Cascade Dehydrogenative Hydroboration for the Synthesis of Azaborabenzofulvenes

Tandem dehydrogenative hydroboration has been established to be highly effective in the synthesis of BN isosteres of benzofulvene and derivatives. The scope of this synthetic method is applicable to a variety of substrates. Spectroscopic and computational studies indicate that the new azaborabenzofulvenes have similar electronic properties as their carbonaceous analogues

DataSheet1_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.ZIP

To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p

Attachment and Release of Water Fleas’ Ephippia on a Medium-Sized Waterfowl’s Leg for Migration

Planktonic crustaceans of the genus Daphnia live in aquatic environments. Although they lack walking and flying capabilities, they have developed adaptations that facilitate the dispersal of their dormant forms, ephippia, to cross terrestrial barriers and reach neighborhood water bodies. It increases the survival rate of their species. It is reported that one of the ways this spread occurs is the transport of their ephippia through waterfowls’ legs. Yet, little is known about how these ephippia are initially attached to the waterfowls’ legs. In this work, using the legs of American Pekin ducks as test samples, we found that a “coating” mechanism might play a significant role in this attachment and that surface tension-induced attraction might have a secondary effect on it. Furthermore, we demonstrated that, no matter whether a duck’s leg was inserted into water at a high or low speed, an ephippium could be released from the leg

Image2_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.JPEG

To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p

DataSheet2_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.PDF

To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p

Image1_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.JPEG

To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p

Attachment and Release of Water Fleas’ Ephippia on a Medium-Sized Waterfowl’s Leg for Migration

Planktonic crustaceans of the genus Daphnia live in aquatic environments. Although they lack walking and flying capabilities, they have developed adaptations that facilitate the dispersal of their dormant forms, ephippia, to cross terrestrial barriers and reach neighborhood water bodies. It increases the survival rate of their species. It is reported that one of the ways this spread occurs is the transport of their ephippia through waterfowls’ legs. Yet, little is known about how these ephippia are initially attached to the waterfowls’ legs. In this work, using the legs of American Pekin ducks as test samples, we found that a “coating” mechanism might play a significant role in this attachment and that surface tension-induced attraction might have a secondary effect on it. Furthermore, we demonstrated that, no matter whether a duck’s leg was inserted into water at a high or low speed, an ephippium could be released from the leg

Screening and unveiling antibacterial mechanism of dandelion phenolic extracts against <i>Staphylococcus aureus</i> by inhibiting intracellular Na⁺–K⁺ ATPase based on molecular docking and molecular dynamics simulation

Staphylococcus aureus is one of the most frequently food-contaminated incidence of healthcare-associated Gram-positive bacteria. The antibacterial function and mechanism of phenolic compounds from dandelion are still unclear. Herein, this work aims to screen one of dandelion phenolic extracts with the strongest antibacterial function from its organ such as flower, stem, leaf and root, and to reveal its antibacterial mechanism. The results indicated dandelion flower phenolic extract (DFPE) containing the highest content of caffeic acid, followed by luteolin and luteolin-7-O-glucoside. They, especially caffeic acid and luteolin-7-O-glucoside, played a key role in making the bacterial cellular-membrane ruptured against the bacteria. The leakage of the intracellular substances (adenosine triphosphate and Na+–K+ ATPase) was further confirmed. Conventional hydrogen bond, pi-anion, pi-alkyl were involved in the interaction between caffeic acid or luteolin-7-O-glucoside and Na+–K+ ATPase. Additionally, the dynamic equilibrium of the liganded ATPase complex were achieved after 105 ns, and the lower values from the radius of gyration and solvent accessible surface area in the complex demonstrated the highly tight and compact structure of the liganded protein. The highest free binding energy (ΔGbind = −47.80 kJ/mol) between Na+–K+ ATPase and luteolin-7-O-glycloside was observed. Overall, DFPE can be used as an effective anti-bacterial agent due to the contribution of its bioactive ingredients such as caffeic acid and luteolin-7-O-glucoside for membrane-breaking. Communicated by Ramaswamy H. Sarma</p

Image3_Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithm.JPEG

To enhance the performance of power inspection robots in intricate nuclear power stations, it is necessary to improve their response speed and accuracy. This paper uses the manipulator of the power inspection robot as the primary research object, and unlike previous control algorithm research, which only remained in the software simulation stage, we constructed a set of physical verification platforms based on CAN communication and physically verified the robotic arm’s control algorithm. First, the forward motion model is established based on the geometric structure of the manipulator and D-H parameter method, and the kinematic equation of the manipulator is solved by combining geometric method and algebraic method. Secondly, in order to conduct comparison tests, we designed PID controllers and expert PID controllers by utilising the expertise of experts. The results show that compared with the traditional PID algorithm, the expert PID algorithm has a faster response speed in the control process of the manipulator. It converges quickly in 0.75 s and has a smaller overshoot, with a maximum of only 6.9%. This confirms the expert PID algorithm’s good control effect on the robotic arm, allowing the six-degree-of-freedom robotic arm to travel more accurately and swiftly along the trajectory of the target point.</p