Tactile perception plays a vital role for the human body and is also highly desired for smart prosthesis and advanced robots.Compared to active sensing devices,passive piezoelectric and triboelectric tactile sensors c...Tactile perception plays a vital role for the human body and is also highly desired for smart prosthesis and advanced robots.Compared to active sensing devices,passive piezoelectric and triboelectric tactile sensors consume less power,but lack the capability to resolve static stimuli.Here,we address this issue by utilizing the unique polarization chemistry of conjugated polymers for the first time and propose a new type of bioinspired,passive,and bio-friendly tactile sensors for resolving both static and dynamic stimuli.Specifically,to emulate the polarization process of natural sensory cells,conjugated polymers(including poly(3,4-ethylenedioxythiophen e):poly(styrenesulfonate),polyaniline,or polypyrrole)are controllably polarized into two opposite states to create artificial potential differences.The controllable and reversible polarization process of the conjugated polymers is fully in situ characterized.Then,a micro-structured ionic electrolyte is employed to imitate the natural ion channels and to encode external touch stimulations into the variation in potential difference outputs.Compared with the currently existing tactile sensing devices,the developed tactile sensors feature distinct characteristics including fully organic composition,high sensitivity(up to 773 mV N^(−1)),ultralow power consumption(nW),as well as superior bio-friendliness.As demonstrations,both single point tactile perception(surface texture perception and material property perception)and two-dimensional tactile recognitions(shape or profile perception)with high accuracy are successfully realized using self-defined machine learning algorithms.This tactile sensing concept innovation based on the polarization chemistry of conjugated polymers opens up a new path to create robotic tactile sensors and prosthetic electronic skins.展开更多
The temporal and spatial characteristics of urban river bacterial communities help us understand the feedback mechanism of bacteria to changes in the aquatic environment.The Fuhe River plays an important role in deter...The temporal and spatial characteristics of urban river bacterial communities help us understand the feedback mechanism of bacteria to changes in the aquatic environment.The Fuhe River plays an important role in determining the water ecological environment of Baiyangdian Lake.16S rRNA gene sequencing was used to study the microbial distribution characteristics in the Fuhe River in different seasons.The results showed that some environmental factors of the surface water(ammonia nitrogen(NH_(3)^(-)N),total nitrogen(TN),and total phosphorus(TP))were different on the spatial and temporal scales.Moreover,there were no seasonal differences in the contents of TN,TP,total organic carbon(TOC),or heavy metals in the sediments.The distributions of Cyanobacteria,Actinomycetes and Firmicutes in the water and Actinomycetes and Planctomycetes in the sediments differed significantly among seasons(P<0.05).There were significant spatial differences in bacteria in the surface water,with the highest abundance of Proteobacteria recorded in the river along with the highest nutrient concentration,while the abundance of Bacteroidetes was higher in the upstream than the downstream.Microbial communities in the water weremost sensitive to temperature(T)and the TP concentration(P<0.01).Moreover,differences in the bacterial community were better explained by the content of heavy metals in the sediments than by the chemical characteristics.A PICRUStmetabolic inference analysis showed that the effect of high summer temperatures on the enzyme action led to an increase in the abundances of the metabolic-related genes of the river microorganisms.展开更多
Locomotion stability is essential for controlling quadruped robots and adapting them to unstructured terrain.We propose a control strategy with center-of-mass(CoM)dynamic planning for the stable locomotion of these ro...Locomotion stability is essential for controlling quadruped robots and adapting them to unstructured terrain.We propose a control strategy with center-of-mass(CoM)dynamic planning for the stable locomotion of these robots.The motion trajectories of the swing legs are synchronized with the CoM of the robot.To implement the synchronous control scheme,we adjusted the swing legs to form a support triangle.The strategy is applicable to both static walk gait and dynamic trot gait.In the motion control processes of the robot legs,the distribution of the ground reaction forces is optimized to minimize joint torque and locomotion energy consumption.We also used an improved joint-torque controller with varied controller coefficients in the stance and swing phases.The simulation and experimental results demonstrate that the robot can complete omnidirectional locomotion in both walk and trot gaits.At a given locomotion speed,the stability margins for the robot during walking and trotting were 27.25%and 37.25%higher,respectively,than in the scheme without CoM planning.The control strategy with energy consumption optimization(ECO)reduced the energy consumption of the robot in walk and trot gaits by 11.25%and 13.83%,respectively,from those of the control scheme without ECO.展开更多
A rapid and sensitive method based on ultrafast liquid chromatography-tandem mass spectrometry was developed and validated for simultaneous determination of Sudan I, Sudan II, Sudan 111, and Sudan IV levels in rat who...A rapid and sensitive method based on ultrafast liquid chromatography-tandem mass spectrometry was developed and validated for simultaneous determination of Sudan I, Sudan II, Sudan 111, and Sudan IV levels in rat whole blood. Cleanert C18 mixed-mode polymeric sorbent was used for effective solid-phase extraction cleanup. Separation was carried out on a reversed-phase C18 column （100 mm x 2.1 mm, 1.8 pro） using 0.1% （v/v） formic acid in water/0.] % （v/v） formic acid in acetonitrile as the mobile phase in gradient elution. Quantification was performed by an electrospray ionization source in the positive multiple reaction monitoring mode using Ds-Sudan I as the internal standard. Calibration curves showed good linearity between 0.2 and 20.0 μg/L, with correlation coefficients higher than 0.9990. The average recovery rates were between 93.05% and 114.98%. The intra- and inter-day relative standard deviations were within 6.2%. The lower limit of quantification was 0.2 μg/L. All the analytes were found to be stable in a series of stability studies. The proposed method was successfully applied to a pharmacokinetic study of four Sudan dyes after oral administration to rats.展开更多
Cinnamomum camphora(L.)J.Presl.(Laurales:Lauraceae)is widely cultivated as an important landscape tree species in many urban areas in South China,especially in Shanghai City.Pagiophloeus tsushimanus Morimoto has becom...Cinnamomum camphora(L.)J.Presl.(Laurales:Lauraceae)is widely cultivated as an important landscape tree species in many urban areas in South China,especially in Shanghai City.Pagiophloeus tsushimanus Morimoto has become a destructive insect pest of C.camphora plantations in Shanghai,but the biological and ecological traits of this pest remain largely unknown.In this study,we investigated the damage and life history and determined the larval instar of P.tsushimanus.The results indicated that P.tsushimanus is a monophagous weevil pest,and C.camphora is the unique host tree species.C.camphora plantations in all administrative districts of Shanghai have been seriously damaged by P.tsushimanus.Adults often aggregate for feeding on the tender bark of twigs and occasionally on newly emerged buds.After experiencing damage,the twigs shrink and crack and the buds will shrink.Adults tend to repeatedly mate and oviposit,and all females lay single eggs at a time.Eggs will be covered with a mixture of secretions and wood chips by female adults.Larvae(1 st-2 nd instar)feed on the phloem,while 3 rd-5 th instar can bore into the phloem and the cambium.Massive tunnels,including three shapes(inverted"L",inverted"T",and inverted"Z"),were observed in the trunk of each tree,and resulted in swelling of the outer bark.P.tsushimanus has one life cycle per year in Shanghai.Both adults and larvae(3 rd-5 th instar)overwinter from early November to early April.Adults overwinter in grooves on the underside of branches or at branch nodes,and larvae overwinter in tunnels.Five larval instars of P.tsushimanus were determined according to Dyar’s and Crosby’s rules.The biological traits and life history of P.tsushimanus have been identified and can provide guidance in terms of pest control and plantation management.展开更多
Phomaketals A(1)and B(2),two tropolonic meroterpenoids with the unprecedented pentacyclic skeletons,were isolated from the solid-substrate fermentation cultures of a eupC overexpressed mutant strain of the fungus Phom...Phomaketals A(1)and B(2),two tropolonic meroterpenoids with the unprecedented pentacyclic skeletons,were isolated from the solid-substrate fermentation cultures of a eupC overexpressed mutant strain of the fungus Phoma sp.,together with a biogenetically related secondary metabolite pughiinin B(3),and the known one noreupenifeldin B(4).The structures of 1–3 were elucidated primarily by nuclear magnetic resonance(NMR)experiments.The absolute configurations of 1 and 2 were assigned by electronic circular dichroism calculations and the calculated NMR with DP4+analysis,while that of 3 was established by single-crystal X-ray diffraction analysis using Cu Kαradiation.Biogenetically,phomaketals A(1)and B(2)could be derived from the hypothetical tropolonic sesquiterpene intermediates neosetophomone B(6)and 9-R-neosetophomone B(6),respectively,via different reactions cascades.Compound 1 showed antiproliferative effect only against the SUPB15 cells,with an 50%inhibitory concentration(IC50)value of 4.85μmol/L,while the co-isolated known meroterpenoid 4 displayed potent effects against three tumor cell lines,SUPB15,EL4,and H9,showing IC50values of 0.36–27.08μmol/L.展开更多
Natural tactile sensation is complex,which involves not only contact force intensity detection but also the perception of the force direction,the surface texture,and other mechanical parameters.Nevertheless,the vast m...Natural tactile sensation is complex,which involves not only contact force intensity detection but also the perception of the force direction,the surface texture,and other mechanical parameters.Nevertheless,the vast majority of the developed tactile sensors can only detect the normal force,but usually cannot resolve shear force or even distinguish the directions of the force.Here,we present a new paradigm of bioinspired tactile sensors for resolving both the intensity and the directions of mechanical stimulations via synergistic microcrack-bristle structure design and cross-shaped configuration engineering.The microcrack sensing structure gives high mechanical sensitivity to the tactile sensors,and the synergistic bristle structure further amplifies the sensitivity of the sensors.The cross-shaped configuration engineering of the synergistic microcrack-bristle structure further endows the tactile sensors with good capability to detect and distinguish the directions of the applied mechanical forces.The as-fabricated tactile sensors exhibit a high sensitivity(25.76 N^(−1)),low detection limit(5.4 mN),desirable stability(over 2,500 cycles),and good capability to resolve both mechanical intensity and directional features.As promising application scenarios,surface texture recognition and biomimetic path explorations are successfully demonstrated with these tactile sensors.This newly proposed tactile sensation strategy and technology have great potential applications in ingenious tactile sensation and construction of various robotic and bionic prostheses with high operational dexterity.展开更多
Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots in unstructured environments.To improve the reliability and accuracy of contact detection for quadruped robots,...Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots in unstructured environments.To improve the reliability and accuracy of contact detection for quadruped robots,a detection approach based on the probabilistic contact model with multi-information fusion is presented to detect the actual contact states of robotic feet with the ground.Moreover,a relevant control strategy to address unexpected early and delayed contacts is planned.The approach combines the internal state information of the robot with the measurements from external sensors mounted on the legs and feet of the prototype.The overall contact states are obtained by the classification of the model-based predicted probabilities.The control strategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robot to traverse cluttered environments by changing the contact state.The probabilistic model parameters are determined by testing on the single-leg experimental platform.The experiments are conducted on the experimental prototype,and results validate the contact detection and control strategy for unexpected contacts in unstructured terrains during walking and trotting.Compared with the body orientation under the time-based control method regardless of terrain,the root mean square errors of roll,pitch,and yaw respectively decreased by 60.07%,54.73%,and 64.50%during walking and 73.40%,61.49%,and 61.48%during trotting.展开更多
基金financially supported by the Sichuan Science and Technology Program(2022YFS0025 and 2024YFFK0133)supported by the“Fundamental Research Funds for the Central Universities of China.”。
文摘Tactile perception plays a vital role for the human body and is also highly desired for smart prosthesis and advanced robots.Compared to active sensing devices,passive piezoelectric and triboelectric tactile sensors consume less power,but lack the capability to resolve static stimuli.Here,we address this issue by utilizing the unique polarization chemistry of conjugated polymers for the first time and propose a new type of bioinspired,passive,and bio-friendly tactile sensors for resolving both static and dynamic stimuli.Specifically,to emulate the polarization process of natural sensory cells,conjugated polymers(including poly(3,4-ethylenedioxythiophen e):poly(styrenesulfonate),polyaniline,or polypyrrole)are controllably polarized into two opposite states to create artificial potential differences.The controllable and reversible polarization process of the conjugated polymers is fully in situ characterized.Then,a micro-structured ionic electrolyte is employed to imitate the natural ion channels and to encode external touch stimulations into the variation in potential difference outputs.Compared with the currently existing tactile sensing devices,the developed tactile sensors feature distinct characteristics including fully organic composition,high sensitivity(up to 773 mV N^(−1)),ultralow power consumption(nW),as well as superior bio-friendliness.As demonstrations,both single point tactile perception(surface texture perception and material property perception)and two-dimensional tactile recognitions(shape or profile perception)with high accuracy are successfully realized using self-defined machine learning algorithms.This tactile sensing concept innovation based on the polarization chemistry of conjugated polymers opens up a new path to create robotic tactile sensors and prosthetic electronic skins.
基金supported by the Major Science Technology Program for Water Pollution Control and Treatment of China (No. 2018ZX07110)the National Natural Science Foundation of China (Nos. 52070064, 51778054)the Advanced Talents Incubation Program of Hebei University (No. 521000981379)
文摘The temporal and spatial characteristics of urban river bacterial communities help us understand the feedback mechanism of bacteria to changes in the aquatic environment.The Fuhe River plays an important role in determining the water ecological environment of Baiyangdian Lake.16S rRNA gene sequencing was used to study the microbial distribution characteristics in the Fuhe River in different seasons.The results showed that some environmental factors of the surface water(ammonia nitrogen(NH_(3)^(-)N),total nitrogen(TN),and total phosphorus(TP))were different on the spatial and temporal scales.Moreover,there were no seasonal differences in the contents of TN,TP,total organic carbon(TOC),or heavy metals in the sediments.The distributions of Cyanobacteria,Actinomycetes and Firmicutes in the water and Actinomycetes and Planctomycetes in the sediments differed significantly among seasons(P<0.05).There were significant spatial differences in bacteria in the surface water,with the highest abundance of Proteobacteria recorded in the river along with the highest nutrient concentration,while the abundance of Bacteroidetes was higher in the upstream than the downstream.Microbial communities in the water weremost sensitive to temperature(T)and the TP concentration(P<0.01).Moreover,differences in the bacterial community were better explained by the content of heavy metals in the sediments than by the chemical characteristics.A PICRUStmetabolic inference analysis showed that the effect of high summer temperatures on the enzyme action led to an increase in the abundances of the metabolic-related genes of the river microorganisms.
基金This work is supported by the National Natural Science Foundation of China(Nos.52175050 and 52205059)the Outstanding Youth Science Foundation(No.51922093)+1 种基金the Scientific Research Fund of Zhejiang Provincial Education Department(No.Y202148352)the Graduate Innovation Special Fund Project of Jiangxi Province(No.YC2021-B031),China.
文摘Locomotion stability is essential for controlling quadruped robots and adapting them to unstructured terrain.We propose a control strategy with center-of-mass(CoM)dynamic planning for the stable locomotion of these robots.The motion trajectories of the swing legs are synchronized with the CoM of the robot.To implement the synchronous control scheme,we adjusted the swing legs to form a support triangle.The strategy is applicable to both static walk gait and dynamic trot gait.In the motion control processes of the robot legs,the distribution of the ground reaction forces is optimized to minimize joint torque and locomotion energy consumption.We also used an improved joint-torque controller with varied controller coefficients in the stance and swing phases.The simulation and experimental results demonstrate that the robot can complete omnidirectional locomotion in both walk and trot gaits.At a given locomotion speed,the stability margins for the robot during walking and trotting were 27.25%and 37.25%higher,respectively,than in the scheme without CoM planning.The control strategy with energy consumption optimization(ECO)reduced the energy consumption of the robot in walk and trot gaits by 11.25%and 13.83%,respectively,from those of the control scheme without ECO.
基金the Zhejiang Provincial Natural Science Foundation (No. LY13B050003)the Zhejiang Provincial Analytical Foundation of China (No. 2013C37089)+3 种基金the Zhejiang Province Medical Health Foundation, China (No. 2013KYA187)the Ningbo Natural Science Foundation in Zhejiang (No. 2011A610058)the Advanced Key Program of Agriculture and Social Development Funds of Ningbo, China (No. 2011C11021)the Zhejiang Provincial Program for the Cultivation of High-level Innovative Health Talents (No. 2011H1132) for financial support of this research
文摘A rapid and sensitive method based on ultrafast liquid chromatography-tandem mass spectrometry was developed and validated for simultaneous determination of Sudan I, Sudan II, Sudan 111, and Sudan IV levels in rat whole blood. Cleanert C18 mixed-mode polymeric sorbent was used for effective solid-phase extraction cleanup. Separation was carried out on a reversed-phase C18 column （100 mm x 2.1 mm, 1.8 pro） using 0.1% （v/v） formic acid in water/0.] % （v/v） formic acid in acetonitrile as the mobile phase in gradient elution. Quantification was performed by an electrospray ionization source in the positive multiple reaction monitoring mode using Ds-Sudan I as the internal standard. Calibration curves showed good linearity between 0.2 and 20.0 μg/L, with correlation coefficients higher than 0.9990. The average recovery rates were between 93.05% and 114.98%. The intra- and inter-day relative standard deviations were within 6.2%. The lower limit of quantification was 0.2 μg/L. All the analytes were found to be stable in a series of stability studies. The proposed method was successfully applied to a pharmacokinetic study of four Sudan dyes after oral administration to rats.
基金supported by the Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX19_1077)the Science and Technology Commission of Shanghai Municipality(18,391,903,200)the Shanghai Landscaping&City Appearance Administrative Bureau(G161206)。
文摘Cinnamomum camphora(L.)J.Presl.(Laurales:Lauraceae)is widely cultivated as an important landscape tree species in many urban areas in South China,especially in Shanghai City.Pagiophloeus tsushimanus Morimoto has become a destructive insect pest of C.camphora plantations in Shanghai,but the biological and ecological traits of this pest remain largely unknown.In this study,we investigated the damage and life history and determined the larval instar of P.tsushimanus.The results indicated that P.tsushimanus is a monophagous weevil pest,and C.camphora is the unique host tree species.C.camphora plantations in all administrative districts of Shanghai have been seriously damaged by P.tsushimanus.Adults often aggregate for feeding on the tender bark of twigs and occasionally on newly emerged buds.After experiencing damage,the twigs shrink and crack and the buds will shrink.Adults tend to repeatedly mate and oviposit,and all females lay single eggs at a time.Eggs will be covered with a mixture of secretions and wood chips by female adults.Larvae(1 st-2 nd instar)feed on the phloem,while 3 rd-5 th instar can bore into the phloem and the cambium.Massive tunnels,including three shapes(inverted"L",inverted"T",and inverted"Z"),were observed in the trunk of each tree,and resulted in swelling of the outer bark.P.tsushimanus has one life cycle per year in Shanghai.Both adults and larvae(3 rd-5 th instar)overwinter from early November to early April.Adults overwinter in grooves on the underside of branches or at branch nodes,and larvae overwinter in tunnels.Five larval instars of P.tsushimanus were determined according to Dyar’s and Crosby’s rules.The biological traits and life history of P.tsushimanus have been identified and can provide guidance in terms of pest control and plantation management.
基金financial support from the National Natural Science Foundation of China(No.82003628)the CAMS Innovation Fund for Medical Sciences(Nos.2021-I2M-1-030,2021-I2M-1-028,and 2021-1-I2M-2-002)。
文摘Phomaketals A(1)and B(2),two tropolonic meroterpenoids with the unprecedented pentacyclic skeletons,were isolated from the solid-substrate fermentation cultures of a eupC overexpressed mutant strain of the fungus Phoma sp.,together with a biogenetically related secondary metabolite pughiinin B(3),and the known one noreupenifeldin B(4).The structures of 1–3 were elucidated primarily by nuclear magnetic resonance(NMR)experiments.The absolute configurations of 1 and 2 were assigned by electronic circular dichroism calculations and the calculated NMR with DP4+analysis,while that of 3 was established by single-crystal X-ray diffraction analysis using Cu Kαradiation.Biogenetically,phomaketals A(1)and B(2)could be derived from the hypothetical tropolonic sesquiterpene intermediates neosetophomone B(6)and 9-R-neosetophomone B(6),respectively,via different reactions cascades.Compound 1 showed antiproliferative effect only against the SUPB15 cells,with an 50%inhibitory concentration(IC50)value of 4.85μmol/L,while the co-isolated known meroterpenoid 4 displayed potent effects against three tumor cell lines,SUPB15,EL4,and H9,showing IC50values of 0.36–27.08μmol/L.
基金the Sichuan Science and Technology Program(2022YFS0025)the project“Key Technologies and Applications of Sensitive Components for Pathogenic Microorganisms and Metabolic Markers of Misease”(2021YFB3201200)This work was also supported by the“Fundamental Research Funds for the Central Universities of China.”
文摘Natural tactile sensation is complex,which involves not only contact force intensity detection but also the perception of the force direction,the surface texture,and other mechanical parameters.Nevertheless,the vast majority of the developed tactile sensors can only detect the normal force,but usually cannot resolve shear force or even distinguish the directions of the force.Here,we present a new paradigm of bioinspired tactile sensors for resolving both the intensity and the directions of mechanical stimulations via synergistic microcrack-bristle structure design and cross-shaped configuration engineering.The microcrack sensing structure gives high mechanical sensitivity to the tactile sensors,and the synergistic bristle structure further amplifies the sensitivity of the sensors.The cross-shaped configuration engineering of the synergistic microcrack-bristle structure further endows the tactile sensors with good capability to detect and distinguish the directions of the applied mechanical forces.The as-fabricated tactile sensors exhibit a high sensitivity(25.76 N^(−1)),low detection limit(5.4 mN),desirable stability(over 2,500 cycles),and good capability to resolve both mechanical intensity and directional features.As promising application scenarios,surface texture recognition and biomimetic path explorations are successfully demonstrated with these tactile sensors.This newly proposed tactile sensation strategy and technology have great potential applications in ingenious tactile sensation and construction of various robotic and bionic prostheses with high operational dexterity.
基金supported by the National Natural Science Foundation of China(Grant Nos.52205059 and 52175050)the Graduate Innovation Special Fund Project of Jiangxi Province,China(Grant No.YC2021-B031).
文摘Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots in unstructured environments.To improve the reliability and accuracy of contact detection for quadruped robots,a detection approach based on the probabilistic contact model with multi-information fusion is presented to detect the actual contact states of robotic feet with the ground.Moreover,a relevant control strategy to address unexpected early and delayed contacts is planned.The approach combines the internal state information of the robot with the measurements from external sensors mounted on the legs and feet of the prototype.The overall contact states are obtained by the classification of the model-based predicted probabilities.The control strategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robot to traverse cluttered environments by changing the contact state.The probabilistic model parameters are determined by testing on the single-leg experimental platform.The experiments are conducted on the experimental prototype,and results validate the contact detection and control strategy for unexpected contacts in unstructured terrains during walking and trotting.Compared with the body orientation under the time-based control method regardless of terrain,the root mean square errors of roll,pitch,and yaw respectively decreased by 60.07%,54.73%,and 64.50%during walking and 73.40%,61.49%,and 61.48%during trotting.
