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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

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 luo 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 2021 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 is1.21 arcsec in August and the minimum is 0.66 arcsec in *** median value of seeing at 12 m is 0.72arcsec 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

Unique Ultrastructural Alterations in the Placenta Associated With Macrosomia Induced by Gestational Diabetes Mellitus

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Maternal-Fetal Medicine 2024年第3期6卷 164-172页

作者： Junxiang wei Tianyu Dong Mingxia Chen Xiao luo Yang Mi department of Obstetrics Northwest Women’s and Children’s HospitalXi’an 710061China Laboratory of Electron Microscope Health Science Center of Xi’an Jiaotong UniversityXi’an 710049China department of Physiology and Pathophysiology School of Basic Medical SciencesHealth Science Center of Xi’an Jiaotong UniversityXi’an 710049China

Objective:To investigate the morphological and ultrastructural alterations in placentas from pregnancies with gestational diabetes mellitus(GDM)–induced macrosomia,term nondiabetic macrosomia,and normal ***:Sixty full-term placentaswere collected,and clinical data alongwith informed consent were obtained from pregnant womenwho underwent regular visit checks and delivered their newborns in Northwest Women’s and Children’s Hospital between May and December *** were divided into three equal groups:normal pregnancy(control group),nondiabetic macrosomia group,and macrosomia complicated with GDM(diabetic macrosomia)*** morphological data of placentas were recorded,and placental samples were processed for examination of ultrastructural and stereological changes using transmission electron *** of variance and chi-squared test were used to examine the differences among the three groups for continuous and categorical variables,***:The baseline characteristics of mothers and neonates did not differ across the three groups,except for a significantly higher birth weight in the diabetic macrosomia group(4172.00±151.20 g vs.3192.00±328.70 g,Phe placentas revealed that placental weight was also highest in the diabeticmacrosomia group comparedwith control group(810.00±15.81 g vs.490.00±51.48 g,Phe ratio of neonatal birth weight to placental weight(BW/PW)was significantly lower in the diabetic macrosomia group compared with that in the control group(5.15±0.19 vs.6.54±0.63,Phe BW/PW ratio in nondiabetic macrosomia did not differ significantly from that in the control *** ultrastructural changes in terminal v

关键词： Placenta Macrosomia Gestational diabetes mellitus Ultrastructure Morphology

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

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 luo, 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 北京 100875

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 282.5 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 282.5 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

Evolutionary mechanism and frequency response of graphite electrode at extreme temperatures

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Nano Research 2024年第8期17卷 7283-7289页

作者： Shanpeng Pei Zhiyong Zhang Xiuli Zhang Yan Liu Xiang Han Linshan luo Pengfei Su Chaofei Lan wei Huang Ziqi Zhang Ming-Sheng Wang Songyan Chen department of Physics Xiamen UniversityXiamen 361005China Shandong Electric Power Engineering Consulting Institute Corporation Jinan 250031China State Key Lab of Physical Chemistry of Solid Surfaces College of MaterialsXiamen UniversityXiamen 361005China School of Semiconductor Science and Technology South China Normal UniversityFoshan 528225China College of Materials Science and Engineering Nanjing Forestry UniversityNanjing 210037China National Key Laboratory of Integrated Circuits and Microsystems Chongqing 400000China

The battery management system is employed to monitor the external temperature of the lithium-ion battery in order to detect any potential ***,this outside–in detection method often suffers from a lag and is therefore unable to accurately predict the battery’s real-time ***,an inside–out frequency response approach is used to accurately monitor the battery’s state at various temperatures in real-time and correlate it with the solid electrolyte interphase(SEI)evolution of the graphite *** SEI evolution at temperatures of−15,25,60,and 90℃exhibits certain regular characteristics with temperature *** a temperature of−15℃,the Li^(+)-solvent interaction of lithium-ion slowed down,resulting in a significant reduction in *** 25℃,a LiF-rich inorganic SEI was identified as forming,which facilitated lithium-ion ***,high temperatures would induce decomposition of lithium hexafluorophosphate(LiPF_(6))and lithium-ion *** the extreme temperature of 90℃,the SEI would be organic-rich,and Li_(x)P_(y)F_(z),a decomposition product of lithium salts,was further oxidized to Li_(x)PO_(y)F_(z),which led to a surge in the charge-transfer resistance at SEI(R_(sei))and a reduction in Coulombic efficiency(CE).This changing relationship can be recorded in real time from the inside out by electrochemical impedance spectroscopy(EIS)*** provides a new theoretical basis for the structural evolution of lithium-ion batteries and the regular characterization of EIS.

关键词： graphite electrode solid electrolyte interphase(SEI)film extreme temperatures frequency response evolutionary mechanism