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Shape estimation for a TPU-based multi-material 3D printed soft pneumatic actuator using deep learning models

Science China(Technological Sciences) 2024年第5期67卷 1470-1481页

作者： HU Yu TANG Wei QU Yang XU HuXiu KRAMARENKO Yu.Elena ZOU Jun State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310058China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China Institute of Process Equipment College of Energy EngineeringZhejiang UniversityHangzhou310027China Faculty of Physics Lomonosov Moscow State UniversityMoscow119991Russia Enikolopov Institute of Synthetic Polymeric Materials of Russian Academy of Sciences Moscow117393Russia

Real-time proprioception presents a significant challenge for soft robots due to their infinite degrees of freedom and intrinsic *** studies mostly focused on specific sensors and *** is still a lack of generalizable technologies for integrating soft sensing elements into soft actuators and mapping sensor signals to proprioception *** tackle this problem,we employed multi-material 3D printing technology to fabricate sensorized soft-bending actuators(SBAs)using plain and conductive thermoplastic polyurethane(TPU)*** designed various geometric shapes for the sensors and investigated their strain-resistive performance during *** address the nonlinear time-variant behavior of the sensors during dynamic modeling,we adopted a data-driven approach using different deep neural networks to learn the relationship between sensor signals and system states.A series of experiments in various actuation scenarios were conducted,and the results demonstrated the effectiveness of this *** sensing and shape prediction steps can run in real-time at a frequency of50 Hz on a consumer-level ***,a method is proposed to enhance the robustness of the learning models using data augmentation to handle unexpected sensor *** the methods are efficient,not only for in-plane 2D shape estimation but also for out-of-plane 3D shape *** aim of this study is to introduce a methodology for the proprioception of soft pneumatic actuators,including manufacturing and sensing modeling,that can be generalized to other soft robots.

关键词： shape estimation soft sensors and actuators 3D printing deep learning in robotics

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Optimising the oil phases of aluminium hydrogel-stabilised emulsions for stable,safe and efficient vaccine adjuvant

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Frontiers of Chemical Science and engineering 2022年第6期16卷 973-984页

作者： Lili Yuan Xiao-Dong Gao Yufei Xia Key Laboratory of Carbohydrate Chemistry and Biotechnology Ministry of EducationSchool of BiotechnologyJiangnan UniversityWuxi 214122China State Key Laboratory of Biochemical Engineering Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China Innovation Academy for Green Manufacture Chinese Academy of SciencesBeijing 100190China

To increase antibody secretion and dose sparing,squalene-in-water aluminium hydrogel(alun^-stabilised emulsions(ASEs)have been developed,which offer increased surface areas and cellular interactions for higher antigen loading and enhanced immune ***,the squalene(oil)in previous attempts suffered from limited oxidation resistance,thus,safety and stability were *** a clinical translational perspective,it is imperative to screen the optimal oils for enhanced emulsion ***,because of the varying oleic to linoleic acid ratio,soybean oil,peanut oil,and olive oil were utilised as oil phases in the preparation of aluminium hydrogel-stabilised squalene-in-water emulsions,which were then screened for their stability and ***,the underlying mechanisms of oil phases and emulsion stability were unravelled,which showed that a higher oleic to linoleic acid ratio increased anti-oxidative capabilities but reduced the long-term storage stability owing to the relatively low zeta potential of the prepared *** a result,compared with squalene-in-water ASEs,soybean-in-water ASEs exhibited comparable immune responses and enhanced *** optimising the oil phase of the emulsion adjuvants,this work may offer an alternative strategy for safe,stable,and effective emulsion adjuvants.

关键词： pickering emulsion vaccine adjuvant alum-stabilised emulsion oleic to linoleic acid ratio stability

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Hesperidin ameliorates H_(2)O_(2)-induced bovine mammary epithelial cell oxidative stress via the Nrf2 signaling pathway

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Journal of Animal Science and Biotechnology 2024年第4期15卷 1737-1750页

作者： Qi Huang Jiashuo Liu Can Peng Xuefeng Han Zhiliang Tan CAS Key Laboratory for Agro‑Ecological Processes in Subtropical Region National Engineering Laboratory for Pollution Control and Waste Utilization in Livestock and Poultry ProductionHunan Provincial Key Laboratory of Animal Nutritional Physiology and Metabolic ProcessInstitute of Subtropical AgricultureChinese Academy of SciencesChangsha 410125HunanChina State Key Laboratory of Animal Nutrition and Feeding Institute of Animal SciencesChinese Academy of Agricultural SciencesBeijing 100193China

Background Hesperidin is a citrus flavonoid with anti-inflammatory and antioxidant potential. However, its protective effects on bovine mammary epithelial cells(b MECs) exposed to oxidative stress have not been *** In this study, we investigated the effects of hesperidin on H_(2)O_(2)-induced oxidative stress in b MECs and the underlying molecular mechanism. We found that hesperidin attenuated H_(2)O_(2)-induced cell damage by reducing reactive oxygen species(ROS) and malondialdehyde(MDA) levels, increasing catalase(CAT) activity, and improving cell proliferation and mitochondrial membrane potential. Moreover, hesperidin activated the Keap1/Nrf2/ARE signaling pathway by inducing the nuclear translocation of Nrf2 and the expression of its downstream genes NQO1 and HO-1, which are antioxidant enzymes involved in ROS scavenging and cellular redox balance. The protective effects of hesperidin were blocked by the Nrf2 inhibitor ML385, indicating that they were Nrf2 *** Our results suggest that hesperidin could protect b MECs from oxidative stress injury by activating the Nrf2 signaling pathway, suggesting that hesperidin as a natural antioxidant has positive potential as a feed additive or plant drug to promote the health benefits of bovine mammary.

关键词： Bovine mammary epithelial cell Hesperidin Nrf2 signaling pathway Oxidative stress

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Sustainable and untethered soft robots created using printable and recyclable ferromagnetic fibers

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Bio-Design and Manufacturing 2024年第6期7卷 926-937页

作者： Wei Tang Yidan Gao Zeyu Dong Dong Han Vadim V.Gorodov Elena Y.Kramarenko Jun Zou State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China School of Mechanical Engineering Zhejiang UniversityHangzhou 310058China Institute of Process Equipment College of Energy EngineeringZhejiang UniversityHangzhou 310027China Faculty of Physics Lomonosov Moscow State UniversityMoscow 119991Russia Enikolopov Institute of Synthetic Polymeric Materials of Russian Academy of Sciences Moscow 117393Russia

Integrated printing of magnetic soft robots with complex structures using recyclable materials to achieve sustainability of the soft robots remains a persistent ***,we propose a kind of ferromagnetic fibers that can be used to print soft robots with complex *** ferromagnetic fibers are recyclable and can make soft robots *** ferromagnetic fibers based on thermoplastic polyurethane(TPU)/NdFeB hybrid particles are extruded by an *** use a desktop three-dimensional(3D)printer to demonstrate the feasibility of printing two-dimensional(2D)and complex 3D soft *** printed soft robots can be recycled and reprinted into new robots once their tasks are ***,these robots show almost no difference in actuation capability compared to prior versions and have new *** applications include lifting,grasping,and moving objects,and these functions can be operated untethered *** addition,the locomotion of the magnetic soft robot in a human stomach model shows the prospect of medical ***,these fully recyclable ferromagnetic fibers pave the way for printing and reprinting sustainable soft robots while also effectively reducing e-waste and robotics waste materials,which is important for resource conservation and environmental protection.

关键词： Ferromagnetic fibers Sustainable soft robots Three-dimensional printing Recyclable soft materials Medical applications

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Dual Perspective Secure Analysis for Local Estimate-Based FDI Attacks in Networked Systems

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3312-3325页

作者： Qu, Fuyi Liu, Hao Tan, Cheng Li, Yuzhe Shenyang Ligong University School of Automation and Electrical Engineering Shenyang110159 China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China Wuhan Institute of Technology School of Electrical and Information Engineering Wuhan430205 China Qufu Normal University School of Engineering Rizhao276800 China

This article discusses the security concerns related to networked systems, where the sensor sends the local estimate to the remote estimator, which may be attacked. Traditionally, in the remote state estimation with the innovation or raw measurement case, denial of service (DoS) and false data injection (FDI) attacks are investigated thoroughly. Notably, for remote state estimation with local estimate cases considered in this article, most existing works consider DoS attacks but not FDI attacks, negatively affecting remote state estimation performance. Furthermore, current detection mechanisms encounter challenges when identifying such attacks due to the unavailable innovation or raw measurement. As such, we study FDI attacks under this framework and provide the corresponding secure analysis using a dual-perspective approach. Specifically, we propose a detector to detect such attacks using the prior information extracted from the remote estimator. Then, we analyze the existence of stealthy attacks and characterize the corresponding performance evaluation for the remote estimation under such attacks. Following this, we construct the optimal attack scheme, maximizing the expected average and terminal estimation error covariances, respectively. To reduce the above vulnerability, we develop a co-design transmission strategy and offer an analytical detection performance evaluation under different attack scenarios. Finally, simulations are provided to illustrate the proposed results. © 2025 IEEE.

关键词： Detectors state estimation Technological innovation Security Current measurement Communication system security Wireless networks Kalman filters Hands Estimation error

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仿生酶固定化纳米反应器通过级联催化反应实现胆固醇的精确检测

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Science China Materials 2024年第8期67卷 2540-2549页

作者：熊京商灵灵赵德偲王丹 State Key Laboratory of Biochemical Engineering Key Laboratory of Biopharmaceutical Preparation and DeliveryInstitute of Process EngineeringChinese Academy of Sciences1 North 2nd StreetZhongguancunBeijing 100190China University of Chinese Academy of Sciences 19A Yuquan RoadBeijing 100049China

基于酶的生化检测方法具有准确性高、检测速度快等优势,但生物酶的不稳定性限制了这一方法的应用.因此,开发一种活性高、稳定性强、反应效率高的酶包封体系是提高胆固醇生化检测的关键.为此,本研究发展了由二棕榈酸磷脂酰胆碱包覆中空... 详细信息

基于酶的生化检测方法具有准确性高、检测速度快等优势,但生物酶的不稳定性限制了这一方法的应用.因此,开发一种活性高、稳定性强、反应效率高的酶包封体系是提高胆固醇生化检测的关键.为此,本研究发展了由二棕榈酸磷脂酰胆碱包覆中空多壳层结构的仿生人造细胞,HoMS的区室化结构和磷脂膜的选择透过性实现了酶的稳定包封和信号的高效传输.本研究通过信号的级联放大实现了胆固醇的快速准确检测.即利用负载胆固醇氧化酶的HoMS@DPPC引发胆固醇氧化反应,产生的中间产物H;2;O;2;作为信号分子,在负载辣根过氧化物酶的HoMS@DPPC催化作用下,促进荧光红染料生成试卤灵,再进行比色检测胆固醇的含量.由级联催化介导的胆固醇信号放大使得该系统可以应用于胆固醇检测,并且该方法表现出高的选择性和准确性,检测范围为0.05~0.3mM,检测限可达4.9μM.该方法可用于动物血清中胆固醇的检测,回收率为90.8%~104.9%,检测值与商业检测方法的结果高度吻合.此外,该系统可与智能设备集成,构建智能比色平台,实现图像分析与胆固醇浓度检测的一体化,为准确、快速的生化检测开辟了新途径.

关键词：图像分析设备集成生化检测胆固醇氧化酶选择透过性信号放大动物血清酶固定化

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Hierarchically microporous membranes for highly energy-efficient gas separations

Industrial Chemistry & Materials

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Industrial Chemistry & Materials 2023年第3期1卷 376-387页

作者： Shuangjiang Luo Tianliang Han Can Wang Ying Sun Hongjun Zhang Ruilan Guo Suojiang Zhang CAS Key Laboratory of Green Process and Engineering State Key Laboratory of Multiphase Complex SystemsBeijing Key Laboratory of Ionic Liquids Clean ProcessInstitute of Process EngineeringChinese Academy of Sciences(CAS)Beijing 100190China State Key Laboratory of Particle Detection and Electronics University of Science and Technology of ChinaHefei 230026China Department of Chemical and Biomolecular Engineering University of Notre DameNotre DameIN 46556USA Longzihu New Energy Laboratory Zhengzhou 450000China Henan University Jinming RoadKaifeng475004China

The implementation of synthetic polymer membranes in gas separations,ranging from natural gas sweetening,hydrogen separation,helium recovery,carbon capture,oxygen/nitrogen enrichment,etc.,has stimulated the vigorous development of high-performance membrane ***,size-sieving types of synthetic polymer membranes are frequently subject to a trade-off between permeability and selectivity,primarily due to the lack of ability to boost fractional free volume while simultaneously controlling the micropore size ***,we review recent research progress on microporosity manipulation in high-free-volume polymeric gas separation membranes and their gas separation performance,with an emphasis on membranes with hourglass-shaped or bimodally distributed ***-of-the-art strategies to construct tailorable and hierarchically microporous structures,microporosity characterization,and microcavity architecture that govern gas separation performance are systematically summarized.

关键词： Gas separation membranes Hierarchical microporosity Micropore size distribution Configurational free volume Solution-diffusion mechanism

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Exploration on the stability conditions in bubble columns by noncooperative game theory

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Chinese Journal of Chemical engineering 2022年第10期50卷 75-84页

作者： Jiachen Liu Xiaoping Guan Ning Yang State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Chemical Engineering University of Chinese Academy of SciencesBeijing 100049China

The energy-minimization multiscale(EMMS)model,originally proposed for gas-solid fluidization,features a stability condition to close the simplified conservation *** was put forward to physically reflect the compromise of two dominant mechanisms,i.e.,the particle-dominated with minimal potential energy of particles,and the gas-dominated with the least resistance for gas to penetrate through the particle *** stability condition was then formulated as the minimization of the ratio of these two physical ***,the EMMS approach was later extended to the gas-liquid flow in bubble columns,termed dual-bubble-size *** considers the compromise of two dominant mechanisms,i.e.,the liquid-dominated regime with small bubbles,and the gas-dominated regime with large *** stability condition was then formulated as the minimization of the sum of these two physical ***,the two stability conditions were expressed in different manner,though gas-solid and gas-liquid systems bear some *** addition,both the conditions transform the original multiobjective variational problem into a single-objective *** mathematical formulation of stability condition remains therefore an open *** study utilizes noncooperative game theory and noninferior solutions to directly solve the multi-objective variational problem,aiming to explo re the different pathways of compromise of dominant *** results show that only keeping the single dominant mechanism cannot capture the jump change of gas holdup,which is associated with flow regime *** of dominant mechanisms,noninferior solutions and noncooperative game theory can predict the flow regime ***,the game between the two mechanisms makes the two-bubble structure degenerate and reduce to the single-bubble *** game of the three mechanisms restores the two-bubble *** exploration on the formulation of stability conditions may

关键词： Bubble column Flow regimes Mesoscale Noncooperative gametheory

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Ultrathin curved PdNiRu nanosheets as bifunctional catalysts for oxygen reduction and ethylene glycol oxidation

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Nano Research 2024年第5期17卷 3777-3784页

作者： Xianzeng Li Tingyu Lu Huan Pang Mingyi Zhang Dongdong Xu Lin Xu Min Han Jun Yang Jiangsu Key Laboratory of New Power Batteries Jiangsu Collaborative Innovation Center of Biomedical Functional MaterialsSchool of Chemistry and Materials ScienceNanjing Normal UniversityNanjing 210023China Fujian Cross Strait Institute of Flexible Electronics(Future Technology) Fujian Normal UniversityFuzhou 350117China State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China State Key Laboratory of Coordination Chemistry Nanjing UniversityNanjing 210023China School of Chemistry and Chemical Engineering Yangzhou UniversityYangzhou 225009China Key Laboratory for Photonic and Electronic Bandgap Materials Ministry of EducationSchool of Physics and Electronic EngineeringHarbin Normal UniversityHarbin 150025China

Pd-based metallic nanosheets with advanced physicochemical properties have been widely prepared and employed in various electrocatalytic ***,few concerns were focused on their multiple performances in different ***,highly curved and ultrathin PdNiRu nanosheets(NSs)are developed by facile wet-chemistry strategy and exhibit excellent electrocatalytic performance toward both oxygen reduction reaction(ORR)and ethylene glycol oxidation reaction(EGOR).Owing to the synergistically structural(e.g.,ultrathin,curved,defects/steps-rich)and compositional(ternary alloy)advantages,PdNiRu NSs exhibited enhanced ORR and EGOR specific/mass activities and better stability/durability than control *** specific activity(5.52 mA·cm^(−2))and mass activity(1.13 A·mg_(Pd)^(−1))of the PdNiRu NSs in ORR are 4.8 and 3.4 times as the ones of commercial Pt/C,*** mass activity of PdNiRu NSs(3.86 A·mg_(Pd)^(−1))in EGOR is 2.6 times as commercial Pd/C(1.51 A·mg_(Pd)^(−1)).This study is helpful for the development of desired electrocatalysts with multi-functional application in practical fuel cells.

关键词： ultrathin nanosheets noble metal electrocatalysts bifunctional

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Fluidized magnetization roasting of refractory siderite-containing iron ore via preoxidation-low-temperature reduction

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International Journal of Minerals,Metallurgy and Materials 2023年第6期30卷 1057-1066页

作者： Haoyan Sun Zheng Zou Meiju Zhang Dong Yan Innovation Academy for Green Manufacture Chinese Academy of SciencesBeijing 100190China Institute of Process Engineering Chinese Academy of SciencesState Key Laboratory of Multiphase Complex SystemsBeijing 100190China University of Chinese Academy of Sciences School of Chemical EngineeringBeijing 100049China

Magnetization roasting is one of the most effective way of utilizing low-grade refractory iron ***,the reduction roasting of siderite(FeCO3)generates weakly magnetic wüstite,thus reducing iron recovery via weak magnetic *** systematically studied and proposed the fluidized preoxidation-low-temperature reduction magnetization roasting process for *** found that the maghemite generated during the air oxidation roasting of siderite would be further reduced into wüstite at 500 and 550℃due to the unstable intermediate product magnetite(Fe_(3)O_(4)).Stable magnetite can be obtained through maghemite reduction only at low *** optimal fluidized magnetization roasting parameters included preoxidation at 610℃for 2.5 min,followed by reduction at 450℃for 5 *** roasted ore,weak magnetic separation yielded an iron ore concentrate grade of 62.0wt%and an iron recovery rate of 88.36%.Compared with that of conventional direct reduction magnetization roasting,the iron recovery rate of weak magnetic separation had greatly improved by 34.33%.The proposed fluidized preoxidation-low-temperature reduction magnetization roasting process can realize the efficient magnetization roasting utilization of low-grade refractory siderite-containing iron ore without wüstite generation and is unlimited by the proportion of siderite and hematite in iron ore.

关键词： magnetization roasting fluidization siderite preoxdization low-temperature reduction

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