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排球训练机器人扣球位姿修正中的解耦控制

机械设计与制造 2024年第2期396卷 305-308页

作者：朱祥凤陈鹏韩盼星百色学院体育学院广西百色533000 广西师范大学体育与健康学院广西桂林541004 郑州工业应用技术学院体育学院河南新郑451150

因排球训练机器人在扣球位姿控制过程中需要多回路控制,不同控制回路之间相互影响,导致存在不同回路之间的耦合干扰,要获得良好的训练效果,需要对排球训练机器人在扣球训练过程中的耦合干扰进行解耦控制。为此,提出一种针对排球训练机... 详细信息

因排球训练机器人在扣球位姿控制过程中需要多回路控制,不同控制回路之间相互影响,导致存在不同回路之间的耦合干扰,要获得良好的训练效果,需要对排球训练机器人在扣球训练过程中的耦合干扰进行解耦控制。为此,提出一种针对排球训练机器人扣球位姿修正的解耦控制方法。根据机器人的主要能量和扣球速度独立非线性项计算排球机器人姿态运动参数,采用扩展卡尔曼滤波器,估计机器人在扣球训练过程中的位姿。根据机器人位姿估计结果,建立位姿修正解耦控制的目标函数,并设定扣球位姿控制的约束参量,引入变步长动态平衡反馈调节方法实现单一回路的解耦控制。实验结果表明:这种解耦控制方法在x轴和y轴中的跟踪误差均低于0.3m,在控制过程中的俯仰角、关节旋转角度和加速度变化曲线与设定期望值相符,证明所提方法可有效提高排球训练机器人的跟踪精度和控制效果,获得较好训练效果。

关键词：排球训练机器人耦合干扰扣球位姿扩展卡尔曼滤波器位姿修正解耦控制

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Study on the Mechanism of Glutamine Promoting the Synthesis of Colonic Mucin and Maintaining the Stability of Intestinal Microbiota in Septic Mice

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Food Science and Human Wellness 2024年

作者： Yanyan pan Gang Yang Dan Wu Yan Wei Shijun Fan Lin Xia Qian Chen Qianying Huang Yongling Lu Xi peng Clinical Medical Research Center， Southwest Hospital， Third Military Medical University (Army Medical University) Burn Department， Ningbo No.2 Hospital nstitute of Burn Research， State Key Laboratory of Trauma and Chemical Poisoning， Southwest Hospital， Third Military Medical University (Army Medical University)

Colonic mucus and gut microbiota closely linked through mutual regulatory effect. While their alterations during sepsis and whether glutamine can maintain the colonic mucus barrier and gut microbiota stability are unclear. Cecal ligation and puncture-induced sepsis in mice was utilized to observe changes in colonic mucus， gut microbiota， and their interaction with glutamine intervention. Our findings indicated that glutamine mitigated sepsis-induced intestinal damage and restores colonic mucus barrier function by augmenting mucin synthesis. Further analysis revealed that goblet cells were under oxidative stress after sepsis， resulting in anterior gradient-2 (AGR2)， the key mucin-modifying enzyme， being dissynthesized， and inhibiting mucin2 (MUC2) maturation. glutamine could ameliorates this situation by promoting the key enzyme glucose-6-phosphate dehydrogenase (G6PD) glycosylation in the pentose phosphate pathway， increasing the reduced nicotinamide adenine dinucleotide phosphate (NADPH) synthesis， reducing endoplasmic reticulum stress， and accelerating AGR2 synthesis and MUC2 maturation. Additionally， glutamine aided in maintaining gut microbiota stability during sepsis， up-regulating mucin-associated bacteria such as Akkermansia and Alistipes. These bacteria， intimately linked to mucin synthesis and degradation， may impact intestinal mucus stability. In conclusion， glutamine can maintain goblet cell redox balance， promotes AGR2 synthesis and MUC2 maturation， shields the mucus barrier， and potentially maintains gut microbiota stability by regulating the interaction between bacteria and mucus， thus alleviating sepsis-induced intestinal damage.

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Identification of SSR markers linked to the abscission of cotton boll traits and mining germplasm in Cotton

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Journal of Cotton Research 2024年第2期7卷 177-187页

作者： SHUI Guangling LIN Hairong MA Xiaomei ZHU Bo HAN peng AINI Nurimanguli GUO Chunping WU Yuanlong pan Zhenyuan YOU Chunyuan SONG Guoli NIE Xinhui Key Laboratory of Oasis Ecology Agricultural of Xinjiang Bingtuan Agricultural CollegeShihezi UniversityShiheziXinjiang 832003China Cotton Institute Xinjiang Academy of Agriculture and Reclamation ScienceShiheziXinjiang 832000China Agricultural Science Research Institute of the 5th Division of Xinjiang Production and Construction Corps ShuangheXinjiang 833408China Modern Agricultural College Kashi UniversityKashiXinjiang 844000China National Key Laboratory of Crop Genetic Improvement College of Plant Sciences&TechnologyHuazhong Agricultural UniversityWuhanHubei 430070China National Key Laboratory of Cotton Bio‑Breeding and Integrated Utilization Institute of Cotton ResearchChinese Academy of Agricultural SciencesAnyangHenan 455000China

Background Cotton is an economically important *** is crucial to find an effective method to improve cotton yield,and one approach is to decrease the abscission of cotton bolls and ***,the lack of knowledge of the genetic and molecular mechanisms underlying cotton boll abscission traits has hindered genetic *** Pearson’s correlation analysis revealed a significant positive correlation between boll abscission rates 1(AR1)and boll abscission rates 2(AR2).A genome-wide association study was conducted on 145 loci that exhibited high polymorphism and were uniformly distributed across 26 chromosomes(pair).The study revealed 18,46,and 62 markers that were significantly associated with boll abscission,fiber quality,and yield traits(P<0.05),explaining 1.75%–7.13%,1.16%–9.58%,and 1.40%–5.44%of the phenotypic variation,***,the marker MON_SHIN-1584b was associated with the cotton boll abscission trait,whereas MON_CGR5732a was associated with cotton boll abscission and fiber quality *** of the marker loci identified in this study had been previously *** on phenotypic effects,six typical cultivars with elite alleles related to cotton boll abscission,fiber quality,and yield traits were *** cultivars hold great promise for widespread utilization in breeding *** These results lay the foundation for understanding the molecular regulatory mechanism of cotton boll abscission and provide data for the future improvement of cotton breeding.

关键词： SSR Genome wide association studies Abscission Favorable alleles Cotton Genetic improvement

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Effects of Different Seed Stem Sizes on the Changes of Available Elements in Rhizosphere Soil of Fritillaria thunbergii Miq.

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Agricultural Biotechnology 2024年第3期13卷 18-23页

作者： Yong peng Rui pan Zhengyan LIU Xiaohong WU Nong ZHOU Wenwu YANG Qijing District State Forest Farm Chongqing 401420China Chongqing Academy of Chinese Materia Medica Chongqing 400065China College of Biological and Food Engineering/Chongqing Engineering Laboratory for Green Cultivation and Deep Processing of the Three Gorges Reservoir Area's Medicinal Herbs Chongqing Three Gorges UniversityChongqing 404120China Chongqing Wangzhou Food and Drug Inspection Institute/Chongqing Key Laboratory of Development and Utilization of Genuine Medicinal Materials in Three Gorges Reservoir Area Chongqing 404000China

[Objectives]This study was conducted to screen suitable seed stems of Fritillaria thunbergii *** different provenances and to provide a theoretical basis for the high-yielding and high-efficiency cultivation of *** *** to different places.[Methods]*** *** four different provenances including Zhejiang,Nantong and Chongqing were introduced and cultivated in Wanzhou of *** contents of available Zn,Fe,Mn,Cu,Mo,N,P,K,Ca and Mg in rhizosphere soil of *** *** five growing stages were determined after selecting different stem sizes for field cultivation.[Results]Small stems of pan an and Ningbo provenances(SSG3,121-160/kg)and middle stems of Nantong and Fengjie provenances(SSG2,81-120/kg)showed higher soil availability.[Conclusions]In the process of introduction and cultivation of *** Miq.,high yield and high efficiency can be achieved by selecting smaller seed stems of *** Miq.

关键词： Fritillaria thunbergii Miq. Different provenances Stem size Introduction Cultivation Soil nutrient element Availability

羟基功能化3,4-聚2-芳基-1,3-丁二烯的合成

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高分子学报 2024年第2期55卷 153-160页

作者：黄立贤桑丽鹏苏高攀郭翔李世辉中国科学院长春应用化学研究所高分子物理与化学国家重点实验室长春130022 中国科学技术大学应用化学与工程学院合肥230026 湖北航天化学技术研究所航天化学动力技术重点实验室襄阳441003

采用(C13H8CH_(2)CH_(2)(NCHCCHN)■)Lu(CH_(2)SiMe_(3))2(1)、Ph_(2)P(=NDip)(NDip)Lu■(THF)(Dip=■)、Ph_(2)P(=NDip)(■)Lu(CH_(2)SiMe_(3))2(THF)(3)和Ph_(2)P(=NDip)(■)Sc(CH_(2)SiMe_(3))2(THF)(4)4种稀土催化剂,催化2-对甲基苯基-1,3-丁二烯(2-MPBD)均聚合.通过核磁共振(NMR)、凝胶渗透色谱(GPC)和示差扫描量热法(DSC)等对聚合物的微观结构和热性能进行了表征.催化剂1对2-MPBD聚合活性低,3,4-选择性低(65.2%);催化剂2几乎无催化活性;催化剂3和4表现出非常高的催化活性(2 min转化率达100%)和3,4-选择性(分别为98.1%和>99%).催化剂4对催化2-MPBD聚合具有活性聚合特征,产生的3,4-聚2-MPBD分子量随单体投入量呈线性增加,分子量分布介于1.12~1.25之间.对于苯基、间甲基苯基、4-戊基苯基、4-氟苯基和4-氯苯基取代的1,3-丁二烯单体,催化剂4也表现出较高的催化活性和3,4-选择性.3,4-聚芳基1,3-丁二烯侧链双键与硼烷、双氧水和氢氧化钠反应之后,转变为醇羟基功能化的3,4-聚芳基1,3-丁二烯.

关键词：稀土催化剂功能化聚烯烃 3,4-选择性共轭双烯反应性功能化法

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Topological reorganization and functional alteration of distinct genomic components in gallbladder cancer

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Frontiers of Medicine 2024年第1期18卷 109-127页

作者： Guoqiang Li peng Pu Mengqiao pan Xiaoling Weng Shimei Qiu Yiming Li Sk Jahir Abbas Lu Zou Ke Liu Zheng Wang Ziyu Shao Lin Jiang Wenguang Wu Yun Liu Rong Shao Fatao Liu Yingbin Liu Department of Biliary-pancreatic Surgery Renji HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghai200127China State Key Laboratory of Oncogenes and Related Genes Shanghai Cancer InstituteShanghai200127China Shanghai Key Laboratory of Biliary Tract Disease Shanghai200082China Department of Health Science and Engineering University of Shanghai for Science and TechnologyShanghai200082China Shanghai Tenth People’s Hospital of Tongji University Shanghai200072China Department of General Surgery Xinhua HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghai200082China Department of Pharmacology Shanghai Jiao Tong University School of MedicineShanghai200025China

Altered three-dimensional architecture of chromatin influences various genomic regulators and subsequent gene expression in human ***,knowledge of the topological rearrangement of genomic hierarchical layers in cancer is largely ***,by taking advantage of in situ Hi-C,RNA-sequencing,and chromatin immunoprecipitation sequencing(ChIP-seq),we investigated structural reorganization and functional changes in chromosomal compartments,topologically associated domains(TADs),and CCCTC binding factor(CTCF)-mediated loops in gallbladder cancer(GBC)tissues and cell *** observed that the chromosomal compartment A/B switch was correlated with CTCF binding levels and gene expression *** inter-TAD interactions with weaker TAD boundaries were identified in cancer cell lines relative to normal ***,the chromatin short loops and cancer unique loops associated with chromatin remodeling and epithelial–mesenchymal transition activation were enriched in cancer compared with their control ***-specific enhancer–promoter loops,which contain multiple transcription factor binding motifs,acted as a central element to regulate aberrant gene *** of individual enhancers in each loop anchor that connects with promoters led to the inhibition of their corresponding gene ***,our data offer the landscape of hierarchical layers of cancer genome and functional alterations that contribute to the development of GBC.

关键词： 3D genome cancer TADs loop gene regulation

Mitigating growth-stress tradeoffs via elevated TOR signaling in rice

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Molecular Plant 2024年第2期17卷 240-257页

作者： Wei Li Jiaqi Liu Zeqi Li Ruiqiang Ye Wenzhen Chen Yuqing Huang Yue Yuan Yi Zhang Huayi Hu peng Zheng Zhongming Fang Zeng Tao Shiyong Song Ronghui pan Jian Zhang Jumim Tu Jen Sheen Hao Du State Key Laboratory of Rice Biology College of Agriculture and BiotechnologyZhejiang UniversityYu-Hang-Tang Road No.866Hangzhou 310058China ZJU-Hangzhou Global Scientific and Technological Innovation Center Zhejiang UniversityHangzhou 311215China Hainan Institute of Zhejiang University Sanya 572025China National Key Laboratory of Plant Molecular Genetics CASCenter for Excellence in Molecular Plant SciencesShanghai lnstitute of Plant Physiology and EcologyChineseAcademy of SciencesShanghai 200032China Key Laboratory of Plant Resource Conservation and Germplasm Innovation in Mountainous Region(Ministry of Education) College of Agricultural SciencesGuizhouUniversityGuiyang 550025China State Key Laboratory of Rice Biology and Breeding China National Rice Research InstituteHangzhou 311400China Department of Molecular Biology and Center for Computational and Integrative Biology Massachusetts General Hospitaland Department of GeneticsHarvard Medical SchoolBostonMA02114USA

Rice production accounts for approximately half of the freshwater resources utilized in agriculture,result-ing in greenhouse gas emissions such as methane(CH4)from flooded paddy *** address this chal-lenge,environmentally friendly and cost-effective water-saving techniques have become widely adopted in rice ***,the implementation of water-saving treatments(WsTs)in paddy-field rice has been associated with a substantial yield loss of up to 50%as well as a reduction in nitrogen use efficiency(NUE).In this study,we discovered that the target of rapamycin(TOR)signaling pathway is compromised in rice under *** profiling-coupled transcriptome sequencing(polysome-seq)analysis unveiled a substantial reduction in global translation in response to WST associated with the downregulation of TOR ***,biochemical,and genetic analyses revealed new insights into the impact of the positive TOR-S6K-RPS6 and negative TOR-MAF1 modules on translation repression under ***,ammonium exhibited a greater ability to alleviate growth constraints under WsT by enhancing TOR signaling,which simultaneously promoted uptake and utilization of ammonium and nitrogen *** further demonstrated that TOR modulates the ammonium transporter AMT1;1 as well as the amino acid permease APP1 and dipeptide transporter NPF7.3 at the translational level through the 5'untranslated ***,these findings reveal that enhancing TOR signaling could mitigate rice yield penalty due to WST by regulating the processes involved in protein synthesis and *** study will contribute to the breeding of new rice varieties with increased water and fertilizer utilization efficiency.

关键词： target of rapamycin TOR water-saving rice low-carbon agriculture drought nitrogen use efficiency NUE

Spike N354 glycosylation augments SARS-CoV-2 fitness for human adaptation through structural plasticity

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National Science Review 2024年第7期11卷 80-94页

作者： pan Liu Can Yue Bo Meng Tianhe Xiao Sijie Yang Shuo Liu Fanchong Jian Qianhui Zhu Yuanling Yu Yanyan Ren peng Wang Yixin Li Jinyue Wang Xin Mao Fei Shao Youchun Wang Ravindra Kumar Gupta Yunlong Cao xiangxi Wang CAS Key Laboratory of Infection and Immunity National Laboratory of MacromoleculesInstitute of BiophysicsChinese Academy of Sciences University of Chinese Academy of Sciences Cambridge Institute of Therapeutic Immunology&Infectious Disease(CITIID) University of Cambridge Biomedical Pioneering Innovation Center(BIOPIC) Peking University Changping Laboratory Joint Graduate Program of Peking-Tsinghua-NIBS Academy for Advanced Interdisciplinary Studies Peking University Peking-Tsinghua Center for Life Sciences Tsinghua University Chinese Academy of Medical Sciences&Peking Union Medical College

Selective pressures have given rise to a number of SARS-CoV-2 variants during the prolonged course of the COVID-19 pandemic. Recently evolved variants differ from ancestors in additional glycosylation within the spike protein receptor-binding domain(RBD). Details of how the acquisition of glycosylation impacts viral fitness and human adaptation are not clearly understood. Here, we dissected the role of N354-linked glycosylation, acquired by BA.2.86 sub-lineages, as a RBD conformational control element in attenuating viral infectivity. The reduced infectivity is recovered in the presence of heparin sulfate, which targets the‘N354 pocket’ to ease restrictions of conformational transition resulting in a ‘RBD-up’ state, thereby conferring an adjustable infectivity. Furthermore, N354 glycosylation improved spike cleavage and cell–cell fusion, and in particular escaped one subset of ADCC antibodies. Together with reduced immunogenicity in hybrid immunity background, these indicate a single spike amino acid glycosylation event provides selective advantage in humans through multiple mechanisms.

关键词： coronavirus glycosylation viral fitness adjustable infectivity co-factor usage viral evolution conformational modulator

Structured-illumination reflectance imaging for the evaluation of microorganism contamination in pork: Effects of spectral and imaging features on its prediction performance

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Food Science and Human Wellness 2024年

作者： Binjing Zhou Xiaohua Liu Yan Ge Kang Tu Jing peng Juan Francisco García-Martín Jie Wu Weijie Lan Leiqing pan The Academy of Science， Nanjing Agricultural University College of Engineering， Nanjing Agricultural University College of Food Science and Technology， Nanjing Agricultural University School of Food and Biological Engineering， Bengbu University Departamento de Ingeniería Química， Facultad de Química， Universidad de Sevilla

Structured-illumination reflectance imaging provides a new means for food quality detection. This original work investigated the capability of Structured-illumination reflectance imaging technique coupled with multivariate chemometrics to evaluate the microbial contamination in pork inoculated with Pseudomonas fluorescens and Brochothrix thermosphacta during storage at different temperatures. The prediction performances based on different spectrum and the textural features of direct component and amplitude component images demodulated from the SIRI pattern images， as well as their data fusion were comprehensively compared. Based on the full wavelength spectrum (420 – 700) nm of amplitude component images， the orthogonal signal correction coupled with support vector machine regression provided the best predictions of the number of Pseudomonas fluorescens and Brochothrix thermosphacta in pork， with the Rp2values of 0.870 and 0.906， respectively. Besides， the prediction models based on the amplitude component or direct component image textural features and the data fusion models using spectrum and textural features from direct component and amplitude component images cannot significantly improve their prediction accuracy. Consequently， structured-illumination reflectance imaging can be further considered as a potential technique for the rapid evaluation of microbial contaminations in pork meat.

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