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Adaptive admittance tracking control for interactive robot with prescribed performance

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Journal of Systems Engineering and Electronics 2024年第2期35卷 444-450页

作者： MENG Qingrui lin yan School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100190China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

关键词： prescribed performance admittance control adaptive control robots

Influence of Nd^(3+) concentration on mid-infrared emission in PbF_(2) crystal co-doped with Ho^(3+) and Nd^(3+) ions

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Journal of Rare Earths 2024年第3期42卷 479-487,I0002页

作者： yan Chen Juncheng tan Peixiong Zhang Weibi Zheng lin Li Lianhan Zhang Zhen Li Yin Hang Zhenqiang Chen Department of Optoelectronic Engineering Jinan UniversityGuangzhou510632China Guangdong Provincial Engineering Research Centerof Crystal and Laser Technology.Guangzhou 510632China Research Center of Laser Crystal Key Laboratory of High Power Laser MaterialsShanghai Institute of Optics and Fine MechanicsChinese Academy of SciencesShanghai201800China

A promising series of Ho_(y)Nd_(x)Pb_((1-x-y))F_2(x = 0, 0.01, 0.02, 0.03, 0.04;y = 0.02) crystals was grown by the Bridgman method. The influence of the Nd^(3+)ions concentration on mid-infrared(~2.0, ~2.9 and ~3.9 μm)fluorescence emissions of Ho^(3+)ions in the PbF_(2) crystal excited by 808 nm laser diode was investigated in this work. The energy transfer mechanism between Nd^(3+)ions and Ho~(3+)ions under different concentrations of the Nd^(3+)ions was systematically analyzed. The results show that the Nd^(3+)ions have good sensitization and deactivation effect on the Ho^(3+)ions to stimulate the mid-infrared fluorescence emissions. The experimental analysis proves that the sensitization efficiency of the Nd^(3+)ions is relatively stable at around 93.45% with varying Nd^(3+)-doping concentrations. Concentration dependence studies indicate that the concentration of the Nd^(3+)ions has significant influence on mid-infrared emissions.When the doping concentration of the Nd^(3+)ions is up to 2.0 at%, the intensity of ~2.0, ~2.9 and ~3.9 μm emissions all reach the maximum. The output characteristics of a 3.9 μm laser are simulated, and it is found that with the increase of the Nd^(3+)-doping concentration, the peak power, pulse width, and peak energy all meet the trend of first increasing and then decreasing, and Ho_(0.02)Nd_(0.02)Pb_(0.96)F_(2) crystal displays the best performance. All the results show that the Nd^(3+)/Ho^(3+)co-doped PbF_(2) crystals might act as a useful optical medium for mid-infrared laser applications.

关键词： Crystal growth Mid-infrared PbF_(2) Rare earth ions

Four centrosome-related genes to predict the prognosis and drug sensitivity of patients with colon cancer

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World Journal of Gastrointestinal Oncology 2024年第5期16卷 1908-1924页

作者： Hui-yan Wang yan Diao Pei-Zhu tan Huan Liang Department of Clinical Laboratory Harbin Medical University Cancer HospitalHarbin 150086Heilongjiang ProvinceChina Department of Clinical Laboratory Heilongjiang Province HospitalHarbin 150000Heilongjiang ProvinceChina Translational Medicine Center of Northern China Harbin Medical UniversityHarbin 150081Heilongjiang ProvinceChina

BACKGROUND As the primary microtubule organizing center in animal cells,centrosome abnormalities are involved in human colon cancer.AIM To explore the role of centrosome-related genes(CRGs)in colon cancer.METHODS CRGs were collected from public databases.Consensus clustering analysis was performed to separate the Cancer Genome Atlas cohort.Univariate Cox and least absolute shrinkage selection operator regression analyses were performed to identify candidate prognostic CRGs and construct a centrosome-related signature(CRS)to score colon cancer patients.A nomogram was developed to evaluate the CRS risk in colon cancer patients.An integrated bioinformatics analysis was conducted to explore the correlation between the CRS and tumor immune microenvironment and response to immunotherapy,chemotherapy,and targeted therapy.Single-cell transcriptome analysis was conducted to examine the immune cell landscape of core prognostic genes.RESULTS A total of 726 CRGs were collected from public databases.A CRS was constructed,which consisted of the following four genes:TSC1,AXIN2,COPS7A,and MTUS1.Colon cancer patients with a high-risk signature had poor survival.Patients with a high-risk signature exhibited decreased levels of plasma cells and activated memory CD4+T cells.Regarding treatment response,patients with a high-risk signature were resistant to immunotherapy,chemotherapy,and targeted therapy.COPS7A expression was relatively high in endothelial cells and fibroblasts.MTUS1 expression was high in endothelial cells,fibroblasts,and malignant cells.CONCLUSION We constructed a centrosome-related prognostic signature that can accurately predict the prognosis of colon cancer patients,contributing to the development of individualized treatment for colon cancer.

关键词： Colon cancer Centrosome Signature Prognostic Immune microenvironment Therapy

LncFASA promotes cancer ferroptosis via modulating PRDX1 phase separation

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Science China(Life Sciences) 2024年第3期67卷 488-503页

作者： Xiao Fan Fangzhou Liu Xiang Wang Ying Wang Yu Chen Chengyu Shi Xinwan Su Manman tan Qingfeng yan Jinrong Peng Jianzhong Shao yan Xiong Aifu lin MOE Laboratory of Biosystem Homeostasis and Protection College of Life SciencesZhejiang UniversityHangzhou 310058China Key Laboratoryof Cancer Prevention and Intervention China National Ministry of EducationHangzhou 310009China Cancer Center Zhejiang UniversityHangzhou 310058China Key Laboratory for Cell and Gene Engineering of Zhejiang Province Hangzhou 310058China Department of Central Laboratory the First People's Hospital of HuzhouHuzhou 313000China Key Laboratory of Integrated Oncology and Intelligent Medicine of Zhejiang Province Affiliated Hangzhou First People's HospitalZhejiang University School of MedicineHangzhou 310006China MOE Key Laboratory for Molecular Animal Nutrition College of Animal SciencesZhejiang UniversityHangzhou 310058China Department of Orthopedic Surgery the Second Affiliated HospitalSchool of MedicineZhejiang UniversityHangzhou 310000China Breast Center of the First Affiliated Hospital School of MedicineZhejiang UniversityHangzhou 310003China International School of Medicine International Institutes of MedicineThe 4th Affiliated Hospital of Zhejiang University School of MedicineYiwu 322000China

Ferroptosis, a unique type of non-apoptotic cell death resulting from iron-dependent lipid peroxidation, has a potential physiological function in tumor suppression, but its underlying mechanisms have not been fully elucidated. Here, we report that the long non-coding RNA(lncRNA) LncFASA increases the susceptibility of triple-negative breast cancer(TNBC) to ferroptosis. As a tumor suppressor, LncFASA drives the formation of droplets containing peroxiredoxin1(PRDX1), a member of the peroxidase family, resulting in the accumulation of lipid peroxidation via the SLC7A11-GPX4 axis. Mechanistically, LncFASA directly binds to the Ahpc-TSA domain of PRDX1, inhibiting its peroxidase activity by driving liquid-liquid phase separation, which disrupts intracellular ROS homeostasis. Notably, high LncFASA expression indicates favorable overall survival in individuals with breast cancer, and LncFASA impairs the growth of breast xenograft tumors by modulating ferroptosis. Together, our findings illustrate the crucial role of this lncRNA in ferroptosis-mediated cancer development and provide new insights into therapeutic strategies for breast cancer.

关键词： long non-coding RNA peroxiredoxin liquid-liquid phase separation ferroptosis breast cancer

Eutectic-derived synthesis of hierarchically nanoporous copper for electrochemical actuation and solar steam generation

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Nano Research 2024年第3期17卷 2011-2018页

作者： Qingguo Bai yan Wang Fuquan tan Zhonghua Zhang Key Laboratory for Liquid-Solid Structural Evolution and Processing of Materials(Ministry of Education) School of Materials Science and EngineeringShandong UniversityJingshi Road 17923Jinan 250061China School of Applied Physics and Materials Wuyi UniversityDongcheng Village 22Jiangmen 529020China School of Materials Science and Engineering University of JinanWest Road of Nan Xinzhuang 336Jinan 250022China

The utilization of nanoporous copper(np-Cu)as a metallic actuator has gained attention in recent years due to its cost-effectiveness in comparison to other precious metals.Despite this,the enhancement of np-Cu’s actuation performance remains a challenge due to limitations in its strain amplitude and actuation rate.Additionally,np-Cu has been deemed as a promising material for solar absorption due to its localized surface plasmon resonance effect.However,practical applications such as solar steam generators(SSGs)utilizing np-Cu have yet to be documented.In this study,we present the development of hierarchically nanoporous copper(HNC)through the dealloying of a eutectic Al-Cu alloy.The hierarchical structure of the HNC features a combination of ordered flat channels and randomly distributed continuous nanopores,which work in synergy to improve actuation performance.The ordered flat channels,with a sub-micron scale,facilitate rapid mass transport of electrolyte ions,while the nano-sized continuous pores,due to their large specific surface area,enhance the induced strain.Our results indicate that the HNC exhibits improved actuation performance,with a two times increase in both strain amplitude and rate in comparison to other reported np-Cu.Additionally,the HNC,for the first time,showcases excellent solar steam generation capabilities,with an evaporation rate of 1.47 kg·m^(-2)·h^(-1) and a photothermal conversion efficiency of 92%under a light intensity of 1 kW·m^(-2),which rivals that of nanoporous gold and silver film.The enhanced actuation performance and newly discovered solar steam generation properties of the HNC are attributed to its hierarchically porous structure.

关键词： eutectic alloy dealloying hierarchically nanoporous copper(HNC) actuation solar steam generation

Synthesis and characteristics of transparent Gd_(2)O_(3)ceramics with cubic structure

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Journal of Advanced Ceramics 2024年第4期13卷 463-468页

作者： Akio Ikesue yan lin Aung World Lab Co. Nagoya456-8587Japan

Transparent Gd_(2)O_(3)ceramics with a cubic crystal structure were successfully synthesized for the first time.The Gd_(2)O_(3)ceramics subjected to hot isostatic press(HIP)at 1070℃consisted of uniform grains of 2-3μm,and only a few residual pores could be detected inside the materials.X-ray diffraction(XRD)shows that the obtained polycrystalline materials have a cubic crystal structure,and the transmission polarized light observation shows that there is no birefringence inside the materials,indicating inherent optical properties of the cubic crystal structure.The optical absorption edge is 640 nm(optical band gap:2.1 eV),and the transmittance in the visible to near-infrared region is 72%,which is close to the theoretical transmittance calculated from Fresnel loss.Verdet constant of this material is almost wavelength-independent,and it is diamagnetic since it has the opposite polarity to that of common paramagnetic materials.

关键词： gadolinium oxide cubic hot isostatic press(HiP) diamagnetic Verdet constant

Long-term Evolution of Solar Activity and Prediction of the Following Solar Cycles

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Research in Astronomy and Astrophysics 2024年第3期24卷 194-204页

作者： Pei-Xin Luo Bao-lin tan National Astronomical Observatories Chinese Academy of SciencesBeijing 100101China School of Astronomy and Space Science University of Chinese Academy of SciencesBeijing 100049China

Solar activities have a great impact on modern high-tech systems,such as human aerospace activities,satellite communication and navigation,deep space exploration,and related scientific research.Therefore,studying the long-term evolution trend of solar activity and accurately predicting the future solar cycles are highly anticipated.Based on the wavelet transform and empirical function fitting of the longest recorded data of the annual average relative sunspot number(ASN)series of 323 yr to date,this work decisively verifies the existence of the solar century cycles and confirms that its length is about 104.0 yr,and the magnitude has a slightly increasing trend on the timescale of several hundred years.Based on this long-term evolutionary trend,we predict solar cycles 25 and26 by using phase similar prediction methods.As for solar cycle 25,its maximum ASN will be about146.7±33.40,obviously stronger than solar cycle 24.The peak year will occur approximately in 2024,and the period will be about 11±1 yr.As for solar cycle 26,it will start around 2030,and reach its maximum between2035 and 2036,with maximum ASN of about 133.0±3.200,and period of about 10 yr.

关键词： Sun activity-Sun evolution-(Sun) sunspots-methods data analysis

Investigation of formaldehyde sources and its relative emission intensity in shipping channel environment

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Journal of Environmental Sciences 2024年第8期142卷 142-154页

作者： Jiaqi Liu Shanshan Wang yan Zhang Yuhao yan Jian Zhu Sanbao Zhang Tianyu Wang Yibing tan Bin Zhou Shanghai Key Laboratory of Atmospheric Particle Pollution and Prevention(LAP3) Department of Environmental Science and EngineeringFudan UniversityShanghai 200433China Institute of Eco-Chongming(IEC) No.20 Cuiniao RoadShanghai 202162China Institute of Atmospheric Sciences Fudan UniversityShanghai 200433China National Observations and Research Station for Wetland Ecosystems of the yangtze Estuary Fudan UniversityShanghai 200438China Institute of Digitalized Sustainable Transformation Big Data InstituteFudan UniversityShanghai 200433China

Formaldehyde(HCHO)is considered one of the most abundant gas-phase carbonyl compounds in the atmosphere,which can be directly emitted through transportation sources.Long-Path Differential Optical Absorption Spectroscopy(LP-DOAS)was used to observe HCHO in the river channel of Wusong Wharf in Shanghai,China for the whole year of 2019.Due to the impact of ship activity,the annual average HCHO level in the channel is about2.5 times higher than that in the nearby campus environment.To explain the sources of HCHO under different meteorological conditions,the tracer-pair of CO and O_(x)(NO_(2)+O_(3))was used on the clustered air masses.The results of the source appointment show that primary,secondary and background account for 24.14%(3.34±1.19 ppbv),44.78%(6.20±2.04ppbv)and 31.09%(4.31±2.33 ppbv)of the HCHO in the channel when the air masses were from the mixed direction of the city and channel,respectively.By performing background station subtraction at times of high primary HCHO values and resolving the plume peaks,directly emitted HCHO/NO_(2)in the channel environment and plume were determined to be mainly distributed between 0.2 and 0.3.General cargo ships with higher sailing speeds or main engine powers tend to have higher HCHO/NO_(2)levels.With the knowledge of NO_(2)(or NO_(x))emission levels from ships,this study may provide data support for the establishment of HCHO emission factors.

关键词： HCHO LP-DOAS Channel environment Ship emissions

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World Journal of Gastrointestinal Oncology 2024年第2期16卷 458-474页

作者： Wei Ding Wei-Wei Chen Yi-Qin Wang Xue-Zhong Xu Yi-Bo Wang Yong-Min yan Yu-lin tan Department of General Surgery Wujin Hospital Affiliated with Jiangsu UniversityChangzhou 213003Jiangsu ProvinceChina Changzhou Medical Center Nanjing Medical UniversityChangzhou 213017Jiangsu ProvinceChina Department of General Surgery The Wujin Clinical College of Xuzhou Medical UniversityChangzhou 213003Jiangsu ProvinceChina

BACKGROUND Gastric cancer(GC)is a prevalent malignant tumor of the gastrointestinal system.ZNF710 is a transcription factor(TF),and zinc finger protein 710(ZNF710)-AS1-201 is an immune-related long noncoding RNA(lncRNA)that is upregulated in GC cells.AIM To assess the correlation between ZNF710-AS1-201 and immune microenvir-onment features and to investigate the roles of ZNF710-AS1-201 in the invasion and metastasis processes of GC cells.METHODS We obtained data from The Cancer Genome Atlas and Wujin Hospital.We assessed cell growth,migration,invasion,and programmed cell death using cell counting kit-8,EdU,scratch,Transwell,and flow cytometry assays.Quantitative real-time polymerase chain reaction(qRT-PCR)was used to identify the potential downstream targets of ZNF710-AS1-201.RESULTS In GC tissues with low ZNF710-AS1-201 expression,immunoassays detected significant infiltration of various antitumor immune cells,such as memory CD8 T cells and activated CD4 T cells.In the low-expression group,the half-maximal inhibitory concentrations(IC_(50)s)of 5-fluorouracil,cisplatin,gemcitabine,and trametinib were lower,whereas the IC_(50)s of dasatinib and vorinostat were higher.The malignant degree of GC was higher and the stage was later in the high-expression group.Additionally,patients with high expression of ZNF710-AS1-201 had lower overall survival and disease-free survival rates.In vitro,the overexpression of ZNF710-AS1-201 greatly enhanced growth,metastasis,and infiltration while suppressing cell death in HGC-27 cells.In contrast,the reduced expression of ZNF710-AS1-201 greatly hindered cell growth,enhanced apoptosis,and suppressed the metastasis and invasion of MKN-45 cells.The expression changes in ZNF710 were significant,but the corresponding changes in isocitrate dehydrogenase-2,Semaphorin 4B,ARHGAP10,RGMB,hsa-miR-93-5p,and ZNF710-AS1-202 were not consistent or statistically significant after overexpression or knockdown of ZNF710-AS1-201,as determined by qRT-PCR.CONCLUSION Immune-related lncRNA ZNF710-AS1-201 faci

关键词： Gastric cancer ZNF710-AS1-201 Proliferation Metastasis Invasion Apoptosis