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A Bayesian expectation maximization algorithm for state estimation of intelligent vehicles considering data loss and noise uncertainty

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Science China Technological Sciences 2025年

作者： Yan WANG feng TIAN Jianqiang WANG keqiang li Department of Industrial and Systems Engineering The Hong Kong Polytechnic University School of Vehicle and Mobility Tsinghua University

Sideslip angle, yaw rate, and vehicle velocity are essential for intelligent vehicle control. Since these vehicle states are not measured directly, some Kalman-based approaches have been developed to estimate these states using in-vehicle sensors. However, the existing studies seldom account for the influence of sensor data loss on estimation accuracy. In addition,the process and measurement noise change during the estimation process because of the various driving conditions. To address these problems, an expectation-maximization robust extended Kalman filter (EMREKF) is proposed. Firstly, a robust extended Kalman filter (REKF) is developed to deal with the impact of missing measurements. Then, an improved expectation maximization (EM) algorithm that considers data loss is presented to update the noise parameter of the REKF dynamically. Finally,the improved EM is fused with the REKF to form the EMREKF to estimate vehicle state. The experimental results demonstrate that the EMREKF outperforms EKF, REKF, and maximum correntropy criterion EKF for various degrees of data loss and the proposed algorithm has a strong adaptive ability to different driving conditions.

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Advances in the Development of Gradient Scaffolds Made of Nano‑Micromaterials for Musculoskeletal Tissue Regeneration

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Nano-Micro Letters 2025年第3期17卷 455-500页

作者： Lei Fang Xiaoqi lin Ruian Xu Lu liu Yu Zhang feng Tian Jiao Jiao li Jiajia Xue Beijing Laboratory of Biomedical Materials Beijing University of Chemical TechnologyBeijing 100029People’s Republic of China State key Laboratory of Organic‑Inorganic Composites Beijing University of Chemical TechnologyBeijing 100029People’s Republic of China School of Biomedical Engineering Faculty of Engineering and ITUniversity of Technology SydneySydneyNSW 2007Australia

The intricate hierarchical structure of musculoskeletal tissues,including bone and interface tissues,necessitates the use of complex scaffold designs and material structures to serve as tissue-engineered *** has led to growing interest in the development of gradient bone scaffolds with hierarchical structures mimicking the extracellular matrix of native tissues to achieve improved therapeutic *** on the anatomical characteristics of bone and interfacial tissues,this review provides a summary of current strategies used to design and fabricate biomimetic gradient scaffolds for repairing musculoskeletal tissues,specifically focusing on methods used to construct compositional and structural gradients within the *** latest applications of gradient scaffolds for the regeneration of bone,osteochondral,and tendon-to-bone interfaces are ***,the current progress of testing gradient scaffolds in physiologically relevant animal models of skeletal repair is discussed,as well as the challenges and prospects of moving these scaffolds into clinical application for treating musculoskeletal injuries.

关键词： Gradient scaffolds Musculoskeletal tissues Advanced manufacturing Biomaterials Tissue regeneration

Depression mechanism of sulfite ions on sphalerite and Pb^(2+)activated sphalerite in the flotation separation of galena from sphalerite

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International Journal of Minerals,Metallurgy and Materials 2025年第2期32卷 335-345页

作者： feng Zhang Chenyang Zhang linlin Wu Wei Sun Hongliang Zhang Jianhua Chen Yong Pei Songjiang li Engineering Research Center of Ministry of Education for Carbon Emission Reduction in Metal Resource Exploitation and Utilization Hunan International Joint Research Center for Efficient and Clean Utilization of Critical Metal Mineral ResourcesSchool of Minerals Processing and BioengineeringCentral South UniversityChangsha 410083China State key Laboratory of Mineral Processing Beijing General Research Institute of Mining&MetallurgyBeijing 100160China Hunan Provincial key Laboratory of Micro&Nano Materials Interfaces Science College of Chemistry and Chemical EngineeringCentral South UniversityChangsha 410083China School of Resources Environment and MaterialsGuangxi UniversityNanning 530004China Department of Chemistry Xiangtan UniversityXiangtan 411105China China Railway Resource Group Co.Ltd Beijing 102300China

The depression mechanism of sulfite ions on sphalerite and Pb^(2+)activated sphalerite in the flotation separation of galena from sphalerite still lacked in-depth ***,the depression mechanism of sulfite ions on sphalerite and Pb^(2+)activated sphalerite in the flotation separation of galena from sphalerite was further systematically investigated with experiments and density functional theory(DFT)*** X-ray photoelectric spectroscopy(XPS)results,DFT calculation results,and frontier molecular orbital analysis indicated that sulfite ions were difficult to be adsorbed on sphalerite surface,suggesting that sulfite ions achieved depression effects on sphalerite through other non-adsorption ***,the oxygen content in the surface of sphalerite treated with sulfite ions in creased,which enhanced the hydrophilicity of the sphalerite and further increased the difference in hydrophilicity between sphalerite and ***,sulfite ions were chelated with lead ions to form PbSO_(3)in *** hydrophilic PbSO_(3)was more easily adsorbed on sphalerite than *** interaction between sulfite ions and lead ions could effectively inhibit the activation of *** addition the UV spectrum showed that after adding sulfite ions,the peak of perxanthate in the sphalerite treated xanthate solution was significantly stronger than that in the galena with xanthate solution,indicating that xanthate interacted more readily with sulfite ions and oxygen mo lecules within the sphalerite system,leading to the formation of ***,sulfite ions hardly depressed the flotation of ga lena and could promote the flotation of galena to some *** study deepened the understanding of the depression mechanism o sulfite ions on sphalerite and Pb^(2+)activated sphalerite.

关键词： sphalerite galena sulfite ion density functional theory depression mechanism

Copper homeostasis and neurodegenerative diseases

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Neural Regeneration Research 2025年第11期20卷 3124-3143页

作者： Yuanyuan Wang Daidi li Kaifei Xu Guoqing Wang feng Zhang International Research Laboratory of Ethnomedicine of Ministry of Education Key Laboratory of Basic Pharmacology of Ministry of EducationLaboratory Animal Center and Key Laboratory of Basic Pharmacology of Guizhou ProvinceZunyi Medical UniversityZunyiGuizhou ProvinceChina

Copper,one of the most prolific transition metals in the body,is required for normal brain physiological activity and allows various functions to work normally through its range of *** homeostasis is meticulously maintained through a complex network of copper-dependent proteins,including copper transporters(CTR1 and CTR2),the two copper ion transporters the Cu-transporting ATPase 1(ATP7A)and Cu-transporting beta(ATP7B),and the three copper chaperones ATOX1,CCS,and *** in copper homeostasis can lead to either the deficiency or accumulation of copper in brain *** evidence suggests that abnormal copper metabolism or copper binding to various proteins,including ceruloplasmin and metallothionein,is involved in the pathogenesis of neurodegenerative ***,the exact mechanisms underlying these processes are not *** is a potent oxidant that increases reactive oxygen species production and promotes oxidative *** reactive oxygen species levels may further compromise mitochondrial integrity and cause mitochondrial *** oxygen species serve as key signaling molecules in copper-induced neuroinflammation,with elevated levels activating several critical inflammatory ***,copper can bind aberrantly to several neuronal proteins,including alphasynuclein,tau,superoxide dismutase 1,and huntingtin,thereby inducing neurotoxicity and ultimately cell *** study focuses on the latest literature evaluating the role of copper in neurodegenerative diseases,with a particular focus on copper-containing metalloenzymes and copper-binding proteins in the regulation of copper homeostasis and their involvement in neurodegenerative disease *** synthesizing the current findings on the functions of copper in oxidative stress,neuroinflammation,mitochondrial dysfunction,and protein misfolding,we aim to elucidate the mechanisms by which copper contributes to a wide range of heredit

关键词： Alzheimer's disease amyotrophic lateral sclerosis disease copper homeostasis copper toxicity Huntington's disease Menkes'disease multiple sclerosis neurodegenerative disease Parkinson's disease Wilson's disease

The complex roles of m^(6)A modifications in neural stem cell proliferation, differentiation, and self-renewal and implications for memory and neurodegenerative diseases

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Neural Regeneration Research 2025年第6期20卷 1582-1598页

作者： Yanxi li Jing Xue Yuejia Ma ke Ye Xue Zhao Fangliang Ge Feifei Zheng Lulu liu Xu Gao Dayong Wang Qing Xia Department of Biochemistry and Molecular Biology College of Basic Medical SciencesHarbin Medical UniversityHarbinHeilongjiang ProvinceChina College of Basic Medical Sciences Harbin Medical UniversityHarbinHeilongjiang ProvinceChina Basic Medical Institute Heilongjiang Academy of Medical SciencesHarbinHeilongjiang ProvinceChina key Laboratory of Heilongjiang Province for Genetically Modified Animals Harbin Medical UniversityHarbinHeilongjiang ProvinceChina Translational Medicine Research and Cooperation Center of Northern China Heilongjiang Academy of Medical SciencesHarbinHeilongjiang ProvinceChina Dongzhimen Hospital Beijing University of Chinese MedicineBeijingChina

N6-methyladenosine(m^(6)A), the most prevalent and conserved RNA modification in eukaryotic cells, profoundly influences virtually all aspects of mRNA metabolism. mRNA plays crucial roles in neural stem cell genesis and neural regeneration, where it is highly concentrated and actively involved in these processes. Changes in m^(6)A modification levels and the expression levels of related enzymatic proteins can lead to neurological dysfunction and contribute to the development of neurological diseases. Furthermore, the proliferation and differentiation of neural stem cells, as well as nerve regeneration, are intimately linked to memory function and neurodegenerative diseases. This paper presents a comprehensive review of the roles of m^(6)A in neural stem cell proliferation, differentiation, and self-renewal, as well as its implications in memory and neurodegenerative diseases. m^(6)A has demonstrated divergent effects on the proliferation and differentiation of neural stem cells. These observed contradictions may arise from the time-specific nature of m^(6)A and its differential impact on neural stem cells across various stages of development. Similarly, the diverse effects of m^(6)A on distinct types of memory could be attributed to the involvement of specific brain regions in memory formation and recall. Inconsistencies in m^(6)A levels across different models of neurodegenerative disease, particularly Alzheimer's disease and Parkinson's disease, suggest that these disparities are linked to variations in the affected brain regions. Notably, the opposing changes in m^(6)A levels observed in Parkinson's disease models exposed to manganese compared to normal Parkinson's disease models further underscore the complexity of m^(6)A's role in neurodegenerative processes. The roles of m^(6)A in neural stem cell proliferation, differentiation, and self-renewal, and its implications in memory and neurodegenerative diseases, appear contradictory. These inconsistencies may be a

关键词： Alzheimer's disease cell self-renewal central nervous system memory microglia nerve regeneration neurodegenerative diseases neurogenesis RNA methylation

Designing Electronic Structures of Multiscale Helical Converters for Tailored Ultrabroad Electromagnetic Absorption

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Nano-Micro Letters 2025年第1期17卷 439-455页

作者： Zhaobo feng Chongbo liu Xin li Guangsheng Luo Naixin Zhai Ruizhe Hu Jing lin Jinbin Peng Yuhui Peng Renchao Che key Laboratory of Jiangxi Province for Persistent Pollutants Control and Resources Recycle School of Environmental and Chemical EngineeringNanchang Hangkong UniversityNanchang 330063People’s Republic of China School of Physics and Materials Nanchang UniversityNanchang 330031People’s Republic of China key Laboratory of Nondestructive Testing Ministry of EducationNanchang Hangkong UniversityNanchang 330063People’s Republic of China Laboratory of Advanced Materials Shanghai Key Lab of Molecular Catalysis and Innovative MaterialsAcademy for Engineering and TechnologyFudan UniversityShanghai 200438People’s Republic of China

Atomic-scale doping strategies and structure design play pivotal roles in tailoring the electronic structure and physicochemical property of electromagnetic wave absorption(EMWA)***,the relationship between configuration and electromagnetic(EM)loss mechanism has remained ***,drawing inspiration from the DNA transcription process,we report the successful synthesis of novel in situ Mn/N co-doped helical carbon nanotubes with ultrabroad EMWA *** calculation and EM simulation confirm that the orbital coupling and spin polarization of the Mn–N4–C configuration,along with cross polarization generated by the helical structure,endow the helical converters with enhanced EM *** a result,HMC-8 demonstrates outstanding EMWA performance,achieving a minimum reflection loss of−63.13 dB at an ultralow thickness of 1.29 *** precise tuning of the graphite domain size,HMC-7 achieves an effective absorption bandwidth(EAB)of 6.08 GHz at 2.02 mm ***,constructing macroscale gradient metamaterials enables an ultrabroadband EAB of 12.16 GHz at a thickness of only 5.00 mm,with the maximum radar cross section reduction value reaching 36.4 dB *** innovative approach not only advances the understanding of metal–nonmetal co-doping but also realizes broadband EMWA,thus contributing to the development of EMWA mechanisms and applications.

关键词： Metal-nonmetal co-doping 3d-2p orbital coupling Spin polarization Helical structure Broadband EM wave absorption

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河渠分汊处流量与污染物分配

水动力学研究与进展（A辑） 1993年第1期8卷 90-96页

作者：李克锋罗麟李嘉赵文谦成都科技大学成都610065

本文建立了一个深度平均的水环境全场紊流模型,将流场与浓度场耦合求解以确定流场和浓度场的分布,通过数值积分得出分流比与污染物分配比。对分汊河渠不规则边界的处理,本文提出了一种新方法:区域坐标系统法。应用上述数学模型和数值方... 详细信息

本文建立了一个深度平均的水环境全场紊流模型,将流场与浓度场耦合求解以确定流场和浓度场的分布,通过数值积分得出分流比与污染物分配比。对分汊河渠不规则边界的处理,本文提出了一种新方法:区域坐标系统法。应用上述数学模型和数值方法,本文对河渠分汊点上游存在岸边排放口时分汊河段的流场和浓度场进行了计算,并着重讨论了对称分汊情况下分汊角、排放口入射动量对汊道分流比和污染物分配比的影响。所得计算结果与作者的实验资料符合较好。在此基础上,对不对称分汊情况下流量及污染物的分配也进行了初步探讨。

关键词：河渠分汊流量污染物湍流模型

Overexpression of low-density lipoprotein receptor prevents neurotoxic polarization of astrocytes via inhibiting NLRP3 inflammasome activation in experimental ischemic stroke

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Neural Regeneration Research 2025年第2期20卷 491-502页

作者： Shuai feng Juanji li Tingting liu Shiqi Huang Xiangliang Chen Shen liu Junshan Zhou Hongdong Zhao Ye Hong Department of Neurology Nanjing First HospitalNanjing Medical UniversityNanjingJiangsu ProvinceChina Department of Neurology Nanjing Jinling HospitalAffiliated Hospital of Medical SchoolNanjing UniversityNanjingJiangsu ProvinceChina

Neurotoxic astrocytes are a promising therapeutic target for the attenuation of cerebral ischemia/reperfusion ***-density lipoprotein receptor,a classic cholesterol regulatory receptor,has been found to inhibit NLR family pyrin domain containing protein 3(NLRP3)inflammasome activation in neurons following ischemic stroke and to suppress the activation of microglia and astrocytes in individuals with Alzheimer’s ***,little is known about the effects of low-density lipoprotein receptor on astrocytic activation in ischemic *** address this issue in the present study,we examined the mechanisms by which low-density lipoprotein receptor regulates astrocytic polarization in ischemic stroke ***,we examined low-density lipoprotein receptor expression in astrocytes via immunofluorescence staining and western blotting *** observed significant downregulation of low-density lipoprotein receptor following middle cerebral artery occlusion reperfusion and oxygen-glucose deprivation/***,we induced the astrocyte-specific overexpression of low-density lipoprotein receptor using astrocyte-specific adeno-associated ***-density lipoprotein receptor overexpression in astrocytes improved neurological outcomes in middle cerebral artery occlusion mice and reversed neurotoxic astrocytes to create a neuroprotective ***,we found that the overexpression of low-density lipoprotein receptor inhibited NLRP3 inflammasome activation in oxygen-glucose deprivation/reoxygenation injured astrocytes and that the addition of nigericin,an NLRP3 agonist,restored the neurotoxic astrocyte *** findings suggest that low-density lipoprotein receptor could inhibit the NLRP3-meidiated neurotoxic polarization of astrocytes and that increasing low-density lipoprotein receptor in astrocytes might represent a novel strategy for treating cerebral ischemic stroke.

关键词： inflammation ischemia/reperfusion injury ischemic stroke low-density lipoprotein receptor neuroprotective astrocytes neurotoxic astrocytes NLRP3 inflammasome polarization

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MPA培养模式与就业状况关系实证研究

云南师范大学学报（哲学社会科学版） 2017年第2期49卷 50-56页

作者：贺克斌李锋亮马永红清华大学环境学院北京100084 清华大学教育研究院北京100084 北京航空航天大学高等教育研究院北京100191

目前有大量文献提到了我国MPA在培养模式上出现的问题,然而相关实证研究却较少。鉴于此,本文在国际相关文献的基础上,通过一项全国范围的问卷调查数据,实证研究了我国MPA培养模式环节出现的问题以及这些问题对MPA毕业生就业状况的影响... 详细信息

目前有大量文献提到了我国MPA在培养模式上出现的问题,然而相关实证研究却较少。鉴于此,本文在国际相关文献的基础上,通过一项全国范围的问卷调查数据,实证研究了我国MPA培养模式环节出现的问题以及这些问题对MPA毕业生就业状况的影响。实证结果显示,我国MPA培养存在着一系列问题,而培养模式中的问题会给MPA毕业生带来显著的负面效果。具体而言,我国在MPA培养过程中的"案例教学""支持环境""领导力提升"这些方面做得不好,显著拉低MPA毕业生的工作满意度和月起薪。基于实证发现,建议我国MPA教育在进行培养模式改革的过程中,进一步加强案例库的建设和国际化的建设,从全球的视角来打造中国的MPA教育。

关键词： MPA 培养模式就业案例教学领导力