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The effects of 17β-trenbolone and bisphenol A on sexual behavior and social dominance via the hypothalamic-pituitary-gonadal axis in male mice

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Journal of Environmental Sciences 2025年第5期151卷 54-67页

作者： Xiang Zuo Minghe Sun Huijuan Bai Shuhui Zhang Jialu Luan Qian Yu Zhenhua Fu Qili Zhao Mingzhu Sun Xin Zhao Xizeng Feng College of Life Science State Key Laboratory of Medicinal Chemical BiologyThe Key Laboratory of Bioactive MaterialsMinistry of EducationNankai UniversityTianjin 300071China Institute of Robotics&Automatic Information System College of Artificial IntelligenceNankai UniversityTianjin 300071China

17β-Trenbolone(17-TB)is well documented as an environmental endocrine disruptor in aquatic biological studies,but its effects on mammals remain poorly ***,17-TB acts as a hormone with properties similar to testosterone,and the consequences of juvenile exposure on adult social behavior remain *** A(BPA)acts as an estrogen-like hormone,compared to ***-week-old male Balb/c mice were exposed orally to 17-TB(100μg/(kg·day))and BPA(4 mg/(kg·day))for 28 *** of social interactions and a three-chamber test showed that 17-TB increased virility in male mice,intensified both male and female sexual behavior,and attracted and accepted female *** also increased social dominance through tube tests inmalemice and markedly activated the c-Fos^(+)immune response in themedial prefrontal cortex(mPFC)and basal amygdala(BLA).ELISA data showed that 17-TB and BPA exposure significantly affected serum gonadotropin-releasing hormone(GnRH),growth hormone(GH),estradiol(E2),and luteinizing hormone(LH)levels,as well as testicular lesions and androgen receptor(ARβ)and estrogen receptor(ERα)*** transcriptomic analysis further confirmed that could disrupt steroid synthesis and linoleic acid-related biometabolic *** findings suggest the influence of 17-TB and BPA exposure on sexual behavior and fertility in male mice,possibly through modulation of the hypothalamic-pituitary-gonadal *** study provides insights relevant to human reproductive health and neuro-social behavioral research,and the potential risk of environmental disturbances should not be overlooked.

关键词： 17β-Trenbolone(17-TB) Bisphenol A(BPA) hypothalamic-pituitary-gonadal axis(HPG) Sex hormones Social dominance Sexual behavior

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Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

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Chinese Journal of Aeronautics 2025年第2期38卷 577-596页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Centre for Precision Manufacturing DMEMUniversity of StrathclydeGlasgow G11XJUK State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’along the spiral trajectory,was *** the kinematics analysis,it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating *** reveal this causation,simulation modelling and experimental studies were carried out.A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length)and parameters(discrete angle,discrete arc length,and pitch)on surface texture and residual height of micro-dimpled ***,micro-dimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion.A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy,surface morphology and surface roughness of milled ***,the errors and factors affecting the above three aspects were *** results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled *** trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional *** an appropriate machining trajectory can be generated based on the optimized trajectory parameters,thus contributing to the improvement of machining quality and efficiency.

关键词： Tool reciprocating motion Spiral trajectory Micro-dimpled structure Micromachining Simulation modelling with diamond tool Surface texture

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A Climbing Robot for Tube-sheet Inspection Based on Planar Parallel Mechanisms

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IEEE robotics and Automation Letters 2025年第7期10卷 6752-6759页

作者： Zhang, Kuan Fan, Jizhuang Xu, Tian Zhang, Xuehe Lin, Jinghan Yu, Xuan Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

This paper introduces a novel climbing robot for tube-sheet inspection (CRTI) that uses inner wall grippers (IWGs) to grasp tubes, enabling it to hang and crawl beneath the tube-sheet plane. The robot is designed primarily for inspecting steam generators in nuclear power plants. The CRTI based on a planar parallel mechanism is proposed, with its workspace optimized through the solution space method to address the limitations of existing systems in adaptability, load capacity, and efficiency. A modular IWG based on a wedge mechanism is introduced, featuring a load capacity exceeding 100 kg without damaging tubes, with its configuration optimized through a geometric method to enable insertion into smaller apertures. Furthermore, a forward kinematic solution method for parallel robots based on coordinate transformation is proposed, providing a unique analytical solution for the forward kinematics of all parallel configurations of this CRTI. The performance evaluation, which is grounded in singularity analysis and typical experiments, reveals that the proposed CRTI offers high efficiency, substantial load capacity, and exceptional adaptability, indicating its significant potential for future applications. © 2016 IEEE.

关键词： Grippers

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Real-time Trajectory Planning for Redundant 7-dof Space Manipulators with Unknown Link Lengths

Real-time Trajectory Planning for Redundant 7-dof Space Mani...

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robotics, Control and Automation (ICRCA), International Conference on

作者： Jian Liu Zhiqi Li Shicai Shi Minghe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

Trajectory planning for redundant space manipulators in complex spatial environments is critical for ensuring successful on-orbit task execution, especially when the manipulator’s link lengths are unknown. Traditional algorithms struggle to establish the transformation between task space and joint space under such conditions, posing significant challenges to autonomous trajectory planning. This study proposes a novel trajectory planning method for a seven-degree-of-freedom redundant space manipulator with a shoulder-wrist offset. The method utilizes a trained pose control decision system to generate continuous, smooth, and singularity-free trajectories in real time, satisfying positional and orientational accuracy requirements for target capture. A neural network with strong nonlinear fitting capabilities is employed as the position control decision module for joints 1-4, trained using a "cautious exploration, greedy exploitation" strategy for efficient and safe trajectory optimization. For joints 5-7, an analytical orientation control decision module adjusts the end-effector’s attitude. Together, these modules form a pose control decision system that adheres to constraints on joint angular velocity, acceleration, and singularity avoidance. The proposed approach is validated through simulations in both static and dynamic scenarios, with simulation results confirming its effectiveness.

关键词： Accuracy Trajectory planning Simulation Position control Aerospace electronics Manipulators Control systems Real-time systems Angular velocity Manipulator dynamics

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A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitation During Walking

A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitat...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yao Huang Haotian Ju Songhao Guo Tianjiao Zheng Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509293

ISBN: (纸本)9798331509309

For knee rehabilitation patients, it is difficult to maintain balance while walking, and completing a normal gait cycle is challenging. Therefore, we propose a lower limb exosuit tailored for the knee rehabilitation patients to assist in normal walking, and experimentally evaluated the assistance effect of the lower limb exosuit. We mimic the mechanism of the skeletal muscles near the knee joint, by contracting and relaxing the length of the flexible Bowden cable between the thigh and calf, generating assistive torque on the knee joint periodically. We use Inertial Measurement Unit (IMU) to measure lower limb motion parameters, identify gait cycle states, and calculate corresponding plantar pressure and knee joint torque for each phase. We compared surface electromyography (sEMG) signals of three muscle groups (biceps femoris (BF), quadriceps femoris (QF), and gastrocnemius (G)) under conditions of wearing and not wearing the exosuit. The experimental results show that compared to not wearing the exosuit, the mean normalized sEMG signals of the three muscle groups decreased by 4.61 %, 2.41 %, and 3.97% respectively while wearing it, the peak values decreased by 11.60%, 25.69%, and 14.99% respectively, with the quadriceps femoris receiving the highest degree of assistance.

关键词： Knee Legged locomotion Limbs Torque Measurement units Thigh Muscles Pressure measurement Torque measurement Robots

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Kirigami-inspired continuum soft arm with embedded sensing for non-destructive inspection and sorting

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Science China Materials 2025年第2期68卷 552-560页

作者： Jinsui Xu Boyi Xu Honghao Yue Yifan Lu Zheping Wang Zongquan Deng Fei Yang State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China Wu Xianming School of Intelligent Engineering South China University of TechnologyGuangzhou 510641China

The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actuationand sensing of a soft arm are not typically integrated into amonolithic structure, which would impede the arm’s movement and restrict its performance and application scope. Toaddress this limitation, this study proposes an innovativemethod for the integrated design of actuator structures andsensing. The proposed method combines the art of kirigamiwith soft robotics technology. In the proposed method, sensorsare embedded in the form of kirigami structures into actuatorsusing laser cutting technology, achieving seamless integrationwith a soft arm. Compared to the traditional amanogawakirigami and fractal-cut kirigami structures, the proposedmiddle-cut kirigami (MCK) structure does not buckle duringstretching and exhibits superior tensile performance. Based onthe MCK structure, an advanced interdigitated capacitivesensor with a high degree of linearity, which can significantlyoutperform traditional kirigami sensors, is developed. Theexperimental results validate the effectiveness of the proposedsoft arm design in actual logistics sorting tasks, demonstratingthat it is capable of accurately sorting objects based on sensorsignals. In addition, the results indicate that the developedcontinuum soft arm and its embedded kirigami sensors havegreat potential in the field of logistics automation *** work provides a promising solution for high-precisionclosed-loop feedback control and environmental interaction ofsoft arms.

关键词： kirigami embedded sensing continuous soft arm non-destructive inspection

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Development of a high-performance bend-actuated piezoelectric tip/tilt stage with low power and simple operation

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Science China Technological Sciences 2025年第6期 234-245页

作者： Jinghan GUAN Shijing ZHANG Jie DENG Weishan CHEN Junkao LIU Yingxiang LIU State Key Laboratory of Robotics and System Harbin Institute of Technology

Piezoelectric tip/tilt stages(PZT stages), which precisely and quickly control laser beam deflection, are widely used in laser communications. Most are driven by piezoelectric stack actuators(PSAs) and have high capacitance and power consumption. The negative voltage causes irreversible damage to PSAs. Therefore, negative voltage operation needs to be prohibited, which complicates manipulating the bidirectional deflection of the mirror. However, the aerospace field places higher requirements on power consumption and ease of operation, which makes the PZT stage require reduced power consumption and simple operation. This paper presents a high-performance bend-actuated PZT stage, which uses ceramic plates for driving, with a capacitance of only 26.4 nF/axis and a power of only 27 mW(at operating conditions of 1 mrad and 100 Hz).The sandwich structure allows for bi-directional voltage, which makes the operation easier. Two channels control two degrees of freedom(DOFs). A theoretical model suitable for bend-actuated structures is proposed. It is used to calculate the deflection angle and resonance frequency, and its validity is verified by finite element analysis. Experimental results show that it has a deflection angle of ±2.97 mrad(x-axis), ±3.24 mrad(y-axis) at 600 V p-p, an unloaded first-order resonance frequency of 1728 Hz, and a quasi-static hysteresis of only 7.5%, which is less than that of PSAs(>10%). With the constructed laser beam deflection system, a circular trajectory is realized, which has the potential for beam steering.

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Augmented Reality Based Navigation system for Endoscopic Transnasal Optic Canal Decompression

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 34-42页

作者： FU Hang XU Jiangchang LI Yinwei ZHOU Huifang CHEN Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Ophthalmology Shanghai Ninth People's HospitalShanghai Jiao Tong University School of MedicineShanghai 200011China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Orbital Diseases and Ocular Oncology Shanghai 200011China

Endoscopic transnasal optic nerve decompression surgery plays a crucial role in minimal invasive treatment of complex traumatic optic ***,a major challenge faced during the procedure is the inability to visualize the optic nerve *** address this issue,an endoscopic image-based augmented reality surgical navigation system is developed in this *** system aims to virtually fuse the optic nerve onto the endoscopic images,assisting surgeons in determining the optic nerve’s position and reducing surgical ***,a calibration algorithm based on a checkerboard grid of immobile points is proposed,building upon existing calibration ***,to tackle accuracy issues associated with augmented reality technology,an optical navigation and visual fusion compensation algorithm is proposed to improve the intraoperative tracking *** evaluate the system’s performance,model experiments were meticulously designed and *** results confirm the accuracy and stability of the proposed system,with an average tracking error of(0.99±0.46)*** outcome demonstrates the effectiveness of the proposed algorithm in improving the augmented reality surgical navigation system’s ***,the system successfully displays hidden optic nerves and other deep tissues,thus showcasing the promising potential for future applications in orbital and maxillofacial surgery.

关键词： optic nerve decompression endoscopy augmented reality surgical navigation

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