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Leader-follower: Human-centered intention-guided controller for novel Superlimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong li Hongwei JING Kerui SUN Yuancheng li Sikai zhao Lele li Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie zhao Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of Technology The Learning Algorithms and Systems Laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(Superlimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–Superlimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of Superlimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the Superlimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between Superlimb, humans, and the environment under human safety assurance. First, the human–Superlimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–Superlimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the Superlimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and Superlimb could well understand the wearer's intentions to switch different Superlimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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基于图像融合的木板表面缺陷检测研究

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液晶与显示 2016年第9期31卷 882-888页

作者：李漫丽赵鹏东北林业大学信息与计算机工程学院黑龙江哈尔滨150040

针对木板表面节子缺陷被染料染色后难以识别的问题,本文利用图像融合技术提出一种新的木板表面缺陷检测方法。该方法采集被染色木板的近红外图像和可见光图像,使用加权平均法、主成分分析(PCA)算法、小波变换、Laplacian金字塔变换等不... 详细信息

针对木板表面节子缺陷被染料染色后难以识别的问题,本文利用图像融合技术提出一种新的木板表面缺陷检测方法。该方法采集被染色木板的近红外图像和可见光图像,使用加权平均法、主成分分析(PCA)算法、小波变换、Laplacian金字塔变换等不同的融合算法对采集的近红外图像和可见光图像进行融合,然后对不同算法融合后的图像仔细观察分析和比对并计算其信息熵。实验结果证实,融合后的图像能够明显地辨别出染色后的木板缺陷,并且基于Laplacian金字塔算法的融合效果最好。

关键词：图像融合缺陷检测近红外图像可见光图像

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单色散压缩编码光谱成像系统研究

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光谱学与光谱分析 2017年第9期37卷 2919-2926页

作者：唐兴佳李立波赵强李洪波胡炳樑中国科学院西安光学精密机械研究所光谱成像技术实验室陕西西安710119 西安交通大学数学与统计学院陕西西安710149

随着光谱成像技术向高空间分辨率、高光谱分辨率、高信噪比方向发展,传统的光谱成像系统面临着数据采集量过大的问题,同时,系统分辨率受探测器帧频与像元尺寸影响较大、大口径长焦距系统难于精密装调、系统能量受限引起信噪比提高困难... 详细信息

随着光谱成像技术向高空间分辨率、高光谱分辨率、高信噪比方向发展,传统的光谱成像系统面临着数据采集量过大的问题,同时,系统分辨率受探测器帧频与像元尺寸影响较大、大口径长焦距系统难于精密装调、系统能量受限引起信噪比提高困难。为了解决上述问题,研究了一种单色散压缩编码光谱成像系统,并针对国内压缩编码光谱成像系统工程实现与试验验证不足的问题,重点研究了该新系统的设计与实现,模板平移下的系统数学模型及多帧重构算法,并给出实际样机试验及数据处理结果。最后,根据试验情况,总结提出该新技术后续发展需重点关注的研究内容,包括编码模板误差分析,多维稀疏重构模型与算法,压缩编码光谱成像系统标定技术,重构算法/重构图谱评价技术。单色散压缩编码光谱成像系统通过编码、色散、甚至下采样,由探测器接收得到成像观测图像,然后,利用该成像数据,通过重构算法,得到目标光谱图像数据,其优点是低数据量采样、工程实现硬件要求减低、多通道高通量探测。相关研究结果表明,该系统获取的数据有效,样机设计合理,重构算法与标定方法较为准确,其得到的字母HSI目标光谱图像的空间信息清晰,光谱信息较为准确,符合钨灯光谱,其系统设计与实现具有工程可行性。

关键词：压缩编码光谱成像多帧重构单色散

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The effects of 8 weeks treadmill exercise on the Rho GTPases in rat special brain regions

The effects of 8 weeks treadmill exercise on the Rho GTPases...

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中国神经科学学会第九届全国学术会议暨第五次会员代表大会

作者： Yan li,li zhao~*,li-Jing GONG Beijing Sport University,Beijing 100084,China

＜正＞Objective Recently numerous of epidemiological data have proven that physical activity or regular exercise beneficially affects brain function and increases neuronal development,but the mechanisms of exercise has not been *** GTPases act as the central regulators of cytoskeleton and function as binary molecular switches. In this family,RhoA,Racl and Cdc42 have been characterized most ***,the role of Rho GTPases in neuronal development has been ***,the aim of this study was to investigate the effects of 8 weeks treadmill exercise on the Rho GTPases in the rat special brain *** 3 months male Wistar rats were randomly assigned to either a sedentary or a treadmill exercise *** rats were familiarized to treadmill exercise for 5 days,then ran 30 min/day at 10m/min on a 5%slope for the first 2 *** running speed and duration of the exercise were gradually increased,up to 60 min/day at 22 m/min on a 10%slope for 6 *** rats were killed 48 h after the last exercise *** levels of synaptophysin in the cortex and hippocampus were separately detected with the ICH and IF method,which has been widely used to assess synapse ***, the protein levels of RhoA,Rac1 and Cdc42 were measured using Western blotting and the mRNA levels were measured using real time *** were analyzed using one-way analysis of variance（ANOVA）.The level of statistical significance was set at P＜***（1） The increase of synapse density appeared in both cortex（P＜0.05） and hippocampus（P＜0.05） in exercised groups compared with sedentary groups.（2） Exercise decreased the protein levels of RhoA in both cortex（P＜0.01） and hippocampus（P＜0.01）,at the same time increased the mRNA levels in both cortex（P＜0.001） and hippocampus（PO.001）.（3） Exercise increased the protein levels of Rac1 in both cortex （P＜0.01） and hippocampus（P＜0.01）.Exercise increased the mRNA level of Racl in cortex（P＜0.01） but decreased the mRNA le

关键词： exercise Rho GTPases neuronal development

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Modeling pedestrian-vehicle interactions at unsignalized mid-block crosswalk under automated vehicle mixed traffic flow conditions: an agent-based approach

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Journal of Traffic and Transportation Engineering(English Edition) 2025年

作者： Haojie li Binyue zhao Ziqian Zhang Yingheng Zhang Gang Ren School of Transportation， Southeast University Jiangsu Key Laboratory of Urban ITS Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies

The introduction of automated vehicles (AVs) is expected to improve the safety and traffic efficiency of the transportation system. However， the impacts of AVs on pedestrian-vehicle interactions (PVIs) remain unclear， especially under the mixed traffic flow condition with AVs and conventional vehicles (CVs). The objective of this paper is to investigate PVIs under AV mixed traffic flow at unsignalized mid-block crosswalk (UMC) where the right of way competition exists and the traffic conditions are more complex. An agent-based simulation model is proposed to evaluate the safety and traffic efficiency under a diverse range of different scenarios. Some agents’ behavioral parameters are calibrated from trajectory and video data collected at two sites in Nanjing. The proposed model is also validated by comparing Post-Encroachment Time (PET) and pedestrian waiting time outputted from simulation with those extracted from empirical data. The simulation results suggest that the introduction of AVs has limited effect on both safety and efficiency levels at UMC under the low AV penetration rate. Compared to the negotiated yielding strategy of AVs， the conservative yielding strategy performs better in terms of pedestrian safety， but worse in improving traffic efficiency. Moreover， the results reveal that pedestrian and vehicle volumes， the proportion of pedestrians familiar with AVs， and the proportion of risk-prone pedestrians could significantly affect the safety and efficiency levels at UMC. Lastly， we provide some practical recommendations for determining treatments for mid-block crosswalks with AV mixed traffic flow to improve pedestrian safety and traffic efficiency.

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Effect of hyperbaric oxygen preconditioning on the expression of aquaporin 5 in rats *** high-altitude pulmonary edema

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中华航海医学与高气压医学杂志 2012年第5期19卷 257-262页

作者： li Zhuo zhao li-ming WANG Cong liU Xue-hua GAO Chun-jin Department ofHyperbaric Oxygen Beifing Chaoyang Hospital Capital Medical University Beifing 100020China

Objective To investigate the possibility of applying hyperbaric oxygen preconditioning (HBO-PC) to reduce or prevent high-altitude pulmonary edema (HAPE) and to detect whether aquaporin 5 (AQP5) are involved in HAPE pathogenesis. Methods Thirty eight rats were divided into three groups:the control, the HBO-PC and the HAPE groups. Western blot and real-time PCR were used to analyze the expression of AQP5 in the lungs. The wet-to-dry weight ratio ( W/D weight ratio) and morphology of the lung were also examined. Results Lung W/D weight ratio in the HAPE group (4.36±0.53) compared with that of the control group(3.90±0.15) (P <0.05) ,were marked interstitial edema in all the lung sections in the HAPE group, and fewer changes in 10 of 13 sections in the HBO-PC group. Lung-injury scores of the HBO-PC group were much lower than those of the HAPE group. AQP5 of the HAPE group decreased significantly at the protein and gene levels compared with those in the control group (P <0.01 ,P < 0.05). Protein and mRNA expression of AQP5 in the HBO-PC group were much higher than those of the HAPE group (P <0.05 ,P <0.01 ). Lung injuries in the HAPE rats were related positively to the AQP5 expression in the lung (protein expression r= -0. 635,P<0.01; mRNA expression r= -0. 399,P <0. 05). Conclusions We concluded that HBO-PC could alleviate lung injury in rats caused by high-altitude hypobaric hypoxia and reduce HAPE incidence. HAPE in rats was associated with the down-regulation of expression of AQP5 in the lungs. This down-egulation could be attenuated by HBO-PC. This study is the first one introducing HBO-PC in the prevention of HAPE, and the first investigation on the expression of AQP5 in a rat model of HAPE.

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Molecule‑Level Multiscale Design of Nonflammable Gel Polymer Electrolyte to Build Stable SEI/CEI for lithium Metal Battery

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Nano-Micro Letters 2025年第1期17卷 404-423页

作者： Qiqi Sun Zelong Gong Tao Zhang Jiafeng li Xianli Zhu Ruixiao Zhu lingxu Wang Leyuan Ma Xuehui li Miaofa Yuan Zhiwei Zhang Luyuan Zhang zhao Qian Longwei Yin Rajeev Ahuja Chengxiang Wang Key Laboratory for liquid‑Solid Structural Evolution and Processing of Materials(Ministry of Education) School of Materials Science and EngineeringShandong UniversityJinan 250061People’s Republic of China Condensed Matter Theory Department of Physics and AstronomyUppsala UniversityUppsala 75120Sweden

The risk of flammability is an unavoidable issue for gel polymer electrolytes(GPEs).Usually,flameretardant solvents are necessary to be used,but most of them would react with anode/cathode easily and cause serious interfacial instability,which is a big challenge for design and application of nonflammable ***,a nonflammable GPE(SGPE)is developed by in situ polymerizing trifluoroethyl methacrylate(TFMA)monomers with flame-retardant triethyl phosphate(TEP)solvents and liTFSI–liDFOB dual lithium *** is strongly anchored to PTFMA matrix via polarity interaction between-P=O and-CH_(2)CF_(3).It reduces free TEP molecules,which obviously mitigates interfacial reactions,and enhances flame-retardant performance of TEP *** TEP molecules are also inhibited in solvation of li^(+),leading to anion-dominated solvation sheath,which creates inorganic-rich solid electrolyte interface/cathode electrolyte interface *** coordination structure changes li^(+)transport from sluggish vehicular to fast structural transport,raising ionic conductivity to 1.03 mS cm^(-1) and transfer number to 0.41 at 30℃.The li|SGPE|li cell presents highly reversible li stripping/plating performance for over 1000 h at 0.1 mA cm^(−2),and 4.2 V liCoO_(2)|SGPE|li battery delivers high average specific capacity>120 mAh g^(−1) over 200 *** study paves a new way to make nonflammable GPE that is compatible with li metal anode.

关键词： Anchoring effect Nonflammable gel electrolyte In situ cross-linked Electrode-electrolyte interface li metal battery

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Highly mass activity electrocatalysts with ultralow Pt loading on carbon black for hydrogen evolution reaction

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International Journal of Minerals,Metallurgy and Materials 2025年第1期32卷 182-190页

作者： Shaorou Ke Yajing zhao Xin Min Yanghong li Ruiyu Mi Yangai liu Xiaowen Wu Minghao Fang zhaohui Huang Engineering Research Center of Ministry of Education for Geological Carbon Storage and Low Carbon Utilization of Resources Beijing Key Laboratory of Materials Utilization of Nonmetallic Minerals and Solid WastersNational Laboratory of Mineral MaterialsSchool of Materials Science and TechnologyChina University of Geosciences(Beijing)Beijing 100083China

Pt-based nanocatalysts offer excellent prospects for various ***,the low loading of Pt with excellent performance for efficient and stable nanocatalysts still presents a considerable *** this study,nanocatalysts with ultralow Pt content,excellent performance,and carbon black as support were prepared through in-situ ***~2-nm particles uniformly and stably dispersed on carbon black because of the strong s-p-d orbital hybridizations between carbon black and Pt,which suppressed the agglomeration of Pt *** unique structure is beneficial for the hydrogen evolution *** catalysts exhibited remarkable catalytic activity for hydrogen evolution reaction,exhibiting a potential of 100 mV at 100 mA·cm^(-2),which is comparable to those of commercial Pt/C *** activity(1.61 A/mg)was four times that of a commercial Pt/C catalyst(0.37 A/mg).The ultralow Pt loading(6.84wt%)paves the way for the development of next-generation electrocatalysts.

关键词： hydrogen evolution reaction ultralow platinum in-situ synthesis ultrasound

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Comparative proteomic analysis of plasma exosomes reveals the functional contribution of N-acetyl-alpha-glucosaminidase to Parkinson’s disease

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Neural Regeneration Research 2025年第10期20卷 2998-3012页

作者： Yuan zhao Yidan Zhang Xin liu Jian Zhang Ya Gao Shuyue li Cui Chang Xiang liu Guofeng Yang Department of Geriatrics Second Hospital of Hebei Medical UniversityShijiazhuangHebei ProvinceChina Department of Neurosurgery The Second Hospital of Hebei Medical UniversityShijiazhuangHebei ProvinceChina

Parkinson’s disease is the second most common progressive neurodegenerative disorder,and few reliable biomarkers are available to track disease *** proteins,DNA,mRNA,and lipids carried by exosomes reflect intracellular changes,and thus can serve as biomarkers for a variety of *** this study,we investigated alterations in the protein content of plasma exosomes derived from patients with Parkinson’s disease and the potential therapeutic roles of these proteins in Parkinson’s *** a tandem mass tag-based quantitative proteomics approach,we characterized the proteomes of plasma exosomes derived from individual patients,identified exosomal protein signatures specific to patients with Parkinson’s disease,and identified N-acetyl-alpha-glucosaminidase as a differentially expressed protein.N-acetyl-alpha-glucosaminidase expression levels in exosomes from the plasma of patients and healthy controls were validated by enzyme-linked immunosorbent assay and western *** results demonstrated that the exosomal N-acetyl-alpha-glucosaminidase concentration was not only lower in Parkinson’s disease,but also decreased with increasing Hoehn-Yahr stage,suggesting that N-acetyl-alpha-glucosaminidase could be used to rapidly evaluate Parkinson’s disease ***,western blot and immunohistochemistry analysis showed that N-acetyl-alpha-glucosaminidase levels were markedly reduced both in cells treated with 1-methyl-4-phenylpyridinium and cells overexpressingα-synuclein compared with control ***,N-acetyl-alpha-glucosaminidase overexpression significantly increased cell viability and inhibitedα-synuclein expression in 1-methyl-4-phenylpyridinium-treated *** together,our findings demonstrate for the first time that exosomal N-acetyl-alpha-glucosaminidase may serve as a biomarker for Parkinson’s disease diagnosis,and that N-acetyl-alpha-glucosaminidase may reduceα-synuclein expression and 1-methyl-4-phenylpyridinium-induced n

关键词： biomarker diagnosis exosomes N-acetyl-alpha-glucosaminidase Parkinson’s disease proteomic α-synuclein

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Efficient and Stable Photoassisted lithium‑Ion Battery Enabled by Photocathode with Synergistically Boosted Carriers Dynamics

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Nano-Micro Letters 2025年第3期17卷 440-454页

作者： Zelin Ma Shiyao Wang Zhuangzhuang Ma Juan li Luomeng zhao Zhihuan li Shiyuan Wang Yazhou Shuang Jiulong Wang Fang Wang Weiwei Xia Jie Jian Yibo He Junjie Wang Pengfei Guo Hongqiang Wang State Key Laboratory of Solidification Processing Center for Nano Energy MaterialsSchool of Materials Science and EngineeringNorthwestern Polytechnical University and Shaanxi Joint Laboratory of Graphene(NPU)Xi’an 710072People’s Republic of China State Key Laboratory of Solidification Processing School of Materials Science and Engineering DepartmentNorthwestern Polytechnical UniversityXi’an 710072People’s Republic of China State Key Laboratory of Solidification Processing Center of Advanced Lubrication and Seal MaterialsSchool of Materials Science and EngineeringNorthwestern Polytechnical UniversityXi’an 710072People’s Republic of China Research and Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518063People’s Republic of China Key Laboratory of Applied Surface and Colloid Chemistry Shaanxi Key Laboratory for Advanced Energy DevicesShaanxi Engineering Lab for Advanced Energy TechnologySchool of Materials Science and EngineeringNational Ministry of EducationShaanxi Normal UniversityXi’an 710119People’s Republic of China

Efficient and stable photocathodes with versatility are of significance in photoassisted lithium-ion batteries(PliBs),while there is always a request on fast carrier transport in electrochemical active *** work proposes a general approach of creating bulk heterojunction to boost the carrier mobility of photocathodes by simply laser assisted embedding of plasmonic *** employed in PliBs,it was found effective for synchronously enhanced photocharge separation and transport in light charging ***,experimental photon spectroscopy,finite difference time domain method simulation and theoretical analyses demonstrate that the improved carrier dynamics are driven by the plasmonic-induced hot electron injection from metal to TiO_(2),as well as the enhanced conductivity in TiO2 matrix due to the formation of oxygen vacancies after Schottky *** from these merits,several benchmark values in performance of TiO2-based photocathode applied in PliBs are set,including the capacity of 276 mAh g^(−1)at 0.2 A g^(−1)under illumination,photoconversion efficiency of 1.276%at 3 A g^(−1),less capacity and Columbic efficiency loss even through 200 *** results exemplify the potential of the bulk heterojunction strategy in developing highly efficient and stable photoassisted energy storage systems.

关键词： Photoassisted lithium-ion batteries Bulk heterojunction Carrier dynamics TiO2 nanofiber Plasmonic metal nanocrystals

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