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Economical Quadrupedal Multi-Gait Locomotion via Gait-Heuristic Reinforcement Learning

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Journal of Bionic Engineering 2024年第4期21卷 1720-1732页

作者： Lang Wei Jinzhou Zou Xi Yu Liangyu Liu Jianbin Liao Wei wang tong Zhang School of Power and Mechanical Engineering Wuhan UniversityLuojiashanWuhan430072HubeiChina State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingWuhan UniversityLuojiashanWuhan430072HubeiChina

In order to strike a balance between achieving desired velocities and minimizing energy consumption,legged animals have the ability to adopt the appropriate gait pattern and seamlessly transition to another if *** ability makes them more versatile and efficient when traversing natural terrains,and more suitable for long *** the same way,it is meaningful and important for quadruped robots to master this *** achieve this goal,we propose an effective gait-heuristic reinforcement learning framework in which multiple gait locomotion and smooth gait transitions automatically emerge to reach target velocities while minimizing energy *** incorporate a novel trajectory generator with explicit gait information as a memory mechanism into the deep reinforcement learning *** allows the quadruped robot to adopt reliable and distinct gait patterns while benefiting from a warm start provided by the trajectory ***,we investigate the key factors contributing to the emergence of multiple gait *** tested our framework on a closed-chain quadruped robot and demonstrated that the robot can change its gait patterns,such as standing,walking,and trotting,to adopt the most energy-efficient gait at a given ***,we deploy our learned controller to a quadruped robot and demonstrate the energy efficiency and robustness of our method.

关键词： Legged robots Deep reinforcement learning Central pattern generator Quadrupedal gait

The role of inflammasomes in human diseases and their potential as therapeutic targets

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Signal Transduction and Targeted Therapy 2024年第2期9卷 479-508页

作者： Jing Yao Keenan Sterling Zhe wang yun Zhang Weihong Song The National Clinical Research Center for Geriatric Disease Xuanwu HospitalCapital Medical UniversityBeijing 100053China Townsend Family Laboratories Department of PsychiatryBrain Research CenterThe University of British Columbia2255 Wesbrook MallVancouverBC V6T 1Z3Canada Key Laboratory of Neurodegenerative Diseases Ministry of EducationBeijingP.R.China Zhejiang Clinical Research Center for Mental Disorders Key Laboratory of Alzheimer’s Disease of Zhejiang ProvinceSchool of Mental Health and The Affiliated Kangning HospitalInstitute of AgingWenzhou Medical UniversityWenzhouZhejiang 325000China Oujiang Laboratory(Zhejiang Lab for Regenerative Medicine Vision and Brain Health)WenzhouZhejiang 325000China

Inflammasomes are large protein complexes that play a major role in sensing inflammatory signals and triggering the innate immune *** inflammasome complex has three major components:an upstream sensor molecule that is connected to a downstream effector protein such as caspase-1 through the adapter protein *** formation typically occurs in response to infectious agents or cellular *** active inflammasome then triggers caspase-1 activation,followed by the secretion of pro-inflammatory cytokines and pyroptotic cell *** inflammasome activation and activity contribute to the development of diabetes,cancer,and several cardiovascular and neurodegenerative *** a result,recent research has increasingly focused on investigating the mechanisms that regulate inflammasome assembly and activation,as well as the potential of targeting inflammasomes to treat various *** clinical trials are currently underway to evaluate the therapeutic potential of several distinct inflammasome-targeting ***,understanding how different inflammasomes contribute to disease pathology may have significant implications for developing novel therapeutic *** this article,we provide a summary of the biological and pathological roles of inflammasomes in health and *** also highlight key evidence that suggests targeting inflammasomes could be a novel strategy for developing new disease-modifying therapies that may be effective in several conditions.

关键词： inflam therapeutic potential

Prediction of chemical short-range order in high-/medium-entropy alloys

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Journal of Materials Science & Technology 2024年第2期169卷 115-123页

作者： Pei-Yu Cao Jing wang Ping Jiang yun-Jiang wang Fu-Ping Yuan Xiao-Lei Wu State Key Laboratory of Nonlinear Mechanics Institute of MechanicsChinese Academy of ScienceBeijing 100190China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049China

Chemical short-range orders(CSROs),as the built-in sub-nanoscale entities in a high-/medium-entropy alloy(H/MEA),have aroused an ever-increasing *** multi-principal elements in an H/MEA to form a complex concentrated solution,a variety of sub-systems of species exist to induce the metastable ordered compounds as candidates for ultimate *** issues remain pending on the origin of CSROs as to how to judge if CSRO will form in an H/MEA and particularly,what kind of CSROs would be stably produced if there were multiple ***,the first-principles method,along with the proposed local formation energy calculation in allusion to the atomic-scale chemical heterogeneities,is used to predict the CSRO formation based on the mechanical stability,thermodynamic formation energy,and electronic *** simulations are detailed in an equiatomic ternary VCoNi MEA with three kinds of potential compounds,i.e.,L1_(1),L1_(2),and B2,in the face-centered cubic *** turns out that L1_(1)is stable but hard to grow up so as to become the final CSRO.L1_(1)is further predicted as CSROs in CrCoNi,but unable to form in FeCoNi and CrMnFeCoNi *** predictions are consistent with the experimental *** findings shed light on understanding the formation of *** method is applicable to other H/MEAs to design and tailor CSROs by tuning chemical species/contents and thermal processing for high performance.

关键词： Short-range order High-entropy alloy Microstructure First-principles calculation Gibbs free energy Local electronic density of states

Single-cell RNA sequencing analysis of the retina under acute high intraocular pressure

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Neural Regeneration Research 2024年第11期19卷 2522-2531页

作者： Shaojun wang Siti tong Xin Jin Na Li Pingxiu Dang Yang Sui Ying Liu Dajiang wang Division of Ophthalmology The Third Medical Center of PLA General HospitalBeijingChina Department of Ophthalmology Beijing Rehabilitation HospitalCapital Medical UniversityBeijingChina

High intraocular pressure causes retinal ganglion cell injury in primary and secondary glaucoma diseases,yet the molecular landscape characteristics of retinal cells under high intraocular pressure remain *** models of acute hypertension ocular pressure were established by injection of cross-linked hyaluronic acid hydrogel(Healaflow■).Single-cell RNA sequencing was then used to describe the cellular composition and molecular profile of the retina following high intraocular *** results identified a total of 12 cell types,namely retinal pigment epithelial cells,rod-photoreceptor cells,bipolar cells,Müller cells,microglia,cone-photoreceptor cells,retinal ganglion cells,endothelial cells,retinal progenitor cells,oligodendrocytes,pericytes,and *** single-cell RNA sequencing analysis of the retina under acute high intraocular pressure revealed obvious changes in the proportions of various retinal cells,with ganglion cells decreased by 23%.Hematoxylin and eosin staining and TUNEL staining confirmed the damage to retinal ganglion cells under high intraocular *** extracted data from retinal ganglion cells and analyzed the retinal ganglion cell cluster with the most distinct *** found upregulation of the B3gat2 gene,which is associated with neuronal migration and adhesion,and downregulation of the Tsc22d gene,which participates in inhibition of *** study is the first to reveal molecular changes and intercellular interactions in the retina under high intraocular *** data contribute to understanding of the molecular mechanism of retinal injury induced by high intraocular pressure and will benefit the development of novel therapies.

关键词： apoptosis axon degeneration high intraocular pressure microglia ocular hypertension photoreceptor cells retina retinal degeneration retinal ganglion cells single-cell RNA sequencing

Electric tuning of plasmonic resonances in ultrathin gold nanoribbon arrays

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Photonics Research 2024年第8期12卷 1750-1759页

作者： ZHENXIN wang ALEXEY VKRASAVIN CHENXINYU PAN JUNSHENG ZHENG ZHIYONG LI XIN GUO ANATOLY VZAYATS LIMIN tong PAN wang State Key Laboratory of Extreme Photonics and Instrumentation College of Optical Science and EngineeringZhejiang UniversityHangzhou 310027China Department of Physics and London Centre for Nanotechnology King’s College LondonStrandLondon WC2R 2LSUK Jiaxing Key Laboratory of Photonic Sensing&Intelligent Imaging Intelligent Optics&Photonics Research CenterJiaxing Research Institute Zhejiang UniversityJiaxing 314000China

Ultrathin plasmonic nanostructures offer an unparalleled opportunity for the study of light–matter interactions at the nanoscale and realization of compact nanophotonic *** this study,we introduce an ultrathin gold nanoribbon array and demonstrate an electric approach to actively tuning its plasmonic resonance,which leveraging the extreme light confinement capability in the ultrathin plasmonic nanostructure and a robust nanoscale electro-optical effect in indium tin *** the design(to a total thickness as small as 12 nm for a 2-nmthick gold nanoribbon array),we numerically demonstrate a spectral shift in the plasmonic resonance up to 36 nm along with an approximately 16%change in the transmission at a gate voltage below 1.7 V at the wavelength of1.47μ*** work presents progress towards electric tuning of plasmonic resonances in ultrathin metallic nanostructures for various applications including surface-enhanced spectroscopy,spontaneous emission enhancement,and optical modulation.

关键词： plasmon tuning realization

Machine learning solution for regional landslide susceptibility based on fault zone division strategy

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Journal of Mountain Science 2024年第5期21卷 1745-1760页

作者： wang yunhao wang Luqi LIU Songlin SUN Weixin LIU Pengfei ZHU Lin YANG Wenyu GUO tong School of Civil Engineering Chongqing UniversityChongqing 400045China Key Laboratory of New Technology for Construction of Cities in Mountain Area Chongqing UniversityMinistry of EducationChongqing 400045China National Joint Engineering Research Center of Geohazards Prevention in the Reservoir Areas Chongqing UniversityChongqing 400045China Institute of Geological Environment Monitoring Chongqing 401147China Chongqing 205 Geological Team Chongqing 401121China

Landslide susceptibility assessment is an essential tool for disaster prevention and management. In areas with multiple fault zones, the impact of fault zone on slope stability cannot be disregarded. This study performed qualitative analysis of fault zones and proposed a zoning method to assess the landslide susceptibility in Chengkou County, Chongqing Municipality, China. The region within a distance of 1 km from the faults was designated as sub-zone A, while the remaining area was labeled as sub-zone B. To accomplish the assessment, a dataset comprising 388 historical landslides and 388 non-landslide points was used to train the random forest model. 10-fold cross-validation was utilized to select the training and testing datasets for the model. The results of the models were analyzed and discussed, with a focus on model performance and prediction uncertainty. By implementing the proposed division strategy based on fault zone, the accuracy, precision, recall, F-score, and AUC of both two sub-zones surpassed those of the whole region. In comparison to the results obtained for the whole region, sub-zone B exhibited an increase in AUC by 6.15%, while sub-zone A demonstrated a corresponding increase of 1.66%. Moreover, the results of 100 random realizations indicated that the division strategy has little effect on the prediction uncertainty. This study introduces a novel approach to enhance the prediction accuracy of the landslide susceptibility mapping model in areas with multiple fault zones.

关键词： Landslide susceptibility mapping Fault division strategy Random forest GIS

Monolayer graphene/GaN heterostructure photodetector with UV‑IR dual‑wavelength photoresponses

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Frontiers of Optoelectronics 2024年第2期17卷 61-68页

作者： Junjun Xue Jiaming tong Zhujun Gao Zhouyu Chen Haoyu Fang Saisai wang Ting Zhi Jin wang College of Electronic and Optical Engineering&College of Flexible Electronics(Future Technology) Nanjing University of Posts and TelecommunicationsNanjing 210023China Portland Institute Nanjing University of Posts and TelecommunicationsNanjing 210023China

An ultraviolet-infrared(UV-IR)dual-wavelength photodetector(PD)based on a monolayer(ML)graphene/GaN heterostructure has been successfully fabricated in this *** ML graphene was synthesized by chemical vapor deposition(CVD)and subsequently transferred onto GaN substrate using polymethylmethacrylate(PMMA).The morphological and optical properties of the as-prepared graphene and GaN were *** fabricated PD based on the graphene/GaN heterostructure exhibited excellent rectify behavior by measuring the current–voltage(I–V)characteristics under dark conditions,and the spectral response demonstrated that the device revealed an UV-IR dual-wavelength *** addition,the energy band structure and absorption properties of the ML graphene/GaN heterostructure were theoretically investigated based on density functional theory(DFT)to explore the underlying physical mechanism of the two-dimensional(2D)/three-dimensional(3D)hybrid heterostructure PD *** work paves the way for the development of innovative GaNbased dual-wavelength optoelectronic devices,offering a potential strategy for future applications in the field of advanced photodetection technology.

关键词： Wide bandgap semiconductors Graphene Dual-wavelength Photodetector

Identifying the enhancement mechanism of Al/MoO_(3) reactive multilayered films on the ignition ability of semiconductor bridge using a one-dimensional gas-solid two-phase flow model

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Defence Technology（防务技术） 2024年第3期33卷 168-179页

作者： Jianbing Xu Yuxuan Zhou yun Shen Yueting wang Yinghua Ye Ruiqi Shen School of Chemistry and Chemical Engineering Nanjing University of Science and TechnologyNanjing 210094China Micro-Nano Energetic Devices Key Laboratory of MIIT Nanjing 210094China Institute of Space Propulsion Nanjing University of Science and TechnologyNanjing 210094China

Energetic Semiconductor bridge(ESCB)based on reactive multilayered films(RMFs)has a promising application in the miniature and intelligence of initiator and pyrotechnics *** the ignition enhancement mechanism of RMFs on semiconductor bridge(SCB)during the ignition process is crucial for the engineering and practical application of advanced initiator and pyrotechnics *** this study,a one-dimensional(1D)gas-solid two-phase flow ignition model was established to study the ignition process of ESCB to charge particles based on the reactivity of Al/MoO_(3) *** order to fully consider the coupled exothermic between the RMFs and the SCB plasma during the ignition process,the heat release of chemical reaction in RMFs was used as an internal heat source in this *** is found that the exothermal reaction in RMFs improved the ignition performance of *** the process of plasma rapid condensation with heat release,the product of RMFs enhanced the heat transfer process between the gas phase and the solid charge particle,which accelerated the expansion of hot plasma,and heated the solid charge particle as well as gas phase region with low *** addition,it made up for pressure loss in the gas *** the plasma dissipation process,the exothermal chemical reaction in RMFs acted as the main heating source to heat the charge particle,making the surface temperature of the charge particle,gas pressure,and gas temperature rise *** result may yield significant advantages in providing a universal ignition model for miniaturized ignition devices.

关键词： Ignition enhancement mechanism 1D gas-solid two-phase flow Al/MoO_(3)reactive multilayered films Semiconductor bridge Miniaturized ignition device

Self-Powered Flexible Multicolor Electrochromic Devices for Information Displays

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Research 2024年第2期2023卷 529-540页

作者： Wenzhao Xue yun Zhang Feng Liu Yao Dou Mei Yan Wenshou wang School of Chemistry and Chemical Engineering University of JinanJinan 250022P.R.China

The development of self-powered flexible multicolor electrochromic(EC)systems that could switch different color without an external power supply has remained extremely ***,a new trilayer film structure for achieving self-powered flexible multicolor EC displays based on self-charging/discharging mechanism is proposed,which is simply assembled by sandwiching an ionic gel film between 2 cathodic nickel hexacyanoferrate(NiHCF)and Prussian blue(PB)nanoparticle films on indium tin oxide *** display exhibits independent self-powered color switching of NiHCF and PB films with fast responsive time and high reversibility by selectively connecting the Al wire as anodes with the 2 EC *** switching is thus achieved through a color overlay effect by superimposing the 2 EC films,including green,blue,yellow,and *** bleaching/coloration process of the displays is driven by the discharging/self-charging mechanism for NiHCF and PB films,respectively,ensuring the self-powered color switching of the displays reversibly without an external power *** is further demonstrated that patterns can be easily created in the self-powered EC displays by the spray-coating method,allowing multicolor changing to convey specific ***,a self-powered ionic writing board is demonstrated based on the self-powered EC displays that can be repeatedly written freehand without the need of an external power *** believe that the design concept may provide new insights into the development of self-powered flexible multicolor EC displays with self-recovered energy for widespread applications.

关键词： connecting repeatedly powered