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Development of an underactuated prosthetic hand with the step motor

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High Technology Letters 2006年第4期12卷 341-345页

作者：赵大威 Jin Minghe jiang li Shi Shicai liu hong Robotics Institute Harbin Institute of Technology Harbin 150001 P.R. China

We present the development of a novel prosthetic hand based on the underactuated mechanism. The aim is focused on increasing its dexterity while keeping the same dimension and weight of a traditional prosthetic device. The hybrid step motor is used as the actuator, which enables the finger to keep enough high contact torque on the grasped object with less energy consumption provided by the holding torque. The grasping force of the finger is estimated from the base joint torque, and the adoption of impedance control has provided compliance in the grasping. Also a parallel observer is used to switch over between the impedance control and the torque holding mode. The experimental results show the effectiveness of the design and control strategy.

关键词： prosthetic hand underactuated torque control step motor

Autonomous control of multi-fingered hand

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Progress in Natural Science:Materials International 2006年第5期16卷 531-537页

作者： jiang li and liu hong (Robotics Research Institute, Harbin Institute of Technology, Harbin 150001, China) Robotics Research Institute Harbin Institute of Technology Harbin 150001 China

This paper describes a novel autonomous control strategy of multi- fingered hand based on a modular control system of dexterous manipulation. A simple proportional-integral-derivative(PID) position control with friction compensation, which requires few friction parameters, is used to realize accurate and smooth trajectory tracking in pregrasp phase. In grasp and manipulation phases, an event-driven switcher is adopted to determine the switching between unconstrained position control and constrained torque control, and an improved explicit integral force control strategy is implemented to realize simultaneously stable contact transition and accurate force tracking. Experimental results have verified the effectiveness of the proposed autonomous control strategy of multi-fingered hand.

关键词： multi-fingered hand autonomous control position control impact control.

Climate chamber investigation of the effect of indoor thermal histories on thermal adaptation in different seasons

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Energy and Built Environment 2024年第3期5卷 455-463页

作者： Yuxin Wu Angchen jiang hong liu Baizhan li Risto Kosonen School of Civil Engineering and Architecture Zhejiang Sci-Tech UniversityHangzhouZhejiang 310018China Joint International Research Laboratory of Green Buildings and Built Environments(Ministry of Education) Chongqing UniversityChongqing 400045China National Centre for International Research of Low-carbon and Green Buildings(Ministry of Science and Technology) Chongqing UniversityChongqing 400045China Department of Mechanical Engineering Aalto UniversityEspoo 02150Finland College of Urban Construction Nanjing Tech UniversityNanjing 210009China

The indoor thermal history of residents in the hot summer and cold winter climate zone in China have undergone a significant change in recent years,which also changes their seasonal thermal adaptations and this has formed feed-back effects to the increasing usage of air conditioning units in this *** study the seasonal variations of thermal adaptation,the thermal comfort experiments were conducted on two groups of *** groups included 20 participants who had indoor history mainly with natural ventilation(NV group)and air-conditioning(AC group),*** results demonstrated that the thermal sensation vote(TSV)in warm environments did not differ between AC and NV subjects in ***,the TSV of AC subjects were much lower than that of NV subjects in the same standard effective temperature and skin temperature in a cold environment in ***,the participants who spent most of their time in AC space in winter showed a low level of thermal adaptation with a narrower acceptable skin temperature range of 32.6-33.5℃.Thus,this study presents the basic information regarding the seasonal effects on human thermal adaptation due to different long-term indoor thermal histories.

关键词： Skin temperature Thermal experience Thermal comfort Cold acclimation Hot summer and cold winter

Development and validation of a new prognostic model for patients with acute-on-chronic liver failure in intensive care unit

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World Journal of Gastroenterology 2024年第20期30卷 2657-2676页

作者： Zong-Yi Zhu Xiu-hong Huang Hui-Qing jiang li liu Department of Gastroenterology The Second Hospital of Hebei Medical UniversityShijiazhuang 050000Hebei ProvinceChina Department of Gastroenterology Weixian People's HospitalXingtai 054700Hebei ProvinceChina

BACKGROUND Cirrhotic patients with acute-on-chronic liver failure(ACLF)in the intensive care unit(ICU)have a poor but variable *** prognosis evaluation can guide the rational management of patients with ***,existing prognostic scores for ACLF in the ICU environment lack sufficient *** To develop a new prognostic model for patients with ACLF in *** Data from 938 ACLF patients in the Medical Information Mart for Intensive Care(MIMIC)database were used to develop a new prognostic model(MIMIC ACLF)for ***,calibration and clinical utility of MIMIC ACLF were assessed by area under receiver operating characteristic curve(AUROC),calibration curve and decision curve analysis(DCA),*** ACLF was then externally validated in a multiple-center cohort,the Electronic Intensive Care Collaborative Research Database and a single-center cohort from the Second Hospital of Hebei Medical University in *** The MIMIC ACLF score was determined using nine variables:ln(age)×2.2+ln(white blood cell count)×0.22-ln(mean arterial pressure)×2.7+respiratory failure×0.6+renal failure×0.51+cerebral failure×0.31+ln(total bilirubin)×0.44+ln(internationalized normal ratio)×0.59+ln(serum potassium)×*** MIMIC cohort,the AUROC(0.81/0.79)for MIMIC ACLF for 28/90-day ACLF mortality were significantly greater than those of Chronic liver Failure Consortium ACLF(0.76/0.74),Model for End-stage liver Disease(MELD;0.73/0.71)and MELD-Na(0.72/0.70)(all Plinical utility of MIMIC ACLF were validated in the external *** We developed and validated a new prognostic model with satisfactory accuracy

关键词： Acute-on-chronic liver failure Cirrhosis Risk stratification Prognosis Model Scores

Systemic immune-inflammation index combined with pediatric appendicitis score in assessing the severity and prognosis for paediatric appendicitis

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World Journal of Gastrointestinal Surgery 2024年第8期16卷 2565-2573页

作者： li-Ming Guo Zhi-Hui jiang hong-Zhen liu Department of General Surgery Qingdao Women and Children’s HospitalQingdao 266000Shandong ProvinceChina Department of Pediatric Surgery Children's Hospital Affiliated to Shandong UniversityJinan 250022Shandong ProvinceChina Department of Pediatric Surgery Jinan Children's HospitalJinan 250022Shandong ProvinceChina

BACKGROUND Pediatric appendicitis is a common cause of abdominal pain in children and is recognized as a significant surgical emergency.A prompt and accurate diagnosis is essential to prevent complications such as perforation and *** To investigate the predictive value of the systemic immune-inflammation index(SII)combined with the pediatric appendicitis score(PAS)for the assessment of disease severity and surgical outcomes in children aged 5 years and older with *** Clinical data of 104 children diagnosed with acute appendicitis were *** participants were categorized into the acute appendicitis group and chronic appendicitis group based on disease presentation and further stratified into the good prognosis group and poor prognosis group based on *** SII and PAS were measured,and a joint model using the combined SII and PAS was constructed to predict disease severity and surgical *** Significant differences were observed in the SII and PAS parameters between the acute appendicitis group and chronic appendicitis *** analysis showed associations among the SII,PAS,and disease severity,with the combined SII and PAS model demonstrating significant predictive value for assessing disease severity[aera under the curve(AUC)=0.914]and predicting surgical outcomes(AUC=0.857)in children aged 5 years and older with *** The study findings support the potential of integrating the SII with the PAS for assessing disease severity and predicting surgical outcomes in pediatric appendicitis,indicating the clinical utility of the combined SII and PAS model in guiding clinical decision-making and optimizing surgical management strategies for pediatric patients with appendicitis.

关键词： Systemic immune-inflammation index Pediatric appendicitis score Disease severity Surgical outcomes Risk factor Logistic regression Receiver operating characteristic analysis

Assimilating FY-4A AGRI Radiances with a Channel-Sensitive Cloud Detection Scheme for the Analysis and Forecasting of Multiple Typhoons

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Advances in Atmospheric Sciences 2024年第5期41卷 937-958页

作者： Feifei SHEN Aiqing SHU Zhiquan liu hong li lipeng jiang Tao ZHANG Dongmei XU Key Laboratory of Meteorological Disaster Ministry of Education(KLME)/Joint International Research Laboratory of Climate and Environment Change(ILCEC)/Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters(CIC-FEMD)Nanjing University of Information Science&TechnologyNanjing 210044China Shanghai Typhoon Institute China Meteorological AdministrationShanghai 200030China China Meteorological Administration Basin Heavy Rainfall Key Laboratory/Hubei Key Laboratory for Heavy Rain Monitoring and Warning Research Institute of Heavy RainChina Meteorological AdministrationWuhan 430205China National Center for Atmospheric Research Boulder 80307COUSA State Key Laboratory of Severe Weather Chinese Academy of Meteorological SciencesBeijing 100081China National Meteorological Information Center Beijing 100081China Fujian Key Laboratory of Severe Weather and Key Laboratory of Straits Severe Weather China Meteorological AdministrationFuzhou 350001China

This paper presents an attempt at assimilating clear-sky FY-4A Advanced Geosynchronous Radiation Imager(AGRI)radiances from two water vapor channels for the prediction of three landfalling typhoon events over the West Pacific Ocean using the 3DVar data assimilation(DA)method along with the WRF model.A channel-sensitive cloud detection scheme based on the particle filter(PF)algorithm is developed and examined against a cloud detection scheme using the multivariate and minimum residual(MMR)algorithm and another traditional cloud mask–dependent cloud detection *** show that both channel-sensitive cloud detection schemes are effective,while the PF scheme is able to reserve more pixels than the MMR scheme for the same *** general,the added value of AGRI radiances is confirmed when comparing with the control experiment without AGRI ***,it is found that the analysis fields of the PF experiment are mostly improved in terms of better depicting the typhoon,including the temperature,moisture,and dynamical *** typhoon track forecast skill is improved with AGRI radiance DA,which could be explained by better simulating the upper *** impact of assimilating AGRI radiances on typhoon intensity forecasts is *** the other hand,improved rainfall forecasts from AGRI DA experiments are found along with reduced errors for both the thermodynamic and moisture fields,albeit the improvements are limited.

关键词： FY-4A AGRI radiance particle filter multiple typhoons data assimilation numerical weather prediction

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Spherical Polyelectrolyte Brush Nanoreactor:Preparation of Hollow TiO_(2) Nanospheres and Characterization by Small Angle X-Ray Scattering

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Chinese Journal of Polymer Science 2024年第9期42卷 1393-1400,I0009页

作者： Yu-Hua Zhang Zi-Yu Zhang Xin liu En-Guang Ma jiang-Tao Guo li li Xu-hong Guo State Key Laboratory of Chemical Engineering East China University of Science and TechnologyShanghai200237China Shandong Provincial Key Laboratory of Monocrystalline Silicon Semiconductor Materials and Technology College of Chemistry and Chemical EngineeringDezhou UniversityDezhou253023China Institute of Bast Fiber Crops&Center of Southern Economic Crops Chinese Academy of Agricultural SciencesChangsha410205China

Titanium dioxide(TiO_(2))hollow nanoparticles present significant potential for photocatalytic applications while their straightforward preparation with precise structure control is still *** work reports the approach to preparing tunable hollow TiO_(2) nanospheres by utilization of spherical polyelectrolyte brushes(SPB)as nanoreactors and *** the preparation,the evolution of the structure was characterized by small angle X-ray scattering(SAXS),and in combination with dynamic light scattering and transmission electron *** formation of TiO_(2) shell within the brush(SPB@TiO_(2))is confirmed by the significant increase of the electron density,and its internal structure has been analyzed by fitting SAXS data,which can be influenced by Titanium precursors and ammonia *** calcining SPB@TiO_(2) in a muffle furnace,hollow TiO_(2) nanospheres are produced,and their transition to the anatase crystal form is triggered,as confirmed by X-ray diffraction *** the advantages of their hollow structure,these TiO_(2) nanospheres exhibit exceptional catalytic degradation efficiency of methylene blue(MB),tetracycline(TC),and 2,4-dichlorophenoxyacetic acid(2,4-D),and also demonstrate excellent recyclability.

关键词： Spherical polyelectrolyte brush Nanoreactor Hollow titanium dioxide X-ray scattering

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Nature-inspired design of droplet-synthesized polymeric nanoelectrode for photoelectrochemical microRNA sensing within single cells

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Science Bulletin 2024年第2期69卷 159-162页

作者： Si-Yuan Yu Yi-li liu Zheng li Dechen jiang Jing-Juan Xu hong-Yuan Chen Wei-Wei Zhao State Key Laboratory of Analytical Chemistry for life Science School of Chemistry and Chemical EngineeringNanjing UniversityNanjing 210023China

Nanoelectrodes have been shown to be powerful tools for nanoscopic research on single entities,deepening the understanding of heterogeneity and stochastics for single molecules,nanoparticles and cells[1–3].However,despite their importance,current nanoelectrode preparations are highly restrained to flame/electrochemical etching,metal sputtering,electrochemical deposition,etc.[3],resulting in a limited range of materials(mainly gold,platinum and carbon)for potential-resolved detection of redox-active species(Table S1 online).The enrichment of preparation methods to introduce novel materials and mechanisms should prove significant for the development of nanoelectrodes.

关键词： electrode deepening restrained

Accelerating H^(*)desorption of hollow Mo_(2)C nanoreactor via in-situ grown carbon dots for electrocatalytic hydrogen evolution

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Journal of Energy Chemistry 2024年第9期96卷 464-471页

作者： Mengmeng liu Yuanyuan jiang Zhuwei Cao Lulu liu hong Chen Sheng Ye School of Materials and Chemistry Anhui Agricultural UniversityHefei 230036AnhuiChina

Molybdenum carbide(Mo_(2)C)is a promising non-noble metal electrocatalyst with electronic structures similar to Pt for hydrogen evolution reaction(HER).However,strong H^(*)adsorption at the Mo sites hinders the improvement of HER ***,we synthesized monodisperse hollow Mo_(2)C nanoreactors,in which the carbon dots(CD)were in situ formed onto the surface of Mo_(2)C through carburization *** to finite element simulation and analysis,the CD@Mo_(2)C possesses better mesoscale diffusion properties than Mo_(2)C *** optimized CD@Mo_(2)C nanoreactor demonstrates superior HER performance in alkaline electrolyte with a low overpotential of 57 mV at 10 mA cm^(−2),which is better than most Mo_(2)C-based ***,CD@Mo_(2)C exhibits excellent electrochemical stability during 240 h,confirmed by operando Raman and X-ray diffraction(XRD).Density functional theory(DFT)calculations show that carbon dots cause the d-band center of CD@Mo_(2)C to shift away from Fermi level,promoting water dissociation and the desorption of H^(*).This study provides a reasonable strategy towards high-activity Mo-based HER eletrocatalysts by modulating the strength of Mo–H bonds.

关键词： Mo_(2)C nanoreactor Carbon dots H^(*)desorption Electrocatalytic hydrogen evolution

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