[Background]High harmonic cavities are widely used in electron storage rings to lengthen thebunch,lower the bunch peak current,thereby reducing the IBS effect,enhancing the Touschek lifetime,as well asproviding Landau...[Background]High harmonic cavities are widely used in electron storage rings to lengthen thebunch,lower the bunch peak current,thereby reducing the IBS effect,enhancing the Touschek lifetime,as well asproviding Landau damping,which is particularly important for storage rings operating with ultra-low emittance or atlow beam energy.[Purpose]To further increase the bunch length without additional hardware costs,the phasemodulation in a dual-RF system is considered.[Methods]In this paper,turn-by-turn simulations incorporating randomsynchrotron radiation excitation are conducted,and a brief analysis is presented to explain the bunch lengtheningmechanism.[Results]Simulation results reveal that the peak current can be further reduced,thereby mitigating IBSeffects and enhancing the Touschek lifetime.Although the energy spread increases,which tends to reduce thebrightness of higher-harmonic radiation from the undulator,the brightness of the fundamental harmonic can,in fact,beimproved.展开更多
Photovoltaic (PV) modules, as essential components of solar power generation systems, significantly influence unitpower generation costs.The service life of these modules directly affects these costs. Over time, the p...Photovoltaic (PV) modules, as essential components of solar power generation systems, significantly influence unitpower generation costs.The service life of these modules directly affects these costs. Over time, the performanceof PV modules gradually declines due to internal degradation and external environmental factors.This cumulativedegradation impacts the overall reliability of photovoltaic power generation. This study addresses the complexdegradation process of PV modules by developing a two-stage Wiener process model. This approach accountsfor the distinct phases of degradation resulting from module aging and environmental influences. A powerdegradation model based on the two-stage Wiener process is constructed to describe individual differences inmodule degradation processes. To estimate the model parameters, a combination of the Expectation-Maximization(EM) algorithm and the Bayesian method is employed. Furthermore, the Schwarz Information Criterion (SIC) isutilized to identify critical change points in PV module degradation trajectories. To validate the universality andeffectiveness of the proposed method, a comparative analysis is conducted against other established life predictiontechniques for PV modules.展开更多
While reinforcement learning-based underwater acoustic adaptive modulation shows promise for enabling environment-adaptive communication as supported by extensive simulation-based research,its practical performance re...While reinforcement learning-based underwater acoustic adaptive modulation shows promise for enabling environment-adaptive communication as supported by extensive simulation-based research,its practical performance remains underexplored in field investigations.To evaluate the practical applicability of this emerging technique in adverse shallow sea channels,a field experiment was conducted using three communication modes:orthogonal frequency division multiplexing(OFDM),M-ary frequency-shift keying(MFSK),and direct sequence spread spectrum(DSSS)for reinforcement learning-driven adaptive modulation.Specifically,a Q-learning method is used to select the optimal modulation mode according to the channel quality quantified by signal-to-noise ratio,multipath spread length,and Doppler frequency offset.Experimental results demonstrate that the reinforcement learning-based adaptive modulation scheme outperformed fixed threshold detection in terms of total throughput and average bit error rate,surpassing conventional adaptive modulation strategies.展开更多
AIM:To investigate the effects of different light intensities and various mydriatic and miotic drugs on pupil accommodation in guinea pigs.METHODS:Forty-two-week-old guinea pigs were randomly divided into four groups ...AIM:To investigate the effects of different light intensities and various mydriatic and miotic drugs on pupil accommodation in guinea pigs.METHODS:Forty-two-week-old guinea pigs were randomly divided into four groups to assess pupillary responses under varying light intensities(100,250,500 lx)and pharmacological interventions(1%atropine,1%cyclopentolate,1%tropicamide,or 2%pilocarpine).Baseline pupil size and eccentricity were recorded using a non-contact Python-based imaging system integrating edge detection and pixel-to-distance conversion.Direct illumination effects were measured at sequential time points,followed by drug administration and longitudinal tracking of pupillary changes.The protocol was repeated at 12wk of age for developmental comparisons.Postexperiment,enucleated eyes were analyzed to evaluate in vitro vs in vivo differences.RESULTS:Significant age-dependent differences in pupil dynamics were observed.Both 2-and 12-week-old guinea pigs exhibited marked pupil constriction under direct illumination(P<0.001),with decreased eccentricity post-constriction(P<0.001).Indirect illumination caused inconsistent pupil size changes(2-week:P=0.68;12-week:P=0.49).Pharmacologically,atropine,cyclopentolate,and tropicamide induced pupil dilation(P<0.001),whereas pilocarpine caused constriction(P<0.001).All drug groups showed reduced eccentricity(P<0.001).In vivo/in vitro comparisons revealed significant structural differences.CONCLUSION:This study investigates pupillary responses in developing guinea pigs,revealing a direct pupillary light reflex(PLR)with light intensity-dependent responses,while indirect PLR was undetectable.The differential effects of muscarinic modulators on pupillary responses underscore the critical role of cholinergic signaling in ocular accommodation,with age-related variations in sensitivity.Additionally,a novel non-contact measurement methodology achieved a precision of 0.01 mm for pupillary quantification,enhancing accuracy in ocular studies.展开更多
Lysophosphatidic acid(LPA)is a pleiotropic lipid agonist essential for functions of the central nervous system(CNS).It is abundant in the developing and adult brain while its concentration in biological fluids,includi...Lysophosphatidic acid(LPA)is a pleiotropic lipid agonist essential for functions of the central nervous system(CNS).It is abundant in the developing and adult brain while its concentration in biological fluids,including cerebrospinal fluid,varies significantly(Figure 1Α;Yung et al.,2014).LPA actually corresponds to a variety of lipid species that include different stereoisomers with either saturated or unsaturated fatty acids bearing likely differentiated biological activities(Figure 1Α;Yung et al.,2014;Hernández-Araiza et al.,2018).展开更多
The functional properties of glasses are governed by their formation history and the complex relaxation processes they undergo.However,under extreme conditions,glass behaviors are still elusive.In this study,we employ...The functional properties of glasses are governed by their formation history and the complex relaxation processes they undergo.However,under extreme conditions,glass behaviors are still elusive.In this study,we employ simulations with varied protocols to evaluate the effectiveness of different descriptors in predicting mechanical properties across both low-and high-pressure regimes.Our findings demonstrate that conventional structural and configurational descriptors fail to correlate with the mechanical response following pressure release,whereas the activation energy descriptor exhibits robust linearity with shear modulus after correcting for pressure effects.Notably,the soft mode parameter emerges as an ideal and computationally efficient alternative for capturing this mechanical behavior.These findings provide critical insights into the influence of pressure on glassy properties,integrating the distinct features of compressed glasses into a unified theoretical framework.展开更多
Target occlusion poses a significant challenge in computer vision,particularly in agricultural applications,where occlusion of crops can obscure key features and impair the model’s recognition performance.To address ...Target occlusion poses a significant challenge in computer vision,particularly in agricultural applications,where occlusion of crops can obscure key features and impair the model’s recognition performance.To address this challenge,a mushroom recognition method was proposed based on an erase module integrated into the EL-DenseNet model.EL-DenseNet,an extension of DenseNet,incorporated an erase attention module designed to enhance sensitivity to visible features.The erase module helped eliminate complex backgrounds and irrelevant information,allowing the mushroom body to be preserved and increasing recognition accuracy in cluttered environments.Considering the difficulty in distinguishing similar mushroom species,label smoothing regularization was employed to mitigate mislabeling errors that commonly arose from human observers.This strategy converted hard labels into soft labels during training,reducing the model’s overreliance on noisy labels and improving its generalization ability.Experimental results showed that the proposed EL-DenseNet,when combined with transfer learning,achieved a recognition accuracy of 96.7%for mushrooms in occluded and complex backgrounds.Compared with the original DenseNet and other classic models,this approach demonstrated superior accuracy and robustness,providing a promising solution for intelligent mushroom recognition.展开更多
Guided bone regeneration in the alveolar bone relies on the colonization and differentiation of immune cells within the defect area.The absence of osteoinductive and osteoimmune properties of currently available scaff...Guided bone regeneration in the alveolar bone relies on the colonization and differentiation of immune cells within the defect area.The absence of osteoinductive and osteoimmune properties of currently available scaffolds hinders to achieve optimal repair outcomes in clinical settings.Thus,we aimed to enhance the bone repair ability of polycaprolactone(PCL)scaffolds by incorporating osteoinductive amorphous calcium phosphate(ACP)with immune-regulating zinc ions(ACP(Zn),ACZP),to create a favorable immunomodulatory microenvironment.After one day of co-culture with PCL-ACZP,the spreading area of macrophage cells was significantly higher than that from the original PCL scaffold.Additionally,over 32.1%of macrophages exhibited M2 polarization within three days of co-culture.The PCLACZP/macrophage-conditioned medium significantly boosted osteogenic gene expression in MC3T3-E1 cells.After eight weeks of implantation in a rat femoral condyle defect,the BV/TV from the PCL-ACZP group reached 32.9%,1.4 times of that from the PCL group.Furthermore,the PCL-ACZP-GelMA biphasic module as prepared successfully achieved complete regeneration of three-walled alveolar bone defects in rabbits,resulting in arch-shaped alveolar bone repair and providing greater convenience in the clinical settings.This study showcased the effectiveness of PCL-ACZP-GelMA biphasic module as bioactive scaffolds in the morphological restoration of alveolar bone.展开更多
The fabrication of efficient and stable flexible perovskite solar modules(F-PSMs)using poly[bis(4-phenyl)(2,4,6-trimethylphenyl)amine](PTAA)remains a significant challenge due to its hydrophobic properties and the mis...The fabrication of efficient and stable flexible perovskite solar modules(F-PSMs)using poly[bis(4-phenyl)(2,4,6-trimethylphenyl)amine](PTAA)remains a significant challenge due to its hydrophobic properties and the mismatch in interface energy-level alignment.Here,we introduced[2-(3,6-dimethoxy-9H-carba zol-9-yl)ethyl]phosphonic acid(MeO-2PACz)to modify the PTAA layer,which effectively suppressed surface potential fluctuations and aligned energy levels at the interface of PTAA/perovskite.Additionally,MeO-2PACz enhanced the hydrophilicity of PTAA,facilitating the fabrication of dense,uniform,and pinhole-free perovskite films on large-area flexible substrates.As a result,we achieved an F-PSM with a power conversion efficiency(PCE)of 16.6% and an aperture area of 64 cm^(2),which is the highest reported value among F-PSMs with an active area exceeding 35 cm^(2)based on PTAA.Moreover,the encapsulated module demonstrated outstanding long-term operational stability,retaining 90.2% of its initial efficiency after 1000 bending cycles(5 mm radius),87.2% after 1000 h of continuous illumination,and 80.3% under combined thermal and humid conditions(85℃ and 85% relative humidity),representing one of the most stable F-PSMs reported to date.展开更多
Let D(n)be the finite dimensional non-pointed and non-semisimple Hopf algebra,which is a quotient of a prime Hopf algebras of GK-dimension one for an odd number n>1.In this paper,we investigate the structure of Yet...Let D(n)be the finite dimensional non-pointed and non-semisimple Hopf algebra,which is a quotient of a prime Hopf algebras of GK-dimension one for an odd number n>1.In this paper,we investigate the structure of Yetter-Drinfeld simple modules over D(n)and give iso-classes of them.展开更多
Self-assembled prodrug nanomedicine has emerged as an advanced platform for antitumor therapy,mainly comprise drug modules,response modules and modification modules.However,existing studies usually compare the differe...Self-assembled prodrug nanomedicine has emerged as an advanced platform for antitumor therapy,mainly comprise drug modules,response modules and modification modules.However,existing studies usually compare the differences between single types of modification modules,neglecting the impact of steric-hindrance effect caused by chemical structure.Herein,single-tailed modification module with low-steric-hindrance effect and two-tailed modification module with high-steric-hindrance effect were selected to construct paclitaxel prodrugs(P-LA_(C18)and P-BAC18),and the in-depth insights of the sterichindrance effect on prodrug nanoassemblies were explored.Notably,the size stability of the two-tailed prodrugs was enhanced due to improved intermolecular interactions and steric hindrance.Single-tailed prodrug nanoassemblies were more susceptible to attack by redox agents,showing faster drug release and stronger antitumor efficacy,but with poorer safety.In contrast,two-tailed prodrug nanoassemblies exhibited significant advantages in terms of pharmacokinetics,tumor accumulation and safety due to the good size stability,thus ensuring equivalent antitumor efficacy at tolerance dose.These findings highlighted the critical role of steric-hindrance effect of the modification module in regulating the structureactivity relationship of prodrug nanoassemblies and proposed new perspectives into the precise design of self-assembled prodrugs for high-performance cancer therapeutics.展开更多
Most carbon-based catalysts utilized in Fenton-like systems face challenges such as structural instability,susceptibility to deactivation,and a tendency to disperse during operation.Wood-derived catalysts have garnere...Most carbon-based catalysts utilized in Fenton-like systems face challenges such as structural instability,susceptibility to deactivation,and a tendency to disperse during operation.Wood-derived catalysts have garnered considerable attention due to their well-defined structures,extensive pipeline networks,superior mechanical strength,and adaptability for device customization.However,there remains a paucity of research that systematically summarizes Fenton-like systems based on wood-derived catalysts.In this review,we first summarize the structural designs of wood-derived catalysts based on nano-metal sites and single-atom sites,while also outlining their advantages and limitations applied in Fenton-like systems.Furthermore,we evaluate catalytic modules of wood-derived catalysts for scale-up and continuous Fenton-like systems.Additionally,wood-inspired catalytic materials utilizing commercial textures and their applications in Fenton-like processes are also discussed.This paper aims to comprehensively explore the fundamental mechanisms(e.g.,characteristics of catalytic sites,catalytic performance,and mechanisms)of wood-based catalysts in Fenton-like chemistry,as well as their equipment designs and application scenarios,as well as providing the insights into future developments.展开更多
This study proposes a novel visual maintenance method for photovoltaic(PV)modules based on a two-stage Wiener degradation model,addressing the limitations of traditional PV maintenance strategies that often result in ...This study proposes a novel visual maintenance method for photovoltaic(PV)modules based on a two-stage Wiener degradation model,addressing the limitations of traditional PV maintenance strategies that often result in insufficient or excessive maintenance.The approach begins by constructing a two-stage Wiener process performance degradation model and a remaining life prediction model under perfect maintenance conditions using historical degradation data of PV modules.This enables accurate determination of the optimal timing for postfailure corrective maintenance.To optimize the maintenance strategy,the study establishes a comprehensive cost model aimed at minimizing the long-term average cost rate.The model considers multiple cost factors,including inspection costs,preventive maintenance costs,restorative maintenance costs,and penalty costs associated with delayed fault detection.Through this optimization framework,the method determines both the optimal maintenance threshold and the ideal timing for predictive maintenance actions.Comparative analysis demonstrates that the twostage Wiener model provides superior fitting performance compared to conventional linear and nonlinear degradation models.When evaluated against traditional maintenance approaches,including Wiener process-based corrective maintenance strategies and static periodic maintenance strategies,the proposed method demonstrates significant advantages in reducing overall operational costs while extending the effective service life of PV components.The method achieves these improvements through effective coordination between reliability optimization and economic benefit maximization,leading to enhanced power generation performance.These results indicate that the proposed approach offers a more balanced and efficient solution for PV system maintenance.展开更多
Currently,perovskite solar cells have achieved commendable progresses in power conversion efficiency(PCE)and operational stability.However,some conventional laboratory-scale fabrication methods become challenging when...Currently,perovskite solar cells have achieved commendable progresses in power conversion efficiency(PCE)and operational stability.However,some conventional laboratory-scale fabrication methods become challenging when scaling up material syntheses or device production.Particularly,the prolonged high-temperature annealing process for the crystallization of perovskites requires a substantial amount of energy consumption and impact the modules’throughput.Here,we report a modified near-infrared annealing(NIRA)process,which involves the excess PbI_(2)engineered crystallization,efficiently reduces the preparation time for perovskite active layer to within 20 s compared to dozens of min in conventional hot plate annealing(HPA)process.The study showed that the incorporated PbI_(2)promoted the consistent nucleation of the perovskite film,leading to the subsequent rapid and homogeneous crystallization at the NIRA stage.Thus,highly crystalized perovskite film was realized with even better crystallization performance than conventional HPA-based film.Ultimately,efficient perovskite solar modules of 36 and 100 cm^(2)were readily fabricated with the optimal PCEs of 22.03%and 20.18%,respectively.This study demonstrates,for the first time,the successful achievement of homogeneous and high-quality crystallization in large-area perovskite films through rapid NIRA processing.This approach not only significantly reduces energy consumption during production,but also substantially shortens the manufacturing cycle,paving a new path toward the commercial-scale application of perovskite solar modules.展开更多
Modules enable students to engage with content at their own pace,fostering autonomy and deeper understanding.The modular approach ensures clarity in presenting objectives,instructions,and concepts,while having illustr...Modules enable students to engage with content at their own pace,fostering autonomy and deeper understanding.The modular approach ensures clarity in presenting objectives,instructions,and concepts,while having illustrations,activities,and assessments could enhance comprehension and retention.This paper was a developmental study on STS module for college students using the ADDIE Model(Analysis,Design,Development,Implementation,and Evaluation).Sampled 673 first-year students from Northwest Samar State University participated in the study,with 299 participating in a test try-out and 374 in the students’performance evaluation.Three expert evaluators with backgrounds in science,English,and psychology,each with over four years of experience,assessed the modules to ensure alignment with the study’s constructivist learning goals and instructional integrity.The findings revealed that both students and experts had rated the instructional module positively,indicating its effectiveness in facilitating learning and completing lessons.Key aspects such as the style of illustrations and written expressions,the usefulness of learning activities,and the guidance provided by illustrations and captions were especially well-received.The module was praised for its clear objectives,understandable instructions,and engaging tasks like trivia and puzzles.Expert evaluations highlighted relevance,simplicity,and balanced emphasis on topics in the module content.Furthermore,students in test group demonstrated significant improvement in performance,with post-test scores notably higher than pre-test scores,confirming the module’s effectiveness in enhancing learning outcomes.Consequently,this paper provides an opportunity to integrate science learning with initiatives aimed at promoting environmental preservation and driving social change.展开更多
Transcription factors(TFs)play key roles in the regulatory network of leaf senescence.However,many nodes in this network remain unclear.To elucidate the mechanism of leaf senescence mediated by a rice TF,WRKY10,the ex...Transcription factors(TFs)play key roles in the regulatory network of leaf senescence.However,many nodes in this network remain unclear.To elucidate the mechanism of leaf senescence mediated by a rice TF,WRKY10,the expression of multiple senescence-related genes and physiological phenotypes were monitored in WRKY10-and VQ MOTIF-CONTAINING PROTEIN8(VQ8)-overexpressing plants and the wrky10 and vq8 mutants.Our results showed that WRKY10 positively regulates abscisic acid(ABA)-and dark-induced senescence(DIS)by directly regulating the expression of multiple senescence-related genes.The VQ8 protein,a repressor of WRKY10,negatively regulates WRKY10-mediated DIS.The WRKY10-VQ8 module fine-tunes the progression of DIS.ABA,methyl jasmonate,and H_(2)O_(2) accelerate WRKY10-mediated DIS,whereas ammonium nitrate and dithiothreitol delay WRKY10-mediated DIS.Further analysis revealed that WRKY10 and VQ8 interact with ABA RESPONSIVE ELEMENT BINDING FACTOR1(ABF1)or ABF2.VQ8 represses the transcriptional activity of ABF1 and ABF2.Overexpression of ABF1 or ABF2 accelerates ABA-and dark-induced senescence and H_(2)O_(2) accumulation in N.benthamiana leaves,and WRKY10 and VQ8 can inhibit either ABF1-or ABF2-induced cell necrosis.Taken together,WRKY10 integrates multiple senescence signals to establish an orderly progression of leaf senescence.The VQ8 protein acts as a brake on WRKY10-induced senescence and ABF1/2-induced cell death,preventing uncontrolled cell death.展开更多
Physical layer authentication(PLA)in the context of the Internet of Things(IoT)has gained significant attention.Compared with traditional encryption and blockchain technologies,PLA provides a more computationally effi...Physical layer authentication(PLA)in the context of the Internet of Things(IoT)has gained significant attention.Compared with traditional encryption and blockchain technologies,PLA provides a more computationally efficient alternative to exploiting the properties of the wireless medium itself.Some existing PLA solutions rely on static mechanisms,which are insufficient to address the authentication challenges in fifth generation(5G)and beyond wireless networks.Additionally,with the massive increase in mobile device access,the communication security of the IoT is vulnerable to spoofing attacks.To overcome the above challenges,this paper proposes a lightweight deep convolutional neural network(CNN)equipped with squeeze and excitation module(SE module)in dynamic wireless environments,namely SE-ConvNet.To be more specific,a convolution factorization is developed to reduce the complexity of PLA models based on deep learning.Moreover,an SE module is designed in the deep CNN to enhance useful features andmaximize authentication accuracy.Compared with the existing solutions,the proposed SE-ConvNet enabled PLA scheme performs excellently in mobile and time-varying wireless environments while maintaining lower computational complexity.展开更多
The generation of high-quality,realistic face generation has emerged as a key field of research in computer vision.This paper proposes a robust approach that combines a Super-Resolution Generative Adversarial Network(...The generation of high-quality,realistic face generation has emerged as a key field of research in computer vision.This paper proposes a robust approach that combines a Super-Resolution Generative Adversarial Network(SRGAN)with a Pyramid Attention Module(PAM)to enhance the quality of deep face generation.The SRGAN framework is designed to improve the resolution of generated images,addressing common challenges such as blurriness and a lack of intricate details.The Pyramid Attention Module further complements the process by focusing on multi-scale feature extraction,enabling the network to capture finer details and complex facial features more effectively.The proposed method was trained and evaluated over 100 epochs on the CelebA dataset,demonstrating consistent improvements in image quality and a marked decrease in generator and discriminator losses,reflecting the model’s capacity to learn and synthesize high-quality images effectively,given adequate computational resources.Experimental outcome demonstrates that the SRGAN model with PAM module has outperformed,yielding an aggregate discriminator loss of 0.055 for real,0.043 for fake,and a generator loss of 10.58 after training for 100 epochs.The model has yielded an structural similarity index measure of 0.923,that has outperformed the other models that are considered in the current study for analysis.展开更多
With the rapid development of the new energy automotive industry,the enhancement of lithium battery performance and production efficiency has become critical.This article explores the application of artificial intelli...With the rapid development of the new energy automotive industry,the enhancement of lithium battery performance and production efficiency has become critical.This article explores the application of artificial intelligence technology in the lithium battery module PACK line,analyzing how it optimizes the production process and improves production efficiency,and predicts future development trends.The PACK line is an important link in battery manufacturing,involving complex processes such as cell sorting,welding,assembly and testing.The application of AI technology in image recognition,data analysis and predictive maintenance provides new solutions for the intelligent upgrading of the PACK line.This article describes the process of the PACK line in detail,analyzes the challenges under current technological levels,and reviews the application cases of AI technology in the manufacturing industry.The study aims to provide theoretical and practical guidance for the intelligent development of lithium battery module PACK lines,discussing the integration of AI technology,its actual performance,technical challenges,and solutions.It is expected that AI technology will play a greater role in the PACK line,and future research will focus on improving the adaptability of models,developing efficient algorithms,and further integrating into the production line.展开更多
The intelligent vehicle corner module system,which integrates four-wheel independent drive,independent steering,independent braking and active suspension,can accurately and efficiently perform vehicle driving tasks an...The intelligent vehicle corner module system,which integrates four-wheel independent drive,independent steering,independent braking and active suspension,can accurately and efficiently perform vehicle driving tasks and is the best carrier of intelligent vehicles.Nevertheless,too many angle/torque control inputs make control difficult and non-real-time.In this paper,a hierarchical real-time motion control framework for corner module configuration intelligent electric vehicles is proposed.In the trajectory planning module,an improved driving risk field is designed to describe the surrounding environment’s driving risk.Combined with the kinematic vehicle-road model,model predictive control(MPC)method,spline curve method,the local reference trajectory of safety,comfort and smoothness is planned in real time.The optimal steering angle is determined using MPC method in path tracking module.In the motion control module,a feedforward-feedback controller assigns the optimal steering angle to the front/rear axles,and an angle allocation controller distributes the target angles of the front/rear axles to four steered wheels.Finally,the PreScan-Simulink-CarSim joint simulation environment is established for conducting the human-in-the-loop emergency obstacle avoidance experiment.It took only 0.005 s for the hierarchical motion control system to determine its average solution time.This proves the effectiveness of the hierarchical motion control system.展开更多
基金National Natural Science Foundation of China(12405168)The Fundamental Research Funds for the Central Universities,China(2024CDJXY004)。
文摘[Background]High harmonic cavities are widely used in electron storage rings to lengthen thebunch,lower the bunch peak current,thereby reducing the IBS effect,enhancing the Touschek lifetime,as well asproviding Landau damping,which is particularly important for storage rings operating with ultra-low emittance or atlow beam energy.[Purpose]To further increase the bunch length without additional hardware costs,the phasemodulation in a dual-RF system is considered.[Methods]In this paper,turn-by-turn simulations incorporating randomsynchrotron radiation excitation are conducted,and a brief analysis is presented to explain the bunch lengtheningmechanism.[Results]Simulation results reveal that the peak current can be further reduced,thereby mitigating IBSeffects and enhancing the Touschek lifetime.Although the energy spread increases,which tends to reduce thebrightness of higher-harmonic radiation from the undulator,the brightness of the fundamental harmonic can,in fact,beimproved.
基金supported by the National Natural Science Foundation of China(51767017)the Basic Research Innovation Group Project of Gansu Province(18JR3RA133)the Industrial Support and Guidance Project of Universities in Gansu Province(2022CYZC-22).
文摘Photovoltaic (PV) modules, as essential components of solar power generation systems, significantly influence unitpower generation costs.The service life of these modules directly affects these costs. Over time, the performanceof PV modules gradually declines due to internal degradation and external environmental factors.This cumulativedegradation impacts the overall reliability of photovoltaic power generation. This study addresses the complexdegradation process of PV modules by developing a two-stage Wiener process model. This approach accountsfor the distinct phases of degradation resulting from module aging and environmental influences. A powerdegradation model based on the two-stage Wiener process is constructed to describe individual differences inmodule degradation processes. To estimate the model parameters, a combination of the Expectation-Maximization(EM) algorithm and the Bayesian method is employed. Furthermore, the Schwarz Information Criterion (SIC) isutilized to identify critical change points in PV module degradation trajectories. To validate the universality andeffectiveness of the proposed method, a comparative analysis is conducted against other established life predictiontechniques for PV modules.
基金funding from the National Key Research and Development Program of China(No.2018YFE0110000)the National Natural Science Foundation of China(No.11274259,No.11574258)the Science and Technology Commission Foundation of Shanghai(21DZ1205500)in support of the present research.
文摘While reinforcement learning-based underwater acoustic adaptive modulation shows promise for enabling environment-adaptive communication as supported by extensive simulation-based research,its practical performance remains underexplored in field investigations.To evaluate the practical applicability of this emerging technique in adverse shallow sea channels,a field experiment was conducted using three communication modes:orthogonal frequency division multiplexing(OFDM),M-ary frequency-shift keying(MFSK),and direct sequence spread spectrum(DSSS)for reinforcement learning-driven adaptive modulation.Specifically,a Q-learning method is used to select the optimal modulation mode according to the channel quality quantified by signal-to-noise ratio,multipath spread length,and Doppler frequency offset.Experimental results demonstrate that the reinforcement learning-based adaptive modulation scheme outperformed fixed threshold detection in terms of total throughput and average bit error rate,surpassing conventional adaptive modulation strategies.
文摘AIM:To investigate the effects of different light intensities and various mydriatic and miotic drugs on pupil accommodation in guinea pigs.METHODS:Forty-two-week-old guinea pigs were randomly divided into four groups to assess pupillary responses under varying light intensities(100,250,500 lx)and pharmacological interventions(1%atropine,1%cyclopentolate,1%tropicamide,or 2%pilocarpine).Baseline pupil size and eccentricity were recorded using a non-contact Python-based imaging system integrating edge detection and pixel-to-distance conversion.Direct illumination effects were measured at sequential time points,followed by drug administration and longitudinal tracking of pupillary changes.The protocol was repeated at 12wk of age for developmental comparisons.Postexperiment,enucleated eyes were analyzed to evaluate in vitro vs in vivo differences.RESULTS:Significant age-dependent differences in pupil dynamics were observed.Both 2-and 12-week-old guinea pigs exhibited marked pupil constriction under direct illumination(P<0.001),with decreased eccentricity post-constriction(P<0.001).Indirect illumination caused inconsistent pupil size changes(2-week:P=0.68;12-week:P=0.49).Pharmacologically,atropine,cyclopentolate,and tropicamide induced pupil dilation(P<0.001),whereas pilocarpine caused constriction(P<0.001).All drug groups showed reduced eccentricity(P<0.001).In vivo/in vitro comparisons revealed significant structural differences.CONCLUSION:This study investigates pupillary responses in developing guinea pigs,revealing a direct pupillary light reflex(PLR)with light intensity-dependent responses,while indirect PLR was undetectable.The differential effects of muscarinic modulators on pupillary responses underscore the critical role of cholinergic signaling in ocular accommodation,with age-related variations in sensitivity.Additionally,a novel non-contact measurement methodology achieved a precision of 0.01 mm for pupillary quantification,enhancing accuracy in ocular studies.
基金supported by the Hellenic Foundation for Research and Innovation,HFRI,“2nd Call for HFRI Research Projects to support Faculty Members&Researchers”Project 02667 to GL.
文摘Lysophosphatidic acid(LPA)is a pleiotropic lipid agonist essential for functions of the central nervous system(CNS).It is abundant in the developing and adult brain while its concentration in biological fluids,including cerebrospinal fluid,varies significantly(Figure 1Α;Yung et al.,2014).LPA actually corresponds to a variety of lipid species that include different stereoisomers with either saturated or unsaturated fatty acids bearing likely differentiated biological activities(Figure 1Α;Yung et al.,2014;Hernández-Araiza et al.,2018).
基金supported by the National Natural Science Foundation of China (Grant Nos.T2325004 and 52161160330)the National Natural Science Foundation of China (Grants No.12504233)+2 种基金Advanced MaterialsNational Science and Technology Major Project (Grant No.2024ZD0606900)the Talent Hub for “AI+New Materials” Basic Researchthe Key Research and Development Program of Ningbo (Grant No.2025Z088)。
文摘The functional properties of glasses are governed by their formation history and the complex relaxation processes they undergo.However,under extreme conditions,glass behaviors are still elusive.In this study,we employ simulations with varied protocols to evaluate the effectiveness of different descriptors in predicting mechanical properties across both low-and high-pressure regimes.Our findings demonstrate that conventional structural and configurational descriptors fail to correlate with the mechanical response following pressure release,whereas the activation energy descriptor exhibits robust linearity with shear modulus after correcting for pressure effects.Notably,the soft mode parameter emerges as an ideal and computationally efficient alternative for capturing this mechanical behavior.These findings provide critical insights into the influence of pressure on glassy properties,integrating the distinct features of compressed glasses into a unified theoretical framework.
文摘Target occlusion poses a significant challenge in computer vision,particularly in agricultural applications,where occlusion of crops can obscure key features and impair the model’s recognition performance.To address this challenge,a mushroom recognition method was proposed based on an erase module integrated into the EL-DenseNet model.EL-DenseNet,an extension of DenseNet,incorporated an erase attention module designed to enhance sensitivity to visible features.The erase module helped eliminate complex backgrounds and irrelevant information,allowing the mushroom body to be preserved and increasing recognition accuracy in cluttered environments.Considering the difficulty in distinguishing similar mushroom species,label smoothing regularization was employed to mitigate mislabeling errors that commonly arose from human observers.This strategy converted hard labels into soft labels during training,reducing the model’s overreliance on noisy labels and improving its generalization ability.Experimental results showed that the proposed EL-DenseNet,when combined with transfer learning,achieved a recognition accuracy of 96.7%for mushrooms in occluded and complex backgrounds.Compared with the original DenseNet and other classic models,this approach demonstrated superior accuracy and robustness,providing a promising solution for intelligent mushroom recognition.
基金financially supported by the National Natural Science Foundation of China(Nos.82203680 and 52273278)the Natural Scientific Foundation of Liaoning Province(No.2021-MS-176)+1 种基金Shenyang Bureau of Science and Technology(No.RC230527)the Central Guidance Funding for Local Scientific and Techno-logical Development in Liaoning(No.2023JH6/100100029).
文摘Guided bone regeneration in the alveolar bone relies on the colonization and differentiation of immune cells within the defect area.The absence of osteoinductive and osteoimmune properties of currently available scaffolds hinders to achieve optimal repair outcomes in clinical settings.Thus,we aimed to enhance the bone repair ability of polycaprolactone(PCL)scaffolds by incorporating osteoinductive amorphous calcium phosphate(ACP)with immune-regulating zinc ions(ACP(Zn),ACZP),to create a favorable immunomodulatory microenvironment.After one day of co-culture with PCL-ACZP,the spreading area of macrophage cells was significantly higher than that from the original PCL scaffold.Additionally,over 32.1%of macrophages exhibited M2 polarization within three days of co-culture.The PCLACZP/macrophage-conditioned medium significantly boosted osteogenic gene expression in MC3T3-E1 cells.After eight weeks of implantation in a rat femoral condyle defect,the BV/TV from the PCL-ACZP group reached 32.9%,1.4 times of that from the PCL group.Furthermore,the PCL-ACZP-GelMA biphasic module as prepared successfully achieved complete regeneration of three-walled alveolar bone defects in rabbits,resulting in arch-shaped alveolar bone repair and providing greater convenience in the clinical settings.This study showcased the effectiveness of PCL-ACZP-GelMA biphasic module as bioactive scaffolds in the morphological restoration of alveolar bone.
基金financially supported by the Key Fund of Tianjin Natural Science Foundation,China Project of Tianjin Natural Science Foundation(24JCZDJC00510)the National Natural Science Foundation of China,China(22475147)the Fundamental Research Funds for the Central Universities,China。
文摘The fabrication of efficient and stable flexible perovskite solar modules(F-PSMs)using poly[bis(4-phenyl)(2,4,6-trimethylphenyl)amine](PTAA)remains a significant challenge due to its hydrophobic properties and the mismatch in interface energy-level alignment.Here,we introduced[2-(3,6-dimethoxy-9H-carba zol-9-yl)ethyl]phosphonic acid(MeO-2PACz)to modify the PTAA layer,which effectively suppressed surface potential fluctuations and aligned energy levels at the interface of PTAA/perovskite.Additionally,MeO-2PACz enhanced the hydrophilicity of PTAA,facilitating the fabrication of dense,uniform,and pinhole-free perovskite films on large-area flexible substrates.As a result,we achieved an F-PSM with a power conversion efficiency(PCE)of 16.6% and an aperture area of 64 cm^(2),which is the highest reported value among F-PSMs with an active area exceeding 35 cm^(2)based on PTAA.Moreover,the encapsulated module demonstrated outstanding long-term operational stability,retaining 90.2% of its initial efficiency after 1000 bending cycles(5 mm radius),87.2% after 1000 h of continuous illumination,and 80.3% under combined thermal and humid conditions(85℃ and 85% relative humidity),representing one of the most stable F-PSMs reported to date.
基金Supported by the Fundamental Research Program of Shanxi Province(Grant No.202303021212147)the National Natural Science Foundation of China(Grant No.12471038)。
文摘Let D(n)be the finite dimensional non-pointed and non-semisimple Hopf algebra,which is a quotient of a prime Hopf algebras of GK-dimension one for an odd number n>1.In this paper,we investigate the structure of Yetter-Drinfeld simple modules over D(n)and give iso-classes of them.
基金supported by the National Natural Science Foundation of China,(Nos.82272151,82204318)Liaoning Revitalization Talents Program(No.XLYC2203083)+2 种基金Shenyang Young and Middle-aged Science and Technology Innovation Talent Support Program(No.RC220389)Postdoctoral Fellowship Program of CPSF(No.GZC20231732)China Postdoctoral Science Foundation(Nos.2023TQ0222,2023MD744229).
文摘Self-assembled prodrug nanomedicine has emerged as an advanced platform for antitumor therapy,mainly comprise drug modules,response modules and modification modules.However,existing studies usually compare the differences between single types of modification modules,neglecting the impact of steric-hindrance effect caused by chemical structure.Herein,single-tailed modification module with low-steric-hindrance effect and two-tailed modification module with high-steric-hindrance effect were selected to construct paclitaxel prodrugs(P-LA_(C18)and P-BAC18),and the in-depth insights of the sterichindrance effect on prodrug nanoassemblies were explored.Notably,the size stability of the two-tailed prodrugs was enhanced due to improved intermolecular interactions and steric hindrance.Single-tailed prodrug nanoassemblies were more susceptible to attack by redox agents,showing faster drug release and stronger antitumor efficacy,but with poorer safety.In contrast,two-tailed prodrug nanoassemblies exhibited significant advantages in terms of pharmacokinetics,tumor accumulation and safety due to the good size stability,thus ensuring equivalent antitumor efficacy at tolerance dose.These findings highlighted the critical role of steric-hindrance effect of the modification module in regulating the structureactivity relationship of prodrug nanoassemblies and proposed new perspectives into the precise design of self-assembled prodrugs for high-performance cancer therapeutics.
基金supported by National Natural Science Foundation of China(Nos.52170086,22308194,U22A20423)Natural Science Foundation of Shandong Province(No.ZR2021ME013)+4 种基金Shandong Provincial Excellent Youth(No.ZR2022YQ47)the doctor research start Foundation of Shaanxi University of Technology(No.SLGRCQD004)Science and Technology Innovation Team Project of Shaanxi Province(No.2025RS-CXTD-040)the General Special Scientific Research Program of the Shaanxi Provincial Department of Education(No.24JK0366)supported by funding from Shandong Provincial Key Laboratory of Monocrystalline Silicon Semiconductor Materials and Technology。
文摘Most carbon-based catalysts utilized in Fenton-like systems face challenges such as structural instability,susceptibility to deactivation,and a tendency to disperse during operation.Wood-derived catalysts have garnered considerable attention due to their well-defined structures,extensive pipeline networks,superior mechanical strength,and adaptability for device customization.However,there remains a paucity of research that systematically summarizes Fenton-like systems based on wood-derived catalysts.In this review,we first summarize the structural designs of wood-derived catalysts based on nano-metal sites and single-atom sites,while also outlining their advantages and limitations applied in Fenton-like systems.Furthermore,we evaluate catalytic modules of wood-derived catalysts for scale-up and continuous Fenton-like systems.Additionally,wood-inspired catalytic materials utilizing commercial textures and their applications in Fenton-like processes are also discussed.This paper aims to comprehensively explore the fundamental mechanisms(e.g.,characteristics of catalytic sites,catalytic performance,and mechanisms)of wood-based catalysts in Fenton-like chemistry,as well as their equipment designs and application scenarios,as well as providing the insights into future developments.
基金supported by the National Natural Science Foundation of China(51767017)the Basic Research Innovation Group Project of Gansu Province(18JR3RA133)the Industrial Support and Guidance Project of Universities in Gansu Province(2022CYZC-22).
文摘This study proposes a novel visual maintenance method for photovoltaic(PV)modules based on a two-stage Wiener degradation model,addressing the limitations of traditional PV maintenance strategies that often result in insufficient or excessive maintenance.The approach begins by constructing a two-stage Wiener process performance degradation model and a remaining life prediction model under perfect maintenance conditions using historical degradation data of PV modules.This enables accurate determination of the optimal timing for postfailure corrective maintenance.To optimize the maintenance strategy,the study establishes a comprehensive cost model aimed at minimizing the long-term average cost rate.The model considers multiple cost factors,including inspection costs,preventive maintenance costs,restorative maintenance costs,and penalty costs associated with delayed fault detection.Through this optimization framework,the method determines both the optimal maintenance threshold and the ideal timing for predictive maintenance actions.Comparative analysis demonstrates that the twostage Wiener model provides superior fitting performance compared to conventional linear and nonlinear degradation models.When evaluated against traditional maintenance approaches,including Wiener process-based corrective maintenance strategies and static periodic maintenance strategies,the proposed method demonstrates significant advantages in reducing overall operational costs while extending the effective service life of PV components.The method achieves these improvements through effective coordination between reliability optimization and economic benefit maximization,leading to enhanced power generation performance.These results indicate that the proposed approach offers a more balanced and efficient solution for PV system maintenance.
基金supported by China Huaneng Group Key R&D Program(HNKJ22-H104)the Science and Technology Programs of Fujian Province(2022H0005)+1 种基金the Fundamental Research Funds for the Central Universities(20720240067)Technology Projects of Innovation Laboratory for Sciences and Technologies of Energy Materials of Fujian Province(RD2020020101 and RD2022040601).
文摘Currently,perovskite solar cells have achieved commendable progresses in power conversion efficiency(PCE)and operational stability.However,some conventional laboratory-scale fabrication methods become challenging when scaling up material syntheses or device production.Particularly,the prolonged high-temperature annealing process for the crystallization of perovskites requires a substantial amount of energy consumption and impact the modules’throughput.Here,we report a modified near-infrared annealing(NIRA)process,which involves the excess PbI_(2)engineered crystallization,efficiently reduces the preparation time for perovskite active layer to within 20 s compared to dozens of min in conventional hot plate annealing(HPA)process.The study showed that the incorporated PbI_(2)promoted the consistent nucleation of the perovskite film,leading to the subsequent rapid and homogeneous crystallization at the NIRA stage.Thus,highly crystalized perovskite film was realized with even better crystallization performance than conventional HPA-based film.Ultimately,efficient perovskite solar modules of 36 and 100 cm^(2)were readily fabricated with the optimal PCEs of 22.03%and 20.18%,respectively.This study demonstrates,for the first time,the successful achievement of homogeneous and high-quality crystallization in large-area perovskite films through rapid NIRA processing.This approach not only significantly reduces energy consumption during production,but also substantially shortens the manufacturing cycle,paving a new path toward the commercial-scale application of perovskite solar modules.
文摘Modules enable students to engage with content at their own pace,fostering autonomy and deeper understanding.The modular approach ensures clarity in presenting objectives,instructions,and concepts,while having illustrations,activities,and assessments could enhance comprehension and retention.This paper was a developmental study on STS module for college students using the ADDIE Model(Analysis,Design,Development,Implementation,and Evaluation).Sampled 673 first-year students from Northwest Samar State University participated in the study,with 299 participating in a test try-out and 374 in the students’performance evaluation.Three expert evaluators with backgrounds in science,English,and psychology,each with over four years of experience,assessed the modules to ensure alignment with the study’s constructivist learning goals and instructional integrity.The findings revealed that both students and experts had rated the instructional module positively,indicating its effectiveness in facilitating learning and completing lessons.Key aspects such as the style of illustrations and written expressions,the usefulness of learning activities,and the guidance provided by illustrations and captions were especially well-received.The module was praised for its clear objectives,understandable instructions,and engaging tasks like trivia and puzzles.Expert evaluations highlighted relevance,simplicity,and balanced emphasis on topics in the module content.Furthermore,students in test group demonstrated significant improvement in performance,with post-test scores notably higher than pre-test scores,confirming the module’s effectiveness in enhancing learning outcomes.Consequently,this paper provides an opportunity to integrate science learning with initiatives aimed at promoting environmental preservation and driving social change.
基金supported by the National Natural Science Foundation of China (31371557 and 31571574)Wenzhou Basic Scientific Research Project (N20240009)。
文摘Transcription factors(TFs)play key roles in the regulatory network of leaf senescence.However,many nodes in this network remain unclear.To elucidate the mechanism of leaf senescence mediated by a rice TF,WRKY10,the expression of multiple senescence-related genes and physiological phenotypes were monitored in WRKY10-and VQ MOTIF-CONTAINING PROTEIN8(VQ8)-overexpressing plants and the wrky10 and vq8 mutants.Our results showed that WRKY10 positively regulates abscisic acid(ABA)-and dark-induced senescence(DIS)by directly regulating the expression of multiple senescence-related genes.The VQ8 protein,a repressor of WRKY10,negatively regulates WRKY10-mediated DIS.The WRKY10-VQ8 module fine-tunes the progression of DIS.ABA,methyl jasmonate,and H_(2)O_(2) accelerate WRKY10-mediated DIS,whereas ammonium nitrate and dithiothreitol delay WRKY10-mediated DIS.Further analysis revealed that WRKY10 and VQ8 interact with ABA RESPONSIVE ELEMENT BINDING FACTOR1(ABF1)or ABF2.VQ8 represses the transcriptional activity of ABF1 and ABF2.Overexpression of ABF1 or ABF2 accelerates ABA-and dark-induced senescence and H_(2)O_(2) accumulation in N.benthamiana leaves,and WRKY10 and VQ8 can inhibit either ABF1-or ABF2-induced cell necrosis.Taken together,WRKY10 integrates multiple senescence signals to establish an orderly progression of leaf senescence.The VQ8 protein acts as a brake on WRKY10-induced senescence and ABF1/2-induced cell death,preventing uncontrolled cell death.
基金supported in part by the National Key R&D Program of China under grant no.2022YFB2703000in part by the Young Backbone Teachers Support Plan of BISTU under grant no.YBT202437+1 种基金in part by the R&D Program of Beijing Municipal Education Commission under grant no.KM202211232012in part by the Educational Innovation Program of BISTU under grant no.2025JGYB19。
文摘Physical layer authentication(PLA)in the context of the Internet of Things(IoT)has gained significant attention.Compared with traditional encryption and blockchain technologies,PLA provides a more computationally efficient alternative to exploiting the properties of the wireless medium itself.Some existing PLA solutions rely on static mechanisms,which are insufficient to address the authentication challenges in fifth generation(5G)and beyond wireless networks.Additionally,with the massive increase in mobile device access,the communication security of the IoT is vulnerable to spoofing attacks.To overcome the above challenges,this paper proposes a lightweight deep convolutional neural network(CNN)equipped with squeeze and excitation module(SE module)in dynamic wireless environments,namely SE-ConvNet.To be more specific,a convolution factorization is developed to reduce the complexity of PLA models based on deep learning.Moreover,an SE module is designed in the deep CNN to enhance useful features andmaximize authentication accuracy.Compared with the existing solutions,the proposed SE-ConvNet enabled PLA scheme performs excellently in mobile and time-varying wireless environments while maintaining lower computational complexity.
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(*MSIT)(No.2018R1A5A7059549).
文摘The generation of high-quality,realistic face generation has emerged as a key field of research in computer vision.This paper proposes a robust approach that combines a Super-Resolution Generative Adversarial Network(SRGAN)with a Pyramid Attention Module(PAM)to enhance the quality of deep face generation.The SRGAN framework is designed to improve the resolution of generated images,addressing common challenges such as blurriness and a lack of intricate details.The Pyramid Attention Module further complements the process by focusing on multi-scale feature extraction,enabling the network to capture finer details and complex facial features more effectively.The proposed method was trained and evaluated over 100 epochs on the CelebA dataset,demonstrating consistent improvements in image quality and a marked decrease in generator and discriminator losses,reflecting the model’s capacity to learn and synthesize high-quality images effectively,given adequate computational resources.Experimental outcome demonstrates that the SRGAN model with PAM module has outperformed,yielding an aggregate discriminator loss of 0.055 for real,0.043 for fake,and a generator loss of 10.58 after training for 100 epochs.The model has yielded an structural similarity index measure of 0.923,that has outperformed the other models that are considered in the current study for analysis.
文摘With the rapid development of the new energy automotive industry,the enhancement of lithium battery performance and production efficiency has become critical.This article explores the application of artificial intelligence technology in the lithium battery module PACK line,analyzing how it optimizes the production process and improves production efficiency,and predicts future development trends.The PACK line is an important link in battery manufacturing,involving complex processes such as cell sorting,welding,assembly and testing.The application of AI technology in image recognition,data analysis and predictive maintenance provides new solutions for the intelligent upgrading of the PACK line.This article describes the process of the PACK line in detail,analyzes the challenges under current technological levels,and reviews the application cases of AI technology in the manufacturing industry.The study aims to provide theoretical and practical guidance for the intelligent development of lithium battery module PACK lines,discussing the integration of AI technology,its actual performance,technical challenges,and solutions.It is expected that AI technology will play a greater role in the PACK line,and future research will focus on improving the adaptability of models,developing efficient algorithms,and further integrating into the production line.
基金Supported by National Natural Science Foundation of China(Grant No.52332013)。
文摘The intelligent vehicle corner module system,which integrates four-wheel independent drive,independent steering,independent braking and active suspension,can accurately and efficiently perform vehicle driving tasks and is the best carrier of intelligent vehicles.Nevertheless,too many angle/torque control inputs make control difficult and non-real-time.In this paper,a hierarchical real-time motion control framework for corner module configuration intelligent electric vehicles is proposed.In the trajectory planning module,an improved driving risk field is designed to describe the surrounding environment’s driving risk.Combined with the kinematic vehicle-road model,model predictive control(MPC)method,spline curve method,the local reference trajectory of safety,comfort and smoothness is planned in real time.The optimal steering angle is determined using MPC method in path tracking module.In the motion control module,a feedforward-feedback controller assigns the optimal steering angle to the front/rear axles,and an angle allocation controller distributes the target angles of the front/rear axles to four steered wheels.Finally,the PreScan-Simulink-CarSim joint simulation environment is established for conducting the human-in-the-loop emergency obstacle avoidance experiment.It took only 0.005 s for the hierarchical motion control system to determine its average solution time.This proves the effectiveness of the hierarchical motion control system.
