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期刊论文 4

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路径规划；工业机器人；分布式有向距离场；姿态约束；路径简化 1

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Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

《机械工程前沿（英文）》 2008年 第3卷 第4期   页码 392-399 doi: 10.1007/s11465-008-0056-8

摘要： This paper addresses the task-space position/attitude tracking control of a suspended parallel robot, which is being developed in the framework of a five-hundred meter aperture spherical radio telescope (FAST) project. Based on the quaternion algebra, a novel model-independent task-space PD controller that ensures end-effector position and attitude tracking is presented. The simulation and experimental results show that the new controller has better control effects than the traditional joint-space controller.

关键词： telescope     five-hundred     end-effector     controller     simulation    

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A giant step forward: chimeric antigen receptor T-cell therapy for lymphoma

Houli Zhao, Yiyun Wang, Elaine Tan Su Yin, Kui Zhao, Yongxian Hu, He Huang

《医学前沿（英文）》 2020年 第14卷 第6期   页码 711-725 doi: 10.1007/s11684-020-0808-3

摘要： The combination of the immunotherapy (i.e., the use of monoclonal antibodies) and the conventional chemotherapy increases the long-term survival of patients with lymphoma. However, for patients with relapsed or treatment-resistant lymphoma, a novel treatment approach is urgently needed. Chimeric antigen receptor T (CAR-T) cells were introduced as a treatment for these patients. Based on recent clinical data, approximately 50% of patients with relapsed or refractory B-cell lymphoma achieved complete remission after receiving the CD19 CAR-T cell therapy. Moreover, clinical data revealed that some patients remained in remission for more than two years after the CAR-T cell therapy. Other than the CD19-targeted CAR-T, the novel target antigens, such as CD20, CD22, CD30, and CD37, which were greatly expressed on lymphoma cells, were studied under preclinical and clinical evaluations for use in the treatment of lymphoma. Nonetheless, the CAR-T therapy was usually associated with potentially lethal adverse effects, such as the cytokine release syndrome and the neurotoxicity. Therefore, optimizing the structure of CAR, creating new drugs, and combining CAR-T cell therapy with stem cell transplantation are potential solutions to increase the effectiveness of treatment and reduce the toxicity in patients with lymphoma after the CAR-T cell therapy.

关键词： chimeric antigen receptor T (CAR-T) cell     lymphoma     cytokine release syndrome (CRS)     immune effector cell-associated neurotoxicity syndrome (ICANS)    

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Biological features of intrahepatic CD4+CD25+ T cells in the naturally tolerance of rat liver transplantation

LU Ling, ZHANG Feng, PU Liyong, YAO Aihua, YU Yue, SUN Beicheng, LI Guoqiang, WANG Xuehao

《医学前沿（英文）》 2007年 第1卷 第4期   页码 373-376 doi: 10.1007/s11684-007-0072-9

摘要： The biological features of intrahepatic CD4CD25 T regulatory cells in the naturally tolerance of rat liver transplantation were explored. Orthotopic liver transplantation was performed in two allogeneic rat strain combinations, one with fatal immunosuppression despite a complete major histo compatibility complex mismatch. The subjects were divided into three groups according to different donors and recipients [Tolerance group: LEW-to-DA; Rejection group: DA-to-LEW; Syngegnic group (control group): DA-to-DA]. The proportion of intrahepatic CD4CD25 T cells from three groups was determined by flow cytometry (FCM) in different time. The intrahepaitc CD4CD25 T cells were isolated by magnetic activated cell sorting (MACS) method and iden tified by FCM. The Foxp3 mRNA was detected by reverse transcriptase polymerase chain reaction (RT-PCR). And their suppression on the proliferation of CD4CD25 T effector cells was analyzed by cell proliferation assay . Beginning immediately after transplantation, the proportion of Treg cells increased over time in both allogeneic groups but was significantly greater in the Rejection group. The proportion of Treg cells declined after day 5, and such reduction was more dramatic in the Rejection group than in the Tolerance group. Animals in the Tolerance group showed a second increase in the proportion after day 14. Intrahepatic CD4CD25 T cells isolated from spontaneous tolerance models inhibited the proliferation of mixed lymphocyte reaction. The purity of CD4CD25 T cells sorted by MACS was 86%–93%. The CD4CD25 T cells could specifically express the Foxp3 gene compared with CD4CD25 T cells. , the spleen cells from LEW rats can irritate the proliferation of CD4CD25 T cells more obviously than the syngegnic spleen cells. CD4CD25 Tr cells could suppress the proliferation of CD4CD25 T cells, but the inhibition was reversed by exogenous IL-2 (200 U/mL). The CD4CD25 T regulatory cells specifically express the Foxp3 gene, which may play an important role in the induction of liver transplantation tolerance by suppressing the reaction of effective T cells.

关键词： magnetic     LEW-to-DA     effector     MACS     cytometry    

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一种满足末端姿态约束的工业机械臂分布式变密度路径搜索与简化方法 Research Article

王进1,2,厉圣杰1,2,张海运3,陆国栋1,2,冯奕畅1,2,王鹏1,2,李基拓1,2

《信息与电子工程前沿（英文）》 2023年 第24卷 第4期   页码 536-552 doi: 10.1631/FITEE.2200353

摘要： 在许多机器人操作场景中，末端执行器的运动姿态约束是机器人完成焊接、喷涂、搬运、码垛等常见任务必不可少的。同时，姿态约束下的路径规划过程中涉及到逆运动学、碰撞检测和空间搜索等关键问题，在实际应用中难以兼顾令人满意的效率和约束效果。针对这些问题，提出一种带末端约束的工业机器人分布式变密度路径规划方法（DVDP-AC）。首先，针对运动学逆解提出位置–姿态约束重构（PACR）方法。然后，设计了具有单步安全球（SSS）的分布式有向距离场（DSDF）模型，以提高碰撞检测的效率。在此基础上，在笛卡尔空间中采用变密度路径搜索方法，并进一步提出一种考虑路径可达性的前向路径简化方法（FSPS），以自适应地快速消除冗余的路径点。最后，实验结果验证了所提出的DVDP-AC方法在末端执行器姿态约束下的性能和有效性，并与目前主流路径规划方法进行比较，说明了该方法的特点和优势。

关键词： 路径规划；工业机器人；分布式有向距离场；姿态约束；路径简化    

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标题 作者 时间 类型 操作

Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

期刊论文

A giant step forward: chimeric antigen receptor T-cell therapy for lymphoma

Houli Zhao, Yiyun Wang, Elaine Tan Su Yin, Kui Zhao, Yongxian Hu, He Huang

期刊论文

Biological features of intrahepatic CD4+CD25+ T cells in the naturally tolerance of rat liver transplantation

LU Ling, ZHANG Feng, PU Liyong, YAO Aihua, YU Yue, SUN Beicheng, LI Guoqiang, WANG Xuehao

期刊论文

一种满足末端姿态约束的工业机械臂分布式变密度路径搜索与简化方法

王进1,2,厉圣杰1,2,张海运3,陆国栋1,2,冯奕畅1,2,王鹏1,2,李基拓1,2

期刊论文