Robots play an important role in underwater monitoring and recovery operations, such as pollution detection, submarine sampling and data collection, video mapping, and object recovery in dangerous places. However, reg...Robots play an important role in underwater monitoring and recovery operations, such as pollution detection, submarine sampling and data collection, video mapping, and object recovery in dangerous places. However, regular-sized robots may not be suitable for applications in some restricted underwater environments. Accordingly, in previous research we designed several novel types of bio-inspired microrobots using Ionic Polymer Metal Composite （IPMC） and Shape Memory Alloy （SMA） ac- tuators. These microrobots possess some attributes of compact structure, multi-functionality, flexibility, and precise positioning. However, they lack the attributes of long endurance, stable high speed, and large load capacity necessary for real-world appli- cations. To overcome these disadvantages, we proposed a mother-son robot system, composed of several microrobots as sons and a newly designed amphibious spherical robot as the mother. Inspired by amphibious turtles, the mother robot was designed with a spherical body and four legs with two Degrees of Freedom （DOF）. It is actuated by four vectored water-jet propellers and ten servomotors, and it is capable of walking on land and cruising underwater. We analysed the mother robot＇s walking and underwater cruising mechanisms, constructed a prototype, and carried out a series of experiments to evaluate its amphibious motions. Good motion performance was observed in the experiments.展开更多
The mobility of the vectored thruster AUV in different environment is the important premise of control system design. The new type of autonomous underwater vehicle (AUV) equipped with rudders and vectored thrusters wh...The mobility of the vectored thruster AUV in different environment is the important premise of control system design. The new type of autonomous underwater vehicle (AUV) equipped with rudders and vectored thrusters which are combined to control the course is studied. Firstly, Euler angles representation and quaternion method are applied to establish six-DOF kinematic model respectively, then Newton second law and Lagrangian approach are used to deduce the vectored thruster AUV’s nonlinear dynamic equations with six degrees of freedom (DOF) respectively in complex sea conditions based on the random wave theory according to the structural and kinetic characteristics of the vectored thruster AUV in this paper. The kinematic models and dynamic models based on different theories have the same expression and conclusion, which shows that the kinematic models and dynamic models of the vectored thruster AUV are accurate. The Runge-Kutta arithmetic is used to solve the dynamic equations, which not only can simulate the motions such as cruise and hover but also can describe the vehicle’s low-frequency and high-frequency motion. The results of computation show that the mobility of the vectored thruster AUV in interference-free environment and the integrated signals including low-frequency motion signal and high-frequency motion signal in environmental disturbance accord with practical situation, which not only solve the problem of especial singularities when the pitch angle θ = ±90° but also clears up the difficulties of computation and display of the coupled nonlinear motion equations in complex sea conditions. Moreover, the high maneuverability of the vectored thruster AUV equipped with rudders and vectored thrusters is validated, which lays a foundation for the control system design.展开更多
The parametric model of stratospheric airships is established in the body axes coordinate system. In this paper we study the turning mechanism of stratospheric airships including the generated forces and the key param...The parametric model of stratospheric airships is established in the body axes coordinate system. In this paper we study the turning mechanism of stratospheric airships including the generated forces and the key parameters for steady turning. We compare and analyze the different driven-characteristics between aerodynamic control surfaces and vectored thrust in turning. We design a composite control combining aerodynamic control surfaces and vectored thrust according to different dynamic pressure conditions, to achieve coordinated turning under high or low airspeed situations.展开更多
To enhance the controllability of stratosphere airship,a vectored electric propulsion system is used.By using the Lagrangian method,a kinetic model of the vectored electric propulsion system is established and validat...To enhance the controllability of stratosphere airship,a vectored electric propulsion system is used.By using the Lagrangian method,a kinetic model of the vectored electric propulsion system is established and validated through ground tests.The fake gyroscopic torque is first proposed,which the vector mechanism should overcome besides the inertial torque and the gravitational torque.The fake gyroscopic torque is caused by the difference between inertial moments about two principal inertial axes of the propeller in the rotating plane,appears only when the propeller is rotating and is proportional with the rotation speed.It is a sinusoidal pulse,with a frequency that is twice of the rotation speed.Considering the fake gyroscope torque pulse and aerodynamic efficiency,three blade propeller is recommended for the vectored propulsion system used for stratosphere airship.展开更多
Despite extensive research efforts, a preventive human immunodeficiency virus (HIV) vaccine remains one of the major challenges in the field of AIDS research. Experimental strategies which have been proven successful ...Despite extensive research efforts, a preventive human immunodeficiency virus (HIV) vaccine remains one of the major challenges in the field of AIDS research. Experimental strategies which have been proven successful for other viral vaccines are not enough to tackle HIV-1 and new approaches to design effective preventive AIDS vaccines are of utmost importance. Due to enormous diversity among global circulating HIV strains, an effective HIV vaccine must elicit broadly protective antibodies based responses;therefore discovering new broadly neutralizing antibodies (bNAbs) against HIV has become major focus in HIV vaccine research. However further understanding of the viral targets of such antibodies and mechanisms of action of bNAbs is required for advancement of HIV vaccine research. This technical note discusses our current knowledge on the bNAbs and immunoprophylaxis using viral vectors with their relevance in designing of new candidates to HIV-1 vaccines.展开更多
Vectored non-covalent interactions—mainly hydrogen bonding and aromatic interactions—extensively contribute to(bio)-organic self-assembling processes and significantly impact the physicochemical properties of the as...Vectored non-covalent interactions—mainly hydrogen bonding and aromatic interactions—extensively contribute to(bio)-organic self-assembling processes and significantly impact the physicochemical properties of the associated superstructures.However,vectored non-covalent interaction-driven assembly occursmainly along one-dimensional(1D)or three-dimensional(3D)directions,and a two-dimensional(2D)orientation,especially that of multilayered,graphene-like assembly,has been reported less.In this present research,by introducing amino,hydroxyl,and phenyl moieties to the triazine skeleton,supramolecular layered assembly is achieved by vectored non-covalent interactions.The planar hydrogen bonding network results in high stability,with a thermal sustainability of up to about 330°C and a Young’s modulus of up to about 40 GPa.Upon introducing wrinkles by biased hydrogen bonding or aromatic interactions to disturb the planar organization,the stability attenuates.However,the intertwined aromatic interactions prompt a red edge excitation shift effect inside the assemblies,inducing broad-spectrum fluorescence covering nearly the entire visible light region(400–650 nm).We show that bionic,superhydrophobic,pillar-like arrays with contact angles of up to about 170°can be engineered by aromatic interactions using a physical vapor deposition approach,which cannot be realized through hydrogen bonding.Our findings show the feasibility of 2D assembly with engineerable properties by modulating vectored non-covalent interactions.展开更多
A commercial recombinant fowl pox vectored infectious laryngotracheitis （ILT） vaccine was examined its protection efficacy in one-day-old chicks by subcutaneous route with various dose-strength. The treatment groups...A commercial recombinant fowl pox vectored infectious laryngotracheitis （ILT） vaccine was examined its protection efficacy in one-day-old chicks by subcutaneous route with various dose-strength. The treatment groups I-III birds were vaccinated with a full, 1/2 and 1/3 dose of recommendation dose, respectively. Thereafter, at 6 wk post vaccination, they were challenged with 5x labeled dose of live ILT vaccine. Protection efficacy of the vaccine was compared among groups based on antibody production and eye lesion score. The results of eye lesion score showed that there was a significant difference between control and treatment groups, whereas the difference was not found among the treatment groups. For seroconversion, there was no significant difference between birds in group I and II. However, higher number of seroconversion birds in groups I and II than group III was observed （P 〈 0.05）. It was concluded that a half dose of recommendation dose had the same protection efficacy as a full dose of recombinant YP-LT vaccine.展开更多
To analyze the existing schemes of high-speed rotorcrafts and some new technologies, a new conceptual sketch of the high-speed rotor/wing transition helicopter RD15 is proposed. The overall layout of the RD15 is given...To analyze the existing schemes of high-speed rotorcrafts and some new technologies, a new conceptual sketch of the high-speed rotor/wing transition helicopter RD15 is proposed. The overall layout of the RD15 is given out and the transition process from the helicopter mode to the airplane mode is designed. The lift system consists of a circular disk-wing with four retractable blades. The technology of individual blade control is adopted for flight control in hover and low speed flight. The tail is a vectored thrust duct propeller. It can provide the anti-torque in hover, and offer the multi-directional controls and propulsion drive for the airplane mode flight. The aerodynamic characteristics and key technologies in the transition process for this layout, including the nose up angle of disk-wing, the length of the blade, rotation speed, pitch angle and other parameters, are theoretically ana lyzed and experimentally tested. Calculation and experiments show that the shift process of the lift, the power and controls are smooth, and the designed scheme is feasible.展开更多
The effectiveness of the Vectored Thrust Ducted Propeller(VTDP)system is not high currently,especially the lateral force is not large enough.Thus,a conceptual design for a deflection device of a VTDP system was propos...The effectiveness of the Vectored Thrust Ducted Propeller(VTDP)system is not high currently,especially the lateral force is not large enough.Thus,a conceptual design for a deflection device of a VTDP system was proposed to achieve effective hovering control.The magnitude of the lateral force that was applied to maintain balance while hovering was examined.A comparison between the experimental and numerical results for the 16H-1 was made to verify the numerical simulation approach.The deflection devices of the X-49 and the proposed design were analyzed using numerical simulations.The results indicated that a larger lateral force and lower power consumption were presented in the proposed design.The results of this article provide a new idea for the design of the VTDP system.展开更多
人呼吸道合胞病毒是引起婴幼儿支气管炎和肺炎的主要原因,也可导致免疫缺陷病人及老年人群显著发病和死亡.人呼吸道合胞病毒疫苗已被世界卫生组织(World Health Organization,WHO)列为全球最优先发展的疫苗之一.经过50多年的研究,尤其...人呼吸道合胞病毒是引起婴幼儿支气管炎和肺炎的主要原因,也可导致免疫缺陷病人及老年人群显著发病和死亡.人呼吸道合胞病毒疫苗已被世界卫生组织(World Health Organization,WHO)列为全球最优先发展的疫苗之一.经过50多年的研究,尤其是随着重组技术和反向遗传学的出现,对RSV疫苗的研究取得了重要进展,但尚未有疫苗上市.目前主要集中于亚单位疫苗及活疫苗等,其中活疫苗包括减毒活疫苗和活病毒载体疫苗,因其最有可能用于预防婴幼儿RSV感染,而受到了较大关注.以rA2cp248/404/1030ΔSH为代表的RSV减毒活疫苗临床试验显示,其有较好的安全性及免疫保护作用,不产生疾病增强作用是极有潜力的候选疫苗.因此,本文将重点介绍RSV活疫苗研究的主要进展和发展方向.展开更多
文摘Robots play an important role in underwater monitoring and recovery operations, such as pollution detection, submarine sampling and data collection, video mapping, and object recovery in dangerous places. However, regular-sized robots may not be suitable for applications in some restricted underwater environments. Accordingly, in previous research we designed several novel types of bio-inspired microrobots using Ionic Polymer Metal Composite （IPMC） and Shape Memory Alloy （SMA） ac- tuators. These microrobots possess some attributes of compact structure, multi-functionality, flexibility, and precise positioning. However, they lack the attributes of long endurance, stable high speed, and large load capacity necessary for real-world appli- cations. To overcome these disadvantages, we proposed a mother-son robot system, composed of several microrobots as sons and a newly designed amphibious spherical robot as the mother. Inspired by amphibious turtles, the mother robot was designed with a spherical body and four legs with two Degrees of Freedom （DOF）. It is actuated by four vectored water-jet propellers and ten servomotors, and it is capable of walking on land and cruising underwater. We analysed the mother robot＇s walking and underwater cruising mechanisms, constructed a prototype, and carried out a series of experiments to evaluate its amphibious motions. Good motion performance was observed in the experiments.
基金supported by National Hi-tech Research and Development Program of China(863 Program, Grant No. 2006AA09Z235)Hunan Provincial Innovation Foundation For Postgraduate of China(Grant No. CX2009B003)
文摘The mobility of the vectored thruster AUV in different environment is the important premise of control system design. The new type of autonomous underwater vehicle (AUV) equipped with rudders and vectored thrusters which are combined to control the course is studied. Firstly, Euler angles representation and quaternion method are applied to establish six-DOF kinematic model respectively, then Newton second law and Lagrangian approach are used to deduce the vectored thruster AUV’s nonlinear dynamic equations with six degrees of freedom (DOF) respectively in complex sea conditions based on the random wave theory according to the structural and kinetic characteristics of the vectored thruster AUV in this paper. The kinematic models and dynamic models based on different theories have the same expression and conclusion, which shows that the kinematic models and dynamic models of the vectored thruster AUV are accurate. The Runge-Kutta arithmetic is used to solve the dynamic equations, which not only can simulate the motions such as cruise and hover but also can describe the vehicle’s low-frequency and high-frequency motion. The results of computation show that the mobility of the vectored thruster AUV in interference-free environment and the integrated signals including low-frequency motion signal and high-frequency motion signal in environmental disturbance accord with practical situation, which not only solve the problem of especial singularities when the pitch angle θ = ±90° but also clears up the difficulties of computation and display of the coupled nonlinear motion equations in complex sea conditions. Moreover, the high maneuverability of the vectored thruster AUV equipped with rudders and vectored thrusters is validated, which lays a foundation for the control system design.
基金Project (No.61175074) supported by the National Natural Science Foundation of China
文摘The parametric model of stratospheric airships is established in the body axes coordinate system. In this paper we study the turning mechanism of stratospheric airships including the generated forces and the key parameters for steady turning. We compare and analyze the different driven-characteristics between aerodynamic control surfaces and vectored thrust in turning. We design a composite control combining aerodynamic control surfaces and vectored thrust according to different dynamic pressure conditions, to achieve coordinated turning under high or low airspeed situations.
文摘To enhance the controllability of stratosphere airship,a vectored electric propulsion system is used.By using the Lagrangian method,a kinetic model of the vectored electric propulsion system is established and validated through ground tests.The fake gyroscopic torque is first proposed,which the vector mechanism should overcome besides the inertial torque and the gravitational torque.The fake gyroscopic torque is caused by the difference between inertial moments about two principal inertial axes of the propeller in the rotating plane,appears only when the propeller is rotating and is proportional with the rotation speed.It is a sinusoidal pulse,with a frequency that is twice of the rotation speed.Considering the fake gyroscope torque pulse and aerodynamic efficiency,three blade propeller is recommended for the vectored propulsion system used for stratosphere airship.
文摘Despite extensive research efforts, a preventive human immunodeficiency virus (HIV) vaccine remains one of the major challenges in the field of AIDS research. Experimental strategies which have been proven successful for other viral vaccines are not enough to tackle HIV-1 and new approaches to design effective preventive AIDS vaccines are of utmost importance. Due to enormous diversity among global circulating HIV strains, an effective HIV vaccine must elicit broadly protective antibodies based responses;therefore discovering new broadly neutralizing antibodies (bNAbs) against HIV has become major focus in HIV vaccine research. However further understanding of the viral targets of such antibodies and mechanisms of action of bNAbs is required for advancement of HIV vaccine research. This technical note discusses our current knowledge on the bNAbs and immunoprophylaxis using viral vectors with their relevance in designing of new candidates to HIV-1 vaccines.
基金supported by the Fund for Creative Research Groups of National Natural Science Foundation of China (No. 51821093)the National Natural Science Foundation of China (Nos. 52175551, 52075484)(KT and DM)+2 种基金the National Key Research and Development Program (SQ2021YFE010405)(KT)Science Foundation Ireland (SFI) through awards Nos. 15/CDA/3491and 12/RC/2275_P2 (DT)computing resources at the SFI/Higher Education Authority Irish Center for High-End Computing (ICHEC)(SG and DT)
文摘Vectored non-covalent interactions—mainly hydrogen bonding and aromatic interactions—extensively contribute to(bio)-organic self-assembling processes and significantly impact the physicochemical properties of the associated superstructures.However,vectored non-covalent interaction-driven assembly occursmainly along one-dimensional(1D)or three-dimensional(3D)directions,and a two-dimensional(2D)orientation,especially that of multilayered,graphene-like assembly,has been reported less.In this present research,by introducing amino,hydroxyl,and phenyl moieties to the triazine skeleton,supramolecular layered assembly is achieved by vectored non-covalent interactions.The planar hydrogen bonding network results in high stability,with a thermal sustainability of up to about 330°C and a Young’s modulus of up to about 40 GPa.Upon introducing wrinkles by biased hydrogen bonding or aromatic interactions to disturb the planar organization,the stability attenuates.However,the intertwined aromatic interactions prompt a red edge excitation shift effect inside the assemblies,inducing broad-spectrum fluorescence covering nearly the entire visible light region(400–650 nm).We show that bionic,superhydrophobic,pillar-like arrays with contact angles of up to about 170°can be engineered by aromatic interactions using a physical vapor deposition approach,which cannot be realized through hydrogen bonding.Our findings show the feasibility of 2D assembly with engineerable properties by modulating vectored non-covalent interactions.
文摘A commercial recombinant fowl pox vectored infectious laryngotracheitis （ILT） vaccine was examined its protection efficacy in one-day-old chicks by subcutaneous route with various dose-strength. The treatment groups I-III birds were vaccinated with a full, 1/2 and 1/3 dose of recommendation dose, respectively. Thereafter, at 6 wk post vaccination, they were challenged with 5x labeled dose of live ILT vaccine. Protection efficacy of the vaccine was compared among groups based on antibody production and eye lesion score. The results of eye lesion score showed that there was a significant difference between control and treatment groups, whereas the difference was not found among the treatment groups. For seroconversion, there was no significant difference between birds in group I and II. However, higher number of seroconversion birds in groups I and II than group III was observed （P 〈 0.05）. It was concluded that a half dose of recommendation dose had the same protection efficacy as a full dose of recombinant YP-LT vaccine.
文摘To analyze the existing schemes of high-speed rotorcrafts and some new technologies, a new conceptual sketch of the high-speed rotor/wing transition helicopter RD15 is proposed. The overall layout of the RD15 is given out and the transition process from the helicopter mode to the airplane mode is designed. The lift system consists of a circular disk-wing with four retractable blades. The technology of individual blade control is adopted for flight control in hover and low speed flight. The tail is a vectored thrust duct propeller. It can provide the anti-torque in hover, and offer the multi-directional controls and propulsion drive for the airplane mode flight. The aerodynamic characteristics and key technologies in the transition process for this layout, including the nose up angle of disk-wing, the length of the blade, rotation speed, pitch angle and other parameters, are theoretically ana lyzed and experimentally tested. Calculation and experiments show that the shift process of the lift, the power and controls are smooth, and the designed scheme is feasible.
文摘The effectiveness of the Vectored Thrust Ducted Propeller(VTDP)system is not high currently,especially the lateral force is not large enough.Thus,a conceptual design for a deflection device of a VTDP system was proposed to achieve effective hovering control.The magnitude of the lateral force that was applied to maintain balance while hovering was examined.A comparison between the experimental and numerical results for the 16H-1 was made to verify the numerical simulation approach.The deflection devices of the X-49 and the proposed design were analyzed using numerical simulations.The results indicated that a larger lateral force and lower power consumption were presented in the proposed design.The results of this article provide a new idea for the design of the VTDP system.
文摘人呼吸道合胞病毒是引起婴幼儿支气管炎和肺炎的主要原因,也可导致免疫缺陷病人及老年人群显著发病和死亡.人呼吸道合胞病毒疫苗已被世界卫生组织(World Health Organization,WHO)列为全球最优先发展的疫苗之一.经过50多年的研究,尤其是随着重组技术和反向遗传学的出现,对RSV疫苗的研究取得了重要进展,但尚未有疫苗上市.目前主要集中于亚单位疫苗及活疫苗等,其中活疫苗包括减毒活疫苗和活病毒载体疫苗,因其最有可能用于预防婴幼儿RSV感染,而受到了较大关注.以rA2cp248/404/1030ΔSH为代表的RSV减毒活疫苗临床试验显示,其有较好的安全性及免疫保护作用,不产生疾病增强作用是极有潜力的候选疫苗.因此,本文将重点介绍RSV活疫苗研究的主要进展和发展方向.
