Based on the high-accuracy data obtained from the GPS measurements carried out in 1992, 1995 and 1996, the isochronous active units with different kinematic property inside the North China area have been distinguished...Based on the high-accuracy data obtained from the GPS measurements carried out in 1992, 1995 and 1996, the isochronous active units with different kinematic property inside the North China area have been distinguished, 4 active units and 1 transition zone with distinct differential movement have been determined. They are Ordos-Yinshan unit, Yanshan unit, Shanxi-Hebei-Shandong (Jin-Ji-Lu) unit, Jiaodong-Liaoning-Shandong (Jiao-Liao-Lu) unit and Yanshan-Hebei (Yan-Ji) transition zone. The relative movements among the neighboring units in this period have been given. ① The compressive movement between Ordos-Yinshan unit and Yanshan unit is not obvious with an amount of 0.4(1.3 mm/a.②in-Ji-Lu unit moves E40(S off the Ordos-Yinshan unit and the magnitude is 4.4(1.0 mm/a. ③elative to the Yan-Ji transition zone of differential movement, Yanshan unit shifts W38(N with a value of 2.4(1.3 mm/a and Jin-Ji-Lu unit moves eastward 35( by south with an amount of 2.3(0.9 mm/a. ④Jin-Ji-Lu unit has a tensional left-lateral movement of 4.7(1.4 mm/a in the direction of E37(S relative to Yanshan unit. ⑤ Some area near Tanlu belt which is located in the southern part of Jin-Ji-Lu block has a southward movement 14( by west with a magnitude of 1.5(1.1 mm/a off the Jin-Ji-Lu unit. ⑥ Relative to Jin-Ji-Lu unit, Jiao-Liao-Lu unit has a trend of clockwise movement with a tensional right-lateral motion at the north end which neighbors Yanshan unit and a compressive motion at the south end. It should be noted that the errors given in the paper are obtained based on the divergence among the displacements of the sites in the unit, rather than the value calculated from the displacement error of the sites. The analyzed results indicate that: ① Shanxi tectonic zone and Yan-Ji transition zone are the major tectonic active zones to show the frame and magnitude of interior relative movement in North China area, and others are the secondary tectonic active zones; ② The complete horizontal deformation in the North China area is not homogeneous nor successive; ③ The kinetic model of North China area might be (mantle dragging plus boundary coupling(.展开更多
Constraint-induced movement therapy after cerebral ischemia stimulates axonal growth by decreasing expression levels of Nogo-A,RhoA,and Rho-associated kinase(ROCK)in the ischemic boundary zone.However,it remains uncle...Constraint-induced movement therapy after cerebral ischemia stimulates axonal growth by decreasing expression levels of Nogo-A,RhoA,and Rho-associated kinase(ROCK)in the ischemic boundary zone.However,it remains unclear if there are any associations between the Nogo-A/RhoA/ROCK pathway and angiogenesis in adult rat brains in pathological processes such as ischemic stroke.In addition,it has not yet been reported whether constraint-induced movement therapy can promote angiogenesis in stroke in adult rats by overcoming Nogo-A/RhoA/ROCK signaling.Here,a stroke model was established by middle cerebral artery occlusion and reperfusion.Seven days after stroke,the following treatments were initiated and continued for 3 weeks:forced limb use in constraint-induced movement therapy rats(constraint-induced movement therapy group),intraperitoneal infusion of fasudil(a ROCK inhibitor)in fasudil rats(fasudil group),or lateral ventricular injection of NEP1-40(a specific antagonist of the Nogo-66 receptor)in NEP1-40 rats(NEP1-40 group).Immunohistochemistry and western blot assay results showed that,at 2 weeks after middle cerebral artery occlusion,expression levels of RhoA and ROCK were lower in the ischemic boundary zone in rats treated with NEP1-40 compared with rats treated with ischemia/reperfusion or constraint-induced movement therapy alone.However,at 4 weeks after middle cerebral artery occlusion,expression levels of RhoA and ROCK in the ischemic boundary zone were markedly decreased in the NEP1-40 and constraint-induced movement therapy groups,but there was no difference between these two groups.Compared with the ischemia/reperfusion group,modified neurological severity scores and foot fault scores were lower and time taken to locate the platform was shorter in the constraint-induced movement therapy and fasudil groups at 4 weeks after middle cerebral artery occlusion,especially in the constraint-induced movement therapy group.Immunofluorescent staining demonstrated that fasudil promoted an immune response of nerve-regeneration-related markers(BrdU in combination with CD31(platelet endothelial cell adhesion molecule),Nestin,doublecortin,NeuN,and glial fibrillary acidic protein)in the subventricular zone and ischemic boundary zone ipsilateral to the infarct.After 3 weeks of constraint-induced movement therapy,the number of regenerated nerve cells was noticeably increased,and was accompanied by an increased immune response of tight junctions(claudin-5),a pericyte marker(a-smooth muscle actin),and vascular endothelial growth factor receptor 2.Taken together,the results demonstrate that,compared with fasudil,constraint-induced movement therapy led to stronger angiogenesis and nerve regeneration ability and better nerve functional recovery at 4 weeks after cerebral ischemia/reperfusion.In addition,constraint-induced movement therapy has the same degree of inhibition of RhoA and ROCK as NEP1-40.Therefore,constraint-induced movement therapy promotes angiogenesis and neurogenesis after cerebral ischemia/reperfusion injury,at least in part by overcoming the Nogo-A/RhoA/ROCK signaling pathway.All protocols were approved by the Institutional Animal Care and Use Committee of China Medical University,China on December 9,2015(approval No.2015 PS326 K).展开更多
针对基于模仿学习的机械臂末端位姿轨迹规划存在平移与旋转运动固有的耦合问题,提出了基于黎曼流形的动态运动基元方法(riemannian manifolds-based dynamic movement primitives, RMDMP),以实现位姿一体化轨迹规划。首先,在三维特殊欧...针对基于模仿学习的机械臂末端位姿轨迹规划存在平移与旋转运动固有的耦合问题,提出了基于黎曼流形的动态运动基元方法(riemannian manifolds-based dynamic movement primitives, RMDMP),以实现位姿一体化轨迹规划。首先,在三维特殊欧几里得群(special euclidean group in 3 dimensions, SE(3))上构建六维黎曼流形。具体而言,该方法利用单位对偶四元数参数化SE(3)李群,在其上定义黎曼度量,并构建指数映射与对数映射,从而自然地处理刚体运动的几何约束;其次,将动态运动基元(dynamic movement primitives, DMP)扩展至所定义的黎曼流形,并通过李亚普诺夫方法证明了RMDMP的稳定性;最后,通过采集真实机械臂末端示教轨迹数据,进行了位姿一体化轨迹规划实验评估。实验结果表明,与基于对偶四元数的动态运动基元方法(DQ-DMP)相比,RMDMP在轨迹复现中的位置误差和姿态误差分别减少50.6%和41.8%,在轨迹泛化中的位置误差和姿态误差分别减少56.1%和52.5%,验证了该方法的可行性。展开更多
基金The National Key Basic Research Project Mechanism and Prediction of Continental Earthquakes (G1998040700).
文摘Based on the high-accuracy data obtained from the GPS measurements carried out in 1992, 1995 and 1996, the isochronous active units with different kinematic property inside the North China area have been distinguished, 4 active units and 1 transition zone with distinct differential movement have been determined. They are Ordos-Yinshan unit, Yanshan unit, Shanxi-Hebei-Shandong (Jin-Ji-Lu) unit, Jiaodong-Liaoning-Shandong (Jiao-Liao-Lu) unit and Yanshan-Hebei (Yan-Ji) transition zone. The relative movements among the neighboring units in this period have been given. ① The compressive movement between Ordos-Yinshan unit and Yanshan unit is not obvious with an amount of 0.4(1.3 mm/a.②in-Ji-Lu unit moves E40(S off the Ordos-Yinshan unit and the magnitude is 4.4(1.0 mm/a. ③elative to the Yan-Ji transition zone of differential movement, Yanshan unit shifts W38(N with a value of 2.4(1.3 mm/a and Jin-Ji-Lu unit moves eastward 35( by south with an amount of 2.3(0.9 mm/a. ④Jin-Ji-Lu unit has a tensional left-lateral movement of 4.7(1.4 mm/a in the direction of E37(S relative to Yanshan unit. ⑤ Some area near Tanlu belt which is located in the southern part of Jin-Ji-Lu block has a southward movement 14( by west with a magnitude of 1.5(1.1 mm/a off the Jin-Ji-Lu unit. ⑥ Relative to Jin-Ji-Lu unit, Jiao-Liao-Lu unit has a trend of clockwise movement with a tensional right-lateral motion at the north end which neighbors Yanshan unit and a compressive motion at the south end. It should be noted that the errors given in the paper are obtained based on the divergence among the displacements of the sites in the unit, rather than the value calculated from the displacement error of the sites. The analyzed results indicate that: ① Shanxi tectonic zone and Yan-Ji transition zone are the major tectonic active zones to show the frame and magnitude of interior relative movement in North China area, and others are the secondary tectonic active zones; ② The complete horizontal deformation in the North China area is not homogeneous nor successive; ③ The kinetic model of North China area might be (mantle dragging plus boundary coupling(.
基金supported by the National Natural Science Foundation of China(General Program),No.81771271(to JF)
文摘Constraint-induced movement therapy after cerebral ischemia stimulates axonal growth by decreasing expression levels of Nogo-A,RhoA,and Rho-associated kinase(ROCK)in the ischemic boundary zone.However,it remains unclear if there are any associations between the Nogo-A/RhoA/ROCK pathway and angiogenesis in adult rat brains in pathological processes such as ischemic stroke.In addition,it has not yet been reported whether constraint-induced movement therapy can promote angiogenesis in stroke in adult rats by overcoming Nogo-A/RhoA/ROCK signaling.Here,a stroke model was established by middle cerebral artery occlusion and reperfusion.Seven days after stroke,the following treatments were initiated and continued for 3 weeks:forced limb use in constraint-induced movement therapy rats(constraint-induced movement therapy group),intraperitoneal infusion of fasudil(a ROCK inhibitor)in fasudil rats(fasudil group),or lateral ventricular injection of NEP1-40(a specific antagonist of the Nogo-66 receptor)in NEP1-40 rats(NEP1-40 group).Immunohistochemistry and western blot assay results showed that,at 2 weeks after middle cerebral artery occlusion,expression levels of RhoA and ROCK were lower in the ischemic boundary zone in rats treated with NEP1-40 compared with rats treated with ischemia/reperfusion or constraint-induced movement therapy alone.However,at 4 weeks after middle cerebral artery occlusion,expression levels of RhoA and ROCK in the ischemic boundary zone were markedly decreased in the NEP1-40 and constraint-induced movement therapy groups,but there was no difference between these two groups.Compared with the ischemia/reperfusion group,modified neurological severity scores and foot fault scores were lower and time taken to locate the platform was shorter in the constraint-induced movement therapy and fasudil groups at 4 weeks after middle cerebral artery occlusion,especially in the constraint-induced movement therapy group.Immunofluorescent staining demonstrated that fasudil promoted an immune response of nerve-regeneration-related markers(BrdU in combination with CD31(platelet endothelial cell adhesion molecule),Nestin,doublecortin,NeuN,and glial fibrillary acidic protein)in the subventricular zone and ischemic boundary zone ipsilateral to the infarct.After 3 weeks of constraint-induced movement therapy,the number of regenerated nerve cells was noticeably increased,and was accompanied by an increased immune response of tight junctions(claudin-5),a pericyte marker(a-smooth muscle actin),and vascular endothelial growth factor receptor 2.Taken together,the results demonstrate that,compared with fasudil,constraint-induced movement therapy led to stronger angiogenesis and nerve regeneration ability and better nerve functional recovery at 4 weeks after cerebral ischemia/reperfusion.In addition,constraint-induced movement therapy has the same degree of inhibition of RhoA and ROCK as NEP1-40.Therefore,constraint-induced movement therapy promotes angiogenesis and neurogenesis after cerebral ischemia/reperfusion injury,at least in part by overcoming the Nogo-A/RhoA/ROCK signaling pathway.All protocols were approved by the Institutional Animal Care and Use Committee of China Medical University,China on December 9,2015(approval No.2015 PS326 K).
文摘针对基于模仿学习的机械臂末端位姿轨迹规划存在平移与旋转运动固有的耦合问题,提出了基于黎曼流形的动态运动基元方法(riemannian manifolds-based dynamic movement primitives, RMDMP),以实现位姿一体化轨迹规划。首先,在三维特殊欧几里得群(special euclidean group in 3 dimensions, SE(3))上构建六维黎曼流形。具体而言,该方法利用单位对偶四元数参数化SE(3)李群,在其上定义黎曼度量,并构建指数映射与对数映射,从而自然地处理刚体运动的几何约束;其次,将动态运动基元(dynamic movement primitives, DMP)扩展至所定义的黎曼流形,并通过李亚普诺夫方法证明了RMDMP的稳定性;最后,通过采集真实机械臂末端示教轨迹数据,进行了位姿一体化轨迹规划实验评估。实验结果表明,与基于对偶四元数的动态运动基元方法(DQ-DMP)相比,RMDMP在轨迹复现中的位置误差和姿态误差分别减少50.6%和41.8%,在轨迹泛化中的位置误差和姿态误差分别减少56.1%和52.5%,验证了该方法的可行性。
