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A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 526-540页

作者： Xin Shu Fenglei Ni Xinyang Fan Shuai Yang Changyuan Liu Baoxu tu Yiwei Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina

Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse ***,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is *** humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble ***,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered ***,this article elaborates on the reasoning behind the design choices,and outlines each ***,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

关键词： intelligent robots robotics

Factors resisting protein adsorption on hydrophilic/hydrophobic self-assembled monolayers terminated with hydrophilic hydroxyl groups

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Chinese Physics B 2024年第6期33卷 605-612页

作者：毛党新吴园燕涂育松 College of Physics Science and Technology Yangzhou UniversityYangzhou 225009China

The hydroxyl-terminated self-assembled monolayer(OH-SAM),as a surface resistant to protein adsorption,exhibits substantial potential in applications such as ship navigation and medical implants,and the appropriate strategies for designing anti-fouling surfaces are ***,we employ molecular dynamics simulations and alchemical free energy calculations to systematically analyze the factors influencing resistance to protein adsorption on the SAMs terminated with single or double OH groups at three packing densities(∑=2.0 nm^(-2),4.5 nm^(-2),and 6.5 nm^(-2)),*** the first time,we observed that the compactness and order of interfacial water enhance its physical barrier effect,subsequently enhancing the resistance of SAM to protein ***,the spatial hindrance effect of SAM leads to the embedding of protein into SAM,resulting in a lack of resistance of SAM towards ***,the number of hydroxyl groups per unit area of double OH-terminated SAM at ∑=6.5 nm^(-2) is approximately 2 to 3 times that of single OH-terminated SAM at ∑=6.5 nm^(-2) and 4.5 nm^(-2),consequently yielding a weaker resistance of double OH-terminated SAM towards ***,due to the structure of SAM itself,i.e.,the formation of a nearly perfect ice-like hydrogen bond structure,the SAM exhibits the weakest resistance towards *** study will complement and improve the mechanism of OH-SAM resistance to protein adsorption,especially the traditional barrier effect of interfacial water.

关键词： molecular dynamics simulation self-assembled monolayer resistance to protein adsorption hydrogen bond interfacial water

Zeolite-confined Fe-site Catalysts for the Hydrogenation of CO_(2) to Produce High-value Chemicals

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Chemical Research in Chinese Universities 2024年第1期40卷 78-95页

作者： HAN Xiaoyang XIA Huicong tu Weifeng WEI Yifan XUE Dongping LI Minhan YAN Wenfu ZHANG Jia-Nan HAN Yi-Fan College of Materials Science and Engineering Zhengzhou UniversityZhengzhou450001P.R.China State Key Laboratory of Coking Coal Resources Green Exploitation Zhengzhou UniversityZhengzhou450001P.R.China Engineering Research Center of Advanced Functional Material Manufacturing of Ministry of Education School of Chemical EngineeringZhengzhou UniversityZhengzhou450001P.R.China State Key Laboratory of Inorganic Synthesis and Preparative Chemistry and College of Chemistry Jilin UniversityChangchun130012P.R.China State Key Laboratory of Chemical Engineering East China University of Science and TechnologyShanghai200237P.R.China

Zeolite-confined Fe-site catalysts(ZFCs)have emerged as superior materials for sustainably producing high-value chemicals through CO_(2) hydrogenation,owing to their adaptable framework,customizable composition,and thermal *** excel in activating,adsorbing,and converting CO_(2) with remarkable efficiency and consistency in *** has sparked a surge in research interest in recent *** review delves into the latest advancements in CO_(2) catalytic hydrogenation to olefins,alcohols,aromatics,and other liquid hydrocarbons,examining the synthesis,modification tactics,and the correlation between structure and performance across various ***,it underscores the pivotal factors affecting performance and sheds light on the mechanisms behind selectivity control in the CO_(2) hydrogenation process facilitated by *** conclude,it presents pressing challenges and strategic recommendations to inspire the development of high-performance,durable ZFCs for CO_(2) hydrogenation applications.

关键词： Zeolite-confined Fe-site catalyst CO_(2) hydrogenation Modification strategy High-value chemical

One Moon, Two Homelands

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China Report ASEAN 2024年第7期9卷 60-61页

作者： Ma tu 不详

Ionce considered myself ordinary,but China,with its beautiful language and enchanting landscape,has transformed me into someone extraordinary.

关键词： someone has beautiful

Clinical review and literature analysis of hepatic epithelioid angiomyolipoma in alcoholic cirrhosis: A case report

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World Journal of Clinical Cases 2024年第14期12卷 2382-2388页

作者： Jing-Qiang Guo Jia-Hui Zhou Kun Zhang Xin-Liang Lv Chao-Yong tu Department of Hepatobiliary and Pancreatic Surgery Lishui Municipal Central HospitalLishui 323000Zhejiang ProvinceChina Department of Pathology Lishui Municipal Central HospitalLishui 323000Zhejiang ProvinceChina Department of General Surgery The Fifth Affiliated Hospital of Wenzhou Medical UniversityLishui 323000Zhejiang ProvinceChina

BACKGROUND Hepatic epithelioid angiomyolipoma(HEA)has a low incidence and both clinical manifestations and imaging lack ***,it is easy to misdiagnose HEA as other tumors of the liver,especially in the presence of liver diseases such as hepatitis *** article reviewed the diagnosis and treatment of a patient with HEA and alcoholic cirrhosis,and analyzed the literature,in order to improve the understanding of this *** SUMMARY A 67-year-old male patient with a history of alcoholic cirrhosis was admitted due to the discovery of a space-occupying lesion in the *** on the patient’s history,laboratory examinations,and imaging examinations,a malignant liver tumor was considered and laparoscopic partial hepatectomy was *** pathology showed *** outpatient follow-up,the patient showed no sign of *** HEA is difficult to make a definite diagnosis before *** has the poten-tial for malignant *** conditions permit,surgical treatment is recom-mended.

关键词： Hepatic epithelioid angiomyolipoma Alcoholic cirrhosis Magnetic resonance imaging Computed tomography Immunohistochemistry Misdiagnose analysis Case report

Stark splitting of intense red emission for Er^(3+)in O_(h) symmetry sites realizing optical temperature sensing in biological applications

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Rare Metals 2024年第3期43卷 1263-1274页

作者： Yue Guo Lin-Jun Qin Jing Xu Xiao-Ping Jiang Xiao-Yu Yue Yi Hou Hao Shi Li-Xi Wang Qi-tu Zhang Collage of Materials Science and Engineering Nanjing Tech UniversityNanjing211816China Jiangsu Collaborative Innovation Center for Advanced Inorganic Function Composites Nanjing211816China

Optical temperature sensing based on the fluorescence intensity ratio(FIR)of red emission for lanthanide ions holds significant relevance in non-contact temperature measurement for biological *** this study,the perovskite-structured KZnF_(3)is utilized as a host material for Er^(3+)to achieve a high-purity upconversion(UC)red *** observed Stark splitting of the red emission peak provides evidence of the energy level splitting of Er^(3+).Group theory is employed to decompose the spectral branching of Er^(3+)under the point group symmetry of KZnF_(3),allowing for the derivation of Stark splitting energy levels induced by the crystal field *** optical temperature-sensing behavior of the red UC luminescence was investigated,specifically examining the FIR of the splitting sub-peaks,which exhibited an exponential relationship with *** KZnF_(3):Yb^(3+),Er^(3+)demonstrated a relative sensitivity(S_(r))of 0.00182%·K^(-1)at 298 K,highlighting its excellent response to *** vivo bio-thermometry experiments conducted on chicken breast validated the material's ability to penetrate biological tissues and showed its significant sensitivity of the FIR to *** results establish KZnF_(3):Yb^(3+),Er^(3+)as a promising material for optical thermometry in various biological applications.

关键词： KZnF_(3) Er^(3+) Upconversion luminescence Stark splitting Temperature sensing

GmSTF accumulation mediated by DELLA protein GmRGAs contributes to coordinating light and gibberellin signaling to reduce plant height in soybean

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The Crop Journal 2024年第2期12卷 432-442页

作者： Zhuang Li Qichao tu Xiangguang Lyu Qican Cheng Ronghuan Ji Chao Qin Jun Liu Bin Liu Hongyu Li Tao Zhao State Key Laboratory of Crop Gene Resources and Breeding Institute of Crop SciencesChinese Academy of Agricultural SciencesBeijing 100081China

Plant height influences plant architecture,lodging resistance,and yield *** is modulated by gibberellic acid(GA)metabolism and *** proteins,acting as central repressors of GA signaling,integrate various environmental and hormonal signals to regulate plant growth and development in *** examined the role of two DELLA proteins,GmRGAa and GmRGAb,in soybean plant height *** of these proteins led to longer internodes and increased plant height,primarily by increasing cell *** functioned under different light conditions,including red,blue,and far-red light,to repress plant *** studies revealed that GmRGAs interacted with the blue light receptor *** with this,GmCRY1b partially regulated plant height via ***,DELLA proteins were found to stabilize the protein GmSTF1/2,a key positive regulator of *** stabilization led to increased transcription of GmGA2ox-7b and subsequent reduction in plant *** study enhances our understanding of DELLA-mediated plant height control,offering Gmrgaab mutants for soybean structure and yield optimization.

关键词： DELLA protein GmRGAs GmSTFs Plant height Soybean

Autophagy plays a pro-apoptotic role in arsenic trioxide-induced cell death of liver cancer

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Journal of Integrative Medicine 2024年第3期22卷 295-302页

作者： Zhengting Deng Shufang Liang Guokai Huang Yuqian Wang Xiaoyu tu Yani Zhang Shu Li Tao Liu Binbin Cheng Taizhou Hospital of Traditional Chinese Medicine Nanjing University of Chinese MedicineTaizhou 225300Jiangsu ProvinceChina Oncology Department of Traditional Chinese Medicine The First Affiliated Hospital of Naval Medical UniversityShanghai 200433China School of Traditional Chinese Medicine Nanjing University of Chinese MedicineNanjing 210023Jiangsu ProvinceChina Department of Gastroenterology Baoshan Hospital of Integrated Traditional Chinese and Western MedicineShanghai University of Traditional Chinese MedicineShanghai 201900China

Objective: The effects of arsenic trioxide(As2O3) on hepatocellular carcinoma have been documented widely. Autophagy plays dual roles in the survival and death of cancer cells. Therefore, we investigated the exact role of autophagy in As2O3-induced apoptosis in liver cancer ***: The viability of hepatoma cells was determined using the MTT assay with or without fetal bovine serum. The rate of apoptosis in liver cancer cells treated with As2O3was evaluated using flow cytometry, Hoechst 33258 staining, and tuNEL assays. The rate of autophagy among liver cancer cells treated with As2O3was detected using immunofluorescence, Western blot assay and transmission electron ***: Upon treatment with As2O3, the viability of HepG2 and SMMC-7721 cells was decreased in a time-and dose-dependent manner. The apoptosis rates of both liver cancer cell lines increased with the concentration of As2O3, as shown by flow cytometry. Apoptosis in liver cancer cells treated with As2O3was also shown by the activation of the caspase cascade and the regulation of Bcl-2/Bax ***, As2O3treatment induced autophagy in liver cancer cells;this finding was supported by Western blot, immunofluorescence of LC3-II and beclin 1, and transmission electron microscopy. In liver cancer cells, As2O3inhibited the phosphoinositide 3-kinase/protein kinase B/mammalian target of rapamycin(PI3K/AKT/mTOR) signal pathway that plays a vital role in both apoptosis and autophagy. The PI3K activator SC-79 partially reversed As2O3-induced autophagy and apoptosis. Furthermore, inhibiting autophagy with 3-methyladenine partially reversed the negative effects of As2O3on cell *** starvation increased autophagy and amplified the effect of As2O3on cell ***: As2O3induces apoptosis and autophagy in liver cancer cells. Autophagy induced by As2O3may have a proapoptotic effect that helps to reduce the viability of liver cancer cells. This study provides novel insights

关键词： Apoptosis Arsenic trioxide Autophagy Primary liver cancer

Genetic parameter evaluation for growth and cold resistance traits of the giant freshwater prawn Macrobrachium rosenbergii

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Journal of Oceanology and Limnology 2024年第2期42卷 609-619页

作者： Haihui tu Qianqian XING Zhenxiao ZHONG Qiongying TANG Shaokui YI Zhenglong XIA Miaoying CAI Jingfen LI Quanxin GAO Guoliang YANG Zhejiang Provincial Key Laboratory of Aquatic Resources Conservation and Development College of Life SciencesHuzhou UniversityHuzhou 313000China Fengjiashan Reservoir Administration Bureau Baoji 721300China Jiangsu Shufeng Prawn Breeding Co.Ltd. Gaoyou 225654China

The giant freshwater prawn Macrobrachium rosenbergii distributed from tropical to subtropical regions,is a warm-water species,and its survival temperature is 14-35°C,which greatly limits its culture cycle and culture area in ***,it is urgent to cultivate a new high quality,high yield variety with improved cold-resistance,but the genetic parameters for cold-resistance traits are unknown in *** this study,the cold-resistance of adult *** populations was tested using the indoor artificial cooling *** were selected from 139 families of Shufeng G3 generation and cultured for 200 days.A linear mixed model was constructed by ASReml-R to evaluate the genetic parameters of the cold-resistance trait(cooling degree hours,CDH)and growth traits(body weight,BW,and body length,BL)based on the restricted maximum likelihood(REML)*** results show that the heritability of CDH was low(0.12±0.05),while the growth traits(BW and BL)had low to moderate heritability,with 0.20±0.06 for BW and 0.06±0.04 for *** phenotypic and genetic correlation between BW and BL was significantly positive,but significantly negative phenotypic and genetic correlations were detected between CDH and BW and between CDH and ***,the analysis of the differences between cold-resistance and phenotypic traits showed that the female reproductive status,exoskeleton hardness and claw number of adult prawns had a great influence on the cold-resistance of ***(P<0.05),indicating that adults with claws and hard exoskeletons are preferred as parents in subsequent breeding *** present results can be attributed to the selection and breeding of a new cold-resistant variety of ***.

关键词： cold-resistance growth traits heritability correlation Macrobrachium rosenbergii