|
|
|
题名
|
作者
|
年代
|
出处
|
被引量
|
| 1 | Dynamic feedback robust stabilization of nonholonomic mobile robots based on visual servoing显示文摘This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the effectiveness of the presented controllers. | Chaoli WANG 1 , Zhenying LIANG 2 , 3 , Qingwei JIA 4 (1.Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China 2.Business School, University of Shanghai for Science and Technology, Shanghai 200093, China 3.School of Science, Shandong University of Technology, Zibo Shandong 255049, China 4.Research & Development Centre, Hitachi Asia Ltd, Hitachi Tower, Singapore 049318) | 2010 | 控制理论与应用(英文版)2010，8，2： | 13 |
| 2 | Molecular adsorbent recycling system in treat-ing patients with acute liver failure: a bridge to liver transplantation显示文摘BACKGROUND:Acute liver failure is still a life-threaten- ing disease although it can be treated by liver transplanta- tion. This study was conducted to assess the molecular ad- sorbent recycling system (MARS), which may bridge acute liver failure patients to liver transplantation. METHODS: Biochemical indexes and other clinical data were analyzed of 8 patients with acute liver failure, who had been treated by MARS for 34 times and subsequent Piggyback liver transplantation. RESULTS: After treatment with MARS, the levels of tran- saminase and total bilirubin decreased markedly, but coagu- lation function remained unimproved. All patients survived and discharged from the hospital. CONCLUSION: MARS is effective in bridging patients with acute liver failure to liver transplantation. | Yi-Tao Ding, Qing-Xiang Xu, Yu-Dong Qiu and Yi-Jun Yang Nanjing, China Department of Hepatobiliary Surgery, Affiliated Drum Tower Hospital of Medical College of Nanjing University Hepatobiliary In- stitute of Nanjing University Hepatobiliary Surgery Institute of Nanjing, Nanjing 210000, China | 2004 | Hepatobiliary & Pancreatic Diseases International2004，3，4： | 5 |
| 3 | Passive localization from Doppler shifted frequency measurements显示文摘 | Chan Y T and Towers J J | 1992 | IEEE Transactions on Signal Processing1992，40，10： | 1 |
| 4 | Strategic orientation: Differences between family and non-family firms显示文摘 | Gudmundson D Hartman E A and Tower C B | 1999 | Family Business Review1999，12，1： | 1 |
| 5 | A reliable graded acute liver failure model in rats: treatment with internal bioartificial liver显示文摘BACKGROUND: Appropriate animal models are impor- tant for studying acute liver failure. This study was to assess a new suitable rat model for acute liver failure. METHODS: After the right influent hepatic vessels were clamped for a period of time (45, 60 or 90 minutes respec- tively), the animal model was established by removal of the clamp for restoring blood flow of the right lobes while im- mediately removal of the median, left lateral and caudate lobes. Animal survival rate was observed in the following 14 days in each group. To study the pathophysiological chan- ges of the model, some biochemical parameters in 5 con- secutive days were evaluated in the 60-minute group. Inter- nal bioartificial liver was transplanted in the peritoneal cavi- ty to test the reversibility of the model. RESULTS: The survival rate of the models decreased, as the ischemia time of the right lobes prolonged to zero in the 90-minute group, to 50% in the 60-minute group and to 100% in the 45-minute group on the fifth day after opera- tion. The levels of ammonia, alanine aminotransferase, al- kaline phosphatase, total bilirubin and prothrombin were elevated dramatically 12 to 24 hours after operation in the 60-minute group. When internal bioartificial liver was transplanted, the survival rate increased significantly in ad- dition to the levels of ammonia and total bilirubin. CONCLUSION: A period time of ischemic injury in the right lobe followed by 70% liver resection can produce a graded acute hepatic failure model in rats. | Qing-Xiang Xu, Yi-Tao Ding, Yu-Dong Qiu, De-Cai Yu and He-Yuan Zhang Nanjing, China Department of Hepatobiliary Surgery, Drum Tower Hospital, Medical College of Nanjing University, and Hepatobiliary Institute of Nanjing University Hepatobiliary Surgery Institute of Nanjing Biochemistry Department of Nanjing University, Nanjing 210008 , China | 2004 | Hepatobiliary & Pancreatic Diseases International2004，3，2： | 0 |
| 6 | Development of NT3 Genetically Engineered cells using human Lymphocytes显示文摘Objective To establish a lymphocyte line capable of long survival and expressing human NT-3 to lay a foundation for future animal and human cochlear gene transfection research. Methods We collected lymphocytes from normal human blood via Ficoll fluid and added IL-2 into the serum culture medium to promote lymphocyte growth. The NT3 cDNA was obtained by RT-PCR and ligated with the eukaryon vector which is pIRES-DsRed2 using T4DNA enzyme. The NT3 cDNA gene was transfected into the lymphocyte line using cationic liposome (LP2000). The lymphocytes transfected with NT3-cDNA were examined by RT-PCR and Western-blot methods. Results We established a new method to extend in vitro lymphocytes survival time and to transfect NT3 into lymphocytes. The genetically engineered lymphocytes were capable of surviving over relatively long time. Positive protein signals were obtained by Western blot. Conclusions Using lymphocytes as the intermediary, recombined plasmid pIRES-DsRed2NT3 is used to establish a lymphocyte line that expresses and secretes NT3. This cell line can be used in future animal gene cochlear transfection research and may help find an intermediary cell line for gene therapy for human deafness. | MA Xiao-feng1, XU Lin1, CHEN Jie1, LU Ling1, GAO Xia1 1 Department of Otolaryngology & Head and Neck Surgery, the affiliated Drum Tower Hospital of Nanjing University Medical College, Jiangsu 210008, China | 2010 | Journal of Otology2010，5，1： | 0 |
| 7 | Relationship between Sudden Sensorineural Hearing Loss and Vascular Risk Factors显示文摘Objective To explore the relationship between sudden sensorineural hearing loss(SSNHL) and vascular risk factors(including serum lipids and uric acid).Method This is a retrospective analysis of 100 cases of SSNHL seen at the Drum Tower Hospital,Nanjing Medical University,between Jan.2007 and Apr.2008。 Patient history,blood test results and imaging scans were analyzed.Levels of triglyceride(TG),cholesterols(CHO),high density lipoprotein-cholesterol(HDL-CH),low density lipoprotein-cholesterol(LDL-CH),apolipoprotein AI(ApoAI),apolipoprotein B(ApoB) and uric acid(UA) from these patients were compared with a control group of 56 patients treated for vocal cord polyps or nasal septum deviation during the same period.Patients with hypertension,diabetes,heart,brain,liver or kidney disorders are excluded from the present investigation.Results HDLCH level was higher and UA level lower in the study group than the control group(P < 0.05).HDL-CH and UA showed no significant differences among different age-groups(P > 0.05).There were no significant differences in the levels of TG,CHO,LDL-CH,ApoAI and ApoB(P > 0.05).Conclusion These data indicate that metabolic disturbances of serum lipids and/or uric acid may be potential risk factors for | ZHU Wen-yan1,DAI Yan-hong1,SHE Wandong1,WANG Lu2,Gao Xia1 1 Department of Otolaryngology-Head and Neck Surgery,Drum Tower Clinical Medical School,Nanjing Medical University,Nanjing 210008,China 2 Department of Medical English,School of Foreign Language,Nanfang Medical University,Guangzhou 510510,China | 2009 | Journal of Otology2009，4，1： | 0 |
您所在的机构暂未开通此部分的功能，请联系管理员