针对在GPS信号弱/拒止和环境感知欠缺的环境下可重构海洋浮体的协同控制问题,本文提出了一种基于定相对位姿(Determined relative pose,DRP)视觉伺服模型的鲁棒非线性模型预测控制(Nonlinear model predictive control,NMPC)方案。可重...针对在GPS信号弱/拒止和环境感知欠缺的环境下可重构海洋浮体的协同控制问题,本文提出了一种基于定相对位姿(Determined relative pose,DRP)视觉伺服模型的鲁棒非线性模型预测控制(Nonlinear model predictive control,NMPC)方案。可重构海洋浮体的视觉伺服问题难点主要包括环境干扰强、系统非线性程度高、视觉伺服易陷入局部极值和可见性约束强。为应对这些难题,该视觉伺服控制策略需要实现:被控船仅依靠视觉信息进行多船协同控制;视觉伺服模型收敛性好;控制器具有一定鲁棒性且处理非线性系统和约束条件的能力强。为此,本研究首先建立了单浮体的动力学模型;然后将视觉模型、被控船艏摇信息及相机云台转角信息整合到系统状态中,形成了DRP模型,从而保证了双浮体视觉伺服控制结束后相对位姿的唯一性;接着结合浮体动力学模型和DRP模型,建立了基于图像的视觉伺服(Image based visual servo,IBVS)的系统模型,并对该系统模型进行分析,进而据此设计了鲁棒的NMPC控制器,以保证视觉伺服任务可以在强外界干扰的环境下进行;最后通过大量数值仿真实验验证了该方案的有效性。这些实验结果不仅证明了控制策略的稳定性和准确性,还展示了其在复杂环境下的鲁棒性能。展开更多
[Objective]To design and express a recombinant protein rMKIBV incorporating confirmed antigenic epitopes of infectious bronchitis virus(IBV)as a vaccine to provide comprehensive protection.Additionally,it explores the...[Objective]To design and express a recombinant protein rMKIBV incorporating confirmed antigenic epitopes of infectious bronchitis virus(IBV)as a vaccine to provide comprehensive protection.Additionally,it explores the potential of polyclonal yolk antibodies(IgY)harvested from laying hens immunized with the rMKIBV vaccine in the prevention and control of IBV.[Methods]The antigenic epitope sequences of IBV,obtained from online databases,were compared with sequences of representative IBV strains from GenBank.Flexible peptides were designed to link all antigenic peptides.The constructed amino acid sequence was analyzed,reverse-translated,codon-optimized,and then inserted into the pET-28a(+)cloning vector.The recombinant vector was introduced into Escherichia coli for expression.The purified,desalted,and endotoxin-removed rMKIBV protein was used as a vaccine to immunize animals for investigation of its immunogenicity and ability to stimulate specific IgY production in laying hens.[Results]The retrieved IBV antigenic epitope sequences showed high similarity with the published N and S protein sequences of 22 representative IBV strains.The predicted isoelectric point and molecular weight of rMKIBV were 10.25 and 63.39 kDa,respectively.The secondary structure of rMKIBV included a high proportion of random coils,which suggested strong antigenicity.High-purity rMKIBV was obtained from E.coli transformed with the recombinant plasmid pET-28a-mkibv.This protein specifically bound to anti-His-tag antibodies,N protein antibodies,and S protein antibodies.The mice immunized with this protein showed increases in the spleen index(P<0.05),elevations in the levels of serum-specific IgG antibodies(P<0.01)and IFN-γ(P<0.05),and no significant change in the IL-2 level.Immunized laying hens successfully produced IgY in egg yolks,with specific IgY antibody levels significantly increasing.Moreover,the IgY antibody titer gradually rose after immunization,reaching the peak after about 50 days and then gradually declining to reach a stable level.[Conclusion]We successfully constructed and expressed the recombinant protein rMKIBV.The protein demonstrated good immunogenicity,stimulating specific antibody production in both mice and laying hens.Notably,the IgY extracted from the yolks of immunized laying hens offers a novel approach to IBV prevention and control.These findings hold significant scientific and practical value for the development of vaccines against IBV.展开更多
针对传统基于图像的视觉伺服在处理摄像机退化等方面存在的不足,研究了融合三维特征与二维特征的图像视觉伺服方法。通过在经典IBVS(Image based visual servoing)控制结构基础上,将二维图像特征重构为三维特征,建立了模型化的3D特征机...针对传统基于图像的视觉伺服在处理摄像机退化等方面存在的不足,研究了融合三维特征与二维特征的图像视觉伺服方法。通过在经典IBVS(Image based visual servoing)控制结构基础上,将二维图像特征重构为三维特征,建立了模型化的3D特征机器人视觉伺服控制模型,并通过Simulink等仿真工具,分析比较了2种方法在图像空间和笛卡尔空间的空间运动特性,试验结果证实了方法的可行性和有效性。展开更多
Infectious bronchitis(IB),a highly contagious acute respiratory disease affecting avian species,poses significant challenges to poultry production.The causative agent,infectious bronchitis virus(IBV),exhibits a high m...Infectious bronchitis(IB),a highly contagious acute respiratory disease affecting avian species,poses significant challenges to poultry production.The causative agent,infectious bronchitis virus(IBV),exhibits a high mutation rate,leading to limited cross-protection by existing vaccines.This necessitates the development of novel vaccines.This study,based on preliminary investigations conducted by our research team,identified six potential strains(PYG QX1,ZQF QX2,FQH QX3,LYZ QX4,XXX QX5,and CSL strains)for vaccine development.Previous pathogenicity test and serum cross-neutralization experiments conducted in this study have demonstrated that the FQH QX3 strain exhibited the weakest pathogenicity and the broadest spectrum of serum neutralization,while the CSL strain showed the highest pathogenicity and was the most challenging to neutralize,posing the greatest difficulty in prevention and control.Subsequently,we constructed and rescued recombinant vaccine candidates,H120-FQH QX3,and H120-CSL,expressing the S1 and N proteins of the FQH QX3 and CSL strains,respectively.Immunization protection experiments indicated that the H120-CSL recombinant vaccine candidate exhibited the most effective immune protection,making it a promising candidate for further study and evaluation as a recombinant vaccine.The S1 and N genes of the CSL strain demonstrated strong immunogenicity,making them potential candidate antigen genes for future vaccine development.展开更多
Influenza B viruses(IBVs)primarily infect humans and are a common cause of respiratory infections in humans.Here,to systematically analyze the antigenicity of the IBVs Hemagglutinin(HA)protein,31 B/Victoria and 19 B/Y...Influenza B viruses(IBVs)primarily infect humans and are a common cause of respiratory infections in humans.Here,to systematically analyze the antigenicity of the IBVs Hemagglutinin(HA)protein,31 B/Victoria and 19 B/Yamagata representative circulating strains were selected from Global Initiative of Sharing All Influenza Data(GISAID),and pseudotyped viruses were constructed with the vesicular stomatitis virus system.Guinea pigs were immunized with three doses of vaccines(one dose of DNA vaccines following two doses of pseudotyped virus vaccines)of the seven IBV vaccine strains,and neutralizing antibodies against the pseudotyped viruses were tested.By comparing differences between various vaccine strains,we constructed several pseudotyped viruses that contained various mutations based on vaccine strainBV-21.The vaccine strains showed good neutralization levels against the epidemic virus strains of the same year,with neutralization titers ranging from 370 to 840,while the level of neutralization against viruses prevalent in previous years decreased 1–10-fold.Each of the high-frequency epidemic strains of B/Victoria andB/Yamagata not only induced high neutralizing titers,but also had broadly neutralizing effects against virus strains of different years,with neutralizing titers ranging from1000 to 7200.R141G,D197 N,and R203K were identified as affecting the antigenicity of IBV.These mutation sites provide valuable references for the selection and design of a universal IBV vaccine strain in the future.展开更多
文摘针对在GPS信号弱/拒止和环境感知欠缺的环境下可重构海洋浮体的协同控制问题,本文提出了一种基于定相对位姿(Determined relative pose,DRP)视觉伺服模型的鲁棒非线性模型预测控制(Nonlinear model predictive control,NMPC)方案。可重构海洋浮体的视觉伺服问题难点主要包括环境干扰强、系统非线性程度高、视觉伺服易陷入局部极值和可见性约束强。为应对这些难题,该视觉伺服控制策略需要实现:被控船仅依靠视觉信息进行多船协同控制;视觉伺服模型收敛性好;控制器具有一定鲁棒性且处理非线性系统和约束条件的能力强。为此,本研究首先建立了单浮体的动力学模型;然后将视觉模型、被控船艏摇信息及相机云台转角信息整合到系统状态中,形成了DRP模型,从而保证了双浮体视觉伺服控制结束后相对位姿的唯一性;接着结合浮体动力学模型和DRP模型,建立了基于图像的视觉伺服(Image based visual servo,IBVS)的系统模型,并对该系统模型进行分析,进而据此设计了鲁棒的NMPC控制器,以保证视觉伺服任务可以在强外界干扰的环境下进行;最后通过大量数值仿真实验验证了该方案的有效性。这些实验结果不仅证明了控制策略的稳定性和准确性,还展示了其在复杂环境下的鲁棒性能。
文摘[Objective]To design and express a recombinant protein rMKIBV incorporating confirmed antigenic epitopes of infectious bronchitis virus(IBV)as a vaccine to provide comprehensive protection.Additionally,it explores the potential of polyclonal yolk antibodies(IgY)harvested from laying hens immunized with the rMKIBV vaccine in the prevention and control of IBV.[Methods]The antigenic epitope sequences of IBV,obtained from online databases,were compared with sequences of representative IBV strains from GenBank.Flexible peptides were designed to link all antigenic peptides.The constructed amino acid sequence was analyzed,reverse-translated,codon-optimized,and then inserted into the pET-28a(+)cloning vector.The recombinant vector was introduced into Escherichia coli for expression.The purified,desalted,and endotoxin-removed rMKIBV protein was used as a vaccine to immunize animals for investigation of its immunogenicity and ability to stimulate specific IgY production in laying hens.[Results]The retrieved IBV antigenic epitope sequences showed high similarity with the published N and S protein sequences of 22 representative IBV strains.The predicted isoelectric point and molecular weight of rMKIBV were 10.25 and 63.39 kDa,respectively.The secondary structure of rMKIBV included a high proportion of random coils,which suggested strong antigenicity.High-purity rMKIBV was obtained from E.coli transformed with the recombinant plasmid pET-28a-mkibv.This protein specifically bound to anti-His-tag antibodies,N protein antibodies,and S protein antibodies.The mice immunized with this protein showed increases in the spleen index(P<0.05),elevations in the levels of serum-specific IgG antibodies(P<0.01)and IFN-γ(P<0.05),and no significant change in the IL-2 level.Immunized laying hens successfully produced IgY in egg yolks,with specific IgY antibody levels significantly increasing.Moreover,the IgY antibody titer gradually rose after immunization,reaching the peak after about 50 days and then gradually declining to reach a stable level.[Conclusion]We successfully constructed and expressed the recombinant protein rMKIBV.The protein demonstrated good immunogenicity,stimulating specific antibody production in both mice and laying hens.Notably,the IgY extracted from the yolks of immunized laying hens offers a novel approach to IBV prevention and control.These findings hold significant scientific and practical value for the development of vaccines against IBV.
文摘针对传统基于图像的视觉伺服在处理摄像机退化等方面存在的不足,研究了融合三维特征与二维特征的图像视觉伺服方法。通过在经典IBVS(Image based visual servoing)控制结构基础上,将二维图像特征重构为三维特征,建立了模型化的3D特征机器人视觉伺服控制模型,并通过Simulink等仿真工具,分析比较了2种方法在图像空间和笛卡尔空间的空间运动特性,试验结果证实了方法的可行性和有效性。
基金supported by National Key R&D Program of China(2022YFD1801000)the Heyuan Branch,Guangdong Laboratory for Lingnan Modern Agriculture Project(DT20220003)+1 种基金the construction project of modern agricultural science and technology innovation alliance in Guangdong province(2023KJ128)Provincial Science and Technology Special Fund Project for Zhongshan City(major special project+ Task list management mode)(2021sdr003).
文摘Infectious bronchitis(IB),a highly contagious acute respiratory disease affecting avian species,poses significant challenges to poultry production.The causative agent,infectious bronchitis virus(IBV),exhibits a high mutation rate,leading to limited cross-protection by existing vaccines.This necessitates the development of novel vaccines.This study,based on preliminary investigations conducted by our research team,identified six potential strains(PYG QX1,ZQF QX2,FQH QX3,LYZ QX4,XXX QX5,and CSL strains)for vaccine development.Previous pathogenicity test and serum cross-neutralization experiments conducted in this study have demonstrated that the FQH QX3 strain exhibited the weakest pathogenicity and the broadest spectrum of serum neutralization,while the CSL strain showed the highest pathogenicity and was the most challenging to neutralize,posing the greatest difficulty in prevention and control.Subsequently,we constructed and rescued recombinant vaccine candidates,H120-FQH QX3,and H120-CSL,expressing the S1 and N proteins of the FQH QX3 and CSL strains,respectively.Immunization protection experiments indicated that the H120-CSL recombinant vaccine candidate exhibited the most effective immune protection,making it a promising candidate for further study and evaluation as a recombinant vaccine.The S1 and N genes of the CSL strain demonstrated strong immunogenicity,making them potential candidate antigen genes for future vaccine development.
基金supported by a grant from the National Key R&D Program of China(No.2021YFC2301700)the Ministry of Science and Technology(China)of China(No.2021YFC2302500)the Establishment of a method for detecting neutralizing antibodies with pseudotyped viruses of China Pharmacopeia[grant number 2021S03].
文摘Influenza B viruses(IBVs)primarily infect humans and are a common cause of respiratory infections in humans.Here,to systematically analyze the antigenicity of the IBVs Hemagglutinin(HA)protein,31 B/Victoria and 19 B/Yamagata representative circulating strains were selected from Global Initiative of Sharing All Influenza Data(GISAID),and pseudotyped viruses were constructed with the vesicular stomatitis virus system.Guinea pigs were immunized with three doses of vaccines(one dose of DNA vaccines following two doses of pseudotyped virus vaccines)of the seven IBV vaccine strains,and neutralizing antibodies against the pseudotyped viruses were tested.By comparing differences between various vaccine strains,we constructed several pseudotyped viruses that contained various mutations based on vaccine strainBV-21.The vaccine strains showed good neutralization levels against the epidemic virus strains of the same year,with neutralization titers ranging from 370 to 840,while the level of neutralization against viruses prevalent in previous years decreased 1–10-fold.Each of the high-frequency epidemic strains of B/Victoria andB/Yamagata not only induced high neutralizing titers,but also had broadly neutralizing effects against virus strains of different years,with neutralizing titers ranging from1000 to 7200.R141G,D197 N,and R203K were identified as affecting the antigenicity of IBV.These mutation sites provide valuable references for the selection and design of a universal IBV vaccine strain in the future.
