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Dynamic motion of quadrupedal robots on challenging terrain:a kinodynamic optimization approach

Frontiers of Mechanical Engineering 2024年第3期19卷 23-40页

作者： Qi LI Lei DIng xin LUO Engineering Research Center of Hubei Province for Clothing Information Wuhan 430200China school of Computer science and Artificial Intelligence Wuhan Textile UniversityWuhan 430200China state Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular ***,conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain *** resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion *** this paper,a kinodynamic optimization approach is *** generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain,we formulate motion planning as an optimization problem;jointly treat the foot’s locations,contact forces,and torso motions as decision variables;combine smooth motion and minimal energy consumption as the objective function;and explicitly represent feasible foothold region and friction constraints based on terrain *** track the generated motions accurately and stably,we employ a whole-body controller to compute reference position and velocity commands,which are fed forward to joint controllers of the robot’s *** verify the effectiveness of the developed approach through simulation and on a physical quadruped robot *** show that the quadruped robot can successfully traverse a 30°slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关键词： quadrupedal robot kinodynamic planning nonlinear optimization challenging terrain whole-body control

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Rotating magnetic field inhibits Aβ protein aggregation and alleviates cognitive impairment in Alzheimer’s disease mice

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Zoological Research 2024年第4期45卷 924-936页

作者： Ruo-Wen Guo Wen-Jing Xie Biao Yu Chao s.ng xin-Miao Ji xin-Yu Wang Mei Zhang xin Zhang High Magnetic Field Laboratory CAS Key Laboratory of High Magnetic Field and Ion Beam Physical BiologyHefei Institutes of Physical ScienceChinese Academy of SciencesHefeiAnhui 230031China science Island Branch of Graduate school University of Science and Technology of ChinaHefeiAnhui 230036China Institutes of Physical science and Information Technology Anhui UniversityHefeiAnhui 230601China school of Life sciences Division of Life Sciences and MedicineUniversity of Science and Technology of ChinaHefeiAnhui 230026China

Amyloid beta(Aβ)monomers aggregate to form fibrils and amyloid plaques,which are critical mechanisms in the pathogenesis of Alzheimer’s disease(AD).Given the important role of Aβ1-42 aggregation in plaque formation,leading to brain lesions and cognitive impairment,numerous studies have aimed to reduce Aβaggregation and slow AD *** diphenylalanine(FF)sequence is critical for amyloid aggregation,and magnetic fields can affect peptide alignment due to the diamagnetic anisotropy of aromatic *** this study,we examined the effects of a moderate-intensity rotating magnetic field(RMF)on Aβaggregation and AD *** indicated that the RMF directly inhibited Aβamyloid fibril formation and reduced Aβ-induced cytotoxicity in neural cells in *** the AD mouse model APP/Ps1,RMF restored motor abilities to healthy control levels and significantly alleviated cognitive impairments,including exploration and spatial and non-spatial memory *** examinations demonstrated that RMF reduced amyloid plaque accumulation,attenuated microglial activation,and reduced oxidative stress in the APP/Ps1 mouse *** findings suggest that RMF holds considerable potential as a non-invasive,high-penetration physical approach for AD treatment.

关键词： lzheimer’s disease Rotating magnetic field Amyloid-β Cognitive function Alzheimer’s disease animal models

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Facile synthesis of accordion-like porous carbon from waste PET bottles-based MIL-53(Al)and its application for high-performance Zn-ion capacitor

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Green Energy & Environment 2024年第7期9卷 1138-1150页

作者： Jiaxin Li shuai Zhang Yumeng Hua Yichao Lin xin Wen Ewa Mijowska Tao Tang Xuecheng Chen Rodney s.Ruoff Faculty of Chemical Technology and Engineering West Pomeranian University of TechnologyPiastow Ave.4271-065SzczecinPoland Key state Key Laboratory of Polymer Physics and Chemistry Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun130022China school of safety Engineering China University of Mining and TechnologyXuzhou221116China Institute of Advanced Electrical Materials Qingdao University of Science and TechnologyQingdao266042China Institute for Basic science Center for Multiple Dimensional Carbon Materials Ulsan44919Republic of Korea Department of Chemistry Ulsan National Institute of Science and Technology(UNIST)Ulsan44919Republic of Korea Department of Materials science and Engineering Ulsan National Institute of Science and Technology(UNIST)Ulsan44919Republic of Korea school of Energy and Chemical Engineering Ulsan National Institute of Science and Technology(UNIST)Ulsan44919Republic of Korea

It is of great scientific and economic value to recycle waste poly(ethylene terephthalate)(PET)into high-value PET-based metal organic frameworks(MOFs)and further convert it into porous carbon for green energy storage *** the present study,a facile and costeffective hydrothermal process was developed to direct recycle waste PET bottles into MIL-53(Al)with a 100% conversation,then the MOFderived porous carbon was assembled into electrodes for high-performance *** results indicated that the as-synthesized carbon exhibited high ssA of 1712 m^(2)g^(-1)and unique accordion-like structure with hierarchical *** to these advantageous characters,the assembled three-electrode supercapacitor displayed high specific capacitances of 391 F g^(-1)at the current density of 0.5 A g^(-1)and good rate capability of 73.6% capacitance retention at 20 A g^(-1)in 6 mol L^(-1)KOH ***,the assembled zinc ion capacitor still revealed outstanding capacitance of 335 F g^(-1)at 0.1 A g^(-1),excellent cycling stability of 92.2% capacitance retention after 10000 cycles and ultra-high energy density of 150.3 Wh kg^(-1)at power density of 90 W kg^(-1)in 3 mol L^(-1)ZnsO_(4)*** is believed that the current work provides a facile and effective strategy to recycle PET waste into high-valuable MOF,and further expands the applications of MOF-derived carbons for high-performance energy storage devices,so it is conducive to both pollution alleviation and sustainable economic development.

关键词： PET Recycling Porous carbon supercapacitor Energy storage

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Neddylation Regulation of Immune Responses

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Research 2024年第3期2023卷 545-559页

作者： Hongmei Mao xin Lin Yi sun Cancer Institute(Key Laboratory of Cancer Prevention and Intervention China National Ministry of Education)of the Second Affiliated Hospital and Institute of Translational MedicineZhejiang University School of MedicineHangzhou 310029China Institute for Immunology School of MedicineTsinghua UniversityBeijing 100084China Changping Laboratory Beijing 102206China Cancer Center of Zhejiang University Hangzhou 310029China Zhejiang Provincial Clinical Research Center for Cancer HangzhouZhejiang ProvinceChina Key Laboratory of Molecular Biology in Medical sciences HangzhouZhejiang ProvinceChina Research Center for Life science and Human Health Binjiang Institute of Zhejiang UniversityHangzhou 310053China.

Neddylation plays a vital role in post-translational modification, intricately shaping the regulation of diverse biological processes, including those related to cellular immune responses. In fact, neddylation exerts control over both innate and adaptive immune systems via various mechanisms. specifically, neddylation influences the function and survival of innate immune cells, activation of pattern recognition receptors and GMP-AMP synthase–stimulator of interferon genes pathways, as well as the release of various cytokines in innate immune reactions. Moreover, neddylation also governs the function and survival of antigen-presenting cells, which are crucial for initiating adaptive immune reactions. In addition, neddylation regulates T cell activation, proliferation, differentiation, survival, and their effector functions, thereby ensuring an appropriate adaptive immune response. In this review, we summarize the most recent findings in these aspects and delve into the connection between dysregulated neddylation events and immunological disorders, especially inflammatory diseases. Lastly, we propose future directions and potential treatments for these diseases by targeting neddylation.

关键词： activation thereby initiating

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Metal-organic-framework-derived copper-based catalyst for multicomponent C-s coupling reaction

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Chinese Journal of Chemical Engineering 2024年第6期70卷 1-8页

作者： Lixin Chen Hui Zhang Linxi Hou xin Ge Key Laboratory of synthetic and Biological Colloids Ministry of EducationSchool of Chemical and Material EngineeringJiangnan UniversityWuxi 214122China Department of Materials-Oriented Chemical Engineering School of Chemical EngineeringFuzhou UniversityFuzhou 350116China Qingyuan Innovation Laboratory Quanzhou 362801China

Copper-based metal-organic frameworks(Cu-MOFs)are a promis.ng multiphase catalyst for catalyzing C-s coupling reactions by virtue of their diverse structures and ***,the unpleasant odor and instability of the organosulfur,as well as the mass-transfer resistance that exists in multiphase catalysis,have often limited the catalytic application of Cu-MOFs in C-s coupling *** this paper,a Cu-MOFs catalyst modified by cetyltrimethylammonium bromide(CTAB)was designed to enhance mass transfer by increas.ng the adsorption of organic substrates us.ng the long alkanes of ***,elemental sulfur was used to replace organosulfur to achieve a highly efficient and atom-economical multicomponent C-s coupling reaction.

关键词： Design Copper-based metal-organic frameworks (Cu-MOFs) Adsorption C-s coupling reaction Multiphase reaction

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Flow Field simulation and Parameter Analysis of Hydraulic Unbalanced Bionic self-recovery Actuator for Rotary Equipment

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Journal of Bionic Engineering 2024年第1期21卷 325-343页

作者： Wei Li xin Pan Dehong Ge Jinji Gao Key Laboratory of Engine Health Monitoring-Control and Networking of Ministry of Education Beijing University of Chemical TechnologyBeijing 100029China Beijing Key Laboratory of High-End Mechanical Equipment Health Monitoring and self-Recovery Beijing University of Chemical TechnologyBeijing 100029China

The rotor is the most important component of rotating machinery,and the vibration produced by its mass unbalance has a serious influence on the secure and steady operation of the machine,so an effective online suppression technology is urgently needed.A new hydraulic unbalanced bionic self-recovery system is introduced,imitating the way of manually repairing faulty *** accomplish the effect of actuator mass redistribution,the technology employs pressurized air to drive the quantitative transfer of liquid in the reservoir cavity at opposite *** can complete the online adjustment of the equipment's balancing state and suppress the unbalanced vibration of equipment in real time,which gives the equipment the ability to maintain an autonomous health state and improve equipment *** composition and working principle of the system are introduced in detail,and the key performance parameters,such as the minimum running speed and the balancing liquid transfer speed,are analyzed *** fluid-solid coupling model of the actuator was established,and the two-phase flow from inside the hydraulic unbalanced bionic self-recovery actuator was simulated under multiple working conditions and the performance parameters were quantitatively analyzed.A balancing simulation test bed was built,and its effectiveness was verified by performance parameter tests and unbalanced bionic self-recovery *** experimental results show that the mass distribution adjustment of the balancing disk can be achieved us.ng different viscosity balancing liquid,and the response of liquid viscosity 10 cst is faster than that of liquid viscosity 100 cst in the process of balancing liquid transfer,and the time is reduced by more than 75%;the system can reduce the simulated rotor amplitude from 18.3μm to 10.6μm online in real time,which provides technical support for the subsequent development of a new generation of bionic intelligent equipment.

关键词： Engineering self-recovery-Bionics simulation analysis self-recovery regulation

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Growth and development of children in China:achievements,problems and prospects

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World Journal of Pediatrics 2024年第2期20卷 97-104页

作者： xin-Nan Zong Hui Li Department of Growth and Development Capital Institute of PediatricsBeijing 100020China

Growth reflects the general condition of society,and is a measure of the nutritional and hygienic status of a population[1,2].Nutrition is one of the most important components of children’s well-being[3].The Chinese government attaches great importance to children’s health and development,with a clear statement and consistent practice for“Children are the future and hope of the motherland”.

关键词： mother statement children

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Learning to sample initial solution for solving 0-1 discrete optimization problem by local search

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science China Mathematics 2024年第6期67卷 1317-1340页

作者： xin Liu Jianyong sun Zongben Xu school of Mathematics and statistics Xi’an Jiaotong UniversityXi’an710049China

Local search methods are convenient alternatives for solving discrete optimization problems(DOPs).These easy-to-implement methods are able to find approximate optimal solutions within a tolerable time *** is known that the quality of the initial solution greatly affects the quality of the approximated solution found by a local search *** this paper,we propose to take the initial solution as a random variable and learn its preferable probability *** aim is to sample a good initial solution from the learned distribution so that the local search can find a high-quality *** develop two different deep network models to deal with DOPs established on set(the knapsack problem)and graph(the maximum clique problem),*** deep neural network learns the representation of an optimization problem instance and transforms the representation to its probability *** results show that given the initial solution sampled from the learned probability distribution,a local search method can acquire much better approximate solutions than the randomly-sampled initial solution on the synthesized knapsack instances and the Erd?s-Rényi random graph ***,with sampled initial solutions,a classical genetic algorithm can achieve better solutions than a random initialized population in solving the maximum clique problems on DIMACs ***,we emphasize that the developed models can generalize in dimensions and across graphs with various densities,which is an important advantage on generalizing deep-learning-based optimization algorithms.

关键词： discrete optimization deep learning graph convolutional network local search

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Restoring cosmological concordance with axion-like early dark energy and dark matter characterized by a constant equation of state?

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Communications in Theoretical Physics 2024年第7期76卷 74-82页

作者： Yan-Hong Yao xin-He Meng school of Physics and Astronomy Sun Yatsen University 2 Daxue RoadTangjiaZhuhaiChina school of Physics Nankai University 94 Weijin RoadNankaiTianjinChina

The Hubble tension persists as a challenge in *** early dark energy(EDE)models,initially considered the most promis.ng for alleviating the Hubble tension,fall short of address.ng the issue without exacerbating other tensions,such as the s_(8)*** that a negative dark matter(DM)equation of state(Eos)parameter is conducive to reduce the value of the σ_(8)parameter,we extend the axion-like EDE model in this paper by replacing the cold dark matter(CDM)with DM characterized by a constant Eos w_(dm)(referred to as WDM hereafter).We then impose constraints on this axion-like EDE extension model,along with three other models:the axion-like EDE model,ΛWDM,and Λ*** constraints are derived from a comprehensive analysis incorporating data from the Planck 2018 cosmic microwave background,baryon acoustic oscillations,and the Pantheon compilation,as well as a prior on H_(0)(i.e.H_(0)=73.04±1.04,based on the latest local measurement by Riess et al)and a Gaussianized prior on s_(8)(i.e.s_(8)=0.766±0.017,determined through the joint analysis of KID1000+BOss+2dLens).We find that although the new model maintains the ability to alleviate the Hubble tension to~1.4σ,it still exacerbates the s_(8)tension to a level similar to that of the axion-like EDE model.

关键词： Hubble tension early dark energy noncold dark matter s8 tension

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Microglial autophagy in neurogenesis:a new player in Alzheimer's disease

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Neural Regeneration Research 2024年第12期19卷 2573-2574页

作者： xin Tang Aarti Nagayach Chenran Wang Department of Cancer Biology University of Cincinnati College of MedicineCincinnatiOHUSA

While extensive studies have illuminated the impact of Alzheimer's disease(AD) on neuronal survival,there is growing evidence that abnormal postnatal neurogenesis in early AD brains contributes to disease *** neurogenesis serves as a mechanism to replace dead or damaged *** neurons generated from neural stem cells(NsCs) in the subgranular zone(sGZ) of the dentate gyrus integrate into the existing hippocampal circuit.

关键词： Alzheimer replace integrate

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