Robotic computing systems play an important role in enabling intelligent robotic tasks through intelligent algo-rithms and supporting hardware.In recent years,the evolution of robotic algorithms indicates a roadmap fr...Robotic computing systems play an important role in enabling intelligent robotic tasks through intelligent algo-rithms and supporting hardware.In recent years,the evolution of robotic algorithms indicates a roadmap from traditional robotics to hierarchical and end-to-end models.This algorithmic advancement poses a critical challenge in achieving balanced system-wide performance.Therefore,algorithm-hardware co-design has emerged as the primary methodology,which ana-lyzes algorithm behaviors on hardware to identify common computational properties.These properties can motivate algo-rithm optimization to reduce computational complexity and hardware innovation from architecture to circuit for high performance and high energy efficiency.We then reviewed recent works on robotic and embodied AI algorithms and computing hard-ware to demonstrate this algorithm-hardware co-design methodology.In the end,we discuss future research opportunities by answering two questions:(1)how to adapt the computing platforms to the rapid evolution of embodied AI algorithms,and(2)how to transform the potential of emerging hardware innovations into end-to-end inference improvements.展开更多
Development of clean desulfurization process that combines both efficient and environmentally friendly remains a significant challenge for diesel production.The photocatalytic oxidation desulfurization technology is r...Development of clean desulfurization process that combines both efficient and environmentally friendly remains a significant challenge for diesel production.The photocatalytic oxidation desulfurization technology is regarded as a promising process depending on the superior electron transfer and visible light utilization of photocatalyst.Herein,the nonstoichiometry MoO_(3-x)with outstanding photoresponse ability is prepared and modified by imidazole-based ionic liquid[C_(12)mim]Cl to upgrade electronic structure.The interface H-bonding between MoO_(3-x)and[C_(12)mim]Cl regard as electronic transfer channel and the recombination of e^(-)-h^(+)pairs is effectively inhibited with the modification of[C_(12)mim]Cl.Deep desulfurization rate of 96.6%can be reached within 60 min and the MoO_(3-x)/[C_(12)mim]Cl(MoC_(12))photocatalyst demonstrated outstanding cyclic stability within 7 cycles in an extraction coupled photocatalytic oxidation desulfurization(ECPODS)system.The study provides a new perspective on enhancing photocatalytic desulfurization through defect engineering and surface modification.展开更多
Compared to the last decade when the convolution neu-ral network(CNN)dominated the research field,machine learn-ing(ML)algorithms have reached a pivotal moment called the generative artificial intelligence(AI)era.With...Compared to the last decade when the convolution neu-ral network(CNN)dominated the research field,machine learn-ing(ML)algorithms have reached a pivotal moment called the generative artificial intelligence(AI)era.With the emer-gence of large-scale foundation models[1],such as large multi-modal model(LMM)GPT-4[2]and text-to-image generative model DALL·E[3].展开更多
In order to operate various constrained mechanisms with assistive robot manipulators, an interactive control algorithm is proposed in this paper. This method decouples motion and force control in the constrained frame...In order to operate various constrained mechanisms with assistive robot manipulators, an interactive control algorithm is proposed in this paper. This method decouples motion and force control in the constrained frame, and modifies the motion velocity online. Firstly, the constrained frame is determined online according to previous motion direction; then the selection matrix is adjusted dynamically, the constrained motion direction is chosen as the driving-axis. Consequently, the driving-axis and non-driving-axis are decoupled; finally, velocity control and impedance control are implied on above axes respectively. The selecting threshold for driving-axis is also varying dynamically to fit different constrained mechanism. Door-opening experiments are conducted to verify the performance of the proposed method.展开更多
Photocatalytic water splitting and carbon dioxide photoreduction are considered eff ective strategies for alleviating the energy crisis and environmental pollution.Polynuclear metal-oxo clusters possess excellent elec...Photocatalytic water splitting and carbon dioxide photoreduction are considered eff ective strategies for alleviating the energy crisis and environmental pollution.Polynuclear metal-oxo clusters possess excellent electron storage/release ability and unique catalytic properties via intermetallic synergy,which enables them with great potential in environmentally friendly photosynthesis.Importantly,metal-oxo clusters with precise structure can not only act as high-effi ciency catalysts but also provide well-defi ned structural models for exploring structure-activity relationships.In this review,we systematically sum-marize recent progress in the catalytic application of polynuclear metal-oxo clusters,including polyoxometalate clusters,low-cost transition metal clusters,and metal-oxo-cluster-based metal-organic frameworks for water splitting and CO_(2)reduction.Furthermore,we discuss the challenges and solutions to the problems of polynuclear metal-oxo clusters in photocatalysis.展开更多
Sophora alopecuroides L.,a perennial plant belonging to Leguminosae family,is used as medicinal materials to treat a variety of skin diseases.Its chemical components are complex and diverse,mainly including alkaloids ...Sophora alopecuroides L.,a perennial plant belonging to Leguminosae family,is used as medicinal materials to treat a variety of skin diseases.Its chemical components are complex and diverse,mainly including alkaloids and flavonoids.Modern pharmacological studies have found that the isolated compounds from S.alopecuroides have a variety of pharmacological activities.In particular,alkaloids represented by matrine,aloperine and oxymatrine have significant anti-inflammatory,anti-viral,anti-tumor,anti-bacterial and immunomodulatory activities.This paper summarized the chemical constituents and pharmacological activities of S.alopecuroides,aiming to provide the basis for further research.展开更多
The persistent US current account deficit,supported by the post-Bretton Woods system,will continue to worsen the country's net foreign debt position.The net foreign debt-to-GDP ratio,shaped by factors such as the ...The persistent US current account deficit,supported by the post-Bretton Woods system,will continue to worsen the country's net foreign debt position.The net foreign debt-to-GDP ratio,shaped by factors such as the US budget deficit,the gap between private investment and savings,investment income,and GDP growth,will steadily increase as it approaches a critical threshold.Shifts in these factors will push the trajectory of the ratio upward,and foreign investors'willingness to hold US assets will play a pivotal role as the ratio nears its limit.Exceeding this threshold could trigger a balance of payments crisis.Furthermore,the weaponization of the US dollar has significantly eroded its credibility as the cornerstone of the post-Bretton Woods system,raising concerns about the US's ability to sustain its external debt and finance its deficits without precipitating a financial crisis.展开更多
Preimplantation embryo arrest is a common cause of female infertility and recurrent failure of assisted reproductive technology.However,its genetic basis is largely unrevealed.Geminin,encoded by the GMNN gene,plays an...Preimplantation embryo arrest is a common cause of female infertility and recurrent failure of assisted reproductive technology.However,its genetic basis is largely unrevealed.Geminin,encoded by the GMNN gene,plays an important role in preventing DNA re-replication by inhibiting CDT1.Here,using whole-exome sequencing and Sanger sequencing,we identified three rare missense mutations of GMNN in females with preimplantation arrest,following a dominant inheritance pattern.The RNA sequencing data from both the mouse zygotes and the patient's one-cell embryo demonstrated the altered cell cycle processes.We then found that these mutations decreased the binding with CDT1 and resulted in activation of CHK1 and DNA damage,resulting in cell cycle disturbance.Our findings uncover a mechanistic understanding of the pathogenesis of human preimplantation embryo arrest,which acts by impairing the correct cell cycle and DNA rereplication procedure,and provides a new molecular target for the diagnosis and treatment of infertile patients.展开更多
The deficient agricultural water caused by water shortage is a crucial limiting factor of horticultural production.Among many agricultural water-saving technologies,regulated deficit irrigation(RDI)has been proven to ...The deficient agricultural water caused by water shortage is a crucial limiting factor of horticultural production.Among many agricultural water-saving technologies,regulated deficit irrigation(RDI)has been proven to be one of the effective technologies to improve water use efficiency and reduce water waste on the premise of maintaining the quality of agricultural products.RDI was first reported more than 40years ago,although it has been applied in some areas,little is known about understanding of the implementation method,scope of application and detailed mechanism of RDI,resulting in the failure to achieve the effect that RDI should have.This review refers to the research on RDI in different crops published in recent years,summarizes the definition,equipment condition,function,theory illumination,plant response and application in different crops of RDI,and looks forward to its prospect.We expect that this review will provide valuable guidance for researchers and producers concerned,and support the promotion of RDI in more horticultural crops.展开更多
In northwest China,where winter is extremely cold and the grapevine is vulnerable to freezing damage,the application of soil covering has promoted the vigorous development of the local grape and wine industries.Howeve...In northwest China,where winter is extremely cold and the grapevine is vulnerable to freezing damage,the application of soil covering has promoted the vigorous development of the local grape and wine industries.However,in recent years,the negative effects of burying soil for cold protection on the environment have gradually emerged.In some viticultural regions,the phenomenon of"summer forest,winter desert"has appeared.Therefore,it is urgent for the Chinese grape industry to find a better solution to overwinter safely and environmentally friendly.This review summarizes the advantages and disadvantages of widely used solutions to overwinter such as covering vines with soil,breeding of cold-resistant grapes,cold-resistant cultivation model,physical and chemical covering materials,and protected grape facilities were reviewed.Future overwintering measures were proposed which avoid burial and grape overwintering research directions.It also provides a theoretical foundation and technical support to improve grape yield and quality in northwest China.展开更多
基金supported in part by NSFC under Grant 62422407in part by RGC under Grant 26204424in part by ACCESS–AI Chip Center for Emerging Smart Systems, sponsored by the Inno HK initiative of the Innovation and Technology Commission of the Hong Kong Special Administrative Region Government
文摘Robotic computing systems play an important role in enabling intelligent robotic tasks through intelligent algo-rithms and supporting hardware.In recent years,the evolution of robotic algorithms indicates a roadmap from traditional robotics to hierarchical and end-to-end models.This algorithmic advancement poses a critical challenge in achieving balanced system-wide performance.Therefore,algorithm-hardware co-design has emerged as the primary methodology,which ana-lyzes algorithm behaviors on hardware to identify common computational properties.These properties can motivate algo-rithm optimization to reduce computational complexity and hardware innovation from architecture to circuit for high performance and high energy efficiency.We then reviewed recent works on robotic and embodied AI algorithms and computing hard-ware to demonstrate this algorithm-hardware co-design methodology.In the end,we discuss future research opportunities by answering two questions:(1)how to adapt the computing platforms to the rapid evolution of embodied AI algorithms,and(2)how to transform the potential of emerging hardware innovations into end-to-end inference improvements.
基金supports from National Natural Science Foundation of China(Nos.22172066,22378176)supported by State Key Laboratory of Heavy Oil Processing.Supported by Jiangsu Collaborative Innovation Center of TechnologyMaterial of Water Treatment,Suzhou University of Science and Technology.
文摘Development of clean desulfurization process that combines both efficient and environmentally friendly remains a significant challenge for diesel production.The photocatalytic oxidation desulfurization technology is regarded as a promising process depending on the superior electron transfer and visible light utilization of photocatalyst.Herein,the nonstoichiometry MoO_(3-x)with outstanding photoresponse ability is prepared and modified by imidazole-based ionic liquid[C_(12)mim]Cl to upgrade electronic structure.The interface H-bonding between MoO_(3-x)and[C_(12)mim]Cl regard as electronic transfer channel and the recombination of e^(-)-h^(+)pairs is effectively inhibited with the modification of[C_(12)mim]Cl.Deep desulfurization rate of 96.6%can be reached within 60 min and the MoO_(3-x)/[C_(12)mim]Cl(MoC_(12))photocatalyst demonstrated outstanding cyclic stability within 7 cycles in an extraction coupled photocatalytic oxidation desulfurization(ECPODS)system.The study provides a new perspective on enhancing photocatalytic desulfurization through defect engineering and surface modification.
基金This research was supported in part by ACCESS-AI Chip Center for Emerging Smart Systems,sponsored by InnoHK funding,Hong Kong SAR,and HKUST-HKUST(GZ)20 for 20 Cross-campus Collaborative Research Scheme C031.
文摘Compared to the last decade when the convolution neu-ral network(CNN)dominated the research field,machine learn-ing(ML)algorithms have reached a pivotal moment called the generative artificial intelligence(AI)era.With the emer-gence of large-scale foundation models[1],such as large multi-modal model(LMM)GPT-4[2]and text-to-image generative model DALL·E[3].
基金This work was supported in part by the National Natural Science Foundation of China under Grant 61473191, 61503245, 61221003, in part by the Science and Technology Commission of Shanghai Municipality under Grant 15111104802, in part by State Key Laboratory of Robotics and System （HIT）.
文摘In order to operate various constrained mechanisms with assistive robot manipulators, an interactive control algorithm is proposed in this paper. This method decouples motion and force control in the constrained frame, and modifies the motion velocity online. Firstly, the constrained frame is determined online according to previous motion direction; then the selection matrix is adjusted dynamically, the constrained motion direction is chosen as the driving-axis. Consequently, the driving-axis and non-driving-axis are decoupled; finally, velocity control and impedance control are implied on above axes respectively. The selecting threshold for driving-axis is also varying dynamically to fit different constrained mechanism. Door-opening experiments are conducted to verify the performance of the proposed method.
基金supported by National Natural Science Foundationof China(Grant No.21671113)the Science and Technology of Henan province in 2018(No.182102310873)+2 种基金2019 Special Project of Nanyang Normal University(Nos.2019ZX009 and 2019QN011)Project of Young Backbone Teachers in Colleges and Universities of Henan Province(No.2020GGJS180)2019 Henan Higher Education Teaching Reform Research and Practice Project(No.2019SJGLX093Y).
文摘Photocatalytic water splitting and carbon dioxide photoreduction are considered eff ective strategies for alleviating the energy crisis and environmental pollution.Polynuclear metal-oxo clusters possess excellent electron storage/release ability and unique catalytic properties via intermetallic synergy,which enables them with great potential in environmentally friendly photosynthesis.Importantly,metal-oxo clusters with precise structure can not only act as high-effi ciency catalysts but also provide well-defi ned structural models for exploring structure-activity relationships.In this review,we systematically sum-marize recent progress in the catalytic application of polynuclear metal-oxo clusters,including polyoxometalate clusters,low-cost transition metal clusters,and metal-oxo-cluster-based metal-organic frameworks for water splitting and CO_(2)reduction.Furthermore,we discuss the challenges and solutions to the problems of polynuclear metal-oxo clusters in photocatalysis.
基金the College Student Innovation and Entrepreneurship Training Program(X202010163166).
文摘Sophora alopecuroides L.,a perennial plant belonging to Leguminosae family,is used as medicinal materials to treat a variety of skin diseases.Its chemical components are complex and diverse,mainly including alkaloids and flavonoids.Modern pharmacological studies have found that the isolated compounds from S.alopecuroides have a variety of pharmacological activities.In particular,alkaloids represented by matrine,aloperine and oxymatrine have significant anti-inflammatory,anti-viral,anti-tumor,anti-bacterial and immunomodulatory activities.This paper summarized the chemical constituents and pharmacological activities of S.alopecuroides,aiming to provide the basis for further research.
基金the financial support provided by the Postdoctoral Fellowship Program of China Postdoctoral Science Foundation(No.GZC20233094)the Postdoctoral Innovation Program of the Chinese Academy of Social Sciences.
文摘The persistent US current account deficit,supported by the post-Bretton Woods system,will continue to worsen the country's net foreign debt position.The net foreign debt-to-GDP ratio,shaped by factors such as the US budget deficit,the gap between private investment and savings,investment income,and GDP growth,will steadily increase as it approaches a critical threshold.Shifts in these factors will push the trajectory of the ratio upward,and foreign investors'willingness to hold US assets will play a pivotal role as the ratio nears its limit.Exceeding this threshold could trigger a balance of payments crisis.Furthermore,the weaponization of the US dollar has significantly eroded its credibility as the cornerstone of the post-Bretton Woods system,raising concerns about the US's ability to sustain its external debt and finance its deficits without precipitating a financial crisis.
基金supported by the National Natural Science Foundation of China(82192874,82402161,82071606,82171842,31988101)the National Key Research and Development Program of China(2024YFC3405600)+12 种基金Shandong Provincial Key Research and Development Program(2024CXPT087)Shandong Provincial Key Research and Development Program(2020ZLYS02)Taishan Scholars Program of Shandong Province(ts20190988)Ningxia Hui Autonomous Region Key Research and Developmental Program(2024BEG02019)China National Postdoctoral Program for Innovative Talent(BX20240172)China Postdoctoral Science Foundation(2024M751487)Youth Project of Jiangsu Provincial Natural Science Foundation(BK20240375)Postdoctoral Research Fund of Gusu School in Nanjing Medical University(GSBSHKY202303)Fundamental Research Funds of Shandong University(2023QNTDO04)the Science and Technology Innovation Program of Hunan Province(2023RC3233)the Scientific Research Foundation of Reproductive and Genetic Hospital of CITIC-XIANGYA(YNXM-202202)the Natural Science Foundation of Hunan Province(2024JJ2083)the Specific Research Fund of the Innovation Platform for Academicians of Hainan Province(YSPTZX202310)。
文摘Preimplantation embryo arrest is a common cause of female infertility and recurrent failure of assisted reproductive technology.However,its genetic basis is largely unrevealed.Geminin,encoded by the GMNN gene,plays an important role in preventing DNA re-replication by inhibiting CDT1.Here,using whole-exome sequencing and Sanger sequencing,we identified three rare missense mutations of GMNN in females with preimplantation arrest,following a dominant inheritance pattern.The RNA sequencing data from both the mouse zygotes and the patient's one-cell embryo demonstrated the altered cell cycle processes.We then found that these mutations decreased the binding with CDT1 and resulted in activation of CHK1 and DNA damage,resulting in cell cycle disturbance.Our findings uncover a mechanistic understanding of the pathogenesis of human preimplantation embryo arrest,which acts by impairing the correct cell cycle and DNA rereplication procedure,and provides a new molecular target for the diagnosis and treatment of infertile patients.
基金supported by the National Nature Science Foundation Project(31901971)the class General Financial Grant from the China Postdoctoral Science Foundation(2020 M673507)+1 种基金the Innovation Capacity Support Plan of Shaanxi Province(2022NY-039,2022ZDLNY04-04,2020-TD-47)the Science and Technology Innovation and Achievement Transformation project of Experimental Demonstration Station(Base)of Northwest A&F University(TCZX2020-36).
文摘The deficient agricultural water caused by water shortage is a crucial limiting factor of horticultural production.Among many agricultural water-saving technologies,regulated deficit irrigation(RDI)has been proven to be one of the effective technologies to improve water use efficiency and reduce water waste on the premise of maintaining the quality of agricultural products.RDI was first reported more than 40years ago,although it has been applied in some areas,little is known about understanding of the implementation method,scope of application and detailed mechanism of RDI,resulting in the failure to achieve the effect that RDI should have.This review refers to the research on RDI in different crops published in recent years,summarizes the definition,equipment condition,function,theory illumination,plant response and application in different crops of RDI,and looks forward to its prospect.We expect that this review will provide valuable guidance for researchers and producers concerned,and support the promotion of RDI in more horticultural crops.
基金supported by the National key research and development program(2022YFD1602000)the Innovation Capacity Support Plan of Shaanxi Province(2022NY-039,2022ZDLNY04-04,2023-YBNY-176,2023KXJ-171).
文摘In northwest China,where winter is extremely cold and the grapevine is vulnerable to freezing damage,the application of soil covering has promoted the vigorous development of the local grape and wine industries.However,in recent years,the negative effects of burying soil for cold protection on the environment have gradually emerged.In some viticultural regions,the phenomenon of"summer forest,winter desert"has appeared.Therefore,it is urgent for the Chinese grape industry to find a better solution to overwinter safely and environmentally friendly.This review summarizes the advantages and disadvantages of widely used solutions to overwinter such as covering vines with soil,breeding of cold-resistant grapes,cold-resistant cultivation model,physical and chemical covering materials,and protected grape facilities were reviewed.Future overwintering measures were proposed which avoid burial and grape overwintering research directions.It also provides a theoretical foundation and technical support to improve grape yield and quality in northwest China.
