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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

Bioinspired metal-organic framework nanozyme reinforced with thermosensitive hydrogel for regulating inflammatory responses in Parkinson’s disease

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Nano Research 2024年第2期17卷 858-865页

作者： Xiaowan Fan tao Zhang Xin Ding Yushuo Gu Qing Li Wei jiang Kelong Fan Nanozyme Medical Center Academy of Medical ScienceZhengzhou UniversityZhengzhou 450001China Department Central-China Branch of National Center for Cardiovascular DiseasesHean Cardiovascular Disease CenterFuwai Central-China HospitalCentral China Fuwai Hospital of Zhengzhou UniversityZhengzhou 450046China Application Center for Precision Medicine the Second Affiliated Hospital of Zhengzhou UniversityZhengzhou 450052China CAS Engineering Laboratory for Nanozyme Key Laboratory of Protein and Peptide PharmaceuticalsInstitute of BiophysicsChinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 101408China Department of General Surgery Strategic Support Force Medical CenterBeijing 100101China Department of Anesthesiology Pain and Perioperative MedicineThe First Affiliated Hospital of Zhengzhou UniversityZhengzhou 450052China

Parkinson’s disease(PD)is a prevalent neurodegenerative disorder accompanied by movement disorders and neuroinflammatory ***-inflammatory intervention to regulate oxidative stress in the brain is beneficial for managing ***,traditional natural antioxidants have failed to meet the clinical treatment demands due to insufficient activity and ***,Cu-doping zeolite imidazolate framework-8(ZIF-8)nanozyme is designed to simulate Cu/Zn superoxide dismutase(SOD)by biomimetic *** nanozyme composite is then integrated into thermosensitive hydrogel(poly(lactic-co-glycolic acid)-poly(ethylene glycol)-poly(lactic-co-glycolic acid)(PLGA-PEG-PLGA))to form an effective antioxidant system(Cu-ZIF@Hydrogel).The thermosensitive hydrogel incorporating nanozymes demonstrate distinct viscoelastic properties aimed at enhancing local nanozyme adhesion,prolonging nanozyme retention time,and modulating antioxidant activity,thus significantly improving the bioavailability of *** the cellular and animal levels of PD,we find that Cu-ZIF@Hydrogel bypass the blood-brain barrier and efficiently accumulate in the nerve ***,the Cu-ZIF@Hydrogel significantly alleviate the PD’s behavioral and pathological symptoms by reducing the neuroinflammatory levels in the lesion ***,the hydrogel-incorporating nanozyme system holds great potential as a simple and reliable avenue for managing PD.

关键词： bioinspired nanozyme thermosensitive hydrogel Parkinson’s disease oxidative stress neuroinflammatory

High-chromium vanadium-titanium magnetite all-pellet integrated burden optimization and softening-melting behavior based on flux pellets

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International Journal of Minerals,Metallurgy and Materials 2024年第3期31卷 498-507页

作者： Bojian Chen tao jiang Jing Wen Guangdong Yang Tangxia Yu Fengxiang Zhu Peng Hu School of Metallurgy Northeastern UniversityShenyang 110819China Key Laboratory for Ecological Metallurgy of Multimetallic Mineral(Ministry of Education) Northeastern UniversityShenyang 110819China Liaoning Key Laboratory for Metallurgical Sensor and Technology Shenyang 110819China State key laboratory of vanadium and titanium resources comprehensive utilization Panzhihua 617000China

High-chromium vanadium-titanium magnetite(HVTM)is a crucial polymetallic-associated resource to be *** allpellet operation is a blast furnace trend that aims to reduce carbon dioxide emissions in the *** referencing the production data of vanadium-titanium magnetite blast furnaces,this study explored the softening-melting behavior of high-chromium vanadium-titanium magnetite and obtained the optimal integrated burden based on flux *** results show that the burden with a composition of 70wt%flux pellets and 30wt%acid pellets exhibits the best softening-melting *** comparison to that of the single burden,the softening-melting characteristic temperature of this burden composition was *** melting interval first increased from 307 to 362℃and then decreased to 282℃.The maximum pressure drop(ΔPmax)decreased from 26.76 to 19.01 *** permeability index(S)dropped from 4643.5 to 2446.8 kPa·℃.The softening-melting properties of the integrated burden were apparently *** acid pellets played a role in withstanding load during the softening *** flux pellets in the integrated burden exhibited a higher slag melting point,which increased the melting temperature during the melting *** slag homogeneity and the TiC produced by over-reduction led to the gas permeability deterioration of the single *** segregation of the flux and acid pellets in the HVTM proportion and basicity mainly led to the better softening-melting properties of the integrated burden.

关键词： high-chromium vanadium-titanium magnetite softening-melting properties all pellets integrated burden flux pellets

Implementation of gastrointestinal function protection in severe acute pancreatitis

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Hepatobiliary & Pancreatic Diseases International 2024年第5期23卷 521-522页

作者： Fu-Zheng tao Rong-Lin jiang Shui-Fang Jin Intensive Care Unit Taizhou Integrated Traditional Chinese and Western Medicine HospitalTaizhou 310075China Intensive Care Unit the First Affiliated Hospital of Zhejiang Chinese Medical University(Zhejiang Provincial Hospital of Chinese Medicine)Hangzhou 310006China

Severe acute pancreatitis(SAP)is a serious systemic disease associated with strong local inflammatory reactions and serious systemic pathophysiological disorders caused by trypsin *** with SAP are prone to exhibit gastrointestinal ***,gastrointestinal dysfunction further aggravates the systemic inflammatory response and metabolic abnormalities,resulting in a more critical condition of *** dysfunction is considered to be the“trigger”of multiple organ dysfunction syndrome[1].Thus,it is important to maintain gastrointestinal homeostasis in the treatment of SAP.

关键词： gastrointestinal pancreatitis acute

Surface decoration of mesocarbon microbeads with multifunctional TiNbO_(4-x)@C coating layer as high rate and stable anode of Li-ion batteries

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Rare Metals 2024年第5期43卷 2053-2066页

作者： Jia-Mei Lai Zhi-Min Zou Yu Bai Yu-tao Xing Chun-Hai jiang Fujian Provincial Key Laboratory of Functional Materials and Applications Institute of Advanced Energy MaterialsSchool of Materials Science and EngineeringXiamen University of TechnologyXiamen 361024China Shanghai XFH Science and Technology Development Co. Ltd.Shanghai 200949China Fujian XFH New Energy Materials Co. Ltd.Yong'an 366000China Shenzhen XFH Science and Technology Co. Ltd.Shenzhen 518071China Laboratorio de Microscopia Eletronica de Alta Resolucao Centro de Caracterizagao Avangada Para a Industria de Petroleo(LaMAR/CAIPE)Universidade Federal FluminenseNiteroiRJ 24210-346Brazil

Surface modification of graphite anode with electroactive matters has been proven of a more practical strategy in enhancing the performance of Li-ion batteries than exploring alternative novel anode ***,rutile TiNbO_(4-x) nanoparticles with a tunnel structure are employed as multifunctional decoration substances in combination with a carbon coating layer to improve the rate and cycle properties of mesocarbon microbeads(MCMBs).As compared to pristine MCMB,the Li^(+)diffusion coefficients of the composite anodes are enhanced due to the synergistic effect of TiNbO_(4-x)@***,the overcharge and voltage polarization of the composite anodes at high rate are obviously minimized due to the current sharing effect of the high-potential TiNbO_(4-x).Moreover,the amorphous Li_(y)TiNbO_(4-x) converted from TiNbO_(4-x) in the initial lithiation process can deliver pseudocapacitive capacity to the composite anodes from the second *** of these functions of TiNbO_(4-x)@Ccoating layer have directly contributed to the improved rate and cycle performance of the MCMB/TiNbO_(4-x)@C composite *** one containing 12.0 wt%TiNbO_(4-x) exhibits a high reversible specific capacity of 118 m Ah·g^(-1)at 10C(1C=372 m A·g^(-1)),together with a high capacity retention of 90.9%after 300 cycles at 3C,which are all much superior to those of pristine MCMB.

关键词： Li-ion batteries MCMB TiNbO_(4-x)@C Surface decoration Rate capability

Spatiotemporal Changes of Snow Depth in Western Jilin,China from 1987 to 2018

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Chinese Geographical Science 2024年第2期34卷 357-368页

作者： WEI Yanlin LI Xiaofeng GU Lingjia ZHENG Zhaojun ZHENG Xingming jiang tao Northeast Institute of Geography and Agroecology Chinese Academy of SciencesChangchun 130102China University of Chinese Academy of Sciences Beijing 100049China Changchun Jingyuetan Remote Sensing Experiment Site Chinese Academy of SciencesChangchun 130102China College of Electronic Science and Engineering Jilin UniversityChangchun 130012 National Meteorological Satellite Meteorological Center Beijing 100081China

Seasonal snow cover is a key global climate and hydrological system component drawing considerable attention due to glob-al warming ***,the spatiotemporal snow cover patterns are challenging in western Jilin,China due to natural condi-tions and sparse ***,this study investigated the spatiotemporal patterns of snow cover using fine-resolution passive mi-crowave(PMW)snow depth(SD)data from 1987 to 2018,and revealed the potential influence of climate factors on SD *** results indicated that the interannual range of SD was between 2.90 cm and 9.60 cm during the snowy winter seasons and the annual mean SD showed a slightly increasing trend(P>0.05)at a rate of 0.009 cm/*** snowmelt periods,the snow cover contributed to an increase in volumetric soil water,and the change in SD was significantly affected by air *** correlation between SD and air temperature was negative,while the correlation between SD and precipitation was positive during December and *** March,the correlation coefficient exceeded 0.5 in Zhenlai,Da’an,Qianan,and Qianguo ***,the SD and precipitation were neg-atively correlated over western Jilin in October,and several subregions presented a negative correlation between SD and precipitation in November and April.

关键词： snow cover snow depth(SD) climate changes passive microwave(PMW) western Jilin,China

Processing of a low-costγ-γ'NiPtAl coating with improved oxidation resistance

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Rare Metals 2024年第6期43卷 2832-2841页

作者： Yan jiang Liang-Liang Wei Jian He hong-Bo Guo School of Materials Science and Engineering Beihang UniversityBeijing 100191China Key Laboratory of High-Temperature Structural Materials and Protective Coatings Ministry of Industry and Information TechnologyBeihang UniversityBeijing 100191China

A novelγ-γ'(Ni solid solution—Ni_(3)Al)NiPtAl coating was produced on advanced single-crystal(SC)superalloy N5 by electroplating of a thin Pt coating with~3μm in thickness followed by heat treatment at 1000℃in *** comparison,a traditionalγ-γ'NiPtAl coating was also produced by electroplating of a thick Pt coating with~6μm in thickness followed by heat treatment at 1100℃in *** novel coating has a mass gain of~0.5 mg·cm^(-2)after 100 h 1-h cyclic oxidation at 1150℃,showing better oxidation resistance than the traditional *** oxide scale mostly consisting ofα-Al_(2)O_(3)grew on the novel coating because the element Cr from the SC alloy substrate contributes to the formation ofα-Al_(2)O_(3).Pt content in the novel coating has significant effect on the oxidation *** optimized Pt content in the coating is about 16 at%,which is helpful to reduce the diffusion of harmful elements from the substrate into the coating but also to reduce the cost of the coating.

关键词： γ-γ'NiPtAl coating Platinum Oxidation Al_(2)O_(3) Superalloy

Analysis of Sea Surface Temperature Cooling in Typhoon Events Passing the Kuroshio Current

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Journal of Ocean University of China 2024年第2期23卷 287-303页

作者： HU Yuyi SHAO Weizeng SHEN Wei ZUO Juncheng jiang tao HU Song College of Marine Sciences Shanghai Ocean UniversityShanghai 201306China East China Sea Environment Monitoring Ministry of Natural ResourcesShanghai 201206China China Waterborne Transport Research Institute Ministry of TransportBeijing 100088China

The aim of this study is to investigate the sea surface temperature(SST) cooling as typhoons pass the Kuroshio Current.A numerical circulation model,denoted as the Stony Brook Parallel Ocean Model(sbPOM),was used to simulate the SST,which includes four wave-induced effect terms(i.e.,radiation stress,nonbreaking waves,Stokes drift,and breaking waves) simulated using the third-generation wave model,called WAVEWATCH-Ⅲ(WW3).The significant wave height(SWH) measurements from the Jason-2 altimeter were used to validate the WW3-simulated results,yielding a root mean square error(RMSE) of less than 0.50 m and a correlation coefficient(COR) of approximately *** water temperature measured from the Advanced Research and Global Observation Satellite was applied to validate the model ***,the RMSE of the SST is 0.92℃ with a COR of approximately *** revealed in the sbPOM-simulated SST fields,a reduction in the SST at the Kuroshio Current region was observed as a typhoon passed,although the water temperature of the Kuroshio Current is relatively *** variation of the SST is consistent with that of the current,whereas the maximum SST lagged behind the occurrence of the peak ***,the Stokes drift plays an important role in the SST cooling after analyzing four wave-induced terms in the background of the Kuroshio *** sensitivity experiment also showed that the accuracy of the water temperature was significantly reduced when including breaking waves,which play a negative role in the inside part of the *** variation in the mean mixing layer depth(MLD) showed that a typhoon could enhance the mean MLD in the Kuroshio Current area in September and October,whereas a typhoon has little influence on the mean MLD in the Kuroshio Current area in ***,the mean MLD rapidly decreased with the weakening of the strong wind force and wave-induced effects when a typhoon crossed the Kuroshio Current.

关键词： typhoon wave sea surface temperature Kuroshio Current

A disk I/O optimized system for concurrent graph processing jobs

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Frontiers of Computer Science 2024年第3期18卷 13-29页

作者： Xianghao XU Fang WANG hong jiang Yongli CHENG Dan FENG Peng FANG School of Computer Science and Engineering Nanjing University of Science and TechnologyNanjing 210094China Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhan 430074China Department of Computer Science&Engineering University of Texas at ArlingtonArlingtonTX 76019USA College of Computer and Data Science Fuzhou UniversityFuzhou 350108China Zhejiang Lab Hangzhou 311121China

In order to analyze and process the large graphs with high cost efficiency,researchers have developed a number of out-of-core graph processing systems in recent years based on just one commodity *** the other hand,with the rapidly growing need of analyzing graphs in the real-world,graph processing systems have to efficiently handle massive concurrent graph processing(CGP)***,due to the inherent design for single graph processing job,existing out-of-core graph processing systems usually incur unnecessary data accesses and severe competition of I/O bandwidth when handling the CGP *** this paper,we propose GraphCP,a disk I/O optimized out-of-core graph processing system that efficiently supports the processing of CGP *** proposes a benefit-aware sharing execution model to share the I/O access and processing of graph data among the CGP jobs and adaptively schedule the graph data loading based on the states of vertices,which efficiently overcomes above challenges faced by existing out-of-core graph processing ***,GraphCP adopts a dependency-based future-vertex updating model so as to reduce disk I/Os in the future *** addition,GraphCP organizes the graph data with a Source-Sorted Sub-Block graph representation for better processing capacity and I/O access *** evaluation results show that GraphCP is 20.5×and 8.9×faster than two out-of-core graph processing systems GridGraph and GraphZ,and 3.5×and 1.7×faster than two state-of-art concurrent graph processing systems Seraph and GraphSO.

关键词： graph processing disk I/O concurrent jobs