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Leader-follower: Human-centered intention-guided controller for novel Superlimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong li Hongwei JING Kerui SUN Yuancheng li Sikai ZHAO Lele li Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of Technology The Learning Algorithms and Systems Laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(Superlimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–Superlimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of Superlimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the Superlimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between Superlimb, humans, and the environment under human safety assurance. First, the human–Superlimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–Superlimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the Superlimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and Superlimb could well understand the wearer's intentions to switch different Superlimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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Fibrous histiocytoma of the laryngeal glottis

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中国耳鼻咽喉头颈外科 2005年第2期12卷 125-127页

作者： GEPingjiang ZHANGBaoquan GAOZhiqiang wanghui CUIQuanca DepartmentofOtolaryngology DeptartmentofPathology PekingUnionMedicalCollegeHospitalChineseAcademyofMedicalSciencesPekingUnionMedicalCollegeBeijing100005China

A case of a fibrous histiocytoma (FH) of the larynx in a 54-year-old male is reported. Laryngeal fibrous histiocytoma is uncommon. The case recurred several times over 4-year period. Its pathology is described includi... 详细信息

关键词：纤维细胞瘤喉肿瘤声门肿瘤病理学

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The autophagy-lysosome pathway:a potential target in the chemical and gene therapeutic strategies for Parkinson’s disease

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Neural Regeneration Research 2025年第1期20卷 139-158页

作者： Fengjuan Jiao lingyan Meng Kang Du Xuezhi li School of Mental Health Jining Medical UniversityJiningShandong ProvinceChina Shandong Collaborative Innovation Center for Diagnosis Treatment and Behavioral Interventions of Mental DisordersInstitute of Mental HealthJining Medical UniversityJiningShandong ProvinceChina

Parkinson’s disease is a common neurodegenerative disease with movement disorders associated with the intracytoplasmic deposition of aggregate proteins such asα-synuclein in *** one of the major intracellular degradation pathways,the autophagy-lysosome pathway plays an important role in eliminating these *** evidence has shown that upregulation of the autophagy-lysosome pathway may contribute to the clearance ofα-synuclein aggregates and protect against degeneration of dopaminergic neurons in Parkinson’s ***,multiple genes associated with the pathogenesis of Parkinson’s disease are intimately linked to alterations in the autophagy-lysosome ***,this pathway appears to be a promising therapeutic target for treatment of Parkinson’s *** this review,we briefly introduce the machinery of ***,we provide a description of the effects of Parkinson’s disease–related genes on the autophagy-lysosome ***,we highlight the potential chemical and genetic therapeutic strategies targeting the autophagy–lysosome pathway and their applications in Parkinson’s disease.

关键词： autophagy chemical therapy gene therapy Parkinson’s disease α-synuclein

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A PERTURBED SOLUTION OF SEA-AIR OSCILLATOR FOR THE ENSO MECHANISM

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Journal of Systems Science & Complexity 2005年第2期18卷 219-223页

作者： MOJiaqi liNWantao wanghui DepartmentofMathematics HuzhouTeachersCollegeHuzhou313000China InstituteofAtmosphericPhysics ChineseAcademyofSciencesBeijing100029China ChineseAcademyofMeteorologicalSciences Beijing100081China

A class of coupled system of the El Nino/La Nino-Southern Oscillation (ENSO)mechanism is studied. Using the perturbed theory, the asymptotic expansions of the solution for ENSOmodel are obtained and the asymptotic behavior of the solution for corresponding problem isconsidered. And it is pointed out that the solution tends to the corresponding attractor as t → ∞.

关键词： nonlinear perturbation theory El Nino/La Nino-Southern Oscillation model

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A low-cost compact AES architecture for wireless sensor network

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High Technology Letters 2010年第2期16卷 184-188页

作者：易立华 Zou Xuecheng liu Zhenglin Dan Yongping Zou wanghui Department of Electronic Science ＆ Technology Huazhong University of Science ＆ Technology Wuhan 430074 P.R. China

The implementation of small size cryptography algorithm is a critical problem for wireless sensor network. A low cost compact intellectual property （IP） core of the entire advanced encryption standard （AES） algorithm for wireless sensor network is presented in this paper. A compact encryption and decryption system using only four sharing S-Boxes is obtained, employing sharing between the encryption and decryption processes. Our design proposes use of composite field data path for the SubBytes and InvSubBytes transformations. With an implementation of the AES block cipher with Virtex Ⅱ Pro FPGA using0.13μm and 90nm process technology, our area optimized consumes 16.8k equivalent gates. The speed of this implementation is also reduced to 0.45Gbits/s. Compared with previous implementations, our design achieves significant low-cost area with acceptable throughput.

关键词： advanced encryption standard (AES) S-Boxes key expansion implement

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Insights into spinal muscular atrophy from molecular biomarkers

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Neural Regeneration Research 2025年第7期20卷 1849-1863页

作者： Xiaodong Xing Xinzhu liu Xiandeng li Mi li Xian Wu Xiaohui Huang Ajing Xu Yan liu Jian Zhang Department of Clinical Pharmacy Xinhua HospitalShanghai Jiao Tong University School of MedicineShanghaiChina College of Pharmacy Chongqing Medical UniversityChongqingChina

Spinal muscular atrophy is a devastating motor neuron disease characterized by severe cases of fatal muscle *** is one of the most common genetic causes of mortality among infants aged less than 2 *** research is currently receiving more attention,and new candidate biomarkers are constantly being *** review initially discusses the evaluation methods commonly used in clinical practice while briefly outlining their respective pros and *** also describe recent advancements in research and the clinical significance of molecular biomarkers for spinal muscular atrophy,which are classified as either specific or non-specific *** review provides new insights into the pathogenesis of spinal muscular atrophy,the mechanism of biomarkers in response to drug-modified therapies,the selection of biomarker candidates,and would promote the development of future ***,the successful utilization of biomarkers may facilitate the implementation of gene-targeting treatments for patients with spinal muscular atrophy.

关键词： biomarkers disease progression gene-targeting therapy neurofilaments Nusinersen spinal muscular atrophy(SMA) survival motor neuron therapeutic evaluation treatment outcomes

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Mutual regulation of microglia and astrocytes after Gas6 inhibits spinal cord injury

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Neural Regeneration Research 2025年第2期20卷 557-573页

作者： Jiewen Chen Xiaolin Zeng Le Wang Wenwu Zhang Gang li Xing Cheng Peiqiang Su Yong Wan Xiang li Department of Spine Surgery The First Affiliated HospitalSun Yat-sen UniversityGuangzhouGuangdong ProvinceChina Guangdong Province Key Laboratory of Orthopedics and Traumatology GuangzhouGuangdong ProvinceChina

Invasive inflammation and excessive scar formation are the main reasons for the difficulty in repairing nervous tissue after spinal cord *** and astrocytes play key roles in the spinal cord injury micro-environment and share a close ***,the mechanisms involved remain *** this study,we found that after spinal cord injury,resting microglia(M0)were polarized into pro-inflammatory phenotypes(MG1 and MG3),while resting astrocytes were polarized into reactive and scar-forming *** expression of growth arrest-specific 6(Gas6)and its receptor Axl were significantly down-regulated in microglia and astrocytes after spinal cord *** vitro experiments showed that Gas6 had negative effects on the polarization of reactive astrocytes and pro-inflammatory microglia,and even inhibited the cross-regulation between *** further demonstrated that Gas6 can inhibit the polarization of reactive astrocytes by suppressing the activation of the Yes-associated protein signaling ***,in turn,inhibited the polarization of pro-inflammatory microglia by suppressing the activation of the nuclear factor-κB/p65 and Janus kinase/signal transducer and activator of transcription signaling *** vivo experiments showed that Gas6 inhibited the polarization of pro-inflammatory microglia and reactive astrocytes in the injured spinal cord,thereby promoting tissue repair and motor function ***,Gas6 may play a role in the treatment of spinal cord *** can inhibit the inflammatory pathway of microglia and polarization of astrocytes,attenuate the interaction between microglia and astrocytes in the inflammatory microenvironment,and thereby alleviate local inflammation and reduce scar formation in the spinal cord.

关键词： astrocytes Axl cell polarization Gas6 Hippo signal inflammatory micro-environment intercellular interaction microglia single-cell sequencing spinal cord injury

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Research on droplet transfer in oscillating arc narrow gap GMA welding

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China Welding 2014年第2期23卷 12-16页

作者： Xu wanghui Fan Chenglei lin Sanbao Yang Chunli State Key Laboratory of Advanced Welding and Joining Harbin Institute ofTechnology Harbin 150001

In this paper, the droplet transfer in oscillating arc narrow gap gas metal arc （ GMA ） welding was studied. According to the experimental results, the oscillating arc has effect on the droplet transfer mode. The droplet transfer frequency in narrow gap groove is higher than that in bead-on-plate welding. Because of the change of arc location in narrow gap groove, the droplet transfer in oscillating arc narrow gap changes regularly. The droplet transfer frequency near groove sidewall is higher than that at the middle of narrow gap groove.

关键词： narrow gap welding oscillating arc droplet transfer GMA welding

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Synergistic effect of bonding heterogeneity and phonon localization in introducing excellent thermoelectric properties in layered heteroanionic NdZnSbO material

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Journal of Energy Chemistry 2025年第1期100卷 259-272页

作者： Da Wan Shuwei Tang Shulin Bai Xiaodong li Peng Ai Wanrong Guo Tuo Zheng College of Materials Science and Engineering Liaoning Technical University Faculty of Chemistry Northeast Normal University

Layered rare-earth metal oxides, harnessing the dual properties of oxides and two-dimensional layered materials, exhibit remarkable thermal stability and quantum confinement effects. Therefore, this work adopts the first-principles calculation combined with the Boltzmann transport theory to predict the thermoelectric properties of NdZnSbO compound. The coexistence of weak interlayer van der Waals interactions, robust intralayer ionic bonding, and partial covalent bonding leads to remarkable bonding heterogeneity, which engenders pronounced phonon scattering and imposes constraints on thermal transport along the out-of-plane direction. The weakened chemical bonds induced by the antibonding states, together with the rattling-like behavior of the Zn atom, culminate in the profound anharmonicity in the layered NdZnSbO compound. The weakening bond and heavy element contribute to the softness of phonon modes, which significantly diminishes the phonon group velocity. The redistribution-dominated four-phonon scattering process spans a large optical gap, which effectively reduces the lattice thermal conductivity. The NdZnSbO compound exhibits direct semiconductor characteristic with a bandgap of 0.73 e V by adopting the Heyd-Scuseria-Ernzerhof(HSE06) functional in combination with spin–orbit coupling(SOC) effect. The multi-valley feature of NdZnSbO compound augur favorably for band degeneracy, thus amplifying the power factor. Consequently, an optimal figure-of-merit(ZT) of 3.40 at 900 K is achieved for the n-type NdZnSbO compound. The present study delves deeply insights into the origins for the low thermal conductivity of NdZnSbO compound and proposes an optimization scheme to enhance overall thermoelectric performance.

关键词： Bond strength (chemical)

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Fluorinated poly(p-triphenylene isatin) anion exchange membranes based on hydrophilic hydroxyl side chain modulation for fuel cells

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Journal of Energy Chemistry 2025年第1期100卷 702-709页

作者： Yiman Gu Yanchao Zhang Zhanyu li Yijia Lei Baozeng Sun Xiaoyu Yu Zhe Wang College of Chemistry and life Science Changchun University of Technology College of Chemical Engineering Changchun University of Technology School of Materials Science and Engineering Changchun University of Technology Key Laboratory of Advanced Functional Polymer Membrane Materials of Jilin Province

The development of alkaline fuel cells is moving forward at an accelerated pace,and the application of ether-free bonded polymers to anion exchange membranes （AEMs） has been widely ***,the question of the“trade-off”between AEM ionic conductivity and dimensional stability remains *** strategy of inducing microphase separation to improve the performance of AEM has attracted much attention recently,but the design of optimal molecular structures is still being ***,this work introduced different ratios of 3-bromo-1,1,1-trifluoroacetone （x=40,50,and 60） into the main chain of poly（p-terphenylene isatin）.Because fluorinated groups have excellent hydrophobicity,hydrophilic hydroxyl-containing side chains are introduced to jointly adjust the formation of phase separation *** results show that PTI-PTF50-NOH AEM with the appropriate fluorinated group ratio has the best ionic conductivity and alkali stability under the combined effect of *** has an ionic conductivity of 133.83 mS cm-1at 80°*** addition,the OH-conductivity remains at 89%of the initial value at 80°C and 3 M KOH for 1056 h of *** cell polarization curve based on PTI-PTF50-NOH shows a power density of 734.76 mW cm-2at a current density of 1807.7 mA cm-2.

关键词： Anion exchange membranes Poly(p-terphenylene isatin) Hydrophilic-hydrophobic phase separation Fluorinated group

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