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A Bio-Inspired Integration Model of Basal Ganglia and Cerebellum for Motion Learning of a Musculoskeletal Robot

Journal of Systems Science & Complexity 2024年第1期37卷 82-113页

作者： ZHANG Jinhan CHEN Jiahao zhong Shanlin qiao Hong State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China.

It is a significant research direction for highly complex musculoskeletal robots that how to develop the ability of motion learning and generalization.The cooperations of multiple brain regions are crucial to improving motion performance.Inspired by the neural mechanisms of structures,functions,and interconnections of basal ganglia and cerebellum,a biologically inspired integration model for motor learning of musculoskeletal robots is proposed.Based on the neural characteristics of the basal ganglia,the basal ganglia actor network,which mainly simulates the dorsal striatum,outputs motion commands,and the basal ganglia critic network,which simulates the ventral striatum,estimates actionstate values.Their network parameters are updated using the soft actor-critic method.Based on the sensorimotor prediction mechanism of the cerebellum,the cerebellum network evaluates the state feature extraction quality of the basal ganglia actor network and then updates the weights of its feature layer.This learning method is proven to converge to the optimal policy.Furthermore,drawing on the mechanism of dopaminergic dynamic regulation in the basal ganglia,the adaptive adjustment of target entropy and the dopaminergic experience replay are proposed to further improve the integration model,which contributes to the exploration-exploitation trade-off of motor learning.The bio-inspired integration model is validated on a musculoskeletal system.Experimental results indicate that this model can effectively control the musculoskeletal robot to accomplish the motion task from random starting locations to random target positions with high precision and robustness.

关键词： Basal ganglia and cerebellum bio-inspired integration model motion learning musculoskeletal robot reinforcement learning.

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Immune checkpoint inhibitor-associated gastritis:Patterns and management

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World Journal of Gastroenterology 2024年第14期30卷 1941-1948页

作者： Jing Lin zhong-qiao Lin Shi-Cheng Zheng Yu Chen Department of Medical Oncology Clinical Oncology School of Fujian Medical UniversityFujian Cancer HospitalFuzhou 350000Fujian ProvinceChina Phase I Clinical Trial Ward Clinical Oncology School of Fujian Medical UniversityFujian Cancer HospitalFuzhou 350000Fujian ProvinceChina School of Basic Medical Sciences Fujian Medical UniversityFuzhou 350000Fujian ProvinceChina

Immune checkpoint inhibitors(ICIs)are widely used due to their effectiveness in treating various tumors.Immune-related adverse events(irAEs)are defined as adverse effects resulting from ICI treatment.Gastrointestinal irAEs are a common type of irAEs characterized by intestinal side effects,such as diarrhea and colitis,which may lead to the cessation of ICIs.Although irAE gastritis is rarely reported,it may lead to serious complications such as gastrorrhagia.Furthermore,irAE gastritis is often difficult to identify early due to its diverse symptoms.Although steroid hormones and immunosuppressants are commonly used to reverse irAEs,the best regimen and dosage for irAE gastritis remains uncertain.In addition,the risk of recurrence of irAE gastritis after the reuse of ICIs should be considered.In this editorial,strategies such as early identification,pathological diagnosis,mana-gement interventions,and immunotherapy rechallenge are discussed to enable clinicians to better manage irAE gastritis and improve the prognosis of these patients.

关键词： Immunotherapy Immune checkpoint inhibitor Immune-related adverse events Immune checkpoint inhibitor-related gastritis

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Nitrogen-doped titanium dioxide/schwertmannite nanocomposites as heterogeneous photo-Fenton catalysts with enhanced efficiency for the degradation of bisphenol A

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Journal of Environmental Sciences 2024年第9期143卷 1-11页

作者： Xing-Xing qiao Yu-Hang Xu Xiang-Ji Liu Sai-Le Chen Zhou zhong Ya-Feng Li Jian Lü Fujian Provincial Key Laboratory of Soil Environmental Health and Regulation College of Resources and EnvironmentFujian Agriculture and Forestry UniversityFuzhou 350002China State Key Laboratory of Photocatalysis on Energy and Environment Fuzhou UniversityFuzhou 350116China

Potential health risks related to environmental endocrine disruptors(EEDs)have aroused research hotspots at the forefront of water treatment technologies.Herein,nitrogen-doped titanium dioxide/schwertmannite nanocomposites(N-TiO_(2)/SCH)have been successfully developed as heterogeneous catalysts for the degradation of typical EEDs via photo-Fenton processes.Due to the sustainable Fe(Ⅲ)/Fe(Ⅱ)conversion induced by photoelectrons,as-prepared N-TiO_(2)/SCH nanocomposites exhibit much enhanced efficiency for the degradation of bisphenol A(BPA;ca.100% within 60 min under visible irradiation)in a wide pH range of 3.0-7.8,which is significantly higher than that of the pristine schwertmannite(ca.74.5%)or N-TiO_(2)(ca.10.8%).In this photo-Fenton system,the efficient degradation of BPA is mainly attributed to the oxidation by hydroxyl radical(·OH)and singlet oxygen(^(1)O_(2)).Moreover,the possible catalytic mechanisms and reaction pathway of BPA degradation are systematically investigated based on analytical and photoelectrochemical analyses.This work not only provides a feasible means for the development of novel heterogeneous photo-Fenton catalysts,but also lays a theoretical foundation for the potential application of mineral-based materials in wastewater treatment.

关键词： Titanium dioxide Schwertmannite Fenton reaction Environmental endocrine disruptors Photocatalysis

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Influence of pore structure on thermal stress distribution inside coal particles during primary fragmentation

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Particuology 2024年第2期85卷 49-61页

作者： Kai qiao Shan zhong Siyang Tang Ke Yang Hairong Yue Kui Ma Lei Song Bin Liang School of Chemical Engineering Sichuan UniversityChengdu610065China Institute of New Energy and Low-carbon Technology Chengdu610207China

Thermal stress is an important reason of coal particle primary fragmentation,during which the role of pore structure is ambiguous.Thermal stress induced fragmentation experiments were conducted with low volatile coal/char particles,and the results show that the fragmentation severity enhances with increasing porosity.Various porous thermal stress models were developed with finite element method,and the influences of the pore shape,size,position and porosity on the thermal stress were discussed.The maximum thermal stress inside particle increases with pore curvature,the pore position affects the thermal stress more significantly at the particle center and surface.The expectation of the maximum tensile thermal stress linearly increases with porosity,making the particles with higher porosity easier to fragment,contrary to the conclusion deduced from the devolatilization theory.The obtained results are valuable for the analysis of different thermal processes concerning the thermal stresses of the solid feedstocks.

关键词： Coal particle Primary fragmentation Thermal stress Pore structure Porosity

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Effect of lens surgery on health-related quality of life in preschool children with congenital ectopia lentis

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International Journal of Ophthalmology(English edition) 2024年第1期17卷 66-72页

作者： Yan-qiao Huang Qian-zhong Cao Yi-Yao Wang Yi-Jing Zhou Dan-Ying Zheng State Key Laboratory of Ophthalmology Zhongshan Ophthalmic CenterSun Yat-sen UniversityGuangdong Provincial Key Laboratory of Ophthalmology and Visual ScienceGuangdong Provincial Clinical Research Center for Ocular DiseasesGuangzhou 510060Guangdong ProvinceChina

AIM:To evaluate the effect of lens surgery on health-related quality of life(HRQoL)of preschool children with congenital ectopia lentis(CEL).METHODS:A prospective self-controlled study was conducted in zhongshan Ophthalmic Center.Children aged from 5 to 7y whom were diagnosed with CEL and underwent phacoemulsification with scleral-fixated posterior chamber intraocular lens implantation and their parents were enrolled in this study.All of them completed the child and proxy(parental)PedsQL™4.0 before and after the surgery.Their preoperative scores were compared to their postoperative ones.Subgroup analyses were performed based on gender and preoperative bilateral presenting visual acuity of the children.RESULTS:Thirty-two children with CEL successfully underwent surgery without any complications,among whom 8 had monocular surgery and 24 had binocular surgery.Preoperative and postoperative questionnaires were completed by 32 child-parent pairs.Surgical intervention could significantly improve the vision of affected children(P<0.001).The medians of physical,psychosocial and total health scores self-reported by the children were 68.75(62.50,81.25),65.00(60.00,80.00)and 67.39(60.87,78.26)preoperatively and were 93.75(87.50,100.00),90.00(83.33,96.67)and 89.13(85.32,95.65)postoperatively.The preoperative scores of the affected children were significantly lower in all scales than age-matched healthy children(P<0.001).All the postoperative scores were significantly higher than the preoperative scores in affected children and their parents(P<0.001).In the physical functioning evaluation,the preoperative score reported by parents of girls was higher than parents of boys(P=0.041),and the postoperative score of girls was higher than that of boys(P=0.036).CONCLUSION:CEL is associated with significantly worse quality of life in preschool children.Surgical intervention can significantly improve the HRQoL in affected children from both personal and family perspective.

关键词： congenital ectopia lentis surgical intervention health-related quality of life preschool children

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Two-dimensional precise figuring of 500 mm-long X-ray mirror using one-dimensional ion beam system

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Advances in Manufacturing 2024年第1期12卷 177-184页

作者： Qiu-Shi Huang Han-Dan Huang qiao-Yu Wu Jun Yu zhong Zhang Zhan-Shan Wang MOE Key Laboratory of Advanced Micro-Structured Materials Institute of Precision Optical Engineering(IPOE)School of Physics Science and EngineeringTongji UniversityShanghai200092People’s Republic of China Shanghai Professional Technical Service Platform for Full-Spectrum and High-Performance Optical Thin Film Devices and Applications Tongji UniversityShanghai200092People’s Republic of China Shanghai Frontiers Science Center of Digital Optics Tongji UniversityShanghai200092People’s Republic of China

In this study,a new method was developed to realize two-dimensional(2D)figure correction of grazing-incidence X-ray mirrors using a one-dimensional(1D)ion-beam figuring system.A mask of holes was specifically designed to generate removal functions at different widths and extend the figuring capability over a wide area.Accordingly,a long mirror could be manufactured.Using this method,the surface height root-mean-square(RMS)error of the center area of 484 mm×16 mm was reduced from 11.49 nm to 2.01 nm,and the 1D meridional RMS error reached 1.0 nm.The proposed method exhibits high precision and cost effectiveness for production of long X-ray mirrors.

关键词： Long-size mirrors Ion beam figuring Two-dimensional figure correction Mask

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Digital measuring the ocular morphological parameters of guinea pig eye in vivo with Python

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International Journal of Ophthalmology(English edition) 2024年第2期17卷 239-246页

作者： Yue Di zhong-Bao qiao Hai-Yun Ye Xin-Yue Li Wen-Ting Luo Wang-Yi Fang Tong qiao Department of Ophthalmology Shanghai Children’s HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghai 200062China

AIM:To quantitatively measure ocular morphological parameters of guinea pig with Python technology.METHODS:Thirty-six eyeballs of eighteen 3-weekold guinea pigs were measured with keratometer and photographed to obtain the horizontal,coronal,and sagittal planes respectively.The corresponding photo pixels-actual length ratio was acquired by a proportional scale.The edge coordinates were identified artificially by ginput function.Circle and conic curve fitting were applied to fit the contour of the eyeball in the sagittal,coronal and horizontal view.The curvature,curvature radius,eccentricity,tilt angle,corneal diameter,and binocular separation angle were calculated according to the geometric principles.Next,the eyeballs were removed,canny edge detection was applied to identify the contour of eyeball in vitro.The results were compared between in vivo and in vitro.RESULTS:Regarding the corneal curvature and curvature radius on the horizontal and sagittal planes,no significant differences were observed among results in vivo,in vitro,and the keratometer.The horizontal and vertical binocular separation angles were 130.6°±6.39°and 129.8°±9.58°respectively.For the corneal curvature radius and eccentricity in vivo,significant differences were observed between horizontal and vertical planes.CONCLUSION:The Graphical interface window of Python makes up the deficiency of edge detection,which requires too much definition in Matlab.There are significant differences between guinea pig and human beings,such as exotropic eye position,oblique oval eyeball,and obvious discrepancy of binoculus.This study helps evaluate objectively the ocular morphological parameters of small experimental animals in emmetropization research.

关键词： ocular morphological parameters guinea pig digital measurement Python

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A Dielectric Ink Combining Acrylate and Cyanate Moieties for Inkjet 3D Printing with Good Thermal Stability

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Chinese Journal of Polymer Science 2024年第6期42卷 766-774页

作者： Yi-Xuan Li Liang-Ying Wu Yan Yang Yao-zhong Lu zhong-Ying Ji Yu-Xiong Guo Xiao-Long Wang qiao-Sheng Pu State Key Laboratory of Applied Organic Chemistry College of Chemistry and Chemical EngineeringLanzhou UniversityLanzhou730000China State Key Laboratory of Solid Lubrication Lanzhou Institute of Chemical PhysicsLanzhou730000China Lanzhou Traditional Chinese Medicine Hospital of Orthopedics and Traumatology Lanzhou730000China Shandong Laboratory of Advanced Materials and Green Manufacturing at Yantai Yantai Zhongke Research Institute of Advanced Materials and Green Chemical EngineeringYantai264006China

Inkjet 3D printing has potential in the additive manufacturing of electronic circuits and devices.However,inks that can be used for printing layers with T5%>300℃ or hardness>200 MPa have been rarely reported.Cyanate ester(CE)polymers have excellent thermal stability,high strength,and low shrinkage compared to other common dielectric inks for inkjet 3D printing,but cannot be quickly shaped by ultraviolet(UV)irradiation or thermal treatment.Combining CEs with UV-curable monomers may be a possible way to accelerate crosslinking,but there are challenges from the adverse effects of the dilution of both monomers.In this study,dielectric inks with acrylate and cyanate moieties were developed.The low viscosity and surface tension of the CE precursor(Bisphenol E cyanate ester)were combined with photocurable acrylate diluent monomers and cross-linker to realize an ink suitable for inkjet 3D printing.An internal dual three-dimensional cross-linked network structure resin was prepared by a combination of photocuring and thermal curing with T5%up to 326.69℃,hardness up to 431.84 MPa,dielectric constant of 2.70 at 8 GHz,and shrinkage of 1.64%.The developed dielectric inks can be applied to the 3D printing of printed circuit boards and other electronic devices that require dielectric properties.

关键词： Inkjet printing Cyanate ester resin 3D doubly cross-linked network Good thermal stability

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Structures and ion transport mechanisms of plant high-affinity potassium transporters

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Molecular Plant 2024年第3期17卷 409-422页

作者： Jiangqin Wang Yanping Luo Fan Ye zhong Jie Ding Shao Jian Zheng Shuai qiao Yong Wang Jiangtao Guo Wei Yang Nannan Su international Institutes of Medicine the Fourth Affiliated HospitalZhejang University School of MedicineYiwuZhejiang 322000China Department of Biophysics and Department of Neurology of the Fourth Affiliated Hospital Zhejiang University School of MedicineHangzhouZhejang 310058China State Key Laboratory of Plant Environmental Resilience College of Life SciencesZhejang UniversityHangzhouZhejang 310058China College of Life Sciences Zhejiang UniversityHangzhouZhejiang 310058China NHC and CAMS Key Laboratory of Medical Neurobiology MOE Frontier Science Center for Brain Science and Brain-machine IntegrationSchool of Brain Science and Brain MedicineZhejiang UniversityHangzhouZhejiang 310058China Nanhu Brain-computer Interface Institute Hangzhou.Zheiang 311100.China

Plant high-affinity K^(+) transporters(HKTs)mediate Na^(+) and K^(+) uptake,maintain Na^(+)/K^(+) homeostasis,and therefore play crucial roles in plant salt tolerance.In this study,we present cryoelectron microscopy structures of HKTs from two classes,classI HKT1;1 from Arabidopsis thaliana(AtHKT1;1)and class II HKT2;1 from Triticum aestivum(TaHKT2;1),in both Na^(+) -and K^(+) -bound states at 2.6-to 3.0-A resolutions.BothAtHKT1;1and TaHKT2;1function ashomodimers.Each HKT subunit consists of four tan-dem domain units(D1-D4)with a repeated K^(+) -channel-like M-P-M topology.In each subunit,D1-D4 assemble into an ion conduction pore with a pseudo-four-fold symmetry.Although both TaHKT2;1and AtHKT1;1 have only one putative Na^(+) ion bound in the selectivity filter with a similar coordination pattern,the two HKTs display different K^(+) binding modes in the filter.TaHKT2;1 has three K^(+) ions bound in the selec-tivity filter,but AtHKT1;1 has only two K^(+) ions bound in the filter,which has a narrowed external entrance due to the presence of a Ser residue in the first filter motif.These structures,along with compu-tational,mutational,and electrophysiological analyses,enable us to pinpoint key residues that are critical for the ion selectivity of HKTs.The findings provide new insights into the ion selectivity and ion transport mechanisms of plant HKTs and improve our understanding about how HKTs mediate plant salt tolerance and enhance crop growth.

关键词： HKTs structure ion selectivity mechanism salt tolerance

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Existence of Solutions for a Fractional Relativistic Schr?dinger Equation with Indefinite Potentials

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Acta Mathematicae Applicatae Sinica 2024年

作者： Jun WANG Li WANG qiao-cheng zhong College of Science East China Jiaotong University School of Mathematics Sun Yat-sen University

This paper is devoted to the following fractional relativistic Schr?dinger equation:(-△+m2)su+V (x)u=f (x,u),x∈RN,where (-△+m2)sis the fractional relativistic Schr?dinger operator,s∈(0,1),m>0,V:RN→R is a continuous potential and f:RN×R→R is a superlinear continuous nonlinearity with subcritical growth.We consider the case where the potential V is indefinite so that the relativistic Schr?dinger operator (-△+m2)s+V possesses a finite-dimensional negative space.With the help of extension method and Morse theory,the existence of a nontrivial solution for the above problem is obtained.

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