系统回正性能控制

针对电动助力转向系统回正效果不理想,通过设计新型转角传感器以及扭矩传感器,采用了基于微处理器控制的回正控制单元和硬件,能够很好的实现转向系统回正.在实验台上进行的在线仿真和实验也表明,在设置不同的阻力环境和车速,转向系统都能够较好的识别,并实施回正和阻尼控制.     

集装箱运输组织信息集成模式研究

基于对集装箱运输组织流程的剖析,提出了集装箱运输组织信息的集成模式。这个模式涉及信息集成需求分析、体系结构的确定和基于多Agent的信息集成实现等内容。研究表明：集装箱运输组织必须得到来自不同信息源、具有不同特征的不同类型信息的支持、具有多数据源支持、集成分析功能多样和存储虚拟等特点．它可以通过建立虚拟视图的方式来实现基于多Agent的集装箱运输组织信息集成．     

沥青路面现场冷再生关键技术研究

目前国内很多沥青路面正处于维修、待修状态,沥青路面现场冷再生技术是沥青路面维修改造的主要方法之一.以现场冷再生技术为研究对象,对旧路面调查与评价、材料设计、结构设计、施工工艺等关键技术进行深入研究,研究成果可以有效地指导沥青路面现场冷再生技术的应用,具有一定的工程实用价值.     

沥青路面现场冷再生关键技术研究

目前国内很多沥青路面正处于维修、待修状态,沥青路面现场冷再生技术是沥青路面维修改造的主要方法之一。以现场冷再生技术为研究对象,对旧路面调查与评价、材料设计、结构设计、施工工艺等关键技术进行深入研究,研究成果可以有效地指导沥青路面现场冷再生技术的应用,具有一定的工程实用价值。     

Five-axis interpolation of continuous short linear trajectories for 3[PP]S-<Emphasis Type="Italic">XY</Emphasis> hybrid mechanism by dual Bezier blending

A novel five-axis real-time interpolation algorithm for 3[PP]S-XY hybrid mechanism is proposed in this paper. In the algorithm, the five-axis tool path for controlling this hybrid mechanism is separated into two sub-paths. One sub-path describes the movement of 3[PP]S parallel kinematic mechanism module, and the other one describes the movement of XY platform. A pair of cubic Bezier curves is employed to smooth the corners in those two sub-paths. Based on the homogenous Jacobian matrix of 3[PP]S mechanism, a relationship between the position errors of every driving joint in hybrid mechanism and the position deviation of the tool tip center point at the moving platform is established. This relationship is used to estimate the approximation error for the corners smoothing according to the accuracy requirement of tool tip center in interpolation. Due to the high computational efficiency of this corner smoothing method, it is integrated into the look-ahead module of computer numerical control (CNC) system to perform online tool path smoothing. By performing the speed planning based on a floating window scheme, a jerk limited S-shape speed profile can be generated efficiently. On this basis, a realtime look-ahead scheme, which is comprised of path-smoothing and feedrate scheduling, is developed to acquire a speed profile with smooth acceleration. A monotonic cubic spline is employed for synchronization between those two smoothed sub-paths in tool path interpolation. This interpolation algorithm has been integrated into our own developed CNC system to control a 3PRS-XY experimental instrument (P, R and S standing for prismatic, revolute and spherical, respectively). A club shaped trajectory is adopted to verify the smoothness and efficiency of the five-axis interpolator for hybrid mechanism control.     

Deliberative collision avoidance for unmanned surface vehicle based on the directional weight

The purpose of this study is to realize the intelligent deliberative obstacle avoidance for unmanned surface vehicle (USV), based on the International Regulations for Preventing Collisions at Sea called COLREGS. Firstly, a three-level system architecture is designed for the ship intelligent collision avoidance system. Secondly, an intelligent collision avoidance algorithm is presented based on the calculation of motion parameters and the rules of COLREGS. Thirdly, according to COLREGS, the marine environment is modeled from the electronic chart data and radar information, and a deliberative collision avoidance algorithm is written. Finally, the deliberative collision avoidance simulation is carried out for the USV. The feasibility and reliability of intelligent collision avoidance algorithm are verified by the vivid simulation results.     

基于地铁车辆维保项目的进度计划优化模型研究

合理地开展地铁车辆维保工作对提高地铁车辆运行安全性以及降低运营成本有十分重要的意义。文章根据地铁车辆维保项目进度计划的特点,建立了"时间-资源"平衡的进度计划优化模型,运用遗传算法进行模型求解,同时实现了工期和资源分配的优化;并对平衡模型及求解方法进行实例分析,验证了模型及算法的有效性。