检索结果-南通市图书馆

Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object

Frontiers of Mechanical Engineering 2024年第1期19卷 35-52页

作者： Bolin SUN min CHENG Ruqi ding Bing XU State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China Key Laboratory of Conveyance and Equipment(ministry of Education) East China Jiaotong UniversityNanchang 330013China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Given the limited operating ability of a single robotic arm,dual-arm collaborative operations have become increasingly prominent.Compared with the electrically driven dual-arm manipulator,due to the unknown heavy load,difficulty in measuring contact forces,and control complexity during the closed-chain object transportation task,the hydraulic dual-arm manipulator(HDM)faces more difficulty in accurately tracking the desired motion trajectory,which may cause object deformation or even breakage.To overcome this problem,a compliance motion control method is proposed in this paper for the HDM.The mass parameter of the unknown object is obtained by using an adaptive method based on velocity error.Due to the difficulty in obtaining the actual internal force of the object,the pressure signal from the pressure sensor of the hydraulic system is used to estimate the contact force at the end-effector(EE)of two hydraulic manipulators(HMs).Further,the estimated contact force is used to calculate the actual internal force on the object.Then,a compliance motion controller is designed for HDM closed-chain collaboration.The position and internal force errors of the object are reduced by the feedback of the position,velocity,and internal force errors of the object to achieve the effect of the compliance motion of the HDM,i.e.,to reduce the motion error and internal force of the object.The required velocity and force at the EE of the two HMs,including the position and internal force errors of the object,are inputted into separate position controllers.In addition,the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control method.Finally,comparative experiments are carried out on a hydraulic dual-arm test bench.The proposed method is validated by the experimental results,which demonstrate improved object position accuracy and reduced internal force.

关键词： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Primary acinic cell carcinoma of the breast: A case report and review of literature

引用

World Journal of Clinical Cases 2024年第1期12卷 196-203页

作者： Jia-Sheng ding min Zhang Fang-Fang Zhou Department of Intensive Care Unit Lishui Central HospitalThe Fifth Affiliated Hospital of Wenzhou Medical UniversityLishui 323000Zhejiang ProvinceChina Department of Pathology Lishui Central HospitalThe Fifth Affiliated Hospital of Wenzhou Medical UniversityLishui 323000Zhejiang ProvinceChina Department of Ultrasound Lishui Central HospitalThe Fifth Affiliated Hospital of Wenzhou Medical UniversityLishui 323000Zhejiang ProvinceChina

BACKGROUND In the current World Health Organization classification,acinic cell carcinoma(AcCC)of the breast is considered a rare histological subtype of triple-negative breast cancer.Because of the few reports in the literature,data concerning clinical outcomes are limited.Here,we report a case of AcCC of the breast in a 48-year-old woman.A 48-year-old woman with a mass in her right breast came to our hospital for further diagnosis.Mammography and an ultrasound(US)scan showed a mass in the upper inner side of the right breast.She then underwent surgery to resect the mass in her right breast.Postoperative pathological examination revealed that the tumor had abundant acinar-like structures formed by tumor cells with prominent eosinophilic granules in the cytoplasm,consistent with acinar cell carcinoma.The results of immunohistochemical analysis supported the diagnosis of breast acinar cell carcinoma.Two months later,she underwent breast-conserving surgery and sentinel lymph node biopsy.The pTNM stage was T2N0M0.After surgery,the patient received 30 radiotherapy sessions.The patient was followed up for a period of one year,and no recurrence was found.AcCC of the breast is a rare type of malignant tumor.Because it is usually asym-ptomatic and can be detected by imaging studies,routine breast US or mamm-ograms are important.However,there are no characteristic diagnostic imaging findings or clinical manifestations,so immunohistochemical examination is critical for an accurate diagnosis of AcCC of the breast.

关键词： Acinic cell carcinoma Breast Malignant tumor Immunohistochemical Surgery Case report

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Role of transforming growth factor-βin peripheral nerve regeneration

引用

Neural Regeneration Research 2024年第2期19卷 380-386页

作者： Zihan ding Maorong Jiang Jiaxi Qian Dandan Gu Huiyuan Bai min Cai Dengbing Yao School of Life Sciences Key Laboratory of Neuroregeneration of Jiangsu and Ministry of EducationCo-innovation Center of NeuroregenerationNantong UniversityNantongJiangsu ProvinceChina Medical School of Nantong University NantongJiangsu ProvinceChina

Injuries caused by trauma and neurodegenerative diseases can damage the peripheral nervous system and cause functional deficits.Unlike in the central nervous system,damaged axons in peripheral nerves can be induced to regenerate in response to intrinsic cues after reprogramming or in a growth-promoting microenvironment created by Schwann cells.However,axon regeneration and repair do not automatically result in the restoration of function,which is the ultimate therapeutic goal but also a major clinical challenge.Transforming growth factor(TGF)is a multifunctional cytokine that regulates various biological processes including tissue repair,embryo development,and cell growth and differentiation.There is accumulating evidence that TGF-βfamily proteins participate in peripheral nerve repair through various factors and signaling pathways by regulating the growth and transformation of Schwann cells;recruiting specific immune cells;controlling the permeability of the blood-nerve barrier,thereby stimulating axon growth;and inhibiting remyelination of regenerated axons.TGF-βhas been applied to the treatment of peripheral nerve injury in animal models.In this context,we review the functions of TGF-βin peripheral nerve regeneration and potential clinical applications.

关键词： myelination nerve repair and regeneration neurite neuroinflammation peripheral nerve injury Schwann cell transforming growth factor-β Wallerian degeneration

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Effects of vitamin family members on insulin resistance and diabetes complications

引用

World Journal of Diabetes 2024年第3期15卷 568-571页

作者： Hong-Jin Chen min Wang ding-min Zou Gui-You Liang Si-Yuan Yang Division of Cardiac Surgery Guizhou Institute of Precision MedicineThe Affiliated Hospital of Guizhou Medical UniversityGuiyang 550009Guizhou ProvinceChina Translational Medicine Research Center Guizhou Medical UniversityGuiyang 550025Guizhou ProvinceChina School of Basic Medical Sciences/School of Biology and Engineering Guizhou Medical UniversityGuiyang 550025Guizhou ProvinceChina

The following letter to the editor highlights the article“Effects of vitamin D supplementation on glucose and lipid metabolism in patients with type 2 diabetes mellitus and risk factors for insulin resistance”in World J Diabetes 2023 Oct 15;14(10):1514-1523.It is necessary to explore the role of vitamin family members in insulin resistance and diabetes complications.

关键词： Vitamin Insulin resistance Diabetes complications Letter

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

High spectral efficiency 4-mode 400-km transmission using hybrid probabilistically and geometrically shaped 128QAM

引用

Science China(Technological Sciences) 2024年第5期67卷 1628-1630页

作者： ding JunJie YU JianJun WANG Chen LONG JianYu ZHU min ZHANG Jiao Pervasive Communication Research Center Purple Mountain LaboratoriesNanjing 211111China Key Laboratory for Information Science of Electromagnetic Waves(MoE) Fudan UniversityShanghai 200433China

Wavelength division multiplexing(WDM)and space division multiplexing(SDM)based on few-mode fiber(FMF)and multi-core fiber(MCF)have been vigorously developed to increase the transmission capacity of optical communication networks[1–5].However,the mode crosstalk generated in the mode division multiplexing(MDM)system causes the correlation between different mode signals,which seriously damages the transmission performance.Therefore,an effective multiple-input-multiple-output(MIMO)time domain or frequency domain equalizer should be used to eliminate the crosstalk between different mode signals.

关键词： crosstalk fiber multiplexing

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

On-demand engineerable visible spectrum by fine control of electrochemical reactions

引用

National Science Review 2024年第3期11卷 239-249页

作者： Qirong Liu Lei Liu Yongping Zheng min Li Baofu ding Xungang Diao Hui-ming Cheng Yongbing Tang Advanced Energy Storage Technology Research Center Shenzhen Institute of Advanced TechnologyChinese Academy of Sciences Institute of Technology for Carbon Neutrality Shenzhen Institute of Advanced Technology Chinese Academy of Sciences School of Energy and Power Engineering North University of China School of Resource Environment and Safety EngineeringHunan University of Science and Technology School of Energy and Power Engineering Beihang University Shenzhen Key Laboratory of Energy Materials for Carbon Neutrality Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenyang National Laboratory for Materials Science Institute of Metal Research Chinese Academy of Sciences

Tunability of optical performance is one of the key technologies for adaptive optoelectronic applications,such as camouflage clothing, displays, and infrared shielding. High-precision spectral tunability is of great importance for some special applications with on-demand adaptability but remains challenging. Here we demonstrate a galvanostatic control strategy to achieve this goal, relying on the finding of the quantitative correlation between optical properties and electrochemical reactions within materials. An electrochromic electro-optical efficiency index is established to optically fingerprint and precisely identify electrochemical redox reactions in the electrochromic device. Consequently, the charge-transfer process during galvanostatic electrochemical reaction can be quantitatively regulated, permitting precise control over the final optical performance and on-demand adaptability of electrochromic devices as evidenced by an ultralow deviation of dings not only provide opportunities for future adaptive optoelectronic applications with strict demand on precise spectral tunability but also will promote in situ quantitative research in a wide range of spectroelectrochemistry, electrochemical energy storage, electrocatalysis, and material chemistry.

关键词： electrochromics fine control spectral tunability high precision galvanostatic control

来源：

同方期刊数据库评论

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Nanostructured AlFeO_(3) thin films as a novel photoanode for photoelectrochemical water splitting

引用

Nano Research 2024年第3期17卷 1075-1085页

作者： Xin Sun min Wang Qi Geng Shuailin Chen Xiaojun Lv Xunlei ding Meicheng Li State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of New EnergyNorth China Electric Power UniversityBeijing 102206China School of Mathematics and Physics North China Electric Power UniversityBeijing 102206China

The earth-abundant and robust aluminum ferrite,AlFeO_(3)(AFO),is mainly studied in the context of ferroelectrics.Herein,we demonstrate that AFO can be used as a stable solar absorber in photoelectrochemical cells for solar water splitting,exhibiting attractive performance.This is the first report on the photoelectrochemical activity of AFO.AFO thin-film photoelectrodes prepared by solution-processing methods are composed of vertically oriented thin nanosheets,featuring the rhombohedral symmetry(R3c)and n-type conductivity.The as-prepared AFO photoanodes generate a photocurrent density of+0.78 mA·cm^(-2) at 1.23 V vs.reversible hydrogen electrode(RHE)with the photocurrent _(onset) potential(U_(onset))close to the flat band potential of 0.5 V vs.RHE in the presence of hole scavengers.Remarkably,the U_(onset) of AFO for solar water splitting coincides with the flat band potential as well,which is rare in n-type inorganic absorbers.We also report other properties of AFO associated with photoelectrochemical performance.AFO films exhibit a band gap energy of 2.31 eV and positive band edges with low dispersion.Moreover,the carrier lifetimes in AFO films are up to millisecond timescales under the mediation of defect traps.Based on the photoelectrochemical behavior and optoelectronic properties,we believe that AFO has great potential for application in photoelectrochemical cells.

关键词： AlFeO_(3) photoanode nanosheets photoelectrochemistry onset potential

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Human umbilical cord mesenchymal stem cell-derived exosomes loaded into a composite conduit promote functional recovery after peripheral nerve injury in rats

引用

Neural Regeneration Research 2024年第4期19卷 900-907页

作者： Haoshuai Tang Junjin Li Hongda Wang Jie Ren Han ding Jun Shang min Wang Zhijian Wei Shiqing Feng Department of Othopaedics Tianjin Medical University General Hospital International Science and Technology Cooperation Base of Spinal Cord Injury Tianjin Key Laboratory of Spine and Spinal Cord InjuryDepartment of OrthopedicsTianjin Medical University General Hospital Tianjin Key Laboratory of Lung Cancer Metastasis and Tumor Microenvironment Tianjin Lung Cancer InstituteTianjin Medical University General Hospital Department of Othopaedics Qilu Hospital of Shandong UniversityShandong University Centre for OthopedicsAdvanced Medical Research InstituteShandong University Orthopedic Research Center of Shandong University&Advanced Medical Research Institute Cheeloo College of MedicineShandong University

Complete transverse injury of peripheral nerves is challenging to treat.Exosomes secreted by human umbilical cord mesenchymal stem cells are considered to play an important role in intercellular communication and regulate tissue regeneration.In previous studies,a collagen/hyaluronic acid sponge was shown to provide a suitable regeneration environment for Schwann cell proliferation and to promote axonal regeneration.This three-dimensional(3D)composite conduit contains a collagen/hyaluronic acid inner sponge enclosed in an electrospun hollow poly(lactic-co-glycolic acid)tube.However,whether there is a synergy between the 3D composite conduit and exosomes in the repair of peripheral nerve injury remains unknown.In this study,we tested a comprehensive strategy for repairing long-gap(10 mm)peripheral nerve injury that combined the 3D composite conduit with human umbilical cord mesenchymal stem cell-derived exosomes.Repair effectiveness was evaluated by sciatic functional index,sciatic nerve compound muscle action potential recording,recovery of muscle mass,measuring the cross-sectional area of the muscle fiber,Masson trichrome staining,and transmission electron microscopy of the regenerated nerve in rats.The results showed that transplantation of the 3D composite conduit loaded with human umbilical cord mesenchymal stem cell-derived exosomes promoted peripheral nerve regeneration and restoration of motor function,similar to autograft transplantation.More CD31-positive endothelial cells were observed in the regenerated nerve after transplantation of the loaded conduit than after transplantation of the conduit without exosomes,which may have contributed to the observed increase in axon regeneration and distal nerve reconnection.Therefore,the use of a 3D composite conduit loaded with human umbilical cord mesenchymal stem cell-derived exosomes represents a promising cell-free therapeutic option for the treatment of peripheral nerve injury.

关键词： axon growth collagen exosome human umbilical cord mesenchymal stem cells hyaluronic acid muscular atrophy nerve guidance conduits peripheral nerve regeneration

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Strongly Coupled Ag/Sn-SnO_(2)Nanosheets Toward CO_(2)Electroreduction to Pure HCOOH Solutions at Ampere‑Level Current

引用

Nano-Micro Letters 2024年第3期16卷 212-226页

作者： min Zhang Aihui Cao Yucui Xiang Chaogang Ban Guang Han Junjie ding Li‑Yong Gan Xiaoyuan Zhou College of Physics and Center of Quantum Materials and Devices Chongqing UniversityChongqing 401331People’s Republic of China State Key Laboratory of Structural Chemistry Fujian Institute of Research on the Structure of MatterChinese Academy of Sciences(CAS)Fuzhou 350002People’s Republic of China College of Materials Science and Engineering Chongqing UniversityChongqing 400044People’s Republic of China Institute of New Energy Storage Materials and Equipment Chongqing 401135People’s Republic of China State Key Laboratory of Coal mine Disaster Dynamics and Control Chongqing UniversityChongqing 400044People’s Republic of China

Electrocatalytic reduction of CO_(2) converts intermittent renewable electricity into value-added liquid products with an enticing prospect,but its practical application is hampered due to the lack of high-performance electrocatalysts.Herein,we elaborately design and develop strongly coupled nanosheets composed of Ag nanoparticles and Sn-SnO_(2) grains,designated as Ag/Sn-SnO_(2) nanosheets(NSs),which possess optimized electronic structure,high electrical conductivity,and more accessible sites.As a result,such a catalyst exhibits unprecedented catalytic performance toward CO_(2)-to-formate conversion with near-unity faradaic efficiency(≥90%),ultrahigh partial current density(2,000 mA cm^(−2)),and superior long-term stability(200 mA cm^(−2),200 h),surpassing the reported catalysts of CO_(2) electroreduction to formate.Additionally,in situ attenuated total reflection-infrared spectra combined with theoretical calculations revealed that electron-enriched Sn sites on Ag/Sn-SnO_(2)NSs not only promote the formation of*OCHO and alleviate the energy barriers of*OCHO to*HCOOH,but also impede the desorption of H*.Notably,the Ag/Sn-SnO_(2)NSs as the cathode in a membrane electrode assembly with porous solid electrolyte layer reactor can continuously produce~0.12 M pure HCOOH solution at 100 mA cm^(−2)over 200 h.This work may inspire further development of advanced electrocatalysts and innovative device systems for promoting practical application of producing liquid fuels from CO_(2).

关键词： Electrochemical CO_(2)reduction Coupled Ag/Sn-SnO_(2)nanosheets Electronic structure Porous solid electrolyte Pure

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Downregulation of Serum PTEN Expression in Mercury-Exposed Population and PI3K/AKT Pathway-Induced Inflammation

引用

Biomedical and Environmental Sciences 2024年第4期37卷 354-366页

作者： MEI Peng ding En min YIN Hao Yang ding Xue Xue WANG Huan WANG Jian Feng HAN Lei ZHANG Heng Dong ZHU Bao Li School of Public Health Nanjing Medical UniversityNanjing 210000JiangsuChina Institute of Occupational Disease Prevention Jiangsu Province Center for Disease Prevention and ControlNanjing 21000JiangsuChina Suzhou Center for Disease Prevention and Control Suzhou 215004JiangsuChina Center for Global Health School of Public HealthNanjing Medical UniversityNanjing 210000JiangsuChina

Objective This study investigated the impact of occupational mercury(Hg) exposure on human gene transcription and expression, and its potential biological mechanisms.Methods Differentially expressed genes related to Hg exposure were identified and validated using gene expression microarray analysis and extended validation. Hg-exposed cell models and PTEN lowexpression models were established in vitro using 293T cells. PTEN gene expression was assessed using qRT-PCR, and Western blotting was used to measure PTEN, AKT, and PI3K protein levels. IL-6 expression was determined by ELISA.Results Combined findings from gene expression microarray analysis, bioinformatics, and population expansion validation indicated significant downregulation of the PTEN gene in the high-concentration Hg exposure group. In the Hg-exposed cell model(25 and 10 μmol/L), a significant decrease in PTEN expression was observed, accompanied by a significant increase in PI3K, AKT, and IL-6 expression.Similarly, a low-expression cell model demonstrated that PTEN gene knockdown led to a significant decrease in PTEN protein expression and a substantial increase in PI3K, AKT, and IL-6 levels.Conclusion This is the first study to report that Hg exposure downregulates the PTEN gene, activates the PI3K/AKT regulatory pathway, and increases the expression of inflammatory factors, ultimately resulting in kidney inflammation.

关键词： PTEN Occupational mercury exposure Occupational health PI3K/AKT pathway 293T cell IL-6

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：