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Observer-Based Adaptive Robust precision Motion Control of a Multi-Joint Hydraulic Manipulator

IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1213-1226页

作者： Zheng Chen Shizhao Zhou Chong Shen Litong Lyu Junhui Zhang Bin Yao State Key laboratory of Fluid Power and Mechatronic systems Zhejiang UniversityHangzhou 310027 Ocean College Zhejiang UniversityZhoushan 316021China School of Mechanical Engineering Shijiazhuang Tiedao UniversityShijiazhuang 050000 State Key laboratory of Fluid Power and Mechatronic systems Zhejiang UniversityHangzhou 310027China School of Mechanical Engineering Purdue UniversityWest LafayetteIN 47907 USA

Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks.However,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for high control performance.Model-based full-state-feedback control is an effective alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particularly the joint angular velocity measurement.Considering that it is not suitable to obtain the velocity signal directly from differentiating of position measurement,the low-pass filtering is commonly used,but it will definitely restrict the closed-loop bandwidth of the whole system.To avoid this problem and realize better control performance,this paper proposes a novel observerbased adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity measurement.Specifically,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties.Then,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop system robust stability is theoretically proved under the observation and control errors.Finally,comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough,which is limited by low-pass filtering in fullstate-feedback control.

关键词： handle Observer filtering

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Linear group delay spectral interferometry for full-range precision absolute length metrology

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Photonics Research 2024年第2期12卷 313-320页

作者： JINDONG WANG JINGSHENG HUANG QIHUA LIU WEI DU FUMIN ZHANG TAO ZHU Key laboratory of Optoelectronic Technology&systems(Ministry of Education) Chongqing UniversityChongqing 400044China State Key laboratory of precision Measuring Technology&Instruments Tianjin UniversityTianjin 300072China

The optical frequency comb serves as a powerful tool for distance measurement by integrating numerous stable optical modes into interferometric measurements,enabling unprecedented absolute measurement precision.Nonetheless,due to the periodicity of its pulse train,the comb suffers from measurement dead zones and ambiguities,thereby impeding its practical applications.Here,we present a linear group delay spectral interferometer for achieving precise full-range distance measurements.By employing a carefully designed linear group delay(LGD)device for phase modulation of the comb modes,interference can occur and be easily measured at any position.Our approach effectively eliminates the dead zones and ambiguities in comb-based ranging,without the need for cumbersome auxiliary scanning reference devices or reliance on complex high-repetition-rate combs or high-resolution spectrometers.We conducted length metrology experiments using a mode-locked comb referenced to a rubidium clock,achieving a large nonambiguity range up to 0.3 m,covering the entire measurement period.The maximum deviation compared to a laser interferometer was less than 1.5μm,and the minimum Allan deviation during long-term measurements reached 5.47 nm at a 500 s averaging time.The approach ensures high accuracy while maintaining a simple structure,without relying on complex external devices,thereby propelling the practical implementation of comb-based length metrology.

关键词： interferometer metrology delay

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Metal nanoparticles for cancer therapy:precision targeting of DNA damage

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Acta Pharmaceutica Sinica B 2024年第3期14卷 1132-1149页

作者： Qian Chen Chunyan Fang Fan Xia Qiyue Wang Fangyuan Li Daishun Ling Institute of Pharmaceutics Hangzhou Institute of Innovative MedicineCollege of Pharmaceutical SciencesZhejiang UniversityHangzhou 310058China Frontiers Science Center for Transformative Molecules School of Chemistry and Chemical EngineeringNational Center for Translational MedicineShanghai Jiao Tong UniversityShanghai 200240China World Laureates Association(WLA)Laboratories Shanghai 201203China Key laboratory of precision Diagnosis and Treatment for Hepatobiliary and Pancreatic Tumor of zhejiang Province Hangzhou 310009China

Cancer,a complex and heterogeneous disease,arises from genomic instability.Currently,DNA damage-based cancer treatments,including radiotherapy and chemotherapy,are employed in clinical practice.However,the efficacy and safety of these therapies are constrained by various factors,limiting their ability to meet current clinical demands.Metal nanoparticles present promising avenues for enhancing each critical aspect of DNA damage-based cancer therapy.Their customizable physicochemical properties enable the development of targeted and personalized treatment platforms.In this review,we delve into the design principles and optimization strategies of metal nanoparticles.We shed light on the limitations of DNA damage-based therapy while highlighting the diverse strategies made possible by metal nanoparticles.These encompass targeted drug delivery,inhibition of DNA repair mechanisms,induction of cell death,and the cascading immune response.Moreover,we explore the pivotal role of physicochemical factors such as nanoparticle size,stimuli-responsiveness,and surface modification in shaping metal nanoparticle platforms.Finally,we present insights into the challenges and future directions of metal nanoparticles in advancing DNA damage-based cancer therapy,paving the way for novel treatment paradigms.

关键词： DNA damage Metal nanoparticles Nucleus-targeting DNA repair inhibition Immune response Size optimization Stimuli-responsiveness Surface modification

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Bioactive Hydrogels with Pro-coagulation Effect for Hemostasis

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Chinese Journal of Chemistry 2024年第1期42卷 87-103,I0004页

作者： Quanshi Guo Yihang Ding Lisha Yu Zongrui Tong Zhengwei Mao MOE Key laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and EngineeringZhejiang UniversityHangzhouZhejiang 310058China Department of Hepatobiliary and Pancreatic Surgery The Second Affiliated HospitalSchool of MedicineZhejiang UniversityHangzhouZhejiang 310009China Key laboratory of precision Diagnosis and Treatment for Hepatobiliary and Pancreatic Tumor of zhejiang Province HangzhouZhejiang 310009China

Hemostatic hydrogels are widely applied for wound management of damaged tissues,traumatic wounds,and surgical incisions.Some hydrogels composed of bioactive components,including fibrin and thrombin,showed great promise in the clinic due to their good pro-coagulation effect.With the expanding knowledge of cascade reaction of blood coagulation and emerging bioactive substances,massive bioactive hydrogels consisting of peptides,hemocoagulase,polyphosphate(polyP),etc.,have been developed as effective hemostatic materials.Based on the coagulation process and mechanism,we summarize the role of reported bioactive hydrogels in hemostasis in this review.We conclude the key points in the coagulation process,including activation of coagulation factors,fibrinogen polymerization,etc.,then discuss how to design bioactive hydrogels to accelerate coagulation targeted to these points.Finally,we conclude the progress and propose a perspective of bioactive hydrogels with a pro-coagulation effect for hemostasis.

关键词： Hemostasis Biological activity Biomaterials Enzyme catalysis Composites

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Electrostatic generator enhancements for powering IoT nodes via efficient energy management

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Microsystems & Nanoengineering 2024年第2期10卷 143-152页

作者： Zibo Wu Zeyuan Cao Junchi Teng Rong Ding Jiani Xu Xiongying Ye State Key laboratory of precision Measurement Technology and Instruments Department of Precision InstrumentTsinghua University100084BeijingChina

Electrostatic generators show great potential for powering widely distributed electronic devices in Internet of Things(IoT)applications.However,a critical issue limiting such generators is their high impedance mismatch when coupled to electronics,which results in very low energy utilization efficiency.Here,we present a high-performance energy management unit(EMU)based on a spark-switch tube and a buck converter with an RF inductor.By optimizing the elements and parameters of the EMU,a maximum direct current output power of 79.2 mW m^(-2)rps^(-1)was reached for a rotary electret generator with the EMU,achieving 1.2 times greater power output than without the EMU.Furthermore,the maximum power of the contact-separated triboelectric nanogenerator with an EMU is 1.5 times that without the EMU.This excellent performance is attributed to the various optimizations,including utilizing an ultralow-loss spark-switch tube with a proper breakdown voltage,adding a matched input capacitor to enhance available charge,and incorporating an RF inductor to facilitate the high-speed energy transfer process.Based on this extremely efficient EMU,a compact self-powered wireless temperature sensor node was demonstrated to acquire and transmit data every 3.5 s under a slight wind speed of 0.5 m/s.This work greatly promotes the utilization of electrostatic nanogenerators in practical applications,particularly in IoT nodes.

关键词： IoT power generator

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Investigation of the feasibility of NRAV as a biomarker for hepatocellular carcinoma

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Oncology Research 2024年第4期32卷 717-726页

作者： JUN LIU WENLI LI RUYUE LU JIAQING XU CHUNHUI JIANG JUNLIN DUAN LINGZHI ZHANG GUANFU WANG JIAXI CHEN Department of Clinical laboratory Taizhou Hospital of Zhejiang Province Affiliated to Wenzhou Medical UniversityLinhaiChina Key laboratory of System medicine and precision Diagnosis and Treatment of Taizhou TaizhouChina Department of Clinical laboratory Dongguan Hospital of Traditional Chinese MedicineDongguanChina School of Basic Medical Sciences Forensic medicine Hangzhou Medical CollegeHangzhouChina

The long non-coding RNA,Negative Regulator of Antiviral Response(NRAV)has been identified as a participant in both respiratory virus replication and immune checkpoints,however,its involvement in pan-cancer immune regulation and prognosis,particularly those of hepatocellular carcinoma(HCC),remains unclear.To address this knowledge gap,we analyzed expression profiles obtained from The Cancer Genome Atlas(TCGA)database,comparing normal and malignant tumor tissues.We found that NRAV expression is significantly upregulated in tumor tissues compared to adjacent nontumor tissues.Kaplan-Meier(K-M)analysis revealed the prognostic power of NRAV,wherein overexpression was significantly linked to reduced overall survival in a diverse range of tumor patients.Furthermore,noteworthy associations were observed between NRAV,immune checkpoints,immune cell infiltration,genes related to autophagy,epithelial-mesenchymal transition(EMT),pyroptosis,tumor mutational burden(TMB),and microsatellite instability(MSI)across different cancer types,including HCC.Moreover,NRAV upregulation expression was associated with multiple pathological stages by clinical observations.Furthermore,our investigation revealed a substantial elevation in the expression of NRAV in both HCC tumor tissues and cells compared to normal tissues and cells.The inhibition of NRAV resulted in the inhibition of cell proliferation,migration,and invasion in HCC cells,while also influencing the expression of CD274(PD-L1)and CD44,along with various biomarkers associated with EMT,autophagy,and pyroptosis.The aforementioned results propose NRAV as a promising prognostic biomarker for HCC.

关键词： NRAV Hepatocellular carcinoma Prognosis Biomarker Pan-cancer

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Adrenal pheochromocytoma impacts three main pathways: cysteine-methionine, pyrimidine, and tyrosine metabolism

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Journal of zhejiang University-Science B(Biomedicine & Biotechnology) 2024年第5期25卷 410-421页

作者： Chong LAI Qingling YANG Yunuo ZHANG Renjie GONG Majie WANG Jiankang LI Maode LAI Qingrong SUN Department of Urology the First Afiliated HospitalZhejiang University School of MedicineHangzhou 310003China School of Basic Medical Sciences and Clinical Pharmacy China Pharmaceutical UniversityNanjing 210009China Department of laboratory medicine the First Afiliated HospitalZhejiang University School of MedicineHangzhou 310003China laboratory of Behavioral Neuroscience Ningbo Kangning HospitalNingbo Institute of Microcirculation and HenbaneSchool of MedicineNingbo UniversityNingbo 315201China Xi'an Key laboratory of Stem Celland Regenerative medicine Institute of Medical ResearchNorthwestern Polytechnical UniversityXi'an 710072China Department of Pathology Research Unit of Intelligence Classification of Tumor Pathology and Precision TherapyChinese Academy of Medical Sciences Key Laboratory of Disease Proteomics of Zhejiang ProvinceZhejiang University School of MedicineHangzhou 310058China

Pheochromocytomas and paragangliomas(PPGLs)cause symptoms by altering the circulation levels of catecholamines and peptide hormones.Currently,the diagnosis of PPGLs relies on diagnostic imaging and the detection of catecholamines.In this study,we used ultra-performance liquid chromatography(UPLC)/quadrupole time-of-flight mass spectrometry(Q-TOF MS)analysis to identify and measure the perioperative differential metabolites in the plasma of adrenal pheochromocytoma patients.We identified differentially expressed genes by comparing the transcriptomic data of pheochromocytoma with the normal adrenal medulla.Through conducting two steps of metabolomics analysis,we identified 111 differential metabolites between the healthy group and the patient group,among which 53 metabolites were validated.By integrating the information of differential metabolites and differentially expressed genes,we inferred that the cysteine-methionine,pyrimidine,and tyrosine metabolism pathways were the three main metabolic pathways altered by the neoplasm.The analysis of transcription levels revealed that the tyrosine and cysteine-methionine metabolism pathways were downregulated in pheochromocytoma,whereas the pyrimidine pathway showed no significant difference.Finally,we developed an optimized diagnostic model of two metabolites,L-dihydroorotic acid and vanylglycol.Our results for these metabolites suggest that they may serve as potential clinical biomarkers and can be used to supplement and improve the diagnosis of pheochromocytoma.

关键词： Pheochromocytoma and paraganglioma(PPGL) Metabolomics Gene set variation analysis L-Dihydroorotic acid Vanylglycol

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Post-acute ischemic stroke hyperglycemia aggravates destruction of the blood-brain barrier

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Neural Regeneration Research 2024年第6期19卷 1344-1350页

作者： Tianqi Xu Jianhong Yang Yao Xu Xiaofeng Wang Xiang Gao Jie Sun Chenhui Zhou Yi Huang Department of Neurology The First Affiliated Hospital of Ningbo University Department of General Surgery The First Affiliated Hospital of Ningbo University Department of Neurosurgery The First Affiliated Hospital of Ningbo University Key laboratory of precision medicine for Atherosclerotic Diseases of zhejiang Province

Post-acute ischemic stroke hyperglycemia increases the risk of hemorrhagic transformation, which is associated with blood-brain barrier disruption. Brain microvascular endothelial cells are a major component of the blood-brain barrier. Intercellular mitochondrial transfer has emerged as a novel paradigm for repairing cells with mitochondrial dysfunction. In this study, we first investigated whether mitochondrial transfer exists between brain microvascular endothelial cells, and then investigated the effects of post-acute ischemic stroke hyperglycemia on mitochondrial transfer between brain microvascular endothelial cells. We found that healthy brain microvascular endothelial cells can transfer intact mitochondria to oxygen glucose deprivation-injured brain microvascular endothelial cells. However, post-oxygen glucose deprivation hyperglycemia hindered mitochondrial transfer and exacerbated mitochondrial dysfunction. We established an in vitro brain microvascular endothelial cell model of the blood-brain barrier. We found that post-acute ischemic stroke hyperglycemia reduced the overall energy metabolism levels of brain microvascular endothelial cells and increased permeability of the blood-brain barrier. In a clinical study, we retrospectively analyzed the relationship between post-acute ischemic stroke hyperglycemia and the severity of hemorrhagic transformation. We found that post-acute ischemic stroke hyperglycemia serves as an independent predictor of severe hemorrhagic transformation. These findings suggest that post-acute ischemic stroke hyperglycemia can aggravate disruption of the blood-brain barrier by inhibiting mitochondrial transfer.

关键词： acute ischemic stroke blood-brain barrier brain microvascular endothelial cells mitochondrial transfer stress hyperglycemia

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High-timing-precision detection of single X-ray photons by superconducting nanowires

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National Science Review 2024年第1期11卷 194-203页

作者： Shuya Guo Jingrou Tan Hengbin Zhang Jinguang Wang Tianhao Ji Labao Zhang Xiaolong Hu Jian Chen Jun Xie Kai Zou Yun Meng Xiaomin Bei Ling-An Wu Qi Chen Hao Wang Xuecou Tu Xiaoqing Jia Qing-Yuan Zhao Lin Kang Peiheng Wu Research Institute of Superconductor Electronics Nanjing University Qian Xuesen laboratory of Space Technology Beijing National laboratory of Condensed Matter Physics Institute of Physics Chinese Academy of Sciences Hefei National laboratory School of precision Instrument and Optoelectronic Engineering Tianjin University Key laboratory of Optoelectronic Information Science and Technology Ministry of Education

Precisely acquiring the timing information of individual X-ray photons is important in both fundamental research and practical applications. The timing precision of commonly used X-ray single-photon detectors remains in the range of one hundred picoseconds to microseconds. In this work, we report on high-timing-precision detection of single X-ray photons through the fast transition to the normal state from the superconductive state of superconducting nanowires. We successfully demonstrate a free-running X-ray single-photon detector with a timing resolution of 20.1 ps made of 100-nm-thick niobium nitride film with an active area of 50 μm by 50 μm. By using a repeated differential timing measurement on two adjacent X-ray single-photon detectors, we demonstrate a precision of 0.87 ps in the arrival-time difference of X-ray photon measurements. Therefore, our work significantly enhances the timing precision in X-ray photon counting, opening a new niche for ultrafast X-ray photonics and many associated applications.

关键词： single-photon detection timing precision superconductor ultrafast phenomenon pulsar X-ray navigation

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Management of locally advanced non-small cell lung cancer: State of the art and future directions

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Cancer Communications 2024年第1期44卷 23-46页

作者： Da Miao Jing Zhao Ying Han Jiaqi Zhou Xiuzhen Li Ting Zhang Wen Li Yang Xia Key laboratory of Respiratory Disease of zhejiang Province Department of Respiratory and Critical Care MedicineSecond Affiliated Hospital of Zhejiang University School of MedicineHangzhouZhejiangP.R.China Department of Oncology Shaoxing Second HospitalShaoxingZhejiangP.R.China Department of Medical Oncology Second Affiliated Hospital of Zhejiang University School of MedicineHangzhouZhejiangP.R.China Department of Chemoradiotherapy The Affiliated People’s Hospital of Ningbo UniversityNingboZhejiangP.R.China Key Discipline of Jiaxing Respiratory medicine Construction Project Jiaxing Key Laboratory of Precision Treatment for Lung CancerAffiliated Hospital of Jiaxing UniversityJiaxingZhejiangP.R.China Department of Pathology Second Affiliated Hospital of Zhejiang University School of MedicineHangzhouZhejiangP.R.China Department of Radiation Oncology Second Affiliated Hospital of Zhejiang University School of MedicineHangzhouZhejiangP.R.China Cancer Center Zhejiang UniversityHangzhouZhejiangP.R.China

Lung cancer is the second most common and the deadliest type of cancer worldwide.Clinically,non-small cell lung cancer(NSCLC)is the most com-mon pathological type of lung cancer;approximately one-third of affected patients have locally advanced NSCLC(LA-NSCLC,stage III NSCLC)at diag-nosis.Because of its heterogeneity,LA-NSCLC often requires multidisciplinary assessment.Moreover,the prognosis of affected patients is much below satisfac-tion,and the efficacy of traditional therapeutic strategies has reached a plateau.With the emergence of targeted therapies and immunotherapies,as well as the continuous development of novel radiotherapies,we have entered an era of novel treatment paradigm for LA-NSCLC.Here,we reviewed the landscape of relevant therapeutic modalities,including adjuvant,neoadjuvant,and periop-erative targeted and immune strategies in patients with resectable LA-NSCLC with/without oncogenic alterations;as well as novel combinations of chemora-diation and immunotherapy/targeted therapy in unresectable LA-NSCLC.We addressed the unresolved challenges that remain in the field,and examined future directions to optimize clinical management and increase the cure rate of LA-NSCLC.

关键词： locally advanced non-small cell lung cancer neoadjuvant therapy adjuvant therapy immunotherapy targeted therapy

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