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Flexible assistance strategy of lower limb rehabilitation exoskeleton based on admittance model

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Science China(Technological Sciences) 2024年第3期67卷 823-834页

作者： KOU JianGe WANG YiXuan chen ZhenLei SHI Yan GUO qing XU Meng School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China Department of Musculoskeletal Tumor Senior Department of Orthopedicsthe Fourth Medical Centerof PLA GeneralHospitalBeijing 100853China

Exercise training based on exoskeleton is an effective rehabilitation method for stroke patients. However, some rehabilitation exoskeletons still have poor wearable performance and obvious human-robot impedance during training, which easily cause secondary injuries to the patients. In this study, a variable admittance control strategy is proposed to improve the operator's wearable comfort, which can adapt to different operators by regulating admittance parameters. The admittance controller has two feedback loops: the position inner-loop and the admittance outer-loop. Meanwhile, the exoskeleton Lagrange model is constructed with unknown friction disturbance. By using Lyapunov technique and backstepping with state observer, the joint position error of exoskeleton is convergence into a zero neighborhood. The effectiveness of the proposed admittance controller is verified by both simulation and experiment. The tracking error of hip and knee joint is less than 4 degrees while the human-robot interaction torque is constrained in a tolerable range of the operator.

关键词： human-robot interaction exoskeleton backstepping admittance control

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The molecular genetics of PI3K/PTEN/AKT/mTOR pathway in the malformations of cortical development

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Genes & Diseases 2024年第5期11卷 252-271页

作者： qing Ma Guang chen Ying Li Zhenming Guo Xue Zhang NHC and CAMS Key Laboratory of Molecular Probe and Targeted Theranostics Harbin Medical UniversityHarbinHeilongjiang 150000China Department of Urology The Fourth Hospital of Harbin Medical UniversityHarbinHeilongjiang 150000China Department of Child and Adolescent Health School of Public HealthHarbin Medical UniversityHarbinHeilongjiang 150000China Institute for Regenerative Medicine Shanghai East HospitalFrontier Science Center for Stem Cell ResearchSchool of Life Sciences and TechnologyTongji UniversityShanghai 200120China

Malformations of cortical development(MCD)are a group of developmental disorders characterized by abnormal cortical structures caused by genetic or harmful environmental *** kinds of MCD are caused by genetic *** is the common cause of intellectual disability and intractable *** rapid advances in imaging and sequencing technologies,the diagnostic rate of MCD has been increasing,and many potential genes causing MCD have been successively ***,the high genetic heterogeneity of MCD makes it challenging to understand the molecular pathogenesis of MCD and to identify effective targeted ***,in this review,we outline important events of cortical *** we illustrate the progress of molecular genetic studies about MCD focusing on the PI3K/PTEN/AKT/mTOR ***,we briefly discuss the diagnostic methods,disease models,and therapeutic strategies for *** information will facilitate further research on *** the role of the PI3K/PTEN/AKT/mTOR pathway in MCD could lead to a novel strategy for treating MCD-related diseases.

关键词： Epilepsy Gene mutation Genetics Malformations of cortical development PI3K/PTEN/AKT/mTOR pathway

Scraping therapy for knee osteoarthritis: a systematic review and Meta-analysis

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Journal of Traditional Chinese Medicine 2024年第4期44卷 633-641页

作者： chen Dandan JIN Qianhong SHEN Yuanjuan WANG qing DAI Zhengxiang School of Nursing Guangxi University of Chinese Medicine School of Nursing Nanjing University of Chinese Medicine General Surgery Department Jiangsu Province Hospital of Chinese Medicine Hospital Infection Control Office Jiangsu Province Hospital of Chinese Medicine

OBJECTIVE: To systematically evaluate the efficacy of scraping therapy on knee osteoarthritis(KOA). METHODS: A computerized search was conducted in several databases, including PubMed, Web of Science, Cochrane Library, China National Knowledge Infrastructure Database, China Science and Technology Journal Database,Wanfang, and Chinese BioMedical Literature Database,from the establishment date of these databases to April 9,2023. Randomized controlled trials(RCTs) on scraping therapy for KOA were collected in accordance with the “Participants-Intervention-Control-Outcome-Study design”criteria. The methodological evaluation of the included studies was carried out using RoB 2.0, and Meta-analysis was conducted using RevMan. The Grades of Recommendations Assessment, Development and Evaluation(GRADE System) was applied to grade the quality of evidence. RESULTS: A total of 12 RCTs with 997 subjects were included in the Meta-analysis. Results indicated that compared with the control group, the scraping therapy treatment group exhibited increased Lysholm scores [mean difference(MD) = 4.96, 95% confidence intervals(CI)(3.18, 6.74), P < 0.000 01] and Hospital for Special Surgery scores [MD = 8.35, 95% CI(3.92, 12.78), P = 0.0002] and decreased visual analog scale scores [MD =-2.11, 95% CI(-3.79,-0.44), P = 0.01] and Western Ontario and McM aster University Osteoarthritis Index scores [MD =-6.77, 95% CI(-8.99,-4.56), P < 0.000 01)]. The quality of evidence obtained in this Meta-analysis was low according to the GRADE system. CONCLUSION: The available evidence suggests that scraping therapy may have certain clinical efficacy in the treatment of KOA. However, further high-quality RCTs are needed to confirm the findings.

关键词： Meta-analysis osteoarthritis, knee scraping systematic review

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Ultraviolet‑Irradiated All‑Organic Nanocomposites with Polymer Dots for High‑Temperature Capacitive Energy Storage

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Nano-Micro Letters 2024年第3期16卷 398-406页

作者： Jiale Ding yao Zhou Wenhan Xu Fan Yang Danying Zhao Yunhe Zhang Zhenhua Jiang qing Wang College of Chemistry Jilin UniversityChangchun 130012People’s Republic of China Department of Materials Science and Engineering The Pennsylvania State UniversityUniversity ParkPA 16802USAs Deutsches Elektronen-Synchrotron DESY Notkestr.8522607 HamburgGermany

Polymer dielectrics capable of operating efficiently at high electric fields and elevated temperatures are urgently demanded by next-generation electronics and electrical power *** inorganic fillers have been extensively utilized to improved high-temperature capacitive performance of dielectric polymers,the presence of thermodynamically incompatible organic and inorganic components may lead to concern about the long-term stability and also complicate film ***,zero-dimensional polymer dots with high electron affinity are introduced into photoactive allyl-containing poly(aryl ether sulfone)to form the all-organic polymer composites for hightemperature capacitive energy *** ultraviolet irradiation,the crosslinked polymer composites with polymer dots are efficient in suppressing electrical conduction at high electric fields and elevated temperatures,which significantly reduces the high-field energy loss of the composites at 200℃.Accordingly,the ultraviolet-irradiated composite film exhibits a discharged energy density of 4.2 J cm^(−3)at 200℃.Along with outstanding cyclic stability of capacitive performance at 200℃,this work provides a promising class of dielectric materials for robust high-performance all-organic dielectric nanocomposites.

关键词： High-temperature energy storage Polymer dots Ultraviolet irradiation All-organic composite dielectrics

Thermal stability of permafrost under U-shaped crushed rock embankment of the qinghai-Tibet Railway

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Advances in Climate Change Research 2024年第1期15卷 158-169页

作者： Kun-Ming XU Guan-Li JIANG Ji chen qing-Bai WU State Key Laboratory of Frozen Soil Engineering Northwest Institute of Eco-Environment and ResourcesChinese Academy of SciencesLanzhou 730000China University of Chinese Academy of Sciences Beijing 100049China Beiluhe Observation Station of Frozen Soil Environment and Engineering Northwest Institute of Eco-Environment and ResourcesChinese Academy of SciencesLanzhou730000China

The U-shaped crushed rock embankment(UCRE),of which widely utilized in the permafrost regions along the qinghai-Tibet Railway,has the capability to rapidly reduce the ground temperature of the underlying ***,there remains uncertainty regarding the adaptation of UCRE to climate change and its long-term cooling *** study focuses on nine UCRE monitoring sites along the qinghai-Tibet Railway to analyze the dynamic variations of the ground temperature underlying permafrost from 2006 to *** efficiency of UCRE in stabilizing permafrost temperature in different permafrost zones is evaluated by considering the permafrost table,ground temperature,and MAGT,as well as the temperature difference between the top and bottom of the crushed rock layer and the ground temperature variation index(GTVI).The results show that UCRE is suitable for application in extremely unstable warm permafrost regions where the MAGT is higher than-0.5℃.Moreover,UCRE effectively diminishes the disparity in permafrost thermal stability between the sunny and shaded shoulders of the *** short-term and long-term effect of cooling permafrost is experiencing a change related with permafrost ***,in stable cold permafrost regions with MAGT lower than-1.5℃,the long-term cooling effect of UCRE on permafrost seems to gradually di-minishes,but UCRE continues to fulfill the role of stabilizing the underlying permafrost thermal state over the *** results show that UCRE can quickly restore and stabilize the thermal state of permafrost in the early stages of construction,and adapt to the influence of future climate *** findings provide important guidance for understanding the variations of permafrost thermal stability beneath the embankment in permafrost regions,as well as for improving the embankment stability and operational safety of the qinghai-Tibet Railway.

关键词： qinghai-Tibet Railway U-shaped crushed rock embankment Climate change Permafrost zone Ground temperature variation index Long-term coolingrole

Photoinduced Dehalocyclization to Access Oxindoles Using Formate as a Reductant

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Chinese Journal of Chemistry 2024年第11期42卷 1203-1208页

作者： Wei Ge Jia-Xin Wang Ming-chen Fu yao Fu Hefei National Research Center for Physical Sciences at the Microscale iChEMCAS Key Laboratory of Urban Pollutant ConversionAnhui Province Key Laboratory of Biomass Clean EnergyUniversity of Science and Technology of ChinaHefeiAnhui230026 China Anhui Province Key Laboratory of Value-Added Catalytic Conversion and Reaction Engineering Hefei University of TechnologyHefeiAnhui230009 China

Herein,we report an efficient and practical protocol for the photoinduced dehalocyclization of ortho-halophenylacrylamides with formate by the engagement of a CO_(2) radical anion to access substituted *** method proceeds smoothly under mild conditions and exhibits a wide range of substrate as well as remarkable functional group compatibility.

关键词： Formate CO_(2)Radical ions Oxindole Photocatalysts Cyclization Organohalides

Cross-Dimension Attentive Feature Fusion Network for Unsupervised Time-Series Anomaly Detection

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Computer Modeling in Engineering & Sciences 2024年第6期139卷 3011-3027页

作者： Rui Wang yao Zhou Guangchun Luo Peng chen Dezhong Peng School of Computer Science and Engineering University of Electronic Science and Technology of ChinaChengdu611731China School of Computer and Software Engineering Xihua UniversityChengdu610039China School of Computer Science Sichuan UniversityChengdu610065China National Innovation Center for UHD Video Technology Chengdu610095China

Time series anomaly detection is crucial in various industrial applications to identify unusual behaviors within the time series *** to the challenges associated with annotating anomaly events,time series reconstruction has become a prevalent approach for unsupervised anomaly ***,effectively learning representations and achieving accurate detection results remain challenging due to the intricate temporal patterns and dependencies in real-world time *** this paper,we propose a cross-dimension attentive feature fusion network for time series anomaly detection,referred to as ***,a series and feature mixing block is introduced to learn representations in 1D ***,a fast Fourier transform is employed to convert the time series into 2D space,providing the capability for 2D feature ***,a cross-dimension attentive feature fusion mechanism is designed that adaptively integrates features across different dimensions for anomaly *** results on real-world time series datasets demonstrate that CAFFN performs better than other competing methods in time series anomaly detection.

关键词： Time series anomaly detection unsupervised feature learning feature fusion

Real-time arrival picking of rock microfracture signals based on convolutional-recurrent neural network and its engineering application

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第3期16卷 761-777页

作者： Bing-Rui chen Xu Wang Xinhao Zhu qing Wang Houlin Xie State Key Laboratory of Geomechanics and Geotechnical Engineering Institute of Rock and Soil MechanicsChinese Academy of SciencesWuhan430071China University of Chinese Academy of Sciences Beijing100049China

Accurately picking P-and S-wave arrivals of microseismic(MS)signals in real-time directly influences the early warning of rock mass failure.A common contradiction between accuracy and computation exists in the current arrival picking ***,a real-time arrival picking method of MS signals is constructed based on a convolutional-recurrent neural network(CRNN).This method fully utilizes the advantages of convolutional layers and gated recurrent units(GRU)in extracting short-and long-term features,in order to create a precise and lightweight arrival picking ***,the synthetic signals with field noises are used to evaluate the hyperparameters of the CRNN model and obtain an optimal CRNN *** actual operation on various devices indicates that compared with the U-Net method,the CRNN method achieves faster arrival picking with less performance *** application of large underground caverns in the Yebatan hydropower station(YBT)project shows that compared with the short-term average/long-term average(STA/LTA),Akaike information criterion(AIC)and U-Net methods,the CRNN method has the highest accuracy within four sampling points,which is 87.44%for P-wave and 91.29%for S-wave,*** sum of mean absolute errors(MAESUM)of the CRNN method is 4.22 sampling points,which is lower than that of the other *** the four methods,the MS sources location calculated based on the CRNN method shows the best consistency with the actual failure,which occurs at the junction of the shaft and the second ***,the proposed method can pick up P-and S-arrival accurately and rapidly,providing a reference for rock failure analysis and evaluation in engineering applications.

关键词： Rock mass failure Microseismic event P-wave arrival S-wave arrival Deep learning

GmNF-YC4 delays soybean flowering and maturation by directly repressing GmFT2a and GmFT5a expression

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Journal of Integrative Plant Biology 2024年第7期66卷 1370-1384页

作者： Yupeng Cai Li chen Xiaoqian Liu Weiwei yao Wensheng Hou State Key Laboratory of Crop Gene Resources and Breeding Institute of Crop SciencesChinese Academy of Agricultural SciencesBeijing 100081China Ministry of Agriculture Key Laboratory of Soybean Biology(Beijing) Institute of Crop SciencesChinese Academy of Agricultural SciencesBeijing 100081China

Flowering time and growth period are key agronomic traits which directly affect soybean(Glycine max(L.)Merr.)adaptation to diverse latitudes and farming *** FLOWERING LOCUS T(FT)homologs GmFT2a and GmFT5a integrate multiple flowering regulation pathways and significantly advance flowering and maturity in *** the genes responsible for regulating GmFT2a and GmFT5a will improve our understanding of the molecular mechanisms governing growth period in *** this study,we identified the Nuclear Factor Y-C(NFY-C)protein GmNF-YC4 as a novel flowering suppressor in soybean under long-day(LD)***-YC4 delays flowering and maturation by directly repressing the expression of GmFT2a and *** addition,we found that a strong selective sweep event occurred in the chromosomal region harboring the GmNF-YC4 gene during soybean *** GmNF-YC4Hap3 allele was mainly found in wild soybean(Glycine soja Siebold&Zucc.)and has been eliminated from *** landraces and improved cultivars,which predominantly contain the GmNF-YC4Hap1 ***,the Gmnf-yc4 mutants displayed notably accelerated flowering and maturation under LD *** alleles may prove to be valuable genetic resources for enhancing soybean adaptability to higher latitudes.

关键词： CRISPR/Cas9 early flowering and maturity GmNF-YC4 regional adaptability soybean