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Real-Time Control Strategy of Exoskeleton Locomotion Trajectory Based on Multi-modal Fusion

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Journal of Bionic Engineering 2023年第6期20卷 2670-2682页

作者： tao Zhen Lei yan College of Engineering Beijing Forestry UniversityNo.35East Qinghua RoadBeijing100083China

The exoskeleton robot is a typical man–machine integration system in the human *** ideal man–machine state is to achieve motion coordination,stable output,strong personalization,and reduce man–machine confrontation during *** order to achieve an ideal man–machine state,a Time-varying Adaptive Gait Trajectory Generator(TAGT)is designed to estimate the motion intention of the wearer and generate a personalized gait *** can enhance the hybrid intelligent decision-making ability under human–machine collaboration,promote good motion coordination between the exoskeleton and the wearer,and reduce metabolic *** important feature of this controller is that it utilizes a multi-layer control strategy to provide locomotion assistance to the wearer,while allowing the user to control the gait trajectory based on human–robot Interaction(HRI)force and locomotion *** this article,a Temporal Convolutional Gait Prediction(TCGP)model is designed to learn the personalized gait trajectory of the wearer,and the control performance of the model is further improved by fusing the predefined gait trajectory method with an adaptive interactive force control model.A human-in-the-loop control strategy is formed with the feedback information to stabilize the motion trajectory of the output joints and update the system state in real time based on the feedback from the inertial and interactive force *** experimental study employs able-bodied subjects wearing the exoskeleton for motion trajectory control to evaluate the performance of the proposed TAGT model in online *** from these evaluations demonstrate that the controller TAGT has good motor coordination and can satisfy the subject to control the motor within a certain range according to the walking habit,guaranteeing the stability of the closed-loop system.

关键词： Exoskeleton Multi-layer control strategy Human–machine collaboration Time-varying adaptive gait Hybrid intelligent

Theoretical understanding of the stability of single-atom catalysts

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National Science Review 2018年第5期5卷 638-641页

作者： jin-Cheng Liu yan Tang yang-Gang Wang tao Zhang Jun Li Department of Chemistry and Key Laboratory of Organic Optoelectronics & Molecular Engineering of Ministry of Education Tsinghua University Department of Chemistry Southern University of Science and Technology Dalian Institute of Chemical Physics Chinese Academy of Sciences

As a new frontier, the rapid development of single-atom catalysts (SACs) in heterogeneous catalysis has attracted extensive attention since the concept of singleatom catalysis was first coined in 2011[1,2]. Supported metal single atoms usually possess unique chemical and physical properties and have a special local chemical environment that is dis-

关键词： Theoretical understanding of the stability of single-atom catalysts Pt

基于卡尔加里-剑桥指南的沙龙培训模式提升全科规培医师医患沟通技能的对照研究

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中国全科医学 2025年第1期28卷 71-76页

作者：彭涛邹川曾欣张焱沈静四川省成都市第五人民医院全科医学科 611130

背景医患沟通技能是全科医生的核心岗位胜任力之一,高水平的医患沟通能力是创建和谐医患关系的基石,有助于提高患者就医获得感和满意度。而我国全科医生沟通能力普遍偏低,有待探索出一种适应我国国情、满足我国全科医生沟通需求的医患... 详细信息

背景医患沟通技能是全科医生的核心岗位胜任力之一,高水平的医患沟通能力是创建和谐医患关系的基石,有助于提高患者就医获得感和满意度。而我国全科医生沟通能力普遍偏低,有待探索出一种适应我国国情、满足我国全科医生沟通需求的医患沟通培训模式来提高其医患沟通能力。目的探索基于卡尔加里-剑桥指南的沙龙培训模式在全科规培医师医患沟通技能培训中的应用效果,为构建适合我国国情的医患沟通培训体系提供参考依据。方法选取成都市第五人民医院2019—2020年度全科规培医师40名作为研究对象,按照随机数字表法分为沙龙组和对照组,每组20名,其中沙龙组使用基于卡尔加里-剑桥指南的沙龙培训模式进行医患沟通培训,对照组设置为空白对照,培训前、培训后1周分别对两组学员采用标准化病人(SP)模式进行接诊,使用医患沟通评价量表(SEGUE量表)进行现场观察评分,比较两组学员的医患沟通培训效果。结果最终纳入28名,其中沙龙组15名,对照组13名,培训后沙龙组规培医师SEGUE量表评分从(11.80±4.36)分提高至(18.07±4.11)分,对照组规培医师SEGUE量表评分从(12.15±4.63)分提高至(14.46±3.71)分。沙龙组培训后的SEGUE量表评分与培训前的比较,差异有统计学意义(t=3.250,P<0.001);对照组培训后的SEGUE量表评分与培训前比较,差异无统计学意义(t=2.582,P=0.624);培训后对SEGUE量表中的25个项目进行分析,沙龙组与对照组SEGUE量表评分比较,差异有统计学意义(P<0.05)。沙龙组以下5个项目结果优于对照组,准备阶段中的“建立个人信任关系”(93.3%比7.7%)、“保护患者的隐私/尊重患者选择权”(53.3%比15.4%);理解患者阶段中的“认同患者为疾病所付出的努力、改变及其遇到的困难”(33.3%比23.1%)、“表达关心,使患者感到温暖/树立信心”(100.0%比69.2%);结束问诊阶段中的“询问患者是否还有其他的问题需要探讨”(66.7%比23.1%)。结论基于卡尔加里-剑桥指南的沙龙培训模式对全科规培医师进行医患沟通技能培训可增强学员主动参加培训的兴趣和积极性,对于医患沟通能力的提升具有较好的培训效果,值得借鉴和推广。

关键词：全科医学全科医师规范化培训医患沟通沟通培训卡尔加里-剑桥指南

Sodium 4-phenylbutyrate Attenuates High-fat Diet-induced Impaired Spermatogenesis

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Biomedical and Environmental Sciences 2018年第12期31卷 876-882页

作者： WANG Er Hui YAO San Qiao tao Ling XI jin yan Department of Nutrition and Food Hygiene College of Public Health Xinxiang Medical University Henan Collaborative Innovation Center of Molecular Diagnosis and Laboratory Medicine Xinxiang Medical University

Objective To determine the mitigating effects of sodium 4-phenylbutyrate(4-PBA) on high-fat diet(HFD)-induced spermatogenesis dysfunction. Methods Male rats(n = 30) were randomly divided into three groups: control, HFD, and 4-PBA(HFD +4-PBA). After 13 weeks, rats were euthanized. Testes and epididymis were harvested for further analysis. Sex hormones were detected, and hematoxylin and eosin staining was performed to examine the histological changes in the testes. Semen samples were collected to evaluate sperm quality. Spermatogenic cell apoptosis was detected by TUNEL assay. Results Compared with the control group, the final body weight and body weight gain were significantly higher in HFD-fed rats, while the testicle/body weight ratios were lower(P < 0.05). In HFD-fed rats, obvious pathological changes in the testicular tissue were observed. Treatment with 4-PBA attenuated HFD-induced histological damage, ameliorated the HFD-induced decrease in serum testosterone(T), and reduced the rate of testicular cell apoptosis(P < 0.05) in obese male rats. Finally, 4-PBA significantly improved semen parameters in HFD rats(P < 0.05). Conclusion HFD exposure induced detrimental effects on spermatogenesis, semen quality, serum T level, and testicular cell apoptosis in rats. Treatment with 4-PBA ameliorated HFD-induced impaired spermatogenesis via inhibition of apoptosis in rats. 4-PBA may have therapeutic value in the treatment of obesity-related impairment of spermatogenesis.

关键词： Male infertility Sodium 4-phenylbutyrate Obesity Spermatogenesis Semen Testis

Coaxial bioprinted microfibers with mesenchymal stem cells for glioma microenvironment simulation

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Bio-Design and Manufacturing 2022年第2期5卷 348-357页

作者： Zhizhong jin Xinda Li Boxun Liu Xinru yan Shuai Han tao Xu Anhua Wu Department of Neurosurgery The First Hospital of China Medical UniversityShenyang 110001China Biomanufacturing and Rapid Forming Technology Key Laboratory of Beijing Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China Department of Precision Medicine and Healthcare Tsinghua-Berkeley Shenzhen InstituteShenzhen 518055China East China Institute of Digital Medical Engineering Shangrao 334000China

Due to their special anatomical and physiological features,central nervous system diseases still presented challenges,despite the fact that some advances have been made in early diagnosis and precision *** of the complexities in treating tumors is the tumor microenvironment,which includes mesenchymal stem cells(MSCs)that exhibit tumor tropism and can be used for cell ***,whether MSCs promote or suppress gliomas is still unclear,especially in glioma *** this study,a coaxial microfiber was designed to mimic the tumor microenvironment and to reveal the effect of MSCs on glioma *** fiber shell was composed of MSCs and alginate,and the core was filled with U87 MG(glioblastoma)cells and gelatin *** Shell-MSC/Core-U87 MG microenvironment improved the proliferation,survival,invasion,metastasis,and drug resistance of glioma cells,while simultaneously maintaining the stemness of glioma *** summary,coaxial extrusion bioprinted Shell-MSC/Core-U87 MG microfiber is an ideal platform for tumor and stromal cell coculture to observe tumor biological behavior in vitro.

关键词： Coaxial bioprinting GBM microenvironment MSC Coculture

Concurrent improvements of corrosion resistance and coercivity in Nd-Ce-Fe-B sintered magnets through engineering the intergranular phase

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Journal of Materials Science & Technology 2022年第15期110卷 239-245页

作者： Jiaying jin Yongming tao Xinhua Wang Zeyu Qian Wang Chen Chen Wu Mi yan School of Materials Science and Engineering State Key Laboratory of Silicon MaterialsKey Laboratory of Novel Materials for Information Technology of Zhejiang ProvinceZhejiang UniversityHangzhou 310027China

Usually the improved coercivity of rare earth(RE)based 2:14:1-type permanent magnets via RE-rich intergranular additives is achieved at the cost of more corrosion channels and deteriorated corrosion resistance,which remains a challenging hurdle in the RE-Fe-B ***,here we report the concurrent improvements of corrosion resistance and coercivity in 40 wt.%Ce-substituted Nd-Ce-Fe-B sintered magnets through engineering the intergranular phase using simple(Nd,Pr)H_(x)*** dehydrogenated Nd/Pr changes the RE concentration gradients between 2:14:1 matrix and intergranular phases during sintering and enlarges the fraction of corrosion-resistant REFe_(2) phase,rather than the conventionally assumed Nd/Pr-rich intergranular phase with high chemical *** spontaneous formation of REFe_(2) intergranular phase after(Nd,Pr)H_(x) addition generates the uniquely enhanced corrosion resistance against the hot/humid and acidic environments,and counts as one peculiar feature of Nd-Ce-Fe-B magnets at high Ce substitution level,being distinct from previously reported Ce-free/lean ***,the formation of continuous grain boundaries enhances the coercivity from 8.7to 12.5 k Oe with trace addition of(Nd,Pr)H_(x).Above findings may spur progress towards developing a high-performance Nd-Ce-Fe-B permanent magnet.

关键词： Abundant rare earth Ce Corrosion resistance REFe_(2) Coercivity Microstructure

FSD1 inhibits glioblastoma diffuse infiltration through restriction of HDAC6-mediated microtubule deacetylation

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Science China Life Sciences 2025年

作者： Dake Xiao Haowen Ran Lishu Chen Yuanyuan Li yan Cai Songyang Zhang Qinghui Qi Huiran Wu Cheng Zhang Shuailiang Cao Lanjuan Mi Haohao Huang Ji Qi Qiuying Han Haiqing Tu Huiyan Li tao Zhou Fangye Li Ailing Li Jianghong Man Nanhu Laboratory National Center of Biomedical Analysis School of Traditional Chinese Medicine Capital Medical University Department of Neurosurgery General Hospital of Central Theater Command of Chinese PLA School of Life and Health Sciences Huzhou College Department of Neurosurgery Beijing Fengtai Hospital Department of Neurosurgery First Medical Center of PLA General Hospital

The infiltration of glioblastoma multiforme(GBM) is predominantly characterized by diffuse spread, contributing significantly to therapy resistance and recurrence of GBM. In this study, we reveal that microtubule deacetylation, mediated through the downregulation of fibronectin type III and SPRY domain-containing 1(FSD1), plays a pivotal role in promoting GBM diffuse infiltration. FSD1 directly interacts with histone deacetylase 6(HDAC6) at its second catalytic domain, thereby impeding its deacetylase activity on α-tubulin and preventing microtubule deacetylation and depolymerization. This inhibitory interaction is disrupted upon phosphorylation of FSD1 at its Ser317 and Ser324 residues by activated CDK5, leading to FSD1 dissociation from microtubules and facilitating HDAC6-mediated α-tubulin deacetylation. Furthermore, increased expression of FSD1 or interference with FSD1 phosphorylation reduces microtubule deacetylation, suppresses invasion of GBM stem cells, and ultimately mitigates tumor infiltration in orthotopic GBM xenografts. Importantly, GBM tissues exhibit diminished levels of FSD1 expression, correlating with microtubule deacetylation and unfavorable clinical outcomes in GBM patients. These findings elucidate the mechanistic involvement of microtubule deacetylation in driving GBM cell invasion and offer potential avenues for managing GBM infiltration.

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和血明目片联合雷珠单抗治疗糖尿病视网膜病变的临床疗效及对凝血指标的影响

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血栓与止血学 2020年第4期26卷 616-618页

作者：金延涛马建洲孙红彬马丽娜空军第986医院眼科西安710054

目的探讨和血明目片联合雷珠单抗治疗糖尿病视网膜病变的临床疗效及对凝血指标的影响。方法以100例糖尿病视网膜病变患者为对象,分为观察组与对照组。观察治疗疗效及凝血指标水平。结果两组治疗后出血灶面积、黄斑厚度及血管瘤面积均降... 详细信息

目的探讨和血明目片联合雷珠单抗治疗糖尿病视网膜病变的临床疗效及对凝血指标的影响。方法以100例糖尿病视网膜病变患者为对象,分为观察组与对照组。观察治疗疗效及凝血指标水平。结果两组治疗后出血灶面积、黄斑厚度及血管瘤面积均降低,观察组低于对照组(P<0.05)。两组治疗后细胞间粘附因子-1(ICAM-1)、血管内皮生长因子(VEGF)水平均降低,观察组降低幅度高于对照组(P<0.05),白介素-6(IL-6)水平升高,观察组升高幅度低于对照组(P<0.05)。两组治疗后活化部分凝血酶原时间(aPTT)、凝血酶原时间(PT)水平均下调,观察组更显著(P<0.05)。结论雷珠单抗与和血明目片用于糖尿病视网膜病变的治疗的疗效较好,可改善患者的眼底出血,降低VEGF水平,抑制炎症反应。

关键词：和血明目片雷珠单抗糖尿病视网膜病变

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北部冬麦区冬小麦越冬冻害时空变化特征

作物学报 2019年第10期45卷 1576-1585页

作者：孟繁圆冯利平张丰瑶张祎伍露王春雷闫锦涛彭明喜莫志鸿余卫东中国农业大学资源与环境学院北京100193 中国气象科学研究院北京100081 中粮贸易有限公司北京100005 河南省气象科学研究所河南郑州450003

利用我国北部冬麦区43个气象站点1951—2014年气象资料,综合考虑越冬期最大降温幅度、极端最低气温、负积温、平均气温、降水和风速等冬小麦越冬冻害致灾因子,采用主成分法构建冬小麦冻害指数(FII),FII值越大,冬小麦遭受冻害越严重。结... 详细信息

利用我国北部冬麦区43个气象站点1951—2014年气象资料,综合考虑越冬期最大降温幅度、极端最低气温、负积温、平均气温、降水和风速等冬小麦越冬冻害致灾因子,采用主成分法构建冬小麦冻害指数(FII),FII值越大,冬小麦遭受冻害越严重。结合历史冻害灾情资料,验证冻害指数在研究区域的适应性。采用M-K方法分析冬小麦冻害的突变特征,探究北部冬麦区越冬冻害的时空分布特征。结果表明,FII能较好地反映北部冬麦区冬小麦冻害情况。近60年北部冬麦区冬小麦冻害指数的年际变化均呈显著下降趋势。1980年前后冻害指数发生突变,气候变暖后我国北部冬麦区冬小麦冻害发生的频率、程度和范围明显减少;而由于气候变化的不稳定性增加,自2000年以来,冬小麦中度到重度冻害有所增加。冻害指数的空间分布总体呈现随着纬度和海拔高度的增加而加重的趋势。燕太山麓平原副区遭受冻害最为严重,黄土高原沟壑副区和晋冀山地盆地副区遭受冻害较轻。

关键词：冬小麦越冬期冻害指数北部冬麦区时空分布特征气候变暖