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Bio-inspired Design and Inverse Kinematics Solution of an Omnidirectional Humanoid Robotic Arm with Geometric and Load Capacity Constraints

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Journal of Bionic Engineering 2024年第2期21卷 778-802页

作者： zhichao Zhu Zirong Luo Yiming Zhu Tao Jiang Minghai xia Shanjun Chen Boyu Jin College of Intelligence Science and Technology National University of Defense TechnologyChangshaChina

Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar *** four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,*** the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity *** method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm ***,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution *** simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,*** experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity *** proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.

关键词： Humanoid robotic arm Bio-inspired design Inverse kinematics solution Load capacity constraint Geometric constraint

杀虫剂施用和植物性别对叶片生理特性和叶际细菌群落的影响

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Journal of Plant Ecology 2023年第2期16卷 162-173页

作者： Zuodong Zhu Yue He Jiahui Xu Zhenghu Zhou Amit Kumar zhichao xia College of Life and Environmental Sciences Hangzhou Normal UniversityHangzhou 311121China Key Laboratory for Bioresources and Eco-environment of the Ministry of Education College of Life SciencesSichuan UniversityChengdu 610065China Center for Ecological Research Northeast Forestry UniversityHarbin 150040China Key Laboratory of Sustainable Forest Ecosystem Management-Ministry of Education Northeast Forestry UniversityHarbin 150040China Institute of Ecology Leuphana University of LüneburgLüneburg 21335Germany School of Forestry&Landscape Architecture Anhui Agricultural UniversityHefei 230036China

在全球范围内,杀虫剂被广泛应用于提高粮食产量。然而,关于施用杀虫剂对雌雄异株植物的叶片生理和叶际细菌群落影响的信息很少。因此,本研究旨在评估高效氯氟氰菊酯(一种广谱杀虫剂)对雌雄异株青杨(Populus cathayana)叶片生理和叶际细... 详细信息

在全球范围内,杀虫剂被广泛应用于提高粮食产量。然而,关于施用杀虫剂对雌雄异株植物的叶片生理和叶际细菌群落影响的信息很少。因此,本研究旨在评估高效氯氟氰菊酯(一种广谱杀虫剂)对雌雄异株青杨(Populus cathayana)叶片生理和叶际细菌群落的影响。雄性青杨叶片的光合参数(净光合速率(Pn)、气孔导度(gs)和蒸腾作用(E))显著高于雌性,且与杀虫剂的施用无关。但施用杀虫剂后,雌性和雄性的光合相关参数均显著降低。相对于雌性,雄性的降低幅度更大。同时,施用杀虫剂导致雄性叶片的过氧化物酶(POD)活性和丙二醛(MDA)含量显著增加,而超氧化物歧化酶(SOD)活性和总叶绿素含量保持不变。叶际细菌群落表现出一定的保守特性,如辛普森(Simpson)和香农(Shannon)多样性指数不受性别和杀虫剂施用的影响。然而,雌性和雄性青杨的叶际细菌群落的组成存在差异,表明内在的性别特性显著塑造了叶际细菌群落。另一方面,杀虫剂的施用显著增加了放线菌门(Actinobacteria)的相对丰度,但却减少了变形菌门(Proteobacteria)的相对丰度。主成分分析表明,叶片生理与特定细菌类群间存在关联。例如,变形菌门(Proteobacteria)与叶片SOD活性和MDA含量呈负相关,而放线菌门(Actinobacteria)则表现出相反的模式。我们的研究强调雌雄异株植物的叶际细菌群落组成和叶片生理特征存在性别特异性。

关键词：雌雄异株植物高效氯氟氰菊酯叶片生理叶际细菌群落性别特异性响应

Developing a fluorescence substrate for HRP-based diagnostic assays with superiorities over the commercial ADHP

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Chinese Chemical Letters 2024年第6期35卷 439-444页

作者： zhichao Zhou Fuqian Chen xiaotong xia Dong Ye Rong Zhou Lei Li Tao Deng Zhenhua Ding Fang Liu Department of Radiation Medicine Guangdong Provincial Key Laboratory of Tropical Disease ResearchSchool of Public HealthSouthern Medical UniversityGuangzhou 510515China School of Pharmaceutical Sciences Guangzhou University of Chinese MedicineGuangzhou 510006China Artemisinin Research Center Guangzhou University of Chinese MedicineGuangzhou 510006China State Key Laboratory of Respiratory Disease the First Affiliated Hospital of Guangzhou Medical UniversityGuangzhou Medical UniversityGuangzhou 510120China Guangzhou Laboratory Bio-IslandGuangzhou 510030China Nanshan Pharmaceutical Innovation Research Institute of Guangdong Province Foshan 528225China

The combination of horseradish peroxidase(HRP)and a fluorescence substrate has been attracting great interests in developing sensitive biochemical analysis and immunoassays.10-Acetyl-3,7-dihydroxyphenoxazine(ADHP or Amplex red)is the most sensitive fluorogenic substrate known for HRP in current market,however,it suffers from some drawbacks,such as non-specific reactivity to carboxylesterase and limited fluorescence *** the present study,a novel HRP substrate10-cyclopropylcarbonyl-dichloro-dihydroxyphenoxazine(AR-2),has been prepared,which exhibited improved sensitivity than ADHP in sensing ***,the fluorescence of AR-2/HRP demonstrated improved tolerance to physiological relevant p H fluctuation as compared to ADHP/*** detection of uric acid/urate oxidase reaction indicated excellent application prospect of AR-2/HRP for monitoring H_(2)O_(2)-generating biochemical *** interestingly,an enzyme-linked immunosorbent assay(ELISA)using AR-2 as the fluorescence reporter has been successfully used in detecting IgG against severe acute respiratory syndrome coronavirus 2(SARS-CoV-2)from human serum ***,AR-2 exhibits improved performances over the commercial ADHP,which will be an ideal alternative to ADHP in HRP-based fluorescence biochemical analysis and immunoassays.

关键词： Fluorescence immunoassay HRP fluorescence substrate Hydroresorufin Amplex red/ADHP SARS-CoV-2

Impacts of competition and nitrogen addition on plant stoichiometry and non-structural carbohydrates in two larch species

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Journal of Forestry Research 2021年第5期32卷 2087-2098页

作者： xiaoyi Wu Xuhua Du Shiyan Fang Jieyu Kang zhichao xia Qingxue Guo College of Life and Environmental Sciences Hangzhou Normal UniversityHangzhou 310036People’s Republic of China Key Laboratory of State Forestry Administration on Bamboo Resources and Utilization China National Bamboo Research CenterHangzhou 310012People’s Republic of China

Previous research has shown that competition between plants can have differential effects on leaf stoichiometry and non-structural carbohydrate(NSC)in different ***,little attention has been given to understanding these effects on non-photosynthetic organs,particularly of deciduous tree *** we assess the impact of competition on below and aboveground biomass,stoichiometry,nutrient composition and NSC in pure and mixed forests of two Larch species,Larix kaempferi and *** under nitrogen(N)*** enrichment did not result in stronger intraspecific competition for both species and *** benefited from the presence of *** under different N *** kept relatively stable C/N compared to roots and branches in response to competition,while N addition imposed stronger impacts on N/P of different organs rather than *** contrast to stable C concentrations,starch and soluble sugar concentrations were more easily impacted by competition and the addition of *** forced *** and *** to allocate more carbon into storage by increasing their starch concentration and starch/soluble sugar of stems under ***,no significant differences in stoichiometry and NSC concentration between intra-and interspecific competition were *** and nutrient pools of *** stems,branches and coarse roots consistently declined due to competition regardless of N *** and fine roots of *** accumulated more N when in competition with *** than with a conspecific neighbor under N *** results show that NSC was more sensitive to competition relative to stoichiometric traits(N and P)of non-photosynthetic organs.

关键词： Intraspecific and interspecific competition Non-photosynthetic organs Resource competition Remobilization and storage Mixed forest plantations

负载盐酸阿霉素的氯化壳聚糖-海藻酸微粒的制备及释药性能

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高分子材料科学与工程 2022年第9期38卷 7-15页

作者：刘彩霞吴志夏智超吴庆喜安徽大学生命科学学院生态工程与生物技术安徽省重点实验室现代生物制造安徽省重点实验室安徽合肥230601

采用均质乳化法制备了氯化壳聚糖-海藻酸微粒,以盐酸阿霉素为模型药物,分别以Ca^(2+),Zn^(2+)和Cu^(2+)3种金属阳离子为交联剂,探究了3种交联剂形成的微粒对药物装载能力及释放性能的影响。研究表明,负载有盐酸阿霉素的氯化壳聚糖-海藻... 详细信息

采用均质乳化法制备了氯化壳聚糖-海藻酸微粒,以盐酸阿霉素为模型药物,分别以Ca^(2+),Zn^(2+)和Cu^(2+)3种金属阳离子为交联剂,探究了3种交联剂形成的微粒对药物装载能力及释放性能的影响。研究表明,负载有盐酸阿霉素的氯化壳聚糖-海藻酸钙、氯化壳聚糖-海藻酸锌、氯化壳聚糖-海藻酸铜3种微粒,其形貌圆整,大小均一,平均粒径分别为2.56μm,2.78μm和1.81μm,包封率分别为97.22%,98.01%和41.29%。在pH=6.8的PBS溶液中恒温恒速进行药物释放,3组微粒都具有明显的缓释特征,且金属阳离子的种类对包封率及缓释效果都具有显著性影响。研究表明,3种金属阳离子均可用作制备微粒的交联剂,考虑到毒性,以Ca^(2+)和Zn^(2+)为交联剂制得的微粒适宜作为药物微载体,可为盐酸阿霉素药物载体的设计提供良好的思路。

关键词：盐酸阿霉素微粒交联剂海藻酸钠氯化壳聚糖

Broadleaf trees mediate chemically the growth of the conifer Chinese fir through root exudates

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Broadleaf trees mediate chemically the growth of the conifer...

中国第九届植物化感作用学术研讨会

作者： HE Yue LV Rubing xia zhichao College of Life and Environmental Sciences Hangzhou Normal University

Tree performance in mixed-species forest plantations is ultimately the net result of positive and negative interactions among *** increasing knowledge of interspecific interactions,relatively little is known about the chemical mechanisms mediating such *** constructed mixed planting systems with two species between the conifer Chinese fir(Cunninghamia lanceolata(Lamb.)Hook) and broadleaf species Cinnamomum camphora ***,Elaeocarpus decipiens Hemsl,Liquidambar formosana Hance and Michelia macclurei *** on a series of manipulative experiments,we investigated the performance of Chinese fir and analyzed root placement patterns and the composition of main soil microbial *** broadleaf trees influenced the growth of Chinese fir roots more than growth of ***,*** roots released the allelochemicals into the soil environment,resulting in growth inhibition of Chinese fir,and shift of main soil microbial ***,when grown with *** and ***,the growth of Chinese fir was consistently *** particular,Chinese fir responded to them by enhancing root growth and altering root behaviour,resulting in a shift from growth inhibition to chemical *** positive inter-specific interactions also stimulated shifts in main soil microbial characteristics of Chinese *** experiments found that non-toxic signaling molecules in root exudates of *** and *** may be responsible for mediating positive root-root interactions and regulating the composition of main soil microbial *** study demonstrates that broadleaf species chemically mediate the growth of Chinese fir through root *** a novel mechanism offers many implications and applications for reforestation programs undertaken to rehabilitate forest plantations that suffer from tree selection problems.

关键词： Root exudates Allelochemical Non-toxic signaling molecules Root traits Root placement pattern Soil microbial community

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数据要素市场体系建构与价值实现路径探索

情报学报 2024年第1期43卷 1-9页

作者：孙建军巴志超夏义堃南京大学数据智能与交叉创新实验室南京210023 南京大学信息管理学院南京210023 南京大学数据管理创新研究中心苏州215163

数据要素市场体系的顶层设计是加快推进数字要素市场化配置、推动我国数字经济高质量发展的前提基础与关键部署。通过剖析当前全国数据要素统一大市场建设面临的瓶颈与挑战,本文分析数据要素市场建设的特殊性,提出全国统一数据要素市场... 详细信息

数据要素市场体系的顶层设计是加快推进数字要素市场化配置、推动我国数字经济高质量发展的前提基础与关键部署。通过剖析当前全国数据要素统一大市场建设面临的瓶颈与挑战,本文分析数据要素市场建设的特殊性,提出全国统一数据要素市场体系“一体两翼”“三基”“七要点”的总体架构思路,以及战略布局、结构布局和空间布局相统一的总体布局方案,并从市场体系建设新特征、内在结构与运行模式解析、数据要素市场与传统要素市场一体化联动机理揭示与场景应用示范等方面探索促进数据要素市场价值升级与高质量发展的实现路径,从而为推动数据资源化、资产化和资本化的可持续运营提供参考借鉴。

关键词：数据要素市场体系架构价值实现路径运行模式联动机制

基于变分模态分解和希尔伯特变换的转子非平稳信号故障特征识别

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哈尔滨工程大学学报 2024年第5期45卷 825-832页

作者：朱少民夏虹尹文哲王志超张汲宇上海交通大学船舶海洋与建筑工程学院上海200240 浙江清华柔性电子技术研究院浙江嘉兴314006 哈尔滨工程大学核安全与先进核能技术工业和信息化部重点实验室黑龙江哈尔滨150001 哈尔滨工程大学核安全与仿真技术国防重点学科实验室黑龙江哈尔滨150001

为了提升传统希尔伯特黄变换在处理复杂非平稳信号时的时频分析能力,本文将变分模态分解和希尔伯特变换进行结合,提出了一种时频分析方法变分模态分解和希尔伯特变换。此外,为了对变分模态分解的模态数进行自动调整,还提出了一种基于相... 详细信息

为了提升传统希尔伯特黄变换在处理复杂非平稳信号时的时频分析能力,本文将变分模态分解和希尔伯特变换进行结合,提出了一种时频分析方法变分模态分解和希尔伯特变换。此外,为了对变分模态分解的模态数进行自动调整,还提出了一种基于相关系数的希尔伯特黄变换参数优化方法,有效避免了由于希尔伯特黄变换模态数设置不合理而导致的信号分解不足和分解过剩的问题。利用转子故障信号对变分模态分解和希尔伯特变换方法的时频分析能力进行了验证,并且与传统希尔伯特黄变换的对比突出了该方法在处理非平稳信号中的优势。

关键词：转子非平稳信号变分模态分解希尔伯特黄变换特征识别

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信息通信技术产业政策注意力分配时空差异与影响机制分析——基于社会表征理论视角

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情报理论与实践 2024年第7期47卷 145-159页

作者：刘蕾蕾巴志超董克夏义堃南京大学数据管理创新研究中心江苏苏州215163 南京大学信息管理学院江苏南京210023

[目的/意义]信息通信技术(ICT)政策是引领社会经济转型发展、提升政府治理能力与公共服务的重要战略工具。识别并理解不同地区各级政府对ICT政策采纳与关注的异质性,对于缩小数字鸿沟和促进经济均衡发展至关重要。[方法/过程]文章以1994... 详细信息

[目的/意义]信息通信技术(ICT)政策是引领社会经济转型发展、提升政府治理能力与公共服务的重要战略工具。识别并理解不同地区各级政府对ICT政策采纳与关注的异质性,对于缩小数字鸿沟和促进经济均衡发展至关重要。[方法/过程]文章以1994—2021年中国政府发布的ICT政策为研究样本,基于社会表征理论中动态化、成因化和结构化三维视角探索中央和八大经济区域政府在ICT政策注意力分配的时空差异与影响机制。首先,利用结构化主题模型识别大规模ICT政策中的重要议题,从注意力强度、核心内容和主题协同性三方面量化区域政府在不同ICT政策议题上的注意力分配差异;其次,从动态化视角分析各区域政府对ICT政策注意力分配的演进过程;再次,从成因化视角考察地理位置、发布时间、政策被引次数等因素对ICT政策注意力分配的作用机理;最后,从结构化视角探讨政策类型、政策效力等级、政府行政级别三个因素对不同经济区域对ICT政策注意力分配的调节效用。[结果/结论]中央政府表现出注意力多样性和相对稳定性的特征,而地方政府对议题的关注具有显著优先级和短时热度现象;地理位置、发布时间和政策被引次数显著影响政策议题的注意力分配,其作用机制与议题属性相关;政策类型、效力等级和行政级别从执政理念、政府权力以及制度水平三个方面调节决策群体的注意力分配表征。

关键词：信息通信技术政策注意力分配结构主题模型社会表征理论空间异质性

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