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Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization

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Bio-Design and Manufacturing 2024年第1期7卷 1-13页

作者： Huaizhi Zong Junhui Zhang Lei Jiang Kun Zhang Jun Shen Zhenyu Lu Ke Wang Yanli Wang Bing Xu The state key laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China Unmanned Vehicle research and development center China North Vehicle Research InstituteBeijing 100072China School of Mechatronic Engineering Nanchang UniversityNanchang 330031China Auclean High-Tech Ltd. Wuxi 214108China

Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped *** various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large *** the most critical movement unit of a quadruped robot,the limb leg unit(LLU)directly affects movement speed and reliability,and requires a compact and lightweight *** by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an *** propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston *** addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the *** mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah *** mass of the optimized LLU is reduced by 24.5%,and the optimized LLU shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.

关键词： Additive manufacturing Bionic lightweight design Limb leg unit Quadruped robot Trajectory tracking

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Realization of one-dimensional 2^(n)-root topological states in photonic lattices

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Science china(Technological Sciences) 2024年第1期67卷 98-104页

作者： WEI RuiShan ZHANG QingLong YANG DanDan HUANG XiongJian PAN QiWen KANG Juan QIU JianRong YANG ZhongMin DONG GuoPing state key laboratory of Luminescent Materials and Devices and Guangdong Provincial Key Laboratory of Fiber Laser Materials and Applied TechniquesGuangdong Engineering Technology Research and Development Center of Special Optical Fiber Materials and DevicesSchool of Materials Science and EngineeringSouth China University of TechnologyGuangzhou 510640China School of Physics and Optoelectronics South China University of TechnologyGuangzhou 510640China state key laboratory of Modern Optical Instrumentation College of Optical Science and EngineeringZhejiang UniversityHangzhou 310027China

Square-root topological insulators recently discovered are intriguing topological *** possess topological properties inherited from the squared Hamiltonian and exhibit double-band *** mechanism of the square root was generalized to 2^(n)-root topological insulators,giving rise to more band *** this study,we describe the experimental realization of onedimensional 2^(n)-root topological insulators in photonic waveguide arrays using the archetypical Su-Schrieffer-Heeger(SSH)*** edge states with tunable numbers are clearly observed under visible *** particular,we visualized the dynamic evolutions of the light propagation by varying the sample lengths,which further proved the localization and multiple numbers of edge states in 2^(n)-root topological *** experiment,which involves constructing 2^(n)-root topological photonic lattices in various geometric arrangements,provides a stable platform for studying topological states that exhibit a remarkable degree of flexibility and control.

关键词： 2^(n)-root topological insulators multiple edge states photonic waveguide arrays light dynamics

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One stone three birds:Ni-catalyzed asymmetric allenylic substitution of allenic ethers,hydroalkylation of 1,3-enynes and double alkylation of enynyl ethers

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Chinese Chemical Letters 2024年第8期35卷 282-287页

作者： Zhirong Yang Shan Wang Ming Jiang Gengchen Li Long Li Fangzhi Peng Zhihui Shao key laboratory of Medicinal Chemistry for Natural Resource Ministry of EducationSchool of Chemical Science and TechnologyYunnan Provincial Center for Research&Development of Natural Productsand State Key Laboratory for Conservation and Utilization of Bio-Resources in YunnanYunnan UniversityKunming 650091China

The development of low-cost,earth-abundant and environmentally benign transition metal catalysts,which can catalyze multiple different types of asymmetric reactions,is an important objective in mod-ern asymmetric *** we demonstrate that a chiral Ni/P-Phos catalyst achieves three types of asymmetric reactions:allenylic substitution of racemic allenic ethers,1,4-hydroalkylation of prochiral 1,3-enynes and double alkylation of newly designed enynyl ether *** methods complement each other and produce various axially chiral allene derivatives bearing a pyrazolidine-3,5-dione unit,which is widely present in drugs and biologically active molecules with versatile pharmacological activities.

关键词： Nickel Asymmetric catalysis Allenylic substitution Hydroalkylation Double alkylation Allene 1,3-Enyne Pyrazolidine-3,5-dione

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Pressure stimulated current in progressive failure process of combined coal-rock under uniaxial compression:Response and mechanism

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International Journal of Mining Science and Technology 2024年第2期34卷 227-243页

作者： Tiancheng Shan Zhonghui Li Xin Zhang Haishan Jia Xiaoran Wang Enyuan Wang Yue Niu Dong Chen Weichen Sun Dongming Wang state key laboratory of Coal Mine Disaster Prevention and Control China University of Mining and TechnologyXuzhou 221116China National Engineering research center for Coal Gas Control China University of Mining and TechnologyXuzhou 221116China School of Safety Engineering China University of Mining and TechnologyXuzhou 221116China state key laboratory for Fine Exploration and Intelligent development of Coal Resources China University of Mining and TechnologyXuzhou 221116China state key laboratory of Intelligent Construction and Healthy Operation and Maintenance of Deep Underground Engineering China University of Mining and TechnologyXuzhou 221116China

Effective monitoring of the structural health of combined coal-rock under complex geological conditions by pressure stimulated currents(PSCs)has great potential for the understanding of dynamic disasters in underground *** reveal the effect of this way,the uniaxial compression experiments with PSC monitoring were conducted on three types of coal-rock combination samples with different strength *** mechanism explanation of PSCs are investigated by resistivity test,atomic force microscopy(AFM)and computed tomography(CT)methods,and a PSC flow model based on progressive failure process is *** influence of strength combinations on PSCs in the progressive failure process are *** results show the PSC responses between rock part,coal part and the two components are different,which are affected by multi-scale fracture characteristics and electrical *** the rock strength decreases,the progressive failure process changes obviously with the influence range of interface constraint effect decreasing,resulting in the different responses of PSC strength and direction in different parts to fracture *** PSC flow model is initially validated by the relationship between the accumulated charges of different *** results are expected to provide a new reference and method for mining design and roadway quality assessment.

关键词： Combined coal-rock Pressure stimulated current Progressive failure process Mechanism Flow model

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The evolution of robotics:research and application progress of dental implant robotic systems

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International Journal of Oral Science 2024年第2期16卷 173-185页

作者： Chen Liu Yuchen Liu Rui Xie Zhiwen Li Shizhu Bai Yimin Zhao state key laboratory of Oral&Maxillofacial Reconstruction and Regeneration Xi’anChina National Clinical research center for Oral Diseases Xi’anChina Shaanxi key laboratory of Stomatology Xi’anChina Digital center School of StomatologyThe Fourth Military Medical UniversityXi’anChina

The use of robots to augment human capabilities and assist in work has long been an *** has been developing since the 1960s when the first industrial robot was *** technology has advanced,robotic-assisted surgery has shown numerous advantages,including more precision,efficiency,minimal invasiveness,and safety than is possible with conventional techniques,which are research hotspots and cutting-edge *** article reviewed the history of medical robot development and seminal research papers about current research *** the autonomous dental implant robotic system as an example,the advantages and prospects of medical robotic systems would be discussed which would provide a reference for future research.

关键词： robot robotic application

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Structural basis of negative regulation of CRISPR-Cas7-11 by TPR-CHAT

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Signal Transduction and Targeted Therapy 2024年第6期9卷 2716-2725页

作者： Tian Hong Qinghua Luo Haiyun Ma Xin Wang Xinqiong Li Chongrong Shen Jie Pang Yan Wang Yuejia Chen Changbin Zhang Zhaoming Su Haohao Dong Xiaodi Tang Department of laboratory Medicine State Key Laboratory of BiotherapyNational Clinical Research Center for GeriatricsWest China HospitalSichuan UniversityChengduChina Frontiers Medical center Tianfu Jincheng LaboratoryWest China HospitalSichuan UniversityChengduChina

CRISPR‒Cas7-11 is a Type Ⅲ-E CRISPR-associated nuclease that functions as a potent RNA editing ***-peptide repeat fused with Cas/HEF1-associated signal transducer(TPR-CHAT)acts as a regulatory protein that interacts with CRISPR RNA(crRNA)-bound Cas7-11 to form a CRISPR-guided caspase complex(Craspase).However,the precise modulation of Cas7-11’s nuclease activity by TPR-CHAT to enhance its utility requires further ***,we report cryo-electron microscopy(cryo-EM)structures of Desulfonema ishimotonii(Di)Cas7-11-crRNA,complexed with or without the full length or the N-terminus of *** structures unveil the molecular features of the Craspase *** analysis,combined with in vitro nuclease assay and electrophoretic mobility shift assay,reveals that DiTPR-CHAT negatively regulates the activity of DiCas7-11 by preventing target RNA from binding through the N-terminal 65 amino acids of DiTPR-CHAT(DiTPR-CHAT_(NTD)).Our work demonstrates that DiTPRCHAT_(NTD) can function as a small unit of DiCas7-11 regulator,potentially enabling safe applications to prevent overcutting and offtarget effects of the CRISPR‒Cas7-11 system.

关键词： CRISPR crRNA TPR

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development of multi-functional anchorage support dynamic-static coupling performance test system and its application

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International Journal of Mining Science and Technology 2024年第3期34卷 339-349页

作者： Qi Wang Shuo Xu Bei Jiang Chong Zhang Zhe Sun Jingxuan Liu Cailin Jiao state key laboratory for Tunnel Engineering China University of Mining&Technology-BeijingBeijing 100083China research center of Geotechnical and Structural Engineering Shandong UniversityJinan 250061China

In underground engineering with complex conditions,the bolt(cable)anchorage support system is in an environment where static and dynamic stresses coexist,under the action of geological conditions such as high stresses and strong disturbances and construction conditions such as the application of high *** is essential to study the support components performance under dynamic-static coupling *** on this,a multi-functional anchorage support dynamic-static coupling performance test system(MAC system)is developed,which can achieve 7 types of testing functions,including single component performance,anchored net performance,anchored rock performance and so *** bolt and cable mechanical tests are conducted by MAC system under different prestress *** results showed that compared to the non-prestress condition,the impact resistance performance of prestressed bolts(cables)is significantly *** the prestress range of 50–160 k N,the maximum reduction rate of impact energy resisted by different types of bolts is 53.9%–61.5%compared to non-prestress *** the prestress range of 150–300 k N,the impact energy resisted by high-strength cable is reduced by76.8%–84.6%compared to non-prestress *** MAC system achieves dynamic-static coupling performance test,which provide an effective means for the design of anchorage support system.

关键词： Anchorage support system development of test system Dynamic-static coupling test Combined stress

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Ptip safeguards the epigenetic control of skeletal stem cell quiescence and potency in skeletogenesis

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Science Bulletin 2024年第13期69卷 2099-2113页

作者： Jianfei Liang Jing Wang Bingdong Sui Yibo Tong Jihua Chai Qin Zhou Chenxi Zheng Hao Wang Liang Kong Haojian Zhang Yi Bai state key laboratory of Oral&Maxillofacial Reconstruction and Regeneration Key Laboratory of Oral Biomedicine Ministry of EducationHubei Key Laboratory of StomatologySchool&Hospital of StomatologyTaikang Center for Life and Medical SciencesWuhan UniversityWuhan 430079China key laboratory of Shaanxi Province for Craniofacial Precision Medicine research College of StomatologyXi’an Jiaotong UniversityXi’an 710004China Department of Implant Dentistry College of StomatologyXi’an Jiaotong UniversityXi’an 710004China state key laboratory of Oral&Maxillofacial Reconstruction and Regeneration National Clinical Research Center for Oral DiseasesShaanxi Key Laboratory of StomatologyShaanxi International Joint Research Center for Oral DiseasesCenter for Tissue EngineeringSchool of StomatologyThe Fourth Military Medical UniversityXi’an 710032China state key laboratory of Genetic Resources and Evolution Kunming Institute of ZoologyChinese Academy of SciencesKunming 650223China state key laboratory of Oral&Maxillofacial Reconstruction and Regeneration National Clinical Research Center for Oral DiseasesShaanxi Key Laboratory of StomatologyDepartment of Oral and Maxillofacial SurgerySchool of StomatologyThe Fourth Military Medical UniversityXi’an 710032China Department of Hematology Zhongnan HospitalWuhan UniversityWuhan 430079China Frontier Science center for Immunology and Metabolism Medical Research InstituteWuhan UniversityWuhan 430079China Taikang center for Life and Medical Sciences Wuhan UniversityWuhan 430079China

Stem cells remain in a quiescent state for long-term maintenance and preservation of potency;this process requires fine-tuning regulatory *** this study,we identified the epigenetic landscape along the developmental trajectory of skeletal stem cells(SSCs)in skeletogenesis governed by a key regulator,Ptip(also known as Paxip1,Pax interaction with transcription-activation domain protein-1).Our results showed that Ptip is required for maintaining the quiescence and potency of SSCs,and loss of Ptip in type II collagen(Col2)^(+)progenitors causes abnormal activation and differentiation of SSCs,impaired growth plate morphogenesis,and long bone *** also found that Ptip suppressed the glycolysis of SSCs through downregulation of phosphoglycerate kinase 1(Pgk1)by repressing histone H3 lysine 27 acetylation(H3K27ac)at the promoter ***,inhibition of glycolysis improved the function of SSCs despite Ptip *** the best of our knowledge,this is the first study to establish an epigenetic framework based on Ptip,which safeguards skeletal stem cell quiescence and potency through metabolic *** framework is expected to improve SSC-based treatments of bone developmental disorders.

关键词： Skeletal stem cells Bone development Epigenetics Ptip Glycolysis

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Superwettable interface towards biodetection in confined space

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Nano research 2024年第2期17卷 602-617页

作者： Zexu Pang Zhikang Cao Wanlu Li Wenxia Xu Yingying Zhang Qitao Zhou Jing Pan Fan Xia state key laboratory of Biogeology and Environmental Geology Engineering Research Center of Nano-Geomaterials of the Ministry of EducationFaculty of Materials Science and ChemistryChina University of GeosciencesWuhan 430074China

The detection of biomarkers with both high sensitivity and specificity is crucial for the diagnosis and treatment of related ***,many current detections employ ex-situ detection method and non-confined condition,thus have many problems,which may eventually lead to inaccurate detection *** to detection in non-confined space,detection in confined space can better reflect the real in-vivo ***,the construction of detection for target molecules in confined space has great significance for both theoretical research and practical *** realize the detection of target molecules in confined space,the probes should accurately enter the confined space where the target molecules reside and interact with the ***,how to explore and utilize the properties of the interface(for example,bioinspired superwettability)has always been a hot and difficult topic in this ***,the recent advances and our efforts in recent 10 years on detection of bio-target molecules in confined space with superwettable interface have been introduced from the perspective of the detection *** suitable and most widely employed detection methods for target molecules in confined spaces are introduced ***,recent progresses for related detections based on visual,optical,and electrochemical detection methods are presented ***,the perspective for detection in confined space is discussed for the future development of biochemical detection.

关键词： biodetection superwettability confined space interface

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Initial precursor reaction mechanism of CVD-HfC coating based on density functional theory

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Chinese Journal of Aeronautics 2024年第7期37卷 511-521页

作者： Yunzhou LIN Yulei ZHANG Yanqin FU Jian ZHANG Jing’an KONG Ruicong CHEN state key laboratory of Solidification Processing Carbon/Carbon Composites Research CenterNorthwestern Polytechnical UniversityXi’an 710072China Henan key laboratory of High Performance Carbon Fiber Reinforced Composites Carbon Matrix Composites Research InstituteHenan Academy of SciencesZhengzhou 450046China

Recently,the preparation of ultra-high temperature HfC ceramic coating has gained significant attention,particularly through the application of the HfCl_(4)-CH_(4)-H_(2)-Ar system via Chemical Vapor Deposition(CVD),which has been found widely applied to C/C ***,an analysis of the reactions that occur in the initial stage of the CVD-HfC coating process is presented using Density Functional Theory(DFT)and Transition state Theory(TST)at the B3LYP/Lanl2DZ *** results reveal that HfCl4 can only cleave to produce hypochlorite,which will further react with methyl to synthesize intermediates to form *** to the analysis of the energy barrier and reaction constant,HfCl preferentially reacts with methyl groups to form complex adsorptive intermediates at 1573 *** a C—Hf bond production energy of 212.8 kcal/mol(1 kcal=4.18 kJ),the reaction rate constant of HfCl+CH is calculated to be 2.15×10^(-18) cm^(3)/s at 1573 ***,both the simulation and experimental results exhibit that the upward trend of reaction rate constants with temperature is also consistent with the deposition rate,indicating that the growth curve of the reaction rate constants tends to flatten *** proposed reaction model of the precursor’s decomposition and reconstruction during deposition process has significant implication for the process guidance.

关键词： Carbon composite HfC coating Chemical vapor deposition Density functional theory Precursor reaction mechanism

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