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A calibration and compensation method for an industrial robot with high accuracy harmonic reducers

Science China(Technological Sciences) 2024年第3期67卷 725-739页

作者： ZHAO YiYang liu xun CAO JiaBin liu JinYu XU Yan YAN WeiXin School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China College of Computer and Control Engineering Northeast Forestry UniversityHarbin 150040China

Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot end-effector, which will also increase the pose error of robot. Especially, the existing calibration methods often consider under no-payload condition without discussing the payload state. In this paper, we report a new industrial serial robot composed by a new harmonic reducer: Model-Y, based on high accuracy and high stiffness, and a kinematic parameter calibration algorithm which is based on a harmonic reducer forcedeformation model. To decrease the accuracy effects of payload, an iterative calibration method for kinematic parameters with payload situation was proposed. Simulation and experiments are conducted to verify the effectiveness of the proposed calibration method using the self-developed industrial serial robot. The results show a remarkably improved accuracy in absolute position and orientation with the robot's payload range. The position mean error has 70% decreased to 0.1 mm and the orientation mean error diminished to less than 0.01° after calibration with compensation. Additionally, online linear and circular tests are carried out to evaluate the position error of the robot during large-scale spatial and low-speed continuous movement. The accuracy is consistent with the previous calibration results, indicating the effectiveness and advantages of the proposed strategy in this article.

关键词： industrial serial robot Model-Y harmonic calibration stiffness model online compensation

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Thymoquinone affects hypoxia-inducible factor-1αexpression in pancreatic cancer cells via HSP90 and PI3K/AKT/mTOR pathways

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World Journal of Gastroenterology 2024年第21期30卷 2793-2816页

作者： Zhan-Xue Zhao Shuai Li Lin-xun liu Department of General Surgery Qinghai Provincial People's HospitalXining 810007Qinghai ProvinceChina Department of Clinical Pharmacy The Affiliated Hospital of Qinghai UniversityXining 810001Qinghai ProvinceChina

BACKGROUND Pancreatic cancer(PC)is associated with some of the worst prognoses of all major ***(TQ)has a long history in traditional medical practice and is known for its anti-cancer,anti-inflammatory,anti-fibrosis and antioxidant pharmacological *** studies on hypoxia-inducible factor-1α(HIF-1α)and PC have shown that HIF-1αaffects the occurrence and development of PC in many *** addition,TQ could inhibit the development of renal cancer by decreasing the expression of HIF-1α.Therefore,we speculate whether TQ affects HIF-1αexpression in PC cells and explore the *** To elucidate the effect of TQ in PC cells and the regulatory mechanism of HIF-1α*** Cell counting kit-8 assay,Transwell assay and flow cytometry were performed to detect the effects of TQ on the proliferative activity,migration and invasion ability and apoptosis of PANC-1 cells and normal pancreatic duct epithelial(hTERTHPNE)*** real-time polymerase chain reaction and western blot assay were performed to detect the expression of HIF-1αmRNA and protein in PC *** effects of TQ on the HIF-1αprotein initial expression pathway and ubiquitination degradation in PANC-1 cells were examined by western blot assay and *** TQ significantly inhibited proliferative activity,migration,and invasion ability and promoted apoptosis of PANC-1 cells;however,no significant effects on hTERT-HPNE cells were *** significantly reduced the mRNA and protein expression levels of HIF-1αin PANC-1,AsPC-1,and BxPC-3 *** significantly inhibited the expression of the HIF-1αinitial expression pathway(PI3K/AKT/mTOR)related proteins,and promoted the ubiquitination degradation of the HIF-1αprotein in PANC-1 *** had no effect on the hydroxylation and von Hippel Lindau protein mediated ubiquitination degradation of the HIF-1αprotein but affected the stability of the HIF-1αprotein by inhibiting the interaction between HI

关键词： Thymoquinone Pancreatic cancer Hypoxia-inducible factor-1α PI3K/AKT/mTOR HSP90

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Neuroprotective effects of acteoside in a glaucoma mouse model by targeting Serta domain-containing protein 4

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International Journal of Ophthalmology(English edition) 2024年第4期17卷 625-637页

作者： Hui-Jie Hao Ya-Hong Li Bo Yu xun liu Yan Zhang Xiao-Li Xing Tianjin Key Laboratory of Retinal Functions and Diseases Tianjin Branch of National Clinical Research Center for Ocular DiseaseEye Institute and School of OptometryTianjin Medical University Eye HospitalTianjin 300384China

AIM:To explore the therapeutic effect and main molecular mechanisms of acteoside in a glaucoma model in DBA/2J ***:Proteomics was used to compare the differentially expressed proteins of C57 and DBA/2J *** acteoside administration in DBA/2J mice,anterior segment observation,intraocular pressure(IOP)monitoring,electrophysiology examination,and hematoxylin and eosin staining were used to analyze any potential ***(IHC)assays were used to verify the proteomics ***,retinal ganglion cell 5(RGC5)cell proliferation was assessed with cell counting kit-8(CCK-8)*** domain-containing protein 4(Sertad4)mRNA and protein expression levels were measured by qRT-PCR and Western blot analysis,***:Proteomics analysis suggested that Sertad4 was the most significantly differentially expressed *** with the saline group,the acteoside treatment group showed decreased IOP,improved N1-P1 wave amplitudes,thicker retina,and larger numbers of cells in the ganglion cell layer(GCL).The IHC results showed that Sertad4 expression levels in DBA/2J mice treated with acteoside were significantly lower than in the saline *** treatment could improve RGC5 cell survival and reduce the Sertad4 mRNA and protein expression levels after glutamate ***:Sertad4 is differentially expressed in DBA/2J *** can protect RGCs from damage,possibly through the downregulation of Sertad4,and has a potential use in glaucoma treatment.

关键词： glaucoma acteoside Serta domaincontaining protein 4 proteomics mice

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Association between MTHFR c.677C>T variant and erectile dysfunction among males attending fertility clinic

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Asian Journal of Andrology 2024年第1期26卷 41-45页

作者： Shun Bai Ming-Zhen Li Yang-Yang Wan Xue-Chun Hu Yi-xun liu Xian-Hong Tong Tong-Hang Guo Lu Zong Ran liu Yuan-Qi Zhao Ping Xiang Bo Xu Xiao-Hua Jiang Department of Gynecology and Obstetrics Reproductive and Genetic HospitalThe First Affiliated Hospital of University of Science and Technology of ChinaDivision of Life Sciences and MedicineUniversity of Science and Technology of ChinaHefei 230001China NHC Key Laboratory of Male Reproduction and Genetics Guangdong Provincial Reproductive Science Institute(Guangdong Provincial Fertility Hospital)Guangzhou 510600China Department of Urology The First Affiliated Hospital of University of Science and Technology of ChinaDivision of Life Sciences and MedicineUniversity of Science and Technology of ChinaHefei 230001China Wannan Medical College Wuhu 241002China

Genetic risk factors have been shown to contribute to the development of sexual ***,the role of methylenetetrahydrofolate reductase(MTHFR)gene variants in the risk of erectile dysfunction(ED)remains *** this study,we recruited 1254 participants who underwent ED assessed by the International Index of Erectile *** MTHFR c.677C>T variant was also measured by fluorescence polymerase chain reaction(PCR).No significant difference in the genotypic frequency of the MTHFR C677T polymorphism(CC,CT,and TT)was observed between men from the ED and non-ED *** addition,on binary logistic regression analysis,both crude and adjusted models showed that the risk of ED was not significantly associated with the C677T ***,a significantly higher frequency of the 677TT polymorphism was found in severe and moderate ED(P=O.02).The positive correlation between the MTHFR 677TT polymorphism and severe ED was confirmed by logistic regression analysis,even after adjusting for potential confounders(odds ratio[OR]=2.46,95%confidence interval[CI]:1.15-5.50,P=0.02).These findings suggest a positive correlation between the MTHFR 677TT polymorphism and the risk of severe *** of MTHFR gene polymorphisms may provide complementary information for ED patients during routineclinicaldiagnosis.

关键词： erectile dysfunction gene variant genetic risk factors methylenetetrahydrofolate reductase sexual function

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巨噬细胞极化在肺部疾病中的作用机制及中药的干预

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中国中药杂志 2024年第2期49卷 334-343页

作者：梁晓刘建勋中国中医科学院西苑医院基础医学研究所国家中医心血管病研究中心中药药理北京市重点实验室北京100091

巨噬细胞作为机体重要的免疫细胞,是参与维持肺内微环境稳态的关键因素,由于其高度的可塑性,可在不同的条件下极化为不同的亚型:经典活化巨噬细胞M1和选择性活化巨噬细胞M2,两者分别具有促炎和抗炎作用。M1/M2表型与肺部疾病的发生发展... 详细信息

巨噬细胞作为机体重要的免疫细胞,是参与维持肺内微环境稳态的关键因素,由于其高度的可塑性,可在不同的条件下极化为不同的亚型:经典活化巨噬细胞M1和选择性活化巨噬细胞M2,两者分别具有促炎和抗炎作用。M1/M2表型与肺部疾病的发生发展密切相关,在巨噬细胞极化过程中涉及的多种信息分子和细胞因子在各种肺部疾病中均有重要的调控表型的作用,且在不同疾病中表型的转换也存在明显差异。该文主要通过综述巨噬细胞极化生物学特性,探讨巨噬细胞极化在支气管哮喘、慢性阻塞性肺疾病、急性肺损伤、肺纤维化等肺部疾病中的作用特点和以调控巨噬细胞极化为靶点的中药单体及中药复方对相关疾病的研究进展,旨在挖掘巨噬细胞极化在调控肺部炎症方面的潜力,为相关临床研究提供新思路。

关键词：巨噬细胞极化 M1型巨噬细胞 M2型巨噬细胞肺部疾病中药

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优化QuEChERS法联合UPLC-MS/MS测定马兰草中35种农药的残留

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贵州医科大学学报 2024年第8期49卷 1154-1159,1169页

作者：刘勋张迅贵州省食品药品检验所贵州贵阳550000 贵州省药品评价中心贵州贵阳550081

目的建立优化的QuEChERS提取方法结合超高效液相色谱-串联质谱(UPLC-MS/MS)测定马兰草中35种农药残留的方法。方法13批次马兰草样品净化前处理后,采用QuEChERS提取方法,以乙腈作为提取溶剂、经亲水亲油平衡材料(HLB SPE)固相萃取柱净化... 详细信息

目的建立优化的QuEChERS提取方法结合超高效液相色谱-串联质谱(UPLC-MS/MS)测定马兰草中35种农药残留的方法。方法13批次马兰草样品净化前处理后,采用QuEChERS提取方法,以乙腈作为提取溶剂、经亲水亲油平衡材料(HLB SPE)固相萃取柱净化,选择waters Xbridge C18色谱柱(10 cm×2.1 mm,2.6μm)、0.1%甲酸溶液(含5 mmol/L甲酸铵)-乙腈为流动相,柱温40℃、流速0.3 mL/min,应用超高效液相色谱-串联质谱法(UPLC-MS/MS)在多反应监测模式(MRM)下扫描,采用基质标准曲线法对马兰草中35种目标农药进行定量分析。结果所检35种农药在0.77~155.38μg/L浓度范围内线性关系良好,相关系数均大于0.9938;方法加标回收率为71.3%~108.7%,相对标准偏差(RSD)为1.7%~6.7%,检测限范围为0.77~7.77μg/L,1批样品中检出甲拌磷。结论本研究建立的方法具有操作简便、灵敏度高及可靠性强等特点,适用于马兰草中多种农药残留的检测。

关键词： QuEChERS 马兰草超高效液相色谱-串联质谱农药残留

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燃气轮机核心部件耦合对高压涡轮气动换热特性的影响

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热能动力工程 2024年第6期39卷 67-72页

作者：李林琳刘勋中船重工龙江广瀚燃气轮机有限公司黑龙江哈尔滨150078 中国船舶集团有限公司第七○三研究所黑龙江哈尔滨150078

为研究压气机和燃烧室对高压涡轮性能的影响,对燃气轮机压气机、燃烧室、涡轮3大核心部件进行整机联合仿真,对带气膜冷却的高压涡轮气动性能及温度分布进行分析,并与针对涡轮单一部件的计算结果进行对比。结果表明:针对核心部件的计算,... 详细信息

为研究压气机和燃烧室对高压涡轮性能的影响,对燃气轮机压气机、燃烧室、涡轮3大核心部件进行整机联合仿真,对带气膜冷却的高压涡轮气动性能及温度分布进行分析,并与针对涡轮单一部件的计算结果进行对比。结果表明:针对核心部件的计算,各参数呈现出非均匀特征,主要体现在温度上,温度分布随主流的发展变化也更为明显,导叶通道内温度分布主要由入口温度分布决定;由核心机联算化学反应造成的物性差异导致的主流和冷气物性的变化对流场的影响并不明显,马赫数差异在2%以内,对温度的影响主要集中于叶片前缘及通道内近压力侧区域,温度场最终差别可以达到6%以上,分布趋势不变。

关键词：燃气轮机耦合计算高压涡轮气膜冷却

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从“AT分类法”到叙事文本重构:西方主题学叙事理论与中国动画电影叙事话语的互鉴

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当代动画 2024年第2期 38-43页

作者：刘迅哈尔滨学院艺术与设计学院

西方主题学叙事理论与中国动画电影叙事话语的互鉴是中国动画学界研究的新领域。本文以主题学研究对象与动画电影叙事文本相似性为学理基础,提出主题学“AT分类法”与中国动画电影叙事形态互鉴;“阿尔奈分类索引法”与中国动画电影叙事... 详细信息

西方主题学叙事理论与中国动画电影叙事话语的互鉴是中国动画学界研究的新领域。本文以主题学研究对象与动画电影叙事文本相似性为学理基础,提出主题学“AT分类法”与中国动画电影叙事形态互鉴;“阿尔奈分类索引法”与中国动画电影叙事母题分类互鉴;“汤姆森故事类型分类法”与中国动画电影叙事类型互鉴三个学术观点。站在“中学为体、西学为用”的学术立场提出西方主题学叙事理论与中国动画电影叙事话语的重构,即编制“故事主题类型索引”完成叙事文本资源类型化重构;构建“故事主题类型跨文类研究法”完成叙事文本内容差异性重构;建立“故事主题类型资本分析法”完成动画电影叙事文本资本逻辑重构。本文尝试在中国动画电影叙事学领域进行主题学与动画学的学科交叉融合,力求对中国动画电影叙事学进行原创性自觉话语建构。

关键词：主题学 AT分类法故事主题类型索引编制故事主题类型跨文类研究法故事主题类型资本分析法

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Research Article Dynamically crosslinked nanocapsules for the efficient and serumresistant cytosolic protein delivery

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Nano Research 2024年第3期17卷 1760-1771页

作者： Qiang Yang Ningyu liu Ziyin Zhao xun liu Lichen Yin Institute of Functional Nano and Soft Materials(FUNSOM) Jiangsu Key Laboratory of Carbon-Based Functional Materials and DevicesSoochow UniversitySuzhou 215123China Department of Thoracic Surgery The Second Affiliated Hospital of Soochow UniversitySuzhou 215004China

Intracellular protein delivery is critical to the development of protein-based biopharmaceuticals and ***,current delivery vectors often suffer from complicated syntheses,low generality among various proteins,and insufficient serum ***,we developed an enlightened cytosolic protein delivery strategy by dynamically crosslinking epigallocatechin gallate(EGCG),low-molecular-weight polyethylenimine(PEI 1.8k),and 2-acetylphenylboric acid(2-APBA)on the protein surface,hence forming the EPP-protein nanocapsules(NCs).EGCG enhanced protein encapsulation via hydrogen bonding,and reduced the positive charge density of PEI to endow the NCs with high serum tolerance,thereby enabling effective cellular internalization in *** formation of reversible imine and boronate ester among 2-APBA,EGCG,and PEI 1.8k allowed acid-triggered dissociation of EPP-protein NCs in the endolysosomes,which triggered efficient intracellular release of the native *** strategy therefore showed high efficiency and universality for diversities of proteins with different molecular weights and isoelectric points,including enzyme,toxin,antibody,and CRISPR(clustered regularly interspaced short palindromic repeats)-Cas9 ribonucleoprotein(RNP),outperforming the commercial protein transduction reagent PULSin and RNP transfection reagent lipofectamine ***,intravenously(i.v.)injected EPP-saporin NCs efficiently delivered saporin into 4T1 tumor cells to provoke robust antitumor *** simple,versatile,and robust cytosolic protein delivery system holds translational potentials for the development of protein-based therapeutics.

关键词： nanocapsules dynamic crosslinking cytosolic protein delivery serum resistance antitumor therapy genome editing

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基于基因组重测序发掘金针菇InDel、SV及丰度SNP标记

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菌物学报 2024年第7期43卷 39-50页

作者：贾定洪王波何晓兰刘询四川省食用菌研究所四川成都610066

以金针菇白色单核菌株wm14基因组为参考基因组,以双核菌株15W、16W、18W、19W、20Y、21Y、22Y和25Y基因组重测序数据为研究对象,以自备的4个金针菇基因组为blast检验数据库,采用VCFtools-0.1.16软件进行数据过滤,发掘可靠且多态性强的SN... 详细信息

以金针菇白色单核菌株wm14基因组为参考基因组,以双核菌株15W、16W、18W、19W、20Y、21Y、22Y和25Y基因组重测序数据为研究对象,以自备的4个金针菇基因组为blast检验数据库,采用VCFtools-0.1.16软件进行数据过滤,发掘可靠且多态性强的SNP、InDel及SV位点信息。使用Primer3软件设计引物,通过标记引物的blastn特异性及通用性检测,实验获得了InDel/SV标记26个;它们可以直接扩增,根据电泳条带的大小差异检测菌株的遗传差异,获得了丰度SNP标记区域63个,成功设计出通用性引物16对作为传统ITS、Rpb2、Ef1α等靶标序列的有益补充。本研究拟开发更多可用于金针菇遗传分析的分子标记,希望可以从全基因组扫描明晰研究菌株的遗传背景,为后续金针菇分子辅助育种、功能基因发掘与机理探索等研究提供助力。

关键词：金针菇插入与缺失标记结构变异标记单核苷酸多态性标记引物设计

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