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Objectives Percutaneous catheter drainage (PCD) is usually performed to treat acute pancreatitis complicated by infected walled-off necrosis (WON). Insufficient drainage of infected WON may lead to a prolonged recovery process. Here, we introduce a modified PCD strategy that uses the triple guidance of choledochoscopy, ultrasonography, and computed tomography (CUC-PCD) to improve the therapeutic efficiency. Methods This study retrospectively analysed 73 patients with acute pancreatitis-related WON from January 2015 to January 2021. The first 38 patients were treated by ultrasonography/computed tomography-guided PCD (UC-PCD), and the next consecutive 35 patients by CUC-PCD. Perioperative data, procedural technical information, treatment outcomes, and follow-up data were collected. Results Demographic characteristics were statistically comparable between the two treatment groups (p > 0.05). After 48 h of PCD treatment, the CUC-PCD group achieved a significantly smaller size of the infected WON (p = 0.023), lower inflammatory response indexes (p = 0.020 for white blood cells, and p = 0.031 for C-reactive protein), and severity scores than the UC-PCD group (p p = 0.001), hospitalisation duration (p = 0.000), and global costs (p = 0.000) were observed in the CUC-PCD group compared to the UC-PCD group. There were no differences between the two groups regarding the rate of complications. Conclusions CUC-PCD is a safe and efficient approach with potential clinical applicability for treating infected WON owing to its feasibility in placing the drainage catheter at the optimal location in real time and performing primary necrosectomy without sinus tract formation and enlargement.

Genes and environmental conditions are thought to interact in the development of postnatal brain in schizophrenia (SZ). Genome wide association studies have identified that PPARGC1A being one of the top candidate genes for SZ. We previously reported GABAergic neuron-specific PGC-1α knockout mice (Dlx5/6-Cre:PGC-1αfl/fl) presented some characteristic features of SZ. However, there is a fundamental gap of the molecular mechanism by which PGC-1α gene involved in the developmental trajectory to SZ. To explore whether PGC-1α regulates environmental factors interacting with genetic susceptibility to trigger symptom onset and disease progression, PGC-1α deficient mice were utilized to model genetic effect and an additional oxidative stress was induced by GBR injection. We confirm that PGC-1α gene deletion prolongs critical period (CP) timing, as revealed by delaying maturation of PV interneurons (PVIs), including their perineuronal nets (PNNs). Further, we confirm that gene × environment (G × E) influences CP plasticity synergistically and the interaction varies as a function of age, with the most sensitive period being at preweaning stage, and the least sensitive one at early adult age in PGC-1α deficient mice. Along this line, we find that the synergic action of G × E is available in ChABC-infusion PGC-1α KO mice, even though during the adulthood, and the neuroplasticity seems to remain open to fluctuate. Altogether, these results refine the observations made in the PGC-1α deficient mice, a potential mouse model of SZ, and illustrate how PGC-1α regulates CP plasticity via G × E interaction in the developmental trajectory to SZ.

Recent evidence has confirmed the association of glucocorticoid receptor (GR) gene variants with the "stress" endocrine axis in postpartum depression (PPD). Sirtuin 1(SIRT1) is an NAD+-dependent histone deacetylase and transcriptional enhancer of GR. However, to date, the function of the SIRT1 gene in the regulation of GR expression in PPD remains to be fully determined. A hormone-stimulated pregnancy (HSP) and subsequent "postpartum" withdrawal of estrogen was employed to mimic the fluctuations in estradiol associated with pregnancy and postpartum. We confirmed that estradiol benzoate withdrawal (EW)-rats displayed depression- and anxiety-like behaviors. These behavioral dysfunctions are associated with attenuated expression of SIRT1 and GR in the hippocampus. To assess the role of SIRT1, as well as its regulatory target directly, a selective SIRT1 activator (SRT2104) was infused into the hippocampus of EW-rats. We found that pharmacological activation of hippocampal SIRT1 blocks the development of depression-related, but not anxiety-related, phenotypes of PPD. In addition, the activation of SIRT1 leads to an increase in hippocampal GR expression in EW-rats. We further confirmed that SIRT1 physically interacts with GR in a glucocorticoid-dependent manner. Taken together, our results suggest that neuropathology in PPD is caused, at least in part, by the inhibition of the SIRT1-GR signaling pathway. Elevating SIRT1 levels, either pharmacologically or through other means, could represent a therapeutic strategy for PPD.

The aerobatic maneuvers of swifts could be very useful for micro aerial vehicle missions. Rapid arrests and turns would allow flight in cluttered and unstructured spaces. However, these decelerating aerobatic maneuvers have been difficult to demonstrate in flapping wing craft to date because of limited thrust and control authority. Here, we report a 26-gram X-wing ornithopter of 200-millimeter fuselage length capable of multimodal flight. Using tail elevation and high thrust, the ornithopter was piloted to hover, fly fast forward (dart), turn aerobatically, and dive with smooth transitions. The aerobatic turn was achieved within a 32-millimeter radius by stopping a dart with a maximum deceleration of 31.4 meters per second squared. In this soaring maneuver, braking was possible by rapid body pitch and dynamic stall of wings at relatively high air speed. This ornithopter can recover to glide stability without tumbling after a 90-degree body flip. We showed that the tail presented a strong stabilizing moment under high thrust, whereas the wing membrane flexibility alleviated the destabilizing effect of the forewings. To achieve these demands for high thrust, we developed a low-loss anti-whirl transmission that maximized thrust output by the flapping wings to 40 grams in excess of body weight. By reducing the reactive load and whirl, this indirect drive consumed 40% less maximum electrical power for the same thrust generation than direct drive of a propeller. The triple roles of flapping wings for propulsion, lift, and drag enable the performance of aggressive flight by simple tail control. Refereed/Peer-reviewed

Background Recently the expression patterns of several cytochrome P450 (CYP) genes in different human osteoblast models were reported. However, the various expression patterns of CYPs in human osteoblasts during different stages of osteogenic differentiation have not been investigated and the effect of inflammatory cytokines on CYPs expression in osteoblasts is unknown. Methods The expression levels of nine different CYP genes in the human osteoblast cell line MG63 and in primary human osteoblasts (HOB) during osteogenic differentiation with or without treatment with tumor necrosis factor-α (TNFα) were analyzed by quantitative real-time PCR. Results The expression levels of most CYPs under study show a significant time dependence during osteogenic differentiation. Overall, more highly significant CYP expression level changes occur in HOB than in MG63 cells. Treatment with TNFα causes a variety of CYP expression level changes in both HOB and MG63 cells. Conclusions Our findings indicate that TNFα treatment reduces steroid hormone production in MG63 cells (but not in HOB) at the level of lanosterol-demethylation during cholesterol biosynthesis. By contrast, TNFα treatment of HOB cells (but not in MG63) leads to the upregulation of several key enzymes involved in the biosynthesis of sex steroids, which is proposed to lead to higher levels of estrogen production. These data also suggest that at least with respect to the topic of this study the cell line MG63 is not a good representative for osteoblasts and that it is preferential to use primary osteoblasts instead.

Cytochromes P450 (CYPs) are important for bone homeostasis, but only limited information is available on their expression in human bone cells. We analyzed the expression levels of eight CYPs in osteoblasts cultured in human bone pieces, in osteoblasts differentiated from human periosteum mesenchymal stem cells, in primary human osteoblasts and in the human osteoblast cell line MG63, respectively. Our results confirm previous reports about the presence of CYP11A1, CYP17A1, CYP24A1 and CYP27B1, while demonstrating expression of CYP2E1, CYP26A1, CYP39A1 and CYP51A1 for the first time. However, expression patterns in the four models were remarkably different from each other.

Because of the energy crisis in Pakistan farmers are getting serious difficulties in irrigating their crops under such increasing diesel costs. There is a need to facilitate the farmers in alternative ways of powering their water pumps. There are lots of alternative ways, powering water pump, but most economical way is the solar pumping which can bring great outcomes in Farmers of Pakistan whom are facing serious difficulties in irrigating their crops under such severe energy crisis and ever increasing diesel costs. According to one estimate, In Pakistan more than 1Million pumps are in use, out of which 750,000 are diesel driven pumps. If we replace 25% diesel pumps by solar pumps, we can save about 3570 MW of electricity. In this paper 220 W motor is used to operate two days without sunshine or power from the PV panels, 40Wh was required daily as back up, supply a minimum of 880 Wh. Since this is a 12 V system, 880Wh/12V = 73.3 Ah was employed A battery bank should be at least 73.3 Ah, here, since the controller selected had a deep discharge protection at less than 30% of battery capacity, a bank of at least 105 Ah was required. For this project a 105 Ah battery was used as backup and all the simulation is done in the matlab.

Background Recent studies have found that plant derived microRNA can cross-kingdom regulate the expression of genes in humans and other mammals, thereby resisting diseases. Can exogenous miRNAs cross the blood-prostate barrier and entry prostate then participate in prostate disease treatment? Methods Using HiSeq sequencing and RT-qPCR technology, we detected plant miRNAs that enriched in the prostates of rats among the normal group, BPH model group and rape bee pollen group. To forecast the functions of these miRNAs, the psRobot software and TargetFinder software were used to predict their candidate target genes in rat genome. The qRT-PCR technology was used to validate the expression of candidate target genes. Results Plant miR5338 was enriched in the posterior lobes of prostate gland of rats fed with rape bee pollen, which was accompanied by the improvement of BPH. Among the predicted target genes of miR5338, Mfn1 was significantly lower in posterior lobes of prostates of rats in the rape bee pollen group than control groups. Further experiments suggested that Mfn1 was highly related to BPH. Conclusions These results suggesting that plant-derived miR5338 may involve in treatment of rat BPH through inhibiting Mfn1 in prostate. These results will provide more evidence for plant miRNAs cross-kingdom regulation of animal gene, and will provide preliminary theoretical and experimental basis for development of rape bee pollen into innovative health care product or medicine for the treatment of BPH. Electronic supplementary material The online version of this article (10.1186/s12906-018-2107-y) contains supplementary material, which is available to authorized users.

For electric power steering is weak and can not be used in heavy vehicles. In order to solve this problem, according to the characteristic that the driving torque of left and right steering wheel can be independently controlled in electric wheel driving vehicle, a new non-trapezium-steering system has been proposed based on electric wheel driving and powering in this paper. This system makes use of the steering torque around the kingpin from electric wheel driving, and is controlled by steering constraint mechanism. Steering system force analysis was conducted to analyze the feasibility of the system in theory. On this basis, a small prototype vehicle was designed. With the use of Bluetooth wireless serial chip and STC12c5a60s2 microcontrollers, the steering-by-wire system lower computer was developed. With the LabView software, the upper computer system was developed in notebook computer. With these two systems, the steering system can conduct data acquisition and control. To verify the performance of the system, the steering angle step input test while vehicle is stationary, the steering angle step input test at low running speed were carried out respectively on the prototype vehicle. Results of steering wheel turning angle and wheel rotation rate show that non-trapezium steering-by-wire electric wheel driving power system can complete steering operation in a variety of conditions, and after removing steering trapezium, each wheel can be separately controlled for steering, and easy to implement multi-mode steering.

Influences of self-developed additives WEC02/WEC03 on sizing of mechanical pulp are analyzed in this study. The results indicated that the optimal dosage for paper sizing were 0.2% (w/w) for WEC02, with sizing degree of 33 s, and 0.8% for WEC03, with sizing degree of 52 s. In addition, the combined usage of WEC02 (0.2%) and WEC03 (0.6%) at pH7.0 could get better sizing performance than single application of WEC02 or WEC03 with sizing value of 77 s. It is obvious that WEC02/WEC03 have great potential to improve sizing efficiency in neutral paperrmaking, leading to saving the sizes dosage and cutting down the production cost.

Effects of additives WEC on strength properties of second fiber were investigated in this study. For single use of WEC02A, the improvement of ring crush index was most remarkable, which increased by 21% for bottom pulp and 31% for surface pulp. Significant increase was also achieved in burst index while the improvement of tightness and folding endurance was not obvious. Besides, combined use of 0.2% WEC02 and 0.3% WEC03S improved folding endurance, burst index and ring crush index of pulp by remarkable 105%, 23% and 52%, respectively, showing a great performance for pulp strength enhancement, being beneficial to broadening the utilization of second fiber.

This paper presents a brand-new splitting phase topology based on three-phase full-bridge inverter, which is named ‘Taihe Circuit’. This circuit topology resembles the traditional three-phase full-bridge inverter except for the direct connection of its two-phase output with the two terminals of the one-phase power source. Its operating principles are as follows: one-phase power source first charges the DC capacitor through three-phase full-bridge inverter in a small time period. After the voltage of the DC capacitor reaches stability, three-phase full-bridge inverter can output three-phase symmetrical AC voltage. The average power of the one-phase AC source equals to the power consumed by the three-phase symmetrical load, and the fluctuation of the power of the AC source corresponds to the charge and discharge of the capacitor on the DC side of the inverter. This circuit topology can achieve the conversion from one-phase AC source to three-phase symmetrical AC source when knowing three-phase load and can be used cooperatively with other circuits in some situations. In comparison to traditional scheme, a combination of one-phase rectification and three-phase inversion, the proposed brand-new topology requires less power electronic devices, as is more economically practical. As a final note, feasibility of the topology is verified through simulation.

Used of the element enrichment model, the multifractal detrended fluctuation analysis (MF-DFA) is applied to analyze the multifractal property for sequences which were added stochastic noise and spike noise, and then we discuss the noise effect on the scaling exponent. The result shows that the scaling exponent is stable under stochastic noise and spike noise. Forq>0, the influence on the scaling exponent is rather small when the element enrichment model was added stochastic noise, and the difference is getting smaller with the increasing parameterp; When adding spike noise whose strength is from 1.5 times to 2.5 times, the corresponding influence is consistent, it indicates that MF-DFA method has a better noise immunity against stochastic noise and spike noise under given conditions.

New energy power generation system needs interface converter to connect to the grid. Because the type of new energy is different, its interface converter is also different. In order to adapt to the diversification of the modeling and control strategy of the converter, a generalized interface model is established in this paper. The model is based on the electromechanical transient simulation, which ignores the physics switching device and simplifies the control module. Finally, adaptive verifications are made in PSCAD/EMTDC and Matlab/Simulink for photovoltaic power generation system and wind power generation system. The results of simulation prove the validity of the generalized model.

With the development of electric power system, the use of one single electric power simulation software about large power grid can't meet the needs of the actual research any more. As the data of PSASP, BPA and other software can't be universal, developing a data interface program to realize data file sharing is of great concern. In this paper, based on the template matching method, power system network model and the control model itself of different software are compared and studied, and the template database was designed according to the results of the analysis. Data convert from BPA and PSASP to the third party software is realized.

The unbalanced grid voltage causes the current harmonics, the fluctuation of the active power in AC side and the fluctuation of the DC voltage. The dual-current loops control strategy can slove those problems. The positive and negative sequence components of grid voltages and currents were calculated based on the symmetrical component method and were used to calculate the instantaneous power in double dq rotate coordinate, which ratate at positive and negative synchronous angular velocity respectively. The dual-current loops control strategy was finally verified in simulation by comparing with the conventional synchronous PI current control. The simulation results show the dual-current loops control strategy is effective on eliminating the fluctuation of the active power in AC side and the fluctuation of the DC voltage.

The paper focuses on the review of methods of one-phase to three-phase transformation. Analysis of the demand of one-phase/three phase transformation is conducted. L-C splitting circuit, one-phase to three-phase transformation based on balance transformer, and one-phase to three-phase converter are three common methods of transformation, of which principle analysis and comparison of advantages and disadvantages have been conducted. This paper also discusses problems underlying the existing methods and proposes the possible future development.

In this paper, the stiffness and folding endurance of the paper were investigated with three kinds of pulp, such as the mechanical wood pulp, chemical pulp and composite pulp, after using common additives and cleaning additives. The results indicated that the stiffness of the paper can be increased by 20% ~ 30% and folding endurance can improve 20% ~ 60% after using new kind of cleaning additives no matter what kind of filler. New cleaning additives can not only improve the physical properties of paper, but also change "acidic papermaking" of the traditional paper industry into clean neutral papermaking environment. Especially, it is suitable for the production of food card paper.

Propofol is one of the most commonly used intravenous anesthetic agents during cancer resection surgery. It can influence proliferation, motility, and invasiveness of cancer cells in vitro and in vivo. However, the role of the propofol in the lung cancer cells remains unclear. In this study, we demonstrated the effects of propofol on the proliferation and the apoptosis of lung cancer cell H460 by using colony formation assay and flow cytometry. Propofol also decreased tumor size and weight in established xenografted tumors. Furthermore, propofol-induced endoplasmic reticulum (ER) stress was determined by Western blot.

The improvement of Kraft Liner board strength, including burst index, ring crush index , inter-layer binding strength and folding endurance was investigated. The performance of several WEC paper chemicals were compared to select the optimum one and the most appropriate level. It was found that: (1) with respect to bottom liner board pulp, the optimum furnish was experiment G-3 with the dosage of 0.3% WEC03S + 0.2% WEC02 , while ring crush index being increased by 47.6% , folding endurance by 50.0% and burst index by 20.7%. (2) in terms of three layers composite structure of linerboard, the optimum furnish was experiment E-4 with the dosage of 0.3% WEC03S + 0.1% WEC02 +0.04% WEC02A for cover layer , that of 0.3% WEC02 + 0.03% WEC02A for bottom layer , and that of 0.03% WEC02A for core layer.

In this paper, system operating costs as the objective function, considering the reduced costs of system losses after compensation and the adding costs of compensating devices, established reactive power compensation optimization mathematical model of distribution system with photovoltaic station. And to improve the standard particle swarm optimization, adopting particle swarm optimization to optimize an example, optimizing results verify the accuracy and effectiveness of the model and algorithm.

In this study, biologically treated paper-making wastewater was treated using PAC to study removal efficiency of color as a function of pH and dosage of PAC. It was found that PAC was relatively effective in removing color from biologically papermaking wastewater. The optimal dosage, pH and stirring time were 40 mL L-1, 5 and 30 min, respectively. Effluent color after coagulation at the optimal conditions was 40 PCU, meeting requirements of Industrial Wastewater Discharge Standard of Pulping and Papermaking (GB3544-2008) . Therefore, PAC dosage of 40 mL L-1 and pH of 5 were recommended for treatment of biologically treated papermaking wastewater.

Based on the diagenesis, classification and its physical, mechanical, and hydromechanical properties of fractured rock, this paper describes the current status of the fractured rock seepage models and their characteristics. Especially from the point of the safety assessment of the geological disposal of the high level radioactive waste, the discrete fracture network model, the equilibrium continuous medium model and the double media continuous model have been elaborated, and has been analyzed and compared with each other. Furthermore, the double fracture systems for rock flow have been introduced as the much better suitable seepage model for the geological disposal of the high level radioactive waste. In the double fracture systems seepage model, the seepage flow is described and reflected by the main fracture system, and the water store property is given by the subordinate fracture system. The appropriate seepage model for the geological disposal of the high level radioactive waste can be achieved through the double fracture systems, combined with the hydrological testing data in site and other geological information.

With the deepening of global energy crisis, looking for the new energy to replace traditional energy become the only way for the development of energy. This paper designs a new oscillating buoy ocean wave power generation device. It introduces the basic composition of the device and its structure, and its working principle and process. Combining the wave theory and calculation principle, wave power conversion efficiency theory, analysis and calculate the energy conversion efficiency of the device. Suppose the device is under the action of linear wave, through the theoretical calculation, the theoretical efficiency of this device is up to 0.383 when the wave period is 4 s, wave height is 0.5 m, buoy Side length is 0.3m, wind pipe diameter is 0.05. Compared with common wave power generation device, this device has higher power generation efficiency.

Due to the impact from the conditioning circuit, it is easy to generate DC component for the reference voltage when the digital signal processor (DSP) sampling the grid voltage. It cannot eliminate the DC component for the grid inverter based on feed-forward decoupling control, and this would bring the DC component to the inverter voltage. The traditional DC component elimination method includes two aspects of hardware and software. This paper presents a new method to eliminate the DC component. The simulation results show that the algorithm is correct by using PSCAD/EMTDC.

Take into account grid inverter that using direct power control is vulnerable to the disturbance of grid voltage, a control algorithm is proposed based on the relationship between the power and voltage, which is deduced according to the mathematic model of the inverter that using double-loop control strategy. The change amount of the output power of inverter is added to the reference of power closed-loop as power feedforward, which improves the dynamic response to the grid voltage change. Simulations with EMTDC/PSCAD are carried out and the comparison of output power response to grid voltage change between control with and without power feedforward verifies its effectiveness.

This paper proposes an improved dynamic model of lithium iron phosphate battery, and shows the simulation results. The method takes into account the nonlinear characteristics of the battery charging and discharging, and changes the variation of battery resistance into that of voltage, which makes the simulation circuit simpler and easier to be implemented. Simulations examine the time-changing characteristics of the state of charge (SOC), depth of discharge and the current/voltage in the charge/discharge processes, as well as the relationship between voltage and SOC. The model has correctively shown the dynamic characteristics of lithium iron phosphate battery in our simulations.

Wind power in China is developing rapidly but facing the problems such as wind power integration. Based on the reference to the technical background and experience of the United States, Europe and Japan, some suggestions on wind power portfolio system are made in this paper, which may be helpful for building renewable portfolio standard (RPS) system in China. The suggestions include the function of renewable portfolio standard (RPS) system, the role and manifestation of management measures and formulation of the regulation.

In order to study the power distribution strategy of AC and VSC-HVDC hybrid system for wind power integration, a strategy based on improving the transmission capacity of AC lines and reducing the power loss is proposed. By use of the decouple control of active and reactive power of the VSC-HVDC, the transmission capacity of the AC lines can be improved by absorbing enough reactive power, AC lines have the priority before they have reached their transmission limit, meanwhile the VSC-HVDC acts as STATCOM. When the AC lines have been fully used, the VSC-HVDC will act as STATCOM as well as transmit the rest power. A DFIG wind power integration system is set up by use of PSCAD/EMTDC, the simulation results show that the power distribution strategy can realize the wind power integration successfully and reduce the power loss, it can regard as a good method for wind power integration.

It describes the geometrical parameters of the joint surface in the fractured rock, through two parameters, i.e. JRC (Joint Roughness Coefficient) and JMC (Joint Matching Coefficient). Following these coefficients, the geometry of the surface has been measured exactly. Meanwhile, the rock deformation and seepage characteristics have been mainly defined by the joint surface, so the influence of JRC and JMC on the aperture width and the seepage properties have been deeply studied. Based on the cubic law of the flow water, the two parameters incorporated into the law and the permeability of the fractured rock has been obtained.

MicroRNAs (miRNAs) are a class of small noncoding RNA that, through mediating posttranscriptional gene regulation, play a critical role in nearly all biological processes. Over the last decade it has become apparent that plant miRNAs may serve as a novel functional component of food with therapeutic effects including anti-influenza and antitumor. Rapeseed bee pollen has good properties in enhancing immune function as well as preventing and treating disease. In this study, we identified the exogenous miRNAs from rapeseed bee pollen in mice blood using RNA-seq technology. We found that miR-166a was the most highly enriched exogenous plant miRNAs in the blood of mice fed with rapeseed bee pollen, followed by miR-159. Subsequently, RT-qPCR results confirmed that these two miRNAs also can be detected in rapeseed bee pollen. Our results suggested that food-derived exogenous miRNAs from rapeseed bee pollen could be absorbed in mice and the abundance of exogenous miRNAs in mouse blood is dependent on their original levels in the rapeseed bee pollen.

In order to improve low-speed flexibility and high-speed handling and stability of multi-axle vehicle, a double-phase steering system was designed with planetary gear system. An in-phase steering mode is used when steering wheel turning in small angle. A adverse-phase steering mode is used when steering wheel turning in large angle. A five-axle vehicle simulation model was established with software ADAMS/VIEW. The research of all-wheel steering and non-all-wheel steering for high speed and low speed was respectively processed. When running in high speed, the lateral acceleration and yaw rate of the centroid are significantly lower when rear wheels steering in in-phase mode than the rear wheels not turning, which makes the possibility of roll and drift decrease, when vehicle overtaking in high-speed. When running in low speed, compared with rear wheels not steering, when rear wheels sreering, lateral acceleration increased by only 12.8%, yaw rate is 17.3% higher, diameter of the centroid trajectory is reduced by 12.9%, which greatly increases the mobility and flexibility of the multi-axle vehicle when turning at low speed.

With in-phase steering, there might be some change at the driving performance of multi-axle vehicle. A five-axle vehicle model has been built with ADAMS software, and the control strategy has been built with Simulink software. The driver steering and speed control model with variable ratio was built. The comparative overtaking simuliation of whole wheel steering and only first two-axle wheels steering was processed. With the simulation, it can be found that, in the same movement track cases, comparing to the only first two-axle steering now used in vehicles, with in-phase whole wheel steering, the angle of steering wheel became smaller, the centroid yaw-rate was reduced, and vehicle movement track was closer to target track. The manipulation performance of vehicle was improved, and the labor intensity of the driver.was reduced. This provides a certain amount of theoretical research for the multi-axle steering vehicle control.