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Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization

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Bio-Design and Manufacturing 2024年第1期7卷 1-13页

作者： Huaizhi Zong junhui Zhang Lei Jiang Kun Zhang jun Shen Zhenyu lu Ke Wang Yanli Wang bing Xu The State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China Unmanned Vehicle Research and Development Center China North Vehicle Research InstituteBeijing 100072China School of Mechatronic Engineering Nanchang UniversityNanchang 330031China Auclean High-Tech Ltd. Wuxi 214108China

Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped *** various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large *** the most critical movement unit of a quadruped robot,the limb leg unit(Llu)directly affects movement speed and reliability,and requires a compact and lightweight *** by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an *** propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston *** addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the *** mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah *** mass of the optimized Llu is reduced by 24.5%,and the optimized Llu shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.

关键词： Additive manufacturing Bionic lightweight design Limb leg unit Quadruped robot Trajectory tracking

On the Monge–Kantorovich Mass Transfer Problem in Higher Dimensions

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Acta Mathematica Sinica,English Series 2024年第8期40卷 1989-2004页

作者： Xiao jun lu School of Mathematics Southeast UniversityNanjing 210096P.R.China

This paper mainly investigates the approximation of a global maximizer of the Monge–Kantorovich mass transfer problem in higher dimensions through the approach of nonlinear partial differential equations with Dirichlet *** an approximation mechanism,the primal maximization problem can be transformed into a sequence of minimization *** applying the systematic canonical duality theory,one is able to derive a sequence of analytic solutions for the minimization *** the final analysis,the convergence of the sequence to an analytical global maximizer of the primal Monge–Kantorovich problem will be demonstrated.

关键词： Monge-Kantorovich mass transfer singular variational problem canonical duality theory

Immunotherapy for hepatocellular carcinoma

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中华医学杂志(英文版) 2024年第15期137卷 1765-1776页

作者： Wang Xiaoxia lu jun Department of Medical Oncology Beijing YouAn Hospital Capital Medical University Beijing China Laboratory for Clinical Medicine Capital Medical University Beijing China

Hepatocellular carcinoma (HCC) is a leading cause of cancer-related deaths worldwide. Its high recurrence rate and lack of effective control drugs result in a 5-year survival rate of only about 10%. HCC is a tumor regulated by the immune system. Significant breakthroughs have occurred in treating solid tumors with immunotherapy in recent years. Various immunotherapies, such as immune checkpoint inhibitors (ICIs), including combination therapies, have demonstrated promising therapeutic effects in both clinical applications and research. Other immunotherapies, such as adoptive cell therapies and oncolytic viruses, are also emerging, offering hope for addressing long-term survival issues in HCC. This article reviews current commonly used immunotherapy strategies and the latest research findings for reference.

关键词： Immunotherapy Immune checkpoint inhibitors Adoptive cell therapies Hepatocellular carcinoma

A method for mouse oocyte enucleation assisted with zona pellucida dilating

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生殖医学杂志 2004年第Z1期13卷 37-42页

作者： Bai Zhao-dai Liu Kai bing lu-jun Department of Histology and Embryology Medical College of Shandong University Jinan 250012 China Department of Histology and Embryology Medical College of Shandong University Jinan 250012 China Department of Histology and Embryology Medical College of Shandong University Jinan 250012 China

Objective: To study the reliability of a new enucleation method, zona pellucida Dilating (ZPD) assisted enucleation method, for mouse oocyte ***: In ZPD enucleation method, the zona pellucida was dilating with the help of outside pression in enucleation needle after breakthrough by needle tip and the nucleus was aspirated by the needle entering the perivitelline space for enucleation. This method was employed and was compared with three other methods in this experiment. The efficiency of enucleation of mouse oocyte was ***: ZPD assisted enucleation method is better than three others at the survival rate after enucleation and the simplicity of micromanipulation. The rate of forming pronucleus of reconstructed embryo from enucleated oocyte by ZPD methods is as high as 62.8 % and the reconstructed embryo at 4-cell stage was ***: ZPD assisted method is a highly efficient and simple enucleation method with the advantage of saving manipulating time and it does less damage to the oocyte.

关键词： Zona pellucida Mouse Enucleation Oocyte

Turning point of organoid transplantation:first-in-human trial of iPSC-derived retinal organoid grafting in patients with retinitis pigmentosa

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Science China(Life Sciences) 2024年第5期67卷 1082-1084页

作者： Chang-jun Zhang Zi-bing Jin Beijing Institute of Ophthalmology Beijing Tongren HospitalCapital Medical UniversityBeijing 100730China

The discovery of induced pluripotent stem cells(iPSCs)has revolutionized the field of disease research,providing a promising platform for studying various *** the last decade,significant progress has been made in combining iPSCs with other cutting-edge technologies to investigate disease mechanisms and develop potential treatments.

关键词： conditions patients retinitis

Robust textile-based spoof plasmonic frequency scanning antenna for on-body IoT applications

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Science China(Information Sciences) 2024年第8期67卷 269-284页

作者： Zhao-Min CHEN jun-Lin ZHAN Hao CHEN Ya LI Hongjun HE Wu YANG Zhen-Guo LIU Wei-bing lu State Key Lab of Millimeter Waves School of Information Science and EngineeringSoutheast University Center for Flexible RF Technology Frontiers Science Center for Mobile Information Communication and SecuritySoutheast University Future Research Laboratory China Mobile Research Institute Purple Mountain Laboratories

Securing a comfortable, wearable compact frequency beam scanning antenna(FBSA) with robustness to deformation, low specific absorption rate(SAR), and good coverage of the surrounding environment for Internet of Things(IoT) applications, such as on-body navigation and wireless communication is an emerging challenge. In this work, a robust textile-based spoof plasmonic frequency scanning antenna utilizing higher-order modes is presented, which is also robust to deformation caused by the activities of the human body. The innovative design of the element ensures the high-efficiency transmission of the fundamental mode of spoof surface plasmon polaritons(SSPP) structure, providing the potential of being a multifunctional composite device in the compact on-body network. Besides, an artificial magnetic conductor(AMC) is designed underneath the SSPP structure, obtaining a low SAR value(0.113 W/kg), which ensures the safety of users. As a practical realization of this concept, a textile-based spoof plasmonic antenna was fabricated in the microwave regime and the performed experimental results show the proposed antenna has a single-beam radiation characteristic with a 70° beam scanning angle range when the frequency is 4.7–6.0 GHz with a high average realized gain of 13.15 dBi. And it still maintains a steady performance when faced with structure deformation, which proves its robustness. Wireless communication quality experiments are performed to demonstrate the proposed antenna can measure the angles of targets and realize wireless signal transmission to specific targets as the frequency varies, it may find great potential in the field of on-body IoT applications.

关键词： frequency beam scanning antenna (FBSA) Internet of Things (IoT) on-body communication spoof surface plasmon polaritons (SSPP) textile-based antenna

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Cavity-enhanced metrology in an atomic spin-1 Bose−Einstein condensate

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Frontiers of physics 2024年第3期19卷 185-196页

作者： Renfei Zheng Jieli Qin bing Chen Xingdong Zhao lu Zhou School of Physics Hefei University of TechnologyHefei 230009China State Key Laboratory of Precision Spectroscopy Department of PhysicsSchool of Physics and Electronic ScienceEast China Normal UniversityShanghai 200241China School of Physics and Materials Science Guangzhou University230 Wai Huan Xi RoadGuangzhou Higher Education Mega CenterGuangzhou 510006China Department of Physics Henan Normal UniversityXinxiang 453007China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China

Atom interferometer has been proven to be a powerful tool for precision metrology. Here we propose a cavity-aided nonlinear atom interferometer, based on the quasi-periodic spin mixing dynamics of an atomic spin-1 Bose−Einstein condensate trapped in an optical cavity. We unravel that the phase sensitivity can be greatly enhanced with the cavity-mediated nonlinear interaction. The influence of encoding phase, splitting time and recombining time on phase sensitivity are carefully studied. In addition, we demonstrate a dynamical phase transition in the system. Around the criticality, a small cavity light field variation can arouse a strong response of the atomic condensate, which can serve as a new resource for enhanced sensing. This work provides a robust protocol for cavity-enhanced metrology.

关键词： nonlinear atom interferometer spin-1 Bose−Einstein condensate spin-mixing dynamics quantum Fisher information parameter estimation

Ubiquitin-specific protease 21 promotes tumorigenicity and stemness of colorectal cancer by deubiquitinating and stabilizing ZEB1

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World Journal of Gastrointestinal Oncology 2024年第3期16卷 1006-1018页

作者： jun-jun Lin Ye-Cai lu Department of Gastrointestinal Surgery Chaohu Hospital of Anhui Medical UniversityChaohu 238000Anhui ProvinceChina

BACKGROUND Colorectal cancer(CRC)is one very usual tumor together with higher death ***-specific protease 21(USP21)has been confirmed to take part into the regulation of CRC progression through serving as a ***,the promotive function of USP21 has also discovered in the progression of ***1 has illustrated to be modulated by USP7,USP22 and USP51 in ***,the regulatory functions of USP21 on ZEB1 in CRC progression need more *** To investigate the relationship between USP21 and ZEB1 in CRC *** The mRNA and protein expressions were assessed through RT-qPCR,western blot and IHC *** interaction between USP21 and ZEB1 was evaluated through Co-IP and GST pull down *** cell proliferation was detected through colony formation *** cell migration and invasion abilities were determined through Transwell *** stemness was tested through sphere formation *** tumor growth was evaluated through in vivo mice *** In this work,USP21 and ZEB1 exhibited higher expression in CRC,and resulted into poor ***,the interaction between USP21 and ZEB1 was further *** was demonstrated that USP21 contributed to the stability of ZEB1 through modulating ubiquitination *** addition,USP21 streng-thened cell proliferation,migration and stemness through regulating *** last,through in vivo assays,it was illustrated that USP21/ZEB1 axis aggravated tumor *** For the first time,these above findings manifested that USP21 promoted tumorigenicity and stemness of CRC by deubiquitinating and stabilizing *** discovery suggested that USP21/ZEB1 axis may provide novel sights for the treatment of CRC.

关键词： Ubiquitin-specific protease 21 ZEB1 Stemness Colorectal cancer

Impact of climate and human activity on NDVI of various vegetation types in the Three-River Source Region, China

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Journal of Arid Land 2024年第8期16卷 1080-1097页

作者： lu Qing KANG Haili ZHANG Fuqing XIA Yuanping YAN bing Research Center of Resource and Environment Economics East China University of TechnologyNanchang 330013China Jiangxi Key Laboratory of Watershed Ecological Process and Information East China University of TechnologyNanchang 330013China School of Surveying and Geoinformation Engineering East China University of TechnologyNanchang 330013China Nanchang Key Laboratory of Landscape Process and Territorial Spatial Ecological Restoration East China University of TechnologyNanchang 330013China Institute of Energy Research Jiangxi Academy of SciencesNanchang 330096China

The Three-River Source Region(TRSR)in China holds a vital position and exhibits an irreplaceable strategic importance in ecological preservation at the national *** the basis of an in-depth study of the vegetation evolution in the TRSR from 2000 to 2022,we conducted a detailed analysis of the feedback mechanism of vegetation growth to climate change and human activity for different vegetation *** the growing season,the spatiotemporal variations of normalized difference vegetation index(NDVI)for different vegetation types in the TRSR were analyzed using the Moderate Resolution Imaging Spectroradiometer(MODIS)-NDVI data and meteorological data from 2000 to *** addition,the response characteristics of vegetation to temperature,precipitation,and human activity were assessed using trend analysis,partial correlation analysis,and residual *** indicated that,after in-depth research,from 2000 to 2022,the TRSR's average NDVI during the growing season was *** preliminary ranking of the average NDVI for different vegetation types was as follows:shrubland(0.5762)>forest(0.5443)>meadow(0.4219)>highland vegetation(0.2223)>steppe(0.2159).The NDVI during the growing season exhibited a fluctuating growth trend,with an average growth rate of 0.0018/10a(Pluctuations.A further detailed analysis revealed that climate change had a significant positive impact on the TRSR from 2000 to 2022,particularly in its

关键词： growing season normalized difference vegetation index(NDVI) highland vegetation trend analysis partial correlation analysis residual analysis contribution rate