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Cancer Theranostics: Myeloid‐Derived Suppressor Cell Membrane‐Coated Magnetic Nanoparticles for Cancer Theranostics by Inducing Macrophage Polarization and Synergizing Immunogenic Cell Death (Adv. Funct. Mater. 37/2018)

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Advanced Functional Materials 2018年第37期28卷

作者： Guang‐Tao Yu Lang Rao Hao Wu Lei‐Lei Yang Lin‐Lin Bu Wei‐Wei Deng Lei Wu Xiaolin Nan Wen‐Feng Zhang Xing‐Zhong Zhao Wei Liu Zhi‐Jun Sun The State Key Laboratory Breeding Base of Basic Science of Stomatology and Key Laboratory of Oral Biomedicine Ministry of Education and Department of Oral Maxillofacial‐Head Neck Oncology School and Hospital of Stomatology Wuhan University Wuhan Hubei 430079 China Key Laboratory of Artificial Micro‐ and Nano‐Structure of Ministry of Education School of Physics and Technology Wuhan University Wuhan Hubei 430072 China Department of Biomedical Engineering Center for Spatial Systems Biomedicine and Center for Cancer Early Detection Advanced Research Knight Cancer Institute Oregon Health and Science University Portland OR 97201 USA

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Author Correction: Open-access quantitative MRI data of the spinal cord and reproducibility across participants, sites and manufacturers

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Scientific data 2021年第1期8卷 242页

作者： Julien Cohen-Adad Eva Alonso-Ortiz Mihael Abramovic Carina Arneitz Nicole Atcheson Laura Barlow Robert L Barry Markus Barth Marco Battiston Christian Büchel Matthew Budde Virginie Callot Anna J E Combes Benjamin De Leener Maxime Descoteaux Paulo Loureiro de Sousa Marek Dostál Julien Doyon Adam Dvorak Falk Eippert Karla R Epperson Kevin S Epperson Patrick Freund Jürgen Finsterbusch Alexandru Foias Michela Fratini Issei Fukunaga Claudia A M Gandini Wheeler-Kingshott Giancarlo Germani Guillaume Gilbert Federico Giove Charley Gros Francesco Grussu Akifumi Hagiwara Pierre-Gilles Henry Tomáš Horák Masaaki Hori James Joers Kouhei Kamiya Haleh Karbasforoushan Miloš Keřkovský Ali Khatibi Joo-Won Kim Nawal Kinany Hagen H Kitzler Shannon Kolind Yazhuo Kong Petr Kudlička Paul Kuntke Nyoman D Kurniawan Slawomir Kusmia René Labounek Maria Marcella Laganà Cornelia Laule Christine S Law Christophe Lenglet Tobias Leutritz Yaou Liu Sara Llufriu Sean Mackey Eloy Martinez-Heras Loan Mattera Igor Nestrasil Kristin P O'Grady Nico Papinutto Daniel Papp Deborah Pareto Todd B Parrish Anna Pichiecchio Ferran Prados Àlex Rovira Marc J Ruitenberg Rebecca S Samson Giovanni Savini Maryam Seif Alan C Seifert Alex K Smith Seth A Smith Zachary A Smith Elisabeth Solana Y Suzuki George Tackley Alexandra Tinnermann Jan Valošek Dimitri Van De Ville Marios C Yiannakas Kenneth A Weber Ii Nikolaus Weiskopf Richard G Wise Patrik O Wyss Junqian Xu NeuroPoly Lab Institute of Biomedical Engineering Polytechnique Montreal Montreal QC Canada. jcohen@polymtl.ca. Functional Neuroimaging Unit CRIUGM Université de Montréal Montreal QC Canada. jcohen@polymtl.ca. Mila - Quebec AI Institute Montreal QC Canada. jcohen@polymtl.ca. NeuroPoly Lab Institute of Biomedical Engineering Polytechnique Montreal Montreal QC Canada. Department of Radiology Swiss Paraplegic Centre Nottwil Switzerland. Centre for Advanced Imaging The University of Queensland Brisbane Australia. Department of Radiology University of British Columbia Vancouver BC Canada. Athinoula A. Martinos Center for Biomedical Imaging Department of Radiology Massachusetts General Hospital Charlestown MA USA. Department of Radiology Harvard Medical School Boston MA USA. Harvard-Massachusetts Institute of Technology Health Sciences & Technology Cambridge MA USA. School of Information Technology and Electrical Engineering The University of Queensland Brisbane Australia. NMR Research Unit Queen Square MS Centre UCL Queen Square Institute of Neurology Faculty of Brain Sciences University College London London UK. Department of Systems Neuroscience University Medical Center Hamburg-Eppendorf Hamburg Germany. Department of Neurosurgery Medical College of Wisconsin Milwaukee WI USA. Aix-Marseille Univ CNRS CRMBM Marseille France. APHM Hopital Universitaire Timone CEMEREM Marseille France. Vanderbilt University Institute of Imaging Science Vanderbilt University Medical Center Nashville TN USA. Department of Computer and Software Engineering Polytechnique Montreal Montreal Canada. CHU Sainte-Justine Research Centre Montreal QC Canada. Centre de Recherche CHUS CIMS Sherbrooke Canada. Sherbrooke Connectivity Imaging Lab (SCIL) Computer Science department Université de Sherbrooke Sherbrooke Canada. Université de Strasbourg CNRS ICube Strasbourg France. UHB - University Hospital Brno and Masaryk University Department of Radiology and Nuclear

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Dense sampling of bird diversity increases power of comparative genomics (vol 587, pg 252, 2020)

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NATURE 2021年第7856期592卷 E24-E24页

作者： Feng, Shaohong Stiller, Josefin Deng, Yuan Armstrong, Joel Fang, Qi Reeve, Andrew Hart Xie, Duo Chen, Guangji Guo, Chunxue Faircloth, Brant C. Petersen, Bent Wang, Zongji Zhou, Qi Diekhans, Mark Chen, Wanjun Andreu-Sanchez, Sergio Margaryan, Ashot Howard, Jason Travis Parent, Carole Pacheco, George Sinding, Mikkel-Holger S. Puetz, Lara Cavill, Emily Ribeiro, Angela M. Eckhart, Leopold Fjeldsa, Jon Hosner, Peter A. Brumfield, Robb T. Christidis, Les Bertelsen, Mads F. Sicheritz-Ponten, Thomas Tietze, Dieter Thomas Robertson, Bruce C. Song, Gang Borgia, Gerald Claramunt, Santiago Lovette, Irby J. Cowen, Saul J. Njoroge, Peter Dumbacher, John Philip Ryder, Oliver A. Fuchs, Jerome Bunce, Michael Burt, David W. Cracraft, Joel Meng, Guanliang Hackett, Shannon J. Ryan, Peter G. Jonsson, Knud Andreas Jamieson, Ian G. da Fonseca, Rute R. Braun, Edward L. Houde, Peter Mirarab, Siavash Suh, Alexander Hansson, Bengt Ponnikas, Suvi Sigeman, Hanna Stervander, Martin Frandsen, Paul B. van der Zwan, Henriette van der Sluis, Rencia Visser, Carina Balakrishnan, Christopher N. Clark, Andrew G. Fitzpatrick, John W. Bowman, Reed Chen, Nancy Cloutier, Alison Sackton, Timothy B. Edwards, Scott V. Foote, Dustin J. Shakya, Subir B. Sheldon, Frederick H. Vignal, Alain Soares, Andre E. R. Shapiro, Beth Gonzalez-Solis, Jacob Ferrer-Obiol, Joan Rozas, Julio Riutort, Marta Tigano, Anna Friesen, Vicki Dalen, Love Urrutia, Araxi O. Szekely, Tamas Liu, Yang Campana, Michael G. Corvelo, Andre Fleischer, Robert C. Rutherford, Kim M. Gemmell, Neil J. Dussex, Nicolas Mouritsen, Henrik Thiele, Nadine Delmore, Kira Liedvogel, Miriam Franke, Andre Hoeppner, Marc P. Krone, Oliver Fudickar, Adam M. Mila, Borja Ketterson, Ellen D. Fidler, Andrew Eric Friis, Guillermo Parody-Merino, Angela M. Battley, Phil F. Cox, Murray P. Lima, Nicholas Costa Barroso Prosdocimi, Francisco Parchman, Thomas Lee Schlinger, Barney A. Loiselle, Bette A. Blake, John G. Lim, Haw Chuan Day, Lainy B. Fuxjager, Matthew J. Baldwin, Maude W. Braun, Michael J. Wirthlin, Morgan Dikow, China National GeneBank BGI-Shenzhen Shenzhen China State Key Laboratory of Genetic Resources and Evolution Kunming Institute of Zoology Chinese Academy of Sciences Kunming China BGI-Shenzhen Shenzhen China Villum Centre for Biodiversity Genomics Section for Ecology and Evolution Department of Biology University of Copenhagen Copenhagen Denmark BGI Education Center University of Chinese Academy of Sciences Shenzhen China MOE Laboratory of Biosystems Homeostasis and Protection Life Sciences Institute Zhejiang University Hangzhou China Department of Neuroscience and Developmental Biology University of Vienna Vienna Austria Center for Excellence in Animal Evolution and Genetics Chinese Academy of Sciences Kunming China James D. Watson Institute of Genome Sciences Hangzhou China UC Santa Cruz Genomics Institute UC Santa Cruz Santa Cruz CA USA Natural History Museum of Denmark University of Copenhagen Copenhagen Denmark Center for Macroecology Evolution and Climate GLOBE Institute University of Copenhagen Copenhagen Denmark Department of Biological Sciences Louisiana State University Baton Rouge LA USA Museum of Natural Science Louisiana State University Baton Rouge LA USA Centre of Excellence for Omics-Driven Computational Biodiscovery (COMBio) Faculty of Applied Sciences AIMST University Kedah Malaysia Section for Evolutionary Genomics The GLOBE Institute Faculty of Health and Medical Sciences University of Copenhagen Copenhagen Denmark Institute of Molecular Biology National Academy of Sciences Yerevan Armenia University Museum Norwegian University of Science and Technology Trondheim Norway Center for Reproductive Medicine The 2nd Affiliated Hospital School of Medicine Zhejiang University Hangzhou China Novogene Durham NC USA Duke University Medical Center Durham NC USA The Rockefeller University New York NY USA Howard Hughes Medical Institute Chevy Chase MD USA Department of Dermatology Medical University of Vienna Vienna Austria

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NiFe Hydroxide Lattice Tensile Strain: Enhancement of Adsorption of Oxygenated Intermediates for Efficient Water Oxidation Catalysis

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Angewandte Chemie 2018年第3期131卷

作者： Daojin Zhou Shiyuan Wang Yin Jia Xuya Xiong Hongbin Yang Song Liu Jialun Tang Junming Zhang Dong Liu Lirong Zheng Yun Kuang Xiaoming Sun Bin Liu State Key Laboratory of Chemical Resource Engineering Beijing Advanced Innovation Center for Soft Matter Science and Engineering Beijing University of Chemical Technology Beijing 100029 China School of Chemical and Biomedical Engineering Nanyang Technological University Singapore 637459 Singapore) E-mail: Bin Liu College of Energy Beijing University of Chemical Technology Beijing 100029 China Institute for Materials Science and Devices Suzhou University of Science and Technology Suzhou 215009 China State Key Laboratory of Catalysis Dalian Institute of Chemical Physics Chinese Academy of Sciences Dalian 116023 China Beijing Key Laboratory of Nanophotonics and Ultrafine Optoelectronic Systems School of Materials Science & Engineering Beijing Institute of Technology Beijing 100029 China Beijing Synchrotron Radiation Facility Institute of High Energy Physics Chinese Academy of Sciences Beijing 100049 China

The binding strength of reactive intermediates with catalytically active sites plays a crucial role in governing catalytic performance of electrocatalysts. NiFe hydroxide offers efficient oxygen evolution reaction (OER) catalysis in alkaline electrolyte, however weak binding of oxygenated intermediates on NiFe hydroxide still badly limits its catalytic activity. Now, a facile ball‐milling method was developed to enhance binding strength of NiFe hydroxide to oxygenated intermediates via generating tensile strain, which reduced the anti‐bonding filling states in the d orbital and thus facilitated oxygenated intermediates adsorption. The NiFe hydroxide with tensile strain increasing after ball‐milling exhibits an OER onset potential as low as 1.44 V (vs. reversible hydrogen electrode) and requires only a 270 mV overpotential to reach a water oxidation current density of 10 mA cm −2 .

关键词： Kugelmühle NiFe-Katalysatoren Sauerstoffentwicklung Zugspannung

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Gene expression imputation across multiple brain regions provides insights into schizophrenia risk (vol 51, pg 659, 2019)

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NATURE GENETICS 2019年第6期51卷 1068-1068页

作者： Huckins, Laura M. Dobbyn, Amanda Ruderfer, Douglas M. Hoffman, Gabriel Wang, Weiqing Pardinas, Antonio F. Rajagopal, Veera M. Als, Thomas D. Nguyen, Hoang T. Girdhar, Kiran Boocock, James Roussos, Panos Fromer, Menachem Kramer, Robin Domenici, Enrico Gamazon, Eric R. Purcell, Shaun Demontis, Ditte Borglum, Anders D. Walters, James T. R. O'Donovan, Michael C. Sullivan, Patrick Owen, Michael J. Devlin, Bernie Sieberts, Solveig K. Cox, Nancy J. Im, Hae Kyung Sklar, Pamela Stahl, Eli A. Pamela Sklar Division of Psychiatric Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Genetics and Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Psychiatry Icahn School of Medicine at Mount Sinai New York NY USA Icahn Institute for Genomics and Multiscale Biology Icahn School of Medicine at Mount Sinai New York NY USA Vanderbilt University Medical Center Nashville TN USA MRC Centre for Neuropsychiatric Genetics and Genomics Cardiff University Cardiff UK Department of Biomedicine Aarhus University Aarhus Denmark The Lundbeck Foundation Initiative for Integrative Psychiatric Research iPSYCH Denmark Center for Integrative Sequencing Aarhus University Aarhus Denmark Department of Human Genetics David Geffen School of Medicine University of California Los Angeles Los Angeles CA USA Human Brain Collection Core National Institute of Mental Health Bethesda MD USA Laboratory of Neurogenomic Biomarkers Centre for Integrative Biology (CIBIO) University of Trento Trento Italy Clare Hall University of Cambridge Cambridge UK University of North Carolina at Chapel Hill Chapel Hill NC USA Karolinska Institutet Stockholm Sweden Department of Psychiatry University of Pittsburgh Pittsburgh PA USA Systems Biology Sage Bionetworks Seattle WA USA Section of Genetic Medicine Department of Medicine University of Chicago Chicago IL USA Integrated Technology Research Laboratories Pharmaceutical Research Division Takeda Pharmaceutical Company Limited Fujisawa Japan Neuropsychiatry Section Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Neuropsychiatric Signaling Program Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Psychiatry JJ Peters Virginia Medical Center Bronx NY USA Department of Neuroscience Icahn School of Medicine at Mount Sinai New York New York NY USA Friedman Brain Institute

Transcriptomic imputation approaches combine eQTL reference panels with large-scale genotype data in order to test associations between disease and gene expression. These genic associations could elucidate signals in complex genome-wide association study (GWAS) loci and may disentangle the role of different tissues in disease development. We used the largest eQTL reference panel for the dorso-lateral prefrontal cortex (DLPFC) to create a set of gene expression predictors and demonstrate their utility. We applied DLPFC and 12 GTEx-brain predictors to 40,299 schizophrenia cases and 65,264 matched controls for a large transcriptomic imputation study of schizophrenia. We identified 413 genic associations across 13 brain regions. Stepwise conditioning identified 67 non-MHC genes, of which 14 did not fall within previous GWAS loci. We identified 36 significantly enriched pathways, including hexosaminidase-A deficiency, and multiple porphyric disorder pathways. We investigated developmental expression patterns among the 67 non-MHC genes and identified specific groups of pre- and postnatal expression.

关键词： Gene expression Genome-wide association studies Schizophrenia Transcriptomics

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Prevalence and attributable health burden of chronic respiratory diseases, 1990–2017: a systematic analysis for the Global Burden of Disease Study 2017

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The Lancet Respiratory Medicine 2020年第6期8卷 585-596页

作者： Soriano, Joan B Kendrick, Parkes J Paulson, Katherine R Gupta, Vinay Abrams, Elissa M Adedoyin, Rufus Adesoji Adhikari, Tara Ballav Advani, Shailesh M Agrawal, Anurag Ahmadian, Elham Alahdab, Fares Aljunid, Syed Mohamed Altirkawi, Khalid A Alvis-Guzman, Nelson Anber, Nahla Hamed Andrei, Catalina Liliana Anjomshoa, Mina Ansari, Fereshteh Antó, Josep M Arabloo, Jalal Athari, Seyyede Masoume Athari, Seyyed Shamsadin Awoke, Nefsu Badawi, Alaa Banoub, Joseph Adel Mattar Bennett, Derrick A Bensenor, Isabela M Berfield, Kathleen S Sachiko Bernstein, Robert S Bhattacharyya, Krittika Bijani, Ali Brauer, Michael Bukhman, Gene Butt, Zahid A Cámera, Luis Alberto Car, Josip Carrero, Juan J Carvalho, Felix Castañeda-Orjuela, Carlos A Choi, Jee-Young Jasmine Christopher, Devasahayam J Cohen, Aaron J Dandona, Lalit Dandona, Rakhi Dang, Anh Kim Daryani, Ahmad de Courten, Barbora Demeke, Feleke Mekonnen Demoz, Gebre Teklemariam De Neve, Jan-Walter Desai, Rupak Dharmaratne, Samath Dhamminda Diaz, Daniel Douiri, Abdel Driscoll, Tim Robert Duken, Eyasu Ejeta Eftekhari, Aziz Elkout, Hajer Endries, Aman Yesuf Fadhil, Ibtihal Faro, Andre Farzadfar, Farshad Fernandes, Eduarda Filip, Irina Fischer, Florian Foroutan, Masoud Garcia-Gordillo, M.A. Gebre, Abadi Kahsu Gebremedhin, Ketema Bizuwork Gebremeskel, Gebreamlak Gebremedhn Gezae, Kebede Embaye Ghoshal, Aloke Gopal Gill, Paramjit Singh Gillum, Richard F Goudarzi, Houman Guo, Yuming Gupta, Rajeev Hailu, Gessessew Bugssa Hasanzadeh, Amir Hassen, Hamid Yimam Hay, Simon I Hoang, Chi Linh Hole, Michael K Horita, Nobuyuki Hosgood, H Dean Hostiuc, Mihaela Househ, Mowafa Ilesanmi, Olayinka Stephen Ilic, Milena D Irvani, Seyed Sina Naghibi Islam, Sheikh Mohammed Shariful Jakovljevic, Mihajlo Jamal, Amr A Jha, Ravi Prakash Jonas, Jost B Kabir, Zubair Kasaeian, Amir Kasahun, Gebremicheal Gebreslassie Kassa, Getachew Mullu Kefale, Adane Teshome Kengne, Andre Pascal Khader, Yousef Saleh Khafaie, Morteza Abdullatif Khan, Ejaz Ahmad Khan, Junaid Khubchandani, Jagdish Kim, Young-Eun Kim, Yun Jin Kisa, Hospital Universitario de La Princesa (Princess University Hospital) Madrid Spain Autonomous University of Madrid Madrid Spain Centro de Investigación Biomédica en Red Enfermedades Respiratorias (CIBERES) (Center for Biomedical Research in Respiratory Diseases Network) Madrid Spain Institute for Health Metrics and Evaluation Seattle WA United States Department of Surgery University of Washington Seattle WA United States Department of Health Metrics Sciences School of Medicine University of Washington Seattle WA United States Department of Global Health University of Washington Seattle WA United States Department of Medicine University of Washington Seattle WA United States University of Washington Seattle WA United States Section of Allergy and Clinical Immunology University of Manitoba Winnipeg MB Canada Ophthalmology Department University of Manitoba Winnipeg MB Canada Department of Paediatrics University of British Columbia Vancouver BC Canada School of Population and Public Health University of British Columbia Vancouver BC Canada Department of Medical Rehabilitation Obafemi Awolowo University Ile-Ife Nigeria Department of Public Health Aarhus University Aarhus Denmark Nepal Health Frontiers University of Southern Denmark Kathmandu Nepal Social Behavioral Research Branch National Institute of Health Bethesda MD United States Department of Oncology Georgetown University Washington DC United States Institute of Genomics and Integrative Biology Council of Scientific & Industrial Research Delhi India Internal Medicine Baylor College of Medicine Houston TX United States Research Center for Chronic Kidney Disease Tabriz University of Medical Sciences Tabriz Iran Research Center for Evidence Based Medicine Tabriz University of Medical Sciences Tabriz Iran Joint Ukraine-Azerbaijan International Research and Education Center of Nanobiotechnology and Functional Nanosystems Baku Azerbaijan Mayo Evidence-based Practice Center Mayo Clinic Foundat

Background: Previous attempts to characterise the burden of chronic respiratory diseases have focused only on specific disease conditions, such as chronic obstructive pulmonary disease (COPD) or asthma. In this study, we aimed to characterise the burden of chronic respiratory diseases globally, providing a comprehensive and up-to-date analysis on geographical and time trends from 1990 to 2017. Methods: Using data from the Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) 2017, we estimated the prevalence, morbidity, and mortality attributable to chronic respiratory diseases through an analysis of deaths, disability-adjusted life-years (DALYs), and years of life lost (YLL) by GBD super-region, from 1990 to 2017, stratified by age and sex. Specific diseases analysed included asthma, COPD, interstitial lung disease and pulmonary sarcoidosis, pneumoconiosis, and other chronic respiratory diseases. We also assessed the contribution of risk factors (smoking, second-hand smoke, ambient particulate matter and ozone pollution, household air pollution from solid fuels, and occupational risks) to chronic respiratory disease-attributable DALYs. Findings: In 2017, 544·9 million people (95% uncertainty interval [UI] 506·9–584·8) worldwide had a chronic respiratory disease, representing an increase of 39·8% compared with 1990. Chronic respiratory disease prevalence showed wide variability across GBD super-regions, with the highest prevalence among both males and females in high-income regions, and the lowest prevalence in sub-Saharan Africa and south Asia. The age-sex-specific prevalence of each chronic respiratory disease in 2017 was also highly variable geographically. Chronic respiratory diseases were the third leading cause of death in 2017 (7·0% [95% UI 6·8–7·2] of all deaths), behind cardiovascular diseases and neoplasms. Deaths due to chronic respiratory diseases numbered 3 914 196 (95% UI 3 790 578–4 044 819) in 2017, an increase of 18·0% since 1990, while

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The structure design and analysis of a wheel-track robot

The structure design and analysis of a wheel-track robot

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IEEE International Conference on Mechatronics and Automation

作者： Dengqi Cui Wenzeng Guo Han Dong Xueshan Gao School of Mechatronical Engineering Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

This paper mainly introduces the system components of the wheel-track robot, mainly comprising a body structure and control system. Through the analysis of the driving power and the power of the selection of crawling, motor drive of the robot is chose. Variable structure adopts a screw rod transmission mechanism and the screw rod transmission structure is designed, and the simulation in variable structure verifies the screw drive design principle of rationality. Finally, variable structure of the robot in expansion and contraction experiments were carried out. Experimental results show that the correctness of the variable structure.

关键词： Conferences Mechatronics Automation Three-dimensional displays

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Tracking RGB color markers through DLT calibrated monocular vision system

Tracking RGB color markers through DLT calibrated monocular ...

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IEEE International Conference on Mechatronics and Automation

作者： Adil Shahzad Yu Mu Xueshan Gao School of Mechatronical Engineering Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

This paper presents a simple analogy to track red green and blue (RGB) color markers in real time through charged coupled device (CCD) calibrated by using direct linear transformation (DLT) method. A graphical user interface (GUI) application is designed in Matlab 2015a, to display real time actual measurements to ease detection of objects for grabbing through a robot gripper and place it at desired location.

关键词： Cameras Calibration Robot vision systems Color Real-time systems Grippers

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Research of the low impact space docking mechanism based on impedance control strategy

Research of the low impact space docking mechanism based on ...

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IEEE/ASME International Conference on Mechtronic and Embedded systems and Applications, MESA

作者： Zenghui Xie Gangfeng Liu Changle Li Ge Li Jie Zhao Liyi Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509061914

In order to solve the violent collision and energy consumption problems of conventional space docking mechanism in the docking process, we developed a set of low impact docking mechanism based on impedance control. The docking mechanism adopts the peripheral docking type, the active end of which is a 6-UPS parallel mechanism which is driven by six electric cylinders installed on the fixed platform. For the purpose of the safety of the docking mechanism in the process of docking buffer, we need to monitor the contact force between the active end and environment, so tension-pressure sensor is installed on the end of each electric cylinder. This paper designed a kind of highly efficient force coupling algorithm to convert the six separate force into a six-dimensional integral contact force and then established the dynamic relationship between the contact force and the adjustment of the position and posture to ensure the contact force in the docking process not appear large overshoot. Finally, we completed the compliant docking experiments, which proved that the scheme of low impact docking mechanism is feasible and that the docking mechanism can finish the expected mission.

关键词： Force Fasteners Mobile communication Couplings Impedance Space vehicles Force sensors

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Optimization of the impedance controller for the low impact docking

Optimization of the impedance controller for the low impact ...

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International Conference on Information and Automation (ICIA)

作者： Gangfeng Liu Zenghui Xie Ge Li Changle Li Jie Zhao Liyi Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509041039

In order to make full use of the ability of the low impact docking mechanism to reduce the contact force in the docking process, the impedance control strategy is designed. And then a kind of parameter adjusting flow is proposed for the impedance controller based on the influence rules of the target impedance. To perform a low impact docking mission unaware of the initial position error and orientation error, two kinds of control strategies including integral impedance controller (IIC) and distributed impedance controller (DIC) are proposed, and a co-simulation of the control strategies using the MATLAB and ADAMS software are carried out to seek out the advantages and disadvantages of these strategies. The conclusions are drawn that the DIC is superior to the IIC, which lay the theoretical foundation for the subsequent docking experiments.

关键词： Force Impedance Damping Torque MATLAB Kinematics Couplings

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