The insect mitogenome is typically a compact circular molecule with highly conserved gene contents.Nonetheless,mitogenome structural variations have been reported in specific taxa,and gene rearrangements,usually the t...The insect mitogenome is typically a compact circular molecule with highly conserved gene contents.Nonetheless,mitogenome structural variations have been reported in specific taxa,and gene rearrangements,usually the tRNAs,occur in different lineages.Because synapomorphies of mitogenome organizations can provide information for phylogenetic inferences,comparative analyses of mitogenomes have been given increasing attention.However,most studies use a very few species to represent the whole genus,tribe,family,or even order,overlooking potential variations at lower taxonomic levels,which might lead to some incorrect inferences.To provide new insights into mitogenome organizations and their implications for phylogenetic inference,this study conducted comparative analyses for mitogenomes of three social bee tribes(Meliponini,Bombini,and Apini)based on the phylogenetic framework with denser taxonomic sampling at the species and population levels.Comparative analyses revealed that mitogenomes of Apini and Bombini are the typical type,while those of Meliponini show diverse variations in mitogenome sizes and organizations.Large inverted repeats(IRs)cause significant gene rearrangements of protein coding genes(PCGs)and rRNAs in Indo-Malay/Australian stingless bee species.Molecular evolution analyses showed that the lineage with IRs have lower dN/dS ratios for PCGs than lineages without IRs,indicating potential effects of IRs on the evolution of mitochondrial genes.The finding of IRs and different patterns of gene rearrangements suggested that Meliponini is a hotspot in mitogenome evolution.Unlike conserved PCGs and rRNAs whose rearrangements were found only in the mentioned lineages within Meliponini,tRNA rearrangements are common across all three tribes of social bees,and are significant even at the species level,indicating that comprehensive sampling is needed to fully understand the patterns of tRNA rearrangements,and their implications for phylogenetic inference.展开更多
The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Des...The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.展开更多
Thermal stability of perovskite materials is an issue impairing the long-term operation of inverted perovskite solar cells(PSCs). Herein, the thermal attenuation mechanism of the MAPb I3films that deposited on two dif...Thermal stability of perovskite materials is an issue impairing the long-term operation of inverted perovskite solar cells(PSCs). Herein, the thermal attenuation mechanism of the MAPb I3films that deposited on two different hole transport layers(HTL), poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate)(PEDOT:PSS) and poly(3,4-ethylenedioxythiophene)(PEDOT), is comprehensively studied by applying a heat treatment at 85℃. The thermal stress causes the mutual ions migration of I, Pb and Ag through the device, which leads to the thermal decomposition of perovskite to form Pb I2. Interestingly, we find that I ions tend to migrate more towards electron transport layer(ETL) during heating, which is different with the observation of I ions migration towards HTL when bias pressure is applied. Moreover, the use of electrochemical deposited PEDOT as HTL significantly decreases the defect density of MAPb I3films as compared to PEDOT:PSS supported one. The electrochemical deposition PEDOT has good carrier mobility and low acidity, which avoids the drawbacks of aqueous PEDOT:PSS. Accordingly, the inverted PSCs based on PEDOT show superior durability than that with PEDOT:PSS. Our results reveal detailed degradation routes of a new kind of inverted PSCs which can contribute to the understanding of the failure of thermal-aged inverted PSCs.展开更多
This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we he...This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we herein invert the equivalent parallel mechanism.Assuming the leg mechanisms are hybrid links,the body of robot being considered as fixed platform,and ground as moving platform.The motion performance is transformed and measured in the body frame.Terrain and joint limits are used as input parameters to the model,resulting in the representation which is independent of terrains and particular poses in Inverted Modelling.Hence,it can universally be applied to any kind of legged robots as global motion performance framework.Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation.According to the requirements of actual work like motion continuity and stability,motion planning of legged robot can be achieved using different measurements on different terrains.Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads.The results verify the correctness and effectiveness of the proposed method.展开更多
A high-performance terahertz Schottky barrier diode(SBD)with an inverted trapezoidal epitaxial cross-sectional structure featuring high varactor characteristics and reverse breakdown characteristics is reported in thi...A high-performance terahertz Schottky barrier diode(SBD)with an inverted trapezoidal epitaxial cross-sectional structure featuring high varactor characteristics and reverse breakdown characteristics is reported in this paper.Inductively coupled plasma dry etching and dissolution wet etching are used to define the profile of the epitaxial layer,by which the voltage-dependent variation trend of the thickness of the metal-semiconductor contact depletion layer is modified.The simulation of the inverted trapezoidal epitaxial cross-section SBD is also conducted to explain the physical mechanism of the electric field and space charge region area.Compared with the normal structure,the grading coefficient M increases from 0.47 to 0.52,and the capacitance modulation ratio(C^(max)/C_(min))increases from 6.70 to 7.61.The inverted trapezoidal epitaxial cross-section structure is a promising approach to improve the variable-capacity ratio by eliminating the accumulation of charge at the Schottky electrode edge.A 190 GHz frequency doubler based on the inverted trapezoidal epitaxial cross-section SBD also shows a doubling efficiency of 35%compared to that 30%of a normal SBD.展开更多
In recent years,inverted perovskite solar cells(IPSCs)have attracted significant attention due to their low-temperature and cost-effective fabrication processes,hysteresis-free properties,excellent stability,and wide ...In recent years,inverted perovskite solar cells(IPSCs)have attracted significant attention due to their low-temperature and cost-effective fabrication processes,hysteresis-free properties,excellent stability,and wide application.The efficiency gap between IPSCs and regular structures has shrunk to less than 1%.Over the past few years,IPSC research has mainly focused on optimizing power conversion efficiency to accelerate the development of IPSCs.This review provides an overview of recent improvements in the efficiency of IPSCs,including interface engineering and novel film production techniques to overcome critical obstacles.Tandem and integrated applications of IPSCs are also summarized.Furthermore,prospects for further development of IPSCs are discussed,including the development of new materials,methods,and device structures for novel IPSCs to meet the requirements of commercialization.展开更多
The performance of inverted quantum-dot light-emitting diodes(QLEDs)based on solution-processed hole transport layers(HTLs)has been limited by the solvent-induced damage to the quantum dot(QD)layer during the spin-coa...The performance of inverted quantum-dot light-emitting diodes(QLEDs)based on solution-processed hole transport layers(HTLs)has been limited by the solvent-induced damage to the quantum dot(QD)layer during the spin-coating of the HTL.The lack of compatibility between the HTL’s solvent and the QD layer results in an uneven surface,which negatively impacts the overall device performance.In this work,we develop a novel method to solve this problem by modifying the QD film with 1,8-diaminooctane to improve the resistance of the QD layer for the HTL’s solvent.The uniform QD layer leads the inverted red QLED device to achieve a low turn-on voltage of 1.8 V,a high maximum luminance of 105500 cd/m2,and a remarkable maximum external quantum efficiency of 13.34%.This approach releases the considerable potential of HTL materials selection and offers a promising avenue for the development of high-performance inverted QLEDs.展开更多
In this work,we developed the PM6:Y6-based inverted structure organic photovoltaic(i-OPV)with improved power conversion efficiency(PCE)and long-term stability by resolving the origins of the performance deterioration....In this work,we developed the PM6:Y6-based inverted structure organic photovoltaic(i-OPV)with improved power conversion efficiency(PCE)and long-term stability by resolving the origins of the performance deterioration.The deep defects between the metal oxide-based electron transport layer and bulk-heterojunction photoactive layer interface were responsible for suboptimal PCE and facilitated degradation of devices.While the density of deep traps is increased during the storage of i-OPV,the penetrative oxygen-containing defects additionally generated shallow traps below the band-edge of Y6,causing an additional loss in the open-circuit voltage.The suppression of interfacial defects by chemical modification effectively improved the PCE and long-term stability of i-OPV.The modified i-OPV(mi-OPV)achieved a PCE of 17.42%,which is the highest value among the reported PM6:Y6-based i-OPV devices.Moreover,long-term stability was significantly improved:~90%and~80%retention of its initial PCE after 1200 h of air storage and illumination,respectively.展开更多
NiO_(x)-based inverted perovskite solar cells(PSCs)havepresented great potential toward low-cost,highly efficient and stablenext-generation photovoltaics.However,the presence of energy-levelmismatch and contact-interf...NiO_(x)-based inverted perovskite solar cells(PSCs)havepresented great potential toward low-cost,highly efficient and stablenext-generation photovoltaics.However,the presence of energy-levelmismatch and contact-interface defects between hole-selective contacts(HSCs)and perovskite-active layer(PAL)still limits device efficiencyimprovement.Here,we report a graded configuration based on bothinterface-cascaded structures and p-type molecule-doped compositeswith two-/three-dimensional formamidinium-based triple-halideperovskites.We find that the interface defects-induced non-radiativerecombination presented at HSCs/PAL interfaces is remarkably suppressedbecause of efficient hole extraction and transport.Moreover,astrong chemical interaction,halogen bonding and coordination bondingare found in the molecule-doped perovskite composites,whichsignificantly suppress the formation of halide vacancy and parasitic metallic lead.As a result,NiO_(x)-based inverted PSCs present a power-conversion-efficiency over 23%with a high fill factor of 0.84 and open-circuit voltage of 1.162 V,which are comparable to the best reported around 1.56-electron volt bandgap perovskites.Furthermore,devices with encapsulation present high operational stability over 1,200 h during T_(90) lifetime measurement(the time as a function of PCE decreases to 90%of its initial value)under 1-sun illumination in ambient-air conditions.展开更多
The Spring-Loaded Inverted Pendulum(SLIP)has been regarded as a canonical model for hopping and running dynamics of legged robots.This paper presents a novel control of the actuated-SLIP hopping on unknown terrains.We...The Spring-Loaded Inverted Pendulum(SLIP)has been regarded as a canonical model for hopping and running dynamics of legged robots.This paper presents a novel control of the actuated-SLIP hopping on unknown terrains.We propose that in the neighborhood of the desired stable hybrid limit cycle,the local dynamical behavior of a hybrid system can be expressed by a set of phase coordinates and transverse coordinates.Under some acceptable assumptions,the hybrid averaging theorem is applied on the SLIP non-integrable dynamics to simplify the controller design.Using the inherent symmetry of SLIP dynamics,a control Lyapunov function-based hybrid averaging controller is developed to ensure the exponential stability of the desired gait orbit.This results in a set of linear constraints on the control signal,which can be readily solved by a quadratic programming optimization.Furthermore,a novel method is introduced to improve the robustness against unknown disturbances through the online constraint adjustment.The proposed controller is evaluated in various simulations,demonstrating the SLIP hopping on diverse terrains,including flat,sin-wave,and unregular terrains.The performance of the approach is also validated on a quadruped robot SCIT Dog for generating dynamic gaits such as pronking.展开更多
BACKGROUND Gastric hamartomatous inverted polyps(GHIPs)are benign polyps of the gastric submucosal layer.Currently there are 52 reported cases in the English literature.According to a literature review,approximately 2...BACKGROUND Gastric hamartomatous inverted polyps(GHIPs)are benign polyps of the gastric submucosal layer.Currently there are 52 reported cases in the English literature.According to a literature review,approximately 27%of GHIPs show a coexisting carcinoma.CASE SUMMARY A 66-year-old man was referred to our institution with ulcerative lesions detected on esophagogastroduodenoscopy(EGD)during a regular check-up.Other medical findings were nonspecific.The lesions had borderline histologic features that could not exclude malignancy and were followed up with three EGDs and biopsies at intervals of 3 mo.The latest biopsy was revealed as an adenocarcinoma.A total gastrectomy was performed to remove the tumor.The surgical specimen revealed a 6.9 cm×4.5 cm sized GHIP with a coexisting 1.6 cm sized well-differentiated adenocarcinoma which extended to the muscularis propria.The malignancy did not originate from the GHIP but showed an overlap.CONCLUSION A large GHIP,which was unusually presented as an ulcerative lesion,was surgically removed,and was accompanied by advanced gastric cancer.Regular follow-up and thorough examinations of ulcerative lesions with equivocal biopsy have resulted in appropriate diagnosis and treatment.Therefore,aggressive intervention may be beneficial if GHIP is suspected.展开更多
This paper provides a teaching concept for control theory education based on Virtual Robot Experimentation Platform(V-REP).A cart inverted pendulum virtual physical model is developed on V-REP.Students must analyze,de...This paper provides a teaching concept for control theory education based on Virtual Robot Experimentation Platform(V-REP).A cart inverted pendulum virtual physical model is developed on V-REP.Students must analyze,design,and implement a suitable controller for the cart inverted pendulum system using their knowledge of the control theory.Different from traditional experiment and numerical simulation,virtual experiment is safe and less constrained.Moreover,the experiment results are more intuitive and obvious.This study can improve students’interest in learning the control theory and help students understand the relevant content better.展开更多
In cascaded H-bridge multilevel inverter, a variable frequency inverted sine PWM technique is modeled for hybrid electric vehicles. It has a particular advantage of increasing power which is achieved using series conn...In cascaded H-bridge multilevel inverter, a variable frequency inverted sine PWM technique is modeled for hybrid electric vehicles. It has a particular advantage of increasing power which is achieved using series connection of H-bridge and also this topology is capable to produce superior spectral quality with considerable improvement of fundamental voltage. The variable frequency inverted sine PWM technique produces lesser torque ripple and enhances the fundamental output voltage mainly at lower modulation index ranges. The topologies of multilevel inverter are flying capacitor, diode clamped and cascaded inverter. In the paper, we will discuss about the cascaded multilevel inverter based on inverted sine PWM technique. The two switching strategies widely used to control multilevel inverters are constant frequency inverted sine PWM (CF-ISPWM) and variable frequency inverted sine PWM (VF-ISPWM). This implies that switch utilization substantially reduces 32.35% of the constant frequency inverted sine PWM switching technique. The performance of the technique is validated in terms of Total Harmonic Distortion (THD) and Torque ripple which significantly reduces when compared to constant frequency ISPWM. The analysis of conventional triangular PWM inverter and inverted sine PWM inverter using constant and variable switching scheme is done in MATLAB Simulink and verified experimentally by FPGA Spartan 3E processor.展开更多
AIM: To assess the anatomical and visual outcome of idiopathic macular holes greater than 1000 μm using the inverted internal limiting membrane flap technique.METHODS: This retrospective case series included 5 eyes o...AIM: To assess the anatomical and visual outcome of idiopathic macular holes greater than 1000 μm using the inverted internal limiting membrane flap technique.METHODS: This retrospective case series included 5 eyes of 5 patients with idiopathic macular hole with base diameter greater than 1000 μm who underwent inverted internal limiting membrane flap technique along with standard 23 G pars plans vitrectomy with posterior hyaloid detachment and fluid gas exchange with 12%-14% perfluoropropane(C3F8). Preoperative and postoperative visual acuity and spectral domain optical coherence tomography images were evaluated. The main outcome measures were visual outcome and macular hole closure.RESULTS: Mean age was 63.2±8.4y with all 5 subjects being females. Mean duration of symptoms was 11±14 mo with a mean postoperative follow up of 13.2 ±13 mo. The mean base diameter of the macular holes was 1420±84.8 μm(1280-1480 μm). Type 1 closure was achieved in four out of five patients, while one patient had type 2 closure using the inverted internal limiting membrane(ILM) flap technique. Median baseline BCVA was 0.79 log MAR(Snellen's equivalent 20/120) and median final BCVA0.6 log MAR(Snellen's equivalent 20/80) with mean visual improvement of approximately three lines improvement. No complications related to surgical procedure were noted.CONCLUSION: The inverted internal limiting membrane flap technique may be promising for very large macular holes with high rate of macular closure and good visual outcome.展开更多
Gastric hamartomatous inverted polyps(GHIP)are difficult to diagnose accurately because of inversion into the submucosal layer.GHIP are diagnosed using the pathological characteristics of the tumor,including the fibro...Gastric hamartomatous inverted polyps(GHIP)are difficult to diagnose accurately because of inversion into the submucosal layer.GHIP are diagnosed using the pathological characteristics of the tumor,including the fibroblast cells,smooth muscle,nerve components,glandular hyperplasia,and cystic gland dilatation.Although Peutz-Jeghers syndrome,juvenile polyposis,and Cowden disease are hereditary,it is rare to encounter 2 cases of monostotic and asymptomatic gastric hamartomas.The pathogeneses of hamartomatous inverted polyps and inverted hyperplastic polyps remain controversial because of the paucity of reported cases.There are 3 hypotheses regarding the pathogenesis of complete gastric inverted polyps.Based on our experience with 2 successive,rare GHIP cases,we affirm the hypothesis that after a hamartomatous change occurs in the submucosal layer,some of these components are exposed to the gastric mucosa and,consequently,form a hypertrophic lesion.In Case 1,our hypothesis explains why a tiny hypertrophic change was first detected on the top of the submucosal tumor using a detailed narrow band imaging-magnified endoscopy.There was no confirmation that the milky white mucous and calcification structures were exuding directly from the biopsy site like Case 1,and in Case 2 the presence of this mucous was indirectly confirmed during an endoscopic submucosal dissection(ESD).Regarding the pathogenesis of GHIP,a submucosal hamartomatous change may occur prior to the growth of hypertrophic portions.An en bloc resection using ESD is recommended for treatment.展开更多
Adult intussusception due to Meckel’s diverticulum (MD) is an uncommon cause of intestinal obstruction. However, the surgeon should still be suspicious of this condition since the non specific symptoms and the rarity...Adult intussusception due to Meckel’s diverticulum (MD) is an uncommon cause of intestinal obstruction. However, the surgeon should still be suspicious of this condition since the non specific symptoms and the rarity of it make a preoperative diagnosis uncertain. Considering the secondary nature of adult intussusception and the necessity of early surgical intervention to avoid morbidity and mortality, we report two cases of intussusception due to MD in adults. A diverticulectomy using a TA stapler was performed in the first patient. In the second patient extensive fibrosis of the adjacent mesentery and thickening of jejunal mucosa were observed, so a segmental resection of the small bowel or affected ileal part and a hand-sewn anastomosis was performed. The postoperative period along with the long term follow-up was uneventful for both patients. The decision between diverticulectomy vs bowel resection can be based on the intussuscepted bowel condition. Early surgical intervention may ensure a favorable outcome.展开更多
Objective\ To understand the transcription of BamHI L DNA fragment from genome of strong virulent GA strain of Marek′s disease herpesvirus (MDV) in lymphoblastoid tumor tissue induced by oncogenic strain Beijing 1 (a...Objective\ To understand the transcription of BamHI L DNA fragment from genome of strong virulent GA strain of Marek′s disease herpesvirus (MDV) in lymphoblastoid tumor tissue induced by oncogenic strain Beijing 1 (a specific local strain in China) of MDV. Methods\ Two oligonucleotide primers were synthesized according to the reported sequence of \%meq\% gene an ideal oncogenic candidate and our previously determined sequence of BamHI L fragment of Marek′s disease herpesvirus (MDV), respectively. Reverse transcriptase PCR(RT PCR) assay was performed by using these primers and the mRNA as a template which was isolated from visceral lymphoblastoid tumors obtained from chickens artificially infected with strain Beijing 1 of oncogenic MDV. Southern blot molecular hybridization was further carried out to detect the product of RT PCR with digoxigenin labeled nucleotide probe from BamHI I2 and L fragment in the gene library of MDV strain GA, respectively. Results\ Two probes could simultaneously hybridize this cDNA amplified by RT PCR with a length of about 730 bp. Conclusion\ It is suggested that \%meq\% transcription could extend from the right hand end of BamHI I2 to the adjacent BamHI L, and the BamHI L region was likely to be transcribed in MDV induced lymphoblastoid tumors.展开更多
In the dynamics analysis and synthesis of a controlled system, it is important to know for what feedback gains can the controlled system decay to the demanded steady state as fast as possible. This article presents a ...In the dynamics analysis and synthesis of a controlled system, it is important to know for what feedback gains can the controlled system decay to the demanded steady state as fast as possible. This article presents a systematic method for finding the optimal feedback gains by taking the stability of an inverted pendulum system with a delayed proportional-derivative controller as an example.First, the condition for the existence and uniqueness of the stable region in the gain plane is obtained by using the Dsubdivision method and the method of stability switch. Then the same procedure is used repeatedly to shrink the stable region by decreasing the real part of the rightmost characteristic root. Finally, the optimal feedback gains within the stable region that minimizes the real part of the rightmost root are expressed by an explicit formula. With the optimal feedback gains, the controlled inverted pendulum decays to its trivial equilibrium at the fastest speed when the initial values around the origin are fixed. The main results are checked by numerical simulation.展开更多
Here,this work presents an air-stable ultrabright inverted organic lightemitting device(OLED)by using zinc ionchelated polyethylenimine(PEI)as electron injection layer.The zinc chelation is demonstrated to increase th...Here,this work presents an air-stable ultrabright inverted organic lightemitting device(OLED)by using zinc ionchelated polyethylenimine(PEI)as electron injection layer.The zinc chelation is demonstrated to increase the conductivity of the PEI by three orders of magnitude and passivate the polar amine groups.With these physicochemical properties,the inverted OLED shows a record-high external quantum efficiency of 10.0% at a high brightness of 45,610 cd m^(-2) and can deliver a maximum brightness of 121,865 cd m^(-2).Besides,the inverted OLED is also demonstrated to possess an excellent air stability(humidity,35%)with a half-brightness operating time of 541 h@1000 cd m^(-2) without any protection nor encapsulation.展开更多
An inverted Meckel's diverticulum is a rare gastrointestinal congenital anomaly that is difficult to diagnose prior to surgery and presents with anemia, abdominal pain, or intussusception. Here, we report the case...An inverted Meckel's diverticulum is a rare gastrointestinal congenital anomaly that is difficult to diagnose prior to surgery and presents with anemia, abdominal pain, or intussusception. Here, we report the case of 57-year-old men with an inverted Meckel's diverticulum, who was preoperatively diagnosed using doubleballoon enteroscopy. He had repeatedly experienced epigastric pain for 2 mo. Ultrasonography and computed tomography showed intestinal wall thickening in the pelvis. Double-balloon enteroscopy via the anal route was performed for further examination, which demonstrated an approximately 8-cm, sausage-shaped, submucosal tumor located approximately 80 cm proximal to the ileocecal valve. A small depressed erosion was observed at the tip of this lesion. Forceps biopsy revealed heterotopic gastric mucosa. Thus, the patient was diagnosed with an inverted Meckel's diverticulum, and single-incision laparoscopic surgery was performed. This case suggests that an inverted Meckel's diverticulum should be considered as a differential diagnosis for a submucosal tumor in the ileum. Balloon-assisted enteroscopy with forceps biopsy facilitate a precise diagnosis of this condition.展开更多
基金supported by the Strategic Priority Research Program of the Chinese Academy of Sciences(XDB31000000)Science and Technology Basic Resources Investigation Program of China(2021FY100200)+1 种基金Yunnan Revitalization Talent Support Program“Young Talent”and"Innovation Team"Projectsthe 14th Five-Year Plan of Xishuangbanna Tropical Botanical Garden,Chinese Academy of Science(XTBG-1450101)。
文摘The insect mitogenome is typically a compact circular molecule with highly conserved gene contents.Nonetheless,mitogenome structural variations have been reported in specific taxa,and gene rearrangements,usually the tRNAs,occur in different lineages.Because synapomorphies of mitogenome organizations can provide information for phylogenetic inferences,comparative analyses of mitogenomes have been given increasing attention.However,most studies use a very few species to represent the whole genus,tribe,family,or even order,overlooking potential variations at lower taxonomic levels,which might lead to some incorrect inferences.To provide new insights into mitogenome organizations and their implications for phylogenetic inference,this study conducted comparative analyses for mitogenomes of three social bee tribes(Meliponini,Bombini,and Apini)based on the phylogenetic framework with denser taxonomic sampling at the species and population levels.Comparative analyses revealed that mitogenomes of Apini and Bombini are the typical type,while those of Meliponini show diverse variations in mitogenome sizes and organizations.Large inverted repeats(IRs)cause significant gene rearrangements of protein coding genes(PCGs)and rRNAs in Indo-Malay/Australian stingless bee species.Molecular evolution analyses showed that the lineage with IRs have lower dN/dS ratios for PCGs than lineages without IRs,indicating potential effects of IRs on the evolution of mitochondrial genes.The finding of IRs and different patterns of gene rearrangements suggested that Meliponini is a hotspot in mitogenome evolution.Unlike conserved PCGs and rRNAs whose rearrangements were found only in the mentioned lineages within Meliponini,tRNA rearrangements are common across all three tribes of social bees,and are significant even at the species level,indicating that comprehensive sampling is needed to fully understand the patterns of tRNA rearrangements,and their implications for phylogenetic inference.
基金supported in part by the Youth Foundation of China University of Petroleum-Beijing at Karamay(under Grant No.XQZX20230038)the Karamay Innovative Talents Program(under Grant No.20212022HJCXRC0005).
文摘The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.
基金financially supported by the National Natural Science Foundation of China (No. 61774169)the Natural Science Foundation of Hunan Province (No. 2022JJ30757)the Guangdong Science and Technology Planning Project (No.2018B030323010)。
文摘Thermal stability of perovskite materials is an issue impairing the long-term operation of inverted perovskite solar cells(PSCs). Herein, the thermal attenuation mechanism of the MAPb I3films that deposited on two different hole transport layers(HTL), poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate)(PEDOT:PSS) and poly(3,4-ethylenedioxythiophene)(PEDOT), is comprehensively studied by applying a heat treatment at 85℃. The thermal stress causes the mutual ions migration of I, Pb and Ag through the device, which leads to the thermal decomposition of perovskite to form Pb I2. Interestingly, we find that I ions tend to migrate more towards electron transport layer(ETL) during heating, which is different with the observation of I ions migration towards HTL when bias pressure is applied. Moreover, the use of electrochemical deposited PEDOT as HTL significantly decreases the defect density of MAPb I3films as compared to PEDOT:PSS supported one. The electrochemical deposition PEDOT has good carrier mobility and low acidity, which avoids the drawbacks of aqueous PEDOT:PSS. Accordingly, the inverted PSCs based on PEDOT show superior durability than that with PEDOT:PSS. Our results reveal detailed degradation routes of a new kind of inverted PSCs which can contribute to the understanding of the failure of thermal-aged inverted PSCs.
基金National Natural Science Foundation of China(Grant No.51735009)。
文摘This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we herein invert the equivalent parallel mechanism.Assuming the leg mechanisms are hybrid links,the body of robot being considered as fixed platform,and ground as moving platform.The motion performance is transformed and measured in the body frame.Terrain and joint limits are used as input parameters to the model,resulting in the representation which is independent of terrains and particular poses in Inverted Modelling.Hence,it can universally be applied to any kind of legged robots as global motion performance framework.Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation.According to the requirements of actual work like motion continuity and stability,motion planning of legged robot can be achieved using different measurements on different terrains.Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads.The results verify the correctness and effectiveness of the proposed method.
基金Project supported by the National Natural Science Foundation of China (Grant No.61871072)。
文摘A high-performance terahertz Schottky barrier diode(SBD)with an inverted trapezoidal epitaxial cross-sectional structure featuring high varactor characteristics and reverse breakdown characteristics is reported in this paper.Inductively coupled plasma dry etching and dissolution wet etching are used to define the profile of the epitaxial layer,by which the voltage-dependent variation trend of the thickness of the metal-semiconductor contact depletion layer is modified.The simulation of the inverted trapezoidal epitaxial cross-section SBD is also conducted to explain the physical mechanism of the electric field and space charge region area.Compared with the normal structure,the grading coefficient M increases from 0.47 to 0.52,and the capacitance modulation ratio(C^(max)/C_(min))increases from 6.70 to 7.61.The inverted trapezoidal epitaxial cross-section structure is a promising approach to improve the variable-capacity ratio by eliminating the accumulation of charge at the Schottky electrode edge.A 190 GHz frequency doubler based on the inverted trapezoidal epitaxial cross-section SBD also shows a doubling efficiency of 35%compared to that 30%of a normal SBD.
基金the Research Grants Council of Hong Kong(GRF Grant Nos.15221320,CRF C7018-20G)the Shenzhen Science and Technology Innovation Commission(Project No.JCYJ 20200109105003940,SGDX20201103095403016)+6 种基金the Hong Kong Innovation and Technology Commission(GHP/205/20SZ)the Sir Sze-yuen Chung Endowed Professorship Fund(8-8480)provided by the Hong Kong Polytechnic Universitythe GuangdongHong Kong-Macao Joint Laboratory for Photonic-Thermal-Electrical Energy Materials and Devices(GDSTC No.2019B121205001)the National Natural Science Foundation of China(Grant No.91963129)the Guangdong Provincial Key Laboratory of Energy Materials for Electric Power(Grant No.2018B030322001)the Student Innovation Training Program(Grant Nos.2021S07)from Southern University of Science and Technology(SUSTech)the Special Funds for the Cultivation of Guangdong College Students’Scientific and Technological Innovation(pdjh2022c0003&pdjh2022c0005)。
文摘In recent years,inverted perovskite solar cells(IPSCs)have attracted significant attention due to their low-temperature and cost-effective fabrication processes,hysteresis-free properties,excellent stability,and wide application.The efficiency gap between IPSCs and regular structures has shrunk to less than 1%.Over the past few years,IPSC research has mainly focused on optimizing power conversion efficiency to accelerate the development of IPSCs.This review provides an overview of recent improvements in the efficiency of IPSCs,including interface engineering and novel film production techniques to overcome critical obstacles.Tandem and integrated applications of IPSCs are also summarized.Furthermore,prospects for further development of IPSCs are discussed,including the development of new materials,methods,and device structures for novel IPSCs to meet the requirements of commercialization.
基金supported by the National Key Research and Development Program of China(Nos.2021YFB3602703,2022YFB3606504,and 2022YFB3602903)National Natural Science Foundation of China(No.62122034)+3 种基金Guangdong University Key Laboratory for Advanced Quantum Dot Displays and Lighting(No.2017KSYS007)Shenzhen Key Laboratory for Advanced Quantum Dot Displays and Lighting(No.ZDSYS201707281632549)Shenzhen Science and Technology Program(No.JCYJ20220818100411025)Shenzhen Development and Reform Commission Project(No.XMHT20220114005)。
文摘The performance of inverted quantum-dot light-emitting diodes(QLEDs)based on solution-processed hole transport layers(HTLs)has been limited by the solvent-induced damage to the quantum dot(QD)layer during the spin-coating of the HTL.The lack of compatibility between the HTL’s solvent and the QD layer results in an uneven surface,which negatively impacts the overall device performance.In this work,we develop a novel method to solve this problem by modifying the QD film with 1,8-diaminooctane to improve the resistance of the QD layer for the HTL’s solvent.The uniform QD layer leads the inverted red QLED device to achieve a low turn-on voltage of 1.8 V,a high maximum luminance of 105500 cd/m2,and a remarkable maximum external quantum efficiency of 13.34%.This approach releases the considerable potential of HTL materials selection and offers a promising avenue for the development of high-performance inverted QLEDs.
基金supported by a National Research Foundation of Korea(grant#:2020R1A2C1003929,2019R1A6A1A11053838,2020M1A2A2080746,2021M2E8A1044198,2016R1A5A1012966,2021M3H4A1A03051379).
文摘In this work,we developed the PM6:Y6-based inverted structure organic photovoltaic(i-OPV)with improved power conversion efficiency(PCE)and long-term stability by resolving the origins of the performance deterioration.The deep defects between the metal oxide-based electron transport layer and bulk-heterojunction photoactive layer interface were responsible for suboptimal PCE and facilitated degradation of devices.While the density of deep traps is increased during the storage of i-OPV,the penetrative oxygen-containing defects additionally generated shallow traps below the band-edge of Y6,causing an additional loss in the open-circuit voltage.The suppression of interfacial defects by chemical modification effectively improved the PCE and long-term stability of i-OPV.The modified i-OPV(mi-OPV)achieved a PCE of 17.42%,which is the highest value among the reported PM6:Y6-based i-OPV devices.Moreover,long-term stability was significantly improved:~90%and~80%retention of its initial PCE after 1200 h of air storage and illumination,respectively.
基金supported by National Natural Science Foundation of China (62204099)Guangdong Basic and Applied Basic Research Foundation (2020A1515110462)+1 种基金Fundamental Research Funds for the Central Universities (21620347)the Special Funds for College Students’ Innovative Entrepreneurial Training Plan Program
文摘NiO_(x)-based inverted perovskite solar cells(PSCs)havepresented great potential toward low-cost,highly efficient and stablenext-generation photovoltaics.However,the presence of energy-levelmismatch and contact-interface defects between hole-selective contacts(HSCs)and perovskite-active layer(PAL)still limits device efficiencyimprovement.Here,we report a graded configuration based on bothinterface-cascaded structures and p-type molecule-doped compositeswith two-/three-dimensional formamidinium-based triple-halideperovskites.We find that the interface defects-induced non-radiativerecombination presented at HSCs/PAL interfaces is remarkably suppressedbecause of efficient hole extraction and transport.Moreover,astrong chemical interaction,halogen bonding and coordination bondingare found in the molecule-doped perovskite composites,whichsignificantly suppress the formation of halide vacancy and parasitic metallic lead.As a result,NiO_(x)-based inverted PSCs present a power-conversion-efficiency over 23%with a high fill factor of 0.84 and open-circuit voltage of 1.162 V,which are comparable to the best reported around 1.56-electron volt bandgap perovskites.Furthermore,devices with encapsulation present high operational stability over 1,200 h during T_(90) lifetime measurement(the time as a function of PCE decreases to 90%of its initial value)under 1-sun illumination in ambient-air conditions.
基金supported by HeilongJiang Touyan Innovation Team Program.
文摘The Spring-Loaded Inverted Pendulum(SLIP)has been regarded as a canonical model for hopping and running dynamics of legged robots.This paper presents a novel control of the actuated-SLIP hopping on unknown terrains.We propose that in the neighborhood of the desired stable hybrid limit cycle,the local dynamical behavior of a hybrid system can be expressed by a set of phase coordinates and transverse coordinates.Under some acceptable assumptions,the hybrid averaging theorem is applied on the SLIP non-integrable dynamics to simplify the controller design.Using the inherent symmetry of SLIP dynamics,a control Lyapunov function-based hybrid averaging controller is developed to ensure the exponential stability of the desired gait orbit.This results in a set of linear constraints on the control signal,which can be readily solved by a quadratic programming optimization.Furthermore,a novel method is introduced to improve the robustness against unknown disturbances through the online constraint adjustment.The proposed controller is evaluated in various simulations,demonstrating the SLIP hopping on diverse terrains,including flat,sin-wave,and unregular terrains.The performance of the approach is also validated on a quadruped robot SCIT Dog for generating dynamic gaits such as pronking.
基金Supported by Seoul St.Mary’s Hospital,The Catholic University of Korea,No.ZC22TISI0753。
文摘BACKGROUND Gastric hamartomatous inverted polyps(GHIPs)are benign polyps of the gastric submucosal layer.Currently there are 52 reported cases in the English literature.According to a literature review,approximately 27%of GHIPs show a coexisting carcinoma.CASE SUMMARY A 66-year-old man was referred to our institution with ulcerative lesions detected on esophagogastroduodenoscopy(EGD)during a regular check-up.Other medical findings were nonspecific.The lesions had borderline histologic features that could not exclude malignancy and were followed up with three EGDs and biopsies at intervals of 3 mo.The latest biopsy was revealed as an adenocarcinoma.A total gastrectomy was performed to remove the tumor.The surgical specimen revealed a 6.9 cm×4.5 cm sized GHIP with a coexisting 1.6 cm sized well-differentiated adenocarcinoma which extended to the muscularis propria.The malignancy did not originate from the GHIP but showed an overlap.CONCLUSION A large GHIP,which was unusually presented as an ulcerative lesion,was surgically removed,and was accompanied by advanced gastric cancer.Regular follow-up and thorough examinations of ulcerative lesions with equivocal biopsy have resulted in appropriate diagnosis and treatment.Therefore,aggressive intervention may be beneficial if GHIP is suspected.
基金supported by the 2021 Higher Education Teaching Reform Research Project of SEAC(No.221057)2021 Ministry of Education Collaborative Education Project(No.202102646007)2022 Guizhou Province Gold Course Construction Project.
文摘This paper provides a teaching concept for control theory education based on Virtual Robot Experimentation Platform(V-REP).A cart inverted pendulum virtual physical model is developed on V-REP.Students must analyze,design,and implement a suitable controller for the cart inverted pendulum system using their knowledge of the control theory.Different from traditional experiment and numerical simulation,virtual experiment is safe and less constrained.Moreover,the experiment results are more intuitive and obvious.This study can improve students’interest in learning the control theory and help students understand the relevant content better.
文摘In cascaded H-bridge multilevel inverter, a variable frequency inverted sine PWM technique is modeled for hybrid electric vehicles. It has a particular advantage of increasing power which is achieved using series connection of H-bridge and also this topology is capable to produce superior spectral quality with considerable improvement of fundamental voltage. The variable frequency inverted sine PWM technique produces lesser torque ripple and enhances the fundamental output voltage mainly at lower modulation index ranges. The topologies of multilevel inverter are flying capacitor, diode clamped and cascaded inverter. In the paper, we will discuss about the cascaded multilevel inverter based on inverted sine PWM technique. The two switching strategies widely used to control multilevel inverters are constant frequency inverted sine PWM (CF-ISPWM) and variable frequency inverted sine PWM (VF-ISPWM). This implies that switch utilization substantially reduces 32.35% of the constant frequency inverted sine PWM switching technique. The performance of the technique is validated in terms of Total Harmonic Distortion (THD) and Torque ripple which significantly reduces when compared to constant frequency ISPWM. The analysis of conventional triangular PWM inverter and inverted sine PWM inverter using constant and variable switching scheme is done in MATLAB Simulink and verified experimentally by FPGA Spartan 3E processor.
文摘AIM: To assess the anatomical and visual outcome of idiopathic macular holes greater than 1000 μm using the inverted internal limiting membrane flap technique.METHODS: This retrospective case series included 5 eyes of 5 patients with idiopathic macular hole with base diameter greater than 1000 μm who underwent inverted internal limiting membrane flap technique along with standard 23 G pars plans vitrectomy with posterior hyaloid detachment and fluid gas exchange with 12%-14% perfluoropropane(C3F8). Preoperative and postoperative visual acuity and spectral domain optical coherence tomography images were evaluated. The main outcome measures were visual outcome and macular hole closure.RESULTS: Mean age was 63.2±8.4y with all 5 subjects being females. Mean duration of symptoms was 11±14 mo with a mean postoperative follow up of 13.2 ±13 mo. The mean base diameter of the macular holes was 1420±84.8 μm(1280-1480 μm). Type 1 closure was achieved in four out of five patients, while one patient had type 2 closure using the inverted internal limiting membrane(ILM) flap technique. Median baseline BCVA was 0.79 log MAR(Snellen's equivalent 20/120) and median final BCVA0.6 log MAR(Snellen's equivalent 20/80) with mean visual improvement of approximately three lines improvement. No complications related to surgical procedure were noted.CONCLUSION: The inverted internal limiting membrane flap technique may be promising for very large macular holes with high rate of macular closure and good visual outcome.
文摘Gastric hamartomatous inverted polyps(GHIP)are difficult to diagnose accurately because of inversion into the submucosal layer.GHIP are diagnosed using the pathological characteristics of the tumor,including the fibroblast cells,smooth muscle,nerve components,glandular hyperplasia,and cystic gland dilatation.Although Peutz-Jeghers syndrome,juvenile polyposis,and Cowden disease are hereditary,it is rare to encounter 2 cases of monostotic and asymptomatic gastric hamartomas.The pathogeneses of hamartomatous inverted polyps and inverted hyperplastic polyps remain controversial because of the paucity of reported cases.There are 3 hypotheses regarding the pathogenesis of complete gastric inverted polyps.Based on our experience with 2 successive,rare GHIP cases,we affirm the hypothesis that after a hamartomatous change occurs in the submucosal layer,some of these components are exposed to the gastric mucosa and,consequently,form a hypertrophic lesion.In Case 1,our hypothesis explains why a tiny hypertrophic change was first detected on the top of the submucosal tumor using a detailed narrow band imaging-magnified endoscopy.There was no confirmation that the milky white mucous and calcification structures were exuding directly from the biopsy site like Case 1,and in Case 2 the presence of this mucous was indirectly confirmed during an endoscopic submucosal dissection(ESD).Regarding the pathogenesis of GHIP,a submucosal hamartomatous change may occur prior to the growth of hypertrophic portions.An en bloc resection using ESD is recommended for treatment.
文摘Adult intussusception due to Meckel’s diverticulum (MD) is an uncommon cause of intestinal obstruction. However, the surgeon should still be suspicious of this condition since the non specific symptoms and the rarity of it make a preoperative diagnosis uncertain. Considering the secondary nature of adult intussusception and the necessity of early surgical intervention to avoid morbidity and mortality, we report two cases of intussusception due to MD in adults. A diverticulectomy using a TA stapler was performed in the first patient. In the second patient extensive fibrosis of the adjacent mesentery and thickening of jejunal mucosa were observed, so a segmental resection of the small bowel or affected ileal part and a hand-sewn anastomosis was performed. The postoperative period along with the long term follow-up was uneventful for both patients. The decision between diverticulectomy vs bowel resection can be based on the intussuscepted bowel condition. Early surgical intervention may ensure a favorable outcome.
文摘Objective\ To understand the transcription of BamHI L DNA fragment from genome of strong virulent GA strain of Marek′s disease herpesvirus (MDV) in lymphoblastoid tumor tissue induced by oncogenic strain Beijing 1 (a specific local strain in China) of MDV. Methods\ Two oligonucleotide primers were synthesized according to the reported sequence of \%meq\% gene an ideal oncogenic candidate and our previously determined sequence of BamHI L fragment of Marek′s disease herpesvirus (MDV), respectively. Reverse transcriptase PCR(RT PCR) assay was performed by using these primers and the mRNA as a template which was isolated from visceral lymphoblastoid tumors obtained from chickens artificially infected with strain Beijing 1 of oncogenic MDV. Southern blot molecular hybridization was further carried out to detect the product of RT PCR with digoxigenin labeled nucleotide probe from BamHI I2 and L fragment in the gene library of MDV strain GA, respectively. Results\ Two probes could simultaneously hybridize this cDNA amplified by RT PCR with a length of about 730 bp. Conclusion\ It is suggested that \%meq\% transcription could extend from the right hand end of BamHI I2 to the adjacent BamHI L, and the BamHI L region was likely to be transcribed in MDV induced lymphoblastoid tumors.
基金supported by the National Natural Science Foundation of China (Grant 11372354)the Fund of the State Key Lab of Mechanics and Control of Mechanical Structures (Grant MCMS-0116K01)
文摘In the dynamics analysis and synthesis of a controlled system, it is important to know for what feedback gains can the controlled system decay to the demanded steady state as fast as possible. This article presents a systematic method for finding the optimal feedback gains by taking the stability of an inverted pendulum system with a delayed proportional-derivative controller as an example.First, the condition for the existence and uniqueness of the stable region in the gain plane is obtained by using the Dsubdivision method and the method of stability switch. Then the same procedure is used repeatedly to shrink the stable region by decreasing the real part of the rightmost characteristic root. Finally, the optimal feedback gains within the stable region that minimizes the real part of the rightmost root are expressed by an explicit formula. With the optimal feedback gains, the controlled inverted pendulum decays to its trivial equilibrium at the fastest speed when the initial values around the origin are fixed. The main results are checked by numerical simulation.
基金supported by the National Natural Science Foundation of China(Grant Nos.61905086,62174067,62175085)Science and Technology Development Planning of Jilin Province(Project Nos.20190101024JH,20200201296JC)+1 种基金the Hong Kong Scholars Program(Project No.XJ2020028)grants from the Research Grants Council of the Hong Kong Special Administrative Region,China(Project Nos.11300418 and 11300419).
文摘Here,this work presents an air-stable ultrabright inverted organic lightemitting device(OLED)by using zinc ionchelated polyethylenimine(PEI)as electron injection layer.The zinc chelation is demonstrated to increase the conductivity of the PEI by three orders of magnitude and passivate the polar amine groups.With these physicochemical properties,the inverted OLED shows a record-high external quantum efficiency of 10.0% at a high brightness of 45,610 cd m^(-2) and can deliver a maximum brightness of 121,865 cd m^(-2).Besides,the inverted OLED is also demonstrated to possess an excellent air stability(humidity,35%)with a half-brightness operating time of 541 h@1000 cd m^(-2) without any protection nor encapsulation.
文摘An inverted Meckel's diverticulum is a rare gastrointestinal congenital anomaly that is difficult to diagnose prior to surgery and presents with anemia, abdominal pain, or intussusception. Here, we report the case of 57-year-old men with an inverted Meckel's diverticulum, who was preoperatively diagnosed using doubleballoon enteroscopy. He had repeatedly experienced epigastric pain for 2 mo. Ultrasonography and computed tomography showed intestinal wall thickening in the pelvis. Double-balloon enteroscopy via the anal route was performed for further examination, which demonstrated an approximately 8-cm, sausage-shaped, submucosal tumor located approximately 80 cm proximal to the ileocecal valve. A small depressed erosion was observed at the tip of this lesion. Forceps biopsy revealed heterotopic gastric mucosa. Thus, the patient was diagnosed with an inverted Meckel's diverticulum, and single-incision laparoscopic surgery was performed. This case suggests that an inverted Meckel's diverticulum should be considered as a differential diagnosis for a submucosal tumor in the ileum. Balloon-assisted enteroscopy with forceps biopsy facilitate a precise diagnosis of this condition.
