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Biomimetic soft robotic wrist with 3.DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

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Science china(Technological Sciences) 2024年第3期67卷 774-790页

作者： HU TeTe LU xinjiang YI Jian WANG YuHui XU Du State Key Laboratory of Precision Manufacturing for Extreme Service Performance School of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China

The human wrist, a complex articulation of skeletal muscles and two-carpal rows, substantially contributes to improvements in maneuverability by agilely performing three-degree-of-freedom(3.DOF) orienting tasks and regulating stiffness according to variations in interaction forces. However, few soft robotic wrists simultaneously demonstrate dexterous 3.DOF motion and variable stiffness;in addition, they do not fully consider a soft-rigid hybrid structure of integrated muscles and two carpal *** this study, we developed a soft-rigid hybrid structure to design a biomimetic soft robotic wrist(BSRW) that is capable of rotating in the x and y directions, twisting around the z-axis, and possessing stiffness-tunable capacity. To actuate the BSRW, a lightweight soft-ring-reinforced bellows-type pneumatic actuator(SRBPA) with large axial, linear deformation(η_(lcmax)=70.6%,η_(lemax)=54.3.) and small radial expansion(η_(demax)=3.7%) is designed to mimic the motion of skeletal muscles. To represent the function of two-carpal rows, a compact particle-jamming joint(PJJ) that combines particles with a membrane-covered ballsocket mechanism is developed to achieve various 3.DOF motions and high axial load-carrying capacity(>60 N). By varying the jamming pressure, the stiffness of the PJJ can be adjusted. Finally, a centrally positioned PJJ and six independently actuated SRBPAs, which are in an inclined and antagonistic arrangement, are sandwiched between two rigid plates to form a flexible,stable, and compact BSRW. Such a structure enables the BSRW to have a dexterous 3.DOF motion, high load-carrying ability,and stiffness tunability. Experimental analysis verify 3.DOF motion of BSRW, producing force of 29.6 N and 3. N and torque of2.2 Nm in corresponding rotations. Moreover, the range of rotational angle and stiffness-tuning properties of BSRW are studied by applying jamming pressure to the PJJ. Finally, a system combining a BSRW and a soft enclosing gripper is proposed to demo

关键词： pneumatic soft actuators particle jamming robotic wrist soft robotics stiffness-tunable

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Identifying the geographical origin and processing technology of Moyao(Myrrh)on the basis of near-infrared spectroscopy combined with chemometrics

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Journal of Traditional Chinese Medicine 2024年第3期44卷 505-514页

作者： XU Ningning YAN Ganming XU Fengjie DENG Linfeng QIAO xinjiang LU Changzheng CHENG Shaomin TCM Diagnosis Institute College of Traditional Chinese MedicineJiangxi University of Chinese MedicineNanchang 330004China TCM Processing Institute Pharmaceutical CollegeJiangxi University of Chinese medicineNanchang 330004China School of Electronic Information and Artificial Intelligence Shaanxi University of Science and TechnologyXi'an 710021China Jiangzhong Pharmaceutical Co. Ltd.Nanchang 330096China Jiangxi Guhan Refined Chinese Herbal Pieces Co. Ltd.Nanchang330041.China

OBJECTIVE:To evaluate the quality of Moyao(Myrrh)in the identification of the geographical origin and processing of the ***:Raw Moyao(Myrrh)and two kinds of Moyao(Myrrh)processed with vinegar from three countries were identified using near-infrared(NIR)spectroscopy combined with chemometric *** component analysis(PCA)was used to reduce the dimensionality of the data and visualize the clustering of samples from different categories.A classical chemometric algorithm(PLS-DA)and two machine learning algorithms[K-nearest neighbor(KNN)and support vector machine]were used to conduct a classification analysis of the near-infrared spectra of the Moyao(Myrrh)samples,and their discriminative performance was ***:Based on the accuracy,precision,recall rate,and F1 value in each model,the results showed that the classical chemometric algorithm and the machine learning algorithm obtained positive *** all of the chemometric analyses,the NIR spectrum of Moyao(Myrrh)preprocessed by standard normal variation or Multivariate scattering correction combined with KNN achieved the highest accuracy in identifying the geographical origins,and the accuracy of identifying the processing technology established by the KNN method after first-order derivative pretreatment was the *** best accuracy of geographical origin discrimination and processing technology discrimination were 0.9853.and 0.9706 ***:NIR spectroscopy combined with chemometric technology can be an important tool for tracking the origin and processing technology of Moyao(Myrrh)and can also provide a reference for evaluations of its quality and the clinical use.

关键词： Moyao(Myrrh) near-infrared spectroscopy geographical origin processing technology

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The Silk Road and East-West Cultural Exchange

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china Book International 2024年第2期 52-57页

作者： Rong xinjiang Department of History Peking University Center for Ancient Chinese History Peking University British Academy Dunhuang and Turpan Society of china

To the east and south of china lies the ocean,to the west are deserts and mountains,and to the north are the Gobi Desert and forests,placing it in a relatively enclosed geographical environment,which is not conducive to communication with the outside ***,china has never been self-isolated;through both the terrestrial and maritime Silk Road,it has maintained extensive contact with the external world,both contributing to and absorbing *** the historical process of East-West cultural exchange,the Silk Road played an extremely important role.

关键词： Silk West maintained

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Role of self-assembled molecules’anchoring groups for surface defect passivation and dipole modulation in inverted perovskite solar cells

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Chinese Physics B 2024年第10期33卷 108-115页

作者： Xiaoyu Wang Muhammad Faizan Kun Zhou xinjiang Wang Yuhao Fu Lijun Zhang Key Laboratory of Superhard Materials College of PhysicsJilin UniversityChangchun 130012China State Key Laboratory of Integrated Optoelectronics Key Laboratory of Automobile Materials of MOECollege of Materials Science and EngineeringJilin UniversityChangchun 130012China

Inverted perovskite solar cells have gained prominence in industrial advancement due to their easy fabrication,low hysteresis effects,and high *** these advantages,their efficiency is currently limited by excessive defects and poor carrier transport at the perovskite-electrode interface,particularly at the buried interface between the perovskite and transparent conductive oxide(TCO).Recent efforts in the perovskite community have focused on designing novel self-assembled molecules(SAMs)to improve the quality of the buried ***,a notable gap remains in understanding the regulation of atomic-scale interfacial properties of SAMs between the perovskite and TCO *** understanding is crucial,particularly in terms of identifying chemically active anchoring *** this study,we used the star SAM([2-(9H-carbazol-9-yl)ethyl]phosphonic acid)as the base structure to investigate the defect passivation effects of eight common anchoring groups at the perovskite-TCO *** findings indicate that the phosphonic and boric acid groups exhibit notable *** groups fulfill three key criteria:they provide the greatest potential for defect passivation,exhibit stable adsorption with defects,and exert significant regulatory effects on interface *** anchoring groups exhibit enhanced passivation capabilities for defect energy levels due to their superior Lewis base properties,which effectively neutralize local charges near *** various defect types,iodine vacancies are the easiest to passivate,whereas iodine-substituted lead defects are the most challenging to *** study provides comprehensive theoretical insights and inspiration for the design of anchoring groups in SAMs,contributing to the ongoing development of more efficient inverted perovskite solar cells.

关键词： inverted perovskite solar cell defect passivation self-assembled molecule interface engineering first-principles calculation

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Timing and history of marine hydrocarbon accumulation in Tarim craton

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Chinese Science Bulletin 2002年第S1期47卷 120-127页

作者： ZHAO Jingzhou~(1,2) & LI Qiming~3.1. Department of Petroleum Geology, Xi’an Petroleum Institute, Xi’an 710065, china 2. Research Institute of Petroleum Exploration and Development, Petrochina, Beijing 100083. china 3. Tarim Oilfield Company,{3., xinjiang 841.00, china Department of Petroleum Geology Xi’an Petroleum Institute Xi’an China Research Institute of Petroleum Exploration and Development PetroChina Beijing China Tarim Oilfield Company Kuerle Xinjiang China

Based on the analyses of hydrocarbon inclu-sions, K-Ar dating of authigenic illites and oil/gas-watercontact retrospection as well as other methods, the marineprimary reservoirs in the cratonic region of the Tarim Basinare found to have been formed in the late Caledonian toearly Hercynian, late Hercynian, and Himalayan, and oil andgas adjusted and redistributed in the Yanshanian (Jurassic toCretaceous) and Himalayan (Tertiary). The analyses alsoshow that the remaining primary oil accumulations aremostly formed in the late Hercynian, and the secondary oilreservoirs resulted from the adjustment and redistribution ofthe earlier accumulations during the Yanshanian and Hima-layan (especially late Himalayan), of which the Himalayan isalso the major stage of gas accumulation. The primary oilreservoirs formed in the late Hercynian mostly occur withinthe Paleozoic formation, whereas the secondary reservoirsformed in the Himalayan in the Mesozoic. The late adjust-ment and redistribution of reservoirs in the craton region ofthe Tarim Basin is ubiquitous because of the intensified tec-tonic movements since the Mesozoic, especially Cenozoic andintrusion of the high- to over-mature gas. Furthermore, thelower amplitude of reservoirs in the craton region also makesthem easier to be adjusted and redistributed. Therefore, theremaining paleo-uplift and palaeo-slope developed in rela-tively stable tectonic regions are the main potential areas forthe middle-large marine reservoirs in the Tarim Basin.

关键词： Tarim Basin craton geochronology of hydrocarbon accumulation history of hydrocarbon accumulation marine reservoir primary reservoir secondary reservoir.

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Community-based prevention and treatment of cardiovascular diseases

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Journal of Geriatric Cardiology 2024年第3期21卷 315-322页

作者： Sheng-Shou HU The Writing Committee of the Report on Cardiovascular Health and Diseases in china Fuwai Hospital National Center for Cardiovascular DiseasesChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijingChina

The Annual Report on Cardiovascular Health and Diseases in china(2022)intricate landscape of cardiovascular health in *** is the third section of the report with a specific focus on community-based prevention and treatment of cardiovascular diseases(CVD).This section of the report underscores the importance of initiatives outlined in the"Healthy china 203. Plan,"emphasizing the comprehensive prevention and control strategy for chronic diseases.A key aspect of this plan involves the establishment of national demonstration areas aimed at comprehensive prevention and control of chronic *** 2020,488 such areas had been set up across china,surpassing the initial target and covering a significant proportion of counties and *** report highlights the successful implementation of these strategies in Lishan district,Anshan city,where demonstration areas for comprehensive prevention and control of chronic diseases were launched in *** the course of seven years,the number of healthy units increased substantially,leading to improvements in managing risk factors for CVD among *** reductions in prevalence rates of overweight,obesity,smoking,passive smoking,and drinking were observed,along with the development of healthier behaviors among ***,Qiaokou district in Wuhan City,designated as a national demonstration area in 2014,implemented comprehensive public health promotion ***,special clinics for hypertension intervention were established,contributing to an increase in self-reported rates of hypertension,a slight decrease in prevalence,and a remarkable improvement in the control rate among treated ***,these efforts underscore the effectiveness of community-based approaches in driving positive health outcomes and advancing the comprehensive prevention and control of chronic diseases,particularly cardiovascular diseases,in china.

关键词： prevention district treatment

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Cardiovascular Risk Factors in china

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Journal of Geriatric Cardiology 2024年第2期21卷 153-199页

作者： Sheng-Shou HU the Writing Committee of the Report on Cardiovascular Health and Diseases in china Fuwai Hospital National Center for Cardiovascular DiseasesChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijingChina 不详

The Annual Report on Cardiovascular Health and Diseases in china(2022) intricate landscape of cardiovascular health in china. This section dissects cardiovascular risk factors in china which including hypertension, dyslipidemia, diabetes mellitus, chronic kidney disease, metabolic syndrome and air pollution. Hypertension prevalence has steadily increased in china,with efforts to control it facing challenges in achieving optimal rates, especially in rural areas. Interventions like salt substitutes and intensive blood pressure control show promise but need improvement. Abnormal lipid levels, indicative of dyslipidemia,have risen significantly, posing a risk for cardiovascular diseases. Despite efforts, many patients struggle to achieve target lipid levels, necessitating improved treatment strategies. Both type 1 and type 2 diabetes mellitus affect millions of adults in china,with long-term complications adding to the disease burden. Early intervention and effective management are crucial to mitigate its impact. Prevalent among older adults, chronic kidney disease is associated with diabetes mellitus, hypertension, and cardiovascular diseases, necessitating comprehensive management approaches. The prevalence of metabolic syndrome, characterized by a cluster of risk factors, has increased in both adults and adolescents, calling for lifestyle modifications and public health interventions. Ambient and household air pollution remain significant environmental risk factors, despite some improvements in air quality. Continued efforts to reduce emissions are essential for mitigating associated health risks. Addressing these risk factors requires a multifaceted approach, including public health initiatives, policy interventions, and individual-level strategies to promote healthy lifestyles and reduce environmental exposures. Surveillance and research efforts are crucial for monitoring trends and developing effective strategies to lessen the burden of cardiovascular diseases in

关键词： landscape adding spite

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Heart failure in china:epidemiology and current management

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Journal of Geriatric Cardiology 2024年第6期21卷 631-641页

The Annual Report on Cardiovascular Health and Diseases in china(2022)intricate landscape of cardiovascularhealth in *** connection with the previous section,this sixth section of the report offers a comprehensive analysis of heart failure(HF)in *** is one of the most important cardiovascular disease in the 21st *** mortality is equivalent to that of *** is an important public health problem that seriously affects the health of Chinese *** recent years,with the deepeningof understanding,the change of treatment principles,the innovation of treatment methods and the update of treatment guidelines,the in-hospital mortality of HF patients has declined,and the long-term prognosis is also ***,there are stilldifferences in the management level of HF among different hospitals in *** to improve the standardized diagnosis andtreatment level of HF in china remains an important challenge.

关键词： epidemiology diagnosis treatment

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Pulmonary embolism and deep venous thrombosis in china

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Journal of Geriatric Cardiology 2024年第8期21卷 775-778页

The Annual Report on Cardiovascular Health and Diseases in china(2022) intricate landscape of cardiovascular health in *** connection with the previous section,this eighth section of the report offers a comprehensive analysis of pulmonary embolism and deep venous *** recent years,research in the field of pulmonary vessel in china has made great progress.A number of nationwide multi-center registry research results have filled the gaps in the epidemiology,diagnosis and treatment of pulmonary hypertension and venous *** types of pulmonary hypertension still need attention to the identification of risk factors and/or risk stratification,and venous thromboembolism needs attention in the prevention and the overall management inside and outside *** the future,we look forward to the publication of more high-quality research in china,which could be able to improve relevant guidelines for pulmonary vascular diseases both domestically and inter-nationally.

关键词： epidemiology prevention diagnosis

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新一轮家电“以旧换新”行动方案影响

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日用电器 2024年第3期 1-2页

作者： 1.华创证券 2.光大证券 3.中信期货华创证券光大证券中信期货

国务院印发《推动大规模设备更新和消费品以旧换新行动方案》（以下简称《行动方案》），明确了5方面20项重点任务和实施设备更新、消费品以旧换新、回收循环利用、标准提升四大行动，提出积极开展家电等消费品以旧换新。《行动方案》...

国务院印发《推动大规模设备更新和消费品以旧换新行动方案》（以下简称《行动方案》），明确了5方面20项重点任务和实施设备更新、消费品以旧换新、回收循环利用、标准提升四大行动，提出积极开展家电等消费品以旧换新。《行动方案》家电直接相关内容1.到2027年废旧家电回收量较2023.增长3.%,

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