目的:探讨染色体结构维持蛋白1A(structural maintenance of chromosome 1A,SMC1A)在乳腺癌中的表达情况,分析其与临床病理特征的相关性以及对乳腺癌细胞凋亡的影响。方法:利用癌症基因组图谱(The Cancer Genome Atlas,TCGA)数据库分析S...目的:探讨染色体结构维持蛋白1A(structural maintenance of chromosome 1A,SMC1A)在乳腺癌中的表达情况,分析其与临床病理特征的相关性以及对乳腺癌细胞凋亡的影响。方法:利用癌症基因组图谱(The Cancer Genome Atlas,TCGA)数据库分析SMC1A m RNA在乳腺癌及正常乳腺组织中的表达差异及其与乳腺癌预后的相关性。收集南京医科大学第一附属医院2023年1—12月间48例乳腺癌患者手术切除的癌组织和癌旁组织标本,采用实时荧光定量聚合酶链反应和免疫组织化学分析SMC1A的表达,并评估其与患者临床病理指标的关系。通过下调乳腺癌细胞系MCF-7中SMC1A表达,检测其凋亡相关蛋白的变化。结果:对TCGA相关转录组测序数据分析提示,SMC1A m RNA在乳腺癌组织中的表达显著高于正常乳腺组织,并与乳腺癌的预后紧密相关。临床样本验证也表明,SMC1A的表达水平在乳腺癌组织中显著高于癌旁组织,并与TNM分期、淋巴结转移及病理分化程度相关。siRNA介导的SMC1A下调在MCF-7细胞中显著提升了Cleaved-caspase-3、Cleaved-caspase-9及Bax的表达,降低了Bcl2的表达。结论:SMC1A在乳腺癌组织中高表达,并与乳腺癌的进展及病理分化有关。初步机制研究表明,SMC1A的表达调控可能对促进乳腺癌细胞凋亡具有重要作用。展开更多
This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype...This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.展开更多
This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind di...This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.展开更多
Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nut...Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.展开更多
文摘目的:探讨染色体结构维持蛋白1A(structural maintenance of chromosome 1A,SMC1A)在乳腺癌中的表达情况,分析其与临床病理特征的相关性以及对乳腺癌细胞凋亡的影响。方法:利用癌症基因组图谱(The Cancer Genome Atlas,TCGA)数据库分析SMC1A m RNA在乳腺癌及正常乳腺组织中的表达差异及其与乳腺癌预后的相关性。收集南京医科大学第一附属医院2023年1—12月间48例乳腺癌患者手术切除的癌组织和癌旁组织标本,采用实时荧光定量聚合酶链反应和免疫组织化学分析SMC1A的表达,并评估其与患者临床病理指标的关系。通过下调乳腺癌细胞系MCF-7中SMC1A表达,检测其凋亡相关蛋白的变化。结果:对TCGA相关转录组测序数据分析提示,SMC1A m RNA在乳腺癌组织中的表达显著高于正常乳腺组织,并与乳腺癌的预后紧密相关。临床样本验证也表明,SMC1A的表达水平在乳腺癌组织中显著高于癌旁组织,并与TNM分期、淋巴结转移及病理分化程度相关。siRNA介导的SMC1A下调在MCF-7细胞中显著提升了Cleaved-caspase-3、Cleaved-caspase-9及Bax的表达,降低了Bcl2的表达。结论:SMC1A在乳腺癌组织中高表达,并与乳腺癌的进展及病理分化有关。初步机制研究表明,SMC1A的表达调控可能对促进乳腺癌细胞凋亡具有重要作用。
基金supported by the National Natural Science Foundation of China(12072090).
文摘This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.
基金supported by National Natural Science Foundation of China (Grant Nos.52072309 and 62303379)Beijing Institute of Spacecraft System Engineering Research Project (Grant NO.JSZL2020203B004)+1 种基金Natural Science Foundation of Shaanxi Province,Chinese (Grant NOs.2023-JC-QN-0003 and 2023-JC-QN-0665)Industry-University-Research Innovation Fund of Ministry of Education for Chinese Universities (Grant NO.2022IT189)。
文摘This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.
基金supported by the National Natural Science Foundation of China(11972077,11672035)。
文摘Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.
