Tongji University

Chia Tai Tianqing Pharmaceutical Group Co., Ltd.

Utc Therapeutics (shanghai) Co., Ltd.

Wei Pan

Hong Chen

Lin Zhang

Hanghang Liu

Haobo Sun

Jian Li

Shuhui Chen

Charles Z Ding

Guoping Hu

Lihong Hu

Lingyun Wu

Jun Zhao

Lele Zhao

Xile Liu

Ning Zhao

Xiaojun Liu

Yangbing Zhao

The present disclosure relates to a real-time control method for an additional yaw moment of a distributed drive electric vehicle, including the following steps: acquiring and inputting a real-time motion state of the distributed drive electric vehicle into a vehicle dynamics model, using a yaw rate and a sideslip angle of the distributed drive electric vehicle as tracking targets to suppress actuation energy, and performing optimization calculation on an additional yaw moment to acquire an amount of the additional yaw moment distributed for each tire; and in the optimization calculation process, a linear expression of the sideslip angle with respect to the additional yaw moment and a linear expression of the yaw rate with respect to the additional yaw moment are constructed, so as to perform search calculation on the additional yaw moment.

Real-time control method for additional yaw moment of distributed drive electric vehicle

The present disclosure relates to a multi-constraint optimal distribution method for a torque vectoring of a distributed drive electric vehicle, which includes: obtaining a vehicle real-time motion state, taking a pre-constructed tire rotation dynamics model as a control object of an optimal distribution problem, establishing an objective function for tracking a desired additional yaw moment, tracking a desired tire slip ratio, and suppressing a motor output energy consumption to a minimum value, establishing a corresponding system constraint, solving the optimal distribution problem, and obtaining an optimal distribution solution for a torque vectoring of each tire. Compared with the prior art, the present disclosure can effectively track a desired control target, can also effectively constrain an important state and a control input of the vehicle, and can avoid wrong solutions or no solution caused by an optimization problem.

Multi-constraint optimal distribution method for torque vectoring of distributed drive electric vehicle

Disclosed herein are anti-BCMA antibodies and antigen-binding fragments, chimeric antigen receptors ('CARs') having these anti-BCMA antibodies and antigen-binding fragments (“BCMA CARs”) and genetically modified immune effector cells having such BCMA CARs. Polynucleotides encoding the anti-BCMA antibodies and antigen-binding fragments and BCMA CARs are also provided herein. Compositions comprising anti-BCMA antibodies and antigen-binding fragments and BCMA CARs are also provided herein. The present disclosure also relates to use of the anti-BCMA antibodies and antigen-binding fragments and genetically modified immune effector cells having such BCMA CARs in cancer treatment.

BCMA targetting antibodies, chimeric antigen receptors, and uses thereof

Disclosed is a class of new aryl-phosphorus-oxygen compounds as shown in formula (I) as EGFR kinase inhibitors, and pharmaceutically acceptable salts thereof. 

Aryl-phosphorus-oxygen compound as EGFR kinase inhibitor

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Shanghai, China

Wei Pan