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Tracked robot with underactuated tension-driven RRP transformable mechanism:ideas and design

Frontiers of Mechanical Engineering 2024年第1期19卷 85-104页

作者： Ran xu Chao LIU School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control Technology(Ministry of Education)Beijing Jiaotong UniversityBeijing 100044China

Robots with transformable tracked mechanisms are widely used in complex terrains because of their high adaptability,and many studies on novel locomotion mechanisms have been conducted to make them able to climb higher *** underactuated transformable mechanisms for tracked robots could decrease the number of actuators used while maintaining the flexibility and obstacle-crossing capability of these robots,and increasing their cost ***,the underactuated tracked robots have appreciable research *** this paper,a novel tracked robot with a newly proposed underactuated revolute‒revolute‒prismatic(RRP)transformable mechanism,which is inspired by the sit-up actions of humans,was *** newly proposed tracked robot has only two actuators installed on the track pulleys for moving and does not need extra actuators for ***,it could concentrate the track belt’s tension toward one side,and the unbalanced tension would drive the linkage mechanisms to change its *** this method,the proposed underactuated design could change its external shape to create support points with the terrain and move its center of mass actively at the same time while climbing obstacles or crossing other kinds of terrains,thus greatly improving the climbing capability of the *** geometry and kinematic relationships of the robot and the crossing strategies for three kinds of typical obstacles are *** the basis of such crossing motions,the parameters of links in the robot are designed to make sure the robot has sufficient stability while climbing ***-crossing dynamic simulations were run and analyzed to prove the feasibility of the robot.A prototype was built and *** show that the proposed robot could climb platforms with heights up to 33.3%of the robot’s length or cross gaps with widths up to 43.5%of the robot’s length.

关键词： mechanical design tracked robot underactuated mechanisms RRP mechanism obstacle crossing strategy

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Single-Nucleus RNA Sequencing Reveals Cardiac Macrophage Landscape in Hypoplastic Left Heart Syndrome

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Congenital Heart Disease 2024年第2期19卷 233-246页

作者： Xiaozhuo xu Yilin Huang xu Han First Clinical Medical College Affiliated Hospital of Nanjing University of Chinese MedicineNanjing210008China Department of Geriatrics Affiliated Hospital of Nanjing University of Chinese MedicineNanjing210029China

Background:Hypoplastic left heart syndrome(HLHS)is one of the most challenging congenital heart diseases in clinical *** cardiac tissues,resident macrophages fulfill critical functions in maintaining a stable cardiac state and have strong regenerative capacity and organ ***,the molecular mechanisms of macro-phages in HLHS remained ***:Single-nucleus RNA sequencing(snRNA-seq)data of HLHS and healthy control(donors)samples obtained from the Gene Expression Omnibus(GEO)database were normalized and clustered using the Seurat ***“FindMarkers”function was used to screen differentially expressed genes(DEGs)between the HLHS and donor groups and to analyze the functional enrichment of the set of genes of ***,cell-cell communication,pseudotime,and single-cell regulatory network inference and cluster-ing(SCENIC)analyses were used to study the mechanisms of macrophages in ***:Based on the snRNA-seq data of HLHS and donors,we identified a total of 9 cell clusters,among which the proportion of macrophages was significantly less in the HLHS group than in the control *** of macrophage subpopulations(Macrophages 1,2,and 3)showed that Macrophages 1 was mainly involved in nervous system development,angiogenesis,and apoptotic *** addition,analysis of communication between Macro-phages 1 and cardiomyocytes revealed that ligand-acceptor pairs such as GAS6/AXL,IL6,IGF1,THY1,and L1CAM were present only in the donor ***,pesudotime and SCENIC analyses demonstrated that FOXO3 and ELF2 played a critical role for Macrophages 1 to maintain cardiac function in patients with ***:Our study improved the current understanding of the molecular mechanisms of macrophage devel-opment in HLHS,showing that manipulating the regulatory role of macrophages in the heart can be a novel treat-ment for HLHS.

关键词： Hypoplastic left heart syndrome single-nucleus RNA sequencing macrophage cellular subpopulation transcription factor

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Global Tangentially Analytical Solutions of the 3D Axially Symmetric Prandtl Equations

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Chinese Annals of Mathematics,Series B 2024年第4期45卷 573-596页

作者： Xinghong PAN Chaojiang xu School of Mathematics and Key Laboratory of MIIT Nanjing University of Aeronautics and AstronauticsNanjing 211106China School of Mathematics and Key Laboratory of MIIT Nanjing University of Aeronautics and AstronauticsNanjing 211106Chinaand Laboratoire de Mathématiques Raphaël SalemUMR 6085 CNRSUniversitéde Rouen Normandie76801 Saint-Étienne-du-RouvrayFrance.

In this paper,the authors will prove the global existence of solutions to the three dimensional axially symmetric Prandtl boundary layer equations with small initial data,which lies in H1Sobolev space with respect to the normal variable and is analytical with respect to the tangential *** main novelty of this paper relies on careful constructions of a tangentially weighted analytic energy functional and a specially designed good unknown for the reformulated *** result extends that of Paicu-Zhang in[Paicu,*** Zhang,P.,Global existence and the decay of solutions to the Prandtl system with small analytic data,***.,241(1),2021,403–446].from the two dimensional case to the three dimensional axially symmetric case,but the method used here is a direct energy estimates rather than Fourier analysis techniques applied there.

关键词： Global existence Tangentially analytical solutions Axially symmetric Prandtl equations

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The Essential 2-rank for Classical Groups

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Acta Mathematica Sinica,English Series 2024年第9期40卷 2169-2186页

作者： Jian Bei AN Yong xu Department of Mathematics University of AucklandAucklandNew Zealand School of Mathematics and Statistics He’nan University of Science and TechnologyLuoyang 471023P.R.China

Let G be a symplectic or orthogonal group defined over a finite field with odd characteristic and let D≤G be a Sylow *** this paper,we classify the essential 2-subgroups and determine the essential 2-rank of the Frobenius category FD(G).Together with the results of An–Dietrich and Cao–An–Zeng,this completes the work of essential subgroups and essential ranks of classical groups.

关键词： Frobenius category conjugation families essential 2-rank symplectic groups orthogonal groups

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Dynamic Development Characteristics and Driving Factors of High Quality Development Level in China’s Five Major Urban Agglomerations

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Chinese Geographical Science 2024年第5期34卷 777-790页

作者： ZOU Weiyong xu Lingli School of Economics Guangdong Ocean UniversityZhanjiang 524088China School of Economics Shanghai UniversityShanghai 200444China

High-quality development is the primary task of comprehensively building a socialist,modern country,as well as the primary task of building urban agglomerations in *** on the five development concepts,this paper used the entropy method to measure the High Quality Development Index(HQDI)of the five major urban *** results showed that the HQDI of the five major urban agglomerations shows a fluctuating upward ***,using the Dagum Gini coefficient to explore the sources of HQDI development differences in urban agglomerations,we found that the main source of HQDI differences in urban agglomerations was inter-regional differences,while intra-regional differences were not ***,kernel density estimation was used to test the dynamic evolution trend of HQDI within urban *** was a polarisation phenomenon in the HQDI of urban agglomerations,such as the Pearl River Delta urban agglomeration and the Chengdu-Chongqing urban *** overall,the degree of imbalance had ***,using geographic detectors to examine the driving factors of HQDI in urban agglomerations,we found that the main driving forces for improving HQDI in urban agglomerations were economic growth,artificial intelligence technology and fiscal *** the interaction factors had greater explanatory power for the spatial differentiation of HQDI,which can be divided into two types:two-factor improvement and non-linear *** study is conducive to improving and enriching the theoretical system for evaluating the high quality development of urban agglomerations,and provides policy references for promoting the high quality development of urban agglomerations.

关键词： urban agglomeration High Quality Development Index(HQDI) spatio-temporal evolution driving factors

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益生菌对脓毒症机械通气患者呼吸机相关性肺炎发病的影响

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中华急诊医学杂志 2021年第2期30卷 179-182页

作者：陈娇贾凌杨敬辉薛翔蔡建芹徐微笑赵炜南京医科大学附属逸夫医院重症医学科南京211100

目的探讨益生菌治疗在降低脓毒症机械通气患者呼吸机相关性肺炎(ventilatorassociated pneumonia,VAP)中的应用效果。方法选取入住本院ICU的脓毒症机械通气的患者共94例,随机(随机数字法)分为益生菌组(n=46)和对照组(n=48),两组患者均... 详细信息

目的探讨益生菌治疗在降低脓毒症机械通气患者呼吸机相关性肺炎(ventilatorassociated pneumonia,VAP)中的应用效果。方法选取入住本院ICU的脓毒症机械通气的患者共94例,随机(随机数字法)分为益生菌组(n=46)和对照组(n=48),两组患者均于入院后24~72 h内留置鼻胃管行肠内营养治疗,益生菌组在对照组基础上予以益生菌双歧杆菌三联活菌胶囊,统计比较两组患者VAP、菌血症、病死率,机械通气时间、ICU住院时间情况。结果与对照组比较,益生菌组患者的VAP发病率、菌血症的发病率明显低于对照组(χ^(2)=4.763,P=0.029;χ^(2)=4.438,P=0.035);两组患者28 d病死率、住院天数比较差异无统计学意义(χ^(2)=2.02,P=0.167,t=1.29,P=0.208)。益生菌组的机械通气时间短于对照组(t=2.16,P=0.038)。通过log-rank test分析显示益生菌组的无VAP时间明显长于对照组(P<0.05);通过校正APACHEII评分、年龄后,COX比例风险模型分析示对于28 d VAP发病益生菌干预组与对照组的RR值分别为0.18(95%CI:0.12~0.74,P=0.025)和0.21(95%CI:0.19~0.95,P=0.042)。结论益生菌强化治疗能够降低脓毒症患者VAP的发病率,缩短ICU住院时间。

关键词：益生菌脓毒症机械通气呼吸机相关性肺炎

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Research on key technologies of UAV cluster cooperative system for Internet of Things applications

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Journal of Control and Decision 2024年第1期11卷 26-35页

作者： xu Jing Xi’an International University Xi’anPeople’s Republic of China

The combat tasks faced by UAVs are becoming more and more *** single UAVs are limited by the constraints of platform load capacity,lightweight load,and insufficient lowpower equipment,so it is difficult to complete complex tasks *** at typical UAV collaborative confrontation application scenarios,this paper constructs a multi-agentoriented cluster collaborative intelligent system architecture and establishes a swarm-oriented intelligent UAV cluster collaborative control ***,this paper forms a simulation environment for UAV cluster collaborative confrontation and completes the design and implementation of the UAV cluster collaborative confrontation system based on swarm *** addition,this paper analyses the key technologies of the UAV cluster collaborative system with the support of the Internet of Things technology and verifies the performance of the system after constructing the corresponding *** experimental results show that the system constructed in this paper is effective.

关键词： Internet of Things UAV cluster collaborative control key technology

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Quantitative assessment of the breast cancer marker HER2 using a gold nanoparticle-based lateral flow immunoassay

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Nano Research 2024年第6期17卷 5452-5460页

作者： Liya Ye Xinxin xu Aihua Qu Liqiang Liu Chuanlai xu Hua Kuang International Joint Research Laboratory for Biointerface and Biodetection and School of Food Science and TechnologyJiangnan UniversityWuxi 214122China

Human epidermal growth factor receptor 2(HER2)is an important biomarker for detection and treatment of breast *** this study,we developed monoclonal antibodies against the extracellular domain(ECD)of HER2 and established a rapid and accurate lateral flow immunoassay(LFIA)for use in community medical *** gene sequence of human HER2-ECD was obtained from the National Center for Biotechnology Information(NCBI)to construct the expression ***2-ECD protein expressed in HEK293F cells was used to immunize BALB/c *** monoclonal antibodies were produced in mouse ascites and isolated by hybridoma cell *** were analyzed for purity by SDS-PAGE(sodium dodecyl sulphate-polyacrylamide gel-electrophoresis)and affinity was assessed by enzyme-linked immunosorbent assay(ELISA)while subtypes were detected using the commercial *** HER2-ECD test strip was prepared based on the sandwich method and evaluated using a portable detection *** affinity of the paired antibodies,4D8 and 8D9,both reached 1×108 L/*** antibodies specifically recognized the HER2-ECD protein in *** limit of detection(LOD)of the gold nanoparticle(AuNP)-based LFIA was 1.7 ng/mL with a detection range of 1.7-400 ng/mL,and the performance of the HER2-ECD strip correlated well with that of a Siemens chemiluminescent immunoassay(CLIA)*** conclusion,the paired antibodies were successfully prepared with high affinity and *** AuNP-based LFIA of HER2-ECD provides a fast and accurate method to detect the concentration of HER2-ECD in serum samples for clinical use in community medical institutions,and could contribute to determining the progress of the disease or the effectiveness of treatment.

关键词： human epidermal growth factor receptor 2 breast cancer monoclonal antibody quantitative lateral flow immunoassay

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A gold-based multiplex immunochromatographic sensor for detecting paclitaxel

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Nano Research 2024年第7期17卷 6420-6429页

作者： Xiaoqian Jiang Aihua Qu Xinxin xu Hua Kuang Liqiang Liu Chuanlai xu State Key Laboratory of Food Science and Technology Jiangnan UniversityWuxi 214122China International Joint Research Laboratory for Biointerface and Biodetection and School of Food Science and TechnologyJiangnan UniversityWuxi 214122China

Paclitaxel(PTX),methotrexate(MTX),and 5-fluorouracil(5-FU)are commonly-used small molecule anti-tumor drugs for breast ***,drug resistance occurs with long-term treatment or excessive use,and the high concentrations of PTX,MTX,and 5-FU in patients may lead to side effects with dose-limiting toxicities,such as myelosuppression,hepatotoxicity,and peripheral ***,concentration monitoring of PTX,MTX,and 5-FU in clinical treatment is very *** prepared highly sensitive and specific monoclonal antibodies using several haptens,and established a multiple paper-based sensor utilizing optical signals of gold nanoparticles,which simultaneously detected PTX,MTX,and 5-FU in human plasma or urine with 10 min.A portable scanner for quantitative detection in plasma and urine samples was used,and the calculated limit of detection(cLOD)values were 0.002 and 0.142μg/mL for PTX,0.187 and 0.976 ng/mL for MTX,and 0.057 and 0.128μg/mL for 5-FU,*** the recovery test,the recovery rates and the coefficient of variation were 85.84%–108.81%and 1.23%–8.80%,respectively,indicating the reliability and accuracy of the multiple gold immunochromatographic strip(GIS).In addition,for the determination of collected clinical plasma samples,the correlation between the test data of the multiple GIS and liquid chromatography–tandem mass spectrometry(LC–MS/MS)was ***,the developed multiple GIS could be applied to the rapid detection of PTX,MTX,and 5-FU in different clinical samples.

关键词： paclitaxel methotrexate 5-fluorouracil immunochromatographic assay plasma urine

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From charge storage mechanism to performance:A strategy toward boosted lithium/sodium storage through heterostructure optimization

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Journal of Energy Chemistry 2024年第1期88卷 112-124,I0003页

作者： Xiaoke Zhang Guangfa Deng Mianying Huang Zhaohui xu Jianlin Huang xuan xu Zhiguang xu Maochan Li Lei Hu Xiaoming Lin Key Laboratory of Theoretical Chemistry of Environment Ministry of EducationSchool of ChemistrySouth China Normal UniversityGuangzhou 510006GuangdongChina Anhui Laboratory of Functional Coordinated Complexes for Materials Chemistry and Application School of Chemical and Environmental EngineeringAnhui Polytechnic UniversityWuhu 241000AnhuiChina National Engineering Research Center for Carbohydrate Synthesis Key Lab of Fluorine and Silicon for Energy Materials and Chemistry of Ministry of EducationJiangxi Normal UniversityNanchang 330022JiangxiChina

Solving the problems of low electrical conductivity and poor cycling durability in transition metal oxidesbased anode materials for lithium-ion batteries(LIBs)and sodium-ion batteries(SIBs)has already turned into an urgent *** this paper,we successfully synthesized Co_(2)VO_(4)/Co compounds with Co-VMOF(metal-organic framework)as a sacrificial template and investigated their electrochemical mechanism in order to improve the electrochemical properties of LIBs and *** optimized heaping configuration and the existence of metallic Co catalyzed the formation of radical ions,thereby facilitating higher conductivity,shortening Li+and Na+transport paths,and providing more active ***_(2)VO_(4)/Co constructed with 2-methylimidazole as a ligand showed a discharge capacity of 1605.1 mA h g^(-1)after 300 cycles at 0.1 A g^(-1)in LIB and 677.2 mA h g^(-1)in *** functional theory(DFT)calculation emphasizes the crucial role of Co_(2)VO_(4)/Co in enhancing electrode conductivity,decreasing the migratory energy barrier,and thereby strengthening electrochemical *** heterostructure building technique may pave the way for the development of high-performance LIBs and ***,the problem of the low first-loop coulombic efficiency faced by transition metal oxides is improved.

关键词： Metal-organic framework Heterostructure Lithium-ion batteries Sodium-ion batteries DFT calculation

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