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Type Synthesis for Bionic Quadruped Walking Robots

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Journal of Bionic Engineering 2015年第4期12卷 527-538页

作者： jun he feng Gao State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China

Regarding walking robots, biomimetic design has attracted a great deal of attention. Currently, studies have focused mainly on performance analysis and the design of some specific biomimetic walking robots. However, the systematic type synthesis of bionic quadruped robots has seldom been studied. In this paper, a new approach to type synthesis for quadruped walking robots is proposed based on the generalized fimction （Ge） set theory. The current types of typical walking robots are analyzed using the Ge set theory. The research status and existing problems are investigated. The skeletal systems of quadruped mammals are analyzed. The motion characteristics of all joints of quadruped mammals are denoted by 6;F sets. A process of conversion from biological types to serial, parallel and hybrid types is proposed. Limb types in serial, parallel and hybrid topology are synthe- sized. Finally the quadruped robots with serial, parallel and hybrid topology are produced. Two of these types have been suc- cessfully used for the design of walking rescue robots that is suitable for responding to nuclear accidents.

关键词： type synthesis bionic design quadruped robot parallel mechanism GF set

Enzymatic Synthesis and Characterization of Novel Amphiphilic Triblock Copolymer Poly(p-dioxanone-co-5-benzyloxytrimethylene carbonate)-block-poly(ethylene glycol)

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Chinese Chemical Letters 2006年第8期17卷 1113-1116页

作者： Hua Li JIA feng he jun feng Ren Xi ZHUO Key Laboratory of Biomedical Polymers of Ministry of Education Department of Chemistry Wuhan University Wuhan 430072

Novel amphiphilic triblock copolymer poly（p-dioxanone-co-5-benzyloxytrimethylene carbonate）-block-poly（ethylene glycol）-block-poly（p-dioxanone-co-5-benzyloxytrimethylene carbonate）（p（PDO-co-BTMC）-b-PEG-b-p（PDO-co-BTMC）） was successfully synthesized using immobilized porcine pancreas lipase on porous silica particles （IPPL） as the catalyst for the fLrSt time. 1H NMR, 13C NMR and GPC analysis were used to confirm the structures of resulting copolymers. The molecular weight （Mn） of the copolymer with feed ratio of 69：20：11 （BTMC： PDO： PEG ） was 31300 g/mol and the polydispersity was 1.85, while the Mn decreased to 25000 g/mol and polydispersity of 1.93 with the feed ratio of 50：40：10.

关键词： Amphiphilic copolymer poly(ethylene glycol) 5-benzyloxytrimethylene carbonate,p-dioxanone enzymatic polymerization.

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瘦素及其受体在牦牛附睾的时空表达特性

农业生物技术学报 2024年第2期32卷 334-343页

作者：王晓艳崔燕余四九马睿何俊峰张虔龙敏甘肃农业大学动物医学院甘肃省牛羊胚胎工程技术研究中心

瘦素(leptin)及瘦素受体(leptin receptor, LEPR)在雄性动物生殖调控中发挥重要作用。为探究Leptin及LEPR在性成熟前后牦牛(Bos grunniens)附睾头、体、尾中的分布特点及表达动态，本研究采集性成熟前(幼年)及性成熟后(成年,老年)牦牛... 详细信息

瘦素(leptin)及瘦素受体(leptin receptor, LEPR)在雄性动物生殖调控中发挥重要作用。为探究Leptin及LEPR在性成熟前后牦牛(Bos grunniens)附睾头、体、尾中的分布特点及表达动态，本研究采集性成熟前(幼年)及性成熟后(成年,老年)牦牛附睾不同部位(头,体,尾)，利用qPCR、Western blot和免疫组织化学染色方法检测Leptin及LEPR在不同年龄牦牛附睾头、体、尾中的分布及表达水平。免疫组化结果显示，Leptin和LEPR主要表达在附睾上皮、基底细胞和平滑肌细胞，其中附睾上皮呈强阳性表达；q PCR结果显示，Leptin及LEPR在幼年牦牛附睾头、体和尾的基因表达量显著高于成年和老年(P0.05);Western blot结果显示，Leptin及LEPR蛋白在不同年龄牦牛附睾中均有表达，其表达量在幼年组最高，从幼年、成年及老年，依次呈递减趋势，且各年龄之间差异显著(P0.05);Leptin及LEPR蛋白在成年和老年附睾中的表达量为附睾尾>附睾头>附睾体，且各部位之间差异显著(P<0.05)。结果表明，牦牛性成熟前后附睾中的Leptin及LEPR表达量发生显著变化，并且性成熟后维持在一定水平持续表达至老年，在附睾不同区段的表达也存在差异，附睾尾表达相对最高，说明尾部环境具有较高的Leptin浓度。Leptin及LEPR在牦牛附睾中的时空表达差异提示二者对于牦牛精子的成熟、存储和能量保存方面具有重要意义，本研究为探究高原环境下雄性牦牛的生殖调控机制提供研究资料。

关键词：牦牛附睾瘦素(leptin) 瘦素受体(LEPR)

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凝结芽胞杆菌发酵优化工艺

湖北农业科学 2024年第7期63卷 147-153页

作者：何俊峰鲁佳康陈雄王志湖北工业大学生物工程与食品学院/发酵工程教育部重点实验室武汉430068

为提高凝结芽胞杆菌(Bacillus coagulans)的生长效率,在摇瓶、发酵罐水平考察了最适的碳源、温度、维生素添加量、pH以及发酵过程存在的氧化胁迫对凝结芽胞杆菌生长代谢的影响,获得了发酵培养基配方,并确定了30 L发酵罐最适培养条件:培... 详细信息

为提高凝结芽胞杆菌(Bacillus coagulans)的生长效率,在摇瓶、发酵罐水平考察了最适的碳源、温度、维生素添加量、pH以及发酵过程存在的氧化胁迫对凝结芽胞杆菌生长代谢的影响,获得了发酵培养基配方,并确定了30 L发酵罐最适培养条件:培养温度为40℃,初始pH为6.2~6.5,培养过程中9~14 h用氨水溶液控pH=5.5,pH大于5.5后停止控制,全程以4.1 mg/(L·h)速率流加半胱氨酸。优化条件下,发酵13 h细胞生物量达1.9×10^(10)CFU/mL,较对照提高363.4%,细胞生长效率为1.5×10^(9) CFU/(mL·h),较对照提高305.4%。显著提高了生物量、缩短了发酵周期,为凝结芽胞杆菌工业化生产提供了重要参考。

关键词：凝结芽胞杆菌(Bacillus coagulans) 分批发酵培养条件氧化应激

以学生为中心的电子信息类“双链四融”创新人才培养路径研究

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教育教学论坛 2024年第2期 117-120页

作者：陈红王珊珊何俊峰任安虎西安工业大学电子信息工程学院陕西西安710021 陕西科技大学高教研究室陕西西安710021

为了提高电子信息类专业创新型人才培养的内涵和质量,在以学生为中心的教育理念引领下,从教学模式改革和加强创新创业教育与电子信息类专业教育融合等两方面开展研究。聚焦于研究导向型的教学模式改革、创新教育课程群建设、教学团队建... 详细信息

为了提高电子信息类专业创新型人才培养的内涵和质量,在以学生为中心的教育理念引领下,从教学模式改革和加强创新创业教育与电子信息类专业教育融合等两方面开展研究。聚焦于研究导向型的教学模式改革、创新教育课程群建设、教学团队建设、教学与实践活动开展等,阐述了将创新教育链与专业人才培养链在培养理念、课程体系、课内课外及培养阶段等方面深度融合的“双链四融”创新人才培养路径。

关键词：以学生为中心电子信息 “双链四融” 创新教育专业教育

Fenvalerate-induced Alterations in Calcium Homeostasis in Rat Ovary

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Biomedical and Environmental Sciences 2006年第1期19卷 15-20页

作者： jun he JIAN-feng CheN RU LIU LIN SONG heBRON C. CHANG AND XIN-RU WANG Jiangsu Key Laboratory of Applied Toxicology Nanjing Medical University Nanjing 210029 Jiangsu China

Objective To observe the effects of fenv＇,derate on calcium homeostasis in rat ovary. Methods Female SpragueDawley rats were orally given fenvalerate at dally doses of 0.00, 1.91, 9.55, and 31.80 mg/kg for four weeks. The ovary ultrastucture was observed by electron microscopy. Serum free calcium concentration was measured by atomic absorption spectrophotometry. The activities of phosphorylase a in rat ovary were evaluated by the chromatometry. The total content of calmodulin in ovary was estimated by ELISA at each stage of estrous cycle. Radioimmunoassay （R/A） was used to evaluate the level of serum progesterone. Results Histopathologically, damages of ovarian corpus luteum cells were observed. An increase in serum fi＇ee calcium concentration was observed in rats treated with 31.80mg/kg fenvalerate. The activities of phosphorylase a enhanced in all treated groups, and fenvalerate increased the total content of calmodulin significantly in estrus period. Serum progesterone levels declined in fenvalerate exposed rats in diestrus. Conclusion Fenvalerate interferes with calcium homeostasis in rat ovary. Also, the inhibitory effects of fenvalerate on serum progesterone levels may be mediated partly through calcium signals.

关键词： Pyrethroids Fenvalerate Rat ovary Calcium homeostasis Progesterone

Role of laparoscopy in the diagnosis and treatment of adnexal masses

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Chinese Medical Journal 2006年第3期119卷 202-206页

作者： LENG Jin-hua LANG Jing-he ZHANG jun-ji feng feng-zhi LIU Zhu-feng SUN Da-wei ZHU Lan ZHAO Xue-ying Department of Obstetrics and Gynecology Peking Union MedicalCollege Hospital Peking Union Medical College ChineseAcademy of Medical Sciences Beijing 100730 China

Background Laparoscopy has been accepted for years as a management of benign ovarian tumors. The aim of this study was to estimate the feasibility and safety of laparoscopy in diagnosis and management of adnexal masses. Methods A total of 2083 patients with benign adnexal mass were treated by laparoscopy at Peking Union Medical College Hospital from January 2000 to December 2003. Their clinical data were reviewed retrospectively. All the adnexal masses suspicious of malignancy at the time of laparoscopy were sent for frozen section evaluation intraoperatively. The rates of unexpected intracystic vegetation and low malignant potential （LMP） tumor or malignancy were investigated. The sensitivity, specificity, positive predictive value, and negative predictive value of laparoscopic diagnosis for LMP or ovarian malignancies were calculated. The ratios were compared by Chi-square test and the continuous variables were tested using two-tailed t test. Results Of the 2083 patients, 16 had LMP or invasive tumors （0.77%）, among which 14 were diagnosed histologically intraoperatively and 2 postoperatively. Fifty-five （2.6%） of the 2083 patients had unexpected intracystic vegetations. Their frozen sections showed benign tumors in 41 （74.5%）, LMP tumors in 8 （14.5%）, and focal invasive ovarian cancers （stage Ic） in 6 （10.9%）. The final pathological diagnosis were benign tumors in 41 （74.5%）, LMP tumors 7 （12.7%）, and focal invasive ovarian cancers （stage Ic） in 7 （12.7%）. Laparoscopy achieved a sensitivity of 87.5%, specificity of 98%, positive predictive value of 25.5%, and negative predictive value of 99.9% in the diagnosis of ovarian malignancies. 2067 cases with benign adnexal masses underwent laparoscopy successfully. No conversion to laparotomy, or intra- and postoperative complications in this series. Of the 16 patients with LMP or invasive ovarian cancer, seven underwent laparoscopic surgery including immediate staging laparoscopy in 3. The mean follow-up was 17.3 mo

关键词： laparoscopy ovarian neoplasms diagnosis therapeutics

Effect of dopant valence on the oxygen desorption and oxygen permeability of SrCo_(0.4)Fe_(0.5)M_(0.1)O_(3-δ)(M=Ni, Al and Zr) mixed-conducting oxides

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Chinese Chemical Letters 2008年第6期19卷 725-729页

作者： Yan jun he Xian feng Chang Xue Liang Dong Chun Zhang Wan Qin Jin Nan Ping Xu State Key Laboratory of Materials-Oriented Chemical Engineering College of Chemistry and Chemical Engineering Nanjing University of Technology Nanjing 210009 China

The effect of dopant valence on oxygen desorption and oxygen permeability of SrCo0.4Fe0.5M0.1O3-δ （M = Ni, Al and Zr） mixed-conducting oxides were investigated in detail by O2-TPD and oxygen permeation measurement. The SrCo0.4Fe0.5M0.1O3-δ for M = Fe, Ni, Al and Zr were denoted as SCF, SCFN, SCFA and SCFZ, respectively. O2-TPD analysis revealed that the amount of α oxygen desorption decreased with increasing the valance of doped metal elements （SCFN 〉 SCFA SCF 〉 SCFZ）. The oxygen permeation flux at the temperature ≈igher than 1148 K decreased in the order of SCFN 〉 SCF 〉 SCFZ 〉 SCFA. Single activation for oxygen permeation was observed for SCFZ oxide and the activation energies of SCF and SCFA change at around 1073 K, while the change temoerature of SCFN was about 1173 K.

关键词： Valence Mixed-conducting oxide Oxygen desorption Oxygen permeability

Shear-thinning Catechol-modified Chitosan Hydrogel Loaded with Silver Nanoparticles for Endoscopic Submucosal Dissection

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Chinese Journal of Polymer Science 2024年第8期42卷 1147-1155页

作者： Wen-jun feng Yan-he Wu Xiao-Yang Liu Zheng-Ke Wang MOE Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and EngineeringZhejiang UniversityHangzhou 310058China

Shear-thinning hydrogels have emerged for endoscopic submucosal dissection,while wound intervention after surgery has rarely been ***,a catechol-modified chitosa n hydrogel with shear-thinning property was developed for simultaneously facilitating endoscopic submucosal dissection and postoperative wound *** from the shear-thinning and self-healing characteristics,the asprepared hydrogel showed easily endoscopic *** also performed very well as submucosal cushion,which could remain above 70%after injection for 120 min in ex vivo porcine large intestine *** fact,the cushion height of normal saline dramatically decreased to 46%of the initial height at 30 *** nanoparticles encapsulated into the network endowed the hydrogel with almost reached 100%antibacterial effect against *** and *** hemolysis ratio of the hydrogel was calculated to be as low as 0.8%.Combined with good hemocompatibility and cytocompatibility,the as-prepared hydrogel displayed much higher in vivo wound closu re and healing efficacy than normal *** results demonstrated the superiority of the shear-thinning chitosan hydrogel in facilitating clinical endoscopic submucosal dissection surgery.

关键词： Shear-thinning hydrogel Endoscopic mucosal dissection Wound healing Catechol-modified chitosan Silver nanoparticles