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Robot trajectory planning for autonomous 3D reconstruction of cockpit in aircraft final assembly testing

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Chinese Journal of Aeronautics 2024年第3期37卷 332-350页

作者： Yanzhe WANG Zemin PAN qian yang Changxi DENG Yanding WEI The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China School of Information Science and Engineering NingboTech UniversityNingbo 315100China AVIC Xi’an Aircraft Industry(Group)Company Ltd. Xi’an 710089China Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system *** address this demand,a robotic automated 3D reconstruction cell which enables to autonomously plan the robot end-camera’s trajectory is developed for image acquisition and 3D modeling of the cockpit operation scene.A continuous viewpoint path planning algorithm is proposed that incorporates both 3D reconstruction quality and robot path quality into optimization *** metrics for viewpoint position paths and orientation paths are introduced together for the first time in 3D *** ensure safe and effective movement,two spatial constraints,Domain of View Admissible Position(DVAP)and Domain of View Admissible Orientation(DVAO),are implemented to account for robot reachability and collision *** using diffeomorphism mapping,the orientation path is transformed into 3D,consistent with the position *** orientation and position paths can be optimized in a unified framework to maximize the gain of reconstruction quality and path smoothness within DVAP and *** reconstruction cell is capable of automatic data acquisition and fine scene modeling,using the generated robot C-space *** and physical scene experiments have confirmed the effectiveness of the proposed method to achieve highprecision 3D reconstruction while optimizing robot motion quality.

关键词： Aircraft assembly testing Aircraft cockpit 3D modeling Camera viewpoint Robot trajectory planning

Tungsten oxide/nitrogen-doped carbon nanotubes composite catalysts for enhanced redox kinetics in lithium-sulfur batteries

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Chinese Journal of Chemical Engineering 2024年第3期67卷 58-67页

作者： Deqing He Zihao Xie qian yang Wei Wang Chao Su School of Energy and Power Jiangsu University of Science and TechnologyZhenjiang 212100China State Key Laboratory of Materials-Oriented Chemical Engineering College of Chemical EngineeringNanjing Tech UniversityNanjing 211816China

The sluggish redox kinetics of polysulfides in lithium-sulfur(Li-S)batteries are a significant obstacle to their widespread adoption as energy storage ***,recent studies have shown that tungsten oxide(WO_(3))can facilitate the conversion kinetics of polysulfides in Li-S ***,we fabricated host materials for sulfur using nitrogen-doped carbon nanotubes(N-CNTs)and WO_(3).We used low-cost components and simple procedures to overcome the poor electrical conductivity that is a disadvantage of metal *** composites of WO_(3) and N-CNTs(WO_(3)/N-CNTs)create a stable framework structure,fast ion diffusion channels,and a 3D electron transport network during electrochemical reaction *** a result,the WO_(3)/N-CNT-Li2S6 cathode demonstrates high initial capacity(1162 mA·h·g^(-1) at 0.5℃),excellent rate performance(618 mA·h·g^(-1) at 5.5℃),and a low capacity decay rate(0.093%up to 600 cycles at 2℃).This work presents a novel approach for preparing tungsten oxide/carbon composite catalysts that facilitate the redox kinetics of polysulfide conversion.

关键词： Li-S batteries Composites Ion diffusion channels 3D electron transport network Redox kinetics

Progress in manipulating spin polarization for solar hydrogen production

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Materials Reports(Energy) 2024年第1期4卷 43-57页

作者： qian yang Xin Tong Zhiming Wang Institute of Fundamental and Frontier Sciences University of Electronic Science and Technology of ChinaChengdu 610054PR China yangtze Delta Region Institute(Huzhou) University of Electronic Science and Technology of ChinaHuzhou 313001PR China Institute for Advanced Study Chengdu UniversityChengdu 610106PR China

Photocatalytic and photoelectrochemical water splitting using semiconductor materials are effective approaches for converting solar energy into hydrogen *** the past few years,a series of photocatalysts/photoelectrocatalysts have been developed and optimized to achieve efficient solar hydrogen *** various optimization strategies,the regulation of spin polarization can tailor the intrinsic optoelectronic properties for retarding charge recombination and enhancing surface reactions,thus improving the solar-to-hydrogen(STH)*** review presents recent advances in the regulation of spin polarization to enhance spin polarized-dependent solar hydrogen evolution ***,spin polarization manipulation strategies of several typical photocatalysts/photoelectrocatalysts(e.g.,metallic oxides,metallic sulfides,non-metallic semiconductors,ferroelectric materials,and chiral molecules)are *** the end,the critical challenges and perspectives of spin polarization regulation towards future solar energy conversion are briefly provided.

关键词： Spin polarization Solar energy conversion Photocatalytic hydrogen production Photoelectrochemical water splitting

A new era of mutation rate analyses: Concepts and methods

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Zoological Research 2024年第4期45卷 767-780页

作者： Kun Wu Danqi Qin yang qian Haoxuan Liu Center for Evolutionary&Organismal Biology and the Fourth Affiliated Hospital of Zhejiang University Zhejiang University School of MedicineHangzhouZhejiang 310058China

The mutation rate is a pivotal biological characteristic,intricately governed by natural selection and historically garnering considerable *** advances in high-throughput sequencing and analytical methodologies have profoundly transformed our understanding in this domain,ushering in an unprecedented era of mutation rate *** paper aims to provide a comprehensive overview of the key concepts and methodologies frequently employed in the study of mutation *** examines various types of mutations,explores the evolutionary dynamics and associated theories,and synthesizes both classical and contemporary ***,this review comprehensively explores recent advances in understanding germline and somatic mutations in animals and offers an overview of experimental methodologies,mutational patterns,molecular mechanisms,and driving forces influencing variations in mutation rates across species and ***,it proposes several potential research directions and pressing questions for future investigations.

关键词： Mutation rate Somatic mutations Germline mutations Animal

Wheat morphological and biochemical responses to copper oxide nanoparticles in two soils

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Pedosphere 2024年第4期34卷 814-825页

作者： qian yang Haipeng LI Yuqing ZHANG Yinghao LIU Helian LI School of Water Conservancy and Environment University of JinanJinan 250022China

The widespread application of copper oxide nanoparticles(CuO NPs)in agricultural production has caused growing concerns about their impact on *** this study,wheat root elongation was used to evaluate the toxic effect concentrations of CuO NPs in two soils with differing properties,collected from farmlands in Guangdong(GD)and Shandong(SD)provinces,*** morphological and biochemical properties were also assessed to explore the toxicity mechanism of CuO NPs on wheat *** root elongation results revealed lower toxic effect concentration values in the plants grown in GD soil than in SD ***,the treatment with CuO NPs at 200 mg Cu kg^(-1) significantly reduced wheat root and shoot biomass by 35.8%and 15.8%,respectively,in GD *** microscopy showed that CuO NPs deformed wheat roots and entered leaf cells,causing deformation and damaging the cell *** CuO NP treatments also decreased chlorophyll content,increased antioxidant enzyme activity,and increased membrane lipid peroxidation in wheat *** addition of CuO NPs significantly reduced the Zn(by 17.3%)and Fe(by 26.9%)contents in the leaves of plants grown in GD and SD soils,***,the contents of Cu,Mg,and Mn were increased by 27.4%–52.5%in GD soil and by 17.9%–71.6%in SD *** results suggested that CuO NPs showed greater toxicity to wheat plants grown in acidic soil than in alkaline soil and that the adverse effects of CuO NP treatments on wheat seedlings were due to a combination of CuO NPs and released Cu^(2+).

关键词： antioxidant enzyme activity chlorophyll content CuO nanoparticles element accumulation membrane lipid peroxidation root elongation toxic effectconcentration

Entire Solutions of Some Type of Nonlinear Delay-Differential Equations

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Journal of Mathematical Research with Applications 2024年第3期44卷 325-336页

作者： qian yang Huifang LIU School of Mathematics and Statistics Jiangxi Normal University

In this paper, the existence and growth of entire solutions of some type of nonlinear delay-differential equations are studied. Using Cartan's second main theorem and Nevanlinna theory of meromorphic functions, we obt... 详细信息

关键词： Nevanlinna theory differential equation delay-differential equation entire solution

Advancements in synthetic and electrocatalytic exploitation of guest-host intercalated 2D materials

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Progress in Natural Science:Materials International 2024年第3期34卷 454-469页

作者： qian yang Kun Wang Meiling Zhang Feihong Du Jiayang Li Chen Zheng Jinyang Li School of Chemistry Southwest Jiaotong University Yibin Institute of Southwest Jiaotong University

The emergence and development of layered materials have shown great promise for many applications, especially in recent years, the effective modulation of the physicochemical properties of layered materials by intercalation chemistry has led to great potential in material design. In this paper, we review the reaction mechanisms of different guest species(metal atoms/ions, organic molecules/ions, inorganic molecules and inorganic ions)intercalated into the host layered materials as well as the recent progress. It is also reviewed that layered intercalated materials with controllable structure and tunable physicochemical properties can be prepared through the occurrence of interactions between different subjects and guests. The specific applications of intercalation chemistry in the field of electrocatalysis, such as the hydrogen evolution reaction, oxygen evolution reaction, oxygen reduction reaction and other electrocatalytic reactions, are then discussed, with emphasis on the mechanism of the improved catalytic activity and stability of the layered materials after guest intercalation.

关键词： Electrocatalysis Guest species Intercalation chemistry Layered materials

P-aminobenzoic acid promotes retinal regeneration through activation of Ascl1a in zebrafish

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Neural Regeneration Research 2024年第8期19卷 1849-1856页

作者： Meihui He Mingfang Xia qian yang Xingyi Chen Haibo Li Xiaobo Xia Eye Center of Xiangya Hospital Central South UniversityChangshaHunan ProvinceChina Hunan Key Laboratory of Ophthalmology ChangshaHunan ProvinceChina National Clinical Research Center for Geriatric Disorders Xiangya HospitalCentral South UniversityChangshaHunan ProvinceChina

The retina of zebrafish can regenerate completely after injury.M ultiple studies have demonstrated that metabolic alte rations occur during retinal damage;however to date no study has identified a link between metabolites and retinal regeneration of ***,we performed an unbiased metabolome sequencing in the N-methyl-D-aspartic acid-damaged retinas of zebrafish to demonstrate the metabolomic mechanism of retinal *** the differentially-ex pressed metabolites,we found a significant decrease in p-aminobenzoic acid in the N-methyl-D-aspartic acid-damaged retinas of ***,we investigated the role of p-aminobenzoic acid in retinal regeneration in adult *** rtantly,p-aminobenzoic acid activated Achaetescute complex-like 1a expression,thereby promoting Müller glia reprogramming and division,as well as Müller glia-derived progenitor cell ***,we eliminated folic acid and inflammation as downstream effectors of PABA and demonstrated that PABA had little effect on Müller glia *** together,these findings show that PABA contributes to retinal regeneration through activation of Achaetescute complex-like 1a expression in the N-methyl-Daspartic acid-damaged retinas of zebrafish.

关键词： Achaetescute complex-like 1a(Ascl1a) metabolomics Müller glia p-aminobenzoic acid(PABA) retina regeneration zebrafish

Heterostructural NiFeW disulfide and hydroxide dual‐trimetallic core‐shell nanosheets for synergistically effective water oxidatio

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Carbon Energy 2024年第8期6卷 192-204页

作者： Peng‐Fei Guo yang yang Bing Zhu qian‐Nan yang Yan Jia Wei‐Tao Wang Zhao‐Tie Liu Shi‐qiang Zhao Xun Cui Key Laboratory of Chemical Additives for China National Light Industry College of Chemistry and Chemical EngineeringShaanxi University of Science and TechnologyXi'anChina School of Chemistry and Chemical Engineering Shaanxi Normal UniversityXi'anChina Key Laboratory of Carbon Materials of Zhejiang Province Wenzhou Key Lab of Advanced Energy Storage and ConversionZhejiang Province Key Lab of Leather EngineeringCollege of Chemistry and Materials EngineeringWenzhou UniversityWenzhouChina State Key Laboratory of New Textile Materials and Advanced Processing Technologies Wuhan Textile UniversityWuhanChina

A stable and highly active core‐shell heterostructure electrocatalyst is essential for catalyzing oxygen evolution reaction(OER).Here,a dual‐trimetallic core‐shell heterostructure OER electrocatalyst that consists of a NiFeWS_(2)inner core and an amorphous NiFeW(OH)_(z)outer shell is designed and synthesized using in situ electrochemical *** electrochemical measurements of different as‐synthesized catalysts with a similar mass loading suggest that the core‐shell Ni_(0.66)Fe_(0.17)W_(0.17)S_(2)@amorphous NiFeW(OH)_(z)nanosheets exhibit the highest overall performance compared with that of other bimetallic reference catalysts for the ***,the nanosheet arrays were in situ grown on hydrophilic‐treated carbon paper to fabricate an integrated three‐dimensional electrode that affords a current density of 10 mA cm^(−2)at a small overpotential of 182 mV and a low Tafel slope of 35 mV decade^(−1)in basic *** Faradaic efficiency of core‐shell Ni_(0.66)Fe_(0.17)W_(0.17)S_(2)@amorphous NiFeW(OH)_(z)is as high as 99.5%for *** scanning electron microscope,transmission electron microscope,and X‐ray photoelectron spectroscopy analyses confirm that this electrode has excellent stability in morphology and elementary composition after long‐term electrochemical ***,density functional theory calculations further indicate that the core‐shell heterojunction increased the conductivity of the catalyst,optimized the adsorption energy of the OER intermediates,and improved the OER *** study provides a universal strategy for designing more active core‐shell structure electrocatalysts based on the rule of coordinated regulation between electronic transport and active sites.

关键词： amorphous NiFeW hydroxide core‐shell heterojunction in situ electrochemical tuning NiFeW disulfide oxygen evolution reaction