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Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

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Science China(Technological Sciences) 2024年第3期67卷 774-790页

作者： HU TeTe lu Xinjiang YI jian WANG YuHui XU Du State Key Laboratory of Precision Manufacturing for Extreme Service Performance School of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China

The human wrist, a complex articulation of skeletal muscles and two-carpal rows, substantially contributes to improvements in maneuverability by agilely performing three-degree-of-freedom(3-DOF) orienting tasks and regulating stiffness according to variations in interaction forces. However, few soft robotic wrists simultaneously demonstrate dexterous 3-DOF motion and variable stiffness;in addition, they do not fully consider a soft-rigid hybrid structure of integrated muscles and two carpal *** this study, we developed a soft-rigid hybrid structure to design a biomimetic soft robotic wrist(BSRW) that is capable of rotating in the x and y directions, twisting around the z-axis, and possessing stiffness-tunable capacity. To actuate the BSRW, a lightweight soft-ring-reinforced bellows-type pneumatic actuator(SRBPA) with large axial, linear deformation(η_(lcmax)=70.6%,η_(lemax)=54.3%) and small radial expansion(η_(demax)=3.7%) is designed to mimic the motion of skeletal muscles. To represent the function of two-carpal rows, a compact particle-jamming joint(PJJ) that combines particles with a membrane-covered ballsocket mechanism is developed to achieve various 3-DOF motions and high axial load-carrying capacity(>60 N). By varying the jamming pressure, the stiffness of the PJJ can be adjusted. Finally, a centrally positioned PJJ and six independently actuated SRBPAs, which are in an inclined and antagonistic arrangement, are sandwiched between two rigid plates to form a flexible,stable, and compact BSRW. Such a structure enables the BSRW to have a dexterous 3-DOF motion, high load-carrying ability,and stiffness tunability. Experimental analysis verify 3-DOF motion of BSRW, producing force of 29.6 N and 36 N and torque of2.2 Nm in corresponding rotations. Moreover, the range of rotational angle and stiffness-tuning properties of BSRW are studied by applying jamming pressure to the PJJ. Finally, a system combining a BSRW and a soft enclosing gripper is proposed to demo

关键词： pneumatic soft actuators particle jamming robotic wrist soft robotics stiffness-tunable

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Two-layer Lagrange-based relay network topology and trajectory design for solar system explorations

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Science China(Information Sciences) 2024年第6期67卷 342-358页

作者： Jun CAO jian JIAO Hao LIU Rongxing lu Qinyu ZHANG Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology Harbin Institute of Technology (Shenzhen) Faculty of Computer Science (FCS) University of New Brunswick

Exploration targeting outer planets and even the edge of the solar system is an emerging direction for the deep-space exploration in the next decades. To address this challenge, a novel two-layer Lagrangebased relay network topology is proposed in this study. Specifically, we utilize the Sun-Mars and Sun-Saturn Lagrange points(LPs) L4 and L5 to build a two-layer backbone relay network, which ensures continuous and high-efficiency communication capability for the exploration of the solar system. Furthermore, we utilize the planetary gravity assist and design the transfer trajectory of backbone relays with the help of planetary celestial body motion equations and Kepler's laws. Moreover, we conduct link budget analysis for multihop relay transmission under Gamma-Gamma distribution, shadowed Rician fading, and additive white Gaussian noise channels in several typical exploration scenarios and validate that the LP relays can effectively support future deep-space exploration missions.

关键词： deep-space communication Lagrangian points backbone relay network transfer trajectory relay selection

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Block dual Toeplitz Operators on the Orthogonal Complements of Fock Spaces

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Acta Mathematica Sinica,English Series 2024年第8期40卷 1967-1988页

作者： jian Xiang DONG Chun Xu XU Yu Feng lu School of Mathematical Sciences Dalian University of TechnologyDalian 116024P.R.China School of Mathematics and Information Science Guangzhou UniversityGuangzhou 510006P.R.China

In this paper,we characterize the boundedness and compactness of the block dual Toeplitz operators acting on the orthogonal complement of the Fock spaces,and the compactness of the finite sum of two dual Toeplitz oper... 详细信息

关键词： Block dual Toeplitz operators boundedness compactness Fock space (semi)-commutator

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Enhanced properties of stone coal-based composite phase change materials for thermal energy storage

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International Journal of Minerals,Metallurgy and Materials 2024年第1期31卷 206-215页

作者： Baoshan Xie Huan Ma Chuanchang Li jian chen Key Laboratory of Renewable Energy Electric-Technology of Hunan Province School of Energy and Power EngineeringChangsha University of Science and TechnologyChangsha 410114China State Key Laboratory of Disaster Prevention and Reduction for Power Grid Changsha University of Science and TechnologyChangsha 410114China

Phase change materials (PCMs) can be incorporated with low-cost minerals to synthesize composites for thermal energy storage in building *** coal (SC) after vanadium extraction treatment shows potential for secondary utilization in composite *** prepared SC-based composite PCMs with SC as a matrix,stearic acid (SA) as a PCM,and expanded graphite (EG) as an *** combined roasting and acid leaching treatment of raw SC was conducted to understand the effect of vanadium extraction on promoting loading *** showed that the combined treatment of roasting at 900℃ and leaching increased the SC loading of the composite by 6.2%by improving the specific surface *** loading capacity and thermal conductivity of the composite obviously increased by 127%and 48.19%,respectively,due to the contribution of 3wt% *** data were supported by the high load of 66.69%and thermal conductivity of 0.59 W·m^(-1)·K-1of the designed *** obtained composite exhibited a phase change temperature of 52.17℃,melting latent heat of 121.5 J·g^(-1),and good chemical *** SC-based composite has prospects in building applications exploiting the secondary utilization of minerals.

关键词： thermal energy storage phase change material stone coal vanadium extraction secondary utilization

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Revealing Tissue Heterogeneity and Spatial Dark Genes from Spatially Resolved Transcriptomics by Multiview Graph Networks

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Research 2024年第2期6卷 629-645页

作者： Ying Li Yuejing lu chen Kang Peiluan Li luonan chen School of Mathematics and Statistics Henan University of Science and TechnologyLuoyang471023China Longmen Laboratory LuoyangHenan471003China Key Laboratory of Systems Biology Institute of Biochemistry and Cell BiologyCenter for Excellence in Molecular Cell ScienceChinese Academy of SciencesShanghai201100China Key Laboratory of Systems Health Science of Zhejang Province Hangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesHangzhou310000China School of Life Science and Technology ShanghaiTech UniversityShanghai201100.China

Spatially resolved transcriptomics(SRT)is capable of comprehensively characterizing gene expression patterns and providing an unbiased image of spatial *** fully understand the organizational complexity and tumor immune escape mechanism,we propose stMGATF,a multiview graph attention fusion model that integrates gene expression,histological images,spatial location,and gene *** better extract information,stMGATF exploits SimCLRv2 for visual feature exaction and employs edge feature enhanced graph attention networks for the learning potential embedding of each view.A global attention mechanism is used to adaptively integrate 3 views to obtain low-dimensional *** to diverse SRT datasets,stMGATF is robust and outperforms other methods in detecting spatial domains and denoising data even with different resolutions and *** particular,stMGATF contributes to the elucidation of tissue heterogeneity and extraction of 3-dimensional expression ***,considering the associations between genes in tumors,stMGATF can identify the spatial dark genes ignored by traditional methods,which can be used to predict tumor-driving transcription factors and reveal tumor immune escape mechanisms,providing theoretical evidence for the development of new immunotherapeutic strategies.

关键词： Spatial integrate driving

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Product quality prediction based on RBF optimized by firefly algorithm

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Journal of Systems Engineering and Electronics 2024年第1期35卷 105-117页

作者： HAN Huihui WANG jian chen Sen YAN Manting College of Electronics and Information Engineering Tongji UniversityShanghai 201804China

With the development of information technology,a large number of product quality data in the entire manufacturing process is accumulated,but it is not explored and used *** traditional product quality prediction models have many disadvantages,such as high complexity and low *** overcome the above problems,we propose an optimized data equalization method to pre-process dataset and design a simple but effective product quality prediction model:radial basis function model optimized by the firefly algorithm with Levy flight mechanism(RBFFALM).First,the new data equalization method is introduced to pre-process the dataset,which reduces the dimension of the data,removes redundant features,and improves the data *** the RBFFALFM is used to predict product *** expe riments conducted on real-world product quality datasets validate that the new model RBFFALFM combining with the new data pre-processing method outperforms other previous me thods on predicting product quality.

关键词： product quality prediction data pre-processing radial basis function swarm intelligence optimization algorithm

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Two-dimensional and absolutely entanglement-breaking subspaces

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Communications in Theoretical Physics 2024年第9期76卷 23-28页

作者： jian Yan Lin chen LMIB (Beihang University) Ministry of Education and School of Mathematical Sciences Beihang University International Research Institute for Multidisciplinary Science Beihang University

Entanglement-breaking(EB) subspaces determine the additivity of entanglement of formation(EOF), which is a long-standing issue in quantum information. We explicitly construct the twodimensional EB subspaces of any bipartite system, when system dimensions are equal, and we apply the subspaces to construct EB spaces of arbitrary dimensions. We also present partial construction when system dimensions are different. Then, we present the notion and properties of EB subspaces for some systems, and in particular the absolute EB subspaces. We construct some examples of absolute EB subspaces, as well as EB subspaces for some systems by using multiqubit Dicke states.

关键词： absolutely EB subspaces additivity entanglement cost entanglement of formation entanglement-breaking subspaces

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G protein-coupled receptors(GPCRs):advances in structures,mechanisms,and drug discovery

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Signal Transduction and Targeted Therapy 2024年第5期9卷 1938-1980页

作者： Mingyang Zhang Ting chen Xun lu Xiaobing Lan Ziqiang chen Shaoyong lu Key Laboratory of Protection Development and Utilization of Medicinal Resources in Liupanshan AreaMinistry of EducationPeptide&Protein Drug Research CenterSchool of PharmacyNingxia Medical UniversityYinchuan 750004China Medicinal Chemistry and Bioinformatics Center Shanghai Jiao Tong University School of MedicineShanghai 200025China Department of Cardiology Changzheng HospitalAffiliated to Naval Medical UniversityShanghai 200003China Department of Orthopedics Changhai HospitalAffiliated to Naval Medical UniversityShanghai 200433China

G protein-coupled receptors(GPCRs),the largest family of human membrane proteins and an important class of drug targets,play a role in maintaining numerous physiological *** or antagonist,orthosteric effects or allosteric effects,and biased signaling or balanced signaling,characterize the complexity of GPCR dynamic *** this study,we first review the structural advancements,activation mechanisms,and functional diversity of *** then focus on GPCR drug discovery by revealing the detailed drug-target interactions and the underlying mechanisms of orthosteric drugs approved by the US Food and Drug Administration in the past five ***,an up-to-date analysis is performed on available GPCR structures complexed with synthetic small-molecule allosteric modulators to elucidate key receptor-ligand interactions and allosteric ***,we highlight how the widespread GPCR-druggable allosteric sites can guide structure-or mechanism-based drug design and propose prospects of designing bitopic ligands for the future therapeutic potential of targeting this receptor family.

关键词： steric designing mechanisms

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Geochemical modeling to aid experimental design for multiple isotope tracer studies of coupled dissolution and precipitation reaction kinetics

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Acta Geochimica 2024年第1期43卷 1-15页

作者： Mingkun chen Peng lu Yongchen Song chen Zhu Department of Earth and Atmospheric Sciences Indiana UniversityBloomingtonIN 47405USA School of Energy and Power Engineering Dalian University of TechnologyDalian 116024China EXPEC Advanced Research Center Saudi Aramco31311 DhahranSaudi Arabia

It is a challenge to make thorough but efficient experimental designs for the coupled mineral dissolution and precipitation studies in a multi-mineral system, because it is difficult to speculate the best experimental duration, optimal sampling schedule, effects of different experimental conditions, and how to maximize the experimental outputs prior to the actual experiments. Geochemical modeling is an efficient and effective tool to assist the experimental design by virtually running all scenarios of interest for the studied system and predicting the experimental outcomes. Here we demonstrated an example of geochemical modeling assisted experimental design of coupled labradorite dissolution and calcite and clayey mineral precipitation using multiple isotope tracers. In this study, labradorite(plagioclase) was chosen as the reactant because it is both a major component and one of the most reactive minerals in basalt. Following our isotope doping studies of single minerals in the last ten years, initial solutions in the simulations were doped withmultiple isotopes(e.g., Ca and Si). Geochemical modeling results show that the use of isotope tracers gives us orders of magnitude more sensitivity than the conventional method based on concentrations and allows us to decouple dissolution and precipitation reactions at near-equilibrium condition. The simulations suggest that the precise unidirectional dissolution rates can inform us which rate laws plagioclase dissolution has followed. Calcite precipitation occurred at near-equilibrium and the multiple isotope tracer experiments would provide near-equilibrium precipitation rates, which was a challenge for the conventional concentration-based experiments. In addition, whether the precipitation of clayey phases is the rate-limiting step in some multi-mineral systems will be revealed. Overall, the modeling results of multimineral reaction kinetics will improve the understanding of the coupled dissolution–precipitation in the mu

关键词： Kinetics Feldspar Isotope doping Near-equilibrium CO_(2)sequestration Basalt

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Neuronomodulation of Excitable Neurons

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Neuroscience Bulletin 2024年第1期40卷 103-112页

作者： Yizhang chen Lin Xiao jian Qiu Institute of Neuroscience Second Military Medical UniversityShanghai 200433China Institute for Brain Research and Rehabilitation Key Laboratory of BrainCognition and Education Sciences of Ministry of EducationSouth China Normal UniversityGuangzhou 510631China Department of Chemical Physiology and Biochemistry Oregon Health and Science UniversityPortlandOR 97239USA

Neuronomodulation refers to the modulation of neural conduction and synaptic transmission(i.e.,the conduction process involved in synaptic transmission)of excitable neurons via changes in the membrane potential in response to chemical substances,from spillover neuro-transmitters to paracrine or endocrine hormones circulating in the *** can be direct or indirect,depending on the transduction pathways from the ligand binding site to the ion pore,either on the same molecule,*** ion channel,or through an intermediate step on different *** major players in direct neurono-modulation are ligand-gated or voltage-gated ion *** key process of direct neuronomodulation is the binding and chemoactivation of ligand-gated or voltage-gated ion channels,either orthosterically or allosterically,by various *** neuronomodulation involves metabotropic receptor-mediated slow potentials,where steroid hormones,cytokines,and chemokines can implement these *** neuronomodulation is of great significance for understanding the physiological mechanisms of brain function,and the occurrence and treatment of diseases.

关键词： Neuron Membrane potential Excitability Chemoactivation Neuronomodulation

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