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Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 100-114页

作者： Yan shi Jiange kou Zhenlei Chen Yixuan Wang Qing Guo school of Automation science and Electrical Engineering Beihang UniversityBeijing 100191China school of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China

Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction ***,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to ***,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model ***,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical *** a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative ***,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons *** knee joint motion achieves a steady-state response after 0.5 ***,the position error of hip joint response is less than 0.03 rad after 0.9 *** addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·*** research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model ***,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.

关键词： Parameter identification Enhanced whale optimization algorithm(EWOA) Backstepping Human-robot interaction Lower limb exoskeleton

Multi-Timescale Distributed Approach to Generalized-Nash-Equilibrium seeking in Noncooperative Nonconvex Games

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IEEE/CAA Journal of Automatica sinica 2024年第3期11卷 791-793页

作者： Banghua Huang Yang Liu Kit Ian kou Weihua Gui the school of Mathematical sciences Zhejiang Normal UniversityJinhua 321004China IEEE the Key Laboratory of Intelligent Education Technology and Application of Zhejiang Province Jinhua 321004China the Faculty of science and Technology University of MacaoMacaoChina the school of Automation Central South UniversityChangsha 410083China

Dear Editor,The distributed generalized-Nash-equilibrium(GNE)seeking in noncooperative games with nonconvexity is the topic of this *** by the sequential quadratic programming(sQP)method,a multi-timescale multi-agent system(MAs)is developed,and its convergence to a critical point of the game is *** illustrate the qualities and efficacy of the theoretical findings,a numerical example is elaborated.

关键词： letter seeking programming

Facile synthesis of a tumor microenvironment-responsive nanomaterial with metallic polyphenol-encapsulated for enhanced synergistic therapy

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Journal of Rare Earths 2024年第10期42卷 1895-1902页

作者： Kaige Yu Nuo kou shouqiang Zhang Tianqi Cao Hanqing Wu Jing Zhou Department of Chemistry Capital Normal University College of Teacher Education Capital Normal University

The tumor microenvironment（TME） differs from normal tissue cells in its physiological and biochemical *** construction of TME-responsive nanoplatforms requires a tedious preparation process and complex multicomponent *** this work,Er@EGCG-Cu,a TME-responsive nanoplatform,was simply and rapidly synthesized by combining rare earth-doped nanomaterials（NaLuF4:Yb,Er） with EGCG-Cu which is based on the ability of metal ions to coordinate with polyphenols to form a metal-phenolic network（MPN） *** MPN structure is then destroyed under an acidic TME,releasing the chemotherapy（CT） drug EGCG,which can cause apoptosis,Cuxsyis generated by combining Cu2+with H2s overexpressed in human colorectal cancer cells and can be used for photothermal therapy（PTT）.Cell experiments show that laser irradiation improves the CT/PTT synergistic effect of Er@*** study has significance for the construction of TME-responsive nanomedicines with simple and rapid preparation for synergistic therapy.

关键词： Metal-polyphenol networks Nanomaterials Rare earths synergistic therapy Tumor microenvironment

Flexible assistance strategy of lower limb rehabilitation exoskeleton based on admittance model

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science China(Technological sciences) 2024年第3期67卷 823-834页

作者： kou JianGe WANG YiXuan CHEN ZhenLei sHI Yan GUO Qing XU Meng school of Automation science and Electrical Engineering Beihang UniversityBeijing 100191China school of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China Department of Musculoskeletal Tumor Senior Department of Orthopedicsthe Fourth Medical Centerof PLA GeneralHospitalBeijing 100853China

Exercise training based on exoskeleton is an effective rehabilitation method for stroke patients. However, some rehabilitation exoskeletons still have poor wearable performance and obvious human-robot impedance during training, which easily cause secondary injuries to the patients. In this study, a variable admittance control strategy is proposed to improve the operator's wearable comfort, which can adapt to different operators by regulating admittance parameters. The admittance controller has two feedback loops: the position inner-loop and the admittance outer-loop. Meanwhile, the exoskeleton Lagrange model is constructed with unknown friction disturbance. By using Lyapunov technique and backstepping with state observer, the joint position error of exoskeleton is convergence into a zero neighborhood. The effectiveness of the proposed admittance controller is verified by both simulation and experiment. The tracking error of hip and knee joint is less than 4 degrees while the human-robot interaction torque is constrained in a tolerable range of the operator.

关键词： human-robot interaction exoskeleton backstepping admittance control

surgical techniques to prevent delayed gastric emptying after pancreaticoduodenectomy

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Hepatobiliary & Pancreatic Diseases International 2024年第5期23卷 449-457页

作者： Peng Duan Lu sun Kai kou Xin-Rui Li Ping Zhang Department of Hepatobiliary and Pancreatic surgery General Surgery Centerthe First Hospital of Jilin UniversityChangchun 130021China Department of Dental Implantology Hospital of StomatologyJilin UniversityChangchun 130021China

Background: Delayed gastric emptying(DGE) is one of the most common complications after pancreaticoduodenectomy(PD). DGE represents impaired gastric motility without significant mechanical obstruction and is associated with an increased length of hospital stay, increased healthcare costs, and a high readmission rate. We reviewed published studies on various technical modifications to reduce the incidence of DGE. Data sources: studies were identified by searching Pub Med for relevant articles published up to December 2022. The following search terms were used: “pancreaticoduodenectomy”, “pancreaticojejunostomy”, “pancreaticogastrostomy”, “gastric emptying”, “gastroparesis” and “postoperative complications”. The search was limited to English publications. Additional articles were identified by a manual search of references from key articles. Results: In recent years, various surgical procedures and techniques have been explored to reduce the incidence of DGE. Pyloric resection, Billroth II reconstruction, Braun's enteroenterostomy, and antecolic reconstruction may be associated with a decreased incidence of DGE, but more high-powered studies are needed in the future. Neither laparoscopic nor robotic surgery has demonstrated superiority in preventing DGE, and the use of staplers is controversial regarding whether they can reduce the incidence of DGE. Conclusions: Despite many innovations in surgical techniques, there is no surgical procedure that is superior to others to reduce DGE. Further larger prospective randomized studies are needed.

关键词： Pancreaticoduodenectomy Delayed gastric emptying Postoperative complications surgical techniques

Neutrophil peptide 1 accelerates the clearance of degenerative axons during Wallerian degeneration by activating macrophages after peripheral nerve crush injury

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Neural Regeneration Research 2024年第8期19卷 1822-1827页

作者： Yuhui kou Yusong Yuan Qicheng Li Wenyong Xie Hailin Xu Na Han Department of Trauma and Orthopedics Peking University People’s HospitalBeijingChina National Center for Trauma Medicine BeijingChina Key Laboratory of Trauma and Neural Regeneration(Peking University) Ministry of EducationBeijingChina Department of Orthopedics China-Japan Friendship HospitalBeijingChina Department of Central Laboratory and Institute of Clinical Molecular Biology Peking University People’s HospitalBeijingChina

Macrophages play an important role in peripheral nerve regeneration,but the specific mechanism of regeneration is still *** preliminary findings indicated that neutrophil peptide 1 is an innate immune peptide closely involved in peripheral nerve ***,the mechanism by which neutrophil peptide 1 enhances nerve regeneration remains *** study was designed to investigate the relationship between neutrophil peptide 1 and macrophages in vivo and in vitro in peripheral nerve crush *** functions of RAW 264.7 cells we re elucidated by Cell Counting Kit-8 assay,flow cytometry,migration assays,phagocytosis assays,immunohistochemistry and enzyme-linked immunosorbent *** debris phagocytosis was observed using the CUBIC(Clear,Unobstructed Brain/Body Imaging Cocktails and Computational analysis)optical clearing technique during Wallerian *** inflammatory factor expression in different polarization states was detected using a protein *** results showed that neutrophil peptide 1 promoted the prolife ration,migration and phagocytosis of macrophages,and CD206 expression on the surfa ce of macrophages,indicating M2 *** axonal debris clearance rate during Wallerian degeneration was enhanced after neutrophil peptide 1 *** peptide 1 also downregulated inflammatory factors interleukin-1α,-6,-12,and tumor necrosis factor-αin invo and in ***,the results suggest that neutrophil peptide 1 activates macrophages and accelerates Wallerian degeneration,which may be one mechanism by which neutrophil peptide 1 enhances peripheral nerve regeneration.

关键词： axonal debris inflammatory factors macrophages neutrophil peptide 1 peripheral nerve injury peripheral nerve regeneration RAW 264.7 cells sciatic nerve Wallerian degeneration

Incubation temperature induced developmental plasticity of cold responsive physiological phenotypes in Japanese Quails

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Avian Research 2024年第3期15卷 385-394页

作者： Yingxin kou Rongmiao Zhang Xiaoqian Li Na Zhu Yihang Huang shuping Zhang College of Life and Environmental sciences Minzu University of ChinaBeijing100081China

Embryonic development is a critical period for phenotype *** variation during embryonic development can induce changes in postnatal phenotypes of *** thyroxine secretion and aerobic metabolic activity of small birds are important phenotypes closely related to their winter *** the context of climate change,it is necessary to determine whether temperature variation during incubation in birds leads to developmental plasticity of these cold responsive *** incubated Japanese Quail(Coturnix japonica)eggs at 36.8℃,37.8℃,and 38.8℃,and raised the chicks to 35-day old at 22℃with same raising conditions,then all the quails were exposed to gradually temperature dropping environment(from 15℃to 0℃).After cold treatment,serum T3 level,resting metabolic rate,skeletal muscle and liver metabolomes of the birds were *** serum T3 levels were significantly lower in the 38.8℃group and significantly higher in the 36.8℃group compared to the 37.8℃*** metabolic rate in the 38.8℃group was significantly lower compared to the 37.8℃*** with the 37.8℃group,metabolites involved in the tricarboxylic acid cycle in the liver were significantly lower in the 38.8℃group,and metabolites related to lipid oxidation metabolism and fatty acid biosynthesis were significantly lower in the skeletal muscles in the 38.8℃group but significantly higher in the 36.8℃*** results indicate that incubation temperature variation can lead to developmental plasticity in cold responsive physiological *** incubation temperature may impair the capacity of birds coping with cold challenge.

关键词： Cold response Developmental plasticity Incubation temperature Metabolic rate Metabolomes Precocial bird Thyroxin

Enhancing XRF sensor-based sorting of porphyritic copper ore using particle swarm optimization-support vector machine(PsO-sVM)algorithm

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International Journal of Mining science and Technology 2024年第4期34卷 545-556页

作者： Zhengyu Liu Jue kou Zengxin Yan Peilong Wang Chang Liu Chunbao sun Anlin shao Bern Klein school of Civil and Resources Engineering University of Science and TechnologyBeijing 100083China Institute of Minerals Research University of Science and TechnologyBeijing 100083China state Key Laboratory of Mineral Processing Beijing 102628China Ansteel Group Mining Co.Ltd. Anshan 114000China Norman B.Keevil Institute of Mining Engineering University of British ColumbiaVancouverBC V6T 1Z4Canada

X-ray fluorescence(XRF)sensor-based ore sorting enables efficient beneficiation of heterogeneous ores,while intraparticle heterogeneity can cause significant grade detection errors,leading to misclassifications and hindering widespread technology *** classification models are crucial to determine if actual grade exceeds the sorting threshold using localized XRF *** studies mainly used linear regression(LR)algorithms including simple linear regression(sLR),multivariable linear regression(MLR),and multivariable linear regression with interaction(MLRI)but often fell short attaining satisfactory *** study employed the particle swarm optimization support vector machine(PsO-sVM)algorithm for sorting porphyritic copper ore ***-scale results showed PsO-sVM out-performed LR and raw data(RD)models and the significant interaction effects among input features was *** poor input data quality,PsO-sVM demonstrated exceptional ***-scale sorting achieved 93.0%accuracy,0.24%grade increase,84.94%recovery rate,57.02%discard rate,and a remarkable 39.62 yuan/t net smelter return(NsR)increase compared to no *** improvements were achieved by the PsO-sVM model with optimized input combinations and highest data quality(T=10,T is XRF testing times).The unsuitability of LR methods for XRF sensor-based sorting of investigated sample is *** element selection and mineral association analysis elucidate element importance and influence mechanisms.

关键词： XRF sensor-based sorting PsO-sVM algorithm Copper ore pebble Receiver operating curve(ROC) Net smelter return(NsR)

The Dual of the Two-Variable Exponent Amalgam spaces (L<sup>q()sup>,l<sup>p()sup>)(Ω)

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Journal of Applied Mathematics and Physics 2024年第2期12卷 383-431页

作者： sambourou Massinanke s.kou Coulibaly Mamadou Traore Departement d’Etudes et de Recherches de Mathématiques et d’Informatique Université des Sciences des Techniques et des Technolo-gies de Bamako Bamako Mali

Wiener amalgam spaces are a class of function spaces where the function’s local and global behavior can be easily distinguished. These spaces are ex-tensively used in Harmonic analysis that originated in the work of Wiener. In this paper: we first introduce a two-variable exponent amalgam space (Lsup>qsup>sup>()sup>,lsup>psup>sup>()sup>)(Ω). secondly, we investigate some basic properties of these spaces, and finally, we study their dual.

关键词： Amalgam spaces Variable Exponent Lebesgue spaces Dual of a Vector space