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Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots:design and realization

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Frontiers of Mechanical Engineering 2024年第2期19卷 45-58页

作者： Yaguang ZHU Minghuan zhang xiaoyu zhang Haipeng QIN Key Laboratory of Road Construction Technology and Equipment of Ministry of Education School of Engineering MachineryChang’an UniversityXi’an 710064China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China

Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding challenge.Although recent predictive control methods based on single-rigid-body models can generate dynamic motion,they all assume infinite energy,making them unsuitable for prolonged robot operation.Addressing this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure stability.This work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg structure.The design integrates a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects.A leg control model that incorporates motor loads is developed to validate the response and dynamic performance of a leg with elastic joints.This model provides torque to the knee joint,effectively reducing the robot’s energy consumption through active or passive control strategies.The benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario are demonstrated to validate the dynamic motion performance of the leg with elastic joints with the advantage of energy-efficient legs.

关键词： dynamic responsiveness energy dissipation legged locomotion parallel joints quadruped robot

Yolk free egg substitute improves the serum phospholipid profile of mice with metabolic syndrome based on lipidomic analysis

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Food Science and Human Wellness 2024年第1期13卷 482-493页

作者： Zhihui Yu Lingyu Fan Fei Tai Lixin zhang xiaoyu zhang Yisheng Chen College of Food Science and Engineering Shanxi Agricultural UniversityTaigu 030801China Insitute of Food Nutrition and Safety Shanxi Agricultural UniversityTaiyuan 030031China Shanxi Key Laboratory of Edible Fungi for Loess Plateau Taigu 030801China

In this study,the impacts of egg consumption on mice model of metabolic syndrome(Met S)were comparatively investigated.Mice were divided into five groups(n=8):normal diet group(ND),high-fat diet group(HFD),HFD with whole egg group(WE),HFD with free-yolk egg substitute group(YFES),and HFD with lovastatin group(Lov).Main biochemical indexes and a non-targeted lipidomic analysis were employed to insight the lipid profile changes in serum.It was revealed that WE could significantly improve serum biochemical indexes by reducing body weight,low-density lipoprotein cholesterol(LDL-C)and total cholesterol(TC),while increasing high-density lipoprotein cholesterol.YFES exhibited remarkably better performance in increasing phosphatidylglycerol and phosphatidic acids,while decreasing phosphatidylinositol than WE.A total of 50 differential lipids biomarkers tightly related to glycerophospholipids metabolism were screened out.Carnitine C18:2 and C12:1,SM(d18:0/12:0),and SM(d18:1/14:1)were significantly upregulated in YFES compared to WE.YFES reduced expression of SREBP-1c and Cpt1a,while did not affect the expression of PPAR-α.Sphingomyelin biomarkers were positively related to the TC(|r|>0.6),while PPAR-αwas negatively correlated with triglyceride and LDL-C levels.To sum up,YFES attenuated HFD-induced Met S by improving the serum phospholipids,which account for its modulation of glycerophospholipid metabolism.

关键词： Metabolic syndrome Whole egg Yolk free egg substitute Serum Lipidomics

Comprehensive optimization of piezoelectric coefficient and depolarization temperature in Mn-doped Bi_(0.5)Na_(0.5)TiO_(3)-Bi_(0.5)K_(0.5)TiO_(3)-BaTiO_(3)lead-free piezoceramics

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Journal of Materials Science & Technology 2024年第5期172卷 255-263页

作者： Huashan Zheng Enwei Sun Huajie Luo xiaoyu zhang Yixiao Yang Bin Yang Rui zhang Shantao zhang Wenwu Cao Condensed Matter Science and Technology Institute School of Instrumentation Science and EngineeringHarbin Institute of TechnologyHarbin150080China Advanced Innovation Center for Materials Genome Engineering University of Science and Technology BeijingBeijing100083China National Laboratory of Solid State Microstructures Department of Materials Science and EngineeringCollege of Engineering and Applied Science&Collaborative Innovation Center of Advanced MicrostructuresNanjing UniversityNanjing210093China Department of Mathematics and Materials Research Institute The Pennsylvania State UniversityUniversity ParkPennsylvania16802United States of America

Lead-free Bi_(_(0.5))Na_(_(0.5))TiO_(3)(BNT)piezoelectric ceramics have the advantages of large coercive fields and high Curie temperatures.But the improvement of piezoelectric coefficient(d 33)is usually accompanied by a huge sacrifice of depolarization temperature(T d).In this work,a well-balanced performance of d 33 and T d is achieved in MnO_(2)-doped 0.79(Bi_(_(0.5))Na_(_(0.5))TiO_(3))-0.14(Bi_(0.5)K_(0.5)TiO_(3))-0.07BaTiO_(3)ternary ceramics.The in-corporation of 0.25 mol%MnO_(2)enhances the d 33 by more than 40%,while T d remains almost unchanged(i.e.,d 33=181 pC/N,T d=184℃).X-ray diffraction(XRD)shows that an appropriate fraction of the small axis-ratio ferroelectric phase(pseudo-cubic,P c)coexists with the long-range ferroelectric phase(tetrag-onal,T)under this MnO_(2)doping.Piezoelectric force microscopy(PFM)has revealed a special domain configuration,namely large striped and layered macro domains embedded with small nanodomains.This study provides a distinctive avenue to design BNT-based piezoelectric ceramics with high piezoelectric performance and temperature stability.

关键词： BNT-BKT-BT ceramics Mn doping Piezoelectric Depolarization temperature Phase structure

Reconstructing cell lineage trees with genomic barcoding:approaches and applications

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Journal of Genetics and Genomics 2024年第1期51卷 35-47页

作者： Zizhang Li Wenjing Yang Peng Wu Yuyan Shan xiaoyu zhang Feng Chen Junnan Yang Jian-Rong Yang Advanced Medical Technology Center The First Affiliated HospitalZhongshan School of MedicineSun Yat-sen UniversityGuangzhouGuangdong 510080China Department of Genetics and Biomedical Informatics Zhongshan School of MedicineSun Yat-sen UniversityGuangzhouGuangdong 510080China Key Laboratory of Tropical Disease Control Ministry of EducationSun Yat-sen UniversityGuangzhouGuangdong 510080China

In multicellular organisms,developmental history of cell divisions and functional annotation of terminal cells can be organized into a cell lineage tree(CLT).The reconstruction of the CLT has long been a major goal in developmental biology and other related fields.Recent technological advancements,especially those in editable genomic barcodes and single-cell high-throughput sequencing,have sparked a new wave of experimental methods for reconstructing CLTs.Here we review the existing experimental approaches to the reconstruction of CLT,which are broadly categorized as either image-based or DNA barcode-based methods.In addition,we present a summary of the related literature based on the biological insight pro-vided by the obtained CLTs.Moreover,we discuss the challenges that will arise as more and better CLT data become available in the near future.Genomic barcoding-based CLT reconstructions and analyses,due to their wide applicability and high scalability,offer the potential for novel biological discoveries,especially those related to general and systemic properties of the developmental process.

关键词： Cell lineage tree Developmental regulation Biotechnology Computational biology

High temperature treatment induced production of unreduced 2n pollen in Camellia oleifera

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Horticultural Plant Journal 2024年第3期10卷 879-896页

作者： Hongda Deng xiaoyu zhang Song Sheng Yuxun Huang Ziqi Ye Tongyue zhang Xing Liu Zhiqiang Han The Laboratory of Forestry Genetics Central South University of Forestry and TechnologyChangshaHunan 410004China Yuelushan Laboratory ChangshaHunan 410128China Key Laboratory of Cultivation and Protection for Non-Wood Forest Trees of Ministry of Education Central South University of Forestry and TechnologyChangshaHunan 410004China National Forest and Seedling Workstation of Hunan Province The Forestry Department of Hunan ProvinceChangshaHunan 410004China

Unreduced gametes through chromosome doubling play a major role in the process of plant polyploidization.Our previous work confirmed that Camellia oleifera can produce natural 2n pollen,and it is possible to induce the 2n pollen formation by high temperature treatment.This study focused on the optimization of the 2n pollen induction technique and the mechanisms of high temperature-induced2n pollen formation in C.oleifera.We found that the optimal protocol for inducing 2n pollen via high temperature was to perform 45℃with4 h at the prophaseⅠstage of the pollen mother cells(PMCs).Meanwhile,high temperature significantly decreased the yield and fertility of2n pollen.Through the observation of meiosis,abnormal chromosome and cytological behaviour was discovered under high-temperature treatment,and we confirmed that the formation of 2n pollen is caused by abnormal cell plate.Based on weighted gene co-expression network analysis,fifteen hub genes related to cell cycle control were identified.After male flower buds were exposed to heat shock,polygalacturonase gene(CoPGX3)was significantly upregulated.We inferred that high temperature causes the CoPGX3 gene to be overexpressed and that CoPGX3 is redistributed into the cytosol where it degrades cytoplasmic pectin,which leads to an abnormal cell plate.Furthermore,abnormal cytokinesis resulted in the formation of dyads and triads,and PMCs divided to produce 2n pollen.Our findings provide new insights into the mechanism of 2n pollen induced by high temperature in a woody plant and lay a foundation for further ploidy breeding of C.oleifera.

关键词： Camellia oleifera Pollen mother cells(PMCs) High temperature Meiosis 2n pollen CoPGX3

High-efficiency preparation of multifunctional conjugated electrospun graphene doped PVDF/CF yarns for energy harvesting and human movement monitoring in TENG textile

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Nano Research 2024年第5期17卷 4478-4488页

作者： Ting Yang Chengwei Wan xiaoyu zhang Tong Liu Li Niu Jian Fang Yuqing Liu College of Textile and Clothing Engineering Soochow UniversitySuzhou 215123China

Portable power is an effective solution to realize self-powered sensors for wearable devices,promoting future sustainable development.Membrane-based triboelectric nanogenerators(M-TENGs)have emerged as a promising technology for harvesting biomechanical energy from human motion owing to their advantages,such as simple structure,lightweight design,and efficient energy conversion.However,the poor durability,low adaptability,and un-washability of two-dimensional membrane materials have largely hindered their application in wearable electronics.In this study,we propose a sheath-core polyvinylidene fluoride(PVDF)/graphene(G)-carbon fiber(CF)yarn fabricated via conjugate electrospinning,comprising a commercial CF core and an electrospun graphene-doped PVDF sheath,which improves the fatigue resistance of electrospun nanofiber films under prolonged friction and keeps a high degree of freedom.The resulting electronic textile,woven with the large-scale electrospun PVDF/G-CF yarn,demonstrates a remarkable power density of 25.5 mW·m^(-2).The tight distribution of PVDF/G nanofibers on the textile surface ensures excellent softness,washability,and durability.Furthermore,the electrospun PVDF/G-CF textile exhibits significant potential in pressure sensing,self-powered operation,and motion detection,making it highly suitable for wearable electronics applications.

关键词： yarn-based triboelectric nanogenerator(TENG) graphene polyvinylidene fluoride(PVDF) conjugated-electrospinning multifunctional

Systematic identification of wheat spike developmental regulators by integrated multiomics, transcriptional network, GWAS, and genetic analyses

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Molecular Plant 2024年第3期17卷 438-459页

作者： Xuelei Lin Yongxin Xu Dongzhi Wang Yiman Yang xiaoyu zhang Xiaomin Bie Lixuan Gui Zhongxu Chen Yiliang Ding Long Mao Xueyong zhang Fei Lu Xiansheng zhang Cristobal Uauyo Xiangdong Fu Jun Xiao Key Laboratory of Plant Cell and Chromosome Engineering Institute of Genetics and Developmental BiologyChinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China Nanjing Agricultural University NanjingJiangsu 210095China Key Laboratory of Crop Biology College of Life SciencesShandong Agricultural UniversityTaianShandong 271018China Department of Life Science Tcuni Inc.ChengduSichuan 610000China John Innes Centre Norwich Research ParkNorwich NR47UHUK Institute of Crop Sciences Chinese Academy of Agricultural SciencesBeijing 100081China CAS-JIC Centre of Excellence for Plant and Microbial Science(CEPAMS) Institute of Genetics and Developmental BiologyCASBeijing 100101China

The spike architecture of wheat plays a crucial role in determining grain number,making it a key trait for optimization in wheat breeding programs.In this study,we used a multi-omic approach to analyze the transcriptome and epigenome profiles of the young spike at eight developmental stages,revealing co-ordinated changes in chromatin accessibility and H3K27me3 abundance during the flowering transition.We constructed a core transcriptional regulatory network(TRN)that drives wheat spike formation and experimentally validated a multi-layer regulatorymodule involving TaSPL15,TaAGLG1,and TaFUL2.By integrating the TRN with genome-wide association studies,we identified 227 transcription factors,including 42 with known functions and 185 with unknown functions.Further investigation of 61 novel transcription factors using multiple homozygous mutant lines revealed 36 transcription factors that regulate spike architecture or flowering time,such as TaMYC2-A1,TaMYB30-A1,and TaWRKY37-A1.Of particular interest,TaMYB30-A1,downstream of and repressed by WFzP,was found to regulate fertile spikelet number.Notably,the excellent haplotype of TaMYB30-A1,which contains a C allele at the WFzP binding site,was enriched during wheat breeding improvement in China,leading to improved agronomic traits.Finally,we constructed a free and open access Wheat Spike Multi-Omic Database(http://39.***.48.156:8800/#/).Our study identifies novel and high-confidence regulators and offers an effective strategy for dissecting the genetic basis of wheat spike development,with practical value forwheat breeding.

关键词： wheat spike development epigenome TRN TaMYB30-A1 breeding selection

Meter-Scale Thin-Walled Structure with Lattice Infill for Fuel Tank Supporting Component of Satellite:Multiscale Design and Experimental Verification

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工程与科学中的计算机建模(英文) 2024年第1期138卷 201-220页

作者： xiaoyu zhang Huizhong Zeng Shaohui zhang Yan zhang Mi Xiao Liping Liu Hao Zhou Hongyou Chai Liang Gao Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of TechnologyBeijing100081China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan430081China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Lightweight thin-walled structures with lattice infill are widely desired in satellite for their high stiffness-to-weight ratio and superior buckling strength resulting fromthe sandwich effect.Such structures can be fabricated bymetallic additive manufacturing technique,such as selective laser melting(SLM).However,the maximum dimensions of actual structures are usually in a sub-meter scale,which results in restrictions on their appliance in aerospace and other fields.In this work,a meter-scale thin-walled structure with lattice infill is designed for the fuel tank supporting component of the satellite by integrating a self-supporting lattice into the thickness optimization of the thin-wall.The designed structure is fabricated by SLM of AlSi10Mg and cold metal transfer welding technique.Quasi-static mechanical tests and vibration tests are both conducted to verify the mechanical strength of the designed large-scale lattice thin-walled structure.The experimental results indicate that themeter-scale thin-walled structure with lattice infill could meet the dimension and lightweight requirements of most spacecrafts.

关键词： Thin-walled structure lattice infill supporting component selective laser melting satellite

Rice bran oil rescues cognitive decline in D-galactose-induced aging mice by inhibiting Aβ accumulation and Tau hyperphosphorylation induced oxidative stress and neuroinflammation

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Food Science and Human Wellness 2024年

作者： Yadan zhang Diya Xu xiaoyu zhang Wenhua Zhou Lin zhang Qinlu Lin College of Food Science and Engineering National Engineering Research Center of Rice and Byproduct Deep Processing Hunan Key Laboratory of Processed Food for Special Medical Purpose Central South University of Forestry and Technology

Alzheimer's disease (AD) is a neurodegenerative disorder associated with brain aging， and the accumulation of amyloid-beta (Aβ) and hyperphosphorylated Tau proteins are key pathological features. Currently， drugs for the treatment of AD are mainly single-targeted， but the complex pathogenesis of AD makes it difficult to achieve the desired results. Therefore， the development of multitargeted therapies is crucial for future interventions. Rice bran oil (RBO) has been recognized as an edible oil with several health benefits， but its effects on AD caused by brain aging remain underexplored. In this study， the effects of RBO on memory dysfunction in D-galactose (D-gal) mice and its molecular mechanisms were investigated via in vivo and in silico methods from the perspective of AD pathologies. Our results suggested that compounds in RBO could modulate the activities of β-site amyloid precursor protein cleaving enzyme 1 (BACE1)， mitogen-activated protein kinase 3 (MAPK3)， matrix metalloproteinase 3 (MMP3)， and intercellular adhesion molecule 1 (ICAM1)， leading to inhibition of Aβ accumulation and Tau protein hyper-phosphorylation. Moreover， RBO reduced Aβ-induced oxidative stress by inhibiting the activity of mouse double minute 2 homolog (MDM2) and cyclic adenosine monophosphate response element binding protein binding protein (CREBBP)， and attenuated neuroinflammation by inhibiting the activity of nitric oxide synthase 2 (NOS2) and reducing Aβ accumulation and Tau protein hyperphosphorylation. Additionally， α-linolenic acid in RBO exhibited inhibitory effects on D-gal-induced apoptosis in PC12 cells through modulation of NOS2， MDM2， ICAM1， and phospho-extracellular signal-regulated kinase 1/2 (p-ERK1/2). Similarly， stigmastanol inhibited apoptosis in D-gal-induced PC12 cells through the regulation of NOS2. Thus， RBO can be considered as a potential functional food to attenuate AD owing to its multicomponent and multitarget effects.

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