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A Review:From Aquatic Lives Locomotion to Bio-inspired Robot Mechanical Designations

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Journal of Bionic Engineering 2023年第6期20卷 2487-2511页

作者： Pengxiao Bao Liwei Shi lijie duan Shuxiang Guo Zhengyu Li School of Medical Technology Beijing Institute of TechnologyBeijing100081China School of Life Science Beijing Institute of TechnologyBeijing100081China The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologyBeijing Institute of TechnologyNo.5ZhongguancunSouth StreetBeijing100081China The Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen518055GuangdongChina

With the development of camera technology,high-speed cameras have greatly contributed to capturing the movement and posture of animals,which has dramatically promoted experimental biology *** the same time,with the concept of bionics gradually gaining popularity among researchers,the design of robots is absorbing more and more biological features,where the interest in the bio-inspired robot is hewed *** with the traditional robot,the bio-inspired robot imitates the motion pattern to achieve similar propulsion features,which may be more effective and *** this paper,the motion patterns of aquatic animals are divided into four categories according to their propulsion mechanisms:drag-based,lift-based,jet-based,and *** bio-inspired robots imitating aquatic prototypes are introduced and ***,the prospect of aquatic bio-inspired robots is discussed.

关键词： Bionic Bio-inspired robot Aquatic animal Propelling mechanism Structure design

Design, Implementation and Control of an Amphibious Spherical Robot

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Journal of Bionic Engineering 2022年第6期19卷 1736-1757页

作者： Liwei Shi Zhongyin Zhang Zhengyu Li Shuxiang Guo Shaowu Pan Pengxiao Bao lijie duan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing100081China Faculty of Engineering Kagawa University2217-20 HayashichoTakamatsuKagawa761-0396Japan

We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex *** aim was to improve the kinematic performance of spherical *** developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in *** robot was equipped with an Inertial Measurement Unit(IMU)that provided inclination and motion *** designed three types of walking gait for the robot,with different stabilities and ***,we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable *** the system function changed continuously as the robot moved underwater,we implemented an online motion recognition system with a forgetting factor least squares *** proposed a generalized prediction control algorithm to achieve robust underwater motion *** ensure real-time performance and reduce power consumption,the robot motion control system was implemented on a Zynq-7000 System-on-Chip(SoC).Our experimental results show that the robot’s motion remains stable at different speeds in a variety of amphibious environments,which meets the requirements for applications in a range of terrains.

关键词： Bionic amphibious spherical robot Inertial measurement unit Quadruped gaits Forgetting factor least squares algorithm Generalized prediction control

Self-healing carrageenan-driven polyacrylamide hydrogels for strain sensing

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Science China(Technological Sciences) 2020年第12期63卷 2677-2686页

作者： FAN ZiWen duan lijie GAO GuangHui Polymeric and Soft Materials Laboratory School of Chemistry and Life Science and Advanced Institute of Materials ScienceChangchun University of TechnologyChangchun 130012China

Conductive hydrogels have attached considerable attention due to their good stretchability,excellent conductivity when they are applied in soft electronics. However,to fabricate a flexible hydrogel sensor with excellent toughness and good self-healing properties remains a challenge. In this work,we assembled a dual physical-crosslinking(DPC) ionic conductive polyacrylamide/carrageenan double-network(DN) hydrogel. This hydrogel has excellent fracture tensile stress and toughness,and demonstrates rapid self-recovery and self-healing ability due to the unique dual physical-crosslinking structures. Besides,the hydrogel is highly conductive by adding some conductive ions. As a result,the hydrogel-based sensor can stably detect human motions and physiological signals. The work provides novel ideas for the development of flexible sensing devices.

关键词： hydrogel self-healing carrageenan polyacrylamide strain sensing

Superiority of poly(L-lactic acid)microspheres as dermal fillers

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Chinese Chemical Letters 2021年第1期32卷 577-582页

作者： Quan Gao lijie duan Xiangru Feng Weiguo Xu School of Chemistry and Life Science Changchun University of TechnologyChangchun 130012China Key Laboratory of Polymer Ecomaterials Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun 130022China

The demand for injectable dermal filler has unde rgone significant growth with the rapid development of the beauty ***(lactic acid)(PLA) as a benefit of excellent biocompatibility and long-term promotion of collagen regeneration has been favored as a commonly used ***,the effects of chirality and particle size of PLA on the efficacy of dermal filler have not been *** this study,we prepared three kinds of microspheres(MSs) consisting of poly(D-lactic acid)(PDLA MS),poly(L-lactic acid)(PLLA MS),or meso-PLA(PDLLA MS)at 5,10 and 20 μmto reveal the different biological functions as dermal *** intradermal injection into guinea pig,it was found that PLLA MS induced the slightest inflammation,and the level of pro-inflammatory cytokine IL-1β induced by PLLA MS is only 0.3 or 0.7-fold of that induced by PDLA or PDLLA MS,*** importantly,PLLA MS significantly stimulated the regeneration of collagen,which was 1.4 or 1.1 times higher than those stimulated by PDLA MS or PDLLA MS,*** size of PLA MSs did not affect the levels of inflammation and collagen *** results confirmed the superiority of PLLA as a dermal filler.

关键词： Chiral poly(L-lactic acid) Particle Collagen regeneration Inflammation inhibition Dermal filler

Substitutions of stem-loop subdomains in internal ribosome entry site of Senecavirus A:Impacts on rescue of sequence-modifying viruses

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Journal of Integrative Agriculture 2024年第7期23卷 2391-2406页

作者： Qianqian Wang Jie Wang Lei Zhang Xiaoxiao duan lijie Zhu Youming Zhang Yan Li Fuxiao Liu College of Veterinary Medicine Qingdao Agricultural UniversityQingdao 266109China College of Veterinary Medicine Inner Mongolia Agricultural UniversityHuhhot 010018China Shandong New Hope Liuhe Group Co. Ltd.Qingdao 266100China Qingdao Center for Animal Disease Control&Prevention Qingdao 266199China State Key Laboratory of Microbial Technology Shandong UniversityQingdao 266237China

Senecavirus A(SVA)has a positive-sense,single-stranded RNA *** 5´untranslated region harbors an internal ribosome entry site(IRES),comprising 10 larger or smaller stem-loop structures(including a pseudoknot)that have been demonstrated to be well ***,it is still unclear whether each stem-loop subdomain,such as a single stem or loop,is also highly *** clarify this issue in the present study,a set of 29 SVA cDNA clones were constructed by site-directed mutagenesis(SDM)on the *** SDM-modified scenarios included:(1)stem-formed complementary sequences exchanging with each other;(2)loop transversion;(3)loop transition;and(4)point *** cDNA clones were separately transfected into cells for rescuing viable viruses,whereas only four SVAs of interest could be recovered,and were genetically stable during 20 *** progeny grew significantly slower than the other three *** dual-luciferase reporter assay showed that none of the SDM-modified IRESes significantly inhibited the IRES *** previous study indicated that a single motif from any of the ten stem structures,if completely mutated,would cause the failure of virus ***,our present study revealed three stem structures,whose individual complementary sequences could exchange with each other to rescue sequence-modifying ***,one apical loop was demonstrated to have the ability to tolerate its own full-length transition,also having no impact on the recovery of sequence-modifying *** present study suggested that not every stem-loop structure was strictly conserved in its conformation,while the full-length IRES itself was well *** provides a new research direction on interaction between the IRES and many factors.

关键词： SVA HCV IRES HCV-like IRES stem-loop structure cDNA clone virus rescue mutation

Poly(4,4＇-bis(thien-2-yl)azobenzene-co-3-hexylthiophene)： Synthesis and Optical/Electrochemical Properties

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Journal of Wuhan University of Technology(Materials Science) 2017年第4期32卷 772-776页

作者：向涛 WANG Qingxiu duan lijie 刘福德 Tianjin Key Laboratory of Organic Solar Cells and Photochemical Conversion School of Chemistry & Chemical Engineering Tianjin University of Technology Tianjin 300384 China

A conjugated polymer of poly（4,4＇-bis（thien-2-yl）azobenzene-co-3-hexylthiophene）（PTAB-H）, bearing azo group in main chain and soluble in THF, chloroform, was synthesized through FeCl3 oxidation copolymerization with 3-hexylthiophene, and the monomer of 4,4＇-bis（thien-2-yl）azobenzene was synthesized by Sandmeyer reaction and Suzuki reaction. The UV-Vis spectra of PTAB-H reveal that azo group in the main chain can extend the absorption and lower the band gap. The fluorescent spectra, photoluminescence（PL） spectra, cyclic voltammetry（CV） of PTAB-H were *** gel permeation chromatography（GPC）, thermogravimetry analysis（TGA）, and differential scanning calorimetry（DSC） measurements indicated that the molecular weight Mn, Mw and polydispersity indices（PDI） of the polymer are 10876 g/mol, 22338 g/mol and 2.05 respectively and the temperature of 5% weight-loss is 224.6 ℃. No glass transition and crystallization melting peak was observed in the temperature range from 30 ℃ to 400 ℃.

关键词： conjugated polymer polythiophene azobenzene optical/electrochemical properties

Lead removal from water using organic acrylic amine fiber(AAF)and inorganic-organic P-AAF,fixed bed filtration and surface-induced precipitation

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Journal of Environmental Sciences 2021年第3期33卷 135-144页

作者： Jinshan Wei lijie duan Jian Wei Erhard Hoffmann Yonghui Song Xiaoguang Meng State Key Laboratory of Environmental Criteria and Risk Assessment Chinese Research Academy of Environmental SciencesBeijing 100012China Center for Environmental Systems Stevens Institute of TechnologyHobokenNJ 07030USA Department of Aquatic Environmental Engineering Karlsruhe Institute of TechnologyKarsruhe 76131Germany School of Environment Tsinghua UniversityBeijing 100084China

Granular porous sorbents were normally used for heavy metals removal from *** search for the new commercial sorbent and treatment strategy,an organic acrylic amine fiber(AAF)and phosphorus loading inorganic-organic AAF(P-AAF)were prepared and used for lead(Pb)removal from water.A new strategy of inorganic-organic coupling technology was proposed for Pb removal,based on the hypothesis of surface-induced precipitation *** AAF showed a Pb adsorption capacity of 417 mg/g from the Langmuir fitting,while the column filtration technology was further applied to measure the adsorption edge and *** of different initial Pb concentrations,hydraulic retention time,and co-existing P were considered in the filtration *** presence of 0.8 mg/L P in water significantly improved the Pb breakthrough point from 15,000 to 41,000 bed volumes of water spiked with 85μg/L Pb,while the P-AAF fixed bed showed better removal of Pb than AAF SEM/EDX and XRD spectra were employed for determining the surface functional groups and the formation of surface-induced precipitation of pyromorphite(Pb_5(PO_4)_3 OH)on *** study verified the application of AAF sorbent for Pb removal and the enhanced effect of coating P on AAF,thus improved our fundamental understanding and application of the surface chemistry process of Pb with P.

关键词： Lead removal Adsorption Fixed bed filtration Acrylic amine fiber Inorganic-organic sorbent Surface-induced precipitation

Construction of the homogenized temperature series during 1910-2014 and its changes in Hunan Province

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Journal of Geographical Sciences 2017年第3期27卷 297-310页

作者： PENG Jiadong LIAO Yufang JIANG Yuanhua ZHANG Jianming duan lijie Hunan Climate Center Key Laboratory of Preventing-Diminishing Meteorological Disasters in Hunan Prov- ince Changsha 410118 China Lanshan Meteorological Bureau Lanshan 425800 Hunan China

Based on the statistical method and the historical evolution of meteorological sta- tions, the temperature time series for each station in Hunan Province during 1910-2014 are tested for their homogeneity and then corrected. The missing data caused by war and other reasons at the 8 meteorological stations which had records before 1950 is filled by interpola- tion using adjacent observations, and complete temperature time series since the estab- lishment of stations are constructed. After that, according to the representative analysis of each station in different time periods, the temperature series of Hunan Province during 1910-2014 are built and their changes are analyzed. The results indicate that the annual mean temperature has a significant warming trend during 1910-2014 and the seasonal mean temperature has the largest rising amplitude in winter and spring, followed by autumn, but no significant change in summer. Temperature variation over Hunan Province has several sig- nificant warm-cold alternations and more frequent than that in whole China. Annual and seasonal mean temperatures except summer and autumn have abrupt warming changes in the recent 100 years. The wavelet analysis suggests that the annual and four seasonal mean temperatures in recent 100 years have experienced two climatic shifts from cold to warm.

关键词： Hunan Province homogeneity temperature series change characteristics

Synthesis and Characterization of Polythiophenes Bearing Diphenyl Groups in the Conjugated Chain

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Journal of Wuhan University of Technology(Materials Science) 2015年第3期30卷 568-573页

作者：周勇刘福德 WU Haiyan QU Boyang duan lijie Tianjin Key Laboratory of Organic Solar Cells and Photochemical Conversion School of Chemistry & Chemical Engineering Tianjin University of Technology

4,4＇-dibromo-2-nitro-biphenyl and 4,4＇-dibromo-2,3＇-dinitro-biphenyl have been synthesized via nitration reaction with 4,4＇-dibromobiphenyl as the raw material. Three novel thiophene derivatives, 4, 4＇-di（4-hexyl-thiophen-2-yl）biphenyl, 4,4＇-di（4-hexyl-thiophen-2-yl）-2- nitro-biphenyl and 4,4＇-di（4- hexyl-thiophen-2-yl）-2,3＇-dinitrobiphenyl were synthesized through Stille coupling reaction, followed by polymerization in the presence of FeC13, respectively. UV-vis absorption spectra, fluorescence spectra, photoluminescence spectra and electrochemical properties of the polymers were investigated. And the band-gap （Eg）, HOMO orbital energy （EHCMO）, and LUMO orbital energy （EUJMO） of the polymers were calculated. Among the polymers, polymer PBTN and PBTD show lower band-gap （2.67 and 2.63 eV）, lower HOMO energy level （-5.38 and -5.4 eV） and broader wavelength （432 and 438 nm） than that of polymer PBTB （2.69 eV, -5.36 eV and 424 nm） with incorporation of one nitro group or two nitro groups in the main chain, respectively.

关键词： polythiophene biphenyl nitro group stille coupling reaction