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Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 41-61页

作者： Fuqun Zhao Yifan Wu Xinhua yang Xilun Ding Kun xu Sheng Guo {2. Jin school of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China school of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China

To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot(ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the legarm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

关键词： Quadruped robot Multimode design Mode switching Locomotion Operation

ThyroidNet:A Deep Learning Network for Localization and Classification of Thyroid Nodules

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Computer Modeling in Engineering & Sciences 2024年第4期139卷 361-382页

作者： Lu Chen Huaqiang Chen Zhikai pan Sheng xu Guangsheng Lai Shuwen Chen Shuihua Wang {2. Gu Yudong Zhang Ultrasonic Department Zhongda Hospital Affiliated to Southeast UniversityNanjing210009China school of Physics and Information Engineering Jiangsu Second Normal UniversityNanjing211200China school of Computing and Mathematical Sciences University of LeicesterLeicesterLE17RHUK Department of Information Systems Faculty of Computing and Information TechnologyKing Abdulaziz UniversityJeddah21589Saudi Arabia State Key Laboratory of MillimeterWaves Southeast UniversityNanjing210096China Jiangsu Province Engineering Research Center of Basic Education Big Data Application Jiangsu Second Normal UniversityNanjing211200China school of Software Engineering Quanzhou Normal UniversityQuanzhou362000China Department of Biological Sciences Xi’an Jiaotong-Liverpool UniversitySuzhou215123China

Aim:This study aims to establish an artificial intelligence model,ThyroidNet,to diagnose thyroid nodules using deep learning techniques ***:A novel method,ThyroidNet,is introduced and evaluated based on deep learning for the localization and classification of thyroid ***,we propose the multitask TransUnet,which combines the TransUnet encoder and decoder with multitask ***,we propose the DualLoss function,tailored to the thyroid nodule localization and classification *** balances the learning of the localization and classification tasks to help improve the model’s generalization ***,we introduce strategies for augmenting the ***,we submit a novel deep learning model,ThyroidNet,to accurately detect thyroid ***:ThyroidNet was evaluated on private datasets and was comparable to other existing methods,including U-Net and *** results show that ThyroidNet outperformed these methods in localizing and classifying thyroid *** achieved improved accuracy of 3.9%and 1.5%,***:ThyroidNet significantly improves the clinical diagnosis of thyroid nodules and supports medical image analysis *** research directions include optimization of the model structure,expansion of the dataset size,reduction of computational complexity and memory requirements,and exploration of additional applications of ThyroidNet in medical image analysis.

关键词： ThyroidNet deep learning TransUnet multitask learning medical image analysis

FGF4 protects the liver from immune-mediated injury by activating CaMKKβ-PINK1 signal pathway to inhibit hepatocellular apoptosis

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Acta Pharmaceutica Sinica B 2024年第6期14卷 1605-1623页

作者： Zhifeng Huang Tongtong pan Liang xu Lu Shi Xiong Ma Liya Zhou Luyao Wang Jiaojiao Wang Guoqing Zhu Dazhi Chen Lingtao Song Xiaomin pan xiaodong Wang Xiaokun Li Yongde Luo Yongping Chen Hepatology Diagnosis and Treatment Center Zhejiang Provincial Key Laboratory for Accurate Diagnosis and Treatment of Chronic Liver Diseasesthe First Affiliated Hospital of Wenzhou Medical UniversityWenzhou 325035China Oujiang Laboratory(Zhejiang Lab for Regenerative Medicine Vision and Brain Health)&School of Pharmaceutical SciencesWenzhou Medical UniversityWenzhou 325035China school of Laboratory Medicine and Life Sciences Wenzhou Medical University&Key Laboratory of Laboratory MedicineMinistry of EducationWenzhou Medical UniversityWenzhou 325035China Division of Gastroenterology and Hepatology Key Laboratory of Gastroenterology and HepatologyMinistry of HealthState Key Laboratory for Oncogenes and Related GenesRenji HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghai 200001China Hangzhou Medical College Hangzhou 311300China

Immune-mediated liver injury (ILI) is a condition where an aberrant immune response due to various triggers causes the destruction of hepatocytes. Fibroblast growth factor 4 (FGF4) was recently identified as a hepatoprotective cytokine;however, its role in ILI remains unclear. In patients with autoimmune hepatitis (type of ILI) and mouse models of concanavalin A (ConA)- or S-100-induced ILI, we observed a biphasic pattern in hepatic FGF4 expression, characterized by an initial increase followed by a return to basal levels. Hepatic FGF4 deficiency activated the mitochondria-associated intrinsic apoptotic pathway, aggravating hepatocellular apoptosis. This led to intrahepatic immune hyper-reactivity, inflammation accentuation, and subsequent liver injury in both ILI models. Conversely, administration of recombinant FGF4 reduced hepatocellular apoptosis and rectified immune imbalance, thereby mitigating liver damage. The beneficial effects of FGF4 were mediated by hepatocellular FGF receptor 4, which activated the Ca^(2.)/calmodulin-dependent protein kinasekinase 2.(CaMKKβ) and its downstream phosphatase and tensin homologue-induced putative kinase 1 (PINK1)-dependent B-cell lymphoma 2.like protein 1-isoform L (Bcl-XL) signalling axis in the mitochondria. Hence, FGF4 serves as an early response factor and plays a protective role against ILI, suggesting a therapeutic potential of FGF4 and its analogue for treating clinical immune disorder-related liver injuries.

关键词： Fibroblast growthfactor 4 Fibroblast growth factor receptor 4 Immune liver injury Ca^(2.)/Calmodulin dependent protein

Calcium Carbonate and Ettringite Induced Efflorescence in CAC-Anhydrite Binary Systems

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Journal of Wuhan university of Technology(Materials Science) 2024年第5期39卷 1129-1137页

作者： SUN Zixuan CHEN Yuting xu Linglin LIU Siyu YU Long {2. Feng WANG Chaoqiang WU Kai yang Zhenghong Key Laboratory of Advanced Civil Engineering Materials of Ministry of Education School of Materials Science and EngineeringTongji UniversityShanghai 201804China Shanghai Construction No.5(Group)Co. Ltd.Shanghai 200063China school of Material Science and Engineering Chongqing Jiaotong UniversityChongqing 400074China

We focused on the efflorescence induced microstructural evolution of ettringite-rich systems prepared with calcium aluminate cement(CAC)and *** effects of anhydrite on the visible efflorescence,and the corresponding capillary absorption of CAC-anhydrite mortars were *** composition and microstructure of efflorescence-causing substances were investigated by optical microscope,in-situ Raman spectroscopy,scanning electron microscope,energy dispersive spectrometer,thermogravimetric analysis,and differential scanning calorimetry,at *** indicate that,besides the calcium carbonate,ettringite is another main component of efflorescence-causing *** with the neat CAC mortars,the addition of anhydrite has a significant effect on the degree of efflorescence by acting on the composition of hydration products and pore *** addition,methods are proposed for the prevention of efflorescence of CAC-anhydrite binary system.

关键词： calcium aluminate cement anhydrite efflorescence ettringite phase assemblage pore structure

Design strategies of high-performance lead-free electroceramics for energy storage applications

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Rare Metals 2024年第3期43卷 853-878页

作者： Biao Guo Fei Jin Li Li Zi-Zhao pan Xin-Wei xu Hong Wang Department of Materials Science and Engineering College of EngineeringSouthern University of Science and TechnologyShenzhen518055China school of Microelectronics and State Key Laboratory for Mechanical Behavior of Materials Xi’an Jiaotong UniversityXi’an710049China

A greater number of compact and reliable electrostatic capacitors are in demand due to the Internet of Things boom and rapidly growing complex and integrated electronic systems,continuously promoting the development of high-energy-density ceramic-based *** significant successes have been achieved in obtaining high energy densities in lead-based ferroelectric ceramics,the utilization of lead-containing ceramies has been restricted due to environmental and health hazards of ***-free ferroelectric ceramics have garnered tremendous attention and are expected to replace lead-based ceramics in the near ***,the energy density of lead-free ceramics is still lagging behind that of lead-containing ***,severely limiting their *** efforts have been made to enhance the energy storage performance of lead-free ceramics using multi-scale design strategies,and exciting progress has been achieved in the past *** review briefly discusses the energy storage mechanism and fundamental characteristics of a dielectric capacitor,summarizes and compares the state-of-the-art design strategies for high-energy-density lead-free ceramics,and highlights several critical issues and requirements for industrial *** prospects and challenges of lead-free ceramics for energy storage applications are also discussed.

关键词： Dielectric materials Lead-free ceramic Environment friendly Energy storage Design strategy

Molar ratio induced crystal transformation from coordination complex to coordination polymers

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Chinese Chemical Letters 2024年第4期35卷 539-543页

作者： Peng Meng Qian-Cheng Luo Aidan Brock xiaodong Wang Mahboobeh Shahbazi Aaron Micallef John McMurtrie Dongchen Qi Yan-Zhen Zheng Jingsan xu school of Chemistry and Physics&Centre for Materials Science Queensland University of TechnologyBrisbaneQLD 4000Australia Frontier Institute of Science and Technology Xi'an Jiaotong UniversityXi'an 710054China Central Analytical Research Facility Institute for Future EnvironmentsQueensland University of TechnologyBrisbaneQLD 4000Australia

Coordination complex of a copper cyanurate(Cu(Ⅱ)-CA) was transformed into coordination polymers upon the stimulus of extra Cu(Ⅱ) through “directed Ostwald ripening”. By increasing the molar ratio of Cu(Ⅱ) to CA, we obtained two coordination polymers with selective coordination sites: Cu(Ⅱ)-κ N(HCA)κ NCu(Ⅱ) and Cu(Ⅱ)-κ N(HCA)κ O-Cu(Ⅱ), which display disparate magnetic interactions.

关键词： Molar ratio dependent crystal transformation Copper cyanurate Ostwald ripening Molecular magnetism One-dimensional chain

Activatable fluorescent probes for imaging and diagnosis of rheumatoid arthritis

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Military Medical Research 2024年第2期11卷 287-307页

作者： pan Luo Fu-Qiang Gao Wei Sun Jun-You Li Cheng Wang Qing-Yu Zhang Zhi-Zhuo Li Peng xu Department of Joint Surgery Honghui HospitalXi'an Jiaotong UniversityXi'an 710054China Department of Orthopedics China-Japan Friendship HospitalBeijing 100029China Department of Orthopaedic Surgery of the Perelman school of Medicine University of PennsylvaniaPhiladelphiaPA 19104USA school of Mechanical Engineering Sungkyunkwan UniversitySuwon 16419South Korea Department of Orthopaedic Surgery Peking University Third HospitalPeking UniversityBeijing 100191China Department of Orthopedics Shandong Provincial Hospital Affiliated to Shandong First Medical UniversityJinan 250021China State Key Laboratory of Pharmaceutical Biotechnology Division of Sports Medicine and Adult Reconstructive SurgeryDepartment of Orthopedic SurgeryNanjing Drum Tower Hospitalthe Affiliated Hospital of Nanjing University Medical SchoolNanjing 210008China

Rheumatoid arthritis(RA)is a systemic autoimmune disease that is primarily manifested as synovitis and polyarticular opacity and typically leads to serious joint damage and irreversible disability,thus adversely affecting locomotion ability and life ***,good prognosis heavily relies on the early diagnosis and effective therapeutic monitoring of *** fluorescent probes play vital roles in the detection and imaging of biomarkers for disease diagnosis and in vivo ***,we review the fluorescent probes developed for the detection and imaging of RA biomarkers,namely reactive oxygen/nitrogen species(hypochlorous acid,peroxynitrite,hydroxyl radical,nitroxyl),pH,and cysteine,and address the related challenges and prospects to inspire the design of novel fluorescent probes and the improvement of their performance in RA studies.

关键词： Rheumatoid arthritis Fluorescent probe Imaging Diagnosis Biomarker

Covalent Organic Framework with 3D Ordered Channel and Multi-Functional Groups Endows Zn Anode with Superior Stability

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Nano-Micro Letters 2024年第4期16卷 350-363页

作者： Bin Li Pengchao Ruan Xieyu xu Zhangxing He Xinyan Zhu Liang pan Ziyu Peng {2.{2. Liu Peng Zhou Bingan Lu Lei Dai Jiang Zhou school of Chemical Engineering North China University of Science and TechnologyTangshan 063009People’s Republic of China school of Materials Science and Engineering Central South UniversityChangsha 410083People’s Republic of China State Key Laboratory for Mechanical Behavior of Materials Xi’an Jiaotong UniversityXi’an 710049People’s Republic of China Hunan Provincial Key Defense Laboratory of High Temperature Wear‑Resisting Materials and Preparation Technology Hunan University of Science and TechnologyXiangtan 411201People’s Republic of China school of Physics and Electronics Hunan UniversityChangsha 410082People’s Republic of China

Achieving a highly robust zinc(Zn)metal anode is extremely important for improving the performance of aqueous Zn-ion batteries(AZIBs)for advancing“carbon neutrality”society,which is hampered by the uncontrollable growth of Zn dendrite and severe side reactions including hydrogen evolution reaction,corrosion,and passivation,***,an interlayer containing fluorinated zincophilic covalent organic framework with sulfonic acid groups(COF-S-F)is developed on Zn metal(Zn@COF-S-F)as the artificial solid electrolyte interface(SEI).Sulfonic acid group(-SO_(3)H)in COF-S-F can effectively ameliorate the desolvation process of hydrated Zn ions,and the three-dimensional channel with fluoride group(-F)can provide interconnected channels for the favorable transport of Zn ions with ion-confinement effects,endowing Zn@COF-S-F with dendrite-free morphology and suppressed side ***,Zn@COF-S-F symmetric cell can stably cycle for 1,000 h with low average hysteresis voltage(50.5 m V)at the current density of 1.5 m A cm^(-2..Zn@COF-S-F|Mn O_(2.cell delivers the discharge specific capacity of 2.6.8 m Ah g^(-1)at the current density of 1.2.A g^(-1)after 800 cycles with high-capacity retention(87.9%).Enlightening,building artificial SEI on metallic Zn surface with targeted design has been proved as the effective strategy to foster the practical application of high-performance AZIBs.

关键词： Aqueous Zn ion batteries Covalent organic framework Interfacial modification Zn ion flux regulation Desolvation effect

Insights into spinal muscular atrophy from molecular biomarkers

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Neural Regeneration Research 2025年第7期20卷 1849-1863页

作者： xiaodong Xing Xinzhu Liu Xiandeng Li Mi Li Xian Wu Xiaohui Huang Ajing xu Yan Liu Jian Zhang Department of Clinical Pharmacy Xinhua HospitalShanghai Jiao Tong University School of MedicineShanghaiChina College of Pharmacy Chongqing Medical UniversityChongqingChina

Spinal muscular atrophy is a devastating motor neuron disease characterized by severe cases of fatal muscle *** is one of the most common genetic causes of mortality among infants aged less than 2.*** research is currently receiving more attention,and new candidate biomarkers are constantly being *** review initially discusses the evaluation methods commonly used in clinical practice while briefly outlining their respective pros and *** also describe recent advancements in research and the clinical significance of molecular biomarkers for spinal muscular atrophy,which are classified as either specific or non-specific *** review provides new insights into the pathogenesis of spinal muscular atrophy,the mechanism of biomarkers in response to drug-modified therapies,the selection of biomarker candidates,and would promote the development of future ***,the successful utilization of biomarkers may facilitate the implementation of gene-targeting treatments for patients with spinal muscular atrophy.

关键词： biomarkers disease progression gene-targeting therapy neurofilaments Nusinersen spinal muscular atrophy(SMA) survival motor neuron therapeutic evaluation treatment outcomes