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A Reverse Path Planning Approach for Enhanced Performance of Multi-Degree-of-Freedom Industrial Manipulators

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Computer Modeling in Engineering & Sciences 2024年第5期139卷 1357-1379页

作者： Zhiwei lin Hui Wang Tianding chen Yingtao jiang Jianmei jiang Yingpin chen Key Laboratory of Light Field Manipulation and System Integration Applications in Fujian Province School of Physics and Information EngineeringMinnan Normal UniversityZhangzhou363000China Department of Electrical and Computer Engineering University of NevadaLas Vegas89154USA College of Material Engineering Fujian Agriculture and Forestry UniversityFuzhou350000China

In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and *** Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion *** satisfactory results in practical scenarios remains *** response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial *** approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free *** enhance convergence speed,the Q-learning algorithm in RL is augmented with ***,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection ***,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power *** efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target *** results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target ***,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.

关键词： Reverse path planning Dyna-Q bidirectional search posture angle joint motion

Involvement of moesin phosphorylation in ischemia/reperfusion induced inner blood-retinal barrier dysfunction

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International Journal of Ophthalmology(English edition) 2020年第4期13卷 545-551页

作者： Jing Xu Qiong Liu Ming Ma lin-jiang chen Jian Yu Ke Xiong Jing Wu Department of Ophthalmology Nanfang HospitalSouthern Medical UniversityGuangzhou 510515Guangdong ProvinceChina Huiqiao Medical Center Nanfang HospitalSouthern Medical UniversityGuangzhou 510515Guangdong ProvinceChina

AIM: To investigate the role of moesin and its underlying signal transduction in retinal vascular damage induced by retinal ischemia-reperfusion(RIR) ***: C57 BL/6 mice were subjected to continued ischemia for 45 min, followed by blood reperfusion. The expression and phosphorylation of moesin in retinal vessels were detected by immunohistochemistry and Western blotting. The inner blood-retinal barrier was evaluated using FITCdextran leakage assay on whole-mount retina. Further studies were conducted to explore the effects of p38 mitogen-activated protein kinase(MAPK) pathway on the involvement of moesin in RIR-evoked retinal vascular hyperpermeability response. RESULTS: It revealed that RIR induced moesin phosphorylation in a time-dependent manner after reperfusion. The phosphorylation of moesin was alleviated by inhibitions of p38 MAPK, while this treatment also ameliorated the dysfunction of inner blood-retinal barrier. CONCLUSION: The results suggest that moesin is involved in RIR-evoked retinal vascular endothelial dysfunction and the phosphorylation of moesin is triggered via p38 MAPK activation.

关键词： retinal ischemia-reperfusion moesin p38 mitogen-activated protein kinase inner blood-retinal barrier mice

Suppression of modulation-induced polarization error in spliceless open-loop fiber optic gyroscope [Invited]

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Chinese Optics Letters 2024年第7期22卷 6-11页

作者： lin chen Peitong He Biqiang jiang Jianlin Zhao Key Laboratory of Light Field Manipulation and Information Acquisition and Shaanxi Key Laboratory of Optical Information TechnologySchool of Physical Science and TechnologyNorthwestern Polytechnical UniversityXi’an 710129China Zhejiang Lab Hangzhou 311100China

The suppression of polarization cross talk in lead zirconate titanate phase modulators as a key error source has been challenging for open-loop fiber optic gyroscopes(FOGs).We developed a polarization-diversity optical frequency domain reflectometry(OFDR)to measure the distributed modulation polarization error in the *** error contributes 8×10^(−6) rad to FOG’s bias *** a UV-fabricated in-fiberλ/4 wave plate and polarization-mode converter with fiber taper technology,the modulation error has been suppressed by 15 dB in assembled *** approach reduced error with temperature from 25°/h to 0.7°/h,meeting the requirements of control-level gyroscopes with bias errors less than 1°/h.

关键词： fiber optic gyroscope inline wave plate optical frequency domain reflectometry polarization-mode converter

Efficient Spin-Flip between Charge-Transfer States for High-Performance Electroluminescence, without an Intermediate Locally Excited State

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Research 2024年第1期2023卷 339-349页

作者： Donghai Zhang Shanshan jiang Xiaodong Tao Fulin lin lingyi Meng Xu-lin chen Can-Zhong Lu State Key Laboratory of Structural Chemistry Fujian Institute of Research on the Structure of MatterChinese Academy of SciencesFuzhouFujian 350002China Fujian Science and Technology Innovation Laboratory for Optoelectronic Information of China FuzhouFujian 350108China Xiamen Key Laboratory of Rare Earth Photoelectric Functional Materials Xiamen Institute of Rare Earth MaterialsHaixi InstitutesChinese Academy of SciencesXiamenFujian 361021China University of Chinese Academy of Sciences Beijing 100049China

Thermally activated delayed fluorescence(TADF)materials with both high photoluminescence quantum yield(PLQY)and fast reverse intersystem crossing(RISC)are strongly desired to realize efficient and stable organic light-emitting diodes(OLEDs).Control of excited-state dynamics via molecular design plays a central role in optimizing the PLQY and RISC rate of TADF materials but remains ***,3 TADF emitters possessing similar molecular structures,similar high PLQYs(89.5%to 96.3%),and approximate energy levels of the lowest excited singlet states(S_(1)),but significantly different spin-flipping RISC rates(0.03×10^(6) s^(−1) vs.2.26×10^(6) s^(−1))and exciton lifetime(297.1 to 332.8μs vs.6.0μs)were systematically synthesized to deeply investigate the feasibility of spin-flip between charge-transfer excited states(^(3)CT–^(1)CT)transition.

关键词： transition lifetime desired

Process optimization and mechanism study of ionic liquid-based mixed amine biphasic solvents for CO_(2) capture in biogas upgrading procedure

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Frontiers of Environmental Science & Engineering 2024年第8期18卷 43-57页

作者： Fanzhi Meng Siyu Han Li lin Jinglin Li Kailun chen jianguo jiang School of Environment Tsinghua UniversityBeijing 100084China

This study focused on enhancing the efficiency of methane upgrading and reducing energy consumption in the biogas upgrading process through the use of biphasic *** aqueous-based biphasic solvent,comprising methyl monoethanolamine(MMEA),N-methyldiethanolamine(MDEA),and 1-butyl-3-methylimidazolium tetrafluoroborate(ItFB),was meticulously *** biogas upgrading effect,regeneration efficiency,regeneration energy consumption,economic viability,selectivity,and phase separation characteristics of this absorbent were systematically *** parameters,including different inlet flow rates,stirring rate,methane inlet concentrations,reaction temperatures,and amine mixing ratios,were adjusted to investigate their impact.A comprehensive evaluation was conducted on the biogas upgrading effect and substance migration trends of the biphasic *** process parameters were determined,demonstrating the favorable impact of the biphasic solvent on biogas *** upgraded gas achieved a methane purity exceeding 96%,and the regeneration energy consumption decreased by 44.27% compared to 30 wt.%MEA,resulting in a more than 50% improvement in economic *** interaction between the ionic liquid and carbamate facilitated the phase separation process,with carbon enrichment after separation exceeding 95%.This enhancement significantly contributed to the improvement of regeneration energy *** study thus concludes that biphasic solvents,exemplified by the described aqueous-based solution,offer a promising avenue for effective biogas upgrading with notable advancements in economic and energy efficiency.

关键词： Biphasic solvents Biogas upgrading Energy consumption Process parameters Ionic liquid

Ultra-conservative noncoding RNA uc.243 confers chemo-resistance by facilitating the efflux of the chemotherapeutic drug in ovarian cancer

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BIOCELL 2024年第8期48卷 1265-1273页

作者： SHAN jiang XIUFENG lin YANFEI chen XINNING LI JIALI KANG Department of Gynecology and Obstetrics The First Affiliated Hospital of Jinan UniversityGuangzhou510180China Reproductive Medical Center Boai Hospital of Zhongshan Affiliated to Southern Medical UniversityZhongshan528400China Department of Gynecology and Obstetrics Boai Hospital of Zhongshan Affiliated to Southern Medical UniversityZhongshan528400China Department of Gynecology and Obstetrics Guangzhou First People’s HospitalGuangzhou Medical UniversityGuangzhou510180China

Background:Despite improvements in objective response rates to cisplatin-based combination chemotherapy,the majority of advanced ovarian cancer remains suboptimal,resulting in poor *** has been found that non-coding RNAs(ncRNAs)not only participate in the transmission of signals between various cells but also participate in tumor immunity and anti-tumor immune responses,thereby regulating tumor occurrence and ***,the function and detailed mechanism of ultraconserved RNA(ucRNA)in ovarian cancer chemoresistance is still ***:Western blotting assay,Quantitative real-time PCR analysis(qPCR),and Kaplan-Meier Plotter analysis were performed to analyze the expression and prognosis of uc.243 in ovarian *** assay and Annexin V assay were performed to analyze the function of uc.243 in cisplatin resistance in ovarian cancer *** pull-down and qPCR experiments were performed to explore the molecular mechanism of uc.243 enhancing cisplatin resistance in ovarian cancer ***:Herein,we found that uc.243 was remarkably upregulated and correlated with patient survival in chemoresistance ovarian cancer patients compared with chemo-sensitive ovarian *** experiment displayed that uc.243 induced cisplatin resistance on ovarian cancer cells by facilitating the efflux of cisplatin(CDDP);but inhibiting the expression of uc.243 significantly reverses this ***,uc.243 can inhibit the binding of RNA binding protein DGCR8 microprocessor complex subunit to pri-miR-155,thereby inhibiting the cleavage of pri-miR-155 and decrease in mature miR-155,subsequently upregulates the expression of ATP binding cassette subfamily B member(ABCB1,ABCC2).Conclusion:Our research findings indicate that uc.243 can induce chemotherapy resistance in ovarian cancer,suggesting that it may become a new prognostic biomarker for malignant ovarian cancer.

关键词： Ultra-conserved non-coding RNA uc.243 Drug efflux Drug transporters Chemoresistance Ovarian cancer

A lubrication model for bubbly oil lubrication with interfacial effect and thermal effect using the theory of multiphase mixtures

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Friction 2024年第2期12卷 271-290页

作者： Shaohua LI Xiaohui lin Shuyun jiang School of Mechanical Engineering Southeast UniversityNanjing 211189China

Bubbly oil lubrication is a type of lubrication ***,the lubrication model of the bubbly oil has not been thoroughly *** paper aims to investigate the modelling for bubbly oil lubrication considering the interfacial effect and thermal effect,and a theoretical model is established based on the theory of multiphase *** interfacial and thermal effects on the static characteristics of a thrust bearing are analyzed.A test rig for the thrust bearing is developed to measure the static characteristics of the bearing under bubbly oil *** results show that the bearing static characteristics,*** temperature rise,film thickness,friction torque,and volume flow,increase with consideration of three interfacial effects;the bearing temperature rise increases but the film thickness,friction torque,and volume flow rate decrease with consideration of the three thermal effects;the thermal effect on the bearing static characteristics is greater than the interfacial effect.

关键词： bubbly oil lubrication theory of multiphase mixtures interfacial effect thermal effect fluid bearing

Hypoglycemic mechanism of Tegillarca granosa polysaccharides on type 2 diabetic mice by altering gut microbiota and regulating the PI3K-akt signaling pathwaye

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Food Science and Human Wellness 2024年第2期13卷 842-855页

作者： Qihong jiang lin chen Rui Wang Yin chen Shanggui Deng Guoxin Shen Shulai Liu Xingwei Xiang College of Food Science and Technology Zhejiang University of TechnologyHangzhou 310014China Key Laboratory of Marine Fishery Resources Exploitment&Utilization of Zhejiang Province Hangzhou 310014China National R&D Branch Center for Pelagic Aquatic Products Processing(Hangzhou) Hangzhou 310014China Institute of Sericultural and Tea Zhejiang Academy of Agricultural SciencesHangzhou 310021China College of Food and Pharmacy Zhejiang Ocean UniversityZhoushan 316000China

Type 2 diabetes mellitus(T2DM)is a complex metabolic disease threatening human *** investigated the effects of Tegillarca granosa polysaccharide(TGP)and determined its potential mechanisms in a mouse model of T2DM established through a high-fat diet and ***(5.1×10^(3) Da)was composed of mannose,glucosamine,rhamnose,glucuronic acid,galactosamine,glucose,galactose,xylose,and *** could significantly alleviate weight loss,reduce fasting blood glucose levels,reverse dyslipidemia,reduce liver damage from oxidative stress,and improve insulin ***-PCR and Western blotting indicated that TGP could activate the phosphatidylinositol-3-kinase/protein kinase B signaling pathway to regulate disorders in glucolipid metabolism and improve insulin *** increased the abundance of Allobaculum,Akkermansia,and Bifidobacterium,restored the microbiota abundance in the intestinal tracts of mice with T2DM,and promoted short-chain fatty acid *** study provides new insights into the antidiabetic effects of TGP and highlights its potential as a natural hypoglycemic nutraceutical.

关键词： Tegillarca granosa polysaccharide Type 2 diabetes mellitus Glycolipid metabolism PI3K/Akt signaling pathway

Expert consensus on the diagnosis and therapy of endo-periodontal lesions

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International Journal of Oral Science 2024年第3期16卷 381-389页

作者： Bin chen Yanan Zhu Minkui lin Yangheng Zhang Yanfen Li Xiangying Ouyang Song Ge jiang lin Yaping Pan Yan Xu Yi Ding Shaohua Ge Faming chen Zhongchen Song Shaoyun jiang jiang Sun Lijun Luo Junqi ling Zhi chen lin Yue Xuedong Zhou Fuhua Yan Department of Periodontology Nanjing Stomatological HospitalAffiliated Hospital of Medical SchoolInstitute of StomatologyNanjing UniversityNanjingChina Department of Endodontics Nanjing Stomatological HospitalAffiliated Hospital of Medical SchoolInstitute of StomatologyNanjing UniversityNanjingChina Clinical Research Center for Oral Tissue Deficiency Diseases of Fujian Province&Fujian Key Laboratory of Oral Diseases&Fujian Provincial Engineering Research Center of Oral Biomaterial School and Hospital of StomatologyFujian Medical UniversityFuzhouChina Department of Periodontology Peking University School and Hospital of Stomatology&National Center for Stomatology&National Clinical Research Center for Oral Diseases&National Engineering Research Center of Oral Biomaterials and Digital Medical DevicesBeijingChina School and Hospital of Stomatology Zunyi Medical UniversityZunyiChina Department of Stomatology Beijing TongRen HospitalCapital Medical UniversityBeijingChina Department of Periodontics School and Hospital of StomatologyChina Medical UniversityShenyangChina Department of Periodontology The Affiliated Stomatological Hospital of Nanjing Medical UniversityJiangsu Key Laboratory of Oral DiseasesNanjing Medical UniversityNanjingChina State Key Laboratory of Oral Diseases&National Center for Stomatology&National Clinical Research Center for Oral Diseases&Department of Periodontics West China Hospital of StomatologySichuan UniversityChengduChina Department of Periodontology School and Hospital of StomatologyShandong University&Shandong Key Laboratory of Oral Tissue Regeneration&Shandong Engineering Research Center of Dental Materials and Oral Tissue Regeneration&Shandong Provincial Clinical Research Center for Oral Diseases JinanJinanChina State Key Laboratory of Oral&Maxillofacial Reconstruction and Regeneration National Clinical Research Center for Oral DiseasesShaanxi International Joint Research Center for Oral DiseasesDepartment of periodontologySchool of StomatologyThe Fou

Endo-periodontal lesions (EPLs) involve both the periodontium and pulp tissue and have complicated etiologies and pathogenic mechanisms,including unique anatomical and microbiological characteristics and multiple contributing *** etiological complexity leads to difficulties in determining patient prognosis,posing great challenges in clinical ***,EPL-affected teeth require multidisciplinary therapy,including periodontal therapy,endodontic therapy and others,but there is still much debate about the appropriate timing of periodontal therapy and root canal *** compiling the most recent findings on the etiology,pathogenesis,clinical characteristics,diagnosis,therapy,and prognosis of EPL-affected teeth,this consensus sought to support clinicians in making the best possible treatment decisions based on both biological and clinical evidence.

关键词： diagnosis periodontal lesions