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Economical Quadrupedal Multi-Gait Locomotion via Gait-Heuristic Reinforcement Learning

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Journal of Bionic Engineering 2024年第4期21卷 1720-1732页

作者： Lang Wei Jinzhou Zou Xi yu Liangyu liu Jianbin Liao Wei Wang tong Zhang School of Power and Mechanical Engineering Wuhan UniversityLuojiashanWuhan430072HubeiChina State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingWuhan UniversityLuojiashanWuhan430072HubeiChina

In order to strike a balance between achieving desired velocities and minimizing energy consumption,legged animals have the ability to adopt the appropriate gait pattern and seamlessly transition to another if *** ability makes them more versatile and efficient when traversing natural terrains,and more suitable for long *** the same way,it is meaningful and important for quadruped robots to master this *** achieve this goal,we propose an effective gait-heuristic reinforcement learning framework in which multiple gait locomotion and smooth gait transitions automatically emerge to reach target velocities while minimizing energy *** incorporate a novel trajectory generator with explicit gait information as a memory mechanism into the deep reinforcement learning *** allows the quadruped robot to adopt reliable and distinct gait patterns while benefiting from a warm start provided by the trajectory ***,we investigate the key factors contributing to the emergence of multiple gait *** tested our framework on a closed-chain quadruped robot and demonstrated that the robot can change its gait patterns,such as standing,walking,and trotting,to adopt the most energy-efficient gait at a given ***,we deploy our learned controller to a quadruped robot and demonstrate the energy efficiency and robustness of our method.

关键词： Legged robots Deep reinforcement learning Central pattern generator Quadrupedal gait

Rational Design of Ruddlesden-Popper Perovskite Ferrites as Air Electrode for Highly Active and Durable Reversible Protonic Ceramic Cells

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Nano-Micro Letters 2024年第9期16卷 308-324页

作者： Na yu Idris Temitope Bello Xi Chen tong liu Zheng Li yufei Song Meng Ni Department of Building and Real Estate Research Institute for Sustainable Urban Development(RISUD)and Research Institute for Smart Energy(RISE)The Hong Kong Polytechnic UniversityHung HomKowloonHong KongPeople’s Republic of China The Hong Kong Polytechnic University Shenzhen Research Institute Shenzhen 518057GuangdongPeople’s Republic of China Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and TechnologyClear Water BayHong KongPeople’s Republic of China

Reversible protonic ceramic cells(RePCCs)hold promise for efficient energy storage,but their practicality is hindered by a lack of high-performance air electrode ***-Popper perovskite Sr_(3)Fe_(2)O_(7−δ)(SF)exhibits superior proton uptake and rapid ionic conduction,boosting ***,excessive proton uptake during RePCC operation degrades SF’s crystal structure,impacting *** study introduces a novel A/B-sites co-substitution strategy for modifying air electrodes,incorporating Sr-deficiency and Nb-substitution to create Sr_(2.8)Fe_(1.8)Nb_(0.2)O_(7−δ)(D-SFN).Nb stabilizes SF’s crystal,curbing excessive phase formation,and Sr-deficiency boosts oxygen vacancy concentration,optimizing oxygen *** D-SFN electrode demonstrates outstanding activity and durability,achieving a peak power density of 596 mW cm^(−2)in fuel cell mode and a current density of−1.19 A cm^(−2)in electrolysis mode at 1.3 V,650℃,with excellent cycling *** approach holds the potential for advancing robust and efficient air electrodes in RePCCs for renewable energy storage.

关键词： Reversible protonic ceramic cells Air electrode Ruddlesden-Popper perovskite Hydration Oxygen reduction reaction

Clinical associations of corneal neuromas with ocular surface diseases

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Neural Regeneration Research 2024年第1期19卷 140-147页

作者： Charmaine Jan Li Toh Chang liu Isabelle Xin yu Lee Molly Tzu yu Lin Louis tong yu-Chi liu Lee Kong Chian School of Medicine Nanyang Technological UniversitySingapore Singapore Eye Research Institute Singapore Department of Cornea and External Eye Disease Singapore National Eye CentreSingapore Ophthalmology and Visual Sciences Academic Clinical Program Duke-NUS Medical SchoolSingapore

Corneal neuromas,also termed microneuromas,refer to microscopic,irregula rly-shaped enlargements of terminal subbasal nerve endings at sites of nerve damage or *** formation of corneal neuromas results from damage to corneal nerves,such as following corneal pathology or corneal or intraocular surge ***,denervated areas of sensory nerve fibers become invaded by sprouts of intact sensory nerve fibers,and later injured axons regenerate and new sprouts called neuromas *** recent years,analysis of corneal nerve abnormalities including corneal neuromas which can be identified using in vivo confocal microscopy,a non-invasive imaging technique with microscopic resolution,has been used to evaluate corneal neuropathy and ocular surface *** neuromas have been shown to be associated with clinical symptoms of discomfort and dryness of eyes,and are a promising surrogate biomarker for ocular surface diseases,such as neuropathic corneal pain,dry eye disease,diabetic corneal neuropathy,neurotrophic keratopathy,Sjogren's syndrome,bullous keratopathy,post-refra ctive surgery,and *** this review,we have summarized the current literature on the association between these ocular surface diseases and the presentation of corneal microneuromas,as well as elaborated on their pathogenesis,visualization via in vivo confocal microscopy,and utility in monitoring treatment *** current quantitative analysis on neuromas mainly relies on manual annotation and quantification,which is user-dependent and labor-intensive,future direction includes the development of artificial intelligence software to identify and quantify these potential imaging biomarkers in a more automated and sensitive manner,allowing it to be applied in clinical settings more *** imaging and molecular biomarkers may also help elucidate the associations between corneal neuromas and ocular surface diseases.

关键词： cornea corneal diseases corneal nerve corneal neuropathy in vivo confocal microscopy microneuroma neuroma ocular surface diseases

Upconversion luminescence and temperature sensing performance of Er^(3+) ions doped self-activated KYb(MoO_(4))_(2) phosphors

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Journal of Rare Earths 2024年第8期42卷 1507-1513,I0004页

作者： Ye tong Wenpeng liu Shoujun Ding School of Microelectronics and Data Science Anhui University of TechnologyMaanshan243002China Advanced Laser Technology Laboratory of Anhui Province Hefei230037China Anhui Institute of Optics and Fine Mechanics Chinese Academy of SciencesHefei230031China

In this work,a series of self-activated KYb(MoO_(4))_(2) phosphors with various x at% Er^(3+) doping concentrations(x=0.5,1,3,5,8,10,15) was synthesized by the solid-state reaction *** phase structure of the as-prepared samples was analyzed by X-ray diffraction(XRD),XRD Rietveld refinement and Fourier transform infrared(FT-IR) *** as-prepared samples retain the orthorhombic structure with space group of Pbcn even Er^(3+) doping concentration up to 15 at%.High-purity upconversion(UC) green emission with green to red intensity ratio of 55 is observed from the as-prepared samples upon the excitation of 980 nm semiconductor laser and the optimum doping concentration of Er^(3+) ions in the self-activated KYb(MoO_(4))_(2) host is revealed as 3 at%.The strong green UC emission is confirmed as a two-photon process based on the power-dependent UC *** addition,the fluorescence intensity ratios(FIRs) of the two thermally-coupled energy levels,namely ^(2)H_(11/2) and ^(4)S_(3/2).of Er^(3+) ions were investigated in the temperature region 300-570 K to evaluate the optical temperature sensor behavior of the *** maximum relative sensitivity(S_(R)) is determined to be 0.0069 K^(-1) at300 K and the absolute sensitivity(S_(A)) is determined to be 0.0126 K^(-1) at 300 *** S_(A) of self-activated KYb(MoO_(4))2:Er^(3+)is almost twice that of traditional KY(MoO_(4))2:Er^(3+)/Yb^(3+)codoping *** results demonstrate that Er^(3+) ions doped self-activated KYb(MoO_(4))2 phosphor has promising application in visible display,trademark security and optical temperature sensors.

关键词： Er^(3+)ions doped KYb(MoO_(4))_(2) Self-activated phosphors Upconversion luminescence Solid-state reaction method Optical temperature sensors Rare earths

Advancements in Humanoid Robots: A Comprehensive Review and Future Prospects

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 301-328页

作者： yuchuang tong Haotian liu Zhengtao Zhang IEEE CAS Engineering Laboratory for Intelligent Industrial Vision Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China

This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analyzing various research endeavors and key technologies, encompassing ontology structure,control and decision-making, and perception and interaction, a holistic overview of the current state of humanoid robot research is presented. Furthermore, emerging challenges in the field are identified, emphasizing the necessity for a deeper understanding of biological motion mechanisms, improved structural design,enhanced material applications, advanced drive and control methods, and efficient energy utilization. The integration of bionics, brain-inspired intelligence, mechanics, and control is underscored as a promising direction for the development of advanced humanoid robotic systems. This paper serves as an invaluable resource, offering insightful guidance to researchers in the field,while contributing to the ongoing evolution and potential of humanoid robots across diverse domains.

关键词： Future trends and challenges humanoid robots human-robot interaction key technologies potential applications

Research on Hepatocyte Regulation of PCSK9-LDLR and Its Related Drug Targets

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Chinese Journal of Integrative Medicine 2024年第7期30卷 664-672页

作者： liu Su-su yu tong QIAO Yan-fang GU Shu-xiao CHAI Xin-lou School of Traditional Chinese Medicine Beijing University of Traditional Chinese MedicineBeijing102401China

The prevalence of hyperlipidemia has increased significantly due to genetic, dietary, nutritional and pharmacological factors, and has become one of the most common pathological conditions in humans. Hyperlipidemia can lead to a range of diseases such as atherosclerosis, stroke, coronary heart disease, myocardial infarction, diabetes, and kidney failure, etc. High circulating low-density lipoprotein cholesterol (LDL-C) is one of the causes of hyperlipidemia. LDL-C in the blood binds to LDL receptor (LDLR) and regulates cholesterol homeostasis through endocytosis. In contrast, proprotein convertase subtilisin/kexin type 9 (PCSK9) mediates LDLR degradation via the intracellular and extracellular pathways, leading to hyperlipidemia. Targeting PCSK9-synthesizing transcription factors and downstream molecules are important for development of new lipid-lowering drugs. Clinical trials regarding PCSK9 inhibitors have demonstrated a reduction in atherosclerotic cardiovascular disease events. The purpose of this review was to explore the target and mechanism of intracellular and extracellular pathways in degradation of LDLR and related drugs by PCSK9 in order to open up a new pathway for the development of new lipid-lowering drugs.

关键词： hyperlipidemia proprotein convertase subtilisin/kexin type 9 low-density lipoprotein receptor intracellular pathway extracellular pathway

Lipopolysaccharides protect mesenchymal stem cell against cardiac ischemia-reperfusion injury by HMGB1/STAT3 signaling

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Journal of Geriatric Cardiology 2023年第11期20卷 801-812页

作者： Jing-Yi WEN Hui-Xi PENG Dan WANG Zhi-Min WEN yu-tong liu Jian QU Hong-Xuan CUI yu-Ying WANG Yan-Lin DU Ting WANG Cong GENG Bing XU Department of Clinical Pharmacy the Second Affiliated Hospital of Dalian Medical UniversityDalianLiaoningChina Department of Pharmacy the Second Affiliated Hospital of Inner Mongolia Medical UniversityHohhotInner MongoliaChina Department of Pharmacy Ordos Central HospitalOrdosInner MongoliaChina Department of Clinical Laboratory the Second Affiliated Hospital of Dalian Medical UniversityDalianLiaoningChina

BACKGROUND Myocardial ischemia-reperfusion(I/R) is a serious and irreversible injury. Bone marrow-derived mesenchymal stem cells(MSCs) is considered to be a potential therapy for I/R injury due to the paracrine effects. High-mobility group box1(HMGB1) is a novel mediator in MSC and regulates the response of inflammation injury. Signal Transduction and Transcription Activator 3(STAT3) is a critical transcription factor and important for release of paracrine factors. However, the relationship between HMGB1 and STAT3 in paracrine effect of MSC remains *** In vitro, hypoxia/reoxygenation injury model was established by Anaero Pack System and examined by Annexin V flow cytometry, CCK8 assay and morphology observation. Detection of apoptotic proteins and protein expression of HMGB1and STAT3 by Western *** The conditioned medium of MSCs with or without LPS pretreatment was cocultured with H9C2 cells for 24 h before hypoxia treatment and MSC showed obvious cardiomyocytes protect role, as evidence by decreased apoptosis rate and improved cells viability, and LPS pretreated MSC exhibited better protect role than untreated MSC. However, such effect was abolished in HMGB1 deficiency group, silencing HMGB1 decreased the secretion of vascular endothelial growth factor(VEGF), hepatocyte growth factor(HGF), insulin growth factor(IGF), cell viability, and the expression of STAT3. Furthermore, STAT3 silence attenuated the protective effect of LPS in *** These findings suggested that LPS improved MSC-mediated cardiomyocytes protection by HMGB1/STAT3signaling.

关键词： STAT3 HMGB1 ischemia

Highly efficient and stable 2D/3D perovskite solar cells based on surface reconstruction and energy level alignment

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Science China Chemistry 2024年第9期67卷 3083-3090页

作者： Qiaohui Li Hang liu tong Zhou Key Laboratory of Rubber-Plastics Ministry of Education/Shandong Provincial Key Laboratory of Rubber-PlasticsQingdao University of Science and TechnologyQingdao 266042China The Centre of Nanoscale Science and Technology and Key Laboratory of Functional Polymer Materials Institute of Polymer ChemistryCollege of ChemistryNankai UniversityTianjin 300071China

Realizing simultaneous adjustment of energy levels and work functions in two-dimensional/three-dimensional(2D/3D)perovskite solar cells(PSCs)is a ***,a pseudohalide 3,5-bis(trifluoromethyl)benzylammonium tetrafluoroborate(TFPMABF_(4))was used to react with unreacted Pb I2on the surface of 3D bulky perovskite to form a mixed halide of 2D perovskite denoted(TF-PMA)_(2)FA_(2)Pb_(3)I_(8)(BF_(4))_(2).This novel 2D/3D perovskite enables the simultaneous adjustment of energy levels and work functions on the surface of active *** to the significantly enhanced quality of 2D/3D perovskite film,decreased surface defects and increased charge carrier lifetime,the 2D/3D PSCs exhibit an outstanding power conversion efficiency(PCE)of 25.15%and a high V_(OC)of 1.194 ***,2D/3D PSCs exhibit remarkable enhancements in environmental stability,unencapsulated devices retaining more than 90%of their initial PCE at 50%humidity for 2,280 h.

关键词： 2D/3D perovskite perovskite solar cells organic spacers energy levels alignment

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A bifunctional nitrile additive for high-performance lithiumoxygen batteries

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Nano Research 2024年第7期17卷 6119-6126页

作者： Ziwei Li yue yu Dongyue Yang Jin Wang Junmin Yan Gang Huang tong liu Xinbo Zhang Key Laboratory of Automobile Materials Ministry of EducationDepartment of Materials Science and EngineeringJilin UniversityChangchun 130022China State Key Laboratory of Rare Earth Resource Utilization Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun 130022China Department of Chemistry and Waterloo Institute for Nanotechnology University of Waterloo200 University Ave.W.WaterlooOntario N2L 3G1Canada School of Applied Chemistry and Engineering University of Science and Technology of ChinaHefei 230026China

Li-O_(2)batteries with high energy density hold significant promise as next-generation energy storage ***,Li-O_(2)batteries have poor cycling performance at high current densities and large capacities,primarily due to the high impedance caused by the instability of the lithium anode and the sluggish kinetics in the discharge products decomposition on the ***,we investigated a bifunctional nitrile additive(2-methoxy benzonitrile(2-MBN))with good chemical/electrochemical stability to improve the performances of Li-O_(2)*** 2-MBN could actively modify the anode by ensuring uniform Li+deposition and optimizing the composition of solid electrolyte interphase(SEI).Meanwhile,it could also facilitate the decomposition of discharge products by inducing the formation of sheet-like Li_(2)O_(2),significantly reducing the battery charge *** bifunctional effects of 2-MBN for the anode and cathode enable Li-O_(2)batteries to achieve a stable lifetime of 97 cycles at a current density of 600 mA·g^(−1)with a fixed capacity of 2000 mAh·g^(−1),much better than that of Li-O_(2)batteries without 2-MBN(28 cycles).The inclusion of 2-MBN provides an effective approach for attaining high-performance Li-O_(2)batteries.

关键词： nitrile additives Li-O_(2)batteries lithium metal anode charge overpotential