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海洋化学野外实习课程教学改革与实践
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作者 陈碧双 高志增 +3 位作者 李静 陈森华 宁曦 刘岚 《实验室研究与探索》 CAS 北大核心 2023年第8期231-236,共6页
海洋化学分别从构建完善的野外实践教学体系、建设梯队化的教师队伍、定制科学全面的野外实习内容、重视课程思政建设四方面开展基于德智体美劳全面发展的海洋科技人才培养需求的野外实习教学新模式的探索。提出以“实践教学”为中心,... 海洋化学分别从构建完善的野外实践教学体系、建设梯队化的教师队伍、定制科学全面的野外实习内容、重视课程思政建设四方面开展基于德智体美劳全面发展的海洋科技人才培养需求的野外实习教学新模式的探索。提出以“实践教学”为中心,贯穿“劳动教育”和“课程思政”为核心和特点的实习教学新模式。有望为建设海洋化学专业类高等院校人才培养体系,促进涉海类专业教育教学改革提供一定的参考价值。 展开更多
关键词 实践教学 海洋化学 专业素质 综合能力
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载人潜器虚拟仿真实验在海洋地质教学中的应用
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作者 孟峥 宁曦 +1 位作者 王策 苏明 《科教文汇》 2023年第7期117-119,共3页
载人深潜是目前最先进的海洋科考技术装备之一,也是深海探测的国之重器,在海洋科学相关研究中发挥着越来越重要的作用。通过载人潜器的虚拟仿真实验,让学生以“下潜科学家”的身份进行虚拟载人潜器海底地形观测、标志物投放和沉积物取... 载人深潜是目前最先进的海洋科考技术装备之一,也是深海探测的国之重器,在海洋科学相关研究中发挥着越来越重要的作用。通过载人潜器的虚拟仿真实验,让学生以“下潜科学家”的身份进行虚拟载人潜器海底地形观测、标志物投放和沉积物取样等工作,有利于加深学生对海洋科考装备的认识,增强海洋地质专业学习的趣味性,提高学生对课程学习的主动性。载人深潜虚拟仿真课程的建立突破了传统海洋地质实习在时间和空间上的限制,提升了实验教学效果和海洋地质专业人才培养质量。 展开更多
关键词 海洋科学 载人潜器 虚拟仿真 教学改革
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实施“一村多名大学生计划”调查分析 被引量:7
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作者 宁国安 宁曦 杨琼丽 《湖北职业技术学院学报》 2019年第4期40-44,共5页
通过对“一村多名大学生计划”服务乡村振兴战略的问卷调查,发现该计划在建设美丽中国、推进农村治理、提升农村管理水平、实现农村长治久安等方面具有重要意义,但同时存在着观念落后、设施滞后、人才短缺、政策配套不足等问题。建议从... 通过对“一村多名大学生计划”服务乡村振兴战略的问卷调查,发现该计划在建设美丽中国、推进农村治理、提升农村管理水平、实现农村长治久安等方面具有重要意义,但同时存在着观念落后、设施滞后、人才短缺、政策配套不足等问题。建议从提高站位、发展产业、改革创新、加大投入等多方面多管齐下,精准施策,通过完善“一村多名大学生计划”,全面推进实施乡村振兴战略。 展开更多
关键词 “一村多名大学生计划” 意义 制约因素 对策
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高职院校实施“一村一名大学生乡医”定向培养调查分析 被引量:1
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作者 宁国安 宁曦 杨琼丽 《湖北职业技术学院学报》 2020年第4期38-41,共4页
高职院校实施“一村一名大学生乡医”定向培养计划,是实施健康中国战略的重大举措、助推乡村振兴的现实需求、疫情常态化防控的迫切需要。目前计划的实施还面临生源质量欠佳、农村条件较差、政策配套不足等现实困境,需要加强组织领导,... 高职院校实施“一村一名大学生乡医”定向培养计划,是实施健康中国战略的重大举措、助推乡村振兴的现实需求、疫情常态化防控的迫切需要。目前计划的实施还面临生源质量欠佳、农村条件较差、政策配套不足等现实困境,需要加强组织领导,改善农村卫生基础环境,优化人才培养方案,建立和完善相关政策制度。 展开更多
关键词 高职院校“一村一名大学生乡医”定向培养 意义 制约因素 对策
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孝感市地方科协深化改革工作情况调查分析
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作者 宁国安 宁曦 杨琼丽 《湖北职业技术学院学报》 2021年第4期18-21,共4页
调研发现,孝感市地方科协深化改革工作特色鲜明,成绩较大,但也还存在一些制约因素。深化孝感地方科协改革工作,需要进一步强化科协服务中心职能,激发科协体制机制活力,加大科协工作推进保障力度,强化农村科普组织建设和科普工作。
关键词 地方科协 深化改革 孝感市
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53例单纯手术治疗极低危组、低危组神经母细胞瘤患儿临床特征及近期预后分析 被引量:2
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作者 简冰林 苏雁 +10 位作者 秦红 陈诚豪 王生才 蒋持怡 张诗晗 于彤 伏利兵 曾骐 王焕民 倪鑫 马晓莉 《中国小儿血液与肿瘤杂志》 CAS 2021年第4期238-242,共5页
目的探讨神经母细胞瘤(NB)极低危组、低危组(<18个月)患儿仅行单纯手术治疗的临床特征、疗效及其近期预后,为应用单纯手术切除治疗极低危组、低危组NB患儿的意义提供临床依据。方法回顾性分析2016年12月1日—2019年12月31日于北京儿... 目的探讨神经母细胞瘤(NB)极低危组、低危组(<18个月)患儿仅行单纯手术治疗的临床特征、疗效及其近期预后,为应用单纯手术切除治疗极低危组、低危组NB患儿的意义提供临床依据。方法回顾性分析2016年12月1日—2019年12月31日于北京儿童医院就诊的极低危组和低危组NB仅行单纯手术治疗未行放、化疗治疗患儿的临床信息,分析该组患儿临床特征及近期预后。结果53例患儿入组,极低危组51例,低危组2例。初诊时中位年龄14.1(0.1~141.5)个月。原发瘤灶以腹膜后肾上腺最多见(47.2%)。病理分型:节细胞型神经母细胞瘤30例(56.6%)、神经母细胞瘤型23例(43.4%)。2例患儿血清NSE>100 ng/mL(3.8%),14例高于正常但<100 ng/mL(26.4%,14/53);50例行血清LDH检测,3例患儿血清LDH>500 U/L(6%);40例患儿病初行尿VMA/HVA检测,19例升高(47.5%)。NMYC基因扩增、1p36、11q23缺失均阴性。手术治疗:49例行局部瘤灶切除,3例行原发瘤灶切除+局部淋巴结清扫术,1例行分期肿瘤切除。53例患儿平均随访时间为21.9个月,52例(98.1%)病情稳定无复发。结论极低危组、低危组(<18个月)NB患儿具有良好的生物学特征,通过完整的瘤灶切除和术后定期随访能使患儿获得良好预后,可避免因过度治疗对患儿生活质量带来不利影响。 展开更多
关键词 神经母细胞瘤 极低危及低危组 手术 临床特征 近期预后
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海洋科学专业实验课程思政建设的探索与实践 被引量:4
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作者 李春荣 宁曦 +2 位作者 贾坤同 易梅生 苏明 《教育教学论坛》 2022年第25期81-85,共5页
全面推进课程思政建设,是落实立德树人根本任务的重要战略举措。以海洋科学类实验课程为载体,分析海洋科学专业实验课课程思政建设的必要性。在此基础之上,阐述海洋科学专业实验课课程思政建设的方案,探索海洋科学实验课程和海洋特色思... 全面推进课程思政建设,是落实立德树人根本任务的重要战略举措。以海洋科学类实验课程为载体,分析海洋科学专业实验课课程思政建设的必要性。在此基础之上,阐述海洋科学专业实验课课程思政建设的方案,探索海洋科学实验课程和海洋特色思政元素的有机融合方式,旨在实现知识传播与价值引领的统一,为我国海洋强国事业培养德智体美劳全面发展的海洋科技人才奠定基础。 展开更多
关键词 海洋科学 实验课程 课程思政 教学改革
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Development and Future Challenges of Bio-Syncretic Robots 被引量:13
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作者 Chuang Zhang Wenxue Wang +2 位作者 ning xi Yuechao Wang Lianqing Liu 《Engineering》 2018年第4期452-463,共12页
Bio-syncretic robots consisting of both living biological materials and non-living systems possess desirable attributes such as high energy efficiency, intrinsic safety, high sensitivity, and self-repairing capabiliti... Bio-syncretic robots consisting of both living biological materials and non-living systems possess desirable attributes such as high energy efficiency, intrinsic safety, high sensitivity, and self-repairing capabilities. Compared with living biological materials or non-living traditional robots based on elec- tromechanical systems, the combined system of a bio-syncretic robot holds many advantages. Therefore, developing bio-syncretic robots has been a topic of great interest, and significant progress has been achieved in this area over the past decade. This review systematically summarizes the development of bio-syncretic robots. First, potential trends in the development of bio-syncretic robots are discussed. Next, the current performance of bio-syncretic robots, including simple movement and controllability of velocity and direction, is reviewed. The living biological materials and non-living materials that are used in bio-syncretic robots, and the corresponding fabrication methods, are then discussed. In addition, recently developed control methods for bio-syncretic robots, including physical and chemical control methods, are described. Finally, challenges in the development of bio-syncretic robots are discussed from multiple viewpoints, including sensing and intelligence, living and non-living materials, control approaches, and information technology. 展开更多
关键词 Bio-syncretic robot Hybrid robot Bio-actuator CARDIOMYOCYTE Muscle cells
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Dynamical signatures of the one-dimensional deconfined quantum critical point
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作者 ning xi Rong Yu 《Chinese Physics B》 SCIE EI CAS CSCD 2022年第5期73-82,共10页
We study the critical scaling and dynamical signatures of fractionalized excitations at two different deconfined quantum critical points(DQCPs)in an S=1/2 spin chain using the time evolution of infinite matrix product... We study the critical scaling and dynamical signatures of fractionalized excitations at two different deconfined quantum critical points(DQCPs)in an S=1/2 spin chain using the time evolution of infinite matrix product states.The scaling of the correlation functions and the dispersion of the conserved current correlations explicitly show the emergence of enhanced continuous symmetries at these DQCPs.The dynamical structure factors in several different channels reveal the development of deconfined fractionalized excitations at the DQCPs.Furthermore,we find an effective spin-charge separation at the DQCP between the ferromagnetic(FM)and valence bond solid(VBS)phases,and identify two continua associated with different types of fractionalized excitations at the DQCP between the X-direction and Z-direction FM phases.Our findings not only provide direct evidence for the DQCP in one dimension but also shed light on exploring the DQCP in higher dimensions. 展开更多
关键词 one-dimensional antiferromagnetism spin frustration deconfined quantum critical point spin dynamics infinite time-evolving block decimation
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美国《拜杜法》:由来、文本与影响
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作者 宁茜 辜岸 《乐山师范学院学报》 2021年第9期100-109,共10页
在特定背景下通过的《拜杜法》对美国的技术进步和技术转化起到了极为重要的作用。作为《美国专利法》第十八章,该法规定了政策和目标、定义、权利的处分、介入权、美国产业优先、保密、统一条款和规章、归联邦所有的发明的国内外保护... 在特定背景下通过的《拜杜法》对美国的技术进步和技术转化起到了极为重要的作用。作为《美国专利法》第十八章,该法规定了政策和目标、定义、权利的处分、介入权、美国产业优先、保密、统一条款和规章、归联邦所有的发明的国内外保护、联邦许可规章、归联邦所有的发明的许可、优先适用、与反托拉斯法的关系、教育奖励的权利处分等十三个条文。对其的全面研究有助于我国专利制度的完善。 展开更多
关键词 拜杜法 背景 内容 译介
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Designing Unpowered Shoulder Complex Exoskeleton via Contralateral Drive for Self-rehabilitation of Post-stroke Hemiparesis
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作者 ning Li Tie Yang +6 位作者 Yang Yang Wenyuan Chen Peng Yu Chuang Zhang ning xi Ying Zhao Wenxue Wang 《Journal of Bionic Engineering》 SCIE EI CSCD 2023年第3期992-1007,共16页
Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patie... Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation. 展开更多
关键词 Unpowered exoskeleton Health-paralysis combination Energy transfer Self-rehabilitation Shoulder mechanism design
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海洋科学专业学生自主能动性的调动——以大气海洋相互作用学课程为例
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作者 邱春华 宁曦 +1 位作者 刘亚婷 李俊 《教育教学论坛》 2018年第41期192-193,共2页
本文着重针对本科生在学习过程中存在的应试性问题,尝试通过分层次教学、实际应用、多样化、丰富实验与野外实习、科研与教学结合等调动学生的主观能动性,并通过加强专业英语的学习,促进学生能动性的发挥。这有利于学生巩固所学知识,为... 本文着重针对本科生在学习过程中存在的应试性问题,尝试通过分层次教学、实际应用、多样化、丰富实验与野外实习、科研与教学结合等调动学生的主观能动性,并通过加强专业英语的学习,促进学生能动性的发挥。这有利于学生巩固所学知识,为其走向工作或科研岗位打下坚实基础,同时也有助于教师完善课程建设,提高教学质量。 展开更多
关键词 海洋学科 自主能动性 教学方式
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血清降钙素原、白细胞介素6和C反应蛋白在脓毒血症和全身炎症反应综合征鉴别研究 被引量:14
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作者 宁熙 李云轩 +1 位作者 王泽辰 杨璐 《中国热带医学》 CAS 2022年第11期1047-1050,共4页
目的 探讨血清标志物降钙素原(PCT)、白细胞介素6(IL-6)和C反应蛋白(CRP)在脓毒血症与全身炎症反应综合征的差别,为脓毒血症与全身炎症反应综合征鉴别诊断提供依据。方法 收集2019年4月—2021年4月昆明医科大学第二附属医院创伤外科及... 目的 探讨血清标志物降钙素原(PCT)、白细胞介素6(IL-6)和C反应蛋白(CRP)在脓毒血症与全身炎症反应综合征的差别,为脓毒血症与全身炎症反应综合征鉴别诊断提供依据。方法 收集2019年4月—2021年4月昆明医科大学第二附属医院创伤外科及重症医学科收治患者资料。PCT、IL-6采用电化学发光法测定,CRP采用免疫透射比浊法测定,血培养测试采集患者未使用抗菌药物且发热高峰时抗凝静脉血,利用3D 240-Bact/Alert(法国生物梅里埃公司)培养仪进行培养。结果 鉴别诊断脓毒血症与全身炎症反应综合征(SIRS)时,患者入住ICU 24 h内脓毒血症组PCT、CRP和IL-6水平均高于SIRS组,差异有统计学意义(P<0.05)。血清PCT浓度较IL-6和CRP更具有临床价值。PCT诊断效能更高。若患者入ICU 24 h内PCT值低于4.18 ng/mL时,可排除脓毒血症(阴性预测值97.01%)。当PCT>0.5 ng/mL作为诊断脓毒血症的cut-off值时,灵感度为95.83%,特异度为100.00%。PCT>2 ng/mL作为诊断脓毒血症的cut-off值时,灵敏度和特异度均略低。ROC曲线结果显示,PCT对诊断脓毒血症有较高的临床价值,其诊断的正确率较高。IL-6相对于CRP来说诊断效能更高。结论 PCT、CRP、IL-6联合检测时,能为临床上脓毒血症和SIRS的鉴别诊断快速提供诊治方向。单独指标中,PCT对鉴别脓毒血症和SIRS优于IL-6、CRP。 展开更多
关键词 脓毒血症 全身炎症反应综合征 降钙素原 白细胞介素-6 C-反应蛋白
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Advances in atomic force microscopy for single-cell analysis 被引量:10
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作者 Mi Li ning xi +1 位作者 Yuechao Wang Lianqing Liu 《Nano Research》 SCIE EI CAS CSCD 2019年第4期703-718,共16页
Single-cell analysis has been considered as a promising way to uncover the underlying mechanisms guiding the mysteries of life activities, which con siderably complements traditio nal en semble assays and yields novel... Single-cell analysis has been considered as a promising way to uncover the underlying mechanisms guiding the mysteries of life activities, which con siderably complements traditio nal en semble assays and yields novel in sights into cell biology. The adve nt of atomic force microscopy (AFM) provides a potent tool for investigati ng the structures and properties of n ative biological samples at the micro/na no scale un der near-physiological conditions, which promotes the studies of single-cell behaviors. In the past decades, AFM has achieved great success in single-cell observation and manipulation for biomedical applications, demonstrating the excellent capabilities of AFM in addressing biological issues at the single-cell level with unprecedented spatiotemporal resolution. In this article, we review the recent advances in single-cell analysis that has been made with the utilization of AFM, and provide perspectives for future progression. 展开更多
关键词 ATOMIC force MICROSCOPY SINGLE-CELL analysis CELLULAR morphology CELLULAR MECHANICS CELLULAR MANIPULATION
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Research progress in quantifying the mechanical properties of single living cells using atomic force microscopy 被引量:8
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作者 Mi Li Lianqing Liu +1 位作者 ning xi Yuechao Wang 《Chinese Science Bulletin》 SCIE EI CAS 2014年第31期4020-4029,共10页
The advent of atomic force microscopy(AFM)provides a powerful tool for investigating the behaviors of single living cells under near physiological conditions.Besides acquiring the images of cellular ultra-microstructu... The advent of atomic force microscopy(AFM)provides a powerful tool for investigating the behaviors of single living cells under near physiological conditions.Besides acquiring the images of cellular ultra-microstructures with nanometer resolution,the most remarkable advances are achieved on the use of AFM indenting technique to quantify the mechanical properties of single living cells.By indenting single living cells with AFM tip,we can obtain the mechanical properties of cells and monitor their dynamic changes during the biological processes(e.g.,after the stimulation of drugs).AFM indentation-based mechanical analysis of single cells provides a novel approach to characterize the behaviors of cells from the perspective of biomechanics,considerably complementing the traditional biological experimental methods.Now,AFM indentation technique has been widely used in the life sciences,yielding a large amount of novel information that is meaningful to our understanding of the underlying mechanisms that govern the cellular biological functions.Here,based on the authors’own researches on AFM measurement of cellular mechanical properties,the principle and method of AFM indentation technique was presented,the recent progress of measuring the cellular mechanical properties using AFM was summarized,and the challenges of AFM single-cell nanomechanical analysis were discussed. 展开更多
关键词 单个活细胞 原子力显微镜 机械性能 AFM 生物过程 纳米分辨率 生物学功能 生理条件
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Progress in measuring biophysical properties of membrane proteins with AFM single-molecule force spectroscopy 被引量:7
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作者 Mi Li Lianqing Liu +1 位作者 ning xi Yuechao Wang 《Chinese Science Bulletin》 SCIE EI CAS 2014年第22期2717-2725,共9页
Membrane proteins are crucial in cell physiological activities and are the targets for most drugs.Thus,investigating the behaviors of membrane proteins not only provide deeper insights into cell function,but also help... Membrane proteins are crucial in cell physiological activities and are the targets for most drugs.Thus,investigating the behaviors of membrane proteins not only provide deeper insights into cell function,but also help disease treatment and drug development.Atomic force microscopy is a unique tool for investigating the structure of membrane proteins.It can both image the morphology of single native membrane proteins with high resolution and,via single-molecule force spectroscopy(SMFS),directly measure their biophysical properties during molecular physiological activities such as ligand binding and protein unfolding.In the context of molecular biomechanics,SMFS has been successfully used to understand the structure and function of membrane proteins,complementing the static three-dimensional structures of proteins obtained by X-ray crystallography.Here,based on the authors’antigen-antibody binding force measurements in clinical tumor cells,the principle and method of SMFS is discussed,the progress in using SMFS to characterize membrane proteins is summarized,and challenges for SMFS are presented. 展开更多
关键词 原子力显微镜 生物物理特性 单分子力谱 膜蛋白 测量 三维结构 X射线晶体学 肿瘤细胞
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“海洋微生物学实验”课程思政探索和实践 被引量:11
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作者 贾坤同 李俊 +4 位作者 米舒 宁曦 孟峥 苏明 易梅生 《微生物学通报》 CAS CSCD 北大核心 2022年第1期383-391,共9页
"海洋微生物学实验"课程是高等院校海洋科学类专业的重要基础课程,在海洋科学人才培养过程中发挥重要作用。开展"海洋微生物学实验"课程的思政建设,是落实高校全员全程全方位培养青年海洋微生物人才的重要途径。本... "海洋微生物学实验"课程是高等院校海洋科学类专业的重要基础课程,在海洋科学人才培养过程中发挥重要作用。开展"海洋微生物学实验"课程的思政建设,是落实高校全员全程全方位培养青年海洋微生物人才的重要途径。本文以"海洋微生物学实验"课程为例,挖掘提炼课程中蕴含的思政元素,从课程建设、教学理念、教学目标、教学方法、考核评价体系、教学反思等方面开展课程思政教育的探索和实践,旨在将专业知识和思政元素有机融合,实现知识传授和价值引领同频共振。 展开更多
关键词 海洋微生物学实验 课程思政 教学改革
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Atomic force microscopy studies on cellular elastic and viscoelastic properties 被引量:6
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作者 Mi Li Lianqing Liu +1 位作者 ning xi Yuechao Wang 《Science China(Life Sciences)》 SCIE CAS CSCD 2018年第1期57-67,共11页
In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic ... In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic and viscoelastic properties of normal breast cells and cancerous breast cells were measured, showing significant differences in Young’s modulus and relaxation times between normal and cancerous breast cells. Remarkable differences in cellular topography between normal and cancerous breast cells were also revealed by AFM imaging. Next, the elastic and viscoelasitc properties of three other types of cell lines and primary normal B lymphocytes were measured; results demonstrated the potential of cellular viscoelastic properties in complementing cellular Young’s modulus for discerning different states of cells. This research provides a novel way to quantify the mechanical properties of cells by AFM, which allows investigation of the biomechanical behaviors of single cells from multiple aspects. 展开更多
关键词 atomic force microscopy cell mechanical properties viscoelastic properties Young's modulus relaxation time
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Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation 被引量:1
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作者 ning Li Tie Yang +8 位作者 Yang Yang Peng Yu xiujuan Xue xingang Zhao Guoli Song Imad HElhajj Wenxue Wang ning xi Lianqing Liu 《Journal of Bionic Engineering》 SCIE EI CSCD 2020年第6期1163-1174,共12页
Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia.Unfortunately,poor human-machine physiological coupling causes unexpected damage to human of muscles and joints.Moreover,inferior hu... Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia.Unfortunately,poor human-machine physiological coupling causes unexpected damage to human of muscles and joints.Moreover,inferior humanoid kinematics control would restrict human natural kinematics.Failing to deal with these problems results in bottlenecks and hinders its application.In this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human interaction.Firstly,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological coupling.Then,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist.The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,respectively.Additionally,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily activities.This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications. 展开更多
关键词 stroke rehabilitation simplified muscle model soft wrist exoskeleton robot bionic kinematics model
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A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation 被引量:3
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作者 Chuang Zhang Yiwei Zhang +2 位作者 Wenxue Wang ning xi Lianqing Liu 《Cyborg and Bionic Systems》 2022年第1期314-326,共13页
Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in robotics.Actuat... Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in robotics.Actuation as the main operation mechanism relates to the robotic overall performance.Therefore,biosyncretic robots actuated by living biological actuators have attracted increasing attention.However,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic robots.In this work,a muscle tissue-based biosyncretic swimmer with a manta ray.inspired propelling mode has been developed.What is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been proposed.In this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic swimmer.Therefore,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be eliminated.Finally,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and frequency.This work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering. 展开更多
关键词 ROBOT ROBOT DYNAMIC
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