In this paper,we study the uniqueness of positive solutions to the following semilinear equations{-Δu=λ|x|^(α)ue^(u^(2)),in B_(1),u=0,onδB_(1)ueu2;in B_(1);u=0;on@B_(1);whereλ>0,α>-2;B_(1)denotes the unit ...In this paper,we study the uniqueness of positive solutions to the following semilinear equations{-Δu=λ|x|^(α)ue^(u^(2)),in B_(1),u=0,onδB_(1)ueu2;in B_(1);u=0;on@B_(1);whereλ>0,α>-2;B_(1)denotes the unit disk in R^(2):By delicate and relatively complicated computation of radial solutions to the above equation and the asymptotic expansion of solutions near the boundary of B_(1),the uniqueness of positive solutions is obtained.The results of this paper extend the uniqueness result for the semilinear equation with critical exponential growth in CHEN et al.(2022)to the case that includes a Henon term.展开更多
Soil organic carbon(SOC)dynamics significantly influence ecosystem carbon source-sink balance,particularly in agroecosystems.However,uncertainty remains regarding optimal land use types for maximizing farmland carbon ...Soil organic carbon(SOC)dynamics significantly influence ecosystem carbon source-sink balance,particularly in agroecosystems.However,uncertainty remains regarding optimal land use types for maximizing farmland carbon storage across different soil types,and identifying effective land management practices for enhanced carbon accumulation is essential for reducing agricultural emissions and strengthening carbon sinks.This study examined SOC variations in eastern Yunnan’s subtropical highlands(2,132 sites),analyzing topsoil(0–20 cm)across five land uses(dryland,irrigated land,forestland,grassland and plantation)of five soil types(red,yellow,yellowbrown,brown,purple).The investigation explored relationships between SOC and edaphic factors(26 elements)to determine SOC influencing factors.The study area demonstrated a mean SOC content of 27.78 g kg^(–1),with distinct spatial heterogeneity characterized by lower values in the southwestern sector and higher concentrations in the northeastern region.Brown soils displayed the highest SOC content(P<0.05),followed by yellow-brown then red,yellow,and purple soils.Irrigation significantly enhanced SOC storage,particularly in brown soils where irrigated land contained 2.2-,2.4-,and 1.6-times higher SOC than forestland,grassland,and dryland,respectively.Similar irrigation benefits occurred in purple,yellow,and yellow-brown soils,indicating moisture limitation as the primary SOC constraint.Notably,SOC exhibited strong positive correlations with nitrogen,sulfur,and selenium.Nitrogen fertilization demonstrated dual benefits:enhancing SOC sequestration and promoting Se enrichment in crops,potentially supporting specialty agriculture.Although land use impacts on SOC varied across soil types(P>0.05),irrigation consistently emerged as the optimal management for carbon sink enhancement.These findings suggest that targeted water management could effectively reduce farmland carbon emissions in moisture-limited subtropical highlands.Strategic nitrogen application offers co-benefits for soil fertility and selenium biofortification,providing practical pathways for climate-smart agriculture in similar ecoregions.展开更多
Background:Diabetes mellitus(DM)is a chronic illness with potentially fatal and debilitating consequences.Problems with glycemic management are a major issue that adds an added strain to public health services.Objecti...Background:Diabetes mellitus(DM)is a chronic illness with potentially fatal and debilitating consequences.Problems with glycemic management are a major issue that adds an added strain to public health services.Objectives:The purpose of this study is to evaluate the prevalence of poor glycemic control and its related variables among type 2 diabetes mellitus(T2DM)patients in southern Jordan.Methods:A cross-sectional study was carried out in the Prince Hashem bin Abdullah II Hospital in Jordan's southernmost province.For the period April–July 2024,516 individuals with T2D were enrolled.A structured questionnaire that had been pre-prepared was used to collect data.As an index of glycemic control,a glycated hemoglobin(Hb A1c)7%cut-off point was adopted.Results:Poor glycemic control was prevalent in 81.0%of T2DM individuals.Inadequate glycemic control was significantly worse in non-married patients and those with 10 or more years of diabetes duration,insulin treatment,dyslipidemia,neuropathy,cardiovascular illness,and glomerular filtration rate(GFR=60 m L/min;[P<0.05]).Moreover,dyslipidemia and insulin administration increased the likelihood of poor glycemic control(odds ratio[OR]:2 and 5,respectively)(P<0.05).Conclusions:Inadequate glycemic control was common among the current study par ticipants.To prevent disease consequences and enhance the health of patients with diabetes,health care professionals should pay special attention to related risk factors such as dyslipidemia,neuropathy,cardiovascular disease(CVD),extended illness duration,and insulin usage.展开更多
Soil fertility and forest structure influence tree carbon stocks.However,it remains unclear how tree mycorrhizal types affect these relationships.This study addressed the question of how aboveground and belowground tr...Soil fertility and forest structure influence tree carbon stocks.However,it remains unclear how tree mycorrhizal types affect these relationships.This study addressed the question of how aboveground and belowground tree carbon stocks in soils with different mycorrhizal types are affected by soil fertility and forest structure.Tree demographic data were used from a 21.12-ha study area collected over a ten-year period(2009-2019),covering 43species of woody plants and more than 50,000 individuals.Relationships between tree carbon stock,soil fertility and forest structure(stand density,diameter variation,species diversity and spatial distribution)were examined,as well as whether these relationships differed between arbuscular mycorrhiza and ectomycorrhizal mycorrhiza groups in a typical temperate conifer and broad-leaved mixed forest.We found that total tree carbon stock was positively impacted by variations in stand density and tree diameter but negatively influenced by soil fertility,tree species diversity and uniform angle index.Soil fertility promoted carbon stock of trees associated with arbuscular mycorrhiza(AM)but inhibited the carbon stock of trees with ectomycorrhizal mycorrhiza fungi(EcM).Carbon stock of AM trees was mainly influenced by soil fertility,while carbon stock of EcM trees was influenced by stand density.Our findings show that mycorrhizae types mediate the impact of stand structure and soil fertility on tree carbon stocks and provides new evidence on how forest tree carbon stocks may be enhanced based on the types of mycorrhizal associations.Tree species with different mycorrhizal types can be managed in different ways.展开更多
The goal of this paper is to investigate the long-time dynamics of solutions to a Kirchhoff type suspension bridge equation with nonlinear damping and memory term.For this problem we establish the well-posedness and e...The goal of this paper is to investigate the long-time dynamics of solutions to a Kirchhoff type suspension bridge equation with nonlinear damping and memory term.For this problem we establish the well-posedness and existence of uniform attractor under some suitable assumptions on the nonlinear term g(u),the nonlinear damping f(u_(t))and the external force h(x,t).Specifically,the asymptotic compactness of the semigroup is verified by the energy reconstruction method.展开更多
Objective:This review aimed to evaluate existing evidence of educational interventions targeted at parents and caregivers of children with type 1 diabetes(T1D)to improve diabetes management outcomes.Methods:A general ...Objective:This review aimed to evaluate existing evidence of educational interventions targeted at parents and caregivers of children with type 1 diabetes(T1D)to improve diabetes management outcomes.Methods:A general review was conducted with primary caregivers of children younger than 18 with T1D as the population of interest.Journal searches were performed using the CINAHL,EBSCO,Pub Med,Scopus,Science Direct,and Google Scholar,databases for publications between 2017 and 2024,with full text in English.Results:A total of 26 studies were included in the review.Nine of these studies focused on various educational interventions,both technology-based and non-technology-based.By contrast,17 studies examined the impact of these interventions on caregiver outcomes,such as treatment adherence and glycemic control in children with T1D.So,the following research questions guided this review:(1)What is the effectiveness of diabetes education interventions on glycemic control in children with T1D?(2)How do caregiver knowledge and self-efficacy affect diabetes management outcomes?Conclusions:Diabetes interventions highlight the vital role of empowering caregivers of children with T1D with knowledge,skills,and support to improve and enhance their adherence to treatment,knowledge,and self-efficacy that ultimately contribute to better glycemic control of children as reflected by their Hb A1c levels.This review highlights the importance of diabetes education interventions for caregivers of children with T1D.The evidence indicates that such interventions can improve caregiver knowledge,self-efficacy,and glycemic control in children.However,variability in outcomes suggests that fur ther research is needed to identify the most effective educational strategies.展开更多
While methodology for determining the mode of evolution in coding sequences has been well established,evaluation of adaptation events in emerging types of phenotype data needs further development.Here,we propose an an...While methodology for determining the mode of evolution in coding sequences has been well established,evaluation of adaptation events in emerging types of phenotype data needs further development.Here,we propose an analysis framework(expression variance decomposition,EVaDe)for comparative single-cell expression data based on phenotypic evolution theory.After decomposing the gene expression variance into separate components,we use two strategies to identify genes exhibiting large between-taxon expression divergence and small within-cell-type expression noise in certain cell types,attributing this pattern to putative adaptive evolution.In a dataset of primate prefrontal cortex,we find that such humanspecific key genes enrich with neurodevelopment-related functions,while most other genes exhibit neutral evolution patterns.Specific neuron types are found to harbor more of these key genes than other cell types,thus likely to have experienced more extensive adaptation.Reassuringly,at the molecular sequence level,the key genes are significantly associated with the rapidly evolving conserved non-coding elements.An additional case analysis comparing the naked mole-rat(NMR)with the mouse suggests that innateimmunity-related genes and cell types have undergone putative expression adaptation in NMR.Overall,the EVaDe framework may effectively probe adaptive evolution mode in single-cell expression data.展开更多
Interfacial superconductivity(IS)has been a topic of intense interest in condensed matter physics,due to its unique properties and exotic photoelectrical performance.However,there are few reports about IS systems cons...Interfacial superconductivity(IS)has been a topic of intense interest in condensed matter physics,due to its unique properties and exotic photoelectrical performance.However,there are few reports about IS systems consisting of two insulators.Here,motivated by the emergence of an insulator-metal transition in type-Ⅲ heterostructures and the superconductivity in some“special”two-dimensional(2D)semiconductors via electron doping,we predict that the 2D heterostructure SnSe_(2)/PtTe_(2) is a model system for realizing IS by using firstprinciples calculations.Our results show that due to slight but crucial interlayer charge transfer,SnSe_(2)/PtTe_(2) turns to be a type-Ⅲ heterostructure with metallic properties and shows a superconducting transition with the critical temperature(T_(c))of 3.73 K.Similar to the enhanced electron–phonon coupling(EPC)in the electrondoped SnSe_(2) monolayer,the IS in the SnSe_(2)/PtTe_(2) heterostructure mainly originates from the metallized SnSe_(2) layer.Furthermore,we find that its superconductivity is sensitive to tensile lattice strain,forming a domeshaped superconducting phase diagram.Remarkably,at 7%biaxial tensile strain,the superconducting T_(c) can increase more than twofold(8.80 K),resulting from softened acoustic phonons at the𝑀point and enhanced EPC strength.Our study provides a concrete example for realizing IS in type-Ⅲ heterostructures,which waits for future experimental verification.展开更多
Alzheimer’s disease is initially thought to be caused by age-associated accumulation of plaques,in recent years,research has increasingly associated Alzheimer’s disease with lysosomal storage and metabolic disorders...Alzheimer’s disease is initially thought to be caused by age-associated accumulation of plaques,in recent years,research has increasingly associated Alzheimer’s disease with lysosomal storage and metabolic disorders,and the explanation of its pathogenesis has shifted from amyloid and tau accumulation to oxidative stress and impaired lipid and glucose metabolism aggravated by hypoxic conditions.However,the underlying mechanisms linking those cellular processes and conditions to disease progression have yet to be defined.Here,we applied a disease similarity approach to identify unknown molecular targets of Alzheimer’s disease by using transcriptomic data from congenital diseases known to increase Alzheimer’s disease risk,namely Down syndrome,Niemann-Pick type C disease,and mucopolysaccharidoses I.We uncovered common pathways,hub genes,and miRNAs across in vitro and in vivo models of these diseases as potential molecular targets for neuroprotection and amelioration of Alzheimer’s disease pathology,many of which have never been associated with Alzheimer’s disease.We then investigated common molecular alterations in brain samples from a Niemann-Pick type C disease mouse model by juxtaposing them with brain samples of both human and mouse models of Alzheimer’s disease.Detailed phenotypic,molecular,chronological,and biological aging analyses revealed that the Npc1tm(I1061T)Dso mouse model can serve as a potential short-lived in vivo model for brain aging and Alzheimer’s disease research.This research represents the first comprehensive approach to congenital disease association with neurodegeneration and a new perspective on Alzheimer’s disease research while highlighting shortcomings and lack of correlation in diverse in vitro models.Considering the lack of an Alzheimer’s disease mouse model that recapitulates the physiological hallmarks of brain aging,the short-lived Npc1^(tm(I1061T)Dso) mouse model can further accelerate the research in these fields and offer a unique model for understanding the molecular mechanisms of Alzheimer’s disease from a perspective of accelerated brain aging.展开更多
Background:To determine whether initiating a glucagon-like peptide-1 receptor agonist(GLP-1 RA)within 3 months of type 2 diabetes(T2DM)diagnosis alters the subsequent risk of overall and site-specific cancer and wheth...Background:To determine whether initiating a glucagon-like peptide-1 receptor agonist(GLP-1 RA)within 3 months of type 2 diabetes(T2DM)diagnosis alters the subsequent risk of overall and site-specific cancer and whether this association differs by baseline body-mass index(BMI).Methods:This retrospective cohort study used electronic health records from the TriNetX U.S.research network.Adults aged 20 years or older diagnosed with T2DM between 2016 and 2024 were included if they received any hypoglycemic agents within 3 months before and after diagnosis.Following 1:1 propensity score matching,both the GLP-1 RA user and non-user groups included 183,264 patients.The study outcome was defined as a diagnosis of malignant neoplasms.Hazard ratios(HRs)for overall and site-specific cancer risk were estimated using Cox proportional hazards models.Kaplan–Meier analysis and stratified analysis by BMI were performed.Results:Early GLP-1 RA use demonstrated a modest but significant association with reduced overall cancer risk(HR 0.93;95%CI:0.90–0.96).Reduced risks were noted for cancers of the digestive(HR 0.81),respiratory(HR 0.66),and female genital(HR 0.87)systems.In stratified analysis,benefits were more pronounced in patients with BMI≥30,particularly for pancreatic and colorectal cancers.Conclusion:Early initiation of GLP-1 receptor agonists in patients with diagnosed T2DM was associated with a modest reduction in overall cancer risk,particularly among individuals with obesity.These findings highlight the dual metabolic and oncologic value of prompt GLP-1 RA therapy.展开更多
Background:One of the first hundred traditional Chinese medicines(TCM)formulas administered in China,Qianghuo Shengshi Decoction(QSD)has a positive clinical and therapeutic impact on rheumatoid arthritis(RA).Even so,t...Background:One of the first hundred traditional Chinese medicines(TCM)formulas administered in China,Qianghuo Shengshi Decoction(QSD)has a positive clinical and therapeutic impact on rheumatoid arthritis(RA).Even so,there is still not enough knowledge on the active ingredients and possible ways that QSDs might work to treat RA.This study systematically investigated the active ingredients and mechanisms of action of QSD for treating wind-cold-dampness arthralgia type RA.Methods:UHPLC-QE-MS and network pharmacology techniques were employed to predict the potential active constituents,targets,and associated signalling pathways.Then,the therapeutic effect of QSD was examined using a wind-cold-dampness arthralgia paralytic RA rat model.Finally,the complex mechanism was comprehensively elucidated by integrating transcriptomics and network pharmacology.The above mechanisms were also verified by molecular docking,immunohistochemistry and Western blot.Results:UHPLC-QE-MS and network pharmacology analysis revealed that ferulic acid,imperatorin,magnolol,quercetin,and scopoletin could be the primary constituents in QSD responsible for its anti-RA effects.Animal experiments showed that QSD can significantly inhibit rat joint swelling degree,decrease the content of serum rheumatoid factor(RF),interleukin(IL)-1β,tumor necrosis factor-alpha(TNF-α),IL-6,and anti-citrullinated protein antibodies(ACPA),and increase the content of IL-4,IL-10 to relieve the clinical symptoms of wind-cold-dampness arthralgia type RA.The mechanistic study showed that QSD may effectively inhibit rat synovial hyperplasia via promoting autophagy and apoptosis of synovial cells by regulating the PI3K/Akt/mTOR signalling pathway.Conclusion:This study identifies key active ingredients in QSD and elucidates its potential mechanism for treating wind-cold-dampness arthralgia type RA,providing a basis for the clinical application of QSD.展开更多
With the efficient and intelligent development of computer-based big data processing,applying machine learning methods to the processing and interpretation of logging data in the field of geophysical well logging has ...With the efficient and intelligent development of computer-based big data processing,applying machine learning methods to the processing and interpretation of logging data in the field of geophysical well logging has broad potential for improving production efficiency.Currently,the Jiyuan Oilfield in the Ordos Basin relies mainly on manual reprocessing and interpretation of old well logging data to identify different fluid types in low-contrast reservoirs,guiding subsequent production work.This study uses well logging data from the Chang 1 reservoir,partitioning the dataset based on individual wells for model training and testing.A deep learning model for intelligent reservoir fluid identification was constructed by incorporating the focal loss function.Comparative validations with five other models,including logistic regression(LR),naive Bayes(NB),gradient boosting decision trees(GBDT),random forest(RF),and support vector machine(SVM),show that this model demonstrates superior identification performance and significantly improves the accuracy of identifying oil-bearing fluids.Mutual information analysis reveals the model's differential dependency on various logging parameters for reservoir fluid identification.This model provides important references and a basis for conducting regional studies and revisiting old wells,demonstrating practical value that can be widely applied.展开更多
Though the studies of wheel-legged robots have achieved great success, the existing ones still have defects in load distribution, structure stability and carrying capacity. For overcoming these shortcomings, a new kin...Though the studies of wheel-legged robots have achieved great success, the existing ones still have defects in load distribution, structure stability and carrying capacity. For overcoming these shortcomings, a new kind of wheel-legged robot（Rolling-Wolf） is designed. It is actuated by means of ball screws and sliders, and each leg forms two stable triangle structures at any moment, which is simple but has high structure stability. The positional posture model and statics model are built and used to analyze the kinematic and mechanical properties of Rolling-Wolf. Based on these two models, important indexes for evaluating its motion performance are analyzed. According to the models and indexes, all of the structure parameters which influence the motion performance of Rolling-Wolf are optimized by the method of Archive-based Micro Genetic Algorithm（AMGA） by using Isight and Matlab software. Compared to the initial values, the maximum rotation angle of the thigh is improved by 4.17%, the maximum lifting height of the wheel is improved by 65.53%, and the maximum driving forces of the thigh and calf are decreased by 25.5% and 12.58%, respectively. The conspicuous optimization results indicate that Rolling-Wolf is much more excellent. The novel wheel-leg structure of Rolling-Wolf is efficient in promoting the load distribution, structure stability and carrying capacity of wheel-legged robot and the proposed optimization method provides a new approach for structure optimization.展开更多
The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the...The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS- Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS- Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified, Moreover, the relative horizontal motion between fore/hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore/hind wheels become larger/smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height.展开更多
Robots are widely used to replace people in some burdensome or hamaful areas. Not only the moving ability but also the manipulating ability is needed in the missions of complex multitasking requirements. In the last d...Robots are widely used to replace people in some burdensome or hamaful areas. Not only the moving ability but also the manipulating ability is needed in the missions of complex multitasking requirements. In the last decades, wheel-legged hexapod robots are extensively studied to ineet this condition.展开更多
The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legg...The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged motion.These robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness exploration.Wheel-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this paper.The hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are analyzed.In summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped robots.Finally,this study discusses the key research directions and development trends for the wheel-legged biped robots.展开更多
Serving the Stewart mechanism as a wheel-legged structure,the most outstanding superiority of the proposed wheel-legged hybrid robot(WLHR)is the active vibration isolation function during rolling on rugged terrain.How...Serving the Stewart mechanism as a wheel-legged structure,the most outstanding superiority of the proposed wheel-legged hybrid robot(WLHR)is the active vibration isolation function during rolling on rugged terrain.However,it is difficult to obtain its precise dynamic model,because of the nonlinearity and uncertainty of the heavy robot.This paper presents a dynamic control framework with a decentralized structure for single wheel-leg,position tracking based on model predictive control(MPC)and adaptive impedance module from inside to outside.Through the Newton-Euler dynamic model of the Stewart mechanism,the controller first creates a predictive model by combining Newton-Raphson iteration of forward kinematic and inverse kinematic calculation of Stewart.The actuating force naturally enables each strut to stretch and retract,thereby realizing six degrees-of-freedom(6-DOFs)position-tracking for Stewart wheel-leg.The adaptive impedance control in the outermost loop adjusts environmental impedance parameters by current position and force feedback of wheel-leg along Z-axis.This adjustment allows the robot to adequately control the desired support force tracking,isolating the robot body from vibration that is generated from unknown terrain.The availability of the proposed control methodology on a physical prototype is demonstrated by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strips.By comparing the proportional and integral(PI)and constant impedance controllers,better performance of the proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder,as well as an inertial measurement unit(IMU)mounted on the robot body.The proposed algorithm structure significantly enhances the control accuracy and vibration isolation capacity of parallel wheel-legged robot.展开更多
The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain.However,most of the wheel-legged robots only have one-dir...The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain.However,most of the wheel-legged robots only have one-directional obstacle-crossing ability.During the motion,most of the wheel-legged robots’centroid fluctuates violently,which damages the stability of the load.What’s more,many designs of the obstacle-crossing part and transformation-driving part of this structure are highly coupled,which limits its optimal performance in both aspects.This paper presents a novel wheel-legged robot with a rim-shaped changeable wheel,which has a bi-directional and smooth obstacle-crossing ability.Based on the kinematic model,the geometric parameters of the wheel structure and the design variables of the driving four-bar mechanism are optimized separately.The kinetostatics model of the mobile platform when climbing stairs is established to determine the body length and angular velocity of the driving wheels.A pro-totype is made according to the optimal parameters.Experiments show that the prototype installed with the novel transformable wheels can overcome steps with a height of 1.52 times of its wheel radius with less fluctuation of its centroid and performs good locomotion capabilities in different environments.展开更多
In-pipe robots have been widely used in pipes-with smooth inner walls.However,current in-pipe robots face challenges in terms of moving past obstacles and climbing in marine-vessel pipeline systems,which are affected ...In-pipe robots have been widely used in pipes-with smooth inner walls.However,current in-pipe robots face challenges in terms of moving past obstacles and climbing in marine-vessel pipeline systems,which are affected by marine biofouling and electrochemical corrosion.This paper takes inspiration from the dual-hook structure of Trypoxylus dichotomus’s feet and gecko‑like dry adhesives,proposing an in-pipe robot that is capable of climbing on rough and smooth pipe inwalls.The combination of the bioinspired hook and dry adhesives allows the robot to stably attach to rough or smooth pipe inwalls,while the wheel-leg hybrid mechanism provides better conditions for obstacle traversal.The paper explores the attachment and obstacle-surmounting mechanisms of the robot.Moreover,motion strategies for the robot are devised based on different pipe structural features.The experiments showed that this robot can adapt to both smooth and rough pipe environments simultaneously,and its motion performance is superior to conventional driving mechanisms.The robot’s active turning actuators also enable it to navigate through horizontally or vertically oriented 90°bends.展开更多
基金Supported by the Natural Science Foundation of China(12571122,12061010)。
文摘In this paper,we study the uniqueness of positive solutions to the following semilinear equations{-Δu=λ|x|^(α)ue^(u^(2)),in B_(1),u=0,onδB_(1)ueu2;in B_(1);u=0;on@B_(1);whereλ>0,α>-2;B_(1)denotes the unit disk in R^(2):By delicate and relatively complicated computation of radial solutions to the above equation and the asymptotic expansion of solutions near the boundary of B_(1),the uniqueness of positive solutions is obtained.The results of this paper extend the uniqueness result for the semilinear equation with critical exponential growth in CHEN et al.(2022)to the case that includes a Henon term.
基金funded by the Yunnan Provincial Key Programs for Basic Research Project,China(202301AS070087)the Yunnan Provincial R&D Program,China(202405AF140014 and 202302AO370015)the National Natural Science Foundation of China(42307058).
文摘Soil organic carbon(SOC)dynamics significantly influence ecosystem carbon source-sink balance,particularly in agroecosystems.However,uncertainty remains regarding optimal land use types for maximizing farmland carbon storage across different soil types,and identifying effective land management practices for enhanced carbon accumulation is essential for reducing agricultural emissions and strengthening carbon sinks.This study examined SOC variations in eastern Yunnan’s subtropical highlands(2,132 sites),analyzing topsoil(0–20 cm)across five land uses(dryland,irrigated land,forestland,grassland and plantation)of five soil types(red,yellow,yellowbrown,brown,purple).The investigation explored relationships between SOC and edaphic factors(26 elements)to determine SOC influencing factors.The study area demonstrated a mean SOC content of 27.78 g kg^(–1),with distinct spatial heterogeneity characterized by lower values in the southwestern sector and higher concentrations in the northeastern region.Brown soils displayed the highest SOC content(P<0.05),followed by yellow-brown then red,yellow,and purple soils.Irrigation significantly enhanced SOC storage,particularly in brown soils where irrigated land contained 2.2-,2.4-,and 1.6-times higher SOC than forestland,grassland,and dryland,respectively.Similar irrigation benefits occurred in purple,yellow,and yellow-brown soils,indicating moisture limitation as the primary SOC constraint.Notably,SOC exhibited strong positive correlations with nitrogen,sulfur,and selenium.Nitrogen fertilization demonstrated dual benefits:enhancing SOC sequestration and promoting Se enrichment in crops,potentially supporting specialty agriculture.Although land use impacts on SOC varied across soil types(P>0.05),irrigation consistently emerged as the optimal management for carbon sink enhancement.These findings suggest that targeted water management could effectively reduce farmland carbon emissions in moisture-limited subtropical highlands.Strategic nitrogen application offers co-benefits for soil fertility and selenium biofortification,providing practical pathways for climate-smart agriculture in similar ecoregions.
文摘Background:Diabetes mellitus(DM)is a chronic illness with potentially fatal and debilitating consequences.Problems with glycemic management are a major issue that adds an added strain to public health services.Objectives:The purpose of this study is to evaluate the prevalence of poor glycemic control and its related variables among type 2 diabetes mellitus(T2DM)patients in southern Jordan.Methods:A cross-sectional study was carried out in the Prince Hashem bin Abdullah II Hospital in Jordan's southernmost province.For the period April–July 2024,516 individuals with T2D were enrolled.A structured questionnaire that had been pre-prepared was used to collect data.As an index of glycemic control,a glycated hemoglobin(Hb A1c)7%cut-off point was adopted.Results:Poor glycemic control was prevalent in 81.0%of T2DM individuals.Inadequate glycemic control was significantly worse in non-married patients and those with 10 or more years of diabetes duration,insulin treatment,dyslipidemia,neuropathy,cardiovascular illness,and glomerular filtration rate(GFR=60 m L/min;[P<0.05]).Moreover,dyslipidemia and insulin administration increased the likelihood of poor glycemic control(odds ratio[OR]:2 and 5,respectively)(P<0.05).Conclusions:Inadequate glycemic control was common among the current study par ticipants.To prevent disease consequences and enhance the health of patients with diabetes,health care professionals should pay special attention to related risk factors such as dyslipidemia,neuropathy,cardiovascular disease(CVD),extended illness duration,and insulin usage.
基金supported by the Science and Technology Project of the Department of Transportation of Heilongjiang Province(HJK2023B024-3)the National Key R&D Program of China(2023YFF1304001-01)。
文摘Soil fertility and forest structure influence tree carbon stocks.However,it remains unclear how tree mycorrhizal types affect these relationships.This study addressed the question of how aboveground and belowground tree carbon stocks in soils with different mycorrhizal types are affected by soil fertility and forest structure.Tree demographic data were used from a 21.12-ha study area collected over a ten-year period(2009-2019),covering 43species of woody plants and more than 50,000 individuals.Relationships between tree carbon stock,soil fertility and forest structure(stand density,diameter variation,species diversity and spatial distribution)were examined,as well as whether these relationships differed between arbuscular mycorrhiza and ectomycorrhizal mycorrhiza groups in a typical temperate conifer and broad-leaved mixed forest.We found that total tree carbon stock was positively impacted by variations in stand density and tree diameter but negatively influenced by soil fertility,tree species diversity and uniform angle index.Soil fertility promoted carbon stock of trees associated with arbuscular mycorrhiza(AM)but inhibited the carbon stock of trees with ectomycorrhizal mycorrhiza fungi(EcM).Carbon stock of AM trees was mainly influenced by soil fertility,while carbon stock of EcM trees was influenced by stand density.Our findings show that mycorrhizae types mediate the impact of stand structure and soil fertility on tree carbon stocks and provides new evidence on how forest tree carbon stocks may be enhanced based on the types of mycorrhizal associations.Tree species with different mycorrhizal types can be managed in different ways.
基金Supported by the National Natural Science Foundation of China(Grant Nos.11961059,1210502)the University Innovation Project of Gansu Province(Grant No.2023B-062)the Gansu Province Basic Research Innovation Group Project(Grant No.23JRRA684).
文摘The goal of this paper is to investigate the long-time dynamics of solutions to a Kirchhoff type suspension bridge equation with nonlinear damping and memory term.For this problem we establish the well-posedness and existence of uniform attractor under some suitable assumptions on the nonlinear term g(u),the nonlinear damping f(u_(t))and the external force h(x,t).Specifically,the asymptotic compactness of the semigroup is verified by the energy reconstruction method.
文摘Objective:This review aimed to evaluate existing evidence of educational interventions targeted at parents and caregivers of children with type 1 diabetes(T1D)to improve diabetes management outcomes.Methods:A general review was conducted with primary caregivers of children younger than 18 with T1D as the population of interest.Journal searches were performed using the CINAHL,EBSCO,Pub Med,Scopus,Science Direct,and Google Scholar,databases for publications between 2017 and 2024,with full text in English.Results:A total of 26 studies were included in the review.Nine of these studies focused on various educational interventions,both technology-based and non-technology-based.By contrast,17 studies examined the impact of these interventions on caregiver outcomes,such as treatment adherence and glycemic control in children with T1D.So,the following research questions guided this review:(1)What is the effectiveness of diabetes education interventions on glycemic control in children with T1D?(2)How do caregiver knowledge and self-efficacy affect diabetes management outcomes?Conclusions:Diabetes interventions highlight the vital role of empowering caregivers of children with T1D with knowledge,skills,and support to improve and enhance their adherence to treatment,knowledge,and self-efficacy that ultimately contribute to better glycemic control of children as reflected by their Hb A1c levels.This review highlights the importance of diabetes education interventions for caregivers of children with T1D.The evidence indicates that such interventions can improve caregiver knowledge,self-efficacy,and glycemic control in children.However,variability in outcomes suggests that fur ther research is needed to identify the most effective educational strategies.
文摘While methodology for determining the mode of evolution in coding sequences has been well established,evaluation of adaptation events in emerging types of phenotype data needs further development.Here,we propose an analysis framework(expression variance decomposition,EVaDe)for comparative single-cell expression data based on phenotypic evolution theory.After decomposing the gene expression variance into separate components,we use two strategies to identify genes exhibiting large between-taxon expression divergence and small within-cell-type expression noise in certain cell types,attributing this pattern to putative adaptive evolution.In a dataset of primate prefrontal cortex,we find that such humanspecific key genes enrich with neurodevelopment-related functions,while most other genes exhibit neutral evolution patterns.Specific neuron types are found to harbor more of these key genes than other cell types,thus likely to have experienced more extensive adaptation.Reassuringly,at the molecular sequence level,the key genes are significantly associated with the rapidly evolving conserved non-coding elements.An additional case analysis comparing the naked mole-rat(NMR)with the mouse suggests that innateimmunity-related genes and cell types have undergone putative expression adaptation in NMR.Overall,the EVaDe framework may effectively probe adaptive evolution mode in single-cell expression data.
基金supported by the National Key R&D Program of China (Grant Nos.2022YFA1403103 and 2019YFA0308603)the National Natural Science Foundation of China (Grant No.12304167)the Shandong Provincial Natural Science Foundation of China (Grant No.ZR2023QA020)。
文摘Interfacial superconductivity(IS)has been a topic of intense interest in condensed matter physics,due to its unique properties and exotic photoelectrical performance.However,there are few reports about IS systems consisting of two insulators.Here,motivated by the emergence of an insulator-metal transition in type-Ⅲ heterostructures and the superconductivity in some“special”two-dimensional(2D)semiconductors via electron doping,we predict that the 2D heterostructure SnSe_(2)/PtTe_(2) is a model system for realizing IS by using firstprinciples calculations.Our results show that due to slight but crucial interlayer charge transfer,SnSe_(2)/PtTe_(2) turns to be a type-Ⅲ heterostructure with metallic properties and shows a superconducting transition with the critical temperature(T_(c))of 3.73 K.Similar to the enhanced electron–phonon coupling(EPC)in the electrondoped SnSe_(2) monolayer,the IS in the SnSe_(2)/PtTe_(2) heterostructure mainly originates from the metallized SnSe_(2) layer.Furthermore,we find that its superconductivity is sensitive to tensile lattice strain,forming a domeshaped superconducting phase diagram.Remarkably,at 7%biaxial tensile strain,the superconducting T_(c) can increase more than twofold(8.80 K),resulting from softened acoustic phonons at the𝑀point and enhanced EPC strength.Our study provides a concrete example for realizing IS in type-Ⅲ heterostructures,which waits for future experimental verification.
基金supported by the NIA/NIH(1K01AG060040).Studies performed by JN were funded by the NICHD/NIH(5R00HD096117)Microscopy Core Facility supported,in part,with funding from NIH-NCI Cancer Center Support Grant P30 CA016059.
文摘Alzheimer’s disease is initially thought to be caused by age-associated accumulation of plaques,in recent years,research has increasingly associated Alzheimer’s disease with lysosomal storage and metabolic disorders,and the explanation of its pathogenesis has shifted from amyloid and tau accumulation to oxidative stress and impaired lipid and glucose metabolism aggravated by hypoxic conditions.However,the underlying mechanisms linking those cellular processes and conditions to disease progression have yet to be defined.Here,we applied a disease similarity approach to identify unknown molecular targets of Alzheimer’s disease by using transcriptomic data from congenital diseases known to increase Alzheimer’s disease risk,namely Down syndrome,Niemann-Pick type C disease,and mucopolysaccharidoses I.We uncovered common pathways,hub genes,and miRNAs across in vitro and in vivo models of these diseases as potential molecular targets for neuroprotection and amelioration of Alzheimer’s disease pathology,many of which have never been associated with Alzheimer’s disease.We then investigated common molecular alterations in brain samples from a Niemann-Pick type C disease mouse model by juxtaposing them with brain samples of both human and mouse models of Alzheimer’s disease.Detailed phenotypic,molecular,chronological,and biological aging analyses revealed that the Npc1tm(I1061T)Dso mouse model can serve as a potential short-lived in vivo model for brain aging and Alzheimer’s disease research.This research represents the first comprehensive approach to congenital disease association with neurodegeneration and a new perspective on Alzheimer’s disease research while highlighting shortcomings and lack of correlation in diverse in vitro models.Considering the lack of an Alzheimer’s disease mouse model that recapitulates the physiological hallmarks of brain aging,the short-lived Npc1^(tm(I1061T)Dso) mouse model can further accelerate the research in these fields and offer a unique model for understanding the molecular mechanisms of Alzheimer’s disease from a perspective of accelerated brain aging.
基金financial support fromthe Chung Shan Medical University Hospital,Taiwan(CSH-2022-A-009).
文摘Background:To determine whether initiating a glucagon-like peptide-1 receptor agonist(GLP-1 RA)within 3 months of type 2 diabetes(T2DM)diagnosis alters the subsequent risk of overall and site-specific cancer and whether this association differs by baseline body-mass index(BMI).Methods:This retrospective cohort study used electronic health records from the TriNetX U.S.research network.Adults aged 20 years or older diagnosed with T2DM between 2016 and 2024 were included if they received any hypoglycemic agents within 3 months before and after diagnosis.Following 1:1 propensity score matching,both the GLP-1 RA user and non-user groups included 183,264 patients.The study outcome was defined as a diagnosis of malignant neoplasms.Hazard ratios(HRs)for overall and site-specific cancer risk were estimated using Cox proportional hazards models.Kaplan–Meier analysis and stratified analysis by BMI were performed.Results:Early GLP-1 RA use demonstrated a modest but significant association with reduced overall cancer risk(HR 0.93;95%CI:0.90–0.96).Reduced risks were noted for cancers of the digestive(HR 0.81),respiratory(HR 0.66),and female genital(HR 0.87)systems.In stratified analysis,benefits were more pronounced in patients with BMI≥30,particularly for pancreatic and colorectal cancers.Conclusion:Early initiation of GLP-1 receptor agonists in patients with diagnosed T2DM was associated with a modest reduction in overall cancer risk,particularly among individuals with obesity.These findings highlight the dual metabolic and oncologic value of prompt GLP-1 RA therapy.
基金the National Natural Science Foundation of China(82204935)the construction project of Zhao Feng National Old Pharmacist Inheritance Studio of State Administration of Traditional Chinese Medicine(National Traditional Chinese Medicine Education Letter[2024]255)+1 种基金the open project of the Key Laboratory of Basic and New Drug Research of Traditional Chinese Medicine in Shaanxi Province(KF202302)the project of Xi’an Municipal Bureau of Science and Technology(23YXYJ0042)for financial support.
文摘Background:One of the first hundred traditional Chinese medicines(TCM)formulas administered in China,Qianghuo Shengshi Decoction(QSD)has a positive clinical and therapeutic impact on rheumatoid arthritis(RA).Even so,there is still not enough knowledge on the active ingredients and possible ways that QSDs might work to treat RA.This study systematically investigated the active ingredients and mechanisms of action of QSD for treating wind-cold-dampness arthralgia type RA.Methods:UHPLC-QE-MS and network pharmacology techniques were employed to predict the potential active constituents,targets,and associated signalling pathways.Then,the therapeutic effect of QSD was examined using a wind-cold-dampness arthralgia paralytic RA rat model.Finally,the complex mechanism was comprehensively elucidated by integrating transcriptomics and network pharmacology.The above mechanisms were also verified by molecular docking,immunohistochemistry and Western blot.Results:UHPLC-QE-MS and network pharmacology analysis revealed that ferulic acid,imperatorin,magnolol,quercetin,and scopoletin could be the primary constituents in QSD responsible for its anti-RA effects.Animal experiments showed that QSD can significantly inhibit rat joint swelling degree,decrease the content of serum rheumatoid factor(RF),interleukin(IL)-1β,tumor necrosis factor-alpha(TNF-α),IL-6,and anti-citrullinated protein antibodies(ACPA),and increase the content of IL-4,IL-10 to relieve the clinical symptoms of wind-cold-dampness arthralgia type RA.The mechanistic study showed that QSD may effectively inhibit rat synovial hyperplasia via promoting autophagy and apoptosis of synovial cells by regulating the PI3K/Akt/mTOR signalling pathway.Conclusion:This study identifies key active ingredients in QSD and elucidates its potential mechanism for treating wind-cold-dampness arthralgia type RA,providing a basis for the clinical application of QSD.
基金supported by a project of the Shaanxi Youth Science and Technology Star(2021KJXX-87)public welfare geological survey projects of Shaanxi Institute of Geologic Survey(20180301,201918 and 202103)。
文摘With the efficient and intelligent development of computer-based big data processing,applying machine learning methods to the processing and interpretation of logging data in the field of geophysical well logging has broad potential for improving production efficiency.Currently,the Jiyuan Oilfield in the Ordos Basin relies mainly on manual reprocessing and interpretation of old well logging data to identify different fluid types in low-contrast reservoirs,guiding subsequent production work.This study uses well logging data from the Chang 1 reservoir,partitioning the dataset based on individual wells for model training and testing.A deep learning model for intelligent reservoir fluid identification was constructed by incorporating the focal loss function.Comparative validations with five other models,including logistic regression(LR),naive Bayes(NB),gradient boosting decision trees(GBDT),random forest(RF),and support vector machine(SVM),show that this model demonstrates superior identification performance and significantly improves the accuracy of identifying oil-bearing fluids.Mutual information analysis reveals the model's differential dependency on various logging parameters for reservoir fluid identification.This model provides important references and a basis for conducting regional studies and revisiting old wells,demonstrating practical value that can be widely applied.
基金Supported by National Hi-tech Research and Development Program of China (863 Program,Grant No.CDJZR13110073)
文摘Though the studies of wheel-legged robots have achieved great success, the existing ones still have defects in load distribution, structure stability and carrying capacity. For overcoming these shortcomings, a new kind of wheel-legged robot（Rolling-Wolf） is designed. It is actuated by means of ball screws and sliders, and each leg forms two stable triangle structures at any moment, which is simple but has high structure stability. The positional posture model and statics model are built and used to analyze the kinematic and mechanical properties of Rolling-Wolf. Based on these two models, important indexes for evaluating its motion performance are analyzed. According to the models and indexes, all of the structure parameters which influence the motion performance of Rolling-Wolf are optimized by the method of Archive-based Micro Genetic Algorithm（AMGA） by using Isight and Matlab software. Compared to the initial values, the maximum rotation angle of the thigh is improved by 4.17%, the maximum lifting height of the wheel is improved by 65.53%, and the maximum driving forces of the thigh and calf are decreased by 25.5% and 12.58%, respectively. The conspicuous optimization results indicate that Rolling-Wolf is much more excellent. The novel wheel-leg structure of Rolling-Wolf is efficient in promoting the load distribution, structure stability and carrying capacity of wheel-legged robot and the proposed optimization method provides a new approach for structure optimization.
基金supported by National Outstanding Youth Science Foundation of China (Grant No. 51125020)National Hi-tech Research and Development Program of China (863 Program, Grant No. 2006AA04Z207)Program for New Century Excellent Talents in University, China
文摘The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS- Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS- Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified, Moreover, the relative horizontal motion between fore/hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore/hind wheels become larger/smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height.
文摘Robots are widely used to replace people in some burdensome or hamaful areas. Not only the moving ability but also the manipulating ability is needed in the missions of complex multitasking requirements. In the last decades, wheel-legged hexapod robots are extensively studied to ineet this condition.
基金supported by the Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures(1005-IZD23002-25).
文摘The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged motion.These robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness exploration.Wheel-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this paper.The hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are analyzed.In summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped robots.Finally,this study discusses the key research directions and development trends for the wheel-legged biped robots.
基金Supported by National Natural Science Foundation of China(Grant No.61773060).
文摘Serving the Stewart mechanism as a wheel-legged structure,the most outstanding superiority of the proposed wheel-legged hybrid robot(WLHR)is the active vibration isolation function during rolling on rugged terrain.However,it is difficult to obtain its precise dynamic model,because of the nonlinearity and uncertainty of the heavy robot.This paper presents a dynamic control framework with a decentralized structure for single wheel-leg,position tracking based on model predictive control(MPC)and adaptive impedance module from inside to outside.Through the Newton-Euler dynamic model of the Stewart mechanism,the controller first creates a predictive model by combining Newton-Raphson iteration of forward kinematic and inverse kinematic calculation of Stewart.The actuating force naturally enables each strut to stretch and retract,thereby realizing six degrees-of-freedom(6-DOFs)position-tracking for Stewart wheel-leg.The adaptive impedance control in the outermost loop adjusts environmental impedance parameters by current position and force feedback of wheel-leg along Z-axis.This adjustment allows the robot to adequately control the desired support force tracking,isolating the robot body from vibration that is generated from unknown terrain.The availability of the proposed control methodology on a physical prototype is demonstrated by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strips.By comparing the proportional and integral(PI)and constant impedance controllers,better performance of the proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder,as well as an inertial measurement unit(IMU)mounted on the robot body.The proposed algorithm structure significantly enhances the control accuracy and vibration isolation capacity of parallel wheel-legged robot.
基金Supported by State Key Lab of Mechanical System and Vibration Project of China(Grant No.MSVZD202008).
文摘The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain.However,most of the wheel-legged robots only have one-directional obstacle-crossing ability.During the motion,most of the wheel-legged robots’centroid fluctuates violently,which damages the stability of the load.What’s more,many designs of the obstacle-crossing part and transformation-driving part of this structure are highly coupled,which limits its optimal performance in both aspects.This paper presents a novel wheel-legged robot with a rim-shaped changeable wheel,which has a bi-directional and smooth obstacle-crossing ability.Based on the kinematic model,the geometric parameters of the wheel structure and the design variables of the driving four-bar mechanism are optimized separately.The kinetostatics model of the mobile platform when climbing stairs is established to determine the body length and angular velocity of the driving wheels.A pro-totype is made according to the optimal parameters.Experiments show that the prototype installed with the novel transformable wheels can overcome steps with a height of 1.52 times of its wheel radius with less fluctuation of its centroid and performs good locomotion capabilities in different environments.
基金supported by the Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures(1005-IZD23002-25)the National Natural Science Foundation of China under Grant nos.52075248.
文摘In-pipe robots have been widely used in pipes-with smooth inner walls.However,current in-pipe robots face challenges in terms of moving past obstacles and climbing in marine-vessel pipeline systems,which are affected by marine biofouling and electrochemical corrosion.This paper takes inspiration from the dual-hook structure of Trypoxylus dichotomus’s feet and gecko‑like dry adhesives,proposing an in-pipe robot that is capable of climbing on rough and smooth pipe inwalls.The combination of the bioinspired hook and dry adhesives allows the robot to stably attach to rough or smooth pipe inwalls,while the wheel-leg hybrid mechanism provides better conditions for obstacle traversal.The paper explores the attachment and obstacle-surmounting mechanisms of the robot.Moreover,motion strategies for the robot are devised based on different pipe structural features.The experiments showed that this robot can adapt to both smooth and rough pipe environments simultaneously,and its motion performance is superior to conventional driving mechanisms.The robot’s active turning actuators also enable it to navigate through horizontally or vertically oriented 90°bends.
