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| 1 | Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist显示文摘The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing;however,current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to achieve.This study proposes a seven-degree-of-freedom(7-DOF)redundant anthropomorphic hydraulically actuated manipulator with a novel roll-pitch-yaw spherical wrist.A hybrid series-parallel mechanism is presented to achieve the spherical wrist design,which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll structure.Designed as a 1R£RRR-1S£U mechanism(“R”,“P”,“S”,and“U”denote revolute,prismatic,spherical,and universal joints,respectively;the underlined letter indicates the active joint),the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain“R£RR”is included.The 7-DOF manipulator is then designed,and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic computation.The analytical inverse kinematic solution is drawn by constructing self-motion manifolds.Finally,a physical prototype is developed,and the kinematic analysis is validated via numerical simulation and test results. | Min CHENG Zenan HAN Ruqi DING Junhui ZHANG Bing XU | 2021 | Frontiers of Mechanical Engineering2021，16，4： | 5 |
| 2 | A Multi-mode Electronic Load Sensing Control Scheme with Power Limitation and Pressure Cut-off for Mobile Machinery显示文摘In mobile machinery,hydro-mechanical pumps are increasingly replaced by electronically controlled pumps to improve the automation level,but diversified control functions(e.g.,power limitation and pressure cut-off)are integrated into the electronic controller only from the pump level,leading to the potential instability of the overall system.To solve this problem,a multi-mode electrohydraulic load sensing(MELS)control scheme is proposed especially considering the switching stability from the system level,which includes four working modes of flow control,load sensing,power limitation,and pressure control.Depending on the actual working requirements,the switching rules for the different modes and the switching direction(i.e.,the modes can be switched bilaterally or unilaterally)are defined.The priority of different modes is also defined,from high to low:pressure control,power limitation,load sensing,and flow control.When multiple switching rules are satisfied at the same time,the system switches to the control mode with the highest priority.In addition,the switching stability between flow control and pressure control modes is analyzed,and the controller parameters that guarantee the switching stability are obtained.A comparative study is carried out based on a test rig with a 2-ton hydraulic excavator.The results show that the MELS controller can achieve the control functions of proper flow supplement,power limitation,and pressure cut-off,which has good stability performance when switching between different control modes.This research proposes the MELS control method that realizes the stability of multi-mode switching of the hydraulic system of mobile machinery under different working conditions. | Min Cheng Bolin Sun Ruqi Ding Bing Xu | 2023 | Chinese Journal of Mechanical Engineering2023，36，1： | 0 |
| 3 | Nanoparticles targeting at methylases with high correlation to N^(6)-methyladenosine-related lncRNA signatures as potential therapy of kidney clear cell carcinoma显示文摘Clear cell renal cell carcinoma(ccRCC)is a heterogeneous malignancy with poor prognosis.Methylation of the N^(6) position of adenosine(m^(6)A),the most common epigenetic modification in both messenger RNAs and noncoding RNAs,has been reported to regulate the initiation and progression of ccRCC.However,whether and how m^(6)A-related long noncoding RNAs(m^(6)ArlncRNAs)signify the progression of ccRCC remain unclear.We found m^(6)ArlncRNAs are effective signatures illustrating immune landscape and risk stratification in ccRCC.We identified two differently expressed m^(6)ArlncRNAs(DEm^(6)ArlncRNAs),AC008870.2 and EMX2OS,as independent risk factors for overall survival of ccRCC patients,by applying stringent variable selection procedure to data from the Cancer Genome Atlas Kidney Renal Clear Cell Carcinoma project.The risk score generated from the DEm^(6)ArlncRNA expression categorizes patients into either high or low-risk groups,between which,enrichment analysis indicated an enrichment in immune-related pathways.Under different DEm^(6)ArlncRNA transcription pattern,the two risk groups differ in immune cell population composition and expression levels of therapy targeting genes.Nanoparticle is satisfactory strategy to delivering therapeutic drugs.For further clinical translation,we designed a novel nanoparticle delivery system packaged STM2457(STM@8P4 NPs),which selectively inhibits AC008870.2-correlated m^(6)A writer.STM@8P4 NPs loaded drug successfully with uniform particle size,long-term stability and high release efficiency.STM@8P4 NPs can easily enter ccRCC cells and showed a highly efficient ccRCC killing activity in vitro.Our results therefore indicate that m^(6)ArlncRNAs expression can depict tumor microenvironment,predict prognosis for ccRCC patient and give hint to therapeutic strategies in ccRCC. | Ruixuan Chen Ping Ouyang Licong Su Xi Xu Penghu Lian Yanqin Li Qi Gao Yifan Zhang Sheng Nie Fan Luo Ruqi Xu Xiaodong Zhang Xiaoxi Li Yue Cao Peiyan Gao Juanjuan Kang Jun Wu Lu Li | 2022 | Chinese Chemical Letters2022，33，10： | 0 |
| 4 | Differential regulation of JAK1 expression by ETS1 associated with predisposition to primary biliary cholangitis显示文摘Primary biliary cholangitis(PBC)is an autoimmune liver disease characterized by the destruction of intrahepatic small bile ducts and progressive cholestasis,eventually leading to liver cirrhosis and hepatic failure without appropriate treatment(Terziroli Beretta-Piccoli et al.,2019). | Peng Jiang Chan Wang Mingming Zhang Ye Tian Weifeng Zhao Junyi Xin Yexi Huang Zhibin Zhao Wenjuan Sun Jie Long Ruqi Tang Fang Qiu Xingjuan Shi Yi Zhao Li Zhu Na Dai Lei Liu Xudong Wu Jinshan Nie Bo Jiang Youlin Shao Yueqiu Gao Jianjiang Yu Zhigang Hu Zhidong Zang Yuhua Gong Yaping Dai Lan Wang Ningling Ding Ping Xu Sufang Chen Lu Wang Jing Xu Luyao Zhang Junyan Hong Ruonan Qian Hu Li Xuan Jiang Congwei Chen Wenyan Tian Jian Wu Yuzhang Jiang Chongxu Han Kui Zhang Hong Qiu Li Li Hong Fan Liming Chen Jianqiong Zhang Zhongsheng Sun Xiao Han Zhenhua Dai Erguang Li M.Eric Gershwin Zhexiong Lian Xiong Ma Michael F.Seldin Weichang Chen Meilin Wang Xiangdong Liu | 2023 | Journal of Genetics and Genomics2023，50，10： | 0 |
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