目的应用液相色谱-串联质谱技术(liquid chromatography tandem mass spectrometry,LC-MS/MS)和代谢组学方法探讨早产儿视网膜病(retinopathy of prematurity,ROP)患儿出生血代谢产物差异,寻找ROP早期诊断的新的生物标记物。方法收集201...目的应用液相色谱-串联质谱技术(liquid chromatography tandem mass spectrometry,LC-MS/MS)和代谢组学方法探讨早产儿视网膜病(retinopathy of prematurity,ROP)患儿出生血代谢产物差异,寻找ROP早期诊断的新的生物标记物。方法收集2013年1月—2016年12月中山大学附属第六医院住院的21例ROP患儿(ROP组)及同期21例非ROP患儿(非ROP组)干血片标本,利用LC-MS/MS进行代谢产物测定,运用正交偏最小二乘判别分析法(orthogonal partial least squares discriminant analysis,OPLS-DA)寻找差异物质和生物标记物。结果ROP组和非ROP组患儿血代谢谱有明显差异,经模式识别分析、代谢物得分图(Score-plot,S-plot)、权重分析初步得出10个差异较大的氨基酸。进一步统计分析发现ROP组患儿血谷氨酸、亮氨酸、天冬氨酸、鸟氨酸和甘氨酸水平明显高于非ROP组,差异有统计学意义(P<0.05)。受试者工作特征曲线分析显示,谷氨酸及鸟氨酸对ROP诊断价值最高。结论ROP患儿与非ROP患儿比较血代谢产物具有明显差异,谷氨酸及鸟氨酸是诊断ROP的代谢标志物。LC-MS/MS结合代谢组学分析方法在ROP早期识别与诊断中具有潜在的应用价值。展开更多
Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This artic...Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.展开更多
文摘目的应用液相色谱-串联质谱技术(liquid chromatography tandem mass spectrometry,LC-MS/MS)和代谢组学方法探讨早产儿视网膜病(retinopathy of prematurity,ROP)患儿出生血代谢产物差异,寻找ROP早期诊断的新的生物标记物。方法收集2013年1月—2016年12月中山大学附属第六医院住院的21例ROP患儿(ROP组)及同期21例非ROP患儿(非ROP组)干血片标本,利用LC-MS/MS进行代谢产物测定,运用正交偏最小二乘判别分析法(orthogonal partial least squares discriminant analysis,OPLS-DA)寻找差异物质和生物标记物。结果ROP组和非ROP组患儿血代谢谱有明显差异,经模式识别分析、代谢物得分图(Score-plot,S-plot)、权重分析初步得出10个差异较大的氨基酸。进一步统计分析发现ROP组患儿血谷氨酸、亮氨酸、天冬氨酸、鸟氨酸和甘氨酸水平明显高于非ROP组,差异有统计学意义(P<0.05)。受试者工作特征曲线分析显示,谷氨酸及鸟氨酸对ROP诊断价值最高。结论ROP患儿与非ROP患儿比较血代谢产物具有明显差异,谷氨酸及鸟氨酸是诊断ROP的代谢标志物。LC-MS/MS结合代谢组学分析方法在ROP早期识别与诊断中具有潜在的应用价值。
基金National Natural Science Foundation of China (50705003)National High Technology Research and Development Program of China (2007AA04Z252).
文摘Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.
