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Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao HUANG Tianqi w.NG w.nyu YANG Han CHEN Boyang li Chih-yung w.N Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering The University of Newcastle Research Center for Unmanned Autonomous Systems The Hong Kong Polytechnic University

Autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notw.thstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple w.th challenges related to low.planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem w.thin intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a netw.rk decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural netw.rk(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framew.rk. Moreover, the adoption of netw.rk decoupling(ND) techniques leads to an improved obstacle avoidance success rate w.en compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering netw.rk decoupling actor critic (AC) path planning

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Activation of NRF2 by celastrol increases antioxidant functions and prevents the progression of osteoarthritis in mice

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Chinese Journal of Natural Medicines 2024年第2期22卷 137-145页

作者： liU Mingming GUO Jiatian ZHAO Jing li Hongye FENG Xiaoxiao liU Haojun ZHANG Hao JIA Xuejun w.I Rushuai li Fang CHEN Chong HOU Mingzhuang LV Nanning XU Haiyan Department of human anatomy Xuzhou Medical UniversityXuzhou 221004China Department of Orthopedic Surgery The Affiliated Lianyungang Clinical College of Xuzhou Medical University(The Second People’s Hospital of Lianyungang)Lianyungang 222003China Department of Orthopaedics The First Afliated Hospital of Soochow UniversitySoochow UniversitySuzhou 215006China Institute of Hematology Xuzhou Medical UniversityXuzhou 221004China

Excessive oxidative stress impairs cartilage matrix metabolism balance,significantly contributing to osteoarthritis(OA)***(CSL),a drug derived from Tripterygium w.lfordii,has recognized applications in the treatment of cancer and immune system disorders,yet its antioxidative stress mechanisms in OA remain *** study aimed to substantiate CSL’s chondroprotective effects and unravel its underlying *** investigated CSL’s impact on chondrocytes under both normal and inflammatory *** vitro,CSL mitigated interleukin(IL)-1β-induced activation of proteinases and promoted cartilage extracellular matrix(ECM)*** vivo,intra-articular injection of CSL ameliorated cartilage degeneration and mitigated subchondral bone lesions in OA ***,it w.s found that inhibiting nuclear factor erythroid 2-related factor 2(NRF2)abrogated CSL-mediated antioxidative functions and exacerbated the progression of *** study is the first to elucidate the role of CSL in the treatment of OA through the activation of NRF2,offering a novel therapeutic avenue for arthritis therapy.

关键词： Osteoarthritis Celastrol Articular cartilage Extracellular matrix NRF2

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Electrocatalysis for sustainable nitrogen management:materials innovation for sensing,removal and upcycling technologies

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Science China Chemistry 2024年

作者： Mei Yi Hongmei li Minghao Xie Panpan li Zhaoyu Jin Guihua Yu Institute of Fundamental and Frontier Sciences University of Electronic Science and Technology of China College of Materials Science and Engineering and College of Chemistry Sichuan University Materials Science and Engineering Program and w.lker Department of Mechanical Engineering The University of Texas at Austin

The global nitrogen cycle holds immense importance due to its crucial role in supporting life, supplying vital nutrients for plant grow.h, preserving environmental balance, and enabling the proper functioning of ecosystems. How.ver, human activities frequently disrupt this cycle, leading to the accumulation of nitrates and nitrites in w.ter bodies. This accumulation causes environmental pollution and health risks. Traditional methods for treating nitrogen pollution, including biological, physical, and chemical approaches, have inherent limitations. In recent years, electrocatalysis has emerged as a promising and sustainable approach for nitrogen management. This technology offers superior efficiency, high selectivity, and environmental *** not only enables accurate detection of nitrogen pollutants in the environment but also facilitates their conversion into harmless nitrogen gas. Moreover, recent advancements have focused on the upcycling of nitrogen pollutants into valuable compounds,such as ammonia and urea. In this comprehensive review. w. show.ase the applications of electrocatalysis in sustainable nitrogen management. Specifically, w. highlight its use in the sensing, removal, and upcycling of major nitrogen pollutants,including nitrate（NO3-）, nitrite（NO2-）, and nitric oxide（NO）. w. discuss the use of catalysts, such as Pd alloys, Cu-based, and Fe-based materials, in electrochemical sensing and catalysis. Additionally, w. explore recent advancements in the conversion of nitrogen pollutants into valuable compounds like ammonia and urea. The review.also addresses current challenges and future opportunities in the field, including innovations in sensor and catalyst design, as w.ll as large-scale treatment strategies. w. anticipate that these perspectives w.ll provide profound insights for effective nitrogen pollution control and sustainable utilization of nitrogen resources.

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w.A1 encodes a vw. domain protein that regulates w.eat plant architecture

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The Crop Journal 2024年第4期12卷 992-1000页

作者： Yongxing Chen Huixin Xiao Yuange w.ng w.nling li lingchuan li lingli Dong Xuebo Zhao Miaomiao li Ping Lu Huaizhi Zhang Guanghao Guo Keyu Zhu Beibei li Lei Dong Peng Chen Shuming w. Yunbo Jiang Fei Lu Chengguo Yuan Zhiyong liu Yusheng Zhao Qiuhong w. Institute of Biotechnology Xianghu LaboratoryHangzhou 311231ZhejiangChina Institute of Genetics and Developmental Biology Chinese Academy of SciencesBeijing 100101China College of Advanced Agricultural Sciences University of Chinese Academy of SciencesBeijing 100049China Hebei Gaoyi Stock Seeds Farm Gaoyi 051330HebeiChina

Plant height,spike,leaf,stem and grain morphologies are key components of plant architecture and related to w.eat yield.A w.eat(Triticum aestivum L.)mutant,w.a1,displaying temperaturedependent pleiotropic developmental anomalies,w.s *** w.A1 gene,encoding a von w.llebrand factor type A(vw.)domain protein,w.s located on chromosome arm 7DS and isolated by map-based *** functionality of w.A1 w.s validated by multiple independent EMS-induced mutants and gene *** analysis revealed that w.A1 is monocotyledon-specific in higher *** identification of w.A1 provides opportunity to study the temperature regulated w.eat development and grain yield.

关键词： w.eat plant architecture Map-based cloning vw. Environmental temperature

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Defect-modulated and heteroatom-functionalized Ti_(3−x)C_(2)T_(y)MXene 3D nanocavities induce grow.h of MoSe_(2)nanoflakes tow.rd electrocatalytic hydrogen evolution in all pH electrolytes

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Nano Research 2024年第7期17卷 6294-6304页

作者： Ming Du Xianzhi Yang Jian Zhang w.i Chen Huajie Huang Xinbao Zhu Xing’ao li State Key Laboratory for Organic Electronics and Information Displays and Institute of Advanced Materials(IAM) Jiangsu National Synergetic Innovation Centre for Advanced Materials(SICAM)Nanjing University of Posts and Telecommunications(NJUPT)Nanjing 210023China College of Electronic and Optical Engineering and College of Flexible Electronics Nanjing University of Posts and Telecommunications(NJUPT) Nanjing 210023China New.Energy Technology Engineering Lab of Jiangsu Province College of ScienceNanjing University of Posts and Telecommunications(NJUPT)Nanjing 210023China College of Pharmaceutical and Chemical Engineering Taizhou UniversityJiaojiang 318000China College of Mechanics and Materials Hohai UniversityNanjing 210098China College of Chemical Engineering Nanjing Forestry UniversityNanjing 210037China

Reducing kinetic energy barriers and developing accessible active sites are critical to deliver high hydrogen evolution reaction(HER)*** this paper,w. synthesized defect-modulated and heteroatom(boron)-functionalized three-dimensional(3D)bow.-shaped Ti_(3−x)C_(2)T_(y)MXene(B-TCT)nanocavities coupled w.th the vertical grow.h of MoSe_(2)*** B-TCT@MoSe_(2)nanohybrids catalyst delivers the overpotentials of 49.9,52.7,and 67.8 mV to reach a HER current density of 10 mA·cm^(−2)under acidic,alkaline,and neutral conditions,*** outstanding HER activity is predominantly attributed to the heteroatom functionalization,self-adapting Ti vacancy(VTi)defect modulation,and spatial configuration design in the 3D B-TCT nanocavity,w.ich synergistically regulate the electronic structure,activate the basal plane/edge unsaturated sites,and reduce the reaction energy *** and theoretical calculations demonstrate that strong heterogeneous interfacial bonding interactions betw.en B-TCT and MoSe_(2)can dramatically reduce the free energy of hydrogen adsorption and facilitate efficient interfacial charge migration,thus essentially improving the HER *** used this 3D porous nanohybrid system assembled by defectrich lamellar structures to elucidate the advantageous synergistic effects of multiple mechanisms among defect structure,heteroatom functionalization,and interfacial coupling,w.ich provided important insights for the development of efficient hybridtype catalysts.

关键词： electrocatalytic H_(2)evolution three-dimensional(3D)MXene nanocavity MoSe_(2)nanoflake self-adapting Ti vacancy defect heteroatom-functionalized interfacial interaction

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Establishment and Application of a Radiation Dose Rate Model for Nuclear Medicine Examinees

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China CDC w.ekly 2024年第23期6卷 553-557,I0019-I0025页

作者： Yuehua Hu Xinyu He w.njia Zhao lixin Ding Meiying You Zihan li Xinyu liu Miaomiao w.ng Siyi Chen Ziw.i Lu Lei Qu Kuke Ding li Zhang Qiuxian Fu Office of Epidemiology Chinese Center for Disease Control and PreventionBeijingChina Department of Oncology Central Hospital Affiliated to Shandong First Medical UniversityJinan CityShandong ProvinceChina National Institute for Radiological Protection Chinese Center for Disease Control and PreventionBeijingChina National Center for Chronic and Noncommunicable Disease Control and Prevention Chinese Center for Disease Control and PreventionBeijingChina Laboratory Animal Center Chinese Center for Disease Control and PreventionBeijingChina National Institute of Parasitic Diseases Chinese Center for Disease Control and PreventionShanghaiChina Office of Public Health Management Chinese Center for Disease Control and PreventionBeijingChina Hainan Medical University Haikou CityHainan ProvinceChina

Introduction:Traditional methods for determining radiation dose in nuclear medicine include the Monte Carlo method,the discrete ordinate method,and the point kernel integration *** study presents a new.mathematical model for predicting the radiation dose rate in the vicinity of nuclear medicine ***:A new.algorithm w.s created by combining the physical model of“cylinder superposition”of the human body w.th integral analysis to assess the radiation dose rate in the vicinity of nuclear medicine ***:The model accurately predicted radiation dose rates w.thin distances of 0.1–3.0 m,w.th a deviation of less than 11%compared to observed *** model demonstrated greater accuracy at shorter distances from the radiation source,w.th a deviation of only 1.55%from observed values at 0.1 ***:The model proposed in this study effectively represents the spatial and temporal distribution of the radiation field around nuclear medicine patients and demonstrates good agreement w.th actual *** model has the potential to serve as a radiation dose rate alert system in hospital environments.

关键词： method. deviation cylinder

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DNA methylation controlling abscisic acid catabolism responds to light to mediate straw.erry fruit ripening

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Journal of Integrative Plant Biology 2024年第8期66卷 1718-1734页

作者： Yunfan Sun Xiaofang Yang Rongrong w. Shouzheng Lv Yunduan li Haoran Jia Yuying Yang Baijun li w.nbo Chen Andrew.C.Allan Guihua Jiang Yan-Na Shi Kunsong Chen College of Agriculture&Biotechnology Zhejiang UniversityZijingang CampusHangzhou 310058China Institute of Horticulture Zhejiang Academy of Agricultural SciencesHangzhouZhejiang 310021China Zhejiang Provincial Key Laboratory of Horticultural Plant Integrative Biology Zhejiang UniversityZijingang CampusHangzhou 310058China The State Agriculture Ministry Laboratory of Horticultural Plant Grow.h Development and Quality ImprovementZhejiang UniversityZijingang CampusHangzhou 310058China New.Zealand Institute for Plant&Food Research limited Private Bag 92169AucklandNew Zealand School of Biological Sciences University of AucklandPrivate Bag 92019AucklandNew Zealand

Phytohormones,epigenetic regulation and environmental factors regulate fruit ripening but their interplay during straw.erry fruit ripening remains to be *** this study,bagged straw.erry fruit exhibited delayed ripening compared w.th fruit grow. in normal light,correlating w.th reduced abscisic acid(ABA) *** of the key ABA catabolism gene,ABA 8′-hydroxylase FaCYP707A4,w.s induced in bagged *** light exclusion w.ole genome DNA methylation levels w.re up-regulated,corresponding to a delayed ripening process,w.ile DNA methylation levels in the promoter of FaCYP707A4 w.re suppressed,correlating w.th increases in transcript and decreased ABA *** indicated FaCRY1,a blue light receptor repressed in bagged fruit and FaAGO4,a key protein involved in RNA-directed DNA methylation,could bind to the promoter of *** interaction betw.en FaCRY1 and FaAGO4,and an increased enrichment of FaAGO4 directed to the FaCYP707A4 promoter in fruit grow. under light suggests FaCRY1 may influence FaAGO4 to modulate the DNA methylation status of the FaCYP707A4 ***,transient overexpression of FaCRY1,or an increase in FaCRY1 transcription by blue light treatment,increases the methylation level of the FaCYP707A4 promoter,w.ile transient RNA interference of FaCRY1 displayed opposite *** findings reveal a mechanism by w.ich DNA methylation influences ABA catabolism,and participates in light-mediated straw.erry ripening.

关键词： ABA catabolism DNA methylation light ripening straw.erry

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Enhanced charge collection of AgNw.-based top electrode to realize high-performance, all-solution processed organic solar cells

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Science China Chemistry 2024年第10期67卷 3347-3356页

作者： Juanyong w.n Yang Chen w.ijie Chen Jinfeng Xia Guang Zeng Jianlei Cao Chuang Jin Yunxiu Shen Xiaoxiao w. Haiyang Chen Junyuan Ding Xue-mei Ou Yaow.n li Yongfang li Laboratory of Advanced Optoelectronic Materials Suzhou Key Laboratory of Novel Semiconductor-Optoelectronics Materials and DevicesCollege of ChemistryChemical Engineering and Materials ScienceSoochow University Jiangsu Sidike New.Materials Science and Technology Co. Ltd. Jiangsu Key Laboratory of Advanced Negative Carbon Technologies Soochow University State and Local Joint Engineering Laboratory for Novel Functional Polymeric Materials Jiangsu Key Laboratory of Advanced Functional Polymer Design and ApplicationCollege of ChemistryChemical Engineering and Materials ScienceSoochow University Beijing National Laboratory for Molecular Sciences CAS Key Laboratory of Organic SolidsInstitute of ChemistryChinese Academy of Sciences

All-solution processed organic solar cells are the ultimate aim of printable photovoltaics, but their electrical losses arising from poor contact of top electrodes greatly limit efficiency improvement. To solve the problem, a solution-processed hybrid top electrode w.s constructed using silver nanow.res(AgNw.) as the skeleton and ZnO nanoparticles(ZnO-NPs) as the *** constructing the skeleton, a spin-rinsing treatment w.s first used to reduce the amount of the residual insulating polyvinylpyrrolidone w.apped around the AgNw. to promote intimate contact among the AgNw. in the skeleton. Then, the ZnO-NPs matrix w.s deposited onto the AgNw. skeleton, bridging the AgNw. skeleton w.th the underlayer ZnO-NPs electron transporting layer(ETL). The underlayer ZnO-NPs ETL can also induce the grow.h of the ZnO-NPs matrix to minimize lattice mismatch, w.ich creates additional transport channels from the ETL to the AgNw. skeleton for charge collection. As a result,the obtained electrode significantly enhances the electrical contact in the device, thus delivering record pow.r conversion efficiencies of 16.04% and 14.54% for rigid and flexible all-solution processed OSCs, respectively.

关键词： solution-processed top electrode organic solar cells AgNw. electrical contact

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light-driven sextuple theranostics:nanomedicine involving second near-infrared AIE-active Ir(Ⅲ)complex for prominent cancer treatment

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Science China Chemistry 2024年第7期67卷 2314-2324页

作者： Xue liu Jiangao li Fei Zhang Dingyuan Yan Lei w.ng Dong w.ng Ben Zhong Tang Center for AIE Research Shenzhen Key Laboratory of Polymer Science and TechnologyGuangdong Research Center for Interfacial Engineering of Functional MaterialsCollege of Material Science and EngineeringShenzhen UniversityShenzhen 518060China College of Physics and Optoelectronic Engineering Shenzhen UniversityShenzhen 518060China School of Science and Engineering Shenzhen Institute of Aggregate Science and TechnologyThe Chinese University of Hong KongShenzhen(CUHK-Shenzhen)Shenzhen 518172China

light-driven cancer theranostics has show. inexhaustible and vigorous vitality by virtue of its high efficacy,prominent controllability and *** of an all-round theranostic material simultaneously affording both multimodal diagnosis imaging and synergistic phototherapy w.uld be an appealing yet significantly challenging ***,a novel nanomedicine Ir@PPEG-MeEPO w.s ingeniously constructed by integrating beforehand1O2-charged amphiphilic polymer and w.ll-tailored Ir(Ⅲ)complex IrDPTP,w.ich w.s featured by second near-infrared(NIR-Ⅱ)aggregation-induced emission(AIE)tendency,efficient reactive oxygen species(ROS)generation,good photothermal conversion efficiency and high-performance hydrogen gas *** the best of our know.edge,IrDPTP held the longest emission w.velength among all reported AIE Ir(Ⅲ)***,Ir@PPEG-MeEPO w.s capable of controllably releasing ROS via triggered photothermal effect upon NIR irradiation,making it w.ll-adapted to hypoxic environment of *** distinctive characteristics of Ir@PPEG-MeEPO endow.d it w.th unprecedented performance on sextuple theranostics comprised of NIR-Ⅱfluorescence-photoacoustic-photothermal trimodal imaging and photodynamic-photothermal-hydrogen trimodal therapy,w.tnessed by the precise tumor diagnosis and complete tumor *** study w.uld open up new.perspectives for the exploration of superior nanomedicine for practical cancer theranostics.

关键词： aggregation-induced emission NIR-II emission cancer theranostics multimodal diagnosis imaging multimodal therapy

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Comprehensive analysis of the gut microbiome and posttranslational modifications elucidates the route involved in microbiota-host interactions

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Zoological Research 2024年第1期45卷 95-107页

作者： Hai-Yang w.ng Lan-Xiang liu Xue-Yi Chen Yang-Dong Zhang w.n-Xia li w.n-w.n li lian w.ng Xiao-Long Mo Hong w.i Ping Ji Peng Xie NHC Key Laboratory of Diagnosis and Treatment on Brain Functional Diseases First Affiliated Hospital of Chongqing Medical UniversityChongqing 400016China College of Stomatology and Affiliated Stomatological Hospital of Chongqing Medical University Chongqing 401147China Chongqing Key Laboratory for Oral Diseases and Biomedical Sciences Chongqing 401147China Department of Neurology Yongchuan Hospital of Chongqing Medical UniversityChongqing 402160China Department of Pathology Faculty of Basic MedicineChongqing Medical UniversityChongqing 400016China Department of Neurology First Affiliated Hospital of Chongqing Medical UniversityChongqing 400016China Yu-Yue Pathology Scientific Research Center Chongqing 401329China

The gut microbiome interacts w.th the host to maintain body homeostasis,w.th gut microbial dysbiosis implicated in many ***,the underlying mechanisms of gut microbe regulation of host behavior and brain functions remain *** study aimed to elucidate the influence of gut microbiota on brain functions via post-translational modification mechanisms in the presence or absence of bacteria w.thout any *** conducted succinylome analysis of hippocampal proteins in germ-free(GF)and specific pathogen-free(SPF)mice and metagenomic analysis of feces from SPF *** results w.re integrated w.th previously reported hippocampal acetylome and phosphorylome data from the same batch of *** bioinformatics analyses revealed 584 succinylation sites on 455 proteins,including 54 up-regulated succinylation sites on 91 proteins and 99 dow.-regulated sites on 51 proteins in the GF mice compared to the SPF *** constructed a panoramic map of gut microbiota-regulated succinylation,acetylation,and phosphorylation,and identified cross-talk and relative independence betw.en the different types of post-translational modifications in modulating complicated intracellular *** correlation analysis indicated that 13 taxa,predominantly belonging to the Bacteroidetes phylum,w.re correlated w.th the biological functions of post-translational *** correlations betw.en these taxa and succinylation and negative correlations betw.en these taxa and acetylation w.re identified in the modulation of intracellular *** study highlights the hippocampal physiological changes induced by the absence of gut microbiota,and proteomic quantification of succinylation,phosphorylation,and acetylation,contributing to our understanding of the role of the gut microbiome in brain function and behavioral phenotypes.

关键词： Gut microbiota Hippocampal protein Post-translational modifications Succinylation Acetylation Phosphorylation

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