Background High environmental temperatures induce heat stress in broiler chickens,affecting their health and pro-duction performance.Several dietary,managerial,and genetics strategies have been tested with some succes...Background High environmental temperatures induce heat stress in broiler chickens,affecting their health and pro-duction performance.Several dietary,managerial,and genetics strategies have been tested with some success in mitigating heat stress(HS)in broilers.Developing novel HS mitigation strategies for sustaining broiler production is critically needed.This study investigated the effects of pre-hatch thermal manipulation(TM)and post-hatch baica-lein supplementation on growth performance and health parameters in heat-stressed broilers.Results Six hundred fertile Cobb 500 eggs were incubated for 21 d.After candling on embryonic day(ED)10,238 eggs were thermally manipulated at 38.5℃ with 55%relative humidity(RH)from ED 12 to 18,then transferred to the hatcher(ED 19 to 21,standard temperature)and 236 eggs were incubated at a controlled temperature(37.5℃)till hatch.After hatch,180-day-old chicks from both groups were raised in 36 pens(n=10 birds/pen,6 replicates per treatment).The treatments were:1)Control,2)TM,3)control heat stress(CHS),4)thermal manipulation heat stress(TMHS),5)control heat stress supplement(CHSS),and 6)thermal manipulation heat stress supplement(TMHSS).All birds were raised under the standard environment for 21 d,followed by chronic heat stress from d 22 to 35(32–33℃ for 8 h)in the CHS,TMHS,CHSS,and TMHSS groups.A thermoneutral(22–24℃)environment was maintained in the Control and TM groups.RH was constant(50%±5%)throughout the trial.All the data were analyzed using one-way ANOVA in R and GraphPad software at P<0.05 and are presented as mean±SEM.Heat stress significantly decreased(P<0.05)the final body weight and ADG in CHS and TMHS groups compared to the other groups.Embryonic TM significantly increased(P<0.05)the expression of heat shock protein-related genes(HSP70,HSP90,and HSPH1)and antioxidant-related genes(GPX1 and TXN).TMHS birds showed a significant increment(P<0.05)in total cecal volatile fatty acid(VFA)concentration compared to the CHS birds.The cecal microbial analysis showed significant enrichment(P<0.05)in alpha and beta diversity and Coprococcus in the TMHSS group.Conclusions Pre-hatch TM and post-hatch baicalein supplementation in heat-stressed birds mitigate the detrimental effects of heat stress on chickens’growth performance,upregulate favorable gene expression,increase VFA produc-tion,and promote gut health by increasing beneficial microbial communities.展开更多
Bio-inspired macrostructure array(MAA,size:submillimeter to millimeter scale)materials with special wettability(MAAMs-SW)have attracted significant research attention due to their outstanding performance in many appli...Bio-inspired macrostructure array(MAA,size:submillimeter to millimeter scale)materials with special wettability(MAAMs-SW)have attracted significant research attention due to their outstanding performance in many applications,including oil repellency,liquid/droplet manipulation,anti-icing,heat transfer,water collection,and oil–water separation.In this review,we focus on recent developments in the theory,design,fabrication,and application of bio-inspired MAAMs-SW.We first review the history of the basic theory of special wettability and discuss representative structures and corresponding functions of some biological surfaces,thus setting the stage for the design and fabrication of bio-inspired MAAMs-SW.We then summarize the fabrication methods of special wetting MAAs in terms of three categories:additive manufacturing,subtractive manufacturing,and formative manufacturing,as well as their diverse functional applications,providing insights into the development of these MAAMs-SW.Finally,the challenges and directions of future research on bio-inspired MAAMs-SW are briefy addressed.Worldwide efforts,progress,and breakthroughs from surface engineering to functional applications elaborated herein will promote the practical application of bio-inspired MAAMs-SW.展开更多
The remarkable capabilities of 2D plasmonic surfaces in controlling optical waves havegarnered significant attention.However,the challenge of large-scale manufacturing of uniform,well-aligned,and tunable plasmonic sur...The remarkable capabilities of 2D plasmonic surfaces in controlling optical waves havegarnered significant attention.However,the challenge of large-scale manufacturing of uniform,well-aligned,and tunable plasmonic surfaces has hindered their industrialization.To address this,we present a groundbreaking tunable plasmonic platform design achieved throughmagnetic field(MF)assisted ultrafast laser direct deposition in air.Through precise control of metal nanoparticles(NPs),with cobalt(Co)serving as the model material,employing an MF,and fine-tuning ultrafast laser parameters,we have effectively converted coarse and non-uniform NPs into densely packed,uniform,and ultrafine NPs(~3 nm).This revolutionary advancement results in the creation of customizable plasmonic‘hot spots,’which play a pivotal role insurface-enhanced Raman spectroscopy(SERS)sensors.The profound impact of this designable plasmonic platform lies in its close association with plasmonic resonance and energyenhancement.When the plasmonic nanostructures resonate with incident light,they generate intense local electromagnetic fields,thus vastly increasing the Raman scattering signal.This enhancement leads to an outstanding 2–18 fold boost in SERS performance and unparalleled sensing sensitivity down to 10^(-10)M.Notably,the plasmonic platform also demonstratesrobustness,retaining its sensing capability even after undergoing 50 cycles of rinsing andre-loading of chemicals.Moreover,this work adheres to green manufacturing standards,making it an efficient and environmentally friendly method for customizing plasmonic‘hot spots’inSERS devices.Our study not only achieves the formation of high-density,uniform,and ultrafine NP arrays on a tunable plasmonic platform but also showcases the profound relation betweenplasmonic resonance and energy enhancement.The outstanding results observed in SERS sensors further emphasize the immense potential of this technology for energy-relatedapplications,including photocatalysis,photovoltaics,and clean water,propelling us closer to a sustainable and cleaner future.展开更多
The United Nations(UN)’s call for a decade of“ecosystem restoration”was prompted by the need to address the extensive impact of anthropogenic activities on natural ecosystems.Marine ecosystem restoration is increas...The United Nations(UN)’s call for a decade of“ecosystem restoration”was prompted by the need to address the extensive impact of anthropogenic activities on natural ecosystems.Marine ecosystem restoration is increasingly necessary due to increasing habitat degredation in deep waters(>200 m depth).At these depths,which are far beyond those accessible by divers,only established and emerging robotic platforms such as remotely operated vehicles(ROVs),autonomous underwater vehicles(AUVs),landers,and crawlers can operate through manipulators and multiparametric sensor arrays(e.g.,optoacoustic imaging,omics,and environmental probes).The use of advanced technologies for deep-sea ecosystem restoration can provide:①high-resolution three-dimensional(3D)imaging and acoustic mapping of substrates and key taxa,②physical manipulation of substrates and key taxa,③real-time supervision of remote operations and long-term ecological monitoring,and④the potential to work autonomously.Here,we describe how robotic platforms with in situ manipulation capabilities and payloads of innovative sensors could autonomously conduct active restoration and monitoring across large spatial scales.We expect that these devices will be particularly useful in deep-sea habitats,such as①reef-building cold-water corals,②soft-bottom bamboo corals,and③soft-bottom fishery resources that have already been damaged by offshore industries(i.e.,fishing and oil/gas).展开更多
A 1-bit electronically controlled metasurface reflectarray is presented to achieve beam steering with multiple polarization manipulations. A metsurface unit cell loaded by two PIN diodes is designed. By switching the ...A 1-bit electronically controlled metasurface reflectarray is presented to achieve beam steering with multiple polarization manipulations. A metsurface unit cell loaded by two PIN diodes is designed. By switching the two PIN diodes between ON and OFF states, the isotropic and anisotropic reflections can be flexibly achieved. For either the isotropic reflection or the anisotropic reflection, the two operation states achieve the reflection coefficients with approximately equal magnitude and 180°out of phase, thus giving rise to the isotropic/anisotropic 1-bit metasurface unit cells. With the 1-bit unit cells, a 12-by-12 metasurface reflectarray is optimally designed and fabricated. Under either y-or x-polarized incident wave illumination, the reflectarray can achieve the co-polarized and cross-polarized beam scanning, respectively, with the peak gains of 20.08 d Bi and 17.26 d Bi within the scan range of about ±50°. With the right-handed circular polarization(RHCP) excitation, the left-handed circular polarization(LHCP) radiation with the peak gain of 16.98 d Bic can be achieved within the scan range of ±50°. Good agreement between the experimental results and the simulation results are observed for 2D beam steering and polarization manipulation capabilities.展开更多
The use of‘Electrostatic tweezers'is a promising tool for droplet manipulation,but it faces many limitations in manipulating droplets on superhydrophobic surfaces.Here,we achieve noncontact and multifunctional dr...The use of‘Electrostatic tweezers'is a promising tool for droplet manipulation,but it faces many limitations in manipulating droplets on superhydrophobic surfaces.Here,we achieve noncontact and multifunctional droplet manipulation on Nepenthes-inspired lubricated slippery surfaces via triboelectric electrostatic tweezers(TETs).The TET manipulation of droplets on a slippery surface has many advantages over electrostatic droplet manipulation on a superhydrophobic surface.The electrostatic field induces the redistribution of the charges inside the neutral droplet,which causes the triboelectric charged rod to drive the droplet to move forward under the electrostatic force.Positively or negatively charged droplets can also be driven by TET based on electrostatic attraction and repulsion.TET enables us to manipulate droplets under diverse conditions,including anti-gravity climb,suspended droplets,corrosive liquids,low-surface-tension liquids(e.g.ethanol with a surface tension of 22.3 mN·m^(-1)),different droplet volumes(from 100 nl to 0.5 ml),passing through narrow slits,sliding over damaged areas,on various solid substrates,and even droplets in an enclosed system.Various droplet-related applications,such as motion guidance,motion switching,droplet-based microreactions,surface cleaning,surface defogging,liquid sorting,and cell labeling,can be easily achieved with TETs.展开更多
This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with th...This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.展开更多
The perfect hybrid vector vortex beam(PHVVB)with helical phase wavefront structure has aroused significant concern in recent years,as its beam waist does not expand with the topological charge(TC).In this work,we inve...The perfect hybrid vector vortex beam(PHVVB)with helical phase wavefront structure has aroused significant concern in recent years,as its beam waist does not expand with the topological charge(TC).In this work,we investigate the spatial quantum coherent modulation effect with PHVVB based on the atomic medium,and we observe the absorption characteristic of the PHVVB with different TCs under variant magnetic fields.We find that the transmission spectrum linewidth of PHVVB can be effectively maintained regardless of the TC.Still,the width of transmission peaks increases slightly as the beam size expands in hot atomic vapor.This distinctive quantum coherence phenomenon,demonstrated by the interaction of an atomic medium with a hybrid vector-structured beam,might be anticipated to open up new opportunities for quantum coherence modulation and accurate magnetic field measurement.展开更多
Acoustic radiation force(ARF), as an important particle manipulation method, has been extensively studied in recent years. With the introduction of the concept of “acoustic tweezers”, negative acoustic radiation has...Acoustic radiation force(ARF), as an important particle manipulation method, has been extensively studied in recent years. With the introduction of the concept of “acoustic tweezers”, negative acoustic radiation has become a research hotspot. In this paper, a scheme of realizing negative ARF based on the multiple-layered spherical structure design is proposed. The specific structure and design idea are presented. Detailed theoretical calculation analysis is carried out.Numerical simulations have been performed to verify the correctness of this prediction. The conjecture that the suppression of backscattering can achieve negative ARF is verified concretely, which greatly expands the application prospect and design ideas of the ARF. This work has laid a theoretical foundation for realizing precise control of the structure.展开更多
Pancreatic cancer(PC)is characterized by its extremely aggressive nature and ranks 14th in the number of new cancer cases worldwide.However,due to its complexity,it ranks 7th in the list of the most lethal cancers wor...Pancreatic cancer(PC)is characterized by its extremely aggressive nature and ranks 14th in the number of new cancer cases worldwide.However,due to its complexity,it ranks 7th in the list of the most lethal cancers worldwide.The pathogenesis of PC involves several complex processes,including familial genetic factors associated with risk factors such as obesity,diabetes mellitus,chronic pancreatitis,and smoking.Mutations in genes such as KRAS,TP53,and SMAD4 are linked to the appearance of malignant cells that generate pancreatic lesions and,consequently,cancer.In this context,some therapies are used for PC,one of which is immunotherapy,which is extremely promising in various other types of cancer but has shown little response in the treatment of PC due to various resistance mechanisms that contribute to a drop in immunotherapy efficiency.It is therefore clear that the tumor microenvironment(TME)has a huge impact on the resistance process,since cellular and non-cellular elements create an immunosuppressive environment,characterized by a dense desmoplastic stroma with cancerassociated fibroblasts,pancreatic stellate cells,extracellular matrix,and immunosuppressive cells.Linked to this are genetic mutations in TP53 and immunosuppressive factors that act on T cells,resulting in a shortage of CD8+T cells and limited expression of activation markers such as interferon-gamma.In this way,finding new strategies that make it possible to manipulate resistance mechanisms is necessary.Thus,techniques such as the use of TME modulators that block receptors and stromal molecules that generate resistance,the use of genetic manipulation in specific regions,such as microRNAs,the modulation of extrinsic and intrinsic factors associated with T cells,and,above all,therapeutic models that combine these modulation techniques constitute the promising future of PC therapy.Thus,this study aims to elucidate the main mechanisms of resistance to immunotherapy in PC and new ways of manipulating this process,resulting in a more efficient therapy for cancer patients and,consequently,a reduction in the lethality of this aggressive cancer.展开更多
Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator ...Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator control are studied,and a complete manipulator vision tracking system is designed.Firstly,Denavit-Hartenberg(D-H)parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the manipulator.At the same time,a binocular camera is used to obtain the threedimensional position of the target.Secondly,in order to make the manipulator track the target more accurately,the fuzzy adaptive square root unscented Kalman filter(FSRUKF)is proposed to estimate the target state.Finally,the manipulator tracking system is built by using the position-based visual servo.The simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter(SRUKF),which meets the application requirements of the manipulator tracking system,and basically meets the application requirements of the manipulator tracking system in the practical experiments.展开更多
This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing singl...This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.展开更多
The general use of aluminium as an indentation standard for the iteration of contact heights for the determination of ISO-14577 hardness and elastic modulus is challenged because of as yet not appreciated phase-change...The general use of aluminium as an indentation standard for the iteration of contact heights for the determination of ISO-14577 hardness and elastic modulus is challenged because of as yet not appreciated phase-changes in the physical force-depth standard curve that seemed to be secured by claims from 1992. The physical and mathematical analyses with closed formulas avoid the still world-wide standardized energy-law violation by not reserving 33.33% (h2 belief) (or 20% h3/2 physical law) of the loading force and thus energy for all not depth producing events but using 100% for the depth formation is a severe violation of the energy law. The not depth producing part of the indentation work cannot be done with zero energy! Both twinning and structural phase-transition onsets and normalized phase-transition energies are now calculated without iterations but with physically correct closed arithmetic equations. These are reported for Berkovich and cubecorner indentations, including their comparison on geometric grounds and an indentation standard without mechanical twinning is proposed. Characteristic data are reported. This is the first detection of the indentation twinning of aluminium at room temperature and the mechanical twinning of fused quartz is also new. Their disqualification as indentation standards is established. Also, the again found higher load phase-transitions disqualify aluminium and fused quartz as ISO-ASTM 14577 (International Standardization Organization and American Society for Testing and Materials) standards for the contact depth “hc” iterations. The incorrect and still world-wide used black-box values for H- and Er-values (the latter are still falsely called “Young’s moduli” even though they are not directional) and all mechanical properties that depend on them. They lack relation to bulk moduli from compression experiments. Experimentally obtained and so published force vs depth parabolas always follow the linear FN = kh3/2 + Fa equation, where Fa is the axis-cut before and after the phase-transition branches (never “h2” as falsely enforced and used for H, Er and giving incorrectly calculated parameters). The regression slopes k are the precise physical hardness values, which for the first time allow for precise calculation of the mechanical qualities by indentation in relation to the geometry of the indenter tip. Exactly 20% of the applied force and thus energy is not available for the indentation depth. Only these scientific k-values must be used for AI-advises at the expense of falsely iterated indentation hardness H-values. Any incorrect H-ISO-ASTM and also the iterated Er-ISO-ASTM modulus values of technical materials in artificial intelligence will be a disaster for the daily safety. The AI must be told that these are unscientific and must therefore be replaced by physical data. Iterated data (3 and 8 free parameters!) cannot be transformed into physical data. One has to start with real experimental loading curves and an absolute ZerodurR standard that must be calibrated with standard force and standard length to create absolute indentation results. .展开更多
Transition metal dichalcogenides(TMDs)show great advantages in electromagnetic wave(EMW)absorption due to their unique structure and electrical properties.Tremendous research works on TMD-based EMW absorbers have been...Transition metal dichalcogenides(TMDs)show great advantages in electromagnetic wave(EMW)absorption due to their unique structure and electrical properties.Tremendous research works on TMD-based EMW absorbers have been conducted in the last three years,and the comprehensive and systematical summary is still a rarity.Therefore,it is of great significance to elaborate on the interaction among the morphologies,structures,phases,components,and EMW absorption performances of TMD-based absorbers.This review is devoted to analyzing TMD-based absorbers from the following perspectives:the EMW absorption regulation strategies of TMDs and the latest progress of TMD-based hybrids as EMW absorbers.The absorption mechanisms and component-performance dependency of these achievements are also summarized.Finally,a straightforward insight into industrial revolution upgrading in this promising field is proposed.展开更多
Tea(Camellia sinensis)is a well-known beverage crop rich in polyphenols with health benefits for humans.Understanding how tea polyphenols participate in plant resistance is beneficial to breeding resistant varieties a...Tea(Camellia sinensis)is a well-known beverage crop rich in polyphenols with health benefits for humans.Understanding how tea polyphenols participate in plant resistance is beneficial to breeding resistant varieties and uncovering the resistance mechanisms.Here,we report that a Colletotrichum infection-induced‘pink ring’symptom appeared outside the lesion,which is highly likely to occur in resistant cultivars.By identifying morphological feature-specific metabolites in the pink ring and their association with disease resistance,and analysis of the association between metabolite and gene expression,the study revealed that the accumulation of anthocyanin-3-O-galactosides,red phytotoxin compounds resistant to anthracnose,plays a pivotal role in the hypersensitive response surrounding infection sites in tea plants.The results of genetic manipulation showed that the expression of CsF3Ha,CsANSa,CsUGT78A15,CsUGT75L43,and CsMYB113,which are involved in anthocyanin biosynthesis,is positively correlated with anthracnose-resistance and the formation of the pink ring.Further phosphorus quantification and fertilization experiments confirmed that phosphate deficiency caused by anthracnose is involved in the occurrence of the pink ring.Genetic manipulation studies indicated that altering the expression levels of Pi transporter proteins(CsPHT2-1,CsPHT4;4)and phosphate deprivation response transcription factors(CsWRKY75-1,CsWRKY75-2,CsMYB62-1)enhances resistance to anthracnose and the formation of the pink ring symptom in tea plants.This article provides the first evidence that anthocyanin-3-O-galactosides are the anthracnose-resistant phytoalexins among various polyphenols in tea plants,and this presents an approach for identifying resistance genes in tea plants,where genetic transformation is challenging.展开更多
In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is addressed.The purpose of...In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is addressed.The purpose of this study is to develop distributed controllers utilizing local interactive protocols that not only suppress the vibration of each flexible manipulator but also achieve consensus on joint angle position between actual followers and the virtual leader.Following the accomplishment of the reconstruction of the fault terms and parameter uncertainties,the adaptive neural network method and parameter estimation technique are employed to compensate for unknown items and bounded disturbances.Furthermore,the Lyapunov stability theory is used to demonstrate that followers’angle consensus errors and vibration deflections in closed-loop systems are uniformly ultimately bounded.Finally,the numerical simulation results confirm the efficacy of the proposed controllers.展开更多
BACKGROUND Breast abscess during lactation is a severe complication of acute mastitis,which can lead to discomfort,high fever,breast fistula,sepsis,septic shock,breast damage,disease persistence and frequent hospitali...BACKGROUND Breast abscess during lactation is a severe complication of acute mastitis,which can lead to discomfort,high fever,breast fistula,sepsis,septic shock,breast damage,disease persistence and frequent hospitalization.Breast abscesses may also lead the mother to discontinue breastfeeding,thereby harming the infant’s health.The predominant pathogenic bacteria are Staphylococcus aureus,Staphylococcus epidermidis and Streptococcus.The incidence of breastfeeding abscesses in breastfeeding women ranges between 4.0%and 11.0%.In cases of breast abscess,the rate of cessation of lactation is 41.0%.In instances of breast fistula,the rate of cessation of lactation is very high(66.7%).Furthermore,50.0%of women with breast abscesses must be hospitalized and treated with intravenous antibiotics.Treatment includes antibiotics,abscess puncture and surgical incision and drainage.The patients suffer from stress,pain and easily induced breast scarring;the disease’s progression is prolonged and recurrent,interfering with infant feeding.Consequently,it is crucial to discover an adequate cure.CASE SUMMARY A 28-year-old woman with a breast abscess was treated with Gualou Xiaoyong decoction and painless breast opening manipulation 24 d after cesarean delivery.On the 2nd d of treatment,the patient’s breast mass was significantly reduced,the pain was significantly reduced,and the general asthenia was improved.All conscious symptoms disappeared after 3 d,breast abscesses faded after 12 d of treatment,inflammation images disappeared after 27 d,and normal lactation images were restored.CONCLUSION In treating breast abscesses during breastfeeding,the combination of Gualou Xiaoyong decoction and painless lactation provides a positive therapeutic impact.This disease’s treatment offers the advantages of a short course of treatment,no need to discontinue breastfeeding and the ability to rapidly mitigate symptoms,which can be used as a reference in clinical practice.展开更多
With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits ...With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.展开更多
This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode(FNTSM)manifold and a linear extended state observer(LESO).The develope...This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode(FNTSM)manifold and a linear extended state observer(LESO).The developed controlmethod applies an FNTSMto ensure the tracking performance’s control accuracy,and an LESO to estimate the system’s unmodeled dynamics and external disturbances.Additionally,an improved salp swarm algorithm(ISSA)is employed to parameter tune the suggested controller by integrating the salp swarmtechnique with a cloud model.This approach also uses a model-free scheme to reduce the complexity of controller design without relying on complex and precise dynamics models.The simulation results show that the proposed controller outperforms linear active rejection disturbance control and PID controllers in terms of transient performance and resilience against lumped disturbances,and the ISSA can help the proposed controller find optimal control parameters.展开更多
With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and p...With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and pose control of the aerialmanipulator forpractical application.In this paper,a novel cable-drivenaerialmanipulatorused for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account.To achieve high precision joint position tracking under lumped disturbances,a newly controller,which consists of three parts:linear extended state observer,adaptive super-twisting strategy,and fractional-order nonsingular terminal sliding mode control,is proposed.The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure.The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem.The Lyapunovmethod is utilized to prove the overall stability and convergence of the system.Lastly,various visualization simulations and ground experiments are conducted,verifying the effectiveness of our strategy,and all outcomes demonstrate its superiorities over the existing control strategies.展开更多
基金The research was funded by a USDA Multistate(2052R)grant from the CTAHR University of Hawaii at Manoa to B.M.
文摘Background High environmental temperatures induce heat stress in broiler chickens,affecting their health and pro-duction performance.Several dietary,managerial,and genetics strategies have been tested with some success in mitigating heat stress(HS)in broilers.Developing novel HS mitigation strategies for sustaining broiler production is critically needed.This study investigated the effects of pre-hatch thermal manipulation(TM)and post-hatch baica-lein supplementation on growth performance and health parameters in heat-stressed broilers.Results Six hundred fertile Cobb 500 eggs were incubated for 21 d.After candling on embryonic day(ED)10,238 eggs were thermally manipulated at 38.5℃ with 55%relative humidity(RH)from ED 12 to 18,then transferred to the hatcher(ED 19 to 21,standard temperature)and 236 eggs were incubated at a controlled temperature(37.5℃)till hatch.After hatch,180-day-old chicks from both groups were raised in 36 pens(n=10 birds/pen,6 replicates per treatment).The treatments were:1)Control,2)TM,3)control heat stress(CHS),4)thermal manipulation heat stress(TMHS),5)control heat stress supplement(CHSS),and 6)thermal manipulation heat stress supplement(TMHSS).All birds were raised under the standard environment for 21 d,followed by chronic heat stress from d 22 to 35(32–33℃ for 8 h)in the CHS,TMHS,CHSS,and TMHSS groups.A thermoneutral(22–24℃)environment was maintained in the Control and TM groups.RH was constant(50%±5%)throughout the trial.All the data were analyzed using one-way ANOVA in R and GraphPad software at P<0.05 and are presented as mean±SEM.Heat stress significantly decreased(P<0.05)the final body weight and ADG in CHS and TMHS groups compared to the other groups.Embryonic TM significantly increased(P<0.05)the expression of heat shock protein-related genes(HSP70,HSP90,and HSPH1)and antioxidant-related genes(GPX1 and TXN).TMHS birds showed a significant increment(P<0.05)in total cecal volatile fatty acid(VFA)concentration compared to the CHS birds.The cecal microbial analysis showed significant enrichment(P<0.05)in alpha and beta diversity and Coprococcus in the TMHSS group.Conclusions Pre-hatch TM and post-hatch baicalein supplementation in heat-stressed birds mitigate the detrimental effects of heat stress on chickens’growth performance,upregulate favorable gene expression,increase VFA produc-tion,and promote gut health by increasing beneficial microbial communities.
基金supported by the National Defense Basic Scientific Research Project(No.JCKY2020210B001)the National Natural Science Foundation of China(No.U19A20103),the China Postdoctoral Science Foundation(No.2019M661184)+2 种基金the Jilin Province Scientific and Technological Development Program(No.YDZJ202101ZYTS025)the Jilin Province Young Science and Technology Talent Lift Project(No.QT202030)the Science and Technology Innovation Fund of CUST(No.XJJLG-2019-05)。
文摘Bio-inspired macrostructure array(MAA,size:submillimeter to millimeter scale)materials with special wettability(MAAMs-SW)have attracted significant research attention due to their outstanding performance in many applications,including oil repellency,liquid/droplet manipulation,anti-icing,heat transfer,water collection,and oil–water separation.In this review,we focus on recent developments in the theory,design,fabrication,and application of bio-inspired MAAMs-SW.We first review the history of the basic theory of special wettability and discuss representative structures and corresponding functions of some biological surfaces,thus setting the stage for the design and fabrication of bio-inspired MAAMs-SW.We then summarize the fabrication methods of special wetting MAAs in terms of three categories:additive manufacturing,subtractive manufacturing,and formative manufacturing,as well as their diverse functional applications,providing insights into the development of these MAAMs-SW.Finally,the challenges and directions of future research on bio-inspired MAAMs-SW are briefy addressed.Worldwide efforts,progress,and breakthroughs from surface engineering to functional applications elaborated herein will promote the practical application of bio-inspired MAAMs-SW.
基金the support by the Office of Naval Research’s NEPTUNE Program under the Grant Number N00014-16-1-3109the National Science Foundation CMMI NanoManufacturing Program。
文摘The remarkable capabilities of 2D plasmonic surfaces in controlling optical waves havegarnered significant attention.However,the challenge of large-scale manufacturing of uniform,well-aligned,and tunable plasmonic surfaces has hindered their industrialization.To address this,we present a groundbreaking tunable plasmonic platform design achieved throughmagnetic field(MF)assisted ultrafast laser direct deposition in air.Through precise control of metal nanoparticles(NPs),with cobalt(Co)serving as the model material,employing an MF,and fine-tuning ultrafast laser parameters,we have effectively converted coarse and non-uniform NPs into densely packed,uniform,and ultrafine NPs(~3 nm).This revolutionary advancement results in the creation of customizable plasmonic‘hot spots,’which play a pivotal role insurface-enhanced Raman spectroscopy(SERS)sensors.The profound impact of this designable plasmonic platform lies in its close association with plasmonic resonance and energyenhancement.When the plasmonic nanostructures resonate with incident light,they generate intense local electromagnetic fields,thus vastly increasing the Raman scattering signal.This enhancement leads to an outstanding 2–18 fold boost in SERS performance and unparalleled sensing sensitivity down to 10^(-10)M.Notably,the plasmonic platform also demonstratesrobustness,retaining its sensing capability even after undergoing 50 cycles of rinsing andre-loading of chemicals.Moreover,this work adheres to green manufacturing standards,making it an efficient and environmentally friendly method for customizing plasmonic‘hot spots’inSERS devices.Our study not only achieves the formation of high-density,uniform,and ultrafine NP arrays on a tunable plasmonic platform but also showcases the profound relation betweenplasmonic resonance and energy enhancement.The outstanding results observed in SERS sensors further emphasize the immense potential of this technology for energy-relatedapplications,including photocatalysis,photovoltaics,and clean water,propelling us closer to a sustainable and cleaner future.
基金conceived within the preparation of the Project Restoration of Deep-sea habitats to Rebuild European Seas (REDRESS):HORIZON CL6-2023-BIODIV-Restoration of deepsea habitats carried out within the framework of the activities of the Spanish Government through the"Severo Ochoa Centre Excellence"granted to ICM-CSIC (CEX2019-000928-S)and the Research Unit Tecnoterra (ICM-CSIC/UPC)supported the work were those of the Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 of the Spanish government:BITER-LANDER (PID2020-114732RB-C32),BITER-ECO (PID2020-114732RB-C31),BITER-AUV (PID2020-114732RB-C33),PLOME (PLEC2021-007525/AEI/10.13039/501100011033)+3 种基金the conceptual development,falls within the framework of EU LIFE Project ECOREST (LIFE20 NAT/ES/001270)funded by a Juan de la Cierva Formación Post-doctoral Fellowship (FJC2021-047734-Ifinanced by Ministerio de Cuyltura e Innovación/Agencia Española de Investigación and European Union NextGeneration EU/PRTR funds)funded by the Spanish Government (Agencia Española de Investigación-AEI)through the‘Severo Ochoa Centre of Excellence’accreditation (CEX2019-000928-S).
文摘The United Nations(UN)’s call for a decade of“ecosystem restoration”was prompted by the need to address the extensive impact of anthropogenic activities on natural ecosystems.Marine ecosystem restoration is increasingly necessary due to increasing habitat degredation in deep waters(>200 m depth).At these depths,which are far beyond those accessible by divers,only established and emerging robotic platforms such as remotely operated vehicles(ROVs),autonomous underwater vehicles(AUVs),landers,and crawlers can operate through manipulators and multiparametric sensor arrays(e.g.,optoacoustic imaging,omics,and environmental probes).The use of advanced technologies for deep-sea ecosystem restoration can provide:①high-resolution three-dimensional(3D)imaging and acoustic mapping of substrates and key taxa,②physical manipulation of substrates and key taxa,③real-time supervision of remote operations and long-term ecological monitoring,and④the potential to work autonomously.Here,we describe how robotic platforms with in situ manipulation capabilities and payloads of innovative sensors could autonomously conduct active restoration and monitoring across large spatial scales.We expect that these devices will be particularly useful in deep-sea habitats,such as①reef-building cold-water corals,②soft-bottom bamboo corals,and③soft-bottom fishery resources that have already been damaged by offshore industries(i.e.,fishing and oil/gas).
基金Project supported by the National Key Research and Development Program of China (Grant No.2021YFA1401001)the National Natural Science Foundation of China (Grant No.62371355)。
文摘A 1-bit electronically controlled metasurface reflectarray is presented to achieve beam steering with multiple polarization manipulations. A metsurface unit cell loaded by two PIN diodes is designed. By switching the two PIN diodes between ON and OFF states, the isotropic and anisotropic reflections can be flexibly achieved. For either the isotropic reflection or the anisotropic reflection, the two operation states achieve the reflection coefficients with approximately equal magnitude and 180°out of phase, thus giving rise to the isotropic/anisotropic 1-bit metasurface unit cells. With the 1-bit unit cells, a 12-by-12 metasurface reflectarray is optimally designed and fabricated. Under either y-or x-polarized incident wave illumination, the reflectarray can achieve the co-polarized and cross-polarized beam scanning, respectively, with the peak gains of 20.08 d Bi and 17.26 d Bi within the scan range of about ±50°. With the right-handed circular polarization(RHCP) excitation, the left-handed circular polarization(LHCP) radiation with the peak gain of 16.98 d Bic can be achieved within the scan range of ±50°. Good agreement between the experimental results and the simulation results are observed for 2D beam steering and polarization manipulation capabilities.
基金supported by the USTC Research Funds of the Double First-Class Initiative(Nos.YD2090002013,YD234000009)the National Natural Science Foundation of China(Nos.61927814,62325507,52122511,U20A20290,62005262)。
文摘The use of‘Electrostatic tweezers'is a promising tool for droplet manipulation,but it faces many limitations in manipulating droplets on superhydrophobic surfaces.Here,we achieve noncontact and multifunctional droplet manipulation on Nepenthes-inspired lubricated slippery surfaces via triboelectric electrostatic tweezers(TETs).The TET manipulation of droplets on a slippery surface has many advantages over electrostatic droplet manipulation on a superhydrophobic surface.The electrostatic field induces the redistribution of the charges inside the neutral droplet,which causes the triboelectric charged rod to drive the droplet to move forward under the electrostatic force.Positively or negatively charged droplets can also be driven by TET based on electrostatic attraction and repulsion.TET enables us to manipulate droplets under diverse conditions,including anti-gravity climb,suspended droplets,corrosive liquids,low-surface-tension liquids(e.g.ethanol with a surface tension of 22.3 mN·m^(-1)),different droplet volumes(from 100 nl to 0.5 ml),passing through narrow slits,sliding over damaged areas,on various solid substrates,and even droplets in an enclosed system.Various droplet-related applications,such as motion guidance,motion switching,droplet-based microreactions,surface cleaning,surface defogging,liquid sorting,and cell labeling,can be easily achieved with TETs.
基金partially supported by the National Natural Science Foundation of China (62322315,61873237)Zhejiang Provincial Natural Science Foundation of China for Distinguished Young Scholars(LR22F030003)+2 种基金the National Key Rearch and Development Funding(2018YFB1403702)the Key Rearch and Development Programs of Zhejiang Province (2023C01224)Major Project of Science and Technology Innovation in Ningbo City (2019B1003)。
文摘This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.
基金Project supported by the Youth Innovation Promotion Association CASState Key Laboratory of Transient Optics and Photonics Open Topics (Grant No. SKLST202222)
文摘The perfect hybrid vector vortex beam(PHVVB)with helical phase wavefront structure has aroused significant concern in recent years,as its beam waist does not expand with the topological charge(TC).In this work,we investigate the spatial quantum coherent modulation effect with PHVVB based on the atomic medium,and we observe the absorption characteristic of the PHVVB with different TCs under variant magnetic fields.We find that the transmission spectrum linewidth of PHVVB can be effectively maintained regardless of the TC.Still,the width of transmission peaks increases slightly as the beam size expands in hot atomic vapor.This distinctive quantum coherence phenomenon,demonstrated by the interaction of an atomic medium with a hybrid vector-structured beam,might be anticipated to open up new opportunities for quantum coherence modulation and accurate magnetic field measurement.
基金Project supported by the National Key Research and Development Program of China (Grant No.2020YFA0211400)the State Key Program of the National Natural Science Foundation of China (Grant No.11834008)+3 种基金the National Natural Science Foundation of China (Grant Nos.12174192 and 12204119)the Fund from the State Key Laboratory of Acoustics,Chinese Academy of Sciences (Grant No.SKLA202210)the Fund from the Key Laboratory of Underwater Acoustic Environment,Chinese Academy of Sciences (Grant No.SSHJ-KFKT-1701)the Science and Technology Foundation of Guizhou Province,China (Grant No.ZK[2023]249)。
文摘Acoustic radiation force(ARF), as an important particle manipulation method, has been extensively studied in recent years. With the introduction of the concept of “acoustic tweezers”, negative acoustic radiation has become a research hotspot. In this paper, a scheme of realizing negative ARF based on the multiple-layered spherical structure design is proposed. The specific structure and design idea are presented. Detailed theoretical calculation analysis is carried out.Numerical simulations have been performed to verify the correctness of this prediction. The conjecture that the suppression of backscattering can achieve negative ARF is verified concretely, which greatly expands the application prospect and design ideas of the ARF. This work has laid a theoretical foundation for realizing precise control of the structure.
基金Supported by The Scientific Initiation Scholarship Programme(PIBIC)of National Council for Scientific and Technological Development,CNPq,Brazil(Luz MS and Pinheiro SLR),No.6511185733054315 and No.3748771590681149The coauthor Lemos,FFB is supported by the Scientific Initiation Scholarship Programme(PIBIC)of Bahia State Research Support Foundation,FAPESB,Brazil,No.19.573.301.5418and the CNPq Research Productivity Fellow(de Melo FF),No.4357511882624145.
文摘Pancreatic cancer(PC)is characterized by its extremely aggressive nature and ranks 14th in the number of new cancer cases worldwide.However,due to its complexity,it ranks 7th in the list of the most lethal cancers worldwide.The pathogenesis of PC involves several complex processes,including familial genetic factors associated with risk factors such as obesity,diabetes mellitus,chronic pancreatitis,and smoking.Mutations in genes such as KRAS,TP53,and SMAD4 are linked to the appearance of malignant cells that generate pancreatic lesions and,consequently,cancer.In this context,some therapies are used for PC,one of which is immunotherapy,which is extremely promising in various other types of cancer but has shown little response in the treatment of PC due to various resistance mechanisms that contribute to a drop in immunotherapy efficiency.It is therefore clear that the tumor microenvironment(TME)has a huge impact on the resistance process,since cellular and non-cellular elements create an immunosuppressive environment,characterized by a dense desmoplastic stroma with cancerassociated fibroblasts,pancreatic stellate cells,extracellular matrix,and immunosuppressive cells.Linked to this are genetic mutations in TP53 and immunosuppressive factors that act on T cells,resulting in a shortage of CD8+T cells and limited expression of activation markers such as interferon-gamma.In this way,finding new strategies that make it possible to manipulate resistance mechanisms is necessary.Thus,techniques such as the use of TME modulators that block receptors and stromal molecules that generate resistance,the use of genetic manipulation in specific regions,such as microRNAs,the modulation of extrinsic and intrinsic factors associated with T cells,and,above all,therapeutic models that combine these modulation techniques constitute the promising future of PC therapy.Thus,this study aims to elucidate the main mechanisms of resistance to immunotherapy in PC and new ways of manipulating this process,resulting in a more efficient therapy for cancer patients and,consequently,a reduction in the lethality of this aggressive cancer.
基金supported by Natural Science Basic Research Program of Shaanxi(2022JQ-593)Key Research and Development Program of Shaanxi(2022GY-089)。
文摘Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator control are studied,and a complete manipulator vision tracking system is designed.Firstly,Denavit-Hartenberg(D-H)parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the manipulator.At the same time,a binocular camera is used to obtain the threedimensional position of the target.Secondly,in order to make the manipulator track the target more accurately,the fuzzy adaptive square root unscented Kalman filter(FSRUKF)is proposed to estimate the target state.Finally,the manipulator tracking system is built by using the position-based visual servo.The simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter(SRUKF),which meets the application requirements of the manipulator tracking system,and basically meets the application requirements of the manipulator tracking system in the practical experiments.
基金supported in part by the National Natural Science Foundation of China (62373065,61873304,62173048,62106023)the Innovation and Entrepreneurship Talent funding Project of Jilin Province(2022QN04)+1 种基金the Changchun Science and Technology Project (21ZY41)the Open Research Fund of National Mobile Communications Research Laboratory,Southeast University (2024D09)。
文摘This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.
文摘The general use of aluminium as an indentation standard for the iteration of contact heights for the determination of ISO-14577 hardness and elastic modulus is challenged because of as yet not appreciated phase-changes in the physical force-depth standard curve that seemed to be secured by claims from 1992. The physical and mathematical analyses with closed formulas avoid the still world-wide standardized energy-law violation by not reserving 33.33% (h2 belief) (or 20% h3/2 physical law) of the loading force and thus energy for all not depth producing events but using 100% for the depth formation is a severe violation of the energy law. The not depth producing part of the indentation work cannot be done with zero energy! Both twinning and structural phase-transition onsets and normalized phase-transition energies are now calculated without iterations but with physically correct closed arithmetic equations. These are reported for Berkovich and cubecorner indentations, including their comparison on geometric grounds and an indentation standard without mechanical twinning is proposed. Characteristic data are reported. This is the first detection of the indentation twinning of aluminium at room temperature and the mechanical twinning of fused quartz is also new. Their disqualification as indentation standards is established. Also, the again found higher load phase-transitions disqualify aluminium and fused quartz as ISO-ASTM 14577 (International Standardization Organization and American Society for Testing and Materials) standards for the contact depth “hc” iterations. The incorrect and still world-wide used black-box values for H- and Er-values (the latter are still falsely called “Young’s moduli” even though they are not directional) and all mechanical properties that depend on them. They lack relation to bulk moduli from compression experiments. Experimentally obtained and so published force vs depth parabolas always follow the linear FN = kh3/2 + Fa equation, where Fa is the axis-cut before and after the phase-transition branches (never “h2” as falsely enforced and used for H, Er and giving incorrectly calculated parameters). The regression slopes k are the precise physical hardness values, which for the first time allow for precise calculation of the mechanical qualities by indentation in relation to the geometry of the indenter tip. Exactly 20% of the applied force and thus energy is not available for the indentation depth. Only these scientific k-values must be used for AI-advises at the expense of falsely iterated indentation hardness H-values. Any incorrect H-ISO-ASTM and also the iterated Er-ISO-ASTM modulus values of technical materials in artificial intelligence will be a disaster for the daily safety. The AI must be told that these are unscientific and must therefore be replaced by physical data. Iterated data (3 and 8 free parameters!) cannot be transformed into physical data. One has to start with real experimental loading curves and an absolute ZerodurR standard that must be calibrated with standard force and standard length to create absolute indentation results. .
基金financially supported by the Doctoral Foundation of Henan University of Technology(No.2021BS030)Natural Science Foundation of Shandong Province(No.ZR2019YQ24)+1 种基金Taishan Scholars and Young Experts Program of Shandong Province(No.tsqn202103057)Qingchuang Talents Induction Program of Shandong Higher Education Institution(Research and Innovation Team of Structural-Functional Polymer Composites)。
文摘Transition metal dichalcogenides(TMDs)show great advantages in electromagnetic wave(EMW)absorption due to their unique structure and electrical properties.Tremendous research works on TMD-based EMW absorbers have been conducted in the last three years,and the comprehensive and systematical summary is still a rarity.Therefore,it is of great significance to elaborate on the interaction among the morphologies,structures,phases,components,and EMW absorption performances of TMD-based absorbers.This review is devoted to analyzing TMD-based absorbers from the following perspectives:the EMW absorption regulation strategies of TMDs and the latest progress of TMD-based hybrids as EMW absorbers.The absorption mechanisms and component-performance dependency of these achievements are also summarized.Finally,a straightforward insight into industrial revolution upgrading in this promising field is proposed.
基金We thank the Natural Science Foundation of China(U21A20232,32372756,32072621)the Anhui Provincial Natural Science Foundation(2308085MC94)+1 种基金the National Key Research and Development Program of China(2022YFF1003103)the Anhui Key Research and Development Program of China(202204c06020035).We are grateful to Professor Yeyun Li for providing the cultivar‘Zhongcha108’cuttings for 2 years with different N:P:K ratios.
文摘Tea(Camellia sinensis)is a well-known beverage crop rich in polyphenols with health benefits for humans.Understanding how tea polyphenols participate in plant resistance is beneficial to breeding resistant varieties and uncovering the resistance mechanisms.Here,we report that a Colletotrichum infection-induced‘pink ring’symptom appeared outside the lesion,which is highly likely to occur in resistant cultivars.By identifying morphological feature-specific metabolites in the pink ring and their association with disease resistance,and analysis of the association between metabolite and gene expression,the study revealed that the accumulation of anthocyanin-3-O-galactosides,red phytotoxin compounds resistant to anthracnose,plays a pivotal role in the hypersensitive response surrounding infection sites in tea plants.The results of genetic manipulation showed that the expression of CsF3Ha,CsANSa,CsUGT78A15,CsUGT75L43,and CsMYB113,which are involved in anthocyanin biosynthesis,is positively correlated with anthracnose-resistance and the formation of the pink ring.Further phosphorus quantification and fertilization experiments confirmed that phosphate deficiency caused by anthracnose is involved in the occurrence of the pink ring.Genetic manipulation studies indicated that altering the expression levels of Pi transporter proteins(CsPHT2-1,CsPHT4;4)and phosphate deprivation response transcription factors(CsWRKY75-1,CsWRKY75-2,CsMYB62-1)enhances resistance to anthracnose and the formation of the pink ring symptom in tea plants.This article provides the first evidence that anthocyanin-3-O-galactosides are the anthracnose-resistant phytoalexins among various polyphenols in tea plants,and this presents an approach for identifying resistance genes in tea plants,where genetic transformation is challenging.
基金This work was supported in part by the National Key Research and Development Program of China(2021YFB3202200)Guangdong Basic and Applied Basic Research Foundation(2020B1515120071,2021B1515120017).
文摘In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is addressed.The purpose of this study is to develop distributed controllers utilizing local interactive protocols that not only suppress the vibration of each flexible manipulator but also achieve consensus on joint angle position between actual followers and the virtual leader.Following the accomplishment of the reconstruction of the fault terms and parameter uncertainties,the adaptive neural network method and parameter estimation technique are employed to compensate for unknown items and bounded disturbances.Furthermore,the Lyapunov stability theory is used to demonstrate that followers’angle consensus errors and vibration deflections in closed-loop systems are uniformly ultimately bounded.Finally,the numerical simulation results confirm the efficacy of the proposed controllers.
基金Supported by Zhejiang Traditional Chinese Medicine Science and Technology Plan,No.2023ZL449.
文摘BACKGROUND Breast abscess during lactation is a severe complication of acute mastitis,which can lead to discomfort,high fever,breast fistula,sepsis,septic shock,breast damage,disease persistence and frequent hospitalization.Breast abscesses may also lead the mother to discontinue breastfeeding,thereby harming the infant’s health.The predominant pathogenic bacteria are Staphylococcus aureus,Staphylococcus epidermidis and Streptococcus.The incidence of breastfeeding abscesses in breastfeeding women ranges between 4.0%and 11.0%.In cases of breast abscess,the rate of cessation of lactation is 41.0%.In instances of breast fistula,the rate of cessation of lactation is very high(66.7%).Furthermore,50.0%of women with breast abscesses must be hospitalized and treated with intravenous antibiotics.Treatment includes antibiotics,abscess puncture and surgical incision and drainage.The patients suffer from stress,pain and easily induced breast scarring;the disease’s progression is prolonged and recurrent,interfering with infant feeding.Consequently,it is crucial to discover an adequate cure.CASE SUMMARY A 28-year-old woman with a breast abscess was treated with Gualou Xiaoyong decoction and painless breast opening manipulation 24 d after cesarean delivery.On the 2nd d of treatment,the patient’s breast mass was significantly reduced,the pain was significantly reduced,and the general asthenia was improved.All conscious symptoms disappeared after 3 d,breast abscesses faded after 12 d of treatment,inflammation images disappeared after 27 d,and normal lactation images were restored.CONCLUSION In treating breast abscesses during breastfeeding,the combination of Gualou Xiaoyong decoction and painless lactation provides a positive therapeutic impact.This disease’s treatment offers the advantages of a short course of treatment,no need to discontinue breastfeeding and the ability to rapidly mitigate symptoms,which can be used as a reference in clinical practice.
基金This work was supported in part by the National Natural Science Foundation of China(62206109)the Fundamental Research Funds for the Central Universities(21620346)。
文摘With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.
基金supported by the National Natural Science Foundation of China(52005231)Social Development Science and Technology Support Project of Changzhou(CE20215050)Jiangsu Province Graduate Student Practice Innovation Plan(SJCX21_1313,SJCX21_1314).
文摘This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode(FNTSM)manifold and a linear extended state observer(LESO).The developed controlmethod applies an FNTSMto ensure the tracking performance’s control accuracy,and an LESO to estimate the system’s unmodeled dynamics and external disturbances.Additionally,an improved salp swarm algorithm(ISSA)is employed to parameter tune the suggested controller by integrating the salp swarmtechnique with a cloud model.This approach also uses a model-free scheme to reduce the complexity of controller design without relying on complex and precise dynamics models.The simulation results show that the proposed controller outperforms linear active rejection disturbance control and PID controllers in terms of transient performance and resilience against lumped disturbances,and the ISSA can help the proposed controller find optimal control parameters.
基金supported by the National Natural Science Foundation of China (52005231,52175097)Social Development Science and Technology Support Project of Changzhou (CE20215050).
文摘With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and pose control of the aerialmanipulator forpractical application.In this paper,a novel cable-drivenaerialmanipulatorused for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account.To achieve high precision joint position tracking under lumped disturbances,a newly controller,which consists of three parts:linear extended state observer,adaptive super-twisting strategy,and fractional-order nonsingular terminal sliding mode control,is proposed.The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure.The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem.The Lyapunovmethod is utilized to prove the overall stability and convergence of the system.Lastly,various visualization simulations and ground experiments are conducted,verifying the effectiveness of our strategy,and all outcomes demonstrate its superiorities over the existing control strategies.