常规的电力机器人巡检方法主要利用激光仿真定位和映射(simulation localization and mapping,SLAM)模型获取巡检静态/动态特征,易受环境特征值变化影响,导致巡检避障故障,因此,需要基于门循环神经网络设计一种全新的电力机器人巡检方...常规的电力机器人巡检方法主要利用激光仿真定位和映射(simulation localization and mapping,SLAM)模型获取巡检静态/动态特征,易受环境特征值变化影响,导致巡检避障故障,因此,需要基于门循环神经网络设计一种全新的电力机器人巡检方法。为此,利用电力线路巡检飞行机器人(flying robot for overhead powerline inspection,FROPI)获取了巡检环境空间先验信息,规划了电力机器人巡检路径,再基于门循环神经网络设计了电力机器人逐级巡检算法,从而实现了有效巡检。实验结果表明,设计的电力机器人巡检方法的巡检效果较好,能实现有效避障,不易发生巡检故障,具有可靠性,有一定的应用价值,为提高电力巡检安全性作出了一定的贡献。展开更多
Modeling of unsteady aerodynamic loads at high angles of attack using a small amount of experimental or simulation data to construct predictive models for unknown states can greatly improve the efficiency of aircraft ...Modeling of unsteady aerodynamic loads at high angles of attack using a small amount of experimental or simulation data to construct predictive models for unknown states can greatly improve the efficiency of aircraft unsteady aerodynamic design and flight dynamics analysis.In this paper,aiming at the problems of poor generalization of traditional aerodynamic models and intelligent models,an intelligent aerodynamic modeling method based on gated neural units is proposed.The time memory characteristics of the gated neural unit is fully utilized,thus the nonlinear flow field characterization ability of the learning and training process is enhanced,and the generalization ability of the whole prediction model is improved.The prediction and verification of the model are carried out under the maneuvering flight condition of NACA0015 airfoil.The results show that the model has good adaptability.In the interpolation prediction,the maximum prediction error of the lift and drag coefficients and the moment coefficient does not exceed 10%,which can basically represent the variation characteristics of the entire flow field.In the construction of extrapolation models,the training model based on the strong nonlinear data has good accuracy for weak nonlinear prediction.Furthermore,the error is larger,even exceeding 20%,which indicates that the extrapolation and generalization capabilities need to be further optimized by integrating physical models.Compared with the conventional state space equation model,the proposed method can improve the extrapolation accuracy and efficiency by 78%and 60%,respectively,which demonstrates the applied potential of this method in aerodynamic modeling.展开更多
The effects of low-doses of microcystin-leucinearginine （ MC-LR ） exposure on neurobehaviors and N-acetylaspartate （NAA） expression in the hippocampus of rats were investigated. After male Sprague-Dawley （SD） ra...The effects of low-doses of microcystin-leucinearginine （ MC-LR ） exposure on neurobehaviors and N-acetylaspartate （NAA） expression in the hippocampus of rats were investigated. After male Sprague-Dawley （SD） rats were treated intra-gastrically with different doses of MC-LR for 90 d, the locomotor activity, spatial learning and memory function were evaluated in the rats after treatment using open field tests and Morris water maze tests. The results show that MC-LR exposure can lead to impairment of the spatial learning capacity and locomotor activity in rats at the dose of 2. 00 p,g/kg. The levels of NAA in the hippocampus were measured by magnetic resonance spectroscopy （MRI）. A significant decrease of NAA/Cr ratio （ P 〈 0. 05） was observed in the hippocampous. This study indicates that intra-gastrical exposure to low-doses of MC-LR has adverse effects on neuronal behavior and NAA levels in the hippocampous.展开更多
Objective:To explore the protective mechanisms of nerve growth factor (NGF) on spinal cord injury (SCI) and provide theoretical basis for its clinical application. Methods: The SCI of Wistar rats was done by Allens w...Objective:To explore the protective mechanisms of nerve growth factor (NGF) on spinal cord injury (SCI) and provide theoretical basis for its clinical application. Methods: The SCI of Wistar rats was done by Allens weight dropping way by a 10 g×2.5 cm impact on the posterior of spinal cord T 8. NGF (3 g/L, 20 μl) or normal saline was injected through catheter into subarachnoid space 2, 4, 8, 12 and 24 h after SCI. The expression of N-methyl-D-asparate receptor 1 (NMDAR 1) and neuronal constitutive nitric oxide synthase (ncNOS) mRNA in rat spinal cord was detected by in situ hybridization. Results: Abnormal expression of NMDAR 1 and ncNOS mRNA appeared in spinal ventral horn motorneuron in injured rats, as compared with that in control group. The expression of NMDAR 1 and ncNOS mRNA in NGF group was significantly lower than that in saline group (P<0.01). Conclusion: NGF can protect spinal cord against injury in vivo. One of the mechanisms is that NGF can prohibit NMDAR 1 and nitric oxide (NO) production after spinal cord injury.展开更多
文摘常规的电力机器人巡检方法主要利用激光仿真定位和映射(simulation localization and mapping,SLAM)模型获取巡检静态/动态特征,易受环境特征值变化影响,导致巡检避障故障,因此,需要基于门循环神经网络设计一种全新的电力机器人巡检方法。为此,利用电力线路巡检飞行机器人(flying robot for overhead powerline inspection,FROPI)获取了巡检环境空间先验信息,规划了电力机器人巡检路径,再基于门循环神经网络设计了电力机器人逐级巡检算法,从而实现了有效巡检。实验结果表明,设计的电力机器人巡检方法的巡检效果较好,能实现有效避障,不易发生巡检故障,具有可靠性,有一定的应用价值,为提高电力巡检安全性作出了一定的贡献。
基金supported in part by the National Natural Science Foundation of China (No. 12202363)。
文摘Modeling of unsteady aerodynamic loads at high angles of attack using a small amount of experimental or simulation data to construct predictive models for unknown states can greatly improve the efficiency of aircraft unsteady aerodynamic design and flight dynamics analysis.In this paper,aiming at the problems of poor generalization of traditional aerodynamic models and intelligent models,an intelligent aerodynamic modeling method based on gated neural units is proposed.The time memory characteristics of the gated neural unit is fully utilized,thus the nonlinear flow field characterization ability of the learning and training process is enhanced,and the generalization ability of the whole prediction model is improved.The prediction and verification of the model are carried out under the maneuvering flight condition of NACA0015 airfoil.The results show that the model has good adaptability.In the interpolation prediction,the maximum prediction error of the lift and drag coefficients and the moment coefficient does not exceed 10%,which can basically represent the variation characteristics of the entire flow field.In the construction of extrapolation models,the training model based on the strong nonlinear data has good accuracy for weak nonlinear prediction.Furthermore,the error is larger,even exceeding 20%,which indicates that the extrapolation and generalization capabilities need to be further optimized by integrating physical models.Compared with the conventional state space equation model,the proposed method can improve the extrapolation accuracy and efficiency by 78%and 60%,respectively,which demonstrates the applied potential of this method in aerodynamic modeling.
基金The National Natural Science Foundation of China(No.8107225881273123)
文摘The effects of low-doses of microcystin-leucinearginine （ MC-LR ） exposure on neurobehaviors and N-acetylaspartate （NAA） expression in the hippocampus of rats were investigated. After male Sprague-Dawley （SD） rats were treated intra-gastrically with different doses of MC-LR for 90 d, the locomotor activity, spatial learning and memory function were evaluated in the rats after treatment using open field tests and Morris water maze tests. The results show that MC-LR exposure can lead to impairment of the spatial learning capacity and locomotor activity in rats at the dose of 2. 00 p,g/kg. The levels of NAA in the hippocampus were measured by magnetic resonance spectroscopy （MRI）. A significant decrease of NAA/Cr ratio （ P 〈 0. 05） was observed in the hippocampous. This study indicates that intra-gastrical exposure to low-doses of MC-LR has adverse effects on neuronal behavior and NAA levels in the hippocampous.
文摘Objective:To explore the protective mechanisms of nerve growth factor (NGF) on spinal cord injury (SCI) and provide theoretical basis for its clinical application. Methods: The SCI of Wistar rats was done by Allens weight dropping way by a 10 g×2.5 cm impact on the posterior of spinal cord T 8. NGF (3 g/L, 20 μl) or normal saline was injected through catheter into subarachnoid space 2, 4, 8, 12 and 24 h after SCI. The expression of N-methyl-D-asparate receptor 1 (NMDAR 1) and neuronal constitutive nitric oxide synthase (ncNOS) mRNA in rat spinal cord was detected by in situ hybridization. Results: Abnormal expression of NMDAR 1 and ncNOS mRNA appeared in spinal ventral horn motorneuron in injured rats, as compared with that in control group. The expression of NMDAR 1 and ncNOS mRNA in NGF group was significantly lower than that in saline group (P<0.01). Conclusion: NGF can protect spinal cord against injury in vivo. One of the mechanisms is that NGF can prohibit NMDAR 1 and nitric oxide (NO) production after spinal cord injury.
