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Fast Four-Stage Local Motion Planning Method for Mobile Robot

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Journal of shanghai Jiaotong university(Science) 2024年第3期29卷 428-435页

作者：黄山黄洪钟曾奇 Center for System Reliability and Safety University of Electronic Science and Technology of ChinaChengdu 611731China EvenTec Co. Ltd.Chengdu 610097China

Mobile robot local motion planning is responsible for the fast and smooth obstacle avoidance,which is one of the main indicators for evaluating mobile robots'navigation *** methods formulate local motion planning as a unified problem;therefore it cannot satisfy the real-time requirement on the platform with limited computing *** order to solve this problem,this paper proposes a fast local motion planning method that can reach a planning frequency of 500 Hz on a low-cost *** proposed method decouples the local motion planning as the front-end path searching and the back-end *** front-end is composed of the environment topology analysis and graph *** back-end includes dynamically feasible trajectory generation and optimal trajectory *** from the popular methods,the proposed method decomposes the local motion planning into four sub-modules,each of which aims to solve one *** four sub-modules,the proposed method can obtain the complete local motion planning algorithm which can fast generate a smooth and collision-free *** experimental results demonstrate that the proposed method has the ability to obtain the smooth,dynamically feasible and collision-free trajectory and the speed of the planning is fast.

关键词： robotics path planning trajectory generation smooth trajectory planning

Stepwise colloidal lithography toward scalable and various planar chiral metamaterials

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Rare Metals 2024年第2期43卷 723-735页

作者： Xiu Yang Yong Liu Fei-Liang Chen Qian-Qi Lin Rohit Chikkaraddy shan-shan huang Shi-Lin Xian Yi-Dong Hou Jing-Lei Du Liang-Ping Xia Chun-Lei Du School of Electronic Science and Engineering University of Electronic Science and Technology of ChinaChengdu610054China School of Optoelectronic Science and Engineering University of Electronic Science and Technology of ChinaChengdu610054China Zhuhai Multiscale Optoelectronics Technology Co. Ltd.Zhuhai915060China Hybrid Materials for Opto-Electronics Group Department of Molecules and MaterialsMESA+Institute for NanotechnologyMolecules Center and Center for Brain-Inspired Nano SystemsFaculty of Science and TechnologyUniversity of Twente7500 AEEnschedeThe Netherlands School of Physics and Astronomy University of BirminghamBirminghamB152TTUK College of Physics Sichuan UniversityChengdu610065China Key Laboratory of Micro Nano Optoelectronic Devices and Intelligent Perception Systems Yangtze Normal UniversityChongqing408100China

Chiral metamaterials(CMs)composed by artificial chiral resonators have attracted great attentions in the recent decades due to their strong chiroptical resonance and identifiable interaction with chiral materials,facilitating practical applications in chiral biosensing,chiral emission,and display ***,the complex geometry of CMs improves the fabrication difficulty and hinders their scalable fabrication for practical applications,especially in the visible and ultraviolet *** potential strategy is the colloidal lithography that enables parallel fabrication for scalable and various planar ***,we demonstrate a stepwise colloidal lithography technique that uses sequential deposition from multiple CMs and expand their variety and *** geometry and optical chirality of building blocks from single deposition are systematically investigated,and their combination enables a significant extension of the range of chiral patterns by multiple-step *** approach resulted in a myriad of complex designs with different characteristic sizes,compositions,and shapes,which are particularly beneficial for the development of nanophotonic *** addition,we designed a flexible chiral device based on PDMS,which exhibits a good CD value and excellent stability even after multiple inward and outward *** excellent compatibility to various substrates makes the planar CMs more flexible in practical applications in microfluidic biosensing.

关键词： Chiral metamaterials Colloidal lithography Nanophotonics Metasurfaces Plasmonics Nanofabrications Flexible devices

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A High-Performance Electrochemical Analysis Platform for Ultrasensitive Detection of HTLV-1 DNA: Integrating Cascade Signal Amplifi cation with λ-Exonuclease-Assisted Target Recycling and Enzyme Catalysis

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Journal of Analysis and Testing 2024年第3期8卷 361-373页

作者： Qi Xiao Shuai Liu Yali Wang Huihao Li Mingli Yang Yi Fang Sijing Chen shan huang Guangxi Key Laboratory of Natural Polymer Chemistry and Physics College of Chemistry and Materials Nanning Normal University

Human T-cell lymphophilic virus type 1 (HTLV-1), the known retrovirus causing cancer in humans, is closely associated with adult T-cell leukemia/lymphoma and HTLV-1 associated myelopathy/tropical spastic paraparesis. Due to its ability to evade the host's defense mechanisms, early tracking of HTLV-1 becomes crucial. In this study, we integrateλ-Exonuclease(λ-Exo)-assisted target recycling with a terminal deoxynucleotidyl transferase (TdT)-mediated template-free DNA extension process to develop an electrochemical analysis platform for the specifi c and sensitive detection of HTLV-1 DNA. During theλ-Exo-assisted target recycling, HTLV-1 DNA is recognized by hairpin DNA (Hp-DNA), forming double-stranded DNA(dsDNA) through DNA hybridization. The dsDNA, featuring blunt 5'terminal phosphorylation, is cleaved byλ-Exo, generating abundant short output sequence (sDNA). HTLV-1 DNA is released, initiating a cyclic hybridization-cleavage ***, thiol-labelled capture DNA (CP-DNA) assembled on gold electrode surface captures a substantial amount of the generated sDNA, forming CP-DNA-sDNA nanostructures. When TdT and dNTPs are present on the electrode surface, the3'-OH terminal of sDNA extends to generate long single-stranded DNA (ssDNA) structure. Methylene blue (MB) is selected as the electrochemical signal molecule. MB not only binds with ssDNA but also interacts specifi cally with dsDNA, resulting in a signifi cantly enhanced electrochemical signal on modifi ed electrode surface. The detection limit of HTLV-1 DNA is as low as 19 amol/L (S/N=3) when the two signal amplifi cation strategies are combined. The analysis platform exhibits excellent analytical performance and holds promise as a novel tool for the early tracing and diagnosis of HTLV-1 DNA.

关键词： Cascade signal amplification Electrochemical DNA sensor Enzyme-assisted target recycling HTLV-1 DNA

Adjuvant Therapy for Hepatocellular Carcinoma After Curative Treatment:Several Unanswered Questions

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Journal of Clinical and Translational Hepatology 2024年第5期12卷 525-533页

作者： Le Li Zhen-Zhen Li Li-Xin Pan Jia-Yong Su shan huang Liang Ma Jian-Hong Zhong Hepatobiliary Surgery Department Guangxi Medical University Cancer HospitalNanningGuangxiChina Guangxi Academy of Medical Sciences Emergency DepartmentThe People’s Hospital of Guangxi Zhuang Autonomous RegionNanningGuangxiChina Pathology Department Guangxi Medical University Cancer HospitalNanningGuangxiChina Key Laboratory of Early Prevention and Treatment for Regional High Frequency Tumor(Guangxi Medical University) Ministry of EducationNanningGuangxiChina Guangxi Key Laboratory of Early Prevention and Treatment for Regional High Frequency Tumor NanningGuangxiChina

Most patients with hepatocellular carcinoma(HCC)have a poor *** and local ablation are the main curative treatments for ***,the recurrence rate after hepatectomy or ablation is up to 70%,which seriously affects patient *** adjuvant therapies have been explored to reduce postoperative ***,although a variety of adjuvant therapies have been shown to reduce the recurrence rate and improve overall survival,a standard consensus of national HCC guidelines for adjuvant treatment is ***,there are significant differences in the recommendations for adjuvant therapy for HCC between the Eastern and Western guidelines.A variety of adjuvant treatment methods,such as antiviral therapy,transarterial chemoembolization or traditional Chinese medicine,are recommended by the Chinese HCC ***,Western guidelines make few recommendations other than antiviral *** immune checkpoint inhibitors are recommended only in the recently updated American Association for the Study of Liver Diseases *** review summarized the existing adjuvant therapy options after curative hepatectomy or ablation and discusses several important dilemmas of adjuvant treatments.

关键词： Hepatocellular carcinoma Adjuvant therapy Curative hepatectomy Recurrence Overall survival Immune checkpoint inhibitor

Ocular surface in patients with different degrees of myopia

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International Journal of Ophthalmology(English edition) 2024年第7期17卷 1313-1321页

作者： Yan-Yun Lyu Shuang Wang Xiao-Niao Chen Zhen-Yu Wang shan-shan huang Yan Yuan Hong-Shuang Lu Wen-Li Yang Li-Ya Qiao Lei Tian Ying Jie Tongren Eye Care Center Beijing Tongren HospitalCapital Medical UniversityBeijing 100730China Beijing Institute of Ophthalmology Beijing Tongren Eye CenterBeijing Tongren HospitalCapital Medical University and Beijing Ophthalmology and Visual Sciences Key LaboratoryBeijing 100730China Department of Ophthalmology the Third Medical Center of Chinese People’s Liberation Army General HospitalBeijing 100039China Department of Ophthalmology and Visual Science Tokyo Medical and Dental UniversityTokyo 113-8510Japan

AIM:To investigate the clinical features of the ocular surface in patients with different degrees of ***:A cross-sectional study was conducted involving 122 participants with myopia in Beijing Tongren Hospital from February to June,*** completing the Ocular Surface Disease Index(OSDI)score scale,measurements were taken for refraction,biometric parameters and ocular surface *** prevalence,severity and related parameters of the dry eye among different groups based on axial length(AL)were *** analysis was performed between ocular surface parameters and refraction/biometric measurement ***:Statistically significant differences were observed in refractive error,corneal thickness,anterior chamber depth,and subfoveal choroidal thickness among the groups(all P<0.05).With the increase in AL,the incidence and severity of dry eye increased significantly(P<0.05).Moreover,the tear film break-up time(BUT)shortened(P<0.05),and the corneal fluorescein staining(CFS)points increased significantly(P<0.05).OSDI scores were positively correlated with AL and spherical equivalent(SE;both P<0.05);BUT was negatively correlated with AL,SE,and corneal astigmatism(AST;all P<0.05);Schirmer I test(SIT)results were negatively correlated with AL and SE(both P<0.05).CONCLUSION:AL elongation is a risk factor for dry eye onset in myopic *** longer the AL,the more severe the dry eye is,with the increased CFS spots and tear film ***,SE and AST exhibit negative correlations with dry eye symptom scores and ocular surface parameters.

关键词： myopia axial length ocular surface dry eye

Eccrine porocarcinoma in the tempus of an elderly woman:A case report

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World Journal of Clinical Cases 2024年第8期12卷 1523-1529页

作者： Zhi-Wei Wu Wen-Jie Zhu shan huang Qi Tan Cong You Dian-Gui Hu Long-Nian Li Department of Dermatology First Affiliated Hospital of Gannan Medical UniversityGanzhou 341000Jiangxi ProvinceChina Department of Laser and Cosmetic Dermatology Ganzhou Dermatology HospitalGanzhou 341000Jiangxi ProvinceChina Department of Dermatology Tongxiang Dermatology HospitalJiaxing 314000Zhejiang ProvinceChina Department of Infectious Diseases The Fifth people’s Hospital of GanzhouGanzhou 341000Jiangxi ProvinceChina

BACKGROUND Eccrine porocarcinoma(EPC)is a rare skin tumor that mainly affects the elderly *** often present with slow growth and a good *** are usually distinguished from other skin tumors using histopathology and ***,surgical management alone may be inadequate if the tumor has ***,currently,surgical resection is the most commonly used treatment *** SUMMARY A seventy-four-year-old woman presented with a slow-growing nodule in her left temporal area,with no obvious itching or pain,for more than four *** examination showed small columnar and short spindle-shaped cells;thus,basal cell carcinoma was ***,immunohistochemical analysis revealed the expression of cytokeratin 5/6,p63 protein,p16 protein,and Ki-67 antigen(40%),and EPC was taken into *** skin biopsy was repeated,and hematoxylin and eosin staining revealed ductal differentiation in some ***,the patient was diagnosed with EPC,and Mohs micrographic surgery was *** adapted follow-up visits in a year and not found any recurrence of *** This case report emphasizes the diagnosis and differentiation of EPC.

关键词： Eccrine porocarcinoma Sweat gland carcinoma Histopathology Immunohistochemistry Prognosis Case report

活态与传承:现代艺术设计与非物质文化遗产的相融与创新

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江汉论坛 2024年第10期 95-99页

作者：黄山中南财经政法大学中韩新媒体学院湖北武汉430073

现代艺术设计与非物质文化遗产的相融与创新不仅能赋予非物质文化遗产新活力、拓展传承渠道以及增强文化认同感,还可以丰富艺术设计内涵、推动艺术创新以及增进跨学科交流和跨学科融合发展。现代艺术设计与非物质文化遗产之间的关系表现... 详细信息

现代艺术设计与非物质文化遗产的相融与创新不仅能赋予非物质文化遗产新活力、拓展传承渠道以及增强文化认同感,还可以丰富艺术设计内涵、推动艺术创新以及增进跨学科交流和跨学科融合发展。现代艺术设计与非物质文化遗产之间的关系表现为:非物质文化遗产为现代艺术设计提供文化素材与灵感源泉,现代艺术设计为非物质文化遗产的传承与发展注入新活力。在现代艺术设计与非物质文化遗产相融与创新的过程中,应遵循活态传承的理念;秉持真实性、创新性、功能性原则;提炼非物质文化遗产中的艺术文化元素,对非物质文化遗产中艺术文化元素进行二次创作,建立现代艺术设计与非物质文化遗产相融与创新的机制,以实现现代艺术设计与非物质文化遗产相融与创新的效果,促进艺术设计事业的高质量发展和非物质文化遗产的可持续发展。

关键词：现代艺术设计非物质文化遗产活态保护文化传承

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Mast cell degranulation-triggered by SARS-CoV-2 induces tracheal-bronchial epithelial inflammation and injury

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Virologica Sinica 2024年第2期39卷 309-318页

作者： Jian-Bo Cao Shu-Tong Zhu Xiao-shan huang Xing-Yuan Wang Meng-Li Wu Xin Li Feng-Liang Liu Ling Chen Yong-Tang Zheng Jian-Hua Wang Guangzhou Institutes of Biomedicine and Health Chinese Academy of SciencesGuangzhou 510530China School of Life Sciences and Medicine University of Science and Technology of ChinaHefei 230026China Key Laboratory of Bioactive Peptides of Yunnan Province Key Laboratory of Animal Models and Human Disease Mechanisms of the Chinese Academy of SciencesKIZCUHK Joint Laboratory of Bioresources and Molecular Research in Common DiseasesCenter for Biosafety Mega-ScienceKunming Institute of ZoologyChinese Academy of SciencesKunming 650223China University of Chinese Academy of Sciences Beijing 101408China

SARS-CoV-2 infection-induced hyper-inflammation is a key pathogenic factor of *** research,along with others',has demonstrated that mast cells(MCs)play a vital role in the initiation of hyper-inflammation caused by *** previous study,we observed that SARS-CoV-2 infection induced the accumulation of MCs in the peri-bronchus and bronchioalveolar-duct junction in humanized ***,we found that MC degranulation triggered by the spike protein resulted in inflammation in alveolar epithelial cells and capillary endothelial cells,leading to subsequent lung *** trachea and bronchus are the routes for SARS-CoV-2 transmission after virus inhalation,and inflammation in these regions could promote viral *** are widely distributed throughout the respiratory ***,in this study,we investigated the role of MCs and their degranulation in the development of inflammation in tracheal-bronchial *** analyses showed the accumulation and degranulation of MCs in the peri-trachea of humanized mice infected with *** degranulation caused lesions in trachea,and the formation of papillary hyperplasia was *** transcriptome analysis in bronchial epithelial cells,we found that MC degranulation significantly altered multiple cellular signaling,particularly,leading to upregulated immune responses and *** administration of ebastine or loratadine effectively suppressed the induction of inflammatory factors in bronchial epithelial cells and alleviated tracheal injury in *** together,our findings confirm the essential role of MC degranulation in SARS-CoV-2-induced hyper-inflammation and the subsequent tissue ***,our results support the use of ebastine or loratadine to inhibit SARS-CoV-2-triggered degranulation,thereby preventing tissue damage caused by hyper-inflammation.

关键词： SARS-CoV-2 Mast cell(MC) Bronchial epithelial cell Inflammation Tracheal injury

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基于预定义时间的四旋翼滑模控制

北京航空航天大学学报 2024年第5期50卷 1665-1674页

作者：刘浩黄山涂海燕四川大学电气工程学院成都610065

针对四旋翼位置环和姿态环的控制问题,使得四旋翼位姿能够在预定时间内稳定,提出一种基于预定义时间滑模控制算法的位姿控制器。该控制器通过对四旋翼位置环和姿态环2个环节的控制,使得四旋翼的位姿能够在预定时间内稳定。理论推导及数... 详细信息

针对四旋翼位置环和姿态环的控制问题,使得四旋翼位姿能够在预定时间内稳定,提出一种基于预定义时间滑模控制算法的位姿控制器。该控制器通过对四旋翼位置环和姿态环2个环节的控制,使得四旋翼的位姿能够在预定时间内稳定。理论推导及数值仿真表明:所提算法具有正确性;仿真结果表明:应用所提控制器的四旋翼的位置和姿态能够在预定时间内达到稳定。

关键词：四旋翼预定义时间稳定滑模控制位置控制姿态控制

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