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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object

Frontiers of Mechanical Engineering 2024年第1期19卷 35-52页

作者： Bolin sun min CHENG Ruqi DING Bing XU State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China Key Laboratory of Conveyance and Equipment(ministry of Education) East China Jiaotong UniversityNanchang 330013China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Given the limited operating ability of a single robotic arm,dual-arm collaborative operations have become increasingly *** with the electrically driven dual-arm manipulator,due to the unknown heavy load,difficulty in measuring contact forces,and control complexity during the closed-chain object transportation task,the hydraulic dual-arm manipulator(HDM)faces more difficulty in accurately tracking the desired motion trajectory,which may cause object deformation or even *** overcome this problem,a compliance motion control method is proposed in this paper for the *** mass parameter of the unknown object is obtained by using an adaptive method based on velocity *** to the difficulty in obtaining the actual internal force of the object,the pressure signal from the pressure sensor of the hydraulic system is used to estimate the contact force at the end-effector(EE)of two hydraulic manipulators(HMs).Further,the estimated contact force is used to calculate the actual internal force on the ***,a compliance motion controller is designed for HDM closed-chain *** position and internal force errors of the object are reduced by the feedback of the position,velocity,and internal force errors of the object to achieve the effect of the compliance motion of the HDM,i.e.,to reduce the motion error and internal force of the *** required velocity and force at the EE of the two HMs,including the position and internal force errors of the object,are inputted into separate position *** addition,the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control ***,comparative experiments are carried out on a hydraulic dual-arm test *** proposed method is validated by the experimental results,which demonstrate improved object position accuracy and reduced internal force.

关键词： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control

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TRPC6 Knockout Alleviates Renal Fibrosis through PI3K/AKT/GSK3B Pathway

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Current Medical Science 2024年第3期44卷 589-602页

作者： An-bang sun Fang-hua LI Lin ZHU Xi-xi ZENG min ZHU Qing-hua LEI Yan-hong LIAO Department of Anatomy School of Basic MedicineTongji Medical CollegeHuazhong University of Science and TechnologyWuhan430030China Department of Transfusion Medicine Wuhan Hospital of Traditional Chinese and Western MedicineTongji Medical CollegeHuazhong University of Science and TechnologyWuhan430030China Department of Nephrology The First Affiliated Hospital of Zhengzhou UniversityZhengzhou450052China Department of Thoracic Surgery Tongji HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhan430030China National Basic Medical Teaching Demonstration Center Tongji Medical CollegeHuazhong University of Science and TechnologyWuhan430030China Key Laboratory of Neurological Diseases of ministry of Education Tongji Medical CollegeHuazhong University of Science and TechnologyWuhan430030China

Objective Renal fibrosis is the ultimate pathway of various forms of acute and chronic kidney ***,the knockout of transient receptor potential channel 6(TRPC6)has shown promise in alleviating renal ***,the regulatory impact of TRPC6 on renal fibrosis remains *** In vivo,TRPC6 knockout(TRPC6−/−)mice and age-matched 129 SvEv(WT)mice underwent unilateral renal ischemia-reperfusion(uIR)injury surgery on the left renal pedicle or sham *** and serum were collected on days 7,14,21,and 28 after *** vitro,primary tubular epithelial cells(PTECs)were isolated from TRPC6−/−and WT mice,followed by treatment with transforming growth factorβ1(TGFβ1)for 72 *** anti-fibrotic effect of TRPC6−/−and the underlying mechanisms were assessed through hematoxylin-eosin staining,Masson staining,immunostaining,qRT-PCR,and Western *** Increased TRPC6 expression was observed in uIR mice and PTECs treated with TGFβ***6−/−alleviated renal fibrosis by reducing the expression of fibrotic markers(Col-1,α-SMA,and vimentin),as well as decreasing the apoptosis and inflammation of PTECs during fibrotic progression both in vivo and in ***,we found that the phosphatidylinositol 3-kinase(PI3K)/protein kinase B(AKT)/glycogen synthase kinase 3 beta(GSK3β)signaling pathway,a pivotal player in renal fibrosis,was down-regulated following TRPC6 *** These results suggest that the ablation of TRPC6 may mitigate renal fibrosis by inhibiting the apoptosis and inflammation of PTECs through down-regulation of the PI3K/AKT/GSK3β*** TRPC6 could be a novel therapeutic strategy for preventing chronic kidney disease.

关键词： transient receptor potential channel 6 ischemia-reperfusion injury renal fibrosis renal tubular epithelial cells

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Allelopathic potentials of surrounding vegetation on seedling establishment of alpine cushion Arenaria polytrichoides

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Journal of Plant Ecology 2024年第2期17卷 146-160页

作者： Xu-Fang Chen Li-Shen Qian hong-Hua Shi Ya-Zhou Zhang min-Shu Song Hang sun Jian-Guo Chen Key Laboratory for Plant Diversity and Biogeography of East Asia Kunming Institute of BotanyChinese Academy of SciencesKunming 650201YunnanChina University of Chinese Academy of Sciences Beijing 101408China

When facilitating other species and sustaining plant community structures and biodiversity,alpine cushion plants simultaneously experience negative feedback effects from surrounding ***,the impact of surrounding vegetation on cushion dynamics remains poorly understood,particularly in terms of allelopathic *** investigate the allelopathic potentials of surrounding vegetation on seedling establishment of the typical cushion plant Arenaria polytrichoides *** an elevational gradient,we extracted potential allelopathic compounds and tested their impacts on seed germination and seedling growth of *** addition,exclusion experiments using activated carbon were conducted to further elucidate these *** results demonstrate that surrounding vegetation exhibits certain allelopathic potentials on *** seedling establishment,with variations observed based on elevation,source and concentration of allelopathy compounds,as well as growing ***,low-elevation vegetation exerts pronounced suppression on seedling ***,higher-elevation vegetation generally shows no effect on seed germination but stimulates seedling growth through allelopathy ***,aboveground vegetation predominantly inhibits both seed germination and seedling growth in low-elevation communities;however,the effects of belowground vegetation depend on elevation and extract concentration *** identifed allelopathic potentials of surrounding vegetation signifcantly infuence the population dynamics of cushion *** by potentially accelerating population degeneration in lower-elevation communities while ensuring consistent population recruitment and expansion in higher-elevation communities.

关键词： allelopathic potential community dynamic cushion plant seed germination seedling growth

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Remote Monitoring and Early Warning Model of Frozen Soil in Dam Areas

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Journal of Northeast Agricultural University(English Edition) 2019年第4期26卷 86-96页

作者： Zhang Xue-jiao sun hong-min Dong Yuan Hu Zhen-nan College of Electricity and Information Northeast Agricultural University

In view of the cumbersome and often untimely process of manual collection and observation of frozen soil data parameters,and the damage caused to dams by frost heaving of frozen soil,a remote monitoring and an early warning model for frozen soil in dam areas was *** Pt100 temperature sensors and JM seam gauges were used as measurement tools in the *** sensor layout was designed,based on the actual situation in the monitoring area.A 4G network was used for wireless transmission to monitor frozen soil data in real *** neural network was used to predict the parameters of frozen *** analysis,four factors including the average temperature of frozen soil,the type of frozen soil,the artificial upper limit of frozen soil and the building construction time were selected to establish an early warning model using fuzzy *** experimental results showed that the early warning model could reflect the influence on dam buildings of frost heaving and sinking of frozen soil,and provided technical support for predicting the hazard level.

关键词： frozen soil sensor BP neural network fuzzy reasoning early warning model

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Interaction between adolescent sleep rhythms and gender in an obese population

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World Journal of Clinical Cases 2024年第1期12卷 86-94页

作者： Nan-Nan Wu Guo-Li Yan hong-Yu Zhang Ling sun min Hou Guang-ming Xu Department of Laboratory Medicine Tianjin Chest HospitalTianjin 300222China Mental Health Center of Tianjin Medical University Tianjin Anding HospitalTianjin 300222China Department of Child and Adolescent Psychology Mental Health Center of Tianjin Medical UniversityTianjin 300222China

BACKGROUND The obesity rate of adolescents is gradually increasing,which seriously affects their mental health,and sleep plays an important role in adolescent *** To investigate the relationship between sleep rhythm and obesity among adolescents and further explores the interactive effect of sleep rhythm and gender on adolescent obesity,providing a theoretical basis for developing interventions for adolescent *** Research data source Tianjin Mental Health Promotion Program for *** April to June 2022,this study selected 14201 students from 13 middle schools in a certain district of Tianjin as the research subject using the convenient cluster sampling *** these students,13374 accepted and completed the survey,with an effective rate of 94.2%.The demographic data and basic information of adolescents,such as height and weight,were collected through a general situation *** sleep rhythm of adolescents was evaluated using the reduced version of the morningness-eveningness *** A total of 13374 participants(6629 females,accounting for 49.56%;the average age is 15.21±1.433 years)were *** them,the survey showed that 2942 adolescent were obesity,accounting for 22%and 2104 adolescent were overweight,accounting for 15.7%.Among them,1692 male adolescents are obese,with an obesity rate of 25.1%,higher than 18.9%of female *** is a statistically significant difference between the three groups(χ2=231.522,P<0.000).The obesity group has the smallest age(14.94±1.442 years),and there is a statistical difference in age among the three groups(F=69.996,P<0.000).Obesity rates are higher among individuals who are not-only-child,have residential experience within six months,have family economic poverty,and have evening-type sleep(P<0.05).Logistic regression analysis shows a correlation between sleep rhythm and adolescent ***-type sleep rhythm can increase the risk of obesity in male adoles

关键词： Adolescent Obesity Sleep rhythm Gender Interaction

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Protective mechanism of Coprinus comatus polysaccharide on acute alcoholic liver injury in mice,the metabolomics and gut microbiota investigation

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Food Science and Human Wellness 2024年第1期13卷 401-413页

作者： Jinyan Yu Jianguang sun min sun Weidong Li Dongmei Qi Yongqing Zhang Chunchao Han School of Pharmacy Shandong University of Traditional Chinese MedicineJinan 250355China Hepatology Department of Affiliated Hospital of Shandong University of Traditional Chinese Medicine Jinan 250355China Experimental center Shandong University of Traditional Chinese MedicineJinan 250355China

Coprinus comatus polysaccharide(CCP)has significant hepatoprotective *** explore hepatoprotective mechanism of CCP,the study analyzed preventive effect of CCP on acute alcoholic liver injury in mice by histopathological examination and biochemical ***,hepatoprotective mechanism was also analyzed in conjunction with metabolomics and proliferation of gut *** results showed that CCP significantly decreased alanine aminotransferase(ALT),aspartate aminotransferase(AST)and triglyceride(TG)levels in serum of alcoholic liver disease(ALD)*** examination showed that CCP can significantly improve liver *** results showed that there were significant differences in the level of metabolites in liver tissue of control group,ALD group and CCP group,including taurine,xanthosine,fumaric acid and arachidonic acid,among *** pathways analysis showed that hepatoprotective effect of CCP was related to energy metabolism,biosynthesis of unsaturated fatty acids,amino acids metabolism and lipid ***,CCP inhibited an increase in the number of Clostridium perfringens,Enterobacteriaceae and Enterococcus,and a decrease in the number of Lactobacillus and Bifidobacterium in the gut of ALD *** these findings suggested that CCP treatment reversed the phenotype of ethanol-induced liver injury and the associated metabolites pathways.

关键词： Coprinus comatus Polysaccharide Alcoholic liver disease Metabolomics Gut microbiota

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The importance of data assimilation components for initial conditions and subsequent error growth

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Science China Earth Sciences 2024年第1期67卷 105-116页

作者： Zhongrui WANG Haohao sun Lili LEI Zhe-min TAN Yi ZHANG Key Laboratory of Mesoscale Severe Weather Ministry of Educationand School of Atmospheric SciencesNanjing UniversityNanjing 210023China Frontiers Science Center for Critical Earth Material Cycling Nanjing UniversityNanjing 210023China

Despite a specific data assimilation method,data assimilation(DA)in general can be decomposed into components of the prior information,observation forward operator that is given by the observation type,observation error covariances,and background error *** a classic Lorenz model,the influences of the DA components on the initial conditions(ICs)and subsequent forecasts are systematically investigated,which could provide a theoretical basis for the design of DA for different scales of *** forecast errors undergo three typical stages:a slow growth stage from 0 h to 5 d,a fast growth stage from 5 d to around 15 d with significantly different error growth rates for ensemble and deterministic forecasts,and a saturation stage after 15 *** strategies that provide more accurate ICs can improve the *** assimilation is superior to offline assimilation,and a flow-dependent background error covariance matrix(Pf)provides better analyses than a static background error covariance matrix(B)for instantaneous observations and frequent time-averaged observations;but the opposite is true for infrequent time-averaged observations,since cycling simulation cannot construct informative priors when the model lacks predictive skills and the flow-dependent Pf cannot effectively extract information from low-informative observations as the static *** observations contain more information than time-averaged observations,thus the former is preferred,especially for infrequent observing ***,ensemble forecasts have advantages over deterministic forecasts,and the advantages are enlarged with less informative observations and lower predictive-skill model priors.

关键词： Data assimilation Atmospheric predictability Background error covariances Ensemble forecasts

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A study of the effect of local scour on the flow field near the spur dike

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Theoretical & Applied Mechanics Letters 2024年第2期14卷 98-105页

作者： Yu-Tian Li Jie-min Zhan Wing-hong Onyx Wai Department of Industrial Design School of Industrial Design and Ceramic ArtFoshan UniversityFoshan 528000China Department of Applied Mechanics and Engineering Shenzhen Campus of Sun Yat-sen UniversityShenzhen 518107China Department of Civil and Environmental Engineering The Hong Kong Polytechnic UniversityHong Kong 999077China

The flow field near a spur dike such as down flow and horseshoe vortex system(HVS)are susceptible to the topographic changes in the local scouring process,resulting in variation of the sediment transport with *** this study,large eddy simulations with fixed-bed at different scouring stages were conducted to investigate the changes in flow *** results imply that the bed deformation leads to an increase in flow rate per unit area,which represent the capability of sediment transportation by water,in the scour ***,the intensity of turbulent kinetic energy and bimodal motion near the sand bed induced by the HVS were also ***,the peak moments between the two sediment transport mechanisms were ***,understanding the complex feedback mechanism between topography and flow field is essential for the local scour problem.

关键词： Spur dike Local scour Large eddy simulation Down flow Horseshoe vortex system

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创新思维的运行机制

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河北学刊 2006年第2期26卷 30-35页

作者：孙洪敏辽宁省社会科学院辽宁沈阳110031

创新思维在主客体的相互作用中生成。创新思维是思维主体能动地把握创新对象,通过创新对象激发和促进思维主体创新发展的过程。在这个过程中,创新思维通过主客体的运行机制在平衡与不平衡的联结中演进,在无序与有序的转化中完善,在量变... 详细信息

创新思维在主客体的相互作用中生成。创新思维是思维主体能动地把握创新对象,通过创新对象激发和促进思维主体创新发展的过程。在这个过程中,创新思维通过主客体的运行机制在平衡与不平衡的联结中演进,在无序与有序的转化中完善,在量变与质变的统一中实现。

关键词：创新思雏主客体运行机制

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Decomposition of pre-existing Au–P clusters induced in situ a-Fe grains uniformization in Fe–P-based nanocrystalline alloys

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Rare Metals 2024年第10期43卷 5242-5255页

作者： min-Hao Han Cheng sun Guo-Guo Xi Yang Meng Qiang Luo Xue-Qian Yu Wen-Feng Zhang Hao Liu hong-Jie Xu Tao Zhang Key Laboratory of Aerospace Materials and Performance(ministry of Education) School of Materials Science and EngineeringBeihang University Laboratory of Functional Fiber Materials Institute of Bast Fiber CropsChinese Academy of Agricultural Science School of Materials Science and Engineering Jiangsu Key Laboratory for Advanced Metallic MaterialsSoutheast University Institute for Advanced Materials North China Electric Power University Center for Advanced Analysis and Computational Science Zhengzhou University

In Fe-based amorphous-/nanocrystalline ribbons,the uniformization and refinement of a-Fe grains are key aspects for optimizing their soft magnetic and mechanical ***,the Fe–P–C–B nanocrystalline alloy system was selected for *** produced as-spun ribbons with pre-existing nanocrystals through melt-quenching and then obtained a well-distributed a-Fe nanocrystalline structure through annealing below the first crystallization onset temperature （633 K）resulting in excellent magnetic properties (saturation magnetization of 1.65 T and coercivity of 1.6 A·m-1)ultra-wide annealing temperature window （from 613 to 733 K）,and extremely high annealing stability （up to 480 min at 633 K）.Furthermore,we propose a new in situ two-step mechanism for the uniformization of a-Fe nanocrystals,which is separately induced by the decomposition of the Au–P clusters and the pre-existing a-Fe nanocrystals during *** work underscores the crucial significance of micro-alloying via metastable clusters primarily influenced by metal-phosphide interactions in the process of refining a-Fe ***,i introduces a new principle for optimizing the comprehensive properties of Fe-based amorphous/nanocrystalline alloys.

关键词： Fe-based nanocrystalline alloys In-situ nano-crystallization Micro-alloying Soft magnetic property

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