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Adaptive admittance tracking control for interactive robot with prescribed performance

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Journal of Systems Engineering and Electronics 2024年第2期35卷 444-450页

作者： MENG Qingrui lin yan School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100190China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

关键词： prescribed performance admittance control adaptive control robots

Ki-67 Change in Anthracyline-containing Neoadjuvant Chemotherapy Response in Breast Cancer

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Current Medical Science 2024年第1期44卷 156-167页

作者： Zi-guo yanG Le-hao ren Feng WANG Pi-lin WANG Wen-yan WANG Shu-ye lin Department of General Surgery Beijing Tiantan HospitalCapital Medical UniversityBeijing 100070China Department of Critical Care Medicine Union HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430022China Cancer Research Center Beijing Chest HospitalCapital Medical University/Beijing Tuberculosis and Thoracic Tumor Research InstituteBeijing 101149China

Objective Anthracycline-containing regimens are irreplaceable in neoadjuvant chemotherapy(NAC)for breast cancer(BC)at ***,30% of early breast cancer(EBC)patients are resistant to anthracycline-containing chemotherapy,leading to poor prognosis and higher ***-67 is associated with the prognosis and response to therapy,and it changes after *** A total of 105 BC patients who received anthracycline-containing NAC were ***,the optimal model of Ki-67 was selected,and its predictive efficacy was ***(IHC)was used to determine the estrogen receptor(ER),progesterone receptor(PR),and human epidermal growth factor receptor 2(HER-2)status and Ki-67 *** in situ hybridization(FISH)was used to verify the HER-2 when the IHC score was 2+.Results The post-NAC Ki67 level after treatment with anthracycline drugs was lower than pre-NAC Ki-67(19.6%±23.3%vs.45.6%±23.1%,Pline higher pathological complete response(pCR)rate(17.2%vs.0.0%,P=0.068),and a higher overall response rate(ORR)(73.6%vs.27.8%,P<0.001),when compared to patients without the Ki-67 *** ΔKi-67 and ΔKi-67%were valuable markers for the prediction of both the pCR rate and *** area under the curve(AUC)for ΔKi-67 on pCR and ORR was 0.809(0.698-0.921)and 0.755(0.655-0.855),respectively,while the AUC for ΔKi-67% on pCR and ORR was 0.857(0.742-0.972)and 0.720(0.618-0.822),*** logistic regression model 1 revealed thatΔKi-67 was an independent predictor for both pCR[odds ratio(OR)=61.030,95% confidence interval(CI)=4.709-790.965;P=0.002]and ORR(OR=10.001,95%CI:3.044-32.858;P<0.001).Multivariate logistic regression model 2 revealed thatΔKi-67%was also an independent predictor for both pCR(OR=408.922,95%CI=8.908-18771.224;P=0.002)and ORR(OR=5.419,95%CI=1.842-15.943;P=0.002).Conclusions The present study results suggest thatΔKi67 andΔKi67%are candidate predictor

关键词： breast cancer change in Ki-67 neoadjuvant chemotherapy anthracycline,response

Synthesis and characteristics of transparent Gd_(2)O_(3)ceramics with cubic structure

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Journal of Advanced Ceramics 2024年第4期13卷 463-468页

作者： Akio Ikesue yan lin Aung World Lab Co. Nagoya456-8587Japan

Transparent Gd_(2)O_(3)ceramics with a cubic crystal structure were successfully synthesized for the first *** Gd_(2)O_(3)ceramics subjected to hot isostatic press(HIP)at 1070℃consisted of uniform grains of 2-3μm,and only a few residual pores could be detected inside the materials.X-ray diffraction(XRD)shows that the obtained polycrystalline materials have a cubic crystal structure,and the transmission polarized light observation shows that there is no birefringence inside the materials,indicating inherent optical properties of the cubic crystal *** optical absorption edge is 640 nm(optical band gap:2.1 eV),and the transmittance in the visible to near-infrared region is 72%,which is close to the theoretical transmittance calculated from Fresnel *** constant of this material is almost wavelength-independent,and it is diamagnetic since it has the opposite polarity to that of common paramagnetic materials.

关键词： gadolinium oxide cubic hot isostatic press(HiP) diamagnetic Verdet constant

Numerical Simulation of Rainfall-induced Xianchi Reservoir Landslide in Yunyang,Chongqing,China

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Acta Geologica Sinica(English Edition) 2024年第2期98卷 505-517页

作者： yan Jinkai MA yan LIU Lei WANG Zhihui ren Tianxiang Chinese Academy of Geological Sciences Beijing 100037China Urban Construction School Beijing City UniversityBeijing 100083China

A calamitous landslide happened at 22:00 on September 1,2014 in the Yunyang area of Chongqing City,southwest China,enforcing the evacuation of 508 people and damaging 23 *** landslide volume comprised 1.44 million m^(3) of material in the source area and 0.4 million m^(3) of shoveled *** debris flow runout extended 400 m vertically and 1600 m *** Xianchi reservoir landslide event has been investigated as follows:(1)samples collected from the main body of landslide were carried out using GCTS ring shear apparatus;(2)the parameters of shear and pore water pressure have been measured;and(3)the post-failure characteristics of landslide have been analyzed using the numerical simulation *** excess pore-water pressure and erosion in the motion path are considered to be the key reasons for the long-runout motion and the scale-up of landslides,such as that at Xianchi,were caused by the heavy *** aim of this paper is to acquired numerical parameters and the basic resistance model,which is beneficial to improve simulation accuracy for hazard assessment for similar to potentially dangerous hillslopes in China and elsewhere.

关键词： geohazards landslide post-failure rapid and long runout ring shear test

Dual-curvilinear beam enabled tunable manipulation of high-and low-refractive-index particles

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Photonics Research 2024年第7期12卷 1427-1436页

作者： ZHENG YUAN CHENCHEN ZHANG YUAN GAO WENXIANG yan XIAN LONG ZHI-CHENG ren XI-lin WANG JIANPING DING HUI-TIAN WANG National Laboratory of Solid State Microstructures and School of Physics Nanjing UniversityNanjing 210093China Collaborative Innovation Center of Advanced Microstructures Nanjing 210093China Collaborative Innovation Center of Solid-State Lighting and Energy-Saving Electronics Nanjing 210093China

We present an innovative approach for the simultaneous agile manipulation of high-refractive-index(HRI) and low-refractive-index(LRI) particles. Our method involves introducing a dual-curvilinear optical vortex beam(DC-OVB) generated by superimposing a pair of curved beams: HRI and LRI particles are controlled by the bright curve and the dark channel between the two curves, respectively. The proposed DC-OVB provides customizable motion paths and velocities for both LRI and HRI particles. Each curve of the DC-OVB can support a distinct orbital flow density(OFD), enabling the application of torques to HRI and LRI particles, guiding them to orbit along specified trajectories and prompting them to execute various curvilinear motions simultaneously,including curvilinear movement, revolution, and rotation.

关键词： tunable refractive beam

Flexible Crystal Heterojunctions of Low-Dimensional Organic Metal Halides Enabling Color-Tunable Space-Resolved Optical Waveguides

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Research 2024年第3期6卷 293-304页

作者： Yuhang lin Shuya Liu Dongpeng yan Beijing Key Laboratory of Energy Conversion and Storage Materials and Key Laboratory of RadiopharmaceuticalsMinistry of EducationCollege of ChemistryBeijing Normal UniversityBeijing 100875China.

Molecular luminescent materials with optical waveguide have wide application prospects in light-emitting diodes, sensors, and logic gates. However, the majority of traditional optical waveguide systems are based on brittle molecular crystals, which limited the fabrication, transportation, storage, and adaptation of flexible devices under diverse application situations. To date, the design and synthesis of photofunctional materials with high flexibility, novel optical waveguide, and multi-port color-tunable emission in the same solid-state system remain an open challenge. Here, we have constructed new types of zero-dimensional organic metal halides (Au-4-dimethylaminopyridine [DMAP] and In-DMAP) with a rarely high elasticity and rather low loss coefficients for optical waveguide. Theoretical calculations on the intermolecular interactions showed that the high elasticity of 2 molecular crystalline materials was original from their herringbone structure and slip plane. Based on one-dimensional flexible microrods of 2 crystals and the 2-dimensional microplate of the Mn-DMAP, heterojunctions with multi-color and space-resolved optical waveguides have been fabricated. The formation mechanism of heterojunctions is based on the surface selective growth on account of the low lattice mismatch ratio between contacting crystal planes. Therefore, this work describes the first attempt to the design of metal-halide-based crystal heterojunctions with high flexibility and optical waveguide, expanding the prospects of traditional luminescent materials for smart optical devices, such as logic gates and multiplexers.

关键词： waveguide Crystal elasticity

Effects of different concentrations of nicotinamide on hematopoietic stem cells cultured in vitro

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World Journal of Stem Cells 2024年第2期16卷 163-175页

作者： yan ren yan-Ni Cui Hong-Wei Wang The Second Clinical Medical College Shanxi Medical UniversityTaiyuan 030001Shanxi ProvinceChina Department of Hematology The Second Hospital of Shanxi Medical UniversityTaiyuan 030001Shanxi ProvinceChina Department of Hematology Key Laboratory of Molecular Diagnosis and Treatment of Blood Diseases in Shanxi ProvinceTaiyuan 030001Shanxi ProvinceChina

BACKGROUND In vitro expansion to increase numbers of hematopoietic stem cells(HSCs)in cord blood could improve clinical efficacy of this vital ***(NAM)can promote HSC expansion ex vivo,but its effect on hematopoietic stem and progenitor cells(HSPCs,CD34^(+)CD38)and functional subtypes of HSCs-shortterm repopulating HSCs(ST-HSCs,CD34^(+)CD38CD45RACD49f^(+))and long-term repopulating HSCs(LT-HSCs,CD34^(+)CD38CD45RACD49f^(+)CD90^(+))is not yet *** a sirtuin 1(SIRT1)inhibitor,NAM participates in regulating cell adhesion,polarity,migration,proliferation,and ***,SIRT1 exhibits dual effects by promoting or inhibiting differentiation in different tissues or *** propose that the concentration of NAM may influence proliferation,differentiation,and SIRT1 signaling of *** To evaluate the effects and underlying mechanisms of action of different concentrations of NAM on HSC proliferation and *** CD34^(+)cells were purified from umbilical cord blood using MacsCD34 beads,and cultured for 10-12 d in a serum-free medium supplemented with cytokines,with different concentrations of NAM added according to experimental *** cytometry was used to detect phenotype,cell cycle distribution,and apoptosis of the cultured ***-time polymerase chain reaction was used to detect the transcription levels of target genes encoding stemness-related factors,che mokines,components of hypoxia pathways,and antioxidant ***-dihydro-fluorescein diacetate probes were used to evaluate intracellular production of reactive oxygen species(ROS).Determination of the effect of different culture conditions on the balance of cytokine by cytometric bead *** Compared with the control group,the proportion and expansion folds of HSPCs(CD34^(+)CD38)incubated with 5 mmol/L or 10 mmol/L NAM were significantly increased(all P<0.05).The ST-HSCs ratio and fold expansion of the 5 mmol/L NAM group were significantly

关键词： Hematopoietic stem cells Nicotinamide Concentration Proliferation Differentiation Sirtuin 1

A Practical Approach for Missing Wireless Sensor Networks Data Recovery

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China Communications 2024年第5期21卷 202-217页

作者： Song Xiaoxiang Guo yan Li Ning ren Bing The College of Communications Engineering Army Engineering University of PLANanjing 210007China The 63891 Unit of PLA Luoyang 471000China

In wireless sensor networks(WSNs),the performance of related applications is highly dependent on the quality of data ***,missing data is almost inevitable in the process of data acquisition and *** methods often rely on prior information such as low-rank characteristics or spatiotemporal correlation when recovering missing WSNs ***,in realistic application scenarios,it is very difficult to obtain these prior information from incomplete data ***,we aim to recover the missing WSNs data effectively while getting rid of the perplexity of prior *** designing the corresponding measurement matrix that can capture the position of missing data and sparse representation matrix,a compressive sensing(CS)based missing data recovery model is ***,we design a comparison standard to select the best sparse representation basis and introduce average cross-correlation to examine the rationality of the established ***,an improved fast matching pursuit algorithm is proposed to solve the *** results show that the proposed method can effectively recover the missing WSNs data.

关键词： average cross correlation matching pursuit missing data wireless sensor networks

Transfer relation between subgrade frost heave and slab track deformation and vehicle dynamic response in seasonally frozen ground

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第2期25卷 130-146页

作者： Juanjuan ren Junhong DU Kaiyao ZHANG Bin yan Jincheng TIAN MOE Key Laboratory of High-speed Railway Engineering Southwest Jiaotong UniversityChengdu610031China School of Civil Engineering Southwest Jiaotong UniversityChengdu610031China School of Civil Engineering Central South UniversityChangsha410075China Airport Planning and Design Institute POWERCHINA Kunming Engineering Corporation LimitedKunming650051China

Subgrade frost heave in seasonally frozen ground can greatly influence the safety and smooth running of high-speed trains and the service performance of track *** this study,we used a static model to:(1)investigate track-subgrade frost heave and develop a dynamic model of vehicle-track-subgrade frost heave;(2)explore the transfer relation between subgrade frost heave and track structure deformation;(3)examine the characteristics of interlayer debonding;(4)study the influence of subgrade frost heave on the dynamic response of vehicles in high-speed railways in seasonally frozen regions.A Fourier series was used to fit the frost heave waveform and simulate the behavior of subgrade uneven frost heave using data collected *** results show:(i)The position of frost heave significantly affects the transfer of deformation to a slab *** largest deformation of the track slab,with the amplitude transfer ratio reaching 20%,was recorded when the frost heave occurred near the joint of the base plate.(ii)At the same frost heave amplitude,long-wave frost heave causes smaller deformation and debonding of the track structure than short-wave frost *** the wavelength range of 10-30 m,the main frequency of the acceleration spectral density was concentrated between 3.5 and 3.7 Hz,with larger frost heave wavelengths producing smaller superposition on the vertical acceleration of the vehicle.(ii)The maximum wheel-rail force occurs when the front bogie passes the frost heave peak,with greater frost heave amplitudes producing greater wheel-rail *** these results,we conclude there is a clear need to control the frost heave deformation of the track to reduce the dynamic response of the vehicle and in turn improve train operatSubgrade frost heave in seasonally frozen ground can greatly influence the safety and smooth running of high-speed trains and the service performance of track *** this study,we used a static model to:(1)investigate track`-subgr

关键词： Slab track Subgrade frost heave Transfer relation Vehicle-track-subgrade coupling Dynamic response