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Continuous adaptive gaits manipulation for three-fingered robotic hands via bioinspired fingertip contact events

Biomimetic Intelligence & Robotics 2024年第1期4卷 59-69页

作者： Xiaolong Ma jianhua Zhang Binrui Wang Jincheng huang Guanjun Bao College of Mechanical and Electrical Engineering China Jiliang UniversityHangzhou 310018China School of Mechanical Engineering University of Science and Technology BeijingBeijing 100083China College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China

The remarkable skill of changing its grasp status and relocating its fingers to perform continuous in-hand manipulation is essential for a multifingered anthropomorphic hand.A commonly utilized method of manipulation involves a series of basic movements executed by a high-level controller.However,it remains unclear how these primitives evolve into sophisticated finger gaits during manipulation.Here,we propose an adaptive finger gait-based manipulation method that offers real-time regulation by dynamically changing the primitive interval to ensure the force/moment balance of the object.Successful manipulation relies on contact events that act as triggers for real-time online replanning of multifinger manipulation.We identify four basic motion primitives of finger gaits and create a heuristic finger gait that enables the continuous object rotation of a round cup.Our experimental results verify the effectiveness of the proposed method.Despite the constant breaking and reengaging of contact between the fingers and the object during manipulation,the robotic hand can reliably manipulate the object without failure.Even when the object is subjected to interfering forces,the proposed method demonstrates robustness in managing interference.This work has great potential for application to the dexterous operation of anthropomorphic multifingered hands.

关键词： Adaptive switch Contact event Continuous manipulation Multifinger gait Primitive

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Aggregation-induced T_(1)/T_(2) contrast enhancement for magnetic resonance imaging-guided intraoperative surgery

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Science China Chemistry 2024年第6期67卷 2046-2055页

作者： Wenbo Sun Bin Yu Dianshuai huang Chunhuan Jiang Wei Wang jianhua Liu Zonghua Wang Lehui Lu State Key Laboratory of Electroanalytical Chemistry Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun130022China College of Chemistry and Chemical Engineering Shandong Sino-Japanese Center for Collaborative Research of Carbon NanomaterialsQingdao Application Technology Innovation Center of Photoelectric Biosensing for Clinical Diagnosis and TreatmentQingdao UniversityQingdao266071China Department of Radiology Second Hospital of Jilin UniversityChangchun130041China

Magnetic resonance imaging(MRI)plays an important role in precision medicine that is hampered by the lack of contrast agents with high efficiency and the ability to translate diagnostic accuracy into therapeutic intervention.Herein,we demonstrate a DNA-based MRI probe that overcomes previous single-mode enhancement and provides a mechanism of action for aggregationinduced dual-modal MRI signal enhancement.A facile method is developed to produce aggregated T_(1)/T_(2)dual-modal NaGdF_(4):Dy@PDA-DNA(PDA=polydopamine)MRI probes.When aggregated,this probe can further amplify MRI signal intensity and exhibit improved geometrical and positional stability in vivo.The performance of the NaGdF_(4):Dy@PDA-DNA MRI probe toward MRI-guided preoperative planning and visualization-guided surgery is verified using an orthotopic tumor-bearing mouse model.The result shows that the rapid metabolism of the degraded probe leads to the mitigation of long-term toxic effects.Therefore,the developed high-performance MRI probe is of great significance for enhancing MRI diagnostic accuracy into precision medical therapeutic interventions.

关键词： MRI probe DNA aggregation-induced T_(1)/T_(2)contrast enhancement precision medicine degradable probe

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Interaction between internal solitary waves and the seafloor in the deep sea

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Deep Underground Science and Engineering 2024年第2期3卷 149-162页

作者： Zhuangcai Tian Jinjian huang Jiaming Xiang Shaotong Zhang Jinran Wu Xiaolei Liu Tingting Luo jianhua Yue State Key Laboratory of Intelligent Construction and Healthy Operation and Maintenance of Deep Underground Engineering China University of Mining and TechnologyXuzhouChina Research Center for Deep Ocean Science and Underwater Engineering China University of Mining and TechnologyXuzhouChina Frontiers Science Center for Deep Ocean Multispheres and Earth System Key Lab of Submarine Geosciences and Prospecting TechniquesMOECollege of Marine GeosciencesOcean University of ChinaQingdaoChina Institute for Learning Sciences&Teacher Education Australian Catholic UniversityBrisbaneQueenslandAustralia Shandong Provincial Key Laboratory of Marine Environment and Geological Engineering Ocean University of ChinaQingdaoChina Department of Chemical and Biomolecular Engineering National University of SingaporeSingaporeSingapore School of Resources and Geosciences China University of Mining and TechnologyXuzhouChina

Internal solitary wave(ISW),as a typical marine dynamic process in the deep sea,widely exists in oceans and marginal seas worldwide.The interaction between ISW and the seafloor mainly occurs in the bottom boundary layer.For the seabed boundary layer of the deep sea,ISW is the most important dynamic process.This study analyzed the current status,hotspots,and frontiers of research on the interaction between ISW and the seafloor by CiteSpace.Focusing on the action of ISW on the seabed,such as transformation and reaction,a large amount of research work and results were systematically analyzed and summarized.On this basis,this study analyzed the wave–wave interaction and interaction between ISW and the bedform or slope of the seabed,which provided a new perspective for an in‐depth understanding of the interaction between ISW and the seafloor.Finally,the latest research results of the bottom boundary layer and marine engineering stability by ISW were introduced,and the unresolved problems in the current research work were summarized.This study provides a valuable reference for further research on the hazards of ISW to marine engineering geology.

关键词： bottom boundary layer interaction internal solitary wave seafloor sediment

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Artificial synapses based on organic electrochemical transistors with self-healing dielectric layers

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Chinese Chemical Letters 2024年第3期35卷 423-427页

作者： Yushan Gao Junyao Zhang Dapeng Liu Tongrui Sun Jun Wang Li Li Shilei Dai jianhua Zhang Zhenglong Yang Jia huang School of Materials Science and Engineering Tongji UniversityShanghai 201804China Key Laboratory of Advanced Display and System Application Ministry of EducationShanghai UniversityShanghai 200072China National Key Laboratory of Autonomous Intelligent Unmanned Systems Tongji UniversityShanghai 201804China

Organic electrochemical transistors(OECTs)have emerged as one type of promising building block for neuromorphic systems owing to their capability of mimicking the morphology and functions of biological neurons and synapses.Currently,numerous kinds of OECTs have been developed,while self-healing performance has been neglected in most reported OECTs.In this work,the OECTs using self-healing polymer electrolytes as dielectric layers are proposed.Several important synaptic behaviors are simulated in the OECTs by doping the channel layers with ions from the electrolytes.Benefitting from the dynamic hydrogen bonds in the self-healing polymer electrolytes,the OECTs can successfully maintain their electrical performance and the ability of emulating synaptic behaviors after self-healing compared with the initial state.More significantly,the sublinear spatial summation function is demonstrated in the OECTs and their potential in flexible electronics is also validated.These results suggest that our devices are expected to be a vital component in the development of future wearable and bioimplantable neuromorphic systems.

关键词： Organic electrochemical transistors Artificial synapses Synaptic behaviors Self-healing Flexibility

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The Appeals,Dilemmas,and Pathways of Enabling Rural Teachers’Professional Development Through Emerging Technologies

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Journal of Contemporary Educational Research 2024年第5期8卷 240-246页

作者： Hailang Chen jianhua huang School of Electronic and Information Engineering Heyuan PolytechnicHeyuan 517000Guangdong ProvinceChina School of Humanities Heyuan PolytechnicHeyuan 517000Guangdong ProvinceChina

With the rapid advancements in technology,especially in digitalization and intelligence,numerous modern technologies have poured into rural schools,effectively improving their informatization conditions.Nevertheless,these technologies remain detached from rural teachers,failing to significantly enhance the quality of education and teaching in rural areas.Rural education is a crucial aspect of ensuring balanced development in education.The question of how to enhance rural teachers’technological application abilities and fully leverage the positive role of technology in rural education and teaching has become a significant topic of current research on rural education issues.To better address this question,this study conducted a thorough examination of the specific appeals of rural teachers in the process of technology enablement.It was discovered that rural teachers generally face dilemmas such as insufficient technological application abilities,difficulties in obtaining quality teaching resources,and the lack of continuous technical support and update mechanisms.Based on these findings,specific pathways such as strengthening rural teacher training,optimizing the allocation of educational resources,and establishing mechanisms for continuous technical support and updates are proposed to aid in the high-quality development of rural education.

关键词： Teacher professional development Emerging technologies Lifelong learning

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Integrated analyses of transcriptomics and network pharmacology reveal leukocyte characteristics and functional changes in subthreshold depression,elucidating the curative mechanism of Danzhi Xiaoyao powder

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Journal of Traditional Chinese Medical Sciences 2024年第1期11卷 3-20页

作者： Kunyu Li Leiming You jianhua Zhen Guangrui huang Ting Wang Yanan Cai Yunan Zhang Anlong Xu School of Life Sciences Bejing University of Chinese MedicineBeijing 102488China School of Life Sciences Sun Yat-Sen UniversityGuangzhou 510006Chin

Objective:To investigate the molecular mechanism and identify potential drugs for subthreshold depression(SD),and elucidate the detalied mechanism of Danzhi Xiaoyao powder(DZXY)in SD.Methods:Using RNA-sequencing,we identified differentially expressed genes(DEGs)in leukocytes of SD compared to healthy controls,deciphered their functions and pathways,and identified the hub genes of SD.We also assessed changes in leukocyte transcription factor activity in patients with SD using the TELis platform.The Connectivity Map database was retrieved to screen candidate drugs for SD.Based on network pharmacology,we elucidated the"multi-component,multi-target,and multi-pathway"mechanism of DZXY in the treatment of SD.Results:We identified 1080 DEGs(padj<0.05 and|log2(fold change)l≥1&protein coding)in the leukocytes of patients with SD.These DEGs,including hub genes,were primarily involved in immune and inflammatory response-related processes.Transcription factor activity analysis revealed similarities between the leukocyte transcriptome profile in SD and the conserved transcriptional response to adversities in immune cells.Connectivity Map analysis identified 28 potential drugs for SD treatment,particularly SB-202190 and TWS-119.Constructing the"Direct Compounds-Direct Targets-Pathways"network for DZXY and SD revealed the curative mechanisms of DZXY in SD,primarily including inflammatory response,lipid metabolism,immune response,and other processes.Conclusion:These results provide new insights into the characteristics and functional changes of leukocytes in SD,partially illustrate the pathogenesis of SD,and suggest potential drugs for SD.The curative mechanisms of DZXY in SD are also partially elucidated.

关键词： Subthreshold depression Leukocyte mRNAbiomarker CTRA Transcription factor activity CMap Danzhi Xiaoyaopowder Networkpharmacology

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RNA-seq analysis of a zebrafish caudal fin cell line in response to infection with spring viraemia of carp virus

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Aquaculture and Fisheries 2024年第2期9卷 181-192页

作者： Wenji huang Ning Ji Xin Zhao Jiahong Guo jianhua Feng Kangyong Chen Yaxin Wu Junya Wang Jun Zou Key Laboratory of Exploration and Utilization of Aquatic Genetic Resources Ministry of EducationShanghai Ocean UniversityShanghai201306China International Research Center for Marine Biosciences Ministry of Science and TechnologyShanghai Ocean UniversityShanghai201306China National Demonstration Center for Experimental Fisheries Science Education Shanghai Ocean UniversityShanghai201306China Laboratory for Marine Biology and Biotechnology Qingdao National Laboratory for Marine Science and TechnologyQingdao266071China

A cell line,termed ZFIN,was established from the caudal fin of zebrafish and was shown to be susceptible to spring viremia of carp virus(SVCV).The ZFIN cells are epithelial like cells and have a moderate plasmid transfection efficiency of 13.9%.Using an RNA-seq approach,differentially expressed genes(DEGs)regulated by SVCV were identified.Infection of SVCV gave rise to 3931 DEGs and up-regulated DEGs were mostly enriched into the biological regulation and cellular processes,among which pathways for the type I interferon signaling and the response to exogenous dsRNA were the top two GO terms.Several KEGG signaling pathways including TLR signaling pathway,RLR receptor signaling pathway,cytosolic DNA-sensing pathway,NLR signaling pathway,cytokine-cytokine receptor interaction and ferroptosis were significantly enriched.Antiviral genes including ifnφ1,isg15 and mx were significantly up-regulated.In addition,key DEGs involved in autophagy were identified.The results indicate that the ZFIN cell line provides a useful in vitro tool for study on the gene functions and cellular responses to viral infection in fish.

关键词： Caudal fin cells SVCV RNA-seq DEGs Innate antiviral response

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Aggregation-induced T/Tcontrast enhancement for magnetic resonance imaging-guided intraoperative surgery

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Science China Chemistry 2024年

作者： Wenbo Sun Bin Yu Dianshuai huang Chunhuan Jiang Wei Wang jianhua Liu Zonghua Wang Lehui Lu College of Chemistry and Chemical Engineering Shandong Sino-Japanese Center for Collaborative Research of Carbon NanomaterialsQingdao Application Technology Innovation Center of Photoelectric Biosensing for Clinical Diagnosis and Treatment Qingdao University Department of Radiology Second Hospital of Jilin University State Key Laboratory of Electroanalytical Chemistry Changchun Institute of Applied Chemistry Chinese Academy of Sciences

Magnetic resonance imaging(MRI) plays an important role in precision medicine that is hampered by the lack of contrast agents with high efficiency and the ability to translate diagnostic accuracy into therapeutic intervention. Herein, we demonstrate a DNA-based MRI probe that overcomes previous single-mode enhancement and provides a mechanism of action for aggregationinduced dual-modal MRI signal enhancement. A facile method is developed to produce aggregated T1/T2dual-modal NaGdF4:Dy@PDA-DNA(PDA = polydopamine) MRI probes. When aggregated, this probe can further amplify MRI signal intensity and exhibit improved geometrical and positional stability in vivo. The performance of the NaGdF4:Dy@PDA-DNA MRI probe toward MRI-guided preoperative planning and visualization-guided surgery is verified using an orthotopic tumor-bearing mouse model. The result shows that the rapid metabolism of the degraded probe leads to the mitigation of long-term toxic effects.Therefore, the developed high-performance MRI probe is of great significance for enhancing MRI diagnostic accuracy into precision medical therapeutic interventions.

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The BCL-2 inhibitor APG-2575 resets tumor-associated macrophages toward the M1 phenotype,promoting a favorable response to anti-PD-1 therapy via NLRP3 activation

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Cellular & Molecular Immunology 2024年第1期21卷 60-79页

作者： Fan Luo Han Li Wenjuan Ma Jiaxin Cao Qun Chen Feiteng Lu Miaozhen Qiu Penghui Zhou Zengfei Xia Kangmei Zeng jianhua Zhan Ting Zhou Qiuyun Luo Wentao Pan Lin Zhang Chaozhuo Lin Yan huang Li Zhang Dajun Yang Hongyun Zhao State Key Laboratory of Oncology in South China Guangdong Key Laboratory of Nasopharyngeal Carcinoma Diagnosis and TherapyGuangdong Provincial Clinical Research Center for CancerSun Yat-sen University Cancer CenterGuangzhouChina Ascentage Pharma(Suzhou)Co Ltd 218 Xinghu StreetSuzhouJiangsu ProvinceChina

The main challenges in the use of immune checkpoint inhibitors(ICIs)are ascribed to the immunosuppressive tumor microenvironment and the lack of sufficient infiltration of activated CD8+T cells.Transforming the tumor microenvironment(TME)from“cold”to“hot”and thus more likely to potentiate the effects of ICIs is a promising strategy for cancer treatment.We found that the selective BCL-2 inhibitor APG-2575 can enhance the antitumor efficacy of anti-PD-1 therapy in syngeneic and humanized CD34+mouse models.Using single-cell RNA sequencing,we found that APG-2575 polarized M2-like immunosuppressive macrophages toward the M1-like immunostimulatory phenotype with increased CCL5 and CXCL10 secretion,restoring T-cell function and promoting a favorable immunotherapy response.Mechanistically,we demonstrated that APG-2575 directly binds to NF-κB p65 to activate NLRP3 signaling,thereby mediating macrophage repolarization and the activation of proinflammatory caspases and subsequently increasing CCL5 and CXCL10 chemokine production.As a result,APG-2575-induced macrophage repolarization could remodel the tumor immune microenvironment,thus improving tumor immunosuppression and further enhancing antitumor T-cell immunity.Multiplex immunohistochemistry confirmed that patients with better immunotherapeutic efficacy had higher CD86,p-NF-κB p65 and NLRP3 levels,accompanied by lower CD206 expression on macrophages.Collectively,these data provide evidence that further study on APG-2575 in combination with immunotherapy for tumor treatment is required.

关键词： BCL-2 APG-2575 ICIs Macrophages NLRP3

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保卫细胞的结构和代谢特点及影响气孔运动的因素——2023年一道江苏高考题的拓展延伸

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生物学教学 2024年第4期49卷 83-85页

作者：黄建华江苏省南通大学附属中学南通226019

本文基于2023年江苏高考一道试题的相关知识,介绍了气孔保卫细胞的结构和代谢特点,以及光照、CO_(2)浓度、温度、水分、蒸气压差、激素等对气孔运动的影响,以期为教学提供参考资料。

关键词：气孔运动代谢光照水分激素

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