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Development of Wheel-Legged Biped Robots:A Review

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Journal of Bionic Engineering 2024年第2期21卷 607-634页

作者： Xuefei Liu Yi Sun Shikun Wen Kai Cao qian qi Xiaoshu Zhang Huan Shen Guangming Chen Jiajun Xu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged *** robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness ***-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this *** hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are *** summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped ***,this study discusses the key research directions and development trends for the wheel-legged biped robots.

关键词： Wheel-legged biped robot Wheeled motion Legged motion Control strategy

Stepwise colloidal lithography toward scalable and various planar chiral metamaterials

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Rare Metals 2024年第2期43卷 723-735页

作者： Xiu Yang Yong Liu Fei-Liang Chen qian-qi Lin Rohit Chikkaraddy Shan-Shan Huang Shi-Lin Xian Yi-Dong Hou Jing-Lei Du Liang-Ping Xia Chun-Lei Du School of Electronic Science and Engineering University of Electronic Science and Technology of ChinaChengdu610054China School of Optoelectronic Science and Engineering University of Electronic Science and Technology of ChinaChengdu610054China Zhuhai Multiscale Optoelectronics Technology Co. Ltd.Zhuhai915060China Hybrid Materials for Opto-Electronics Group Department of Molecules and MaterialsMESA+Institute for NanotechnologyMolecules Center and Center for Brain-Inspired Nano SystemsFaculty of Science and TechnologyUniversity of Twente7500 AEEnschedeThe Netherlands School of Physics and Astronomy University of BirminghamBirminghamB152TTUK College of Physics Sichuan UniversityChengdu610065China Key Laboratory of Micro Nano Optoelectronic Devices and Intelligent Perception Systems Yangtze Normal UniversityChongqing408100China

Chiral metamaterials(CMs)composed by artificial chiral resonators have attracted great attentions in the recent decades due to their strong chiroptical resonance and identifiable interaction with chiral materials,facilitating practical applications in chiral biosensing,chiral emission,and display ***,the complex geometry of CMs improves the fabrication difficulty and hinders their scalable fabrication for practical applications,especially in the visible and ultraviolet *** potential strategy is the colloidal lithography that enables parallel fabrication for scalable and various planar ***,we demonstrate a stepwise colloidal lithography technique that uses sequential deposition from multiple CMs and expand their variety and *** geometry and optical chirality of building blocks from single deposition are systematically investigated,and their combination enables a significant extension of the range of chiral patterns by multiple-step *** approach resulted in a myriad of complex designs with different characteristic sizes,compositions,and shapes,which are particularly beneficial for the development of nanophotonic *** addition,we designed a flexible chiral device based on PDMS,which exhibits a good CD value and excellent stability even after multiple inward and outward *** excellent compatibility to various substrates makes the planar CMs more flexible in practical applications in microfluidic biosensing.

关键词： Chiral metamaterials Colloidal lithography Nanophotonics Metasurfaces Plasmonics Nanofabrications Flexible devices

Dysbiosis promotes recurrence of adenomatous polyps in the distal colorectum

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World Journal of Gastrointestinal Oncology 2024年第8期16卷 3600-3623页

作者： Li-Li Yin Ping-qian qi Yun-Fei Hu Xiao-Jun Fu Rui-Shan He Meng-Meng Wang Yan-Juan Deng Su-Yi Xiong qi-Wen Yu Jin-Ping Hu Lv Zhou Zhi-Bin Zhou Ying Xiong Huan Deng The Affiliated Rehabilitation Hospital Jiangxi Medical CollegeNanchang UniversityNanchang 330006Jiangxi ProvinceChina The Fourth Affiliated Hospital Jiangxi Medical CollegeNanchang UniversityNanchang 330006Jiangxi ProvinceChina The Second College of Clinical Medicine Jiangxi Medical CollegeNanchang UniversityNanchang 330006Jiangxi ProvinceChina Tumor Immunology Institute Nanchang UniversityNanchang 330006Jiangxi ProvinceChina Department of General Medicine The Second College of Clinical MedicineJiangxi Medical CollegeNanchang UniversityNanchang 330031Jiangxi ProvinceChina The Ministry of Education Basic Research and Innovation Center for the Targeted Therapeutics of Solid Tumors Jiangxi Medical CollegeNanchang UniversityNanchang 330031Jiangxi ProvinceChina

BACKGROUND Colorectal polyps,which are characterized by a high recurrence rate,represent preneoplastic conditions of the *** to unclear mechanisms of pathogenesis,first-line therapies for non-hereditary recurrent colorectal polyps are limited to endoscopic *** recent studies suggest a mechanistic link between intestinal dysbiosis and polyps,the exact compositions and roles of bacteria in the mucosa around the lesions,rather than feces,remain *** To clarify the composition and diversity of bacteria in the mucosa surrounding or 10 cm distal to recurrent intestinal *** Mucosal samples were collected from four patients consistently with adenomatous polyps(Ade),seven consistently with non-Ade(Pol),ten with current Pol but previous Ade,and six healthy individuals,and bacterial patterns were evaluated by 16S rDNA *** discriminant analysis and Student’s t-tests were used to identify the genus-level bacteria differences between groups with different colorectal polyp ***’s correlation coefficients were used to evaluate the correlation between intestinal bacteria at the genus level and clinical *** The results confirmed a decreased level of probiotics and an enrichment of pathogenic bacteria in patients with all types of polyps compared to healthy *** changes were not restricted to the mucosa within 0.5 cm adjacent to the polyps,but also existed in histologically normal tissue 10 cm distal from the *** differences in bacterial diversity were observed in the mucosa from individuals with normal conditions,Pol,and *** abundance of Gram-negative bacteria,including Klebsiella,Plesiomonas,and Cronobacter,was observed in Pol group and Ade group,suggesting that resistance to antibiotics may be one risk factor for bacterium-related harmful ***,age and gender were linked to bacteria changes,indicating the potential involvement of sex hormone

关键词： Dysbiosis Biopsy Polyp Bacteria Colorectum

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世界华文文学发展的文化逻辑

南通大学学报（社会科学版） 2024年第3期40卷 76-86页

作者：钱骐骄南京大学中国新文学研究中心南京特殊教育师范学院

世界新格局下的世界华文文学要承担文化使命,就必须以中华文化主体性为学科立意基础,为此需明确三个问题,即世界华文文学发展的文化立场、具体内涵以及研究目的。在华文文学领域“中华路线”与“西方路线”的拉扯中,世界华文文学发展的... 详细信息

世界新格局下的世界华文文学要承担文化使命,就必须以中华文化主体性为学科立意基础,为此需明确三个问题,即世界华文文学发展的文化立场、具体内涵以及研究目的。在华文文学领域“中华路线”与“西方路线”的拉扯中,世界华文文学发展的文化逻辑必须紧扣中华文化。世界华文文学研究要从中华文化的现代性意义出发,在世界性中坚持民族性,构建中华文明的全人类命运共同体。

关键词：世界华文文学中华文化世界性民族性人类命运共同体

自激振荡喷嘴流动特性对近嘴区射流雾化的影响

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吉林大学学报（工学版） 2024年第6期54卷 1512-1518页

作者：高永强周士谦齐龙尹迁齐黄雪涛张佳兴山东交通学院汽车工程学院济南250357

基于大涡模拟(LES)和流体体积分数法(VOF)模型,建立了自激振荡喷嘴流场的数学模型,仿真研究了自激振荡喷嘴内流动及射流破碎过程。结果表明:燃油流过自激振荡喷嘴能显著提高流体涡度和扰动强度,射流扰动强度的振荡幅值增大3倍多。射流... 详细信息

基于大涡模拟(LES)和流体体积分数法(VOF)模型,建立了自激振荡喷嘴流场的数学模型,仿真研究了自激振荡喷嘴内流动及射流破碎过程。结果表明:燃油流过自激振荡喷嘴能显著提高流体涡度和扰动强度,射流扰动强度的振荡幅值增大3倍多。射流扰动对近嘴区射流破碎的影响更加敏感,显著提高了射流破碎质量;近嘴区射流破碎距离(SL)明显减小,SL在距喷嘴出口(2~5)倍直径处变化;近嘴区喷雾锥角也随之增大,最大增幅超过60%,燃油雾化效果得到显著提高。本文计算结果可为自激振荡脉冲雾化喷嘴提供有力的理论依据。

关键词：能源动力工程自激振荡喷嘴喷雾特性射流破碎机理湍流扰动

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中国农村妇女土地权益保护的困境及对策研究

法学（汉斯） 2024年第6期12卷 3507-3512页

作者：钱棋宁波大学马克思主义学院浙江宁波

解决农村妇女土地权益问题,促进男女平等,维护社会公平正义,体现了中国共产党以人民为中心的根本执政理念。然而在中国农村,妇女的土地权益受到侵害,维权过程艰难。造成该现象的原因主要包括各个国家机关协同作用发挥有限,村民集体利益... 详细信息

解决农村妇女土地权益问题,促进男女平等,维护社会公平正义,体现了中国共产党以人民为中心的根本执政理念。然而在中国农村,妇女的土地权益受到侵害,维权过程艰难。造成该现象的原因主要包括各个国家机关协同作用发挥有限,村民集体利益和妇女个人利益的冲突,基层群众自治权利监管问题,以“家户”为承包单位的制度缺陷等。因此,本文认为可以通过发挥各国家机关协同作用,因地制宜协调村集体和妇女间的利益冲突,促进基层群众自治的法治化和民主化,完善土地承包的条件和程序等措施以加强妇女土地权益保护。

关键词：农村妇女土地权益男女平等维权

基于同色同谱特征的模拟绿色植被光谱材料研究进展

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材料导报 2024年第7期38卷 219-225页

作者：苗珊珊王业健李澄钱淇徐国跃南京航空航天大学材料科学与技术学院南京211106

随着高光谱侦察技术的快速发展,为满足反侦察需求,对模拟绿色植被光谱材料的要求越来越高。绿色植被是应用极广泛的作战背景之一,它在400~2500 nm波长区间具有独特的光谱特征,有四个主要特征谱带,分别是“绿峰”“红边”“近红外高原”... 详细信息

随着高光谱侦察技术的快速发展,为满足反侦察需求,对模拟绿色植被光谱材料的要求越来越高。绿色植被是应用极广泛的作战背景之一,它在400~2500 nm波长区间具有独特的光谱特征,有四个主要特征谱带,分别是“绿峰”“红边”“近红外高原”和“水吸收谱带”,源于叶片的叶绿素、组织结构和植物含水。本文基于高光谱技术的侦察特点,为了实现伪装材料与背景之间“同色同谱”,论述了模拟各个特征反射峰的材料现状及现有材料的综合应用,介绍了现有伪装材料精准模拟绿色植被光谱曲线的同时存在耐候性差等问题,以及通过复合来提升光谱曲线相似度和耐候性的相关工作,并对未来模拟绿色植被光谱材料进行了总结及展望。

关键词：绿色植被同色同谱光谱调控特征反射

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阻塞性睡眠呼吸暂停共病抑郁的研究进展

中国药物经济学 2024年第1期19卷 102-107页

作者：祁倩倩张义石河子大学医学院新疆石河子832003 新疆维吾尔自治区人民医院临床心理科乌鲁木齐830000

阻塞性睡眠呼吸暂停(OSA)是睡眠相关障碍中常见的一种,与多器官、多系统疾病密切相关。OSA患者生命质量一直处于一般水平,长期如此还可能造成情绪障碍,其中最常见的就是抑郁。多项研究发现,OSA患病程度与抑郁的患病程度、持续时间正相... 详细信息

阻塞性睡眠呼吸暂停(OSA)是睡眠相关障碍中常见的一种,与多器官、多系统疾病密切相关。OSA患者生命质量一直处于一般水平,长期如此还可能造成情绪障碍,其中最常见的就是抑郁。多项研究发现,OSA患病程度与抑郁的患病程度、持续时间正相关。同时两者共病的患病率逐年增加,对患者身心造成极大负担。现对近年来OSA共病抑郁的发病机制、共同影响因素及治疗方法进行阐述。

关键词：阻塞性睡眠呼吸暂停抑郁综述

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糖尿病肾病中医辨证分型研究概述

山东中医杂志 2024年第1期43卷 93-98,107页

作者：钱琦安晓飞南京中医药大学附属医院内分泌科江苏南京210029

近年来临床上关于糖尿病肾病(DKD)中医辨证分型和治法方药的研究涌现了多种学术观点。辨证方式主要包括根据病因病机辨证及根据临床分期辨证两种。病因病机辨证主要包括病因辨证与脏腑辨证,脏腑辨证中主要涉及脾不散精理论和心肾一体论... 详细信息

近年来临床上关于糖尿病肾病(DKD)中医辨证分型和治法方药的研究涌现了多种学术观点。辨证方式主要包括根据病因病机辨证及根据临床分期辨证两种。病因病机辨证主要包括病因辨证与脏腑辨证,脏腑辨证中主要涉及脾不散精理论和心肾一体论;分期辨证则多以DKD的各种西医分期为基础。随着检验检查技术的提高,检验指标和检查结果逐渐成为辨证分型的物质基础和量化指标,DKD辨证分型涉及的检查指标主要有糖脂代谢指标、炎症因子、尿蛋白及肾功能相关指标、肾脏血流动力学指标等。参考文献82篇。

关键词：糖尿病肾病辨证分型病因辨证脏腑辨证分期辨证脾不散精理论心肾一体