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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

Modulation of d-orbital to realize enriched electronic cobalt sites in cobalt sulfide for enhanced hydrogen evolution in electrocatalytic water/seawater splitting

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Rare Metals 2024年第2期43卷 511-521页

作者： Jian-Peng Sun Yu Zheng zi-Sheng Zhang Xiang-Chao meng zi-Zhen Li Key Laboratory of Marine Chemistry Theory and Technology(Ministry of Education) College of Chemistry and Chemical EngineeringOcean University of ChinaQingdao266100China Shanxi Institute of Energy Taiyuan030600China Department of Chemical and Biological Engineering Faculty of EngineeringUniversity of OttawaOttawaONK1N6 N5Canada

Herein,a novel single-atomic Pt doping and interface-rich CoS/Co(OH)_(2)(Pt-CoS/Co(OH)_(2)/C)electrocatalyst has been successfully *** from precise regulation of d-orbital electronic structure modulation on Co site,Pt-CoS/Co(OH)_(2)/C exhibited remarkable HER activity and high stability for hydrogen evolution in splitting both water(73 mV@10 mA·cm^(−2)) and seawater(87 mV@10 mA·cm^(−2)).Notably,atomic Pt doping was introduced into CoS/Co(OH)_(2),which could produce local unbalanced Coulombic force and significantly increased the number of S vacancies,and then expose abundant Co ***,Co(OH)_(2) in Pt-CoS/Co(OH)_(2)/C could act as the adsorption sites for H_(2)O in hydrogen evolution reaction *** functional theory results also proved that atomic Pt doping,S vacancies and Co(OH)_(2) coupling could result in the formation of enriched electronic Co sites and optimize d_(z2) orbital electronic structure,and then realize the depth upward shift of d-band center and enhance the adsorption of H*on Co sites.

关键词： Electrocatalysts Hydrogen evolution reaction Pt-CoS/Co(OH)_(2) d-band center Electronic structure Water/seawater electrolysis

Microplastic exposure disturbs sleep structure,reduces lifespan,and decreases ovary size in Drosophila melanogaster

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Zoological Research 2024年第4期45卷 805-820页

作者： Wei Yan zi-Jie Li zi-Yi lin Shu-Qin Ji William Ka Fai Tse Zhi-Qiang meng Chang Liu Lei Li Shenzhen-Hong Kong Institute of Brain Science Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong 518000China CAS Key Laboratory of Brain Connectome and Manipulation the Brain Cognition and Brain Disease InstituteShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong 518000China Laboratory of Developmental Disorders and Toxicology Center for Promotion of International Education and ResearchFaculty of AgricultureKyushu UniversityFukuokaFukuoka 819-0395Japan Shenzhen Key Laboratory of Drug Addiction the Brain Cognition and Brain Disease InstituteShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong 518000China Guangdong Provincial Key Laboratory of Brain Connectome and Behavior Brain Cognition and Brain Disease InstituteShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong 518000China

The organ-specific toxicity resulting from microplastic(MP)exposure has been extensively explored,particularly concerning the gut,liver,testis,and ***,under natural conditions,these effects are not restricted to specific organs or *** whether MP exposure presents a systemic threat to an entire organism,impacting factors such as lifespan,sleep,and fecundity,is *** this study,we investigated the effects of dietary exposure to two different doses of MPs(1–5μm)using the terrestrial model organism Drosophila *** indicated that the particles caused gut damage and remained within the digestive *** MP exposure significantly shortened the lifespan of adult *** short-term exposure disrupted sleep patterns,increasing the length of daytime sleep ***,one week of MP exposure reduced ovary size,with a trend towards decreased egg-laying in mated *** MPs did not penetrate the brain or ovaries,transcriptome analysis revealed altered gene expression in these *** the ovary,Gene Ontology(GO)analysis indicated genotoxic effects impacting inflammation,circadian regulation,and metabolic processes,with significant impacts on extracellular structure-related *** the brain,GO analysis identified changes in pathways associated with proteolysis and carbohydrate ***,this study provides compelling evidence of the systemic negative effects of MP exposure,highlighting the urgent need to address and mitigate environmental MP pollution.

关键词： Microplastics Sleep Lifespan Reproduction Risk assessment Drosophila melanogaster

Oxidation resistant low-alloyed Ti alloys with good ductility

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Rare Metals 2024年第8期43卷 3921-3936页

作者： meng Li Zhang-Zhi Shi Jun-Yi Xu Fu-Zhi Dai Xiang-Min Li zi-lin Li Lu-Ning Wang Beijing Advanced Innovation Center for Materials Genome Engineering State Key Laboratory for Advance Metals and MaterialsSchool of Materials Science and EngineeringUniversity of Science and Technology BeijingBeijingBeijing 100083China Institute of Materials Intelligent Technology Liaoning Academy of MaterialsShenyang 110004China

Oxidation resistance enhancement of pure Ti often comes at the cost of reduced ductility,which is frequently the problem through alloying with sole Al,Si,W,Mo and *** overcome the short coming of single element alloying,this paper proposes a multi-element low-alloying strategy to take advantage of synergistic effects and resolve the conflict between oxidation resistance and *** demonstrates that the addition of a small quantity of Ta(0.51wt%)can boost both oxidation resistance and ductility in comparison to pure ***,the combined addition of a small amount(0.54 wt%)of Ta,Nb and Si not only preserves good ductility of pure Ti,but also reduces mass gains to 14%-67%of pure Ti during 100 h oxidation at 650-850℃in *** indicates even better oxidation resistance than that obtained through the use of Ta,Nb,or Nb+Ta *** Ta+Nb+Si alloying creates an oxide layer that is less porous and more resistant to stratification and ***,a 3-μm N-rich layer can form in the Ti substrate beneath the oxide scale,in which phase transformation generates coherent Ti_(2)N with(0001)_(Ti)as the habit plane,with N atoms prefers to diffuse along■than along[0001]_(Ti).The completely transformed Ti_(2)N region or partially transformed Ti+Ti_(2)N region can effectively impede oxygen ***,the multielement low-alloying strategy is promising for enhancing both oxidation resistance and mechanical properties of metallic materials in the future.

关键词： Ti alloys Multi-element Co-alloying Oxidation resistance Mechanical properties

Microstructure and mechanical properties of a cast TRIP-assisted multiphase stainless steel

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China Foundry 2024年第3期21卷 221-228页

作者： meng-xin Wang zi-xiang Wu Jing-yu He Xiang Chen School of Materials Science and Engineering Tsinghua UniversityBeijing 100084China Key Laboratory for Advanced Materials Processing Technology Ministry of EducationBeijing 100084China

Stainless steels are used in a wide range of complex environments due to their excellent corrosion *** stainless steels can offer an excellent combination of strength,toughness and corrosion resistance due to the coexistence of different *** microstructure and mechanical properties of a novel cast multiphase stainless steel,composed of martensite,ferrite,and austenite,were investigated following appropriate heat treatment processes:solution treatment at 1,050℃ for 0.5 h followed by water quenching to room temperature,and aging treatment at 500℃ for 4 h followed by water quenching to room *** show reversed austenite is formed by diffusion of Ni element during aging process,and the enrichment of Ni atoms directly determines the mechanical stability of *** austenite with a lower Ni content undergoes a martensitic transformation during plastic *** tensile strength of the specimen exceeds 1,100 MPa and the elongation exceeds 24%after solid solution,and further increases to 1,247 MPa and 25%after aging *** enhancement is due to the TRIP effect of austenite and the precipitation of the nanoscale G-phase pinning dislocations in ferrite and martensite.

关键词： multiphase stainless steel mechanical properties TRIP effect reversed austenite G-phase

Recent advances in promising drugs for primary prevention of gastroesophageal variceal bleeding with cirrhotic portal hypertension

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Hepatobiliary & Pancreatic Diseases International 2024年第1期23卷 4-13页

作者： Ji-Yao Sheng zi-Fan meng Qiao Li Yong-Sheng Yang Department of Hepatobiliary and Pancreatic Surgery the Second Hospital of Jilin UniversityChangchun 130041China Jilin Engineering Laboratory for Translational Medicine of Hepatobiliary and Pancreatic Diseases the Second Hospital of Jilin UniversityChangchun 130041China

Background:Gastroesophageal variceal bleeding is one of the most severe complications of patients with *** primary prevention drugs,including non-selectiveβ-blockers,have effectively reduced the incidence of bleeding,their efficacy is limited due to side effects and related *** recent advances in precision medicine,precise drug treatment provides better treatment *** sources:Literature search was conducted in PubMed,MEDlinE and Web of Science for relevant articles published up to May *** on clinical trials was obtained from https://***/and http://***/.Results:The in-depth understanding of the pathogenesis and advances of portal hypertension has enabled the discovery of multiple molecular targets for promising *** to the site of action,these drugs could be classified into four classes:intrahepatic,extrahepatic,both intrahepatic and extrahepatic targets and *** these classes of drugs offer advantages over traditional treatments in prevention of gastroesophageal variceal bleeding in patients with cirrhotic portal ***:This review classified and summarized the promising drugs,which prevent gastroesophageal variceal bleeding by targeting specific markers of pathogenesis of portal hypertension,demonstrating the significance of using the precision medicine strategy to discover and develop promising drugs for the primary prevention of gastroesophageal variceal bleeding in patients with cirrhotic portal hypertension.

关键词： Cirrhotic portal hypertension Target drug Primary prevention Bleeding

Human influence on the duration of extreme temperature events in Asia's hotspot regions

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Advances in Climate Change Research 2024年第2期15卷 312-326页

作者： zi-meng WANG Hong-Yun MA Wei LI Hai-Shan CHEN Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters(CIC-FEMD)/Key Laboratory of Meteorological Disaster Ministry of Education(KLME)Nanjing University of Information Science and TechnologyNanjing 210044China

Observations and models indicate that human activities exert a considerable impact on the frequency and intensity of extreme temperature events,which are associated with global ***,changes in the duration of extreme temperature events and their association with human influence have not been considered in most ***,the possible relationship between the observed changes in the warm and cold spell duration(WSDI and CSDI)in hotspot regions during 1960-2014 and human influence was investigated based on the NCEP/NCAR reanalysis version 1 and Coupled Model Inter-comparison Project Phase 6(CMIP6)*** projection based on these attribution results was also *** optimal fingerprinting technique was used to compare observed changes in WSDI and CSDI to simulated changes averaged across eight CMIP6 *** show that anthropogenic(ANT)forcing contributed to the observed increase in WSDI in the three hotspot regions(West Asia,South Asia and Southeast Asia),with the majority of the changes being attributed to greenhouse gas ***,a generally weak ANT signal can be observed in the decreasing trend of CSDI and can be detected in South and Southeast *** influence of aerosol forcing remains undetected in either WSDI or CSDI,which differs from the results for frequency and intensity of extreme *** attribution results revealed that the constrained projection of WSDI is lower than the raw projection for 2015-2100 in West Asia and Southeast ***,no differences in future CSDI changes are found in Southeast Asia between the constrained and raw projections.

关键词： Extreme temperature events Duration Detection attribution Constraint projection Hotspot regions

Rational design and energy catalytic application of high-loading single-atom catalysts

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Rare Metals 2024年第10期43卷 4844-4866页

作者： zi-Wei Deng Yue Liu Jie lin Wen-Xing Chen Energy and Catalysis Center School of Materials Science and EngineeringBeijing Institute of Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Science

It is well known that single-atom catalysts(SACs)have become a hot topic in the field of catalysis due to their advantages such as 100% metal atom utilization efficiency,high catalytic activity and selectivity compared with conventional catalysts and nanocatalysts. However, the isolated metal atoms on SACs have thermodynamic instability and tend to agglomerate, which limit their catalytic ***, it is of great significance to synthesize stable and high-loading single-atom catalysts(HLSACs). In this paper,we review the research progress of HLSACs from two aspects:design and application. Firstly, we comprehensively introduce the synthesis strategies of HLSACs, namely, top-down and bottom-up methods. Secondly, we overview the application status of HLSACs in three fields: electrocatalysis, thermal catalysis and photocatalysis. Finally, we summarize the development prospects and challenges of HLSACs.

关键词： Design Electrocatalysis High-loading single-atom catalysts Photocatalysis Thermal catalysis

Use of curcumin and its nanopreparations in the treatment of inflammatory bowel disease

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World Journal of Gastroenterology 2024年第3期30卷 280-282页

作者： zi-Wen meng Bing Chang Li-Xuan Sang Department of Gastroenterology Shengjing Hospital of China Medical UniversityShenyang 110022Liaoning ProvinceChina Department of Gastroenterology the First Affiliated Hospital of China Medical UniversityShenyang 110001Liaoning ProvinceChina

Inflammatory bowel disease(IBD)is a nonspecific inflammatory disease of the intestine that includes Crohn’s disease and ulcerative *** IBD is difficult to heal and easily relapses,it could worsen patient quality of life and increase economic ***(CUR)is a bioactive component derived from the rhizome of turmeric(Curcuma longa).Many basic and clinical studies have shown that CUR can efficiently treat IBD by decreasing the activity of proinflammatory cytokines by communicating with transcription factors and signaling ***,due to the limitations of being almost insoluble in aqueous solutions and having low oral bioavailability,it is important to select appropriate pharmaceutical preparations.

关键词： Curcumin Inflammatory bowel disease Bioavailability Nanotherapeutics