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Visual Feedback Balance Control of a Robot Manipulator and Ball-Beam System

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Journal of Computer and Communications 2017年第9期5卷 8-18页

作者： ching-Long Shih Jung-Hsien Hsu chi-jen chang Department of Electrical Engineering National Taiwan University of Science and Technology Taiwan

In this paper, we present a vision guided robotic ball-beam balancing control system, consisting of a robot manipulator (actuator), a ball-beam system (plant) and a machine vision system (feedback). The machine vision system feedbacks real-time beam angle and ball position data at a speed of 50 frames per second. Based on feedback data, the end-effector of a robot manipulator is driven to control the ball position by maneuvering of the inclination angle of the ball-beam system. The overall control system is implemented with two FPGA chips, one for machine vision processing, and one for robot joints servo PID controllers as well as ball position PD controller. Experiments are performed on a 5-axes robot manipulator to validate the proposed ball beam balancing control system.

关键词： Ball-Beam System Robot Manipulator Vision Feedback Control PID/PD Control FPGA

Interconnections between diabetic corneal neuropathy and diabetic retinopathy:diagnostic and therapeutic implications

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Neural Regeneration Research 2025年第8期20卷 2169-2180页

作者： Mingyi Yu Faith Teo En Ning chang Liu Yu-chi Liu Tissue Engineering and Stem Cell Group Singapore Eye Research InstituteSingapore Yong Loo Lin School of Medicine National University of SingaporeSingapore Department of Cornea and External Eye Disease Singapore National Eye CenterSingapore Ophthalmology and Visual Sciences Academic Clinical Program Duke-NUS Medical SchoolSingapore

Diabetic corneal neuropathy and diabetic retinopathy are ocular complications occurring in the context of diabetes *** corneal neuropathy refers to the progressive damage of corneal *** retinopathy has traditionally been considered as damage to the retinal ***,growing evidence suggests that diabetic retinopathy is a complex neurovascular disorder resulting from dysfunction of the neurovascular unit,which includes both the retinal vascular structures and neural *** retinopathy is one of the leading causes of blindness and is frequently screened for as part of diabetic ocular ***,diabetic corneal neuropathy is commonly overlooked and underdiagnosed,leading to severe ocular surface *** studies have found that these two conditions tend to occur together,and they share similarities in their pathogenesis pathways,being triggered by a status of chronic *** review aims to discuss the interconnection between diabetic corneal neuropathy and diabetic retinopathy,whether diabetic corneal neuropathy precedes diabetic retinopathy,as well as the relation between the stage of diabetic retinopathy and the severity of corneal *** also endeavor to explore the relevance of a corneal screening in diabetic eyes and the possibility of using corneal nerve measurements to monitor the progression of diabetic retinopathy.

关键词： cornea corneal nerves diabetes diabetic corneal neuropathy diabetic retinopathy retina

Metal-organic frameworks with dinuclear metal centers for synergistically boosting CO2 photoreduction

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Science china Chemistry 2025年第1期68卷 201-208页

作者： Hui-Feng Wang Wen-Jie Shi Yu-Xin Yang Bao-Xia Dong Tong-Bu Lu Di-chang Zhong School of Chemistry and Chemical Engineering Yangzhou University Institute for New Energy Materials and Low Carbon Technologies School of Materials Science and Engineering Tianjin University of Technology

Dinuclear metal synergistic catalysis （DMSC） has been proved powerful in boosting CO2reduction,while this has not been achieved in heterogeneous catalysts with long-range order *** this study,we,by introduction of metal catalytic centers into an indium-based metal-organic framework （MOF）,obtained a series of isostructural In-MOFs,including three MOFs with mononuclear metal catalytic center （M-In）,three MOFs with dinuclear homometallic catalytic centers （MM-In）,and three MOFs with dinuclear heterometallic catalytic centers (MM’-In,M/M’=Co（II）,Ni（II）,Zn（II）).It was found that all these MOFs can serve as catalysts for photochemical CO2reduction to *** with M-In,the catalytic activities of MM-In were obviously enhanced,and that of MM’-In was further significantly *** example,the CO yield of Co Zn-In reaches a record value of 12,700μmol g-1h-1,which is 4.0,8.1,9.4,and 18.6-fold higher than that of Co Co-In,Zn Zn-In,Co-In,and Zn-In,***,the catalytic activities of Co Ni-In and Ni Zn-In also show different fold increase than those of corresponding dinuclear homometallic and mononuclear metallic *** results of control experiments and theoretical calculation reveal that the higher catalytic activities of MM-In over M-In can be ascribed to the DMSC effect,and the higher catalytic activity of MM’-In over MM-In can be ascribed to the strengthened DMSC *** work reveals the relationship between DMSC effect and bimetal centers in CO2reduction,which provides new insights into the DMSC and paves a new way to design highly active catalysts for photochemical CO2reduction.

关键词： metal-organic frameworks dinuclear metal centers synergistic catalysis CO2 reduction photocatalysis

Aligned Ion Conduction Pathway of Polyrotaxane‑Based Electrolyte with Dispersed Hydrophobic Chains for Solid‑State Lithium–Oxygen Batteries

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Nano-Micro Letters 2025年第2期17卷 169-186页

作者： Bitgaram Kim Myeong‑chang Sung Gwang‑Hee Lee Byoungjoon Hwang Sojung Seo Ji‑Hun Seo Dong‑Wan Kim Department of Materials Science and Engineering Korea University145 Anam‑RoSeongbuk‑GuSeoul 02841Republic of Korea School of Civil Environmental and Architectural EngineeringKorea University145 Anam‑RoSeongbuk‑GuSeoul 02841Republic of Korea Materials Science and Chemical Engineering Center Institute for Advanced Engineering(IAE)Yongin 17180Republic of Korea

A critical challenge hindering the practical application of lithium–oxygen batteries(LOBs)is the inevitable problems associated with liquid electrolytes,such as evaporation and safety *** study addresses these problems by proposing a modified polyrotaxane(mPR)-based solid polymer electrolyte(SPE)design that simultaneously mitigates solvent-related problems and improves ***-SPE exhibits high ion conductivity(2.8×10^(−3)S cm^(−1)at 25℃)through aligned ion conduction pathways and provides electrode protection ability through hydrophobic chain *** this mPR-SPE into solid-state LOBs resulted in stable potentials over 300 *** situ Raman spectroscopy reveals the presence of an LiO_(2)intermediate alongside Li_(2)O_(2)during oxygen *** situ X-ray diffraction confirm the ability of the SPE to hinder the permeation of oxygen and moisture,as demonstrated by the air permeability *** present study suggests that maintaining a low residual solvent while achieving high ionic conductivity is crucial for restricting the sub-reactions of solid-state LOBs.

关键词： Solid polymer electrolyte Lithium-oxygen batteries Polyrotaxane ion conductivity Hydrophobic chain

MXene Hybridized Polymer with Enhanced Electromagnetic Energy Harvest for Sensitized Microwave Actuation and Self‑Powered Motion Sensing

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Nano-Micro Letters 2025年第3期17卷 265-279页

作者： Yu‑Ze Wang Yu‑chang Wang Ting‑Ting Liu Quan‑Liang Zhao Chen‑Sha Li Mao‑Sheng Cao School of Materials Science and Engineering Beijing Institute of TechnologyBeijing 100081People’s Republic of China School of Materials Science and Engineering Peking UniversityBeijing 100871People’s Republic of China School of Mechanical and Material Engineering North China University of TechnologyBeijing 100144People’s Republic of China Key Laboratory of Functional Inorganic Material Chemistry Ministry of Education of the People’s Republic of ChinaHeilongjiang UniversityHarbin 150080People’s Republic of China

Polymeric microwave actuators combining tissue-like softness with programmablemicrowave-responsive deformation hold great promise for mobile intelligentdevices and bionic soft robots. However, their application is challenged by restricted electromagneticsensitivity and intricate sensing coupling. In this study, a sensitized polymericmicrowave actuator is fabricated by hybridizing a liquid crystal polymer with Ti3C2Tx(MXene). Compared to the initial counterpart, the hybrid polymer exhibits unique spacechargepolarization and interfacial polarization, resulting in significant improvements of230% in the dielectric loss factor and 830% in the apparent efficiency of electromagneticenergy harvest. The sensitized microwave actuation demonstrates as the shortenedresponse time of nearly 10 s, which is merely 13% of that for the initial shape memory polymer. Moreover, the ultra-low content of MXene (upto 0.15 wt%) benefits for maintaining the actuation potential of the hybrid polymer. An innovative self-powered sensing prototype that combinesdriving and piezoelectric polymers is developed, which generates real-time electric potential feedback (open-circuit potential of ~ 3 mV) duringactuation. The polarization-dominant energy conversion mechanism observed in the MXene-polymer hybrid structure furnishes a new approachfor developing efficient electromagnetic dissipative structures and shows potential for advancing polymeric electromagnetic intelligent devices.

关键词： Microwave absorption Electromagnetic response Energy harvest Self-sensing Soft actuator

The nucleolus: reviewing oldies to have new understandings

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Cell Research 2006年第6期16卷 10+531-538页

作者： SzechengJLo chi-changLee Huey-jen Lai Department of Life Science Graduate Institute of Basic Medical Science259Wen-Hwa 1st RoadChang Gung UniversityTao Yuan 333 Institute of Mierobiology and Immunology National Yang Ming UniversityTaipei 112

The nucleolus is the most prominent compartment in the nucleus and known as the site for ribosome biogenesis *** contrast,there is no such equivalent structure for ribosome synthesis in *** raises twoconcerns that how does the nucleolus evolve and that whether the nucleolus remains playing a single role in ribosomebiogenesis along the *** data support new nucleolus functions,including signal recognition particleassembly,small RNA modification,telomerase maturation,cell-cycle and aging control,and cell stress *** of the nucleolus possibly result from the plurifunctionality of nucleolar proteins,such as nucleolin and Nopp *** analyses of human and Arabidopsis nucleolus lead a remarkable progress in understanding the evolution andnew functions of *** this review,we present a brief history of nucleolus research and new concepts and unre-solved ***,we introduce hepatitis D virus for studying the communication between the nucleolus and othersubnuclear compartments,and Caenorhabditis elegans for the role of nucleolus in the development and the epistaticcontrol of nucleologenesis.

关键词： evolution of the nucleolus HDV Nopp 140 nucleolin nucleolome

High‑Entropy Electrode Materials:Synthesis,Properties and Outlook

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Nano-Micro Letters 2025年第1期17卷 472-506页

作者： Dongxiao Li chang Liu Shusheng Tao Jieming Cai Biao Zhong Jie Li Wentao Deng Hongshuai Hou Guoqiang Zou Xiaobo Ji College of Chemistry and Chemical Engineering Central South UniversityChangsha 410083People’s Republic of China School of Chemistry and Chemical Engineering Hunan Institute of EngineeringXiangtan 411104People’s Republic of China

High-entropy materials represent a new category of high-performance materials,first proposed in 2004 and extensively investigated by researchers over the past two *** definition of high-entropy materials has continuously *** the last ten years,the discovery of an increasing number of high-entropy materials has led to significant advancements in their utilization in energy storage,electrocatalysis,and related domains,accompanied by a rise in techniques for fabricating high-entropy electrode ***,the research emphasis has shifted from solely improving the performance of high-entropy materials toward exploring their reaction mechanisms and adopting cleaner preparation ***,the current definition of high-entropy materials remains relatively vague,and the preparation method of high-entropy materials is based on the preparation method of single metal/low-or medium-entropy *** should be noted that not all methods applicable to single metal/low-or medium-entropy materials can be directly applied to high-entropy *** this review,the definition and development of high-entropy materials are briefly ***,the classification of high-entropy electrode materials is presented,followed by a discussion of their applications in energy storage and catalysis from the perspective of synthesis ***,an evaluation of the advantages and disadvantages of various synthesis methods in the production process of different high-entropy materials is provided,along with a proposal for potential future development directions for high-entropy materials.

关键词： High-entropy Energy storage Electrode materials

Design of a long range nano-scale resolution mechanism

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2010年第4期11卷 250-254页

作者： Shuo Hung chang jen Bon LEE Department of Mechanical Engineering National Taiwan University

This paper presents the development of a coarse-fine dual precision positioning stage to achieve long travel range and high *** fine stage is arranged in series with a coarse *** key in the fine stage design is the choice of a toggle mechanism for a tight mechanical loop with high stiffness and *** designed the toggle mechanism for reduction of the displacement to suppress signal *** performance of the coarse and fine stages was verified with an optical encoder and capacitive sensor,*** measurement results show that the dual mechanism has a travel range of 1 mm and resolution of 30 nm.

关键词： Coarse-fine dual stage Nano-scale resolution Piezoelectric (PZT) actuator

Comparative proteomic analysis of plasma exosomes reveals the functional contribution of N-acetyl-alpha-glucosaminidase to Parkinson’s disease

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Neural Regeneration Research 2025年第10期20卷 2998-3012页

作者： Yuan Zhao Yidan Zhang Xin Liu Jian Zhang Ya Gao Shuyue Li Cui chang Xiang Liu Guofeng Yang Department of Geriatrics Second Hospital of Hebei Medical UniversityShijiazhuangHebei ProvinceChina Department of Neurosurgery The Second Hospital of Hebei Medical UniversityShijiazhuangHebei ProvinceChina

Parkinson’s disease is the second most common progressive neurodegenerative disorder,and few reliable biomarkers are available to track disease *** proteins,DNA,mRNA,and lipids carried by exosomes reflect intracellular changes,and thus can serve as biomarkers for a variety of *** this study,we investigated alterations in the protein content of plasma exosomes derived from patients with Parkinson’s disease and the potential therapeutic roles of these proteins in Parkinson’s *** a tandem mass tag-based quantitative proteomics approach,we characterized the proteomes of plasma exosomes derived from individual patients,identified exosomal protein signatures specific to patients with Parkinson’s disease,and identified N-acetyl-alpha-glucosaminidase as a differentially expressed protein.N-acetyl-alpha-glucosaminidase expression levels in exosomes from the plasma of patients and healthy controls were validated by enzyme-linked immunosorbent assay and western *** results demonstrated that the exosomal N-acetyl-alpha-glucosaminidase concentration was not only lower in Parkinson’s disease,but also decreased with increasing Hoehn-Yahr stage,suggesting that N-acetyl-alpha-glucosaminidase could be used to rapidly evaluate Parkinson’s disease ***,western blot and immunohistochemistry analysis showed that N-acetyl-alpha-glucosaminidase levels were markedly reduced both in cells treated with 1-methyl-4-phenylpyridinium and cells overexpressingα-synuclein compared with control ***,N-acetyl-alpha-glucosaminidase overexpression significantly increased cell viability and inhibitedα-synuclein expression in 1-methyl-4-phenylpyridinium-treated *** together,our findings demonstrate for the first time that exosomal N-acetyl-alpha-glucosaminidase may serve as a biomarker for Parkinson’s disease diagnosis,and that N-acetyl-alpha-glucosaminidase may reduceα-synuclein expression and 1-methyl-4-phenylpyridinium-induced n

关键词： biomarker diagnosis exosomes N-acetyl-alpha-glucosaminidase Parkinson’s disease proteomic α-synuclein