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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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Cloning and expression of putative ethylene receptor genes in soybean plant

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Progress in Natural science:Materials International 2007年第10期17卷 1152-1160页

作者： Xie Zongming1,2,3. Lei Gang1,2, Wuriyanghan Hada1,2, Tian Aiguo1, Zhang Jinsong1 and Chen Shouyi1(1. National Key Laboratory of Plant Genomics, Institute of Genetics and Developmental Biology, Chinese Academy of sciences, Beijing 100101, China 2. Graduate School of Chinese Academy of sciences, Beijing 10003., China 3. xinjiang Academy of {3. and reclamation science, shihezi 83.000, China) National Key Laboratory of Plant Genomics Institute of Genetics and Developmental Biology Chinese Academy of Sciences Beijing 100101 China Graduate School of Chinese Academy of sciences Beijing 100039 China xinjiang Academy of agricultural and reclamation {3. Shihezi 832000 China

Ethylene plays important roles in plant growth, development, and stress responses, and ethylene receptors have been identified and studied extensively in various plant species. Here we report the cloning of four ethylene receptor genes from soybean, i.e. GmETR1, GmERS1, GmETR2 and GmEIN4. Construction of the phylogenic tree showed that GmETR1 and GmERS1 belong to subfamily I whereas GmETR2 and GmEIN4 belong to subfamily II. The four ethylene receptor genes showed different tissue-specific expression patterns in roots, stems, leaves, cotyledons, flowers, pods and seeds of soybean. These genes were differentially regulated by various abiotic stresses and plant hormones. The possible roles of the four genes in soybean plant were also discussed.

关键词： abiotic stress expression analysis ethylene receptor plant hormone soybean.

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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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Chemical Research in Chinese Universities 2001年第2期17卷 212-218页

作者： GUO Ming and LIU Wen-jie (Department of Basic Courses, Tarim University of agricultural reclamation, Alar, xinjiang 843.00, P. R. China) Tarim Univ Agr Reclamat Dept Basic Courses Alar 843300 Xinjiang Peoples R China

The molecular similarity of 13. organic compounds was calculated by the topologic index method, the flexible super-ball algorithm was used to scan similar molecules and structures. The results show that the properti... 详细信息

关键词： Molecular similarity Super-ball algorithm Calculation

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A computational investigation of boron-doped chromium and chromium clusters by density functional theory

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science China(Physics,Mechanics & Astronomy) 2010年第5期53卷 812-817页

作者： GE GuiXian1,JING Qun1 & LUO YouHua2,3.1 Key Laboratory of Ecophysics and Department of Physics,Normal College,shihezi University,xinjiang 83.003.China 2 School of science,East China University of science and Technology,Shanghai 20023.,China 3.Institute of Theoretical Physics,School of Physics and Information Optoelectronics,Henan University,Kaifeng 475004,China 1. Key Laboratory of Ecophysics and Department of Physics Normal College Shihezi University Xinjiang 832003 China2. School of Science East China University of Science and Technology Shanghai 200237 China3. Institute of Theoretical Physics School of Physics and Information Optoelectronics Henan University Kaifeng 475004 China

The geometries,stabilities and electronic properties of Crn and CrnB(n=2-9) clusters have been systematically investigated by density functional *** results suggest that the lowest energy structures for CrnB clusters can be obtained by substituting one Cr atom in Crn+1 clusters with B *** geometries of CrnB clusters are similar to that of Crn+1 clusters except for local structural *** second-order difference and fragmentation energy show Cr4,Cr6,Cr8,Cr3.,Cr5B and Cr8B cluster are the most stable among these studied *** impurity B increases the stabilities of chromium *** B is doped on the Crn clusters,cluster geometry does dominate positive role in enhancing their *** doped B atom does not change the coupling way of the Cr site in Crn clusters,but breaks the symmetry and the Cr atoms are no longer *** doped B atom increases the total magnetic moments of Crn in most cases.

关键词： Crn and CrnB clusters geometries electronic properties

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Effects of Epidermal Growth Factor and β-mercaptoethanol on In-vitro Fertilization and Development of Oocytes from Hormone-Stimulated Lambs

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Animal Husbandry and Feed science 2012年第2期4卷 49-52页

作者： GUO Hong1,2,3.WAN Peng-cheng2,3.HI Wen-yan4,NI Jian-hong2,3.DAI Rong2,3.MAO Qing-qing2,3.5,ZHU Hui1,2,3.ZHANG Bin2,3.LIU Chang-bin2,3.SHI Guo-qing2,3.1. College of Life sciences,shihezi University,shihezi 83.000,China 2. Animal Husbandry and Veterinary Institute,{3. Academy of Agri- cultural and reclamation science,shihezi 83.000,China 3. Key Lab of Sheep Breeding and Reproduction,{3. Agroreclamation Academy of sciences,shihezi 83.000,China 4. Medical College,shihezi University,shihezi 83.000,China 5. College of Animal science & Technolo- gy,Nanjing agricultural University,Nanjing 210095,China

[Objective]The aim was to explore optimization of system of oocytes in-vitro culture of young animals. [Method]Effects of EGF （ epidermal growth factor） and β-mercaptoethanol in maturation media on fertilization,cleavage and blastaea were researched,which were then compared with those of adult sheep. [Result]EGF in different concentrations had little effects on rates of cleavage and blastaea （ P 〉0.05） and β-mer-captoethanol in different concentrations would improve blastaea rate of oocytes,for example,100 μmol/L of β-mercaptoethanol has significant effects on balstaea rate （ P 〈0.05） ,but has little effects on cleavage rate （ P 〉0. 05） . In addition,rates of cleavage and balstaea of oocytes in lamb were both lower than those of adult sheep （ P 〈0.05） ; fertilization rate of oocytes in lamb （ P 〈0.05） ,which differed little with that of adult sheep （ P 〉0.05） ,could be significantly enhanced by 100 μmol/L of β-mercaptoethanol. Furthermore,polyspermy rate was higher than that of adult sheep without β-mercaptoethanol （ P 〈0.05） ; the rate was of little differences with that of adult sheep with 100 μmol/L of β-mercaptoethanol （ P 〉 0.05） ; unfertilization rate （ 20%） in media without β-mercaptoethanol was a little higher （ P 〉0.05） than those of adult sheep （ 12.3.） and those in media with β-mercaptoethanol （ 13.5%） . [Conclusion]Developmental capacity of oocytes and fertilization rate could be improved by 100 μmol/L of β-mercaptoethanol with polyspermy rate reduced,but developmental capacity of lamb was significantly lower than that of adult sheep.

关键词： Lamb Oocyte In-vitro fertilization EGF β-mercaptoethanol

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STUDIES ON THE REPRODUCTIVE AND DIGESTIVE ORGANS OF NASAAL BOT FLY（OESTRUS OVIS）

STUDIES ON THE REPRODUCTIVE AND DIGESTIVE ORGANS OF NASAAL B...

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面向21世纪的动物科学与动物医学国际研讨会

作者： Bo Xinwen Cheng Zhirong Zheng Jinghong Xu Xueping Zhang Xingya (xinjiang Academy of agricultural reclamation xinjiang shihezi 83.000)

＜正＞Features of some organ structures including reproductive and digestive system and reproductive development after emerging about adult of nasal bot fly（Oestrus ovis） are observed by using insect dissect and slide-making and slice tissue. The results are summarized as follows: 1. The quantity ofoverioles is not fixed, and its arrangement within a ovary seems to be irregular. 2. The peak of eggs production in the uterus occured after 5 days of emerging. 3. The adult has a digestive system degenerated but have a relatively developed excretory system, which is consist of four mulpighian tubules connecting with hind gut and rectum. Lastly, the possibility is discussed that the reproductive systems of some flies is similar to Oestrus ovis

关键词： Oestrus ovis adult reproductive organ digestive system

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The Developmental Changes and Effect on IMF Content of H-FABP and PPARγ mRNA Expression in Sheep Muscle

The Developmental Changes and Effect on IMF Content of H-FAB...

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江苏省遗传学会第七届代表大会暨学术研讨会

作者： HUANG Zhi-Guo1*, XIONG Li2*, LIU Zhen-Shan1, QIAO Yong1, LIU Shou-Ren1,3. REN Hang-Xing3. XIE Zhuang1,①, LIU Guo-Qing1,3.①, LI Xue-Bin1 (1 College of Animal science and Technology , Nanjing agricultural University , Nanjing 210095 , China 2 College of Agronomy , Nanjing agricultural University , Nanjing 210095, China 3. {3. reclamation science Institute, shihezi 83.001, China)

＜正＞Male Kazak sheep and xinjiang fine wool sheep of different ages were selected to investigate the developmental changes and effect on intramuscular fat （IMF） content of heart fatty acid-binding protein （H-FABP...

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Artificial Induction of Twinning by an Active Immunization of Beef Cows Against Inhibin Partially Purified from Porcine Seminal Plasma

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agricultural sciences in China 2002年第4期1卷 466-471页

Two hundred and seventy multiparous Chinese Yellow cattle (beef) were selected at 1 to 3.months postpartum and divided into three groups (90 cows for each). Animals were given both a primary and booster immunizations with a total dose of 3.mg (Group Th) or 1.5 mg (Group Tl) of seminal preparation containing inhibin activity, emulsified with Freund's complete adjuvant and incomplete adjuvant (for booster) , at 3.or 4-week intervals. Other cows were treated with the same volume of seminal preparation without inhibin activity as procedures mentioned above to serve as a control (Group C). Artificial inseminations were given twice at 8 - 12.h intervals when the cow was in heat. Jugular venous blood samples were collected from each cow and used to assay the presence of antibody against seminal preparation by double-diffusion in agar precipitation test and to detect the titer of inhibin antibody by an ELISA method. Data from 247 cows showed that 83.9% (73.87) of cows were in estrus and ovulated 89 ova altogether, of which 19 cows ovulated twin ova and 15 cows produced twins in Group Th (n = 87). However, only 61.1% (44/72) of cows in Group TI (n = 72) and 62.5% (55/88) of cows in Group C were in estrus and ovulated 46 and 52 ova altogether respectively. The ovulation rate (1.27 ± 0.03., calving rate (12..3.) and twinning rate (26.3.) in Group Th were greater than those in Groups Tl or C (P<0.01). Furthermore, the ovulation rate was associated with antibody titer in sera of immunized animals (r = 0.7507, P<0.01). These results indicate that active immunization of postpartum cows against inhibin purified from porcine seminal plasma may increase the ovulation rate and induce twinning, suggesting the potential to develop a method to improve fertility in cows.

关键词： Beef cows Seminal inhibin Active immunization Twinning Ovulation rate

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