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Adaptive Control of Lower-Limb Exoskeletons for Walking Assistance Based on Inter-Joint Coordination

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Journal of Bionic Engineering 2024年第4期21卷 1775-1787页

作者： Chaoyang Li Lincong luo Zhi Liu Tianchi Chen Songxiang Liu Ye he Xiaoan Chen Lei Li wei Tech Ang School of Mechanical Engineering Chongqing UniversityChongqing400044China Rehabilitation Research Institute of Singapore Singapore308232Singapore department of Orthopedics Union HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhan430022China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore639798Singapore

Unilateral motor impairment can disrupt the coordination between the joints,impeding the patient’s normal *** assist such patients to walk normally and naturally,an adaptive control algorithm based on inter-joint coordination was proposed in this work for lower-limb *** control strategy can generate the reference trajectory of the affected leg in real time based on a motion coordination model between the joints,and adopt an adaptive controller with virtual windows to track the reference *** Short-Term Memory(LSTM)network was also adopted to establish the coordination model between the joints of both lower limbs,which was optimized by preprocessing angle information and adding gait phase *** the adaptive controller,the virtual windows were symmetrically distributed around the reference trajectory,and its width was adjusted according to the gait phase of the auxiliary *** addition,the impedance parameters of the controller were updated online to match the motion capacity of the affected leg based on the spatiotemporal symmetry factors between the bilateral *** LSTM coordination model demonstrated good accuracy and generality in the gait database of seven individuals,with an average root mean square error of 3.5 and 4.1 for the hip and knee joint angle estimation,*** further evaluate the control algorithm,four healthy subjects walked wearing the exoskeleton while additional weights were added around the ankle joint to simulate an asymmetric *** the experimental results,it was shown that the algorithm improved the gait symmetry of the subjects to a normal level while exhibiting great adaptability to different subjects.

关键词： Lower-limb exoskeleton Adaptive control Gait symmetry Inter-joint coordination Motion estimation

Effects of chlorogenic acid, an active compound activating calcineurin, purified from Flos Lonicerae on macrophage

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Acta Pharmacologica Sinica 2004年第12期25卷 119-123页

作者： he-zhen WU, Jing {2., Yan-xia YIN, Qun wei2.department of Biochemistry and Molecular Biology, Beijing normal university, Beijing 100875, china department of Biochemistry and Molecular Biology Beijing Normal University

AIM: To investigate the activation of chlorogenic acid (CHA) purified from Flos Lonicerae to calcineurin and its effects on macrophage functions in vivo and in vitro. METHODS: According to the screening results that Flos Lonicerae could activate calcineurin, the active component which could activate calcineurin was purified from Flos Lonicerae by column chromatography on silica gel and identified as CHA. The activation of CHA on calcineurin had been validated with both p-NPP and P-labeled RII peptide as the substrates. The clearance of charcoal particles in 32.normal mice and the cytotoxicity of U937 to MCF-7 were used together to determine the effects of CHA on macrophage functions. RESULTS: CHA could activate calcineurin, and the concentration of CHA on maximal activating calcineurin was 2.2.5 μmol/L. CHA administration (10 mg/kg, ig×7 d) significantly enhanced the mac- rophage functions in normal mice. CHA (70.6, 141.2. and 2.2.5 μmol/L) obviously increased the cytotoxicity of U937 to MCF-7. CONCLUSION: CHA could activate calcineurin and enhance the macrophage functions in vivo and in vitro, and its functions in vivo may be realized via the signal pathways of calcineurin.

关键词： calcineurin macrophage chlorogenic acid Flos Lonicerae

Determining the planting year of navel orange trees in mountainous and hilly areas of southern{2.:a remote sensing based method

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Journal of Mountain Science 2024年第10期21卷 3293-3305页

作者： LEI Juncheng WANG Sha WANG Yuandong luo {2. School of Geography and Environmental Engineering Gannan Normal UniversityGanzhou 341000China School of Chemistry and Chemical Engineering Gannan Normal UniversityGanzhou 341000China

Remote sensing has demonstrated validity in determining the planting year of deciduous fruit trees;however,its effectiveness in ascertaining the planting year of evergreen fruit trees remains ***,the sources of error associated with using remote sensing to determine the planting year of fruit trees remain *** study investigates several cultivated sweet orange(Citrus sinensis)varieties,which are extensively cultivated throughout subtropical *** analyzed Landsat time series data from 132.navel orange orchards in Gannan,covering the period from 1993 to *** each orchard,Google Earth Engine was employed to extract three vegetation indices—Enhanced Vegetation Index(EVI),normalized Difference Vegetation Index(NDVI),and normalized Burn Ratio(NBR)—for each available date,thereby generating three distinct vegetation index time *** planting year of navel orange trees was identified based on abrupt changes observed in these time *** principal sources of error in determining the planting year were investigated using the Wilcoxon signed-rank test,Spearman's correlation analysis,and Kruskal-Wallis H *** findings include:(1)Following the planting of navel orange trees,EVI,NDVI,and NBR exhibited fluctuations and a gradual increase over time,peaking approximately 10 to 15 years later.(2.The vegetation index time series derived from Landsat imagery effectively determined the planting year of evergreen navel orange trees in orchards,even within highly fragmented *** these indices,NDVI and NBR time series outperformed the EVI time ***,the average determination errors for EVI,NDVI,and NBR time series were 6.4,1.8,and 2.8 years,respectively.(3)Major sources of error included the methods used to construct the time series,the selection of vegetation indices,and the orchard management ***,this study provides a viable method for determining the planting year of evergreen navel orange trees in f

关键词： Time series Remote sensing Google Earth Engine Gannan Subtropics

Oriental Reed Warblers do not abandon Common Cuckoo chicks during prolonged nestling periods

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Avian Research 2024年第3期15卷 369-373页

作者： Hanlin Yan Huahua Zhao Haixia luo Longwu Wang Laikun Ma wei Liang Ministry of Education Key Laboratory for Ecology of Tropical Islands Key Laboratory of Tropical Animal and Plant Ecology of Hainan ProvinceCollege of Life SciencesHainan Normal UniversityHaikou 571158China School of Life Sciences Guizhou Normal UniversityGuiyang 550001China School of Life Sciences Hebei UniversityBaoding 071002China department of Biology and Food Science Hebei Normal University for Nationaliti

The Oriental Reed Warbler(Acrocephalus orientalis)is one of the most commonly used hosts for the parasitic Common Cuckoo(Cuculus canorus).However,as hosts that feed unrelated parasitic nestlings may suffer extra reproductive costs,they may be less willing to care for nestlings that have prolonged nestling *** test this hypothesis,the duration of feeding by Oriental Reed Warblers under natural conditions for their own nestlings was compared with the duration of feeding under natural conditions for Common Cuckoo nestlings and for artificially prolonged cuckoo *** results showed that Oriental Reed Warblers did not starve,drive away,or desert any of the nestlings in the experiment,and neither parent was left *** experimental study indicates that both Oriental Reed Warbler parents were willing to care for nestlings with a prolonged nestling period(up to 30 days,twice the average duration time that the Oriental Reed Warblers fed their own chicks in natural conditions).However,further experiments and observations are required in other host bird species to examine whether both parents or one of the parents may exhibit the behavior of abandoning nestlings with a prolonged nestling period.

关键词： Brood parasitism Common Cuckoo Deserted nestling Oriental Reed Warbler Prolonged nestling period

Recent advances in electrocatalytic generation of indole-derived radical cations and their applications in organic synthesis

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Chinese Chemical Letters 2024年第4期35卷 106-123页

作者： wei Zhou Xi Chen Lin Lu Xian-Rong Song Mu-Jia {2. Qiang Xiao Key Laboratory of Organic Chemistry of Jiangxi Province Jiangxi Science&Technology Normal UniversityNanchang 330013China

Indole-derived radical cations, open-shell reactive species, display distinctive dual reactivity due to the carbon-centered radical and more electrophilic carbocation, which frequently appear in a variety of single electron oxidation reactions for synthesizing structurally diverse functionalized indoles and indolines. Electrocatalysis is considered as a synthetically attractive and environmentally friendly alternative for driving the single electron oxidation of indoles. Remarkable achievements in electrocatalytic indolederived radical cation-mediated indole functionalization have been realized so far. This review comprehensively summarizes the recent progresses in the applications of electrocatalytic indole radical cations,including C(sp~2.–H functionalization, dearomative 2.3-difunctionalization, and ring-opening reaction, emphasizing the vital single electron oxidation steps of indoles, the substrates scope and limitations, and the reaction mechanisms.

关键词： Electrocatalysis Indole radical cation C-H functionalizatin Dearomative 2 3-difunctionalization

Quantitative Analysis of Seeing with height and Time at Muztagh-Ata Site Based on ERA5 Database

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Research in Astronomy and Astrophysics 2024年第1期24卷 87-95页

作者： Xiao-Qi Wu Cun-Ying Xiao Ali Esamdin Jing Xu Ze-wei Wang luo Xiao Institute for Frontiers in Astronomy and Astrophysics Beijing Normal UniversityBeijing 102206China department of Astronomy Beijing Normal UniversityBeijing 100875China Xinjiang Astronomical Observatory Chinese Academy of SciencesUrumqi 830011China university of Chinese Academy of Sciences Beijing 100049China

Seeing is an important index to evaluate the quality of an astronomical *** estimate seeing at the Muztagh-Ata site with height and time quantitatively,the European Centre for Medium-Range Weather Forecasts reanalysis database(ERA5)is *** calculated from ERA5 is compared consistently with the Differential Image Motion Monitor seeing at the height of 12.*** show that seeing decays exponentially with height at the Muztagh-Ata *** decays the fastest in fall in 2.2. and most slowly with height in *** seeing condition is better in fall than in *** median value of seeing at 12.m is 0.89 arcsec,the maximum value is1.2. arcsec in August and the minimum is 0.66 arcsec in *** median value of seeing at 12.m is 0.72.rcsec in the nighttime and 1.08 arcsec in the *** is a combination of annual and about biannual variations with the same phase as temperature and wind speed indicating that seeing variation with time is influenced by temperature and wind *** Richardson number Ri is used to analyze the atmospheric stability and the variations of seeing are consistent with Ri between *** quantitative results can provide an important reference for a telescopic observation strategy.

关键词： site testing atmospheric effects methods:data analysis telescopes Earth

Cauliflower-like Ni_(3)S_(2. foam for ultrastable oxygen evolution electrocatalysis in alkaline seawater

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Nano Research 2024年第8期17卷 6820-6825页

作者： Qiuying Dai Xun he Yongchao Yao Kai Dong Xuwei Liu Xiankun Guo Jie Chen Xiaoya Fan Dongdong Zheng Yongsong luo Shengjun Sun Luming Li wei Chu Asmaa Farouk Mohamed SHamdy Xuping Sun Bo Tang Institute of Fundamental and Frontier Sciences University of Electronic Science and Technology of ChinaChengdu 610054China College of Chemistry Chemical Engineering and Materials ScienceShandong Normal UniversityJinan 250014China Institute for Advanced Study Chengdu UniversityChengdu 610106China department of Chemistry College of ScienceKing Khalid UniversityP.O.Box 900461413 AbhaSaudi Arabia Center for High Altitude Medicine West China HospitalSichuan UniversityChengdu 610041China Laoshan Laboratory Qingdao 266237China

It is of great importance to design and develop electrocatalysts that are both long-lasting and efficient for seawater ***,a three-dimensional porous cauliflower-like Ni_(3)S_(2. foam on Ni foam(Ni_(3)S_(2. foam/NF)is proposed as a high-performance electrocatalyst for the oxygen evolution reaction in alkaline *** as-synthesis Ni_(3)S_(2. foam/NF achieves exceptional efficacy,achieving a current density of 100 mA·cm^(−2.at mere overpotential of 369 ***,its electrocatalytic stability extends up to 1000 h at 500 mA·cm^(−2..

关键词： Ni_(3)S_(2.foam oxygen evolution reaction seawater electrolysis electrocatalyst

Aboveground biomass stocks of species-rich natural forests in southern china are influenced by stand structural attributes,species richness and precipitation

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Plant Diversity 2024年第4期46卷 530-536页

作者： Wen-Hao Zeng Shi-Dan Zhu Ying-Hua luo wei Shi Yong-Qiang Wang Kun-Fang Cao State Key Laboratory for Conservation and Utilization of Subtropical Agro-Bioresources College of ForestryGuangxi UniversityNanning 530004China Guangxi Key Laboratory of Forest Ecology and Conservation College of ForestryGuangxi UniversityNanning 530004China Key Laboratory of National Forestry and Grassland Administration on Biodiversity Conservation in Karst Mountainous Areas of Southwestern china School of Life SciencesGuizhou Normal UniversityHuaxi College TownGui'an DistrictGuiyang 550025China

Forests,the largest terrestrial carbon sinks,play an important role in carbon sequestration and climate change *** forest attributes and environmental factors have been shown to impact aboveground biomass,their influence on biomass stocks in species-rich forests in southern china,a biodiversity hotspot,has rarely been *** this study,we characterized the effects of environmental factors,forest structure,and species diversity on aboveground biomass stocks of 30 plots(1 ha each) in natural forests located within seven nature reserves distributed across subtropical and marginal tropical zones in Guangxi,*** results indicate that forest aboveground biomass stocks in this region are lower than those in mature tropical and subtropical forests in other ***,we found that aboveground biomass was positively correlated with stand age,mean annual precipitation,elevation,structural attributes and species richness,although not with species *** we compared stands with the same basal area,we found that aboveground biomass stock was higher in communities with a higher coefficient of variation of diameter at breast *** findings highlight the importance of maintaining forest structural diversity and species richness to promote aboveground biomass accumulation and reveal the potential impacts of precipitation changes resulting from climate warming on the ecosystem services of subtropical and northern tropical forests in ***,many natural forests in southern china are not fully ***,their continued growth will increase their carbon storage over time.

关键词： Subtropical forest Marginal tropical forest Aboveground biomass Species diversity Forest structural attribute Environment factor

Isomerization of B_6,B_6^- and B_6^+ clusters

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Science china Chemistry 2010年第1期53卷 202-209页

作者： wei GongMin1,PU ZhiFeng2.ZOU Rong3,LI GuoLiang2.3 & luo Qiong2.3 1{2. of Physics,Capital normal university,Beijing 100048,china 2.tate Key Laboratory of Explosion Science and Technology Beijing Institute of Technology,Beijing 100081,china 3Center for Computational Quantum Chemistry,South china normal university,Guangzhou 510631,china 1. department of Physics Capital Normal University Beijing 100048 China2. State Key Laboratory of Explosion Science and Technology Beijing Institute of Technology Beijing 100081 China3. Center for Computational Quantum Chemistry South China Normal University Guangzhou 510631 China

The interconversions between isomers with the same spin multiplicity of neutral B6 and charged B6-and B6+ clusters have been investigated at the B3LYP/6-311+G level of theory,including determination of the minimum energy pathways with transition states connecting the corresponding reactants and *** dynamic calculations,2. isomers were optimized,including 11 novel *** order to further refine the energies,single-point B3LYP/6-311+G(3df) calculations were carried out on the corresponding B3LYP/6-311+G geometries of all isomers of B6,B6-and B6+ and the corresponding isomerization transition *** stability of each isomer of B6(singlet and triplet states),B6-(doublet state) and B6+(doublet state) was analyzed from both thermodynamic and dynamic viewpoints.

关键词： B6 transition state intrinsic reaction coordinate barrier height