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Reorientation and obstacle avoidance control of free-floating modular robots using sinusoidal oscillator

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Chinese Journal of Aeronautics 2024年第6期37卷 262-275页

作者： Zhiyuan YANG Mingzhu LAI Jian QI ning zhao Xin SUI Jie zhao Yanhe ZHU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mathematics and Statistics Hainan Normal UniversityHaikou 571158China

This paper presents that a serpentine curve-based controller can solve locomotion control problems for articulated space robots with extensive flight phases,such as obstacle avoidance during free floating or attitude adjustment before *** proposed algorithm achieves articulated robots to use closed paths in the joint space to accomplish the above *** snakes,which can shuttle through gaps and adjust their landing posture by swinging their body during gliding in jungle environments,inspired the design of two *** first maneuver generates a rotation of the system by varying the moment of inertia between the joints of the robot,with the magnitude of the net rotation depending on the controller *** maneuver can be repeated to allow the robot to reach arbitrary *** second maneuver involves periodic undulations,allowing the robot to avoid collisions when the trajectory of the global Center of Mass(CM)passes through the *** maneuvers are based on the improved serpenoid curve,which can adapt to redundant systems consisting of different numbers of ***,the simulation illustrates that combining the two maneuvers can help a free-floating chain-type robot traverse complex *** proposed algorithm can be used with similar articulated robot models.

关键词： Collision avoidance Modularrobots Reorientation Free-floating space robots Nonholonomic systems Biologically inspired controllers Serpenoid curve

Trajectory of COVID-19 response and management strategy in China:scientific rationale driven strategy adjustments

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Frontiers of Medicine 2024年第1期18卷 19-30页

作者： Zeyu Zhang Yue Yan Lina zhao Yizhou Bian ning zhao You Wu Dahai zhao Zongjiu Zhang Institute for Hospital Management Tsinghua UniversityBeijing100084China School of Medicine Tsinghua UniversityBeijing100084China School of International and Public Affairs Shanghai Jiao Tong UniversityShanghai200030China Yale University-Shanghai Jiao Tong University Joint Center for Health Policy Shanghai Jiao Tong UniversityShanghai200030China

The pneumonia caused by novel coronavirus SARS-CoV-2 infection in early December 2019,which was later named coronavirus disease 2019(COVID-19)by the World Health Organization(WHO),rapidly spread across the *** has made extraordinary efforts to this unprecedented pandemic,put its response and control at a very high level of infectious disease management(Category B but with measures for Category A),given top priority to the people and their lives,and balanced the pandemic control and socio-economic *** more than three years’fighting against this disease,China downgraded the management of COVID-19 to Category B infectious disease on January 8,2023 and the WHO declared the end of public health emergency on May 5,***,the ending of pandemic does not mean that the disease is no longer a health *** against COVID-19 from China and the whole world should be learned to prepare well for the future public health *** article gives a systematic review of the trajectory of COVID-19 development in China,summarizes the critical policy arrangements and provides evidence for the adjustment during policy making process,so as to share experiences with international community and contribute to the global health for all humanity.

关键词： COVID-19 public health response and control strategy science-based policy making

Prognostic value of ultrasound in early arterial complications post liver transplant

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World Journal of Gastrointestinal Surgery 2024年第1期16卷 13-20页

作者： ning-Bo zhao Yi Chen Rui Xia Jian-Bo Tang Dong zhao Department of Ultrasound National Clinical Research Centre for Infectious DiseaseShenzhen Third People's HospitalThe Second Affiliated Hospital of Southern University of Science and TechnologyNational Clinical Research Center for Infectious DiseaseShenzhen 518112Guangdong ProvinceChina Department of Thyroid and Hernia Surgery The Second Affiliated HospitalGuangzhou Medical UniversityGuangzhou 510000Guangdong ProvinceChina Department of Biomedical Engineering Southern University of Science and TechnologyShenzhen 51800Guangdong ProvinceChina Department of Liver Surgery and Organ Transplantation Center Shenzhen Third People's HospitalThe Second Affiliated Hospital of Southern University of Science and TechnologyNational Clinical Research Center for Infectious DiseaseShenzhen 518112Guangdong ProvinceChina

Liver transplantation is the primary therapeutic intervention for end-stage liver ***,vascular complications,particularly those involving the hepatic artery,pose significant risks to *** clinical manifestations associated with early arterial complications following liver transplantation are often *** timely intervention,these complications can result in graft fai-lure or patient ***,early diagnosis and the formulation of an op-timal treatment plan are *** examination remains the pre-dominant imaging modality for detecting complications post liver *** article comprehensively reviews common causes and clinical present-ations of early hepatic artery complications in the post-transplantation period and delineates abnormal sonographic findings for accurate diagnosis of these ***,ultrasound offers the advantages of convenience,safety,effect-iveness,and *** enables real-time,dynamic,and precise evalua-tion,making it the preferred diagnostic method for post-liver transplantation *** Liver transplantation stands as the primary therapeutic approach for end-stage liver *** advancements in surgical techniques and the application of novel immunosuppressive agents contribute to ongoing improvements in the success rate and overall survival in patients undergoing liver transplantation *** these advan-cements,vascular complications,particularly those involving the hepatic artery,pose significant risks to *** the early stages following liver transplantation(within the first 30 d),proper hepatic artery function is crucial for hepatic arterial blood *** later stages,collateral circulation,including arteries such as the phrenic artery,right gastric artery,and gastroduodenal artery,becomes important for maintaining hepatic blood *** is now understood that the establishment of effective collat

关键词： Liver transplantation Vascular complication Arterial complication Ultrasound

Copper-Free Click Chemistry-Mediated Assembly of Single Quantum Dot Nanosensor for Accurately Monitoring Locus-Specific m^(6)A in Cancer Cells

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Chinese Journal of Chemistry 2024年第5期42卷 499-504页

作者： Yue-Ying Li ning-ning zhao Yi-Xuan Geng Qian Han Jian-Ge Qiu Bing-Hua Jiang Zi-Yue Wang Chun-Yang Zhang Translational Medicine Center The First Affiliated Hospital of Zhengzhou UniversityThe Academy of Medical SciencesHenan Institute of Medical and Pharmaceutical Sciences BGI CollegeZhengzhou UniversityZhengzhouHenan450052 China College of Chemistry Chemical Engineering and Materials ScienceShandong Normal UniversityJinanShandong250014 China School of Chemistry and Chemical Engineering Southeast UniversityNanjingJiangsu211189 China

N6-methyladenosine(m^(6)A)plays an important role in embryogenesis,nuclear export,transcription splicing,and protein translation ***,we demonstrate a copper-free click chemistry-mediated assembly of single quantum dot(QD)nanosensor for accurately monitoring locus-specific m^(6)A in cancer *** m^(6)A-sensitive endoribonuclease MazF can digest the unmethylated A-RNA,and the intact m^(6)A-RNA then hybridizes with DNA probes a and b to produce a sandwich hybrid,initiating the click chemistry to generate probe a–b ligation product via first tandem ligation detection reaction(LDR)***,DNA probes c and d can hybridize with the probe a–b ligation product to generate the probe c–d ligation product via second LDR *** LDR cycles can be repeated through denaturation and annealing reaction to generate abundant biotin-/fluorophore-modified probe c–d ligation products that can easily assemble on the QD surface to induce distinct fluorescence resonance energy transfer(FRET)between QD and *** assay can be homogenously performed without the involvement of copper catalyst,m^(6)A-specific antibody,radioactive labeling,ligase enzyme,enzymatic reverse transcription,and next-generation ***,it can discriminate even 0.01% m^(6)A level in complex samples and accurately measure cellular m^(6)A-RNA expression,providing a promising avenue for clinical diagnostics and biomedical research.

关键词： RNA methylation Click chemistry Förster resonance energy transfer Biosensor Cancer

Clinical significance of preoperative nutritional status in elderly gastric cancer patients undergoing radical gastrectomy:A singlecenter retrospective study

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World Journal of Gastrointestinal Surgery 2024年第7期16卷 2211-2220页

作者： Xi-ning zhao Jing Lu Hong-Yong He Sheng-Jin Ge Department of Anesthesiology Zhongshan HospitalFudan UniversityShanghai 200032China Department of Nursing Zhongshan HospitalFudan UniversityShanghai 200032China Department of General Surgery/Emergency Surgery Zhongshan HospitalFudan UniversityShanghai 200032China

BACKGROUND The population of elderly patients with gastric cancer is increasing,which is a major public health issue in *** is one of the greatest risk factors for adverse clinical outcomes in elderly patients with gastric *** To investigate the preoperative nutritional status and its association with delayed discharge of elderly gastric cancer patients following radical *** A total of 783 patients aged 65 years and older harboring gastric adenocarcinoma and following radical gastrectomy were retrospectively analyzed from the prospectively collected database of Zhongshan Hospital of Fudan University between January 2018 and May *** The overall rate of malnutrition was 31.8%.The incidence of postoperative complications was significantly higher in the malnourished group compared to the well-nourished group(P<0.001).Nutritional characteristics in the malnourished group,including body mass index,prognostic nutritional index(PNI),albumin,prealbumin,and hemoglobin,were all significantly lower than those in the well-nourished *** percentage of patients who received postoperative total nutrient admixture was lower in the malnourished group compared to the wellnourished group(22.1%vs 33.5%,P=0.001).Age≥70 years(HR=1.216,95%CI:1.048-1.411),PNI<44.5(HR=1.792,95%CI:1.058-3.032),operation time≥160 minutes(HR=1.431,95%CI:1.237-1.656),and postoperative complications grade III or higher(HR=2.191,95%CI:1.604-2.991)were all recognized as independent risk factors associated with delayed *** Malnutrition is relatively common in elderly patients undergoing *** PNI is an independent risk factor associated with delay *** strategies are needed to improve the clinical outcome of these patients.

关键词： Gastric cancer Preoperative nutritional status Malnutrition Elderly Radical gastrectomy

A positive feedback inhibition of isocitrate dehydrogenase 3β on paired-box gene 6 promotes Alzheimer-like pathology

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Signal Transduction and Targeted Therapy 2024年第5期9卷 2324-2340页

作者： Xin Wang Qian Liu Hai-tao Yu Jia-zhao Xie Jun-ning zhao Zhi-ting Fang Min Qu Yao Zhang Ying Yang Jian-Zhi Wang Department of Pathophysiology School of Basic MedicineKey Laboratory of Education Ministry of China/Hubei Province for Neurological DisordersTongji Medical CollegeHuazhong University of Science and TechnologyWuhanChina Department of Fundamental Medicine Wuxi School of MedicineJiangnan UniversityWuxiJiangsu 214122China Hubei Provincial Key Laboratory for Applied Toxicology Hubei Provincial Center for Disease Control and PreventionHubei Provincial Academy of Preventive MedicineWuhan 430000China Endocrine Department of Liyuan Hospital Key Laboratory of Ministry of Education of China for Neurological DisordersTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430077China Co-innovation Center of Neuroregeneration Nantong UniversityNantong 226000China

Impaired brain glucose metabolism is an early indicator of Alzheimer’s disease(AD);however,the fundamental mechanism is *** this study,we found a substantial decline in isocitrate dehydrogenase 3β(IDH3β)levels,a critical tricarboxylic acid cycle enzyme,in AD patients and AD-transgenic mice’s *** investigations demonstrated that the knockdown of IDH3βinduced oxidation-phosphorylation uncoupling,leading to reduced energy metabolism and lactate *** resulting increased lactate,a source of lactyl,was found to promote histone lactylation,thereby enhancing the expression of paired-box gene 6(PAX6).As an inhibitory transcription factor of IDH3β,the elevated PAX6 in turn inhibited the expression of IDH3β,leading to tau hyperphosphorylation,synapse impairment,and learning and memory deficits resembling those seen in *** AD-transgenic mice,upregulating IDH3βand downregulating PAX6 were found to improve cognitive functioning and reverse AD-like ***,our data suggest that impaired oxidative phosphorylation accelerates AD progression via a positive feedback inhibition loop of IDH3β-lactate-PAX6-IDH3β.Breaking this loop by upregulating IDH3βor downregulating PAX6 attenuates AD neurodegeneration and cognitive impairments.

关键词： metabolism Alzheimer impaired

A review on vanadium extraction techniques from major vanadium-containing resources

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Rare Metals 2024年第9期43卷 4115-4131页

作者： Yin-Hui Wang Yi-Fan Wang Yu-Ting Li Chang Wu Xiu-Li Han ning-ning zhao Ze-Kun Zhang Lei Dai Ling Wang Zhang-Xing He College of Mining Engineering North China University of Science and Technology Collaborative Innovation Center of Green Development and Ecological Restoration of Mineral Resources College of Chemical Engineering North China University of Science and Technology

The critical role of vanadium in metallurgy and the increasing commercialization of vanadium redox flow batteries have contributed to a rise in market demand for vanadium, emphasizing the need to ensure the sustainability of vanadium production. Converter vanadium slag and stone coal, generated during the smelting process of vanadium–titanium magnetite, serve as primary raw materials for vanadium extraction. This paper reviews the process mineralogy of converter vanadium slag and stone coal, encompassing the chemical and physical phase compositions of the raw materials and the state of vanadium occurrence. The aim is to establish a theoretical foundation for the mechanistic study of the vanadium extraction techniques and to provide a reference for the optimization of the process afterward. This paper systematically summarizes the current vanadium extraction technology from converter vanadium slag, covering roasting,direct leaching, sub-molten salt method, and the technology and research status of vanadium extraction from stone coal. Most importantly, it identifies key issues in the current vanadium extraction techniques and challenges faced in actual production, based on the analysis of the current vanadium extraction process and mechanism research. The forward feasibility and prospects for the development of vanadium extraction technology are outlined.

关键词： Vanadium

Relationships Between Meteorological Factors and Mongolian Gerbils and Its Flea Burdens—Xilingol League,Inner Mongolia Autonomous Region,China,2012–2021

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China CDC weekly 2024年第23期6卷 547-552,I0012-I0018页

作者： Ke Li Zhenxu Wang Xiaohui Wei Haoqiang Ji Meng Shang Nan Chang Zihao Wang Chenran Guo Lei Xu ning zhao Qiyong Liu National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases National Institute for Communicable Disease Control and PreventionChinese Center for Disease Control and PreventionBeijingChina School of Public Health Nanjing Medical UniversityNanjing CityJiangsu ProvinceChina Cheeloo College of Medicine Shandong UniversitySchool of Public HealthJinan CityShandong ProvinceChina Vanke School of Public Health Tsinghua UniversityBeijingChina

Introduction:Plague is a significant global infectious disease,its spread is linked to host and flea *** conditions can impact flea populations and host densities,hence influencing plague *** the connection between meteorological factors,flea populations,and rodent densities in Inner Mongolia’s natural plague foci can aid in predicting and managing plague ***:Monthly data on flea index,rodent density,meteorological factors,and normalized difference vegetation index(NDVI)were collected for the study *** additive modeling(GAM)was used to analyze the non-linear and lag effects of meteorological factors on flea index and rodent *** equation modeling(SEM)was employed to investigate the relationships among meteorological factors,NDVI,flea index,and rodent ***:GAM analysis revealed that temperature,precipitation,relative humidity,and NDVI had significant linear,non-linear,and time-lagged impacts on the density of Mongolian gerbils and the flea *** analysis indicated that meteorological factors could directly influence the density and flea index of Mongolian gerbils,or indirectly impact NDVI,subsequently influencing gerbil density and the flea ***:Meteorological factors primarily influence gerbil density and flea index indirectly by affecting NDVI and the relationship between flea index and gerbil *** study offers additional support for the significance of meteorological factors and NDVI in influencing the vector-rodent system,offering valuable insights for predicting and managing plague outbreaks.

关键词： meteorological offering humidity

Long-Cycle Lithium Batteries with LiNi_(0.8)Co_(0.1)Mn_(0.1)O_(2) Cathodes above 4.5 V Enabled by Uniform Coating of Nanosized Garnet Electrolytes

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Chinese Physics Letters 2024年第7期41卷 161-175页

作者：王建群赵宁郭向欣 College of Physics Qingdao UniversityQingdao 266071China

The pursuit of high-energy cathode materials has been focused on raising the charging cutoff voltage of nickel (Ni)-rich layered oxide cathode such as LiNi_(0.8)Co_(0.1)Mn_(0.1)O2 (NCM811). However, the NCM811 suffers from rapid capacity fading upon cycling at cutoff voltage higher than 4.5 V, owing to their structural degradation and labile surface reactivity. Surface-coating with solid electrolytes has been recognized as an effective method to mitigate the performance failure of NCM811 at high voltage. Herein, the nano-sized Li_(6.4)La_(3)Ta_(0.6)Zr_(1.4)O_(12) (LLZTO) is uniformly coated on the surface of single-crystal NCM811 particles, accompanied with the long-range Ta^(5+) diffusion into the transition metal layer of NCM811 lattice. It is revealed that the LLZTO coating can not only inhibit the surface reactions of NCM811 with liquid electrolytes but also play an important role in suppressing the bulk microcracking within the NCM811 particles. The incorporation of Ta^(5+) ion expands the lattice spacing and thereby improves the homogeneity of the Li^(+) diffusion in the single-crystal NCM811, which alleviates the mechanical strain and intragranular cracks caused by nonuniform phases-transformation at high charging voltage. The synergy of surface protection and structural stabilization realized by LLZTO coating enables the NCM811-based lithium batteries to achieve a remarkable electrochemical performance. Typically, LLZTO coated NCM811 delivers a high reversible specific capacity of 202.1 mAh⋅g^(−1) with an excellent capacity retention as high as 70% over 1000 cycles upon charging to 4.5 V at 1 C.

关键词： coating cycling sized