Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the...Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.展开更多
Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of...Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.展开更多
The purpose of this study is to introduce the current applications of off-line programming technology in thermal spraying,including some popular methods of path generation,procedure simulation,robot kinematics optimiz...The purpose of this study is to introduce the current applications of off-line programming technology in thermal spraying,including some popular methods of path generation,procedure simulation,robot kinematics optimization,etc.Indeed this technology reduces the difficulty of robot programming and enormously improves its facility for thermal spraying.At the last part of this paper,presented two examples of off-line programming in thermal spraying which refer to trajectory optimization on a work piece with a great angle and path generation on the complex work piece.The simulations and experiments have proved that off-line programming can effectively improve the production efficiency and the quality of coating.展开更多
This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model...This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model. And a new Robot off line programming method is built based on this communication method and network model. Further more, as an example, robot auto marking and auto cutting of shipbuilding profile system is developed, which proves the ideas of author’s off line programming and development methods of robot flexible automation system. As a result, this paper presents a new method for developing robot flexible automation system.展开更多
Off-line programming provides an essential link for CAD/CAM. This paper introduced the principle of developing off-line programming system for laser re-manufacturing. Task and information flow of off-line programming ...Off-line programming provides an essential link for CAD/CAM. This paper introduced the principle of developing off-line programming system for laser re-manufacturing. Task and information flow of off-line programming for laser re-manufacturing robot was analyzed and the software structure of off-line programming based on commercial CAD software was constructed. The off-line programming system developed in this study includes 3-D solid model design, direct slicing for obtaining path data, graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning, and creation of the control program for manufacturing process. The CAD software was used to design models of robot, workpiece, coaxial nozzle, and workspace. Through the application programming interface provided by the CAD software, the VC++ and ATL were chosen to develop such modules as direct slicing for obtaining path data, path planning, process specification, and control program automatic generation. The FANUC Roboguide software was used to realize graphical simulation. By direct slicing, the position and orientation data of robot end-effector was determined. The results show that the proposed system can be applied in laser re-manufacturing robot for manufacturing operations.展开更多
Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programm...Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.展开更多
Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disruptin...Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disrupting the neural connections that allow communication between the brain and the rest of the body, which results in varying degrees of motor and sensory impairment. Disconnection in the spinal tracts is an irreversible condition owing to the poor capacity for spontaneous axonal regeneration in the affected neurons.展开更多
Objectives This study aimed to evaluate the effectiveness of the stepped self-care program on the self-care,self-efficacy,and quality of life of stroke survivors.Methods This quasi-experimental study allocated 110 str...Objectives This study aimed to evaluate the effectiveness of the stepped self-care program on the self-care,self-efficacy,and quality of life of stroke survivors.Methods This quasi-experimental study allocated 110 stroke survivors from two neurology wards into an intervention group(n=55)who received the stepped self-care program and a control group(n=55)who received usual care from June to December 2023.The Self-Care of Stroke Inventory,Stroke Self-Efficacy Questionnaire,and the short version of the Stroke Specific Quality of Life Scale were administered at baseline(T0),immediately post-intervention(T_(1)),and at 1-month(T_(2))and 3-month(T_(3))follow-ups.Data were analyzed using repeated measures analyses of variance,and generalized estimating equations.Results A total of 48 participants in the intervention group and 50 participants in the control group completed the study.No statistically significant differences were observed at T0 in any of the measured indicators(all P>0.05).The study showed significant group,time,and group×time interaction effects across the assessed outcomes(all P<0.05).Follow-up between-group comparisons at T_(1),T_(2),and T_(3) indicated that the intervention group had significantly higher scores in self-care maintenance,self-care monitoring,self-care management,self-efficacy,and quality of life than the control group(all P<0.001).Conclusions The stepped self-care program significantly improved self-care behaviors,self-efficacy,and quality of life among stroke survivors.These findings support the broader implementation of this approach in post-discharge home self-care.展开更多
The field of nanomedicine has been revolutionized by the concept of immunogenic cell death(ICD)-enhanced cancer therapy,which holds immense promise for the efficient treatment of cancer.However,precise delivery of ICD...The field of nanomedicine has been revolutionized by the concept of immunogenic cell death(ICD)-enhanced cancer therapy,which holds immense promise for the efficient treatment of cancer.However,precise delivery of ICD inducer is severely hindered by complex biological barriers.How to design and build intelligent nanoplatform for adaptive and dynamic cancer therapy remains a big challenge.Herein,this article presents the design and preparation of CD44-targeting and ZIF-8 gated gold nanocage(Au@ZH) for programmed delivery of the 1,2-diaminocyclohexane-Pt(Ⅱ)(DACHPt) as ICD inducer.After actively targeting the CD44 on the surface of 4T1 tumor cell,this Pt-Au@ZH can be effectively endocytosed by the 4T1 cell and release the DACHPt in tumor acidic environment,resulting in ICD effect and superior antitumor efficacy both in vitro and in vivo in the presence of mild 808 nm laser irradiation.By integration of internal and external stimuli intelligently,this programmed nanoplatform is poised to become a cornerstone in the pursuit of effective and targeted cancer therapy in the foreseeable future.展开更多
During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive...During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.展开更多
Editor's Note In his keynote address at the opening ceremony of the Global Leaders'Meeting on Women,held in Beijing on October 13,2025,Chinese President Xi Jinping announced a series of measures China will tak...Editor's Note In his keynote address at the opening ceremony of the Global Leaders'Meeting on Women,held in Beijing on October 13,2025,Chinese President Xi Jinping announced a series of measures China will take,in the next five years,to further support the global cause of women.One of the measures is:China will launch 1,000"small and beautiful"livelihood programs with Chinese assistance that take women and girls as priority beneficiaries.展开更多
The effects of on-line solution, off-line solution and aging heat treatment on the microstructure and hardness of the die-cast AZ91D alloys were investigated. Brinell hardness of die-cast AZ91D alloy increases through...The effects of on-line solution, off-line solution and aging heat treatment on the microstructure and hardness of the die-cast AZ91D alloys were investigated. Brinell hardness of die-cast AZ91D alloy increases through on-line solution and off-line aging treatment but decreases after off-line solution treatment. By X-ray diffractometry, optical microscopy, differential thermal analysis, scanning electron microscopy and X-ray energy dispersive spectroscopy, it is found that the microstructures of the die-cast AZ91D magnesium alloy before and after on-line solution and off-line aging are similar, consisting of α-Mg and β-Al12Mg17. The precipitation of Al element is prevented by on-line solution so that the effect of solid solution strengthening is enhanced. The β-Al12Mg17 phases precipitate from supersaturated Mg solid solution after off-line aging treatment, and lead to microstructure refinement of AZ91D alloy, so the effect of precipitation hardening is enhanced. The β-Al12Mg17 phases dissolve in the substructure after off-line solution treatment, which leads to that the grain boundary strengthening phase is reduced significantly and the hardness of die cast AZ91D is reduced.展开更多
A study of the interference simulation based on robot welding of the radar pedestal was carried out by using the KUKA Sim Pro simulation software and off-line program technology. Compared with the actual robot welding...A study of the interference simulation based on robot welding of the radar pedestal was carried out by using the KUKA Sim Pro simulation software and off-line program technology. Compared with the actual robot welding process, it was found that the trajectory of the simulated robot welding process in line with that recorded in the actual welding process, and the actual limit and interference appeared at the same place as the simulation process. There was no interference phenomenon on the outside weld-seam; on the internal weld-seam, especially on the weld-joint of support plate connected to the cylinder, a phenomenon of interference appeared. It was helpful to use the simulation method to guide the actual robot welding so as to protect robot from impacting and reduce the weld defects.展开更多
The IAP (Institute of Atmospheric Physics) land-surface model (IAP94) is described. This model is a comprehensive one with detailed description for the processes of vegetation, snow and soil. Particular attention has ...The IAP (Institute of Atmospheric Physics) land-surface model (IAP94) is described. This model is a comprehensive one with detailed description for the processes of vegetation, snow and soil. Particular attention has been paid to the cases with three water phases in the surface media. On the basis of the mixture theory and the theory of fluid dynamics of porous media, the system of universal conservational equations for water and heat of soil, snow and vegetation canopy has been constructed. On this background, all important factors that may affect the water and heat balance in media can be considered naturally, and each factor and term possess distinct physical meaning. In the computation of water content and temperature, the water phase change and the heat transportation by water flow are taken into account. Moreover, particular attention has been given to the water vapor diffusion in soil for arid or semi-arid cases, and snow compaction. In the treatment of surface turbulent fluxes, the difference between aerodynamic and thermal roughness is taken into account. The aerodynamic roughness of vegetation is calculated as a function of canopy density, height and zero-plane displacement. An extrapolation of log linear and exponential relationship is used when calculating the wind profile within canopy. The model has been validated against field measurements in off-line simulations. The desirable model′s performance leads to the conclusion that the IAP94 is able to reproduce the main physical mechanisms governing the energy and water balances in the global land surface. Part II of the present study will concern the validation in a 3-D experiment coupled with the IAP Two-Level AGCM.展开更多
To support withdrawing and storing money from all levels of the bank for the customers in the real world, in this paper, we propose a proxy blind signature scheme and an off-line e-cash scheme based on the new proxy b...To support withdrawing and storing money from all levels of the bank for the customers in the real world, in this paper, we propose a proxy blind signature scheme and an off-line e-cash scheme based on the new proxy blind signature scheme. The pro- posed proxy blind signature is proven secure in the random oracle model under chosen-target computational Diffie-Hellman assump- tions, and the e-cash scheme can satisfy the security requirements of unforgeability, anonymity, and traceability.展开更多
In order to further understand the land surface processes over the northern Tibetan Plateau, this study produced an off-line simulated examination at the Bujiao site on the northern Tibetan Plateau from June 2002 to A...In order to further understand the land surface processes over the northern Tibetan Plateau, this study produced an off-line simulated examination at the Bujiao site on the northern Tibetan Plateau from June 2002 to April 2004, using the Noah Land Surface Model （Noah LSM） and observed data from the CAMP/Tibet experiment. The observed data were neces- sarily corrected and the number of soil layers in the Noah LSM was changed from 4 to 10 to enable this off-line simulation and analysis. The main conclusions are as follows： the Noah LSM performed well on the northern Tibetan Plateau. The simulated net radiation, upward longwave radiation, and upward shortwave radiation demonstrated the same remarkable annual and seasonal variation as the observed data, especially the upward longwave radiation. The simulated soil temperatures were acceptably close to the observed temperatures, especially in the shallow soil layers. The simulated freezing and melting processes were shown to start from the surface soil layer and spread down to the deep soil layers, but they took longer than the observed processes. However, Noah LSM did not adequately simulate the soil moisture. Therefore, additional high-quality, long-term observations of land surface-atmosphere processes over the Tibetan Plateau will be a key factor in proper adiustments of the model parameters in the future.展开更多
TongMai Granules is a Chinese medicine patent drug to treat cardiovascular diseases.It is prepared from the water extract of Dan-shen,Chuan-xiong and Ge-gen.The main compounds of TongMai Granules are isoflavone glycos...TongMai Granules is a Chinese medicine patent drug to treat cardiovascular diseases.It is prepared from the water extract of Dan-shen,Chuan-xiong and Ge-gen.The main compounds of TongMai Granules are isoflavone glycosides,isoflavones,and phenolic acids.However,it is difficult to detect low-polar compounds such as tanshinones and phthalides though they may also contribute to the therapeutic effect.In this work,an off-line two-dimensional chromatography method was developed to enrich the minor constituents in TongMai Granules.The extract was subjected to an SEP-PAK silica SPE column and eluted with petroleum ether,ethyl acetate–methanol(6:1,v/v),and methanol,successively.The three fractions were then analyzed using ultra-high performance liquid chromatography coupled with orbitrap mass spectrometry(UHPLC/orbitrap-MS).The isoflavones from Ge-gen,phenolic acids from Dan-shen and phthalides from Chuan-xiong were distributed in different fractions.A total of 131 compounds,including 59 from Ge-gen,26 from Dan-shen,43 from Chuan-xiong,and 3 common ones from Dan-shen and Chuan-xiong were tentatively identified.Among them,26 compounds were identified by comparing with reference standards.This study set a good example for comprehensive analysis of the constituents in traditional Chinese medicine formula.展开更多
基金supported by National Hi-tech Research and Development Program of China (863 Program, Grant No. 2007AA04Z2443)State Key Laboratory for Man ufacturing Systems Engineering of Xi’an Jiaotong University of China
文摘Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.
基金ThispaperissupportedbyNationalNatureScienceFoundation (No .5 96 35 16 0 )AdvancedUniversityDoctoralSubjectFoundation (No .980 2 1311)
文摘Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.
文摘The purpose of this study is to introduce the current applications of off-line programming technology in thermal spraying,including some popular methods of path generation,procedure simulation,robot kinematics optimization,etc.Indeed this technology reduces the difficulty of robot programming and enormously improves its facility for thermal spraying.At the last part of this paper,presented two examples of off-line programming in thermal spraying which refer to trajectory optimization on a work piece with a great angle and path generation on the complex work piece.The simulations and experiments have proved that off-line programming can effectively improve the production efficiency and the quality of coating.
文摘This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model. And a new Robot off line programming method is built based on this communication method and network model. Further more, as an example, robot auto marking and auto cutting of shipbuilding profile system is developed, which proves the ideas of author’s off line programming and development methods of robot flexible automation system. As a result, this paper presents a new method for developing robot flexible automation system.
基金Supported by the Science and Technology Development Project of Tianjin Colleges and Universities (No. 20071108)the Key Project of Tianjin Science and Technology Committee (No.08ZCKFGX02300)
文摘Off-line programming provides an essential link for CAD/CAM. This paper introduced the principle of developing off-line programming system for laser re-manufacturing. Task and information flow of off-line programming for laser re-manufacturing robot was analyzed and the software structure of off-line programming based on commercial CAD software was constructed. The off-line programming system developed in this study includes 3-D solid model design, direct slicing for obtaining path data, graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning, and creation of the control program for manufacturing process. The CAD software was used to design models of robot, workpiece, coaxial nozzle, and workspace. Through the application programming interface provided by the CAD software, the VC++ and ATL were chosen to develop such modules as direct slicing for obtaining path data, path planning, process specification, and control program automatic generation. The FANUC Roboguide software was used to realize graphical simulation. By direct slicing, the position and orientation data of robot end-effector was determined. The results show that the proposed system can be applied in laser re-manufacturing robot for manufacturing operations.
文摘Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.
基金financially supported by Ministerio de Ciencia e Innovación projects SAF2017-82736-C2-1-R to MTMFin Universidad Autónoma de Madrid and by Fundación Universidad Francisco de Vitoria to JS+2 种基金a predoctoral scholarship from Fundación Universidad Francisco de Vitoriafinancial support from a 6-month contract from Universidad Autónoma de Madrida 3-month contract from the School of Medicine of Universidad Francisco de Vitoria。
文摘Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disrupting the neural connections that allow communication between the brain and the rest of the body, which results in varying degrees of motor and sensory impairment. Disconnection in the spinal tracts is an irreversible condition owing to the poor capacity for spontaneous axonal regeneration in the affected neurons.
基金The National Natural Science Foundation of China[72174184]provided policy and financialsupport for this research.
文摘Objectives This study aimed to evaluate the effectiveness of the stepped self-care program on the self-care,self-efficacy,and quality of life of stroke survivors.Methods This quasi-experimental study allocated 110 stroke survivors from two neurology wards into an intervention group(n=55)who received the stepped self-care program and a control group(n=55)who received usual care from June to December 2023.The Self-Care of Stroke Inventory,Stroke Self-Efficacy Questionnaire,and the short version of the Stroke Specific Quality of Life Scale were administered at baseline(T0),immediately post-intervention(T_(1)),and at 1-month(T_(2))and 3-month(T_(3))follow-ups.Data were analyzed using repeated measures analyses of variance,and generalized estimating equations.Results A total of 48 participants in the intervention group and 50 participants in the control group completed the study.No statistically significant differences were observed at T0 in any of the measured indicators(all P>0.05).The study showed significant group,time,and group×time interaction effects across the assessed outcomes(all P<0.05).Follow-up between-group comparisons at T_(1),T_(2),and T_(3) indicated that the intervention group had significantly higher scores in self-care maintenance,self-care monitoring,self-care management,self-efficacy,and quality of life than the control group(all P<0.001).Conclusions The stepped self-care program significantly improved self-care behaviors,self-efficacy,and quality of life among stroke survivors.These findings support the broader implementation of this approach in post-discharge home self-care.
基金financially supported by the Natural Science Foundation of Jiangsu Province (No.BK20200709)the Natural Science Foundation of China (Nos.62288102,32201127 and 82270113)+2 种基金the Natural Science Foundation of Guangdong Province (No.2023A1515011386)the Natural Science Foundation of the Jiangsu Higher Education Institutes (No.20KJB430031)the startup fund from Nanjing Tech University,and Disciplinary Fund of School of Pharmaceutical Sciences (2024)。
文摘The field of nanomedicine has been revolutionized by the concept of immunogenic cell death(ICD)-enhanced cancer therapy,which holds immense promise for the efficient treatment of cancer.However,precise delivery of ICD inducer is severely hindered by complex biological barriers.How to design and build intelligent nanoplatform for adaptive and dynamic cancer therapy remains a big challenge.Herein,this article presents the design and preparation of CD44-targeting and ZIF-8 gated gold nanocage(Au@ZH) for programmed delivery of the 1,2-diaminocyclohexane-Pt(Ⅱ)(DACHPt) as ICD inducer.After actively targeting the CD44 on the surface of 4T1 tumor cell,this Pt-Au@ZH can be effectively endocytosed by the 4T1 cell and release the DACHPt in tumor acidic environment,resulting in ICD effect and superior antitumor efficacy both in vitro and in vivo in the presence of mild 808 nm laser irradiation.By integration of internal and external stimuli intelligently,this programmed nanoplatform is poised to become a cornerstone in the pursuit of effective and targeted cancer therapy in the foreseeable future.
基金supported by the National Natural Sci‐ence Foundation of China(Grant No.62306325)。
文摘During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.
文摘Editor's Note In his keynote address at the opening ceremony of the Global Leaders'Meeting on Women,held in Beijing on October 13,2025,Chinese President Xi Jinping announced a series of measures China will take,in the next five years,to further support the global cause of women.One of the measures is:China will launch 1,000"small and beautiful"livelihood programs with Chinese assistance that take women and girls as priority beneficiaries.
基金Projects (2011BAE22B01, 2011BAE22B06) supported by the National Key Technologies R&D Program During the 12th Five-Year Plan Period of ChinaProject (2010NC018) supported by the Innovation Fund of Inner Mongolia University of Science and Technology, China
文摘The effects of on-line solution, off-line solution and aging heat treatment on the microstructure and hardness of the die-cast AZ91D alloys were investigated. Brinell hardness of die-cast AZ91D alloy increases through on-line solution and off-line aging treatment but decreases after off-line solution treatment. By X-ray diffractometry, optical microscopy, differential thermal analysis, scanning electron microscopy and X-ray energy dispersive spectroscopy, it is found that the microstructures of the die-cast AZ91D magnesium alloy before and after on-line solution and off-line aging are similar, consisting of α-Mg and β-Al12Mg17. The precipitation of Al element is prevented by on-line solution so that the effect of solid solution strengthening is enhanced. The β-Al12Mg17 phases precipitate from supersaturated Mg solid solution after off-line aging treatment, and lead to microstructure refinement of AZ91D alloy, so the effect of precipitation hardening is enhanced. The β-Al12Mg17 phases dissolve in the substructure after off-line solution treatment, which leads to that the grain boundary strengthening phase is reduced significantly and the hardness of die cast AZ91D is reduced.
基金Funded by Anhui Provincial Natural Science Foundation of China(GFKJ2015B002)Quality Engineering Project of Anhui province(2014zy122)
文摘A study of the interference simulation based on robot welding of the radar pedestal was carried out by using the KUKA Sim Pro simulation software and off-line program technology. Compared with the actual robot welding process, it was found that the trajectory of the simulated robot welding process in line with that recorded in the actual welding process, and the actual limit and interference appeared at the same place as the simulation process. There was no interference phenomenon on the outside weld-seam; on the internal weld-seam, especially on the weld-joint of support plate connected to the cylinder, a phenomenon of interference appeared. It was helpful to use the simulation method to guide the actual robot welding so as to protect robot from impacting and reduce the weld defects.
文摘The IAP (Institute of Atmospheric Physics) land-surface model (IAP94) is described. This model is a comprehensive one with detailed description for the processes of vegetation, snow and soil. Particular attention has been paid to the cases with three water phases in the surface media. On the basis of the mixture theory and the theory of fluid dynamics of porous media, the system of universal conservational equations for water and heat of soil, snow and vegetation canopy has been constructed. On this background, all important factors that may affect the water and heat balance in media can be considered naturally, and each factor and term possess distinct physical meaning. In the computation of water content and temperature, the water phase change and the heat transportation by water flow are taken into account. Moreover, particular attention has been given to the water vapor diffusion in soil for arid or semi-arid cases, and snow compaction. In the treatment of surface turbulent fluxes, the difference between aerodynamic and thermal roughness is taken into account. The aerodynamic roughness of vegetation is calculated as a function of canopy density, height and zero-plane displacement. An extrapolation of log linear and exponential relationship is used when calculating the wind profile within canopy. The model has been validated against field measurements in off-line simulations. The desirable model′s performance leads to the conclusion that the IAP94 is able to reproduce the main physical mechanisms governing the energy and water balances in the global land surface. Part II of the present study will concern the validation in a 3-D experiment coupled with the IAP Two-Level AGCM.
基金Supported by the National Natural Science Foundation of China(61272501)the National Key Basic Research Program(973Program)(2012CB315905)the Specialized Research Fund for the Doctoral Program of Higher Education(20091102110004)
文摘To support withdrawing and storing money from all levels of the bank for the customers in the real world, in this paper, we propose a proxy blind signature scheme and an off-line e-cash scheme based on the new proxy blind signature scheme. The pro- posed proxy blind signature is proven secure in the random oracle model under chosen-target computational Diffie-Hellman assump- tions, and the e-cash scheme can satisfy the security requirements of unforgeability, anonymity, and traceability.
基金the National Natural Science Foundation of China (Nos. 41075053 and 41275016)
文摘In order to further understand the land surface processes over the northern Tibetan Plateau, this study produced an off-line simulated examination at the Bujiao site on the northern Tibetan Plateau from June 2002 to April 2004, using the Noah Land Surface Model （Noah LSM） and observed data from the CAMP/Tibet experiment. The observed data were neces- sarily corrected and the number of soil layers in the Noah LSM was changed from 4 to 10 to enable this off-line simulation and analysis. The main conclusions are as follows： the Noah LSM performed well on the northern Tibetan Plateau. The simulated net radiation, upward longwave radiation, and upward shortwave radiation demonstrated the same remarkable annual and seasonal variation as the observed data, especially the upward longwave radiation. The simulated soil temperatures were acceptably close to the observed temperatures, especially in the shallow soil layers. The simulated freezing and melting processes were shown to start from the surface soil layer and spread down to the deep soil layers, but they took longer than the observed processes. However, Noah LSM did not adequately simulate the soil moisture. Therefore, additional high-quality, long-term observations of land surface-atmosphere processes over the Tibetan Plateau will be a key factor in proper adiustments of the model parameters in the future.
基金National Key Research and Development Program of China(Grant No.2018YFC1707301,2018YFC1707304)。
文摘TongMai Granules is a Chinese medicine patent drug to treat cardiovascular diseases.It is prepared from the water extract of Dan-shen,Chuan-xiong and Ge-gen.The main compounds of TongMai Granules are isoflavone glycosides,isoflavones,and phenolic acids.However,it is difficult to detect low-polar compounds such as tanshinones and phthalides though they may also contribute to the therapeutic effect.In this work,an off-line two-dimensional chromatography method was developed to enrich the minor constituents in TongMai Granules.The extract was subjected to an SEP-PAK silica SPE column and eluted with petroleum ether,ethyl acetate–methanol(6:1,v/v),and methanol,successively.The three fractions were then analyzed using ultra-high performance liquid chromatography coupled with orbitrap mass spectrometry(UHPLC/orbitrap-MS).The isoflavones from Ge-gen,phenolic acids from Dan-shen and phthalides from Chuan-xiong were distributed in different fractions.A total of 131 compounds,including 59 from Ge-gen,26 from Dan-shen,43 from Chuan-xiong,and 3 common ones from Dan-shen and Chuan-xiong were tentatively identified.Among them,26 compounds were identified by comparing with reference standards.This study set a good example for comprehensive analysis of the constituents in traditional Chinese medicine formula.
