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A Position and Torque Switching Control Method for Robot Collision Safety

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International Journal of Automation and computing 2018年第2期15卷 156-168页

作者： Zhi-Jing Li Hai-Bin Wu jian-ming yang ming-Hao Wang Jin-Hua Ye School of Mechanical Engineering and Automation Fuzhou University Department of Mechanical System Meijo University

With the increasing number of human-robot interaction applications, robot control characteristics and their effects on safety as well as performance should be taken account into the robot control system. In this paper, a position and torque switching con- trol method was proposed to improve the robot safety and performance, when robots and humans work in the same space. The switch- ing control method includes two modes, the position control mode using a proportion-integral （PI） algorithm, and the torque control mode using sliding mode control （SMC） algorithm for eliminating swing. Under the normal condition, the robot works in position con- trol mode for trajectory tracking with quick response. Once the robot and human collide, the robot will switch to torque control mode immediately, and the impact force will be restricted within a safe range. When the robot and human detach, the robot will resume to po- sition control mode automatically. Moreover, for a better performance, the joint torque is detected fl＇om direct-current （DC） motor＇s cur- rent rather than the torque sensor. The experiment results show that the proposed approach is effective and feasible.

关键词： Human-robot interaction position control torque control switching control robot collision safety.

Giant low-grade appendiceal mucinous neoplasm: A case report

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World Journal of Clinical Cases 2019年第13期7卷 1726-1731页

作者： jian-ming yang Wei-Hao Zhang Dan-Dan yang Hao jiang Lei Yu Feng Gao Department of Colorectal Cancer Surgery Second Affiliated Hospital of Harbin Medical University

BACKGROUND Appendiceal mucinous neoplasm (AMN) is extremely rare. Since the disease does not manifest a characteristic profile of clinical symptoms, it is easy to misdiagnose and still difficult to diagnose without operation. Here, we report a case of low-grade AMN (LAMN) and summarize its clinical features, diagnosis, and treatment. CASE SUMMARY A 63-year-old postmenopausal woman presented with a history of right lower abdominal mass. The patient underwent laparotomy, which showed an appendiceal mucocele originating from the apex of the appendix, and a simple appendectomy was performed. The subsequent histological assessment identified an LAMN with no lymph node involvement and negative surgical margin. The patient received six cycles of chemotherapy after surgery, and to date, more than a year after the surgery, the patient remains in good health. CONCLUSION A unified, standardized, detailed, and accurate pathological diagnosis is needed for LAMN, to facilitate selection of an appropriate surgical plan. In addition, the surgeon should record the details of the tumors in the surgical records in order to facilitate follow-up after surgery.

关键词： Mucocele of appendix Appendiceal mucinous neoplasm Low-grade appendiceal mucinous neoplasm Pathological profile Diagnosis Case report

Variability Analysis for a Two-station Queueing Network in Heavy Traffic with Arrival Processes Driven by Queues

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Acta Mathematicae Applicatae Sinica 2024年第2期40卷 445-466页

作者： jian CAO Yong-jiang GUO Kai-ming yang School of Science Beijing University of Posts and TelecommunicationsBeijing 100876China

The law of the iterated logarithm(LIL)for the performance measures of a two-station queueing network with arrivals modulated by independent queues is developed by a strong approximation *** convenience,two arrival processes modulated by queues comprise the external system,all others are belong to the internal *** is well known that the exogenous arrival has a great influence on the asymptotic variability of performance measures in *** the considered queueing network in heavy traffic,we get all the LILs for the queue length,workload,busy time,idle time and departure processes,and present them by some simple functions of the primitive *** LILs tell us some interesting insights,such as,the LILs of busy and idle times are zero and they reflect a small variability around their fluid approximations,the LIL of departure has nothing to do with the arrival process,both of the two phenomena well explain the service station’s situation of being busy all the *** external system shows us a distinguishing effect on the performance measures:an underloaded(overloaded,critically loaded)external system affects the internal system through its arrival(departure,arrival and departure together).In addition,we also get the strong approximation of the network as an auxiliary result.

关键词： two-station queueing network the law of the iterated logarithm(LIL) strong approximation fluid approximation

Assessment of genetic diversity by simple sequence repeat markers among forty elite varieties in the germplasm for malting barley breeding

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2010年第10期11卷 792-800页

作者： Jun-mei WANG jian-ming yang Jing-huan ZHU Qiao-jun JIA Yue-zhi TAO Institute of Crop and Nuclear Technology Utilization Zhejiang Academy of Agricultural Sciences Hangzhou 310021 China

The genetic diversity and relationship among 40 elite barley varieties were analyzed based on simple sequence repeat （SSR） genotyping data. The amplified fragments from SSR primers were highly polymorphic in the badey accessions investigated. A total of 85 alleles were detected at 35 SSR loci, and allelic variations existed at 29 SSR loci. The allele number per locus ranged from 1 to 5 with an average of 2.4 alleles per locus detected from the 40 badey accessions. A cluster analysis based on the genetic similarity coefficients was conducted and the 40 varieties were classified into two groups. Seven malting barley varieties from China fell into the same subgroup. It was found that the genetic diversity within the Chinese malting barley varieties was narrower than that in other barley germplasm sources, suggesting the importance and feasibility of introducing elite genotypes from different origins for malting barley breeding in China.

关键词： Barley (Hordeum vu/gare L.) Genetic similarity Simple sequence repeat (SSR) marker Cluster analysis Genetic diversity

A Simple-Prepared and Multi-Reusable Adhesive Based on Epoxy Vitrimer

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Chinese Journal of Polymer Science 2024年第10期42卷 1589-1594,I0015页

作者： Yu-Ting Wang Huan Liang Yen Wei jian-Long Wang Xiang-ming He yang yang Institute of Nuclear and New Energy Technology Tsinghua UniversityBeijing100084China The Key Laboratory of Bioorganic Phosphorus Chemistry&Chemical Biology(Ministry of Education) Department of ChemistryTsinghua UniversityBeijing100084China

Adhesives play an important role in modern society's production and daily *** robust and sustainable adhesives remains a great *** we report a sustainable epoxy-vitrimer adhesive with high adhesive strength(about 10 MPa)and reusability(82%strength after 3 times).This adhesive can be fabricated from commercially available products through a straightforward hot-pressing method without the need of *** adhesive process is also simple,requiring only 30 min at 180℃.In addition,the vitrimer adhesive has the advantages of both erasability for reuse and excellent water *** work provides a facile strategy to fabricate high-strength adhesive that ensures reusability,recyclability,low cost of raw materials,and simple processing ***,it expands the range of potential applications for epoxy vitrimers.

关键词： Epoxy Vitrimer Adhesive Reusable Sustainable

Progranulin:A promising biomarker and therapeutic target for fibrotic diseases

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Acta Pharmaceutica Sinica B 2024年第8期14卷 3312-3326页

作者： Fan yang ming-Han Cheng Hai-Feng Pan jian Gao Pediatric Translational Medicine Institute Shanghai Children’s Medical CenterSchool of MedicineShanghai Jiao Tong UniversityShanghai 200000China Department of Ophthalmology the First Affiliated Hospital of Anhui Medical UniversityHefei 230022China Department of Epidemiology and Biostatistics School of Public HealthAnhui Medical UniversityHefei 230022China Inflammation and Immune Mediated Diseases Laboratory of Anhui Province Hefei 230022China

Progranulin(PGRN),a multifunctional growth factor-like protein expressed by a variety of cell types,serves an important function in the physiologic and pathologic processes of fibrotic diseases,including wound healing and the inflammatory *** was discovered to inhibit proinflammation effect by competing with tumor necrosis factor-alpha(TNF-a)binding to TNF ***,excessive tissue repair in the development of inflammation causes tissue *** investigations have indicated the significance of PGRN in regulating inflammatory ***,multiple studies have shown that PGRN was linked to fibrogenesis,and was considered to monitor the formation of fibrosis in multiple organs,including liver,cardiovascular,lung and *** paper is a comprehensive review summarizing our current knowledge of PGRN,from its discovery to the role in *** is followed by an in-depth look at the characteristics of PGRN,consisting of its structure,basic function and intracellular ***,we will discuss the potential of PGRN in the diagnosis and treatment of fibrosis.

关键词： Progranulin Fibrotic disease Fibrosis Inflammation Biomarker Therapeutic target PGRN/TNFR interaction Signaling pathway

Danhongqing formula alleviates cholestatic liver fibrosis by downregulating long non-coding RNA H19 derived from cholangiocytes and inhibiting hepatic stellate cell activation

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Journal of Integrative Medicine 2024年第2期22卷 188-198页

作者： Meng Li yang Zhou Hui Zhu Lie-ming Xu jian Ping Institute of Liver Diseases Shuguang HospitalShanghai University of Traditional Chinese MedicineShanghai 201203China Preventive Treatment Center Yueyang Hospital of Integrated Traditional Chinese and Western MedicineShanghai University of Traditional Chinese MedicineShanghai 200437 China Department of Gastroenterology Suzhou Traditional Chinese Medicine HospitalSuzhou 215000Jiangsu ProvinceChina Shanghai Key Laboratory of Traditional Chinese Medicine Shanghai 201203China Key Laboratory of Liver and Kidney Diseases(Ministry of Education) Shanghai 201203China

Objective:This study explores the mechanism of action of Danhongqing formula(DHQ),a compoundbased Chinese medicine formula,in the treatment of cholestatic liver ***:In vivo experiments were conducted using 8-week-old multidrug resistance protein 2 knockout(Mdr2-/-)mice as an animal model of cholestatic liver *** was administered orally for 8 weeks,and its impact on cholestatic liver fibrosis was evaluated by assessing liver function,liver histopathology,and the expression of liver fibrosis-related ***-time polymerase chain reaction,Western blot,immunohistochemistry and other methods were used to observe the effects of DHQ on long non-coding RNA H19(H19)and signal transducer and activator of transcription 3(STAT3)phosphorylation in the liver tissue of Mdr2-/-*** addition,cholangiocytes and hepatic stellate cells(HSCs)were cultured in vitro to measure the effects of bile acids on cholangiocyte injury and H19 *** overexpressing H19 were constructed,and a conditioned medium containing H19 was collected to measure its effects on STAT3 protein expression and cell *** intervention effect of DHQ on these processes was also *** overexpressing H19 were constructed to measure the impact of H19 on cell activation and assess the intervention effect of ***:DHQ alleviated liver injury,ductular reaction,and fibrosis in Mdr2-/-mice,and inhibited H19expression,STAT3 expression and STAT3 *** formula also reduced hydrophobic bile acid-induced cholangiocyte injury and the upregulation of H19,inhibited the activation of HSCs induced by cholangiocyte-derived conditioned medium,and decreased the expression of activation markers in *** overexpression of H19 in a human HSC line confirmed that H19 promoted STAT3 phosphorylation and HSC activation,and DHQ was able to successfully inhibit these ***:DHQ effectively alleviated spontaneous cholestatic liver fibrosis in Md

关键词： Liver cirrhosis biliary Long non-coding RNA H19 Danhongqing formula Cholangiocyte Hepatic stellate cells STAT3 transcription factor

Expression of trefoil factors 1 and 2 in precancerous condition and gastric cancer

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World Journal of Gastroenterology 2006年第19期12卷 3119-3122页

作者： Shu-Qing Shi jian-Ting Cai jian-ming yang Department of Gastroenterology Zhejiang Provincial People's Hospital Hangzhou 310014 Zhejiang Province China Department of Gastroenterology Second Affiliated Hospital Zhejiang University School of Medicine Hangzhou 310009 Zhejiang Province China

AIM： To study the expression of trefoil factor 1 （TFF1） and TFF2 in precancerous condition and gastric cancer and to explore the relationship between TFFs and tumorigenesis, precancerous condition and gastric cancer. METHODS： The expression of TFF1 and TFF2 was immunohistochemically analyzed in paraffin-embedded samples from 140 patients including 35 cases of chronic superficial gastritis （CSG）, 35 cases of gastric ulcer （GU）, 35 cases of chronic atrophic gastritis （CAG） and 35 cases of gastric cancer （GC）. RESULTS： TFF1 and TFF2 were located in cytoplasm of gastric mucous cells. In CSG, GU, CAG and GC, the level of TFF1 expression had a decreased tendency （P〈 0.05）. The expression of TFF2 was higher in GU than in CSG, but the difference was not significant. The expression of TFF2 also had a decreased tendency in GU, CAG, and GC （P〈 0.05）. CONCLUSION： The reduced expression of TFF1 and TFF2 in precancerous conditions and gastric cancer may be associated with the proliferation and malignant transformation of gastric mucosa. More investigations are needed to explore the mechanism of TFFs and the relationship between TFFs and gastric cancer.

关键词： Trefoil factor Gastric cancer Immunohistochemistry

Individual and joint toxic effects of cadmium sulfate and α-naphthoflavone on the development of zebrafish embryo

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2014年第9期15卷 766-775页

作者： jian YIN jian-ming yang Feng ZHANG Peng MIAO Ying LIN ming-li CHEN CAS Key Lab of Bio-Medical Diagnostics Suzhou Institute of Biomedical Engineering and Technology Chinese Academic of Sciences Suzhou 215163 China Suzhou Xiexin Photovoltaic Technology Co. Ltd. Suzhou 215163 China University of Chinese Academy of Sciences Beijing 100049 China

This paper aims to evaluate the individual and joint toxicities of cadmium sulfate （CdSO4） and α-naphthoflavone （ANF） in zebrafish embryos. As a result, CdSO4 caused both lethal and sub-lethal effects, such as 24 h post-fertilization （hpf） death and 72 hpf delayed hatching. However, ANF only caused sub-lethal effects, including 48 hpf cardiac edema and 72 hpf delayed hatching. Taking 24 hpf death and 48 hpf cardiac edema as endpoints, the toxicities of CdSO4 and ANF were significantly enhanced by each other. Consistently, both CdSO4 and ANF caused significant oxidative stress, including decreases in the reduced glutathione （GSH） level, inhibition of superoxide dis- mutase （SOD） activity, as well as increases in malondialdehyde （MDA） content in zebrafish embryos, but these mixtures produced much more significant alterations on the biomarkers. Co-treatment of CdSO4 and ANF significantly down-regulated the mRNA level of multidrug resistance-associated protein （mrp） 1 and cytochrome P450 （cyp） la, which constituted the protective mechanisms for zebraflsh embryos to chemical toxins. In conclusion, co-treatment of CdSO4 and ANF exhibited a much more severe damage in zebraflsh embryos than individual treatment. Meanwhile, production of oxidative stress and altered expression of mrpl and cypla could be important components of such joint toxicity.

关键词： Joint toxicity Cadmium sulfate α-Naphthoflavone Zebrafish embryo Oxidative stress