The success of robot-assisted pelvic fracture reduction surgery heavily relies on the accuracy of 3D/3D feature-based registration.This process involves extracting anatomical feature points from pre-operative 3D image...The success of robot-assisted pelvic fracture reduction surgery heavily relies on the accuracy of 3D/3D feature-based registration.This process involves extracting anatomical feature points from pre-operative 3D images which can be challenging because of the complex and variable structure of the pelvis.PointMLP_RegNet,a modified PointMLP,was introduced to address this issue.It retains the feature extraction module of PointMLP but replaces the classification layer with a regression layer to predict the coordinates of feature points instead of conducting regular classification.A flowchart for an automatic feature points extraction method was presented,and a series of experiments was conducted on a clinical pelvic dataset to confirm the accuracy and effectiveness of the method.PointMLP_RegNet extracted feature points more accurately,with 8 out of 10 points showing less than 4 mm errors and the remaining two less than 5 mm.Compared to PointNettt and PointNet,it exhibited higher accuracy,robustness and space efficiency.The proposed method will improve the accuracy of anatomical feature points extraction,enhance intra-operative registration precision and facilitate the widespread clinical application of robot-assisted pelvic fracture reduction.展开更多
Micro aerial vehicles(MAVs)have flexibility and maneuverability,which can offer vast potential for applications in both civilian and military domains.Compared to Fixed-wing/Rotor-wing MAVs,Flapping Wing Micro Robots(F...Micro aerial vehicles(MAVs)have flexibility and maneuverability,which can offer vast potential for applications in both civilian and military domains.Compared to Fixed-wing/Rotor-wing MAVs,Flapping Wing Micro Robots(FWMRs)have garnered widespread attention among scientists due to their superior miniaturized aerodynamic theory,reduced noise,and enhanced resistance to disturbances in complex and diverse environments.Flying insects,it not only has remarkable flapping flight ability(wings),but also takeoff and landing habitat ability(legs).If the various functions of flying insects can be imitated,efficient biomimetic FWMRs can be produced.This paper provides a review of the flight kinematics,aerodynamics,and wing structural parameters of insects.Then,the traditional wings and folding wings of insect-inspired FWMRs were compared.The research progress in takeoff and landing of FWMRs was also summarized,and the future developments and challenges for insect-inspired FWMRs were discussed.展开更多
The systematic discrepancies in both tsunami arrival time and leading negative phase(LNP)were identified for the recent transoceanic tsunami on 16 September 2015 in Illapel,Chile by examining the wave characteristics ...The systematic discrepancies in both tsunami arrival time and leading negative phase(LNP)were identified for the recent transoceanic tsunami on 16 September 2015 in Illapel,Chile by examining the wave characteristics from the tsunami records at 21 Deep-ocean Assessment and Reporting of Tsunami(DART)sites and 29 coastal tide gauge stations.The results revealed systematic travel time delay of as much as 22 min(approximately 1.7%of the total travel time)relative to the simulated long waves from the 2015 Chilean tsunami.The delay discrepancy was found to increase with travel time.It was difficult to identify the LNP from the near-shore observation system due to the strong background noise,but the initial negative phase feature became more obvious as the tsunami propagated away from the source area in the deep ocean.We determined that the LNP for the Chilean tsunami had an average duration of 33 min,which was close to the dominant period of the tsunami source.Most of the amplitude ratios to the first elevation phase were approximately 40%,with the largest equivalent to the first positive phase amplitude.We performed numerical analyses by applying the corrected long wave model,which accounted for the effects of seawater density stratification due to compressibility,self-attraction and loading(SAL)of the earth,and wave dispersion compared with observed tsunami waveforms.We attempted to accurately calculate the arrival time and LNP,and to understand how much of a role the physical mechanism played in the discrepancies for the moderate transoceanic tsunami event.The mainly focus of the study is to quantitatively evaluate the contribution of each secondary physical effect to the systematic discrepancies using the corrected shallow water model.Taking all of these effects into consideration,our results demonstrated good agreement between the observed and simulated waveforms.We can conclude that the corrected shallow water model can reduce the tsunami propagation speed and reproduce the LNP,which is observed for tsunamis that have propagated over long distances frequently.The travel time delay between the observed and corrected simulated waveforms is reduced to<8 min and the amplitude discrepancy between them was also markedly diminished.The incorporated effects amounted to approximately 78%of the travel time delay correction,with seawater density stratification,SAL,and Boussinesq dispersion contributing approximately 39%,21%,and 18%,respectively.The simulated results showed that the elastic loading and Boussinesq dispersion not only affected travel time but also changed the simulated waveforms for this event.In contrast,the seawater stratification only reduced the tsunami speed,whereas the earth’s elasticity loading was responsible for LNP due to the depression of the seafloor surrounding additional tsunami loading at far-field stations.This study revealed that the traditional shallow water model has inherent defects in estimating tsunami arrival,and the leading negative phase of a tsunami is a typical recognizable feature of a moderately strong transoceanic tsunami.These results also support previous theory and can help to explain the observed discrepancies.展开更多
Artificial intelligence is currently achieving impressive success in all fields.However,autonomous navigation remains a major challenge for AI.Reinforcement learning is used for target navigation to simulate the inter...Artificial intelligence is currently achieving impressive success in all fields.However,autonomous navigation remains a major challenge for AI.Reinforcement learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and animals.The hippocampus–striatum circuits are considered as key circuits for target navigation planning and decision-making.This paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the robot.The ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward association.In this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous tasks.Compared with traditional methods,this system reflects the high efficiency of learning and better Environmental Adaptability.Our research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.展开更多
The goal of this paper is to develop a unified online motion generation scheme for quadruped lateral-sequence walk and trot gaits based on a linear model predictive control formulation.Specifically,the dynamics of the...The goal of this paper is to develop a unified online motion generation scheme for quadruped lateral-sequence walk and trot gaits based on a linear model predictive control formulation.Specifically,the dynamics of the linear pendulum model is formulated over a predictive horizon by dimensional analysis.Through gait pattern conversion,the lateral-sequence walk and trot gaits of the quadruped can be regarded as unified biped gaits,allowing the dynamics of the linear inverted pendulum model to serve quadruped motion generation.In addition,a simple linearization of the center of pressure constraints for these quadruped gaits is developed for linear model predictive control problem.Furthermore,the motion generation problem can be solved online by quadratic programming with foothold adaptation.It is demonstrated that the proposed unified scheme can generate stable locomotion online for quadruped lateral-sequence walk and trot gaits,both in simulation and on hardware.The results show significant performance improvements compared to previous work.Moreover,the results also suggest the linearly simplified scheme has the ability to robustness against unexpected disturbances.展开更多
The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adap...The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.展开更多
Rare earth doped upconversion nanoparticles can be considered as the spice of research in the field of luminescence nanomaterials due to their unique optical properties such as near-infrared excitation.Enormous works ...Rare earth doped upconversion nanoparticles can be considered as the spice of research in the field of luminescence nanomaterials due to their unique optical properties such as near-infrared excitation.Enormous works have been reported about biomedical applications of 980 nm excited and Yb^3+-sensitized upconversion nanoparticles.However,980 nm excitation wavelength overlaps with the absorption band of water molecules in the biological environment,leading to overheating effect that can induce thermal damages of normal cells and tissues.Recently,Nd^3+-sensitized upconversion nanoparticles which can be excited with 808 nm has been widely investigated as alternative nanoparticles that can surmount this issue of overheating effect.Even though Nd^3+-sensitized upconversion nanoparticles can reduce the overheating effect by 20 fold as compared to Yb^3+-sensitized counterpart,there are several factors that reduce the upconversion luminescence intensity.In this review article,photon energy harvesting and transferring mechanisms in Nd^3+,Yb^3+and emitter ions co-doped upconversion nanoparticles under 808 nm excitation are briefly discussed.Factors that affect upconversion luminescence intensity and quantum yield of Nd^3+-sensitized upconversion nanoparticles are also addressed.Besides,some of the important strategies that have been recently utilized to boost upconversion luminescence intensity of Nd^3+sensitized upco nversion nanoparticles are tho roughly summarized.Lastly,the future challenges in the area and our perspectives are in sight.展开更多
Manganese-zinc ferrite is a kind of very important magnetic ferrite material.The properties of wide absorption band,sensitivity to ultraviolet(UV)light and tumor H_(2)O_(2) promise it to be possibly used as a photothe...Manganese-zinc ferrite is a kind of very important magnetic ferrite material.The properties of wide absorption band,sensitivity to ultraviolet(UV)light and tumor H_(2)O_(2) promise it to be possibly used as a photothermal therapy(PTT),photodynamic therapy(PDT)and chemodynamic therapy(CDT)agent.Based on the unique advantages of rare-earth doped nanoparticles,an Er^(3+),Tm^(3+)co-doped upconversion-mediated nanosystem with manganese-zinc ferrite shell(named as UCNPS@M)was developed through a facile thermal co-decomposition method.The final nanosystems were surface-modified by using dopamine hydrochloride(DA)in order to warrant good biocompatibility(named as UCNPS@M@DA).Under irradiation of near-infrared(NIR)light,UCNPS emit both ultraviolet and visible light.The UV light is mostly abso rbed by manga nese-zinc ferrite shell to produce reactive oxygen species(ROS),which is essential to the potential PDT and CDT effect of nanosystems,and at the same time,Mn_(0.5)Zn_(0.5)Fe2O_(4) can further react with H_(2)O_(2) to promote the efficiency of OH-generation.It is expected that UCNPS@M@DA can act as upconversion luminescence imaging guidance due to the visible emission from UCNPS.In addition,the energy absorbed by the nanosystems can be transferred to heat to realize photothermal effect.Moreover,UCNPS@M@DA was successfully applied as a T_(1)/T_(2)-weighted magnetic resonance imaging(MRI)contrast agent due to the existence of Gd,Mn,and Fe elements.In light of the upconversion luminescence(UCL)imaging from the UCNPS as well as potential PTT,PDT,CDT effect mentioned above,this work provides a possibility to realize cancer multi-model bioimaging guided treatment by using an all-in-one diagnosis and therapy nanosystem through a simple yet powerful strategy.展开更多
From the viewpoint of production engineering, microforming is considered as an effective process to fabricate various microparts. Several key problems in microforming processes were investigated. A new microforming ap...From the viewpoint of production engineering, microforming is considered as an effective process to fabricate various microparts. Several key problems in microforming processes were investigated. A new microforming apparatus with a high stiffness piezoelectric actuator as the punch driver was developed to produce microparts.To improve the forming abilities and locate the billets, a floating microdie was designed. The size effects of the billets and die cavities on the microforming abilities were studied with upsetting and coining tests, respectively.And the isothermal microforming process of microgears was performed with the developed microforming apparatus. Several analysis methods were used to evaluate the forming quality of the microparts.展开更多
Combining treatment and diagnosis,called theranostics,which is achieved within single nanoparticle is an ultimate goal of many studies.Herein,we developed a new nanotheranostic agent-Nd^(3+)-sensitized upconversion na...Combining treatment and diagnosis,called theranostics,which is achieved within single nanoparticle is an ultimate goal of many studies.Herein,we developed a new nanotheranostic agent-Nd^(3+)-sensitized upconversion nanoparticles core for dual modal imaging(i.e.,upconversion luminescence imaging and magnetic resonance imaging) and antimony nanoshell for photothermal therapy(PTT).The core-shellshell upconversion nanoparticles(NaYF_(4):Yb,Er@NaYF_(4):Yb,Nd@NaGdF_(4):Nd,named as UCNP) were firstly synthesized using thermal decomposition method and then were coated by antimony shell over the surface of UCNP using simple cost and time effective new method.Furthermore,the surface of UCNP@Sb nanostructures was modified with DSPE-PEG in order to enhance the water solubility and biocompatibility.The final nanotheranostic agent,named as UCNP@Sb-PEG,exhibits very low toxicity,good biocompatibility,very good photothermal therapeutic effect,and efficient upconversion luminescence(UCL) imaging of HeLa cells under only one laser(808 nm) irradiation.The antimony shell is quenching the upconversion emission in pristine nanotheranostic agent,but interestingly,the UCL intensity of the agent recovers progressively under 808 nm laser irradiation due to light induced degradability of antimony shell.Besides,high longitudinal relaxivity(r_(1)) obtained from the experiment approves excellent potential of the nanotheranostic agent for T_(1)-weighted magnetic resonance imaging application.展开更多
The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and navigation.These cells can integrate their moment information and external perceptual information and acqu...The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and navigation.These cells can integrate their moment information and external perceptual information and acquire episodic cognitive memory.Through episodic cognition and memory,organisms can achieve autonomous navigation in complex environments.This paper mainly studies the strategy of robot episode navigation in complex environments.After exploring the environment,the robot obtains subjective environmental cognition and forms a cognition map.The grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced area.The synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode nodes.When the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer sub-targets.Based on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering obstacles.This paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.展开更多
Recently,much attention has been paid to the lanthanide luminescent materials based on the visiblelight sensitization for their potential applications in the fields of bio-imaging and optical devices.In this work,the ...Recently,much attention has been paid to the lanthanide luminescent materials based on the visiblelight sensitization for their potential applications in the fields of bio-imaging and optical devices.In this work,the lanthanide complexes have been covalently bonded to the ordered mesoporous titania（OMT） matrix,and the resulting titania-based hybrid ordered mesoporous materials（named as LnDBOMT,Ln = Eu,Sm,Yb,Nd） were characterized by using Fourier-transform infrared（FT-IR） spectroscopy,small-angle X-ray powder diffraction（SAXD）,N2 adsorption-desorption isotherms,transmission electron microscopy（TEM）,fluorescence spectroscopy,and thermogravimetric analysis.Generally,exciting with visible light is advantageous over UV excitation.Of importance here is that,under excitation with visible light,the LnDB-OMT all show characteristic visible（Eu3＋,Sm3＋） as well as nearinfrared（Sm3＋,Yb3＋,Nd3＋） luminescence of the corresponding Ln3＋ ions（multicolor emission covered from 500 to 1400 nm spectral region）,which is attributed to the energy transfer from the ligands to the Ln3＋ ions via an antenna effect.展开更多
Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number environments.Shape Memory Polymers(SMPs)with desirable properties are considere...Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number environments.Shape Memory Polymers(SMPs)with desirable properties are considered as one of the most preferred options for the development of small-scale robots.However,fabricating and programming strategies are still challenging.Here,we report an approach to fabricate helical microswimmers based on thermoplastic SMP(polylactic acid).Melt-spun polylactic acid fibers containing magnetic particles were enwound to form helical microstructures.Their shape recovery behaviors were programmed by annealing and pre-deformation.Three forms of helical microswimmers(constant-helix-angle conical helix,constant-pitch conical helix,and straight helix)with controlled morphological parameters were tailored.The obtained microswimmers showed 3D locomotion capability under rotating magnetic fields.The maximum swimming velocity of microswimmers was nearly six body lengths per second,and the near-wall swimming of conical helixes along their sharp end exhibited a smaller drift.Moreover,we demonstrated programmed shape-switching processes(spring-like contraction and elongation,coiling and uncoiling)and self-repairing of the microswimmers.As demonstrations of potential applications,tasks of mobile microstent,cargo delivery,and minimally invasive injection were carried out.The multifunctional shape-memory microswimmers have immense potential in a variety of applications.展开更多
基金supported by the National Key Research and Development Program of China(Grant No.2020YFB1313800)the National Science Foundation of China(Grant No.NSFC62373259)+1 种基金the Natural Science Foundation of Top Talent of SZTU(Grant No.GDRC202303)the Education Promotion Foundation of Guangdong Province(Grant No.2022ZDJS115).
文摘The success of robot-assisted pelvic fracture reduction surgery heavily relies on the accuracy of 3D/3D feature-based registration.This process involves extracting anatomical feature points from pre-operative 3D images which can be challenging because of the complex and variable structure of the pelvis.PointMLP_RegNet,a modified PointMLP,was introduced to address this issue.It retains the feature extraction module of PointMLP but replaces the classification layer with a regression layer to predict the coordinates of feature points instead of conducting regular classification.A flowchart for an automatic feature points extraction method was presented,and a series of experiments was conducted on a clinical pelvic dataset to confirm the accuracy and effectiveness of the method.PointMLP_RegNet extracted feature points more accurately,with 8 out of 10 points showing less than 4 mm errors and the remaining two less than 5 mm.Compared to PointNettt and PointNet,it exhibited higher accuracy,robustness and space efficiency.The proposed method will improve the accuracy of anatomical feature points extraction,enhance intra-operative registration precision and facilitate the widespread clinical application of robot-assisted pelvic fracture reduction.
基金supported by the National Natural Science Foundation of China(grant numbers 52305321 and 62273246)The Natural Science Foundation of Jiangsu Province(BK20230496)+3 种基金China Postdoctoral Science Foundation Funded Project(2023M732536 and 2024T170630)Jiangsu Province Excellence Postdoctoral Program(2023ZB218)The National Key R&D Program of China(2022YFB4702202)The Jiangsu Provincial Key Technology R&D Program(BE2021009-02).
文摘Micro aerial vehicles(MAVs)have flexibility and maneuverability,which can offer vast potential for applications in both civilian and military domains.Compared to Fixed-wing/Rotor-wing MAVs,Flapping Wing Micro Robots(FWMRs)have garnered widespread attention among scientists due to their superior miniaturized aerodynamic theory,reduced noise,and enhanced resistance to disturbances in complex and diverse environments.Flying insects,it not only has remarkable flapping flight ability(wings),but also takeoff and landing habitat ability(legs).If the various functions of flying insects can be imitated,efficient biomimetic FWMRs can be produced.This paper provides a review of the flight kinematics,aerodynamics,and wing structural parameters of insects.Then,the traditional wings and folding wings of insect-inspired FWMRs were compared.The research progress in takeoff and landing of FWMRs was also summarized,and the future developments and challenges for insect-inspired FWMRs were discussed.
基金The National Key Research and Development Program of China under contract Nos 2018YFC1407000 and2016YFC1401500the National Natural Science Foundation of China under contract Nos 41806045 and 51579090。
文摘The systematic discrepancies in both tsunami arrival time and leading negative phase(LNP)were identified for the recent transoceanic tsunami on 16 September 2015 in Illapel,Chile by examining the wave characteristics from the tsunami records at 21 Deep-ocean Assessment and Reporting of Tsunami(DART)sites and 29 coastal tide gauge stations.The results revealed systematic travel time delay of as much as 22 min(approximately 1.7%of the total travel time)relative to the simulated long waves from the 2015 Chilean tsunami.The delay discrepancy was found to increase with travel time.It was difficult to identify the LNP from the near-shore observation system due to the strong background noise,but the initial negative phase feature became more obvious as the tsunami propagated away from the source area in the deep ocean.We determined that the LNP for the Chilean tsunami had an average duration of 33 min,which was close to the dominant period of the tsunami source.Most of the amplitude ratios to the first elevation phase were approximately 40%,with the largest equivalent to the first positive phase amplitude.We performed numerical analyses by applying the corrected long wave model,which accounted for the effects of seawater density stratification due to compressibility,self-attraction and loading(SAL)of the earth,and wave dispersion compared with observed tsunami waveforms.We attempted to accurately calculate the arrival time and LNP,and to understand how much of a role the physical mechanism played in the discrepancies for the moderate transoceanic tsunami event.The mainly focus of the study is to quantitatively evaluate the contribution of each secondary physical effect to the systematic discrepancies using the corrected shallow water model.Taking all of these effects into consideration,our results demonstrated good agreement between the observed and simulated waveforms.We can conclude that the corrected shallow water model can reduce the tsunami propagation speed and reproduce the LNP,which is observed for tsunamis that have propagated over long distances frequently.The travel time delay between the observed and corrected simulated waveforms is reduced to<8 min and the amplitude discrepancy between them was also markedly diminished.The incorporated effects amounted to approximately 78%of the travel time delay correction,with seawater density stratification,SAL,and Boussinesq dispersion contributing approximately 39%,21%,and 18%,respectively.The simulated results showed that the elastic loading and Boussinesq dispersion not only affected travel time but also changed the simulated waveforms for this event.In contrast,the seawater stratification only reduced the tsunami speed,whereas the earth’s elasticity loading was responsible for LNP due to the depression of the seafloor surrounding additional tsunami loading at far-field stations.This study revealed that the traditional shallow water model has inherent defects in estimating tsunami arrival,and the leading negative phase of a tsunami is a typical recognizable feature of a moderately strong transoceanic tsunami.These results also support previous theory and can help to explain the observed discrepancies.
基金funded by National Key R&D Program of China to Fusheng Zha with Grant numbers 2020YFB13134Natural Science Foundation of China to Fusheng Zha with Grant numbers U2013602,52075115,51521003,61911530250.
文摘Artificial intelligence is currently achieving impressive success in all fields.However,autonomous navigation remains a major challenge for AI.Reinforcement learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and animals.The hippocampus–striatum circuits are considered as key circuits for target navigation planning and decision-making.This paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the robot.The ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward association.In this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous tasks.Compared with traditional methods,this system reflects the high efficiency of learning and better Environmental Adaptability.Our research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.
基金supported by the National Natural Science Foundation of China(Nos.52305072 and 52122503)Natural Science Foundation of Hebei Province of China(No.E2022203095)+2 种基金University-Industry Collaborative Education Program(No.220603936245709)Cultivation Project for Basic Research and Innovation of Yanshan University(No.2021LGQN004)henzhen Special Fund for Future Industrial Development(No.KJZD20230923114222045).
文摘The goal of this paper is to develop a unified online motion generation scheme for quadruped lateral-sequence walk and trot gaits based on a linear model predictive control formulation.Specifically,the dynamics of the linear pendulum model is formulated over a predictive horizon by dimensional analysis.Through gait pattern conversion,the lateral-sequence walk and trot gaits of the quadruped can be regarded as unified biped gaits,allowing the dynamics of the linear inverted pendulum model to serve quadruped motion generation.In addition,a simple linearization of the center of pressure constraints for these quadruped gaits is developed for linear model predictive control problem.Furthermore,the motion generation problem can be solved online by quadratic programming with foothold adaptation.It is demonstrated that the proposed unified scheme can generate stable locomotion online for quadruped lateral-sequence walk and trot gaits,both in simulation and on hardware.The results show significant performance improvements compared to previous work.Moreover,the results also suggest the linearly simplified scheme has the ability to robustness against unexpected disturbances.
基金supported in part by the National Key Research and Development Program of China(2020YFB13134)Major Project of National Natural Science Foundation of China(U2013602)+2 种基金The National Nature Science Foundation of China(52075115)HIT Major Campus Cultivation Project(2023FRFK01001)National independent project(SKLRS202301A12).
文摘The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.
基金Projects supported by the National Natural Science Foundation of China(21571125,51872183,51672171)National Key R&D Program of China(2016YFE0114800)
文摘Rare earth doped upconversion nanoparticles can be considered as the spice of research in the field of luminescence nanomaterials due to their unique optical properties such as near-infrared excitation.Enormous works have been reported about biomedical applications of 980 nm excited and Yb^3+-sensitized upconversion nanoparticles.However,980 nm excitation wavelength overlaps with the absorption band of water molecules in the biological environment,leading to overheating effect that can induce thermal damages of normal cells and tissues.Recently,Nd^3+-sensitized upconversion nanoparticles which can be excited with 808 nm has been widely investigated as alternative nanoparticles that can surmount this issue of overheating effect.Even though Nd^3+-sensitized upconversion nanoparticles can reduce the overheating effect by 20 fold as compared to Yb^3+-sensitized counterpart,there are several factors that reduce the upconversion luminescence intensity.In this review article,photon energy harvesting and transferring mechanisms in Nd^3+,Yb^3+and emitter ions co-doped upconversion nanoparticles under 808 nm excitation are briefly discussed.Factors that affect upconversion luminescence intensity and quantum yield of Nd^3+-sensitized upconversion nanoparticles are also addressed.Besides,some of the important strategies that have been recently utilized to boost upconversion luminescence intensity of Nd^3+sensitized upco nversion nanoparticles are tho roughly summarized.Lastly,the future challenges in the area and our perspectives are in sight.
基金Project supported by the National Natural Science Foundation of China(51872183)"Shuguang Program"supported by Shanghai Education Development Foundation and Shanghai Municipal Education Commission(19SG38)the National Basic Research Program of China(2016YFA0201600)。
文摘Manganese-zinc ferrite is a kind of very important magnetic ferrite material.The properties of wide absorption band,sensitivity to ultraviolet(UV)light and tumor H_(2)O_(2) promise it to be possibly used as a photothermal therapy(PTT),photodynamic therapy(PDT)and chemodynamic therapy(CDT)agent.Based on the unique advantages of rare-earth doped nanoparticles,an Er^(3+),Tm^(3+)co-doped upconversion-mediated nanosystem with manganese-zinc ferrite shell(named as UCNPS@M)was developed through a facile thermal co-decomposition method.The final nanosystems were surface-modified by using dopamine hydrochloride(DA)in order to warrant good biocompatibility(named as UCNPS@M@DA).Under irradiation of near-infrared(NIR)light,UCNPS emit both ultraviolet and visible light.The UV light is mostly abso rbed by manga nese-zinc ferrite shell to produce reactive oxygen species(ROS),which is essential to the potential PDT and CDT effect of nanosystems,and at the same time,Mn_(0.5)Zn_(0.5)Fe2O_(4) can further react with H_(2)O_(2) to promote the efficiency of OH-generation.It is expected that UCNPS@M@DA can act as upconversion luminescence imaging guidance due to the visible emission from UCNPS.In addition,the energy absorbed by the nanosystems can be transferred to heat to realize photothermal effect.Moreover,UCNPS@M@DA was successfully applied as a T_(1)/T_(2)-weighted magnetic resonance imaging(MRI)contrast agent due to the existence of Gd,Mn,and Fe elements.In light of the upconversion luminescence(UCL)imaging from the UCNPS as well as potential PTT,PDT,CDT effect mentioned above,this work provides a possibility to realize cancer multi-model bioimaging guided treatment by using an all-in-one diagnosis and therapy nanosystem through a simple yet powerful strategy.
基金The authors gratefully acknowledge the financial support of the National High-Tech Research and Development of China （No. 2004AA404260）；the Science Foundation for Distingguished Young Scholars of Heilongjiang Province （No. JC-05-11） ；the Program for New Century Excellent Talents in University （No. NCET-04-0322）.
文摘From the viewpoint of production engineering, microforming is considered as an effective process to fabricate various microparts. Several key problems in microforming processes were investigated. A new microforming apparatus with a high stiffness piezoelectric actuator as the punch driver was developed to produce microparts.To improve the forming abilities and locate the billets, a floating microdie was designed. The size effects of the billets and die cavities on the microforming abilities were studied with upsetting and coining tests, respectively.And the isothermal microforming process of microgears was performed with the developed microforming apparatus. Several analysis methods were used to evaluate the forming quality of the microparts.
基金Project supported by the National Natural Science Foundation of China(51872183)"Shuguang Program"supported by Shanghai Education Development Foundation+1 种基金Shanghai Municipal Education Commission(19SG38)the National Basic Research Program of China(2016YFA0201600)。
文摘Combining treatment and diagnosis,called theranostics,which is achieved within single nanoparticle is an ultimate goal of many studies.Herein,we developed a new nanotheranostic agent-Nd^(3+)-sensitized upconversion nanoparticles core for dual modal imaging(i.e.,upconversion luminescence imaging and magnetic resonance imaging) and antimony nanoshell for photothermal therapy(PTT).The core-shellshell upconversion nanoparticles(NaYF_(4):Yb,Er@NaYF_(4):Yb,Nd@NaGdF_(4):Nd,named as UCNP) were firstly synthesized using thermal decomposition method and then were coated by antimony shell over the surface of UCNP using simple cost and time effective new method.Furthermore,the surface of UCNP@Sb nanostructures was modified with DSPE-PEG in order to enhance the water solubility and biocompatibility.The final nanotheranostic agent,named as UCNP@Sb-PEG,exhibits very low toxicity,good biocompatibility,very good photothermal therapeutic effect,and efficient upconversion luminescence(UCL) imaging of HeLa cells under only one laser(808 nm) irradiation.The antimony shell is quenching the upconversion emission in pristine nanotheranostic agent,but interestingly,the UCL intensity of the agent recovers progressively under 808 nm laser irradiation due to light induced degradability of antimony shell.Besides,high longitudinal relaxivity(r_(1)) obtained from the experiment approves excellent potential of the nanotheranostic agent for T_(1)-weighted magnetic resonance imaging application.
基金National Natural Science Foundation of China,61773139,Fusheng Zha51521003,Fusheng Zha+6 种基金52075115,Fusheng ZhaU2013602,Fusheng Zha61911530250,Fusheng ZhaShenzhen Science and Technology Research and Development Foundation,JCYJ20190813171009236,Fusheng ZhaShenzhen Science and Technology Program,KQTD2016112515134654,Fusheng ZhaSelf-Planned Task of State Key Laboratory of Robotics and System(HIT),SKLRS202001B,Fusheng ZhaSKLRS202110B,Fusheng Zha.
文摘The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and navigation.These cells can integrate their moment information and external perceptual information and acquire episodic cognitive memory.Through episodic cognition and memory,organisms can achieve autonomous navigation in complex environments.This paper mainly studies the strategy of robot episode navigation in complex environments.After exploring the environment,the robot obtains subjective environmental cognition and forms a cognition map.The grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced area.The synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode nodes.When the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer sub-targets.Based on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering obstacles.This paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.
基金Project supported by the National Natural Science Foundation of China(21571125,21471144)National Key R&D Program of China(2016YFE0114800)the project from State Key Laboratory of Rare Earth Resource Utilization(RERU2016013)
文摘Recently,much attention has been paid to the lanthanide luminescent materials based on the visiblelight sensitization for their potential applications in the fields of bio-imaging and optical devices.In this work,the lanthanide complexes have been covalently bonded to the ordered mesoporous titania（OMT） matrix,and the resulting titania-based hybrid ordered mesoporous materials（named as LnDBOMT,Ln = Eu,Sm,Yb,Nd） were characterized by using Fourier-transform infrared（FT-IR） spectroscopy,small-angle X-ray powder diffraction（SAXD）,N2 adsorption-desorption isotherms,transmission electron microscopy（TEM）,fluorescence spectroscopy,and thermogravimetric analysis.Generally,exciting with visible light is advantageous over UV excitation.Of importance here is that,under excitation with visible light,the LnDB-OMT all show characteristic visible（Eu3＋,Sm3＋） as well as nearinfrared（Sm3＋,Yb3＋,Nd3＋） luminescence of the corresponding Ln3＋ ions（multicolor emission covered from 500 to 1400 nm spectral region）,which is attributed to the energy transfer from the ligands to the Ln3＋ ions via an antenna effect.
基金This research was supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(No.51521003),NSAF(No.U1930110)the Self-Planned Task(No.SKLRS201909B)of State Key Laboratory of Robotics and System(HIT).
文摘Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number environments.Shape Memory Polymers(SMPs)with desirable properties are considered as one of the most preferred options for the development of small-scale robots.However,fabricating and programming strategies are still challenging.Here,we report an approach to fabricate helical microswimmers based on thermoplastic SMP(polylactic acid).Melt-spun polylactic acid fibers containing magnetic particles were enwound to form helical microstructures.Their shape recovery behaviors were programmed by annealing and pre-deformation.Three forms of helical microswimmers(constant-helix-angle conical helix,constant-pitch conical helix,and straight helix)with controlled morphological parameters were tailored.The obtained microswimmers showed 3D locomotion capability under rotating magnetic fields.The maximum swimming velocity of microswimmers was nearly six body lengths per second,and the near-wall swimming of conical helixes along their sharp end exhibited a smaller drift.Moreover,we demonstrated programmed shape-switching processes(spring-like contraction and elongation,coiling and uncoiling)and self-repairing of the microswimmers.As demonstrations of potential applications,tasks of mobile microstent,cargo delivery,and minimally invasive injection were carried out.The multifunctional shape-memory microswimmers have immense potential in a variety of applications.
