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Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization

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Bio-Design and Manufacturing 2024年第1期7卷 1-13页

作者： Huaizhi zong Junhui Zhang Lei jiang Kun Zhang Jun Shen Zhenyu Lu Ke Wang Yanli Wang Bing Xu The State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China Unmanned Vehicle Research and Development Center China North Vehicle Research InstituteBeijing 100072China School of Mechatronic Engineering Nanchang UniversityNanchang 330031China Auclean High-Tech Ltd. Wuxi 214108China

Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped *** various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large *** the most critical movement unit of a quadruped robot,the limb leg unit(LLU)directly affects movement speed and reliability,and requires a compact and lightweight *** by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an *** propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston *** addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the *** mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah *** mass of the optimized LLU is reduced by 24.5%,and the optimized LLU shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.

关键词： Additive manufacturing Bionic lightweight design Limb leg unit Quadruped robot Trajectory tracking

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细胞联合培养杯膜的孔径对血小板源性生长因子通透的影响

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医用生物力学 2011年第3期26卷 232-239页

作者：沈宝荣姜隽齐颖新姜宗来上海交通大学力学生物学与医学工程研究所上海200240

目的探讨细胞联合培养杯膜的孔径对生物大分子通透的影响,解决血管细胞分子力学生物学实验的关键技术问题。方法以杯底PET膜孔径为0.4μm和1.0μm的两种型号细胞联合培养杯作为研究对象,将大鼠血管平滑肌细胞(vascular smooth muscle ce... 详细信息

目的探讨细胞联合培养杯膜的孔径对生物大分子通透的影响,解决血管细胞分子力学生物学实验的关键技术问题。方法以杯底PET膜孔径为0.4μm和1.0μm的两种型号细胞联合培养杯作为研究对象,将大鼠血管平滑肌细胞(vascular smooth muscle cells,VSMCs)和内皮细胞(endothelial cells,ECs)分别种植于联合培养杯底PET膜的内外侧面。实验分为EC/VSMC联合培养施加低切应力组、PET膜未接种细胞静止组、PET膜单侧接种细胞静止组和PET膜双侧接种细胞静止组。ELISA检测低切应力组ECs侧和VSMCs侧培养液中血小板源性生长因子(platelet-derived growth factor BB,PDGF-BB)含量,Western blotting检测重组PDGF-BB(rPDGF-BB)刺激后,各组细胞内信号转导分子p-ERK1/2和p-Akt以及核骨架蛋白Lamin A的表达变化。结果 EC/VSMC联合培养施加0.5 Pa层流低切应力12 h后,0.4μm联合培养杯VSMCs侧PDGF-BB浓度显著高于ECs侧。0.4μm和1.0μm两种孔径的PET膜未接种细胞时,rPDGF-BB上调了隔开培养细胞的p-ERK1/2和p-Akt表达,并下调Lamin A表达。PET膜外侧面接种单层细胞时,rPDGF-BB上调了对侧细胞的p-ERK1/2和p-Akt表达,并下调Lamin A表达。PET膜内外侧面均接种细胞时,rPDGF-BB仅能影响0.4μm PET膜同侧细胞的p-ERK1/2、p-Akt和Lamin A表达,对对侧细胞无明显作用;而1.0μm PET膜两侧细胞的p-ERK1/2、p-Akt和Lamin A表达无显著性差异。结论两种有孔PET材料本身均允许生物大分子的通透,而细胞接种会影响有孔PET膜对生物大分子的通透。0.4μm孔径PET膜两侧均接种细胞时,对生物大分子的通透明显减弱,更接近于在体情况。

关键词：切应力细胞培养内皮细胞血管平滑肌细胞血小板源性生长因子通透

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The storage and utilization of carbohydrates in response to elevation mediated by tree organs in subtropical evergreen broad-leaved forests

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Forest Ecosystems 2024年第1期11卷 52-61页

作者： Bin Xu Xueli jiang Yingying zong G.Geoff Wang Fusheng Chen Zhenyu Zhao Xiangmin Fang Key Laboratory of National Forestry and Grassland Administration on Forest Ecosystem Protection and Restoration of Poyang Lake Watershed College of ForestryJiangxi Agricultural UniversityNanchang330045China Jiulianshan National Observation and Research Station of Chinese Forest Ecosystem College of ForestryJiangxi Agricultural UniversityNanchang330045China Department of Forestry and Environmental Conservation Clemson UniversityClemsonSC29634USA

Global climate change can affect tree growth and carbon sink function by influencing plant carbohydrate synthesis and utilization,while elevation can be used as an ideal setting under natural conditions to simulate climate change *** effect of elevation on tree growth may depend on organ ***,the allocation patterns of nonstructural and structural carbohydrates(NSCs and SCs,respectively)in different tree organs and their response to elevation remain *** selected four dominant tree species,Schima superba,Castanopsis eyrei,Castanopsis fargesii and Michelia maudiae,along an elevation gradient from 609 to 1,207 m in subtropical evergreen broad-leaved forests and analyzed leaf,trunk,and fine root NSCs,carbon(C),nitrogen(N)and phosphorus(P)concentrations and the relative abundance of *** NSCs increased initially and then decreased,and trunk NSCs increased with increasing ***,root NSCs decreased with increasing *** relative abundance of SCs in leaves and trunks decreased,while the relative abundance of root SCs increased with increasing *** significant correlations between SCs and NSCs in leaves were detected,while there were negative correlations between SCs and NSCs in trunks,roots,and all *** partitioning analysis indicated that plant C/N and C/P were the main predictors of changes in SCs and *** results suggest that tree organs have divergent responses to elevation and that increasing elevation will inhibit the aboveground part growth and enhance the root growth of trees.A tradeoff between the C distribution used for growth and storage was confirmed along the elevation gradient,which is mainly manifested in the"sink"organs of *** results provide insight into tree growth in the context of global climate change scenarios in subtropical forest ecosystems.

关键词： Nonstructural carbohydrates Structural carbohydrates Elevation Subtropical evergreen broad-leaved forests Tree organs

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In Situ Coupling of Highly Dispersed Ni/Fe Metal-NC Sites and N-Doped 3D Carbon Fibers Toward Free-Standing Bifunctional Cathode for Flexible Zinc-Air Battery

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Energy & Environmental Materials 2024年第1期7卷 121-130页

作者： Chenglong lai Mengjun Li Yi Shen Min Zhou Wei Wang Kai jiang Haomiao Li Kangli Wang State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic EngineeringHuazhong University of Science and TechnologyWuhan 430074China School of Materials Science and Engineering Huazhong University of Science and TechnologyWuhanHubei 430074China Engineering Research Center of Power Safety and Efficiency Ministry of EducationWuhanHubei 430074China

Designing flexible free-standing air-electrode with efficient OER/ORR performance is of vital importance for the application of Zinc-air batteries in flexible ***,a flexible free-standing electrode(Ni/Fe-NC/NCF/CC)is synthesized by in-situ coupling of binary Ni/Fe-NC nanocubes and N-doped carbon nanofibers(NCF)rooted on carbon *** highly dispersed binary Ni/Fe-NC sites ensure excellent ORR activity and create efficient OER active sites relative to Ni-NC and *** in-situ coupling of Ni/Fe-NC and NCF constructs a 3D interconnected network structure that not only provides abundant and stabilized reactive sites but also guarantees fast electron transfer and gas transportation,thus achieving efficient and fast operation of ORR/***,Ni/Fe-NC/NCF/CC displays a much positive potential(0.952 V)at 4.0 mA cm^(-2)for ORR and a low OER overpotential(310 mV)at 50 mA cm^(-2).The Zinc-air battery with Ni/Fe-NC/NCF/CC air-electrode exhibits excellent battery performance with outstanding discharge/charge durability for 2150 *** flexible Zn-air batteries with foldable mechanical properties display a high power density of 105.0 mW cm^(-2).This work widened the way to prepare flexible bifunctional air-electrode by designing composition/structure and in-situ coupling.

关键词： binary Ni/Fe-NC sites in-situ coupling synergistic catalytic effect Zn-air battery

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Interpenetrating network-reinforced gel polymer electrolyte for ultra-stable lithium−iodine batteries

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Carbon Energy 2024年第6期6卷 234-247页

作者： Ying jiang Peng Huang Minman Tong Bingxin Qi Tao Sun Zhongyun Xian Wen Yan Chao lai School of Chemistry and Materials Science Jiangsu Normal UniversityXuzhouJiangsuChina

Li-I_(2) batteries have attracted much interest due to their high capacity,exceptional rate performance,and low *** so,the problems of unstable Li anode/electrolyte interface and severe polyiodide shuttle in Li-I_(2) batteries need to be ***,the interfacial reactions on the Li anode and I_(2) cathode have been effectively optimized by employing a well-designed gel polymer electrolyte strengthened by cross-linked Ti-O/Si-O(GPETS).The interpenetrating network-reinforced GPETS with high ionic conductivity(1.88×10^(-3)S cm^(-1)at 25℃)and high mechanical strength endows uniform Li deposition/stripping over 1800 h(at 1.0mA cm^(-2),with a plating capacity of 3.0mAh cm^(-2)).Moreover,the GPETS abundant in surface hydroxyls is capable of capturing soluble polyiodides at the interface and accelerating their conversion kinetics,thus synergistically mitigating the shuttle *** from these properties,the use of GPETS results in a high capacity of 207 mAh g^(-1)(1 C)and an ultra-low fading rate of 0.013%per cycle over 2000 cycles(5 C).The current study provides new insights into advanced electrolytes for Li-I_(2) batteries.

关键词： electrode/electrolyte interface gel polymer electrolytes lithium dendrites lithium−iodine batteries polyiodide shuttle

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A Polyvinyl Alcohol/Acrylamide Hydrogel with Enhanced Mechanical Properties Promotes Full-Thickness Skin Defect Healing by Regulating Immunomodulation and Angiogenesis Through Paracrine Secretion

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Engineering 2024年第6期37卷 138-151页

作者： Peng Wang Liping Qian Huixin Liang Jianhao Huang Jing Jin Chunmei Xie Bin Xue Jiancheng lai Yibo Zhang Lifeng jiang Lan Li Qing jiang State Key Laboratory of Pharmaceutical Biotechnology Division of Sports Medicine and Adult Reconstructive SurgeryDepartment of Orthopedic SurgeryNanjing Drum Tower HospitalThe Affiliated Hospital of Nanjing University Medical SchoolNanjing UniversityNanjing 210008China jiangsu Engineering Research Center for 3D Bioprinting Nanjing 210008China Institute of Medical 3D Printing Nanjing UniversityNanjing 210093China Centre for Experimental Animals Nanjing Drum Tower HospitalThe Affiliated Hospital of Nanjing University Medical SchoolNanjing UniversityNanjing 210008China College of Aeroplane Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China National Laboratory of Solid State Microstructures Department of PhysicsNanjing UniversityNanjing 210093China Department of Chemical Engineering Stanford UniversityStanfordCA 94305USA Department of Orthopedic Surgery The Second Affiliated Hospital Zhejiang University School of MedicineOrthopedic Research Institute of Zhejiang UniversityKey Laboratory of Motor System Disease Research and Precision Therapy of Zhejiang ProvinceHangzhou 310009China

Hydrogel-based tissue-engineered skin has attracted increased attention due to its potential to restore the structural integrity and functionality of ***,the mechanical properties of hydrogel scaffolds and natural skin are substantially ***,we developed a polyvinyl alcohol(PVA)/acrylamide based interpenetrating network(IPN)hydrogel that was surface modified with polydopamine(PDA)and termed *** Dopa-gel exhibited mechanical properties similar to native skin tissue and a superior ability to modulate paracrine ***,a tough scaffold with tensile resistance was fabricated using this hydrogel by three-dimensional *** results showed that the interpenetration of PVA,alginate,and polyacrylamide networks notably enhanced the mechanical properties of the *** modification with PDA endowed the hydrogels with increased secretion of immunomodulatory and proangiogenic *** an in vivo model,Dopa-gel treatment accelerated wound closure,increased vascularization,and promoted a shift in macrophages from a proinflammatory M1 phenotype to a prohealing and anti-inflammatory M2 phenotype within the wound ***,the focal adhesion kinase(FAK)/extracellular signal-related kinase(ERK)signaling pathway may mediate the promotion of skin defect healing by increasing paracrine secretion via the ***,proangiogenic factors can be induced through Rho-associated kinase-2(ROCK-2)/vascular endothelial growth factor(VEGF)-mediated paracrine secretion under tensile stress *** together,these findings suggest that the multifunctional Dopa-gel,which has good mechanical properties similar to those of native skin tissue and enhanced immunomodulatory and angiogenic properties,is a promising scaffold for skin tissue regeneration.

关键词： Polyvinyl alcohol/acrylamide hydrogel Mechanical property enhancement Paracrine effect Skin regeneration Signaling pathways

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Investigation of pore structure alteration and permeability enhancement of shale matrix by supercritical water treatment after hydraulic fracturing

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Petroleum 2024年第2期10卷 265-274页

作者： Yili Kang Peisong Li Wangkun Cao Mingjun Chen Lijun You jiang Liu Zhehan lai State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation Southwest Petroleum University Institute of Engineering Technology PetroChina Coalbed Methane Company Limited Chemical and Petroleum Engineering University of Calgary

Shale gas reservoirs are unconventional tight gas reservoirs, in which horizontal wells and hydraulic fracturing are required to achieve commercial development. The fracture networks created by hydraulic fracturing can increase the drainage area extensively to enhance shale gas recovery. However, large volumes of fracturing fluid that is difficult to flow back to the surface and remained in the shale formation, will inevitably lead to damages of the shale formations and limit the effectiveness of *** water(SCW) treatment after hydraulic fracturing is a new method to enhance shale gas recovery by using appropriate heat treatment methods to the specific formation to convert the retained fracturing fluid into a supercritical state(at temperatures in excess of 373.946°C and pressures in excess of 22.064 MPa). An experiment was conducted to simulate the reaction between shale and SCW, and the capacity of SCW treatment to enhance the permeability of the shale was evaluated by measuring the response of the shale porosity and permeability on SCW treatment. The experimental results show that the shale porosity and permeability increase by 213.43% and 2198.37%, respectively. The pore structure alteration and permeability enhancement of the shale matrix were determined by analyzing the changes in pore structure and mineral composition after SCW treatment. The mechanisms that affect pore structure and mineral composition include oxidative catalysis decomposition of organic matters and reducing minerals, acid-catalyzed decomposition of carbonate minerals and feldspar minerals, hydrothermal catalysis induced fracture extension and cementation weakening induced fracture *** treatment converts harm into a benefit by reducing the intrusion of harmful substances into the shale formation, which will broaden the scope and scale of shale formation stimulation.

关键词： Shale gas Formation damage control Formation heat treatment Supercritical water

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Evaluation of laboratory and environmental exposure systems for protein modification upon gas pollutants and environmental factors

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Journal of Environmental Sciences 2024年第9期143卷 213-223页

作者： Zhiwei Pan ShiyiWu Qiaoze Zhu Fobang Liu Yongjian Liang Chenglei Pei Haoyu jiang Yingyi Zhang Senchao lai The Key Lab of Pollution Control and Ecosystem Restoration in Industry Clusters Ministry of EducationSchool of Environment and EnergySouth China University of TechnologyGuangzhou 510006China Department of Environmental Science and Engineering Xi’an Jiaotong UniversityXi’an 710049China Guangzhou Sub-branch of Guangdong Ecological and Environmental Monitoring Center Guangzhou 510006China State Key Laboratory of Organic Geochemistry Guangdong Key Laboratory of Environmental Protection and Resources Utilizationand Joint Laboratory of the Guangdong-Hong Kong-Macao Greater Bay Area for the EnvironmentGuangzhou Institute of GeochemistryChinese Academy of SciencesGuangzhou 510640China School of Marine Sciences Sun Yat-sen UniversityZhuhai 519082China

Chemical modifications of proteins induced by ambient ozone(O_(3))and nitrogen oxides(NOx)are of public health concerns due to their potential to trigger respiratory *** laboratory and environmental exposure systems have been widely used to investigate their relevant mechanism in the *** bovine serum albumin(BSA)as a model protein,we evaluated the two systems and aimed to reduce the uncertainties of both the reactants and products in the corresponding kinetic *** the laboratory simulation system,the generated gaseous pollutants showed negligible *** layers of BSA were coated on the flow tube with protein extraction recovery of 87.4%.For environmental exposure experiment,quartz fiber filter was selected as the upper filter with low gaseous O_(3)(8.0%)and NO_(2)(1.7%)losses,and cellulose acetate filter was appropriate for the lower filter with protein extraction efficiency of 95.2%.The protein degradation process was observed without the exposure to atmospheric oxidants and contributed to the loss of protein monomer mass fractions,while environmental factors(e.g.,molecular oxygen and ultraviolet)may cause greater protein monomer *** on the evaluation,the study exemplarily applied the two systems to protein modification and both showed that O_(3) promotes the protein oligomerization and nitration,while increased temperature can accelerate the oligomerization and increased relative humidity can inhibit the nitration in the environmental exposure *** developed laboratory and environmental systems are suitable for studying protein modifications formed under different atmospheric conditions.A combination of the two will further reveal the actual mechanism of protein modifications.

关键词： Protein modification Laboratory simulation Environmental exposure Oligomerization Nitration

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局部转染组织因子促进糖尿病小鼠的伤口愈合

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基础医学与临床 2005年第11期25卷 1014-1019页

作者：白玲姜宗来陈保生上海交通大学医学院上海200240 中国协和医科大学中国医学科学研究院基础医学研究所北京100005

目的为证实组织因子(TF)在启动新血管生成、促进伤口愈合中有一定的作用。方法我们以伤口愈合迟缓的糖尿病小鼠为研究对象,应用免疫组化,RT-PCR及伤口局部组织因子转染等方法,研究了组织因子在伤口愈合中的作用。结果正常小鼠未创伤皮... 详细信息

目的为证实组织因子(TF)在启动新血管生成、促进伤口愈合中有一定的作用。方法我们以伤口愈合迟缓的糖尿病小鼠为研究对象,应用免疫组化,RT-PCR及伤口局部组织因子转染等方法,研究了组织因子在伤口愈合中的作用。结果正常小鼠未创伤皮肤几乎检测不到TF的表达,但创伤时TF的表达明显增高。和正常健康鼠比较,糖尿病鼠伤口处TF、血管内皮细胞生长因子(VEGF)、α平滑肌肌动蛋白(-αSMA)的表达不足,新血管生成迟缓,伤口处血管密度和血流明显减少伴随着伤口愈合的迟缓。以克隆有TF cDNA的真核表达质粒局部转染糖尿病小鼠的皮肤伤口,转染后伤口部位的TF表达明显增高,并明显促进了伤口局部新血管的形成,加速了伤口的愈合。同时促进了VEGF和-αSMA的表达。结论糖尿病鼠伤口愈合迟缓与伤口愈合初期阶段组织因子(TF)的合成不足有关,转染TF基因可以明显改善伤口愈合,其促进伤口愈合与其诱导血管内皮生长因子和α-平滑肌肌动蛋白的合成有关。

关键词：糖尿病鼠伤口愈合组织因子血管内皮细胞生长因子 α-平滑肌肌动蛋白

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心血管力学生物学研究的新进展

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医用生物力学 2006年第4期21卷 251-253页

作者：姜宗来上海交通大学力学生物学与医学工程研究所上海200240

力学生物学研究力学环境对生物体健康、疾病或损伤的影响,研究生物体的力学信号感受和响应机制,阐明机体的力学过程与生物学过程如生长、重建、适应性变化和修复等之间的相互关系,从而发展有疗效的或有诊断意义的新技术。本刊报道了国... 详细信息

力学生物学研究力学环境对生物体健康、疾病或损伤的影响,研究生物体的力学信号感受和响应机制,阐明机体的力学过程与生物学过程如生长、重建、适应性变化和修复等之间的相互关系,从而发展有疗效的或有诊断意义的新技术。本刊报道了国内心血管力学生物学研究的一些新进展。心血管力学生物学探讨血管的“应力-生长”关系,阐明力学因素如何产生生物学效应而导致血管重建;基于心血管系统建模与定量分析,建立精确规范的心血管功能新的无创检测和分析技术。这些研究不仅对于揭示正常血液循环的生物力学机理,认识血管生长、衰老的自然规律,而且对于阐明血管疾病的发病机理以及提供诊断、治疗的一些基本原理包括心血管新型药物和新技术的研发都将有重要的理论和实际意义。

关键词：力学生物学生物力学心血管重建应力-生长关系力学转导

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