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Research on the cable-driven endoscopic manipulator for fusion reactors
Guodong Qin,Yong Cheng,Aihong Ji,Hongtao Pan,Yang Yang,Zhixin Yao,Yuntao Song Korean Nuclear Society 2024 Nuclear Engineering and Technology Vol.56 No.2
In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.
Shen Junjie,Yang Zhiwen,Wu Xinlin,Yao Guodong,Hou Mingxing 한국응용생명화학회 2023 Applied Biological Chemistry (Appl Biol Chem) Vol.66 No.-
Objective Gastric cancer (GC) remains a prevailing threat to life. Baicalein exhibits anti-cancer properties. This study estimated the mechanism of baicalein in GC cell apoptosis by mediating endoplasmic reticulum stress (ERS) through the PI3K/AKT pathway. Methods After treatment with different concentrations of baicalein, GC cell (HGC-27 and AGS) viability was detected by MTT assay. AGS cells more sensitive to baicalein treatment were selected as study subjects. The IC50 of baicalein on AGS cells was determined. Colony formation, cell cycle, and apoptosis were detected using crystal violet staining and flow cytometry. Levels of ERS-related and BTG3/PI3K/AKT pathway-related proteins were determined by Western blot. Intracellular Ca2+ level was measured using Fluo-3 AM fluorescence working solution. GC mouse models were established by subcutaneously injecting AGS cells into the right rib and were intragastrically administrated with baicalein. Tumor volume and weight were recorded. Expression of Ki67 in tumor tissues and positive expression of apoptotic cells were detected by immunohistochemistry and TUNEL staining. Results Baicalein inhibited cell proliferation and induced G0/G1 arrest and apoptosis by regulating the cell cycle, and triggered ERS in GC cells. Baicalein impeded the PI3K/AKT pathway by activating BTG3, thereby triggering ERS and inducing apoptosis. BTG3 inhibition reversed baicalein-induced apoptosis and ERS. Baicalein regulated GC cells in a concentration-dependent manner. Moreover, in xenograft mice, baicalein prevented tumor growth, decreased Ki67- positive cells, activated BTG3, and inhibited the PI3K/AKT pathway, thus activating ERS and increasing apoptotic cells. Conclusion Baicalein facilitates GC cell apoptosis by triggering ERS via repression of the PI3K/AKT pathway.
Olayinka Oderinde,Imtiaz Hussain,Mengmeng Kang,Yuanfeng Wu,Kalulu Mulenga,Ismaeel Adebayo,Fang Yao,Guodong Fu 한국공업화학회 2019 Journal of Industrial and Engineering Chemistry Vol.80 No.-
In this study, we report the utilization of different water contents (0–40 vol.%) as cosolvent to ethaline,ChCl:EG (deep eutectic solvent) at the mole ratio of 1:2 to prepare binary oxide of tungsten oxide-molybdenum oxide nanocomposite in an ambient environment, followed by characterization using XRD,FTIR, SEM, TEM, TGA, XPS and UV–vis spectroscopy. The as-prepared composite composed of aggregatedparticles at low temperature of 60 C, in the crystallite sizes ranging from~48.40 to 71.97 nm, with watercosolvent acting as bad solvent. Further characterizations revealed that the atomic percentage ratios oftungsten and molybdenum components increase with decrease in carbon content as the water contentincreases, while the morphology changes from cubic to prismatic polyhedral-like structures at lowtemperature, in addition to retaining ~73% of its original weight above 700 C. The UV–vis analysisrevealed broad absorption at 239–374 nm with a threshold value of 527 nm and can attain maximumphotochromic response in less 60 s on exposure to UV–vis light irradiation.