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Editorial Overview： Advances in Robotic Technologies

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Engineering 2018年第4期4卷 433-434页

作者： tianran wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

Since the late 1950s, great progress has been achieved in robotic technologies due to advances in mechanics, electronics,sensing technologies, computing and information technologies, control theory, and so forth. The fields of robot application are expanding into all aspects of our daily lives. Examples include industrial robots that perform constrained and repetitive tasks such as welding and painting; space and underwater robots that perform scientific exploration in environments where humans cannot reach; anti-terror and mining robots that execute delicate but dangerous operations; household and field robots that complete household chores and agricultural operations in order to free up the human host’s time for recreation and entertainment; medical robots that enhance the abilities of disabled and elderly people in order to enable them to live independently, or that assist doctors to perform minimally invasive but complex surgeries; and automatic driving vehicles that have the potential to increase users’safety, mobility, and satisfaction along with providing a significant reduction in traffic collisions.The versatility of robot applications is largely attributed to the significant improvements that have been made in mechanical structure design, sensing capability,computing performance, and control heory. However, as robots become increasingly integrated into human society,the challenges increase: It becomes necessary for such robots to have higher robotic capabilities of understanding uncertain environments and human intentions, adapting to dynamic tasks, and interacting safely with their agent counterparts, which include humans and other robots. In some industries,such as electronic manufacturing and car manufacturing, robots operating within a fixed area are required to have a certain amount of flexibility to adapt to dynamic production tasks, as the product life and production period of electronics become shorter than ever before. Personal service robots, which intimately interact with humans, must have

关键词：传感技术计算机技术机器人发展现状

A fast and versatile cross-linking strategy via o-phthalaldehyde condensation for mechanically strengthened and functional hydrogels

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National Science Review 2021年第4期8卷 114-124页

作者： Zhen Zhang Chaoliang He Yan Rong Hui Ren tianran wang Zheng Zou Xuesi Chen CAS Key Laboratory of Polymer Ecomaterials Changchun Institute of Applied ChemistryChinese Academy of Sciences University of Science and Technology of China University of Chinese Academy of Sciences

Fast and catalyst-free cross-linking strategy is of great significance for construction of covalently cross-linked hydrogels. Here, we report the condensation reaction between o-phthalaldehyde(OPA) and N-nucleophiles(primary amine, hydrazide and aminooxy) for hydrogel formation for the first time. When four-arm poly(ethylene glycol)(4 a PEG) capped with OPA was mixed with various N-nucleophile-terminated 4 aPEG as building blocks, hydrogels were formed with superfast gelation rate,higher mechanical strength and markedly lower critical gelation concentrations, compared to benzaldehyde-based counterparts. Small molecule model reactions indicate the key to these cross-links is the fast formation of heterocycle phthalimidine product or isoindole(bis)hemiaminal intermediates,depending on the N-nucleophiles. The second-order rate constant for the formation of phthalimidine linkage(4.3 M-1s-1) is over 3000 times and 200 times higher than those for acylhydrazone and oxime formation from benzaldehyde, respectively, and comparable to many cycloaddition click reactions. Based on the versatile OPA chemistry, various hydrogels can be readily prepared from naturally derived polysaccharides, proteins or synthetic polymers without complicated chemical modification. Moreover,biofunctionality is facilely imparted to the hydrogels by introducing amine-bearing peptides via the reaction between OPA and amino group.

关键词： superfast gelation o-phthalaldehyde chemistry versatile cross-linking functional hydrogel reaction kinetics

Construction of a small-caliber tissue-engineered blood vessel using icariin-loaded β-cyclodextrin sulfate for in situ anticoagulation and endothelialization

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Science China(Life Sciences) 2018年第10期61卷 1178-1188页

作者： Jingyuan Yang Keyu Wei Yeqin wang Yanzhao Li Ning Ding Da Huo tianran wang Guanyuan Yang Mingcan Yang Tan Ju Wen Zeng Chuhong Zhu Department of Anatomy State Key Laboratory of Trauma Burn and Combined Injury National & Regional Engineering Laboratory of Tissue Engineering State and Local Joint Engineering Laboratory for Vascular Implants Key Lab for Biomechanics and Tissue Engineering of Chongqing Third Military Medical University

The rapid endothelialization of tissue-engineered blood vessels(TEBVs) can effectively prevent thrombosis and inhibit intimal hyperplasia. The traditional Chinese medicine ingredient icariin is highly promising for the treatment of cardiovascular diseases.β-cyclodextrin sulfate is a type of hollow molecule that has good biocompatibility and anticoagulation properties and exhibits a sustained release of icariin. We studied whether icariin-loaded β-cyclodextrin sulfate can promote the endothelialization of TEBVs. The experimental results showed that icariin could significantly promote the proliferation and migration of endothelial progenitor cells; at the same time, icariin could promote the migration of rat vascular endothelial cells(RAVECs). Subsequently,we used an electrostatic force to modify the surface of the TEBVs with icariin-loaded β-cyclodextrin sulfate, and these vessels were implanted into the rat common carotid artery. After 3 months, micro-CT results showed that the TEBVs modified using icariin-loaded β-cyclodextrin sulfate had a greater patency rate. Scanning electron microscopy(SEM) and CD31 immunofluorescence results showed a better degree of endothelialization. Taken together, icariin-loaded β-cyclodextrin sulfate can achieve anticoagulation and rapid endothelialization of TEBVs to ensure their long-term patency.

关键词：硫酸盐装载容器织物设计小口径扫描电子显微镜繁体中文

Recent advances in organic and polymeric carriers for local tumor chemo-immunotherapy

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Science China(Technological Sciences) 2022年第5期65卷 1011-1028页

作者： BAI YiTing wang tianran ZHANG SongLing CHEN XueSi HE ChaoLiang Department of Obstetrics and Gynecology The First Hospital of Jilin UniversityChangchun130021China CAS Key Laboratory of Polymer Ecomaterials Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun130022China

Combination therapy involves the simultaneous administration of compounds with varying mechanisms of action that can improve the efficacy of antitumor therapy and reduce toxicity.The most widely used combination regimen is chemotherapy combined with focused immunotherapy.This is implemented to induce the apoptosis of tumor cells and can activate immune responses,improving the clearance rate of primary lesions and maintaining the resistance to postoperative tumor recurrence and metastasis.Advances in micro/nanotechnology,nanomedicine and biomaterials have contributed to the development of enhanced local drug co-delivery systems for cancer treatment,improving tumor targeting and ameliorating severe systemic complications.Carrier materials can achieve the local long-term controllable release of multiple drugs,which not only avoids rapid drug diffusion from the pathological site,but can achieve synergistic effects at lower drug concentrations.Polymeric carriers display excellent biocompatibility and biodegradability;especially,some of them also have anti-tumor effects.The aim of this article was to review recent progress in the use of organic and polymeric materials for local tumor chemo-immunotherapy,which can be used as carriers for chemotherapeutic drugs,immune adjuvants and genes,including amphiphilic nanoparticles,nanocapsules,nano-disks,nano-polyplex particles,hydrogels and implantable materials.

关键词： chemo-immunotherapy nanocarrier hydrogel anticancer therapy biomedical polymer

高血压合并脑小血管病患者情感淡漠危险因素及其与认知功能的相关性

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中国介入影像与治疗学 2024年第3期21卷 145-149页

作者：曹佳丽王天然刘洋张舵徐金娥刘冲王淑梅韩永昌杨露露承德医学院研究生学院河北承德067000 保定市第一中心医院医学影像一科河北保定071000 河北医科大学研究生学院河北石家庄050017 河北大学附属医院放射科河北保定071000

目的观察高血压合并脑小血管病(CSVD)患者情感淡漠危险因素及其与认知功能的相关性。方法前瞻性纳入141例高血压合并CSVD患者,根据神经精神问卷-淡漠量表(NPI-Apathy)将其分为淡漠组(n=43)与非淡漠组(n=98)。比较组间一般资料、影像学... 详细信息

目的观察高血压合并脑小血管病(CSVD)患者情感淡漠危险因素及其与认知功能的相关性。方法前瞻性纳入141例高血压合并CSVD患者,根据神经精神问卷-淡漠量表(NPI-Apathy)将其分为淡漠组(n=43)与非淡漠组(n=98)。比较组间一般资料、影像学标志物评分及影像学总负荷评分;以多因素logistic回归分析观察高血压合并CSVD患者情感淡漠的独立危险因素,以Spearman相关分析观察其情感淡漠与认知功能的相关性。结果淡漠组患者年龄、高密度脂蛋白胆固醇(HDL-C)、侧脑室旁脑白质高信号(WMH)Fazekas评分、深部/幕下脑微出血及总负荷评分均高于非淡漠组(P均<0.05);其简易精神状态检查(MMSE)及蒙特利尔认知评估(MoCA)评分均低于非淡漠组(P均<0.05)。HDL-C及侧脑室旁WMH Fazekas评分均为高血压合并CSVD患者情感淡漠的独立危险因素(P均<0.05),且其NPI-Apathy评分与MMSE评分及MoCA评分均呈中度负相关(r=-0.543、-0.484,P均<0.001)。结论HDL-C及侧脑室旁WMH Fazekas评分均为高血压合并CSVD患者情感淡漠的独立危险因素;情感淡漠越严重,认知功能越低。

关键词：脑血管疾病情感淡漠磁共振成像前瞻性研究

Using restored two-dimensional X-ray images to reconstruct the three-dimensional magnetopause

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Earth and Planetary Physics 2024年第1期8卷 133-154页

作者： RongCong wang JiaQi wang DaLin Li tianran Sun XiaoDong Peng YiHong Guo National Space Science Center Chinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing100049China Aerospace Information Research Institute Chinese Academy of SciencesBeijing 100094China

Astronomical imaging technologies are basic tools for the exploration of the universe,providing basic data for the research of astronomy and space physics.The Soft X-ray Imager(SXI)carried by the Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)aims to capture two-dimensional(2-D)images of the Earth’s magnetosheath by using soft X-ray imaging.However,the observed 2-D images are affected by many noise factors,destroying the contained information,which is not conducive to the subsequent reconstruction of the three-dimensional(3-D)structure of the magnetopause.The analysis of SXI-simulated observation images shows that such damage cannot be evaluated with traditional restoration models.This makes it difficult to establish the mapping relationship between SXIsimulated observation images and target images by using mathematical models.We propose an image restoration algorithm for SXIsimulated observation images that can recover large-scale structure information on the magnetosphere.The idea is to train a patch estimator by selecting noise–clean patch pairs with the same distribution through the Classification–Expectation Maximization algorithm to achieve the restoration estimation of the SXI-simulated observation image,whose mapping relationship with the target image is established by the patch estimator.The Classification–Expectation Maximization algorithm is used to select multiple patch clusters with the same distribution and then train different patch estimators so as to improve the accuracy of the estimator.Experimental results showed that our image restoration algorithm is superior to other classical image restoration algorithms in the SXI-simulated observation image restoration task,according to the peak signal-to-noise ratio and structural similarity.The restoration results of SXI-simulated observation images are used in the tangent fitting approach and the computed tomography approach toward magnetospheric reconstruction techniques,significantly improving the reconstruction results.Hence,the proposed te

关键词： Solar wind Magnetosphere Ionosphere Link Explorer(SMILE) soft X-ray imager magnetopause image restoration

Global hybrid simulations of soft X-ray emissions in the Earth’s magnetosheath

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Earth and Planetary Physics 2024年第1期8卷 47-58页

作者： Jin Guo tianran Sun San Lu QuanMing Lu Yu Lin XueYi wang Chi wang RongSheng wang Kai Huang School of Earth and Space Sciences University of Science and Technology of ChinaHefei 230026China CAS Center for Excellence in Comparative Planetology/CAS Key Lab of Geospace Environment University of Science and Technology of ChinaHefei 230026China Collaborative Innovation Center of Astronautical Science and Technology Harbin 150001China National Space Science Center Chinese Academy of SciencesBeijing 100190China Physics Department Auburn UniversityAuburnALUSA

Earth’s magnetopause is a thin boundary separating the shocked solar wind plasma from the magnetospheric plasmas,and it is also the boundary of the solar wind energy transport to the magnetosphere.Soft X-ray imaging allows investigation of the large-scale magnetopause by providing a two-dimensional(2-D)global view from a satellite.By performing 3-D global hybrid-particle-in-cell(hybrid-PIC)simulations,we obtain soft X-ray images of Earth’s magnetopause under different solar wind conditions,such as different plasma densities and directions of the southward interplanetary magnetic field.In all cases,magnetic reconnection occurs at low latitude magnetopause.The soft X-ray images observed by a hypothetical satellite are shown,with all of the following identified:the boundary of the magnetopause,the cusps,and the magnetosheath.Local X-ray emissivity in the magnetosheath is characterized by large amplitude fluctuations(up to 160%);however,the maximum line-of-sight-integrated X-ray intensity matches the tangent directions of the magnetopause well,indicating that these fluctuations have limited impact on identifying the magnetopause boundary in the X-ray images.Moreover,the magnetopause boundary can be identified using multiple viewing geometries.We also find that solar wind conditions have little effect on the magnetopause identification.The Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)mission will provide X-ray images of the magnetopause for the first time,and our global hybrid-PIC simulation results can help better understand the 2-D X-ray images of the magnetopause from a 3-D perspective,with particle kinetic effects considered.

关键词： magnetopause X-ray emissivity X-ray imaging SMILE global hybrid-PIC simulation

Two methods for separating the magnetospheric solar wind charge exchange soft X-ray emission from the diffuse X-ray background

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Earth and Planetary Physics 2024年第1期8卷 119-132页

作者： YingJie Zhang tianran Sun JenniferACarter WenHao Liu Steve Sembay ShuiNai Zhang Li Ji Chi wang State Key Laboratory of Space Weather National Space Science CenterChinese Academy of SciencesBeijing 100190China College of Earth and Planetary Sciences The University of Chinese Academy of SciencesBeijing 100190China School of Physics and Astronomy The University of LeicesterLeicesterUK Purple Mountain Observatory Chinese Academy of SciencesNanjing 210008China

Solar wind charge exchange(SWCX)is the process of solar wind high-valence ions exchanging charges with neutral components and generating soft X-rays.Recently,detecting the SWCX emission from the magnetosphere is proposed as a new technique to study the magnetosphere using panoramic soft X-ray imaging.To better prepare for the data analysis of upcoming magnetospheric soft X-ray imaging missions,this paper compares the magnetospheric SWCX emission obtained by two methods in an XMM-Newton observation,during which the solar wind changed dramatically.The two methods differ in the data used to fit the diffuse X-ray background(DXB)parameters in spectral analysis.The method adding data from the ROSAT All-Sky Survey(RASS)is called the RASS method.The method using the quiet observation data is called the Quiet method,where quiet observations usually refer to observations made by the same satellite with the same target but under weaker solar wind conditions.Results show that the spectral compositions of magnetospheric SWCX emission obtained by the two methods are very similar,and the changes in intensity over time are highly consistent,although the intensity obtained by the RASS method is about 2.68±0.56 keV cm^(-2)s^(-1)sr^(-1)higher than that obtained by the Quiet method.Since the DXB intensity obtained by the RASS method is about 2.84±0.74 keV cm^(-2)s^(-1)sr^(-1)lower than that obtained by the Quiet method,and the linear correlation coefficient between the difference of SWCX and DXB obtained by the two methods in diffe rent energy band is close to-1,the diffe rences in magnetospheric SWCX can be fully attributed to the diffe rences in the fitted DXB.The difference between the two methods is most significant when the energy is less than 0.7 keV,which is also the main energy band of SWCX emission.In addition,the difference between the two methods is not related to the SWCX intensity and,to some extent,to solar wind conditions,because SWCX intensity typically va ries with the solar wind.In summary,both methods are robust a

关键词： solar wind charge exchange(SWCX) ROSAT All-Sky Survey(RASS) soft X-ray X-ray imaging magnetosphere

Preface to the Special Issue on Modeling and Data Analysis Methods for the SMILE mission

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Earth and Planetary Physics 2024年第1期8卷 1-4页

作者： tianran Sun Hyunju Connor Andrey Samsonov National Space Science Center Chinese Academy of SciencesBeijing 100190China NASA Goddard Space Flight Center US Mullard Space Science Laboratory University College LondonUK

The SMILE(Solar wind Magnetosphere Ionosphere Link Explorer)project(http://***/smile/,https://www.***.esa.int/web/smile/mission)is a joint spacecraft mission of the European Space Agency(ESA)and the Chinese Academy of Sciences(CAS)with an expected launch in 2025.SMILE aims to study the global interactions of solar wind–magnetosphere–ionosphere innovatively by imaging the Earth’s magnetosheath and cusps in soft X-rays and the northern auroral region in ultraviolet(UV)while simultaneously measuring plasma and magnetic field parameters in the solar wind and magnetosheath along a highly-elliptical and highly-inclined orbit.This special issue is composed of 22 articles,presenting recent progress in modeling and data analysis techniques developed for the SMILE mission.In this preface,we categorize the articles into the following seven topics and provide brief summaries:(1)instrument descriptions of the Soft X-ray Imager(SXI),(2)numerical modeling of the X-ray signals,(3)data processing of the X-ray images,(4)boundary tracing methods from the simulated images,(5)physical phenomena and a mission concept related to the scientific goals of SMILE-SXI,(6)studies of the aurora,and(7)ground-based support for SMILE.

关键词： SMILE X-ray imaging magnetosphere auroral ionosphere