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Learning Robust Locomotion for Bipedal Robot via Embedded Mechanics Properties

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Journal of Bionic Engineering 2024年第3期21卷 1278-1289页

作者： Yuanxi zhang Xuechao Chen fei meng zhangguo Yu Yidong Du Junyao Gao Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing100081China

Reinforcement learning(RL)provides much potential for locomotion of legged *** to the gap between simulation and the real world,achieving sim-to-real for legged robots is ***,the support polygon of legged robots can help to overcome some of these *** robot has a considerable support polygon,followed by bipedal robot with actuated feet,and point-footed bipedal robot has the smallest support ***,despite the existing sim-to-real gap,most of the recent RL approaches are deployed to the real quadruped robots that are inherently more stable,while the RL-based locomotion of bipedal robot is challenged by zero-shot sim-to-real *** for the point-footed one that gets better dynamic performance,the inevitable tumble brings extra barriers to sim-to-real ***,the crux of this type of problem is the difference of mechanics properties between the physical robot and the simulated one,making it difficult to play the learned skills well on the physical bipedal *** this paper,we introduce the embedded mechanics properties(EMP)based on the optimization with Gaussian processes to RL training,making it possible to perform sim-to-real transfer on the BRS1-P robot used in this work,hence the trained policy can be deployed on the BRS1-P without any *** validate the performance of the learning-based BRS1-P on the condition of disturbances and terrains not ever learned,demonstrating the bipedal locomotion and resistant performance.

关键词： Bipedal robot Reinforcement learning Sim-to-real Mechanics properties

Applications of single-cell RNA sequencing in spermatogenesis and molecular evolution

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Dielectric and energy storage properties of PbO–SrO–Nb_(2)O_(5)–Na_(2)O–Si thin films by annealing

动物学研究 2024年第3期 575页

作者： Wen-Bo Chen meng-fei zhang Fan Yang Jin-Lian Hua

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Rare Metals 2024年第1期43卷 351-355页

作者： fei-Hu Tan Qing-meng zhang Feng Wei Hong-Bin Zhao Xiao zhang Jun Du State Key Laboratory of Advanced Materials for Smart Sensing General Research Institute for Nonferrous MetalsBeijing 100088China Advanced Electronic Materials Institute General Research Institute for Nonferrous MetalsBeijing 100088China

Dielectric and energy storage properties of PbOSrO-Na_(2)O-Nb_(2)O_(5)-SiO_(2)(PSNNS) thin films with annealing temperature from 700 to 850 ℃ were investigated by measuring their capacitance-electric filed curve and hysteresis *** results show that the highest dielectric constant and energy density are 81.2 and 17.0 J·cm^(-3),respectively,which is obtained in the sample with annealing temperature of 800 ℃.Annealed from 700 to800 ℃,the dielectric constant and energy storage performance of PSNNS films are continuously ***,with annealing temperature up to 850 ℃,their dielectric constant decreases,which might be related with the removal of interfacial defects as a function of annealing *** is one of the causes of space charge phenomenon,resulting in the increase in dielectric ***,the micro structure analysis by X-ray diffraction(XRD) and transmission electron microscope(TEM) indicates that the change of crystallization phase and interfacial polarization takes responsibility to the results.

关键词： Thin film Pulse laser deposition Annealing temperature Energy storage density

Calcium-based polymers for suppression of soil acidification by improving acid-buffering capacity and inhibiting nitrification

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Journal of Environmental Sciences 2024年第5期139卷 138-149页

作者： fei Kang Yunshan meng Yanning Ge Yun zhang Haixiang Gao Xueqin Ren Jie Wang Shuwen Hu Beijing Key Laboratory of Farmland Soil Pollution Prevention-control and Remediation College of Resources and Environmental SciencesChina Agricultural UniversityBeijing 100193China Department of Applied Chemistry China Agricultural UniversityBeijing 100193China

Soil acidification is a major threat to agricultural sustainability in tropical and subtropical *** and environmentally friendly materials,such as calcium lignosulfonate(CaLS),calcium poly(aspartic acid)(PASP-Ca),and calcium polyγ-glutamic acid(γ-PGA-Ca),are known to effectively ameliorate soil ***,their effectiveness in inhibiting soil acidification has not been *** study aimed to evaluate the effect of CaLS,PASP-Ca,andγ-PGA-Ca on the resistance of soil toward acidification as directly and indirectly(i.e.,via nitrification)caused by the application of HNO_(3)and urea,*** comparison,Ca(OH)_(2)and lignin were used as the inorganic and organic controls,*** the materials,γ-PGA-Ca drove the substantial improvements in the pH buffering capacity(pHBC)of the soil and exhibited the greatest potential in inhibiting HNO_(3)-induced soil acidification via protonation of carboxyl,complexing with Al~(3+),and cation exchange *** acidification induced by urea,CaLS was the optimal one in inhibiting acidification and increasing exchangeable acidity during ***,the sharp reduction in the population sizes of ammonia-oxidizing bacteria(AOB)and ammonia-oxidizing archaea(AOA)confirmed the inhibition of nitrification via CaLS ***,compared to improving soil pHBC,CaLS may play a more important role in suppressing indirect ***,γ-PGA-Ca was superior to PASP-Ca and CaLS in enhancing the soil pHBC and the its resistance to acidification induced by HNO_(3) addition,whereas CaLS was the best at suppressing urea-driven soil acidification by inhibiting *** conclusion,these results provide a reference for inhibiting soil re-acidification in intensive agricultural systems.

关键词： Calcium-based polymer Soil acidification pH buffering capacity Nitrification inhibition

Self-assembly of perovskite nanocrystals:From driving forces to applications

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Journal of Energy Chemistry 2024年第1期88卷 561-578,I0013页

作者： Yi Li fei zhang School of Chemical Engineering and Technology Tianjin UniversityTianjin 300072China Collaborative Innovation Center of Chemical Science and Engineering(Tianjin) Tianjin 300072China

Self-assembly of metal halide perovskite nanocrystals(NCs)into superlattices can exhibit unique collective properties,which have significant application values in the display,detector,and solar cell *** review discusses the driving forces behind the self-assembly process of perovskite NCs,and the commonly used self-assembly methods and different self-assembly structures are ***,we summarize the collective optoelectronic properties and application areas of perovskite superlattice ***,we conclude with an outlook on the potential issues and future challenges in developing perovskite NCs.

关键词： Self-assembly Metal halide perovskite Nanocrystals Driving forces

Spin effect on redox acceleration and regioselectivity in Fe-catalyzed alkyne hydrosilylation

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National Science Review 2024年第2期11卷 155-167页

作者： Peng He meng-Yang Hu Jin-Hong Li Tian-zhang Qiao Yi-Lin Lu Shou-fei Zhu Frontiers Science Center for New Organic Matter State Key Laboratory and Institute of Elemento-Organic Chemistry Nankai University

Iron catalysts are ideal transition metal catalysts because of the Earths abundant, cheap, biocompatible features of iron salts. Iron catalysts often have unique open-shell structures that easily undergo spin crossover in chemical transformations, a feature rarely found in noble metal catalysts. Unfortunately, little is known currently about how the open-shell structure and spin crossover affect the reactivity and selectivity of iron catalysts, which makes the development of iron catalysts a low efficient trial-and-error program. In this paper, a combination of experiments and theoretical calculations revealed that the iron-catalyzed hydrosilylation of alkynes is typical spin-crossover catalysis. Deep insight into the electronic structures of a set of well-defined open-shell active formal Fe(0) catalysts revealed that the spin-delocalization between the iron center and the 1,10-phenanthroline ligand effectively regulates the iron center's spin and oxidation state to meet the opposite electrostatic requirements of oxidative addition and reductive elimination, respectively,and the spin crossover is essential for this electron transfer process. The triplet transition state was essential for achieving high regioselectivity through tuning the nonbonding interactions. These findings provide an important reference for understanding the effect of catalyst spin state on reaction. It is inspiring for the development of iron catalysts and other Earth-abundant metal catalysts, especially from the point of view of ligand development.

关键词： spin effect spin-delocalization spin crossover iron-catalysis alkyne hydrosilylation

Progress and challenges of electrolyte modulation in aqueous zinc-ion batteries

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Rare Metals 2024年第7期43卷 2940-2967页

作者： Qi-Hang Yang Lu-fei Wang Xiao-Yu Wang meng-meng Zhen Tianjin Key Laboratory of Clean Energy and Pollution Control School of Energy and Environmental EngineeringHebei University of Technology

As a new type of green battery system,aqueous zinc-ion batteries（AZIBs） have gradually become a research hotspot due to their low cost,high safety,excellent stability,high theoretical capacity(820 mAh·g-1) of zinc anode,and low redox potential(-0.76 V *** hydrogen electrode（SHE）).AZIBs have been expected to be an alternative to lithium-ion batteries for large-scale commercial energy storage ***,they are facing thorny issues such as degradation of cycling performance,zinc dendrites,and side *** the same time,these problems cause short cycling life of batteries,thus severely limiting their commercial *** recent years,many more researches have been conducted on the modification of anode and cathode materials of AZIBs,but there is a lack of in-depth discussion on the characteristics and mechanism of electrolyte *** this review,we will make a systematic summary of the current problems with two electrodes in AZIBs,as well as the types and functions of electrolyte ***,we further systematically describe the modulation mechanism of electrolyte additives in the performance of the cathode and *** prospects and development directions of additive modulation strategies for AZIBs electrolytes are prospected.

关键词： Electrolyte additives Aqueous zinc-ion batteries Zinc anode protection Cathode chemistry

The Turbulent Schmidt Number for Transient Contaminant Dispersion in a Large Ventilated Room Using a Realizable k-εModel

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Fluid Dynamics & Materials Processing 2024年第4期20卷 829-846页

作者： fei Wang Qinpeng meng Jinchi Zhao Xin Wang Yuhong Liu Qianru zhang School of Environment and Architecture University of Shanghai for Science and TechnologyShanghai200093China

Buildings with large open spaces in which chemicals are handled are often exposed to the risk of *** fluid dynamics is a useful and convenient way to investigate contaminant dispersion in such large *** turbulent Schmidt number(Sc_(t))concept has typically been used in this regard,and most studies have adopted a default *** studied the concentration distribution for sulfur hexafluoride(SF_(6))assuming different emission rates and considering the effect of Sc_(t).Then we examined the same problem for a light gas by assuming hydrogen gas(H_(2))as the *** SF_(6) was considered as the contaminant gas,a variation in the emission rate completely changed the concentration *** the emission rate was low,the gravitational effect did not take *** both low and high emission rates,an increase in S_(ct) accelerated the transport rate of SF_(6).In contrast,for H_(2) as the contaminant gas,a larger S_(ct) could induce a decrease in the H_(2) transport rate.

关键词： Large space CFD turbulent Schmidt number contaminant dispersion emission rate

Ischemia-reperfusion injury:molecular mechanisms and therapeutic targets

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Signal Transduction and Targeted Therapy 2024年第2期9卷 558-596页

作者： meng zhang Qian Liu Hui meng Hongxia Duan Xin Liu Jian Wu fei Gao Shijun Wang Rubin Tan Jinxiang Yuan The Collaborative Innovation Center Jining Medical UniversityJiningShandong 272067China Clinical Medical College Jining Medical UniversityJiningShandong 272067China Second Clinical Medical College Jining Medical UniversityJiningShandong 272067China Shanghai Institute of Cardiovascular Diseases Zhongshan Hospital and Institutes of Biomedical SciencesFudan UniversityShanghaiChina Institute of Zoology Chinese Academy of SciencesBeijingChina Department of Physiology Basic medical schoolXuzhou Medical UniversityXuzhou 221004China

Ischemia-reperfusion(I/R)injury paradoxically occurs during reperfusion following ischemia,exacerbating the initial tissue *** limited understanding of the intricate mechanisms underlying I/R injury hinders the development of effective therapeutic *** Wnt signaling pathway exhibits extensive crosstalk with various other pathways,forming a network system of signaling pathways involved in I/R *** review article elucidates the underlying mechanisms involved in Wnt signaling,as well as the complex interplay between Wnt and other pathways,including Notch,phosphatidylinositol 3-kinase/protein kinase B,transforming growth factor-β,nuclear factor kappa,bone morphogenetic protein,N-methyl-D-aspartic acid receptor-Ca2+-Activin A,Hippo-Yes-associated protein,toll-like receptor 4/toll-interleukine-1 receptor domain-containing adapter-inducing interferon-β,and hepatocyte growth factor/mesenchymal-epithelial transition *** particular,we delve into their respective contributions to key pathological processes,including apoptosis,the inflammatory response,oxidative stress,extracellular matrix remodeling,angiogenesis,cell hypertrophy,fibrosis,ferroptosis,neurogenesis,and blood-brain barrier damage during I/R *** comprehensive analysis of the mechanisms involved in Wnt signaling during I/R reveals that activation of the canonical Wnt pathway promotes organ recovery,while activation of the non-canonical Wnt pathways exacerbates ***,we explore novel therapeutic approaches based on these mechanistic findings,incorporating evidence from animal experiments,current standards,and clinical *** objective of this review is to provide deeper insights into the roles of Wnt and its crosstalk signaling pathways in I/R-mediated processes and organ dysfunction,to facilitate the development of innovative therapeutic agents for I/R injury.

关键词： therapeutic reperfusion damage