基于步态切换的欠驱动双足机器人控制方法

由于高维、非线性、欠驱动等特点, 3-D双足机器人的稳定性控制依然是一个研究难点. 一些传统的控制方法, 如基于事件的反馈控制方法和PD控制方法, 抗扰动能力较弱, 鲁棒性较差. 通过观察, 人类受到外部扰动影响时, 会通过调整步态重新获得稳定性,相较之下仅依靠一个步态获得的稳定性是有限的. 受此启发, 本文针对上述问题提出一种基于步态切换的欠驱动3-D双足机器人控制方法. 首先, 以能耗最少为优化目标, 通过非线性优化方法预先设计多组不同步长、步速的步态作为参考步态, 以构建一个步态库; 然后, 通过综合考虑步态切换过程中的稳定性与能效, 建立了多目标步态切换函数; 最后, 将该步态切换函数作为优化目标, 并求解该最小化问题获得下一步的参考步态, 从而实现步态切换, 达到使用步态库?多轨迹方法来提高鲁棒性的目的. 在仿真实验中运用该步态切换控制方法, 欠驱动3-D双足机器人可实现相对高度在[-20, 20] mm内随机变化的不平整地面上行走, 而仅采用单步态控制策略则无法克服这样的外部扰动, 从而说明了基于步态切换的欠驱动双足机器人控制方法的有效性.      

The metabolites and biotransformation pathways in vivo after oral administration of ocotillol,RT5, and PF11

Ocotillol, pseudo-ginsenoside RT5 (RT₅), and pseudo-ginsenoside F₁₁ (PF₁₁) are ocotillol-type saponins that have the same aglycone structure but with different numbers of glucose at the C-6 position. In this study, the metabolites of ocotillol, RT₅, and PF₁₁ in rat plasma, stomach, intestine, urine, and feces after oral administration were investigated by ultra-performance liquid chromatography coupled with time-of-flight mass spectrometry. The results showed that RT₅ was easily biotransformed into metabolites in vivo, whereas PF₁₁ and RT₅ were difficult to be biotransformed. Hydrogenation, dehydrogenation, dehydration, deglycosylation, deoxygenation, hydration, phosphorylation, deoxidation, glucuronidation, and reactions combining amino acid were speculated to be involved in the biotransformation of ocotillol, RT₅, and PF₁₁. Based on the structural analysis of metabolites, it was deduced that hydrogenation, dehydration, deoxidation, and reactions combining amino acid occurred on the aglycone structure, whereas deglycosylation, hydration, and phosphorylation occurred on the glycosyl chain. Further, metabolites in plasma, urine, feces, and tissues were different: First, glucuronidation products were found in urine, stomach, intestine, and feces, but not in plasma. Second, the ocotillol prototype was not identified in urine samples. Third, the RT₅ prototype was found in stomach, intestine, feces, and urine, but not in plasma.     

Manipulating the Stacking of Triplet Chromophores in the Crystal Form for Ultralong Organic Phosphorescence

Provided here is evidence showing that the stacking between triplet chromophores plays a critical role in ultralong organic phosphorescence (UOP) generation within a crystal. By varying the structure of a functional unit, and different on‐off UOP behavior was observed for each structure. Remarkably, 24CPhCz, having the strongest intermolecular interaction between carbazole units exhibited the most impressive UOP with a long lifetime of 1.06 s and a phosphorescence quantum yield of 2.5 %. 34CPhCz showed dual‐emission UOP and thermally activated delayed fluorescence (TADF) with a moderately decreased phosphorescence lifetime of 770 ms, while 35CPhCz only displayed TADF owing to the absence of strong electronic coupling between triplet chromophores. This study provides an explanation for UOP generation in crystal and new guidelines for obtaining UOP materials.     

Metal-free and highly regioselective synthesis of N-heteroaryl substituted pyrazoles from α,β-unsaturated N-tosylhydrazones and heteroaryl chlorides

A cascade cyclization/nucleophilic aromatic substitution (S_NAr) reaction of α,β-unsaturated N-tosylhydrazones with N-heteroaryl chlorides was developed for the synthesis of N-heteroaryl pyrazole derivatives. This one-pot reaction provided bi(heteroaryl) derivatives in good to excellent yields and with excellent regioselectivity. The procedure is operationally simple and applicable to large-scale synthesis.     

Temperature Dependence of In-plane Resistivity and Inverse Hall Angle in NLED Holographic Model

In the strange metal phase of the high-Tc cuprates, it is challenging to explain the linear temperature dependence of the in-plane resistivity and the quadratic temperature dependence of the inverse Hall angle. In this paper, we investigate the temperature dependence of the in-plane resistivity and inverse Hall angle in the nonlinear electrodynamics holographic model developed in our recent work. Maxwell electrodynamics and Born-Infeld electrodynamics are considered. Both cases support a wide spectrum of temperature scalings in parameter space. For Maxwell electrodynamics, the T-linear in-plane resistivity generally dominates at low temperatures and survives into higher temperatures in a narrow strip-like manner. Meanwhile, the T-quadratic inverse Hall angle dominates at high temperatures and extends down to lower temperatures. The overlap between the T-linear in-plane resistivity and the T-quadratic inverse Hall angle, if occurs, would generally present in the intermediate temperate regime. The Born-Infeld case with a 0 is quite similar to the Maxwell case. For the Born-Infeld case with a 0, there can be a constraint on the charge density and magnetic field. Moreover, the overlap can occur for strong charge density.     

Simultaneous Visualization of Endogenous Homocysteine,Cysteine, Glutathione,and their Transformation through Different Fluorescence Channels

Studying numerous biologically important species simultaneously is crucial to understanding cellular functions and the root causes of related diseases. Direct visualization of endogenous biothiols in biological systems is of great value to understanding their biological roles. Herein, a novel multi‐signal fluorescent probe was rationally designed and exploited for the simultaneous sensing of homocysteine (Hcy), cysteine (Cys), and glutathione (GSH) using different emission channels. This probe was successfully applied to the simultaneous discrimination between and visualization of endogenous Hcy, Cys, GSH, and their transformation in living cells.     

Rationally Design of Near Infrared Light Responsive Micro‐Photoelectrodes for In Vivo Sensing of Neurotransmitter Molecules in Mouse Brain†

The accurate quantification of neurotransmitter molecules is an indispensable means to reveal the physiological mechanisms of neuro movement in molecular level. However, existing detection strategies cannot fully meet practical needs, and the on‐site and in vivo detection of neurotransmitters in brain remains a great challenge. Here, we report the development of a near infrared light responsive photoelectrochemical (PEC) detection method for in vivo quantification of neurotransmitter dopamine in mouse brain. Under guidance of density function theory calculations, a combination strategy of non‐metal cation doping and defect engineering is introduced to rationally design the micro‐photoelectrodes with excellent biocompatibility and stability and implements the in vivo PEC detection of dopamine in mouse brain. It opens up a new way for the accurate in vivo detection of biomolecules and allows researchers to make novel inquiries for long‐standing questions in a new way.     

Cephalotanins A–D,Four Norditerpenoids Represent Three Highly Rigid Carbon Skeletons from Cephalotaxus sinensis

Four polycyclic norditerpenoids, cephalotanins A–D ( 1 – 4 ) representing three unprecedented carbon skeletons with highly rigid ring systems, were isolated from Cephalotaxus sinensis and structurally characterized by a combination of various methods. Compounds 1 and 2 are new skeletal norditerpenoid trilactones, while 3 and 4 are two norditerpenoids featuring different new carbon skeletons. Biosynthetic pathways for 1 – 4 were proposed by involving diverse and very fascinating chemical events with the coexisting cephalotane troponoids as the precursors. Compound 1 exhibited good NF‐κB inhibition with an IC₅₀ value of 4.12±0.61 μΜ.