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NP-MBO:A newton predictor-based momentum observer for interaction force estimation of legged robots

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Biomimetic Intelligence & Robotics 2024年第2期4卷 78-85页

作者： Zhengguo Zhu Weikai Ding Weiliang Zhu Daoling Qin Teng Chen Xuewen rong Guoteng zhang School of Control Science and Engineering Shandong UniversityJinan 250061China

Swift perception of interaction forces is a crucial skill required for legged robots to ensure safe human-robot interaction and dynamic contact ***-based interactive force is widely applied due to its outstanding cross-platform *** this paper,we present a novel interactive force observer,which possesses superior dynamic tracking *** propose a dynamic cutoff frequency configuration method to replace the conventional fixed cutoff frequency setting in the traditional momentum-based observer(MBO).This method achieves a balance between rapid tracking and noise ***,to mitigate the phase lag introduced by the low-pass filtering,we cascaded a Newton Predictor(NP)after MBO,which features simple computation and *** precision analysis of this method has been *** conducted extensive experiments on the point-foot biped robot BRAVER to validate the performance of the proposed algorithm in both simulation and physical prototype.

关键词： Interaction force estimation Momentum-based observer Newton predictor Force control

Harmful evaluation of heavy metals from soil layer to the groundwater: Take the Jilin Hunchun Basin as an example

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China Geology 2024年第1期7卷 116-124页

作者： Xiao-Dong Guo Qiang Liu Hui-rong zhang Xu-Fei Shi Chuan-Yu Qin Zhi-Qiang zhang Shenyang Geological Survey Center China Geological SurveyMinistry of Natural ResourcesShenyang 110034China Key Laboratory of Black Land Evolution and Ecological Effects Shenyang 110034China New Energy and Environment College Jilin UniversityChangchun 130026China Jilin Hydrogeological Survey Institute Changchun 130026China

The continuous enrichment of heavy metals in soils has caused potential harm to *** methods to evaluate the harm of heavy metals in soil to groundwater are lacked in previous *** on the theory of groundwater circulation and solid-liquid equilibrium,a simple and easy-touse flux model of soil heavy metals migrating to groundwater is *** on groundwater environmental capacity,an innovative method for evaluating the harm of heavy metals in soil to groundwater is proposed,which has been applied in Hunchun Basin,Jilin Province,*** results show that the fluxes of soil heavy metals into groundwater in the study area are Zn,Cu,As,Pb,Cd,Ni,and Hg in descending *** content of heavy metals in groundwater(As,Hg,Cu,Pb,Zn,Ni,and Cd)in most areas has not risen to the threshold of environmental capacity within 10 *** harm levels of soil heavy metals to groundwater in the most townships soils are at the moderate level or *** evaluation method can quantify the flux of soil heavy metals into groundwater simply and quickly,determine the residual capacity of groundwater to heavy metals,evaluate the harm level of soil heavy metals to groundwater,provide support for relevant departments to carry out environmental protection of soil and groundwater,and provide a reference to carry out similar studies for related scholars.

关键词： Soil heavy metals As+Hg+Cu+Pb+Zn+Ni+Cd Environmental capacity Groundwater Hazard degree Migration flux model Agricultural geological survey engineering Hunchun Basin Jilin Province

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Genetic and immunologic characteristics of colorectal cancer patients with KRAS mutations and predictive significance of tumor immune microenvironment in adjuvant chemotherapy

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Genes & Diseases 2024年第3期11卷 43-46页

作者： Zhengqi Wen Wenliang Li Chengmin Shi Junrui Ma Sihui Zhao Ruize Zhou Xihong Liu rong Yang Zhiping zhang Hushan zhang Bo Li Department of Oncology The First Affiliated Hospital of Kunming Medical UniversityKunmingYunnan 650032China The Third Affliated Hospital of Kunming Medical University(Yunnan Cancer Center) KunmingYunnan 650021China Gastrointestinal and Hernia Surgery The First Affiliated Hospital of Kunming Medical UniversityKunmingYunnan 650032China School of Nursing Yunnan University of Chinese MedicineKunmingYunnan 650022China Department of General Surgery The First People's Hospital of Yunnan ProvinceKunmingYunnan 650000China Department of General Surgery The Affiliated Hospital of Yunnan UniversityYunnan 650011China Medical Department 3D Medicines Inc.Shanghai 201114China Zhaotong Health Vocational College ZhaotongYunnan 657000China

Colorectal cancer(CRC)is one of the most common cancers around the world,and it is one of the leading causes of cancer-related death.1 Although anti-EGFR therapy and immune checkpoint inhibitor(ICl)therapy are becoming more and more important for colorectal therapy,however,clinical outcomes of current treatments for metastatic CRC,especially with ICls,have been shown to be affected by the status of ***,KRAS mutation status detection has become a very important diagnostic factor for managing metastatic CRC patients.

关键词： KRAS colorectal patients

Coupled dynamic response analysis of multi-column floating offshore wind turbine with low center of gravity

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Journal of Ocean Engineering and Science 2024年第1期9卷 25-39页

作者： Jie Yang Yan-ping He Yong-sheng Zhao Xiao-yan Yang Guo-rong zhang State Key Laboratory of Ocean Engineering Shanghai Jiao Tong UniversityShanghai 200240China Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration(CISSE) Shanghai Jiao Tong UniversityShanghai 200240China School of Naval Architecture Ocean&Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China Faculty of Maritime and Transportation Ningbo UniversityNingbo 315211China

To realize the application of the floating offshore wind turbine(FOWT)from deep to relatively shallow waters,a new concept of multi-column floating wind turbine platform with low center of gravity(CG)is designed and *** multi-column low CG platform is designed to support a 6MW wind turbine class and operated at a water depth of 50m in the South China *** frequency domain software WADAM and time domain software NREL-FAST are used to simulate coupled dynamic responses of the floating wind turbine system with second-order wave loads *** dynamic behaviors of multi-column low CG FOWT system under normal operation and parked conditions are *** influence of second-order wave force on the motion responses of the multi-column platform,fore-aft force and moment of the tower base and mooring force are researched *** results demonstrate that the coupled dynamic responses at rated operating condition and extreme condition meet the normal operating requirements and extreme survival requirements of FOWT system in the shallow water(50m)of South China *** addition,it is found that,the wave frequency response gradually replaces the second-order low frequency response as the main influencing factor of the coupled dynamic response of the FOWT system with the increasing severity of the sea ***,in general,the magnitude of second-order low frequency response increases with the increasing severity of the design load ***,in the subsequent design of the shallow water FOWT system,the second-order effects should be paid enough attention.

关键词： Floating offshore wind turbine Multi-column platform Second-order wave force Concept design Coupled dynamic response

N-glycosylation of Wnt3 regulates the progression of hepatocellular carcinoma by affecting Wnt/β-catenin signal pathway

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World Journal of Gastrointestinal Oncology 2024年第6期16卷 2769-2780页

作者： Xin-Zhan zhang Xiao-Chuan Mo Zhu-Ting Wang rong Sun Da-Quan Sun Department of Biochemistry and Molecular Biology&Research Center for Basic Medical Sciences Guizhou Medical UniversityGuiyang 550025Guizhou ProvinceChina

BACKGROUND Wnt/FZD-mediated signaling pathways are activated in more than 90%of hepatocellular carcinoma(HCC)cell *** a well-known secretory glycoprotein,Wnt3 can interact with FZD receptors on the cell surface,thereby activating the Wnt/β-catenin signaling ***,the N-glycosylation modification site of Wnt3 and the effect of this modification on the biological function of the protein are still *** To investigate the effect of Wnt3 N-glycosylation on the biological function of HCC *** Site-directed mutagenesis was used to verify the Wnt3 N-glycosylation sites,actinomycin D treatment was used to detect the stability of Wnt3 after site-directed mutation,the binding of the N-glycosylation site-directed mutant Wnt3 to FZD7 was observed by laser confocal microscopy,and the effects of the N-glycosylation site-directed mutation of Wnt3 on the Wnt/β-catenin signaling pathway and the progression of HCC cells were detected by western blot and cell function *** Wnt3 has two N-glycosylation-modified sites(Asn90 and Asn301);when a single site at amino acid 301 is mutated,the stability of Wnt3 is weakened;the binding ability of Wnt3 to FZD7 decreases when both sites are mutated simultaneously;and the level of proteins related to the Wnt/β-catenin signaling pathway is *** proliferation,migration and invasion are also weakened in the case of single 301 site and double-site *** These results indicate that by inhibiting the N-glycosylation of Wnt3,the proliferation,migration,invasion and colony formation abilities of liver cancer cells can be weakened,which might provide new therapeutic strategies for clinical liver cancer in the future.

关键词： Wnt3 N-glycosylation Hepatocellular carcinoma Liver cancer Wnt/β-catenin FZD7

CONFORMATIONAL CHANGE IN MESOGENIC CORES OF DISCOTIC LIQUID CRYSTALS

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Chinese Chemical Letters 1992年第2期3卷 123-126页

作者： Xiao Zhen YANG*, Qun LU, Ye CHAI and Shan Nong ZHU Polymer Physics Laboratory and Fu Zhou WU, rong ben zhang and Ying Yan JIANG Functional Polymer Laboratory Institute of Chemistry, Academia Sinica, Beijing 100080

Infrared spectra of bis(β-diketonato) copper(Ⅱ) complex liquid crystals with different flexible chain lengths(the carbon number =12 and 14) have been studied as a function of temperature. Conformational changes in mesogenic cores of the molecules have been characterized by using the out-of-plane bending vibration mode of aromatic C-H bonds. The result shows that for the phenylene rings and the chelate rings of the molecules there occurred an enhancement of extended conjugation of the two π-electron systems during phase transitions, which was also supported by UV measurements. It suggests that the big quasi-planar core structure in the discotic complex consisted of four phenylene rings and the central chelate rings is not maintained in every phase.

关键词： mode flexible CONFORMATIONAL CHANGE IN MESOGENIC CORES OF DISCOTIC LIQUID CRYSTALS

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Applying heteroatom co-doped carbon nanotube for manifesting high performance in the electrochemical reduction of aqueous nitrogen oxide by gold nanoparticles

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Nano Research 2024年第3期17卷 1151-1164页

作者： Jane Chung Haibo Yin rong Wang Yunlong Wang Junyang zhang Yue Peng Joung Woo Han Seongyun Ryu Junhua Li State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China EHS Research Center Samsung Electronics Co.Ltd.Gyeonggi-do 18448Republic of Korea

Electrochemical NO-to-NH_(3) under ambient conditions could be a viable alternative having advantages in terms of energy consumption and exhaust gas recycling of NO,replacing a traditional ammonia synthesis method of the Haber–Bosch *** synthesizing boron(B-)and nitrogen(N-)co-doped carbon nanotube(CNT)based gold(Au)catalysts,B-dopants elevate the conductivity of carbon nanotube by sp2 hybridization on graphene and implant B–N domains within the graphene layer,and result in facilitating the embedding amount of Au accompanied by high dispersibility with low particle *** density functional theory(DFT)calculations elucidate that the electron cloud transmitted from B-dopant to the active site of Au induces the Lewis acidic site,and the O-distal pathway occurs following a spontaneous *** of the electron-deficient B-doping area accompanied by N-defects and B–O edges retains the major valence state of Au as Au^(δ+),and suppresses hydrogen evolution reaction(HER)by repulsing the hindrance of H*.This record exhibits the highest faradaic efficiency(FE)of 94.7%,and NH_(3) yield rate of 1877.4μg·h^(-1)·mg_(cat)^(-1),which is the optimal yield over energy consumption in the field of the ambient reduction of aqueous NO.

关键词： boron heteroatom nitrogen defect gold nanoparticles valence states of gold electrochemical NO-to-NH3

Nonvolatile and reconfigurable two-terminal electro-optic duplex memristor based on Ⅲ-nitride semiconductors

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Light(Science & Applications) 2024年第4期13卷 706-716页

作者： Zhiwei Xie Ke Jiang Shanli zhang Jianwei ben Mingrui Liu Shunpeng Lv Yang Chen Yuping Jia Xiaojuan Sun Dabing Li State Key Laboratory of Luminescence and Applications Changchun Institute of OpticsFine Mechanics and PhysicsChinese Academy of SciencesDongnanhu Road No.3888Changchun 130033China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesYuquan Road No.19100049 BeijingChina

With the fast development of artificial intelligence(AI),Internet of things(IOT),etc,there is an urgent need for the technology that can efficiently recognize,store and process a staggering amount of *** AlScN material has unique advantages including immense remnant polarization,superior temperature stability and good latticematch to other III-nitrides,making it easy to integrate with the existing advanced III-nitrides material and device ***,due to the large band-gap,strong coercive field,and low photo-generated carrier generation and separation efficiency,it is difficult for AlScN itself to accumulate enough photo-generated carriers at the surface/interface to induce polarization inversion,limiting its application in in-memory sensing and *** this work,an electro-optic duplex memristor on a GaN/AlScN hetero-structure based Schottky diode has been *** twoterminal memristor shows good electrical and opto-electrical nonvolatility and *** both electrical and opto-electrical modes,the current on/off ratio can reach the magnitude of 104,and the resistance states can be effectively reset,written and long-termly *** on this device,the“IMP”truth table and the logic“False”can be successfully reproduced,indicating the huge potential of the device in the field of in-memory sensing and computing.

关键词： polarization duplex limiting

Nanomaterial‑Based Repurposing of Macrophage Metabolism and Its Applications

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Nano-Micro Letters 2024年第11期16卷 494-528页

作者： Tingting Meng Danfeng He Zhuolei Han rong Shi Yuhan Wang Bibo Ren Cheng zhang Zhengwei Mao Gaoxing Luo Jun Den Institute of Burn Research Southwest HospitalState Key Laboratory of Trauma and Chemical PoisoningArmy Medical UniversityChongqing 400038People’s Republic of China Department of Breast Surgery Gansu Provincial HospitalLanzhouGansu 730030People’s Republic of China MOE Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and EngineeringZhejiang UniversityHangzhou 310027People’s Republic of China

Macrophage immunotherapy represents an emerging therapeutic approach aimed at modulating the immune response to alleviate disease ***(NMs)have been engineered to monitor macrophage metabolism,enabling the evaluation of disease progression and the replication of intricate physiological signal *** achieve this either directly or by delivering regulatory signals,thereby mapping phenotype to effector functions through metabolic repurposing to customize macrophage fate for ***,a comprehensive summary regarding NM-mediated macrophage visualization and coordinated metabolic rewiring to maintain phenotypic equilibrium is currently *** review aims to address this gap by outlining recent advancements in NM-based metabolic *** initially explore the relationship between metabolism,polarization,and disease,before delving into recent NM innovations that visualize macrophage activity to elucidate disease onset and fine-tune its fate through metabolic remodeling for macrophage-centered ***,we discuss the prospects and challenges of NM-mediated metabolic immunotherapy,aiming to accelerate clinical *** anticipate that this review will serve as a valuable reference for researchers seeking to leverage novel metabolic intervention-matched immunomodulators in macrophages or other fields of immune engineering.

关键词： Immunomodulatory nanomaterial Macrophage polarization Macrophage metabolic reprogramming Immune engineering

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