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Research on Gait Trajectory Planning of Wall-Climbing Robot Based on Improved PSO Algorithm

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Journal of Bionic Engineering 2024年第4期21卷 1747-1760页

作者： jian li Xianlin Shi Peng liang Yanjun li Yilin Lv Mingyue Zhong Zezhong Han School of Mechanical and Automotive Engineering Guangxi University of Science and TechnologyLiuzhou545006China

In order to reduce the labor intensity of high-altitude workers and realize the cleaning and maintenance of high-rise building exteriors,this paper proposes a design for a 4-DOF bipedal wall-climbing bionic robot inspired by the inchworm’s *** robot utilizes vacuum adsorption for vertical wall attachment and legged movement for *** enhance the robot’s movement efficiency and reduce wear on the adsorption device,a gait mimicking an inchworm’s movement is planned,and foot trajectory planning is performed using a quintic polynomial *** velocity constraints,foot trajectory optimization is achieved using an improved Particle Swarm Optimization(PSO)algorithm,determining the quintic polynomial function with the best fitness through ***,through comparative experiments,the climbing time of the robot closely matches the simulation results,validating the trajectory planning method’s accuracy.

关键词： Bionic robot Wall-climbing robot PSO Gait planning Trajectory planning

MicroED as a powerful technique for the structure determination of complex porous materials

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Chinese Journal of Structural Chemistry 2024年第3期43卷 41-54页

作者： Chao Ma Cong lin jian li State Key Laboratory of Coordination Chemistry School of Chemistry and Chemical EngineeringNanjing UniversityNanjing210023China Department of Applied Biology and Chemical Technology The Hong Kong Polytechnic UniversityKowloonHong Kong China

Porous materials have garnered significant attention in recent *** the intrinsic relationship between their structures and properties requires precise knowledge of their atomic ***-crystal X-ray diffraction(SCXRD)has traditionally been the primary method for elucidating such structures,but it demands large,high-quality crystals,often exceeding 5μm in *** growth of these crystals can be a time-consuming process,especially for one-and two-dimensional *** explore structures at the nanoscale,MicroED(microcrystal electron diffraction(ED))offers unprecedented insights into the realm of *** revolutionary technique enables researchers to uncover intricate details within nanoscale structures,promising to reshape our fundamental understanding of *** this review,we delve into the applications of MicroED in the study of various porous materials,including zeolites,metal-organic frameworks(MOFs),and covalent organic frameworks(COFs).We emphasize the pivotal role of MicroED in nanomaterial characterization,enabling precise crystallographic analysis and phase identification.

关键词： Atomic structure MicroED Porous materials Three-dimensional electron diffraction

Synthesis and anti-HIV activities of phorbol derivatives

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Chinese Journal of Natural Medicines 2024年第2期22卷 146-160页

作者： HUANG Xiaolei TANG Chengrun HUANG Xusheng YANG yun li Qirun MA Mengdi ZHAO Lei YANG liumeng CUI Yadong ZHANG Zhenqing ZHENG Yongtang ZHANG jian College of Pharmaceutical Science Soochow UniversitySuzhou 215123China Key Laboratory of Animal Models and Human Disease Mechanisms of the Chinese Academy of Sciences/Key Laboratory of Bioactive Peptides of yunnan Province Kunming Institute of ZoologyChinese Academy of SciencesKunming 650223China Kunming College of life Science University of Chinese Academy of SciencesKunmingYunnan 650204China

In this study,37 derivatives of phorbol esters were synthesized and their anti-HIV-1 activities evaluated,building upon our previous synthesis of 51 phorbol derivatives.12-Para-electron-acceptor-trans-cinnamoyl-13-decanoyl phorbol derivatives stood out,demonstrating remarkable anti-HIV-1 activities and inhibitory effects on syncytia *** derivatives exhibited a higher safety index compared with the positive control *** them,12-(trans-4-fluorocinnamoyl)-13-decanoyl phorbol,designated as compound 3c,exhibited the most potent anti-HIV-1 activity(EC_(50)2.9 nmol·L^(−1),CC50/EC_(50)11117.24)and significantly inhibited the formation of syncytium(EC_(50)7.0 nmol·L^(−1),CC50/EC_(50)4891.43).Moreover,compound 3c is hypothesized to act both as an HIV-1 entry inhibitor and as an HIV-1 reverse transcriptase *** titration calorimetry and molecular docking studies indicated that compound 3c may also function as a natural activator of protein kinase C(PKC).Therefore,compound 3c emerges as a potential candidate for developing new anti-HIV drugs.

关键词： Phorbol esters Anti-HIV-1 activity Syncytia formation 12-(Trans-4-fluorocinnamoyl)-13-decanoyl phorbol Safety index HIV-1 entry inhibitor HIV-1 reverse transcriptase inhibitor PKC activator

Quantitatively Evaluating the Erosion and Preservation of Supergene Oxide Zones:Evidence from the Yulong Porphyry Cu Deposit,Eastern Tibetan Plateau

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Journal of Earth Science 2024年第1期35卷 280-282页

作者： Xiao-Dong Deng jian-Wei li State Key Laboratory of Geological Processes and Mineral Resources and School of Earth ResourcesChina University of GeosciencesWuhan 430074China

*** and erosion of sulfide ore deposits are important for understanding the post-mineralization processes that have significant effects on the preservation of primary orebodies(Velasco et al.,2013;Braxton et al.,2009;Brimhall et al.,1985).Supergene oxide zones are often developed in sulfide ore deposits,and are mainly composed of iron oxides and hydroxides zones in weathering profile(Andrew,1984;Thornber et al.,1981).

关键词： Eastern Tibetan weathering

What benefit can be obtained from magnetic resonance imaging diagnosis with artificial intelligence in prostate cancer compared with clinical assessments?

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Military Medical Research 2024年第2期11卷 268-286页

作者： li-Tao Zhao Zhen-Yu liu Wan-Fang Xie li-Zhi Shao jian Lu Jie Tian jian-Gang liu School of Engineering Medicine Beihang UniversityBeijing 100191China School of Biological Science and Medical Engineering Beihang UniversityBeijing 100191China CAS Key Laboratory of Molecular Imaging Institute of AutomationBeijing 100190China University of Chinese Academy of Sciences Beijing 100080China Department of Urology Peking University Third HospitalPeking UniversityBeijing 100191China Key Laboratory of Big Data‑Based Precision Medicine(Beihang University) Ministry of Industry and Information Technology of the People's Republic of ChinaBeijing 100191China Beijing Engineering Research Center of Cardiovascular Wisdom Diagnosis and Treatment Beijing 100029China

The present study aimed to explore the potential of artificial intelligence(AI)methodology based on magnetic resonance(MR)images to aid in the management of prostate cancer(PCa).To this end,we reviewed and summarized the studies comparing the diagnostic and predictive performance for PCa between AI and common clinical assessment methods based on MR images and/or clinical characteristics,thereby investigating whether AI methods are generally superior to common clinical assessment methods for the diagnosis and prediction fields of ***,we found that,in the included studies of the present study,AI methods were generally equal to or better than the clinical assessment methods for the risk assessment of PCa,such as risk stratification of prostate lesions and the prediction of therapeutic outcomes or PCa *** particular,for the diagnosis of clinically significant PCa,the AI methods achieved a higher summary receiver operator characteristic curve(SROC-AUC)than that of the clinical assessment methods(0.87 vs.0.82).For the prediction of adverse pathology,the AI methods also achieved a higher SROC-AUC than that of the clinical assessment methods(0.86 vs.0.75).Second,as revealed by the radiomics quality score(RQS),the studies included in the present study presented a relatively high total average RQS of 15.2(11.0–20.0).Further,the scores of the individual RQS elements implied that the AI models in these studies were constructed with relatively perfect and standard radiomics processes,but the exact generalizability and clinical practicality of the AI models should be further validated using higher levels of evidence,such as prospective studies and open-testing datasets.

关键词： Clinically significant prostate cancer Adverse pathology Radiomics quality score Artificial intelligence Magnetic resonance imaging

Cyanidin-3-O-glucoside alleviates trimethyltin chloride-induced neurodegeneration by maintaining glutamate homeostasis through modulation of the gut microbiota

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Food Science and Human Wellness 2024年第2期13卷 1093-1107页

作者： Yu Xi Wenhui li Junru Wang Meihong Yu Xiangquan Zeng He li jian li Key Laboratory of Green and Low-Carbon Processing Technology for Plant-Based Food of China National light Industry Council Beijing Advanced Innovation Center for Food Nutrition and Human HealthBeijing Technology and Business UniversityBeijing 100048China

Trimethyltin chloride(TMT)is a potent neurotoxin to cause neurodegeneration,especially in *** study aimed to identify dietary components that can effectively attenuate TMT-induced neurodegeneration in *** predominant anthocyanin in human diets,cyanidin-3-O-glucoside(C3G,5 or 50 mg/kg),was given to mice for 16 days,and TMT(2.7 mg/kg)was injected intraperitoneally once on the eighth day.C3G(50 mg/kg)significantly alleviated TMT-induced seizures and subsequent cognitive impairment by ameliorating hippocampal neurodegeneration and synaptic ***,C3G treatment restored glutamate homeostasis in brain and reversed glutamine synthetase(GS)inhibition in reactive astrogliosis and neuroinflammation,which are critical for C3G's neuroprotective ***,C3G decreased the lipopolysaccharide,tumor necrosis factor-α,interleukin-6,and interleukin-1βlevels in the mice,which potentially by modulating the relative abundance of Atopobiaceae and Lachnospiraceae in the gut.C3G may be a promising and practical dietary component for reducing TMT-induced neurodegeneration.

关键词： Cyanidin-3-O-glucoside Trimethyltin Neurodegeneration Glutamatergic pathway Gut microbiota

Autonomous multi-drone racing method based on deep reinforcement learning

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Science China(Information Sciences) 2024年第8期67卷 35-48页

作者： Yu KANG jian DI Ming li yunbo ZHAO Yuhui WANG Department of Automation University of Science and Technology of China Institute of Advanced Technology University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Racing drones have attracted increasing attention due to their remarkable high speed and excellent maneuverability. However, autonomous multi-drone racing is quite difficult since it requires quick and agile flight in intricate surroundings and rich drone interaction. To address these issues, we propose a novel autonomous multi-drone racing method based on deep reinforcement learning. A new set of reward functions is proposed to make racing drones learn the racing skills of human experts. Unlike previous methods that required global information about tracks and track boundary constraints, the proposed method requires only limited localized track information within the range of its own onboard sensors. Further, the dynamic response characteristics of racing drones are incorporated into the training environment, so that the proposed method is more in line with the requirements of real drone racing scenarios. In addition, our method has a low computational cost and can meet the requirements of real-time racing. Finally, the effectiveness and superiority of the proposed method are verified by extensive comparison with the state-of-the-art methods in a series of simulations and real-world experiments.

关键词： autonomous multi-drone racing deep reinforcement learning Markov game racing drone sim-to-real

Cobalt-based heterogeneous catalysts for photocatalytic carbon dioxide reduction

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Tungsten 2024年第2期6卷 410-421页

作者： Hong Yuan jian-Hua Mei yun-Nan Gong Di-Chang Zhong Tong-Bu Lu MOE International Joint Laboratory of Materials Microstructure Institute for New Energy Materials and Low Carbon TechnologiesSchool of Materials Science and EngineeringTianjin University of TechnologyTianjin 300384China

Solar light-driven CO_(2)reduction to high value-added chemicals has considered as an outstanding way to solve energy crisis and climate ***,various photocatalysts have been developed to achieve this *** them,cobaltbased heterogeneous catalysts have attracted great interest because of their promising performance,product selectivity and ***,we systematically summarize the research progress of various cobalt-based heterogeneous catalysts for the photoreduction of CO_(2),such as single-atom cobalt,and cobalt-based oxides,nitrides,sulfi des,phosphides,metal-organic frameworks and covalent-organic ***,the advantages and structure-activity relationship of these catalysts in photocatalytic CO_(2)reduction reaction are ***,the challenges and prospects for constructing cobaltbased heterogeneous catalysts with high effi ciency are highlighted.

关键词： Cobalt Heterogeneous catalysts CO_(2)reduction Photocatalysis

On implications of somatostatin in diabetic retinopathy

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Neural Regeneration Research 2024年第9期19卷 1984-1990页

作者： Yanhong Fang Qionghua Wang Youjian li li Zeng jian liu Kepeng Ou Department of Ophthalmology Chongqing University Jiangjin HospitalChongqingChina College of Pharmacy National&Local Joint Engineering Research Center of Targeted and Innovative TherapeuticsIATTIChongqing University of Arts and SciencesChongqingChina Shandong Provincial Hospital Shandong Laboratory Animal CenterScience and Technology Innovation CenterShandong First Medical University&Shandong Academy of Medical SciencesJinanShandong ProvinceChina Academic Unit of Ophthalmology Bristol Medical SchoolUniversity of BristolBristolUK

Somatostatin,a naturally produced neuroprotective peptide,depresses excitatory neurotransmission and exerts anti-proliferative and anti-inflammatory effects on the *** this review,we summarize the progress of somatostatin treatment of diabetic retinopathy through analysis of relevant studies published from February 2019 to February 2023 extracted from the PubMed and Google Scholar *** neuroprotection,which occurs as a consequence of declined expression or dysregulation of retinal somatostatin in the very early stages of diabetic retinopathy,triggers retinal neurovascular unit impairment and microvascular *** replacement is a promising treatment for retinal neurodegeneration in diabetic *** pre-clinical and clinical trials of somatostatin analog treatment for early diabetic retinopathy have been *** one such trial(EUROCONDOR),topical administration of somatostatin was found to exert neuroprotective effects in patients with pre-existing retinal neurodysfunction,but had no impact on the onset of diabetic ***,we concluded that somatostatin restoration may be especially beneficial for the growing population of patients with early-stage *** order to achieve early prevention of diabetic retinopathy initiation,and thereby salvage visual function before the appearance of moderate non-proliferative diabetic retinopathy,several issues need to be *** include the needs to:a)update and standardize the retinal screening scheme to incorporate the detection of early neurodegeneration,b)identify patient subgroups who would benefit from somatostatin analog supplementation,c)elucidate the interactions of somatostatin,particularly exogenously-delivered somatostatin analogs,with other retinal peptides in the context of hyperglycemia,and d)design safe,feasible,low cost,and effective administration routes.

关键词： diabetes retinopathy excitotoxicity growth hormone insulin like growth factor irisin neurodegeneration neuroinflammation neuroprotection neurovascular unit octreotide oxidative stress somatostatin