Iridium nanoparticles (IrNPs) and submicroparticles (IrSMPs) with different shapes were synthesized and assembled on indium thin oxide (ITO) and Si substrates using two different methods: direct surface growth and dro...Iridium nanoparticles (IrNPs) and submicroparticles (IrSMPs) with different shapes were synthesized and assembled on indium thin oxide (ITO) and Si substrates using two different methods: direct surface growth and drop-drying assembly. The obtained IrNPs and IrSMPs were characterized using scanning electron microscopy (SEM) and energy dispersive spectroscopy (EDS). The IrSMPs (or IrNPs) with disc-like shape and irregular shapes were obtained on ITO substrate by direct surface growth method using polyvinylpyrrolidone (PVP) and sodium citrate as different stabilizers, respectively. The reaction time and the injection temperature of reducing agent are found to have great effect on the size and morphology of the surface-grown Ir particles. The disc-like, ellipsoidal, and spherical IrSMPs (or IrNPs) were also synthesized in homogeneous solution in the presence of H3BO3 and Na2B4O7 as assistant-stabilizer. These IrNPs and IrSMPs were used as building blocks to construct nanoparticle assemblies by using a simple drop-drying method. Uniform IrNP and IrSMP assemblies were successfully prepared on Si and ITO substrates, indicating that the drop-drying method is efficient for the preparation of not only nanoparticle assemblies but also submicroparticle assemblies.展开更多
Microorganisms can colonize the surface of microplastics(MPs)to form a distinctive microbiome,known as a“plastisphere”which is regarded as an anthropogenic niche for microbial growth.However,bacterial community asse...Microorganisms can colonize the surface of microplastics(MPs)to form a distinctive microbiome,known as a“plastisphere”which is regarded as an anthropogenic niche for microbial growth.However,bacterial community assembly in virgin and aging MP plastispheres across different habitats is poorly understood.This study aims to assess the variations in bacterial community assembly across different niches and habitats with an in situ ex-periment,in which constructed forest wetland(FW),natural lake wetland(LW),and lotus pond wetland(LP)were habitats,and plastispheres of virgin and aging low-density polyethylene(LDPE)MPs,as well as surround-ing wetland soils were niches.Significant niche-related differences in bacterial communities were observed,with lower diversity and enrichment of potential plastic-degrading bacteria in the plastisphere than in the soil bacterial communities.Furthermore,habitat-related differences exerted a more pronounced influence on the beta-diversity patterns of the bacterial communities.The linear regression analyses indicated that the local species pool con-tributed more to bacterial community assembly in the LW wetland,whereas the relative abundance of species was the primary factor in the LP wetland.The null model analysis indicated that plastisphere bacterial communi-ties were predominantly driven by the stochastic process,with a more deterministic assembly observed in the LP wetland and soil bacterial communities.Additionally,the primary ecological process shaping plastisphere com-munities shifted from drift in the virgin LDPE to homogenising dispersal in the aging LDPE.This study provides new insights into the fate and ecological impacts of MPs in wetlands,thereby facilitating the effective regulations of plastic pollution.展开更多
Ecological floating bed is an important biological remediation method for water pollution control.During the removal of excess nutrients and pollutants,changes in environmental factors affect the characteristics of mi...Ecological floating bed is an important biological remediation method for water pollution control.During the removal of excess nutrients and pollutants,changes in environmental factors affect the characteristics of microorganisms in aquatic ecosystems.To understand the influences of ecological floating beds on size-fractionated microorganisms,we investigated the community assembly and nitrogen metabolic characteristics of three size-fractionated microorganism groups in the ecological floating bed area,using 18S rDNA,16S rDNA metabarcoding,and metagenomic sequencing techniques.Firstly,we discovered substantial differences between size-fractionated groups in the diversity and compositions of both microeukaryotic and bacterial communities,as well as the influences of floating beds on specific groups.The floating beds appeared to provide more habitats for heterotrophs and symbiotes while potentially inhibiting the growth of certain phytoplankton(cyanobacteria).Secondly,we observed that microeukaryotic and bacterial communities were predominantly influenced by stochastic and deterministic processes,respectively,and they both exhibited distinct patterns across different size-fractionated groups.Notably,microeukaryotic community assembly demonstrated a greater sensitivity to ecological floating beds,as indicated by an increase in dispersal limitation processes.Finally,the nitrogen metabolism functional genes revealed that microbes associated with large-sized particles played a crucial role in dissimilatory nitrate reduction to ammonium(DNRA)and denitrification processes within the floating bed area,thereby facilitating the removal of excess nitrogen nutrients from the water.In contrast,freeliving microorganisms from small-sized groups were linked mainly to the genes involved in nitrogen assimilation and assimilatory nitrate reduction to ammonium(ANRA)processes.These findings help understand the impact of ecological floating beds on the diversity and functional characteristics of microorganism communities in different size-fractionated groups.展开更多
Transformer-based models have significantly advanced binary code similarity detection(BCSD)by leveraging their semantic encoding capabilities for efficient function matching across diverse compilation settings.Althoug...Transformer-based models have significantly advanced binary code similarity detection(BCSD)by leveraging their semantic encoding capabilities for efficient function matching across diverse compilation settings.Although adversarial examples can strategically undermine the accuracy of BCSD models and protect critical code,existing techniques predominantly depend on inserting artificial instructions,which incur high computational costs and offer limited diversity of perturbations.To address these limitations,we propose AIMA,a novel gradient-guided assembly instruction relocation method.Our method decouples the detection model into tokenization,embedding,and encoding layers to enable efficient gradient computation.Since token IDs of instructions are discrete and nondifferentiable,we compute gradients in the continuous embedding space to evaluate the influence of each token.The most critical tokens are identified by calculating the L2 norm of their embedding gradients.We then establish a mapping between instructions and their corresponding tokens to aggregate token-level importance into instructionlevel significance.To maximize adversarial impact,a sliding window algorithm selects the most influential contiguous segments for relocation,ensuring optimal perturbation with minimal length.This approach efficiently locates critical code regions without expensive search operations.The selected segments are relocated outside their original function boundaries via a jump mechanism,which preserves runtime control flow and functionality while introducing“deletion”effects in the static instruction sequence.Extensive experiments show that AIMA reduces similarity scores by up to 35.8%in state-of-the-art BCSD models.When incorporated into training data,it also enhances model robustness,achieving a 5.9%improvement in AUROC.展开更多
Fungi play crucial roles in nutrient acquisition,plant growth promotion,and the enhancement of resistance to both abiotic and biotic stresses.However,studies on the fungal communities associated with peas (Pisum sativ...Fungi play crucial roles in nutrient acquisition,plant growth promotion,and the enhancement of resistance to both abiotic and biotic stresses.However,studies on the fungal communities associated with peas (Pisum sativum L.) remain limited.In this study,we systematically investigated the ecological effects of host niches (soil,root,stem,leaf,and pod) and genotypes on the diversity and composition of fungal communities in peas using a multi-level approach that encompassed pattern recognition (β-diversity decomposition),mechanism validation (neutral community model testing),and dynamic tracking methods (migration pathway source-tracking).The results revealed that the dominant fungal phyla across niches and genotypes were Ascomycota,Basidiomycota,and Mortierellomycota,and the community structures of the soil–plant continuum were primarily determined by the pea niches rather than genotypes.β-diversity decomposition was largely attributed to species replacement rather than richness differences,indicating strong niche specificity and microbial replacement across microhabitats.Neutral model analysis revealed that stochastic processes influenced genotypeassociated communities,while deterministic processes played a dominant role in niche-based community assembly.Source-tracking analysis identified niche-to-niche fungal migration,with Erysiphe,Fusarium,Cephaliophora,Ascobolus,Alternaria,and Aspergillus as the key genera.Migration rates from exogenous to endogenous niches were low (1.3–61.5%),whereas those within exogenous (64.4–83.7%) or endogenous (73.9–96.4%) compartments were much higher,suggesting that the pea epidermis acts as a selective barrier that filters and enriches microbial communities prior to internal colonization.This study provides comprehensive insights into the mechanisms of host filtering,enrichment and microbial sourcing,which increases our understanding of the assembly rules of the pea-associated fungal microbiome.展开更多
Aircraft assembly is characterized by stringent precedence constraints,limited resource availability,spatial restrictions,and a high degree of manual intervention.These factors lead to considerable variability in oper...Aircraft assembly is characterized by stringent precedence constraints,limited resource availability,spatial restrictions,and a high degree of manual intervention.These factors lead to considerable variability in operator workloads and significantly increase the complexity of scheduling.To address this challenge,this study investigates the Aircraft Pulsating Assembly Line Scheduling Problem(APALSP)under skilled operator allocation,with the objective of minimizing assembly completion time.A mathematical model considering skilled operator allocation is developed,and a Q-Learning improved Particle Swarm Optimization algorithm(QLPSO)is proposed.In the algorithm design,a reverse scheduling strategy is adopted to effectively manage large-scale precedence constraints.Moreover,a reverse sequence encoding method is introduced to generate operation sequences,while a time decoding mechanism is employed to determine completion times.The problem is further reformulated as a Markov Decision Process(MDP)with explicitly defined state and action spaces.Within QLPSO,the Q-learning mechanism adaptively adjusts inertia weights and learning factors,thereby achieving a balance between exploration capability and convergence performance.To validate the effectiveness of the proposed approach,extensive computational experiments are conducted on benchmark instances of different scales,including small,medium,large,and ultra-large cases.The results demonstrate that QLPSO consistently delivers stable and high-quality solutions across all scenarios.In ultra-large-scale instances,it improves the best solution by 25.2%compared with the Genetic Algorithm(GA)and enhances the average solution by 16.9%over the Q-learning algorithm,showing clear advantages over the comparative methods.These findings not only confirm the effectiveness of the proposed algorithm but also provide valuable theoretical references and practical guidance for the intelligent scheduling optimization of aircraft pulsating assembly lines.展开更多
Adjuvants enhance and prolong the immune response to therapeutic agents,such as drugs and vaccines.However,conventional adjuvants have limitations in terms of immune specificity and duration.Nanoadjuvants can leverage...Adjuvants enhance and prolong the immune response to therapeutic agents,such as drugs and vaccines.However,conventional adjuvants have limitations in terms of immune specificity and duration.Nanoadjuvants can leverage their nanoscale size to increase the capture efficacy of antigens by antigen-presenting cells and improve immunogen presentation for targeted delivery.Furthermore,noninvasive visualization of bifunctional nanoadjuvants with integrated efficacy and imaging postdelivery can provide insights into in vivo distribution and performance,aiding in the optimization and design of new dosage forms.This review systematically summarizes the structure,assembly,and function of nanoadjuvants alongside contrast agents.It delves into the impact of complex structures formed by nanoadjuvant-contrast agent interactions on antigen presentation,migration,imaging tracking,and visualization of immune cell recruitment.It also discusses how imaging can determine optimal immune intervals,vaccine safety,and toxicity while enabling diagnostic and therapeutic integration.Moreover,this paper discusses potential applications of novel adjuvants and promising imaging technologies that could have implications for future vaccine and drug development endeavors.展开更多
Modern manufacturing processes have become more reliant on automation because of the accelerated transition from Industry 3.0 to Industry 4.0.Manual inspection of products on assembly lines remains inefficient,prone t...Modern manufacturing processes have become more reliant on automation because of the accelerated transition from Industry 3.0 to Industry 4.0.Manual inspection of products on assembly lines remains inefficient,prone to errors and lacks consistency,emphasizing the need for a reliable and automated inspection system.Leveraging both object detection and image segmentation approaches,this research proposes a vision-based solution for the detection of various kinds of tools in the toolkit using deep learning(DL)models.Two Intel RealSense D455f depth cameras were arranged in a top down configuration to capture both RGB and depth images of the toolkits.After applying multiple constraints and enhancing them through preprocessing and augmentation,a dataset consisting of 3300 annotated RGB-D photos was generated.Several DL models were selected through a comprehensive assessment of mean Average Precision(mAP),precision-recall equilibrium,inference latency(target≥30 FPS),and computational burden,resulting in a preference for YOLO and Region-based Convolutional Neural Networks(R-CNN)variants over ViT-based models due to the latter’s increased latency and resource requirements.YOLOV5,YOLOV8,YOLOV11,Faster R-CNN,and Mask R-CNN were trained on the annotated dataset and evaluated using key performance metrics(Recall,Accuracy,F1-score,and Precision).YOLOV11 demonstrated balanced excellence with 93.0%precision,89.9%recall,and a 90.6%F1-score in object detection,as well as 96.9%precision,95.3%recall,and a 96.5%F1-score in instance segmentation with an average inference time of 25 ms per frame(≈40 FPS),demonstrating real-time performance.Leveraging these results,a YOLOV11-based windows application was successfully deployed in a real-time assembly line environment,where it accurately processed live video streams to detect and segment tools within toolkits,demonstrating its practical effectiveness in industrial automation.The application is capable of precisely measuring socket dimensions by utilising edge detection techniques on YOLOv11 segmentation masks,in addition to detection and segmentation.This makes it possible to do specification-level quality control right on the assembly line,which improves the ability to examine things in real time.The implementation is a big step forward for intelligent manufacturing in the Industry 4.0 paradigm.It provides a scalable,efficient,and accurate way to do automated inspection and dimensional verification activities.展开更多
Wheat(Triticum aestivum)faces significant threats from diseases such as powdery mildew(Blumeria graminis)and Fusarium head blight(FHB;caused by Fusarium graminearum),which cause severe yield losses.Moreover,the antago...Wheat(Triticum aestivum)faces significant threats from diseases such as powdery mildew(Blumeria graminis)and Fusarium head blight(FHB;caused by Fusarium graminearum),which cause severe yield losses.Moreover,the antagonism between yield-related traits and disease resistance makes yield resistance coordination a major challenge in wheat breeding.The lack of genetic resources combining both disease resistance and high yield constrains the elucidation of underlying resistance-yield trade-off mechanisms,thereby hindering the development of high-yield and disease-resistant wheat cultivars.Remarkably,Yangmai 33(YM33),a notable wheat cultivar with resistance to both powdery mildew and FHB as well as high-yield performance,was recently developed.It offers a unique opportunity to dissect the genomic architecture underlying the coordination between disease resistance and yield.展开更多
Biological nitrogen fixation(BNF)is a crucial process that provides bioavailable nitrogen and supports primary production in freshwater lake ecosystems.However,the characteristics of diazotrophic community and nitroge...Biological nitrogen fixation(BNF)is a crucial process that provides bioavailable nitrogen and supports primary production in freshwater lake ecosystems.However,the characteristics of diazotrophic community and nitrogenase activity in freshwater lake sediments remain poorly understood.Here,we investigated the diazotrophic communities and nitrogenase activities in the sediments of three large river-connected freshwater lakes in eastern China using 15N-isotope tracing and nifH sequencing.The sediments in these lakes contained diverse nitrogenase genes that were phylogenetically grouped into Clusters I and III.The diazotrophic communities in the sedimentswere dominated by stochastic processes in Hongze Lake and Taihu Lake,which had heterogeneous habitats and shallower water depths,while in Poyang Lake,which had deeper water and a shorter hydraulic retention time,the assembly of the diazotrophic community in the sediments was dominated by homogeneous selection processes.Temperature and water depth were also found the key environmental factors affecting the sediment diazotrophic communities.Sediment nitrogenase activities varied in the three lakes and within distinct regions of an individual lake,ranging from 0 to 14.58 nmol/(kg·hr).Nitrogenase activity was significantly correlated with ferric iron,total phosphorus,and organic matter contents.Our results suggested that freshwater lake sediment contain high diversity of nitrogen-fixing microorganisms with potential metabolic diversity,and the community assembly patterns and nitrogenase activities varied with the lake habitat.展开更多
Juglans sigillata is an economically valuable nut crop renowned for its nutritional richness,including essential nutrients,antioxidants,and healthy fats,which boost human cardial,brain and gut health.Despite its impor...Juglans sigillata is an economically valuable nut crop renowned for its nutritional richness,including essential nutrients,antioxidants,and healthy fats,which boost human cardial,brain and gut health.Despite its importance,the lack of a complete genome assembly has been a stumbling block in its biological breeding process.Therefore,we generated deep coverage ultralong Oxford Nanopore Technology(ONT)and PacBio HiFi reads to construct a telomere-to-telomere(T2T)genome assembly.The final assembly spans 537.27 Mb with no gaps,demonstrating a remarkable completeness of 98.1%.We utilized a combination of transcriptome data and homologous proteins to annotate the genome,identifying 36018 protein-coding genes.Furthermore,we profiled global cytosine DNA methylations using ONT sequencing data.Global methylome analysis revealed high methylation levels in transposable element(TE)-rich chromosomal regions juxtaposed with comparatively lower methylation in gene-rich areas.By integrating a detailed multi-omics data analysis,we obtained valuable insights into the mechanism underlying endopleura coloration.This investigation led to the identification of eight candidate genes(e.g.ANR)involved in anthocyanin biosynthesis pathways,which are crucial for the development of color in plants.The comprehensive genome assembly and the understanding of the genetic basis of important traits like endopleura coloration will open avenues for more efficient breeding programs and improved crop quality.展开更多
The application of photocatalytic technology in algae killing is limited by the non-floatability and difficulty in recycling of the photocatalysts.Loading photocatalyst on magnetic or floatable carriers is the most po...The application of photocatalytic technology in algae killing is limited by the non-floatability and difficulty in recycling of the photocatalysts.Loading photocatalyst on magnetic or floatable carriers is the most popular method for overcoming the above inadequacies.In this work,a CdZnS/TiO_(2) membrane photocatalyst with adjustable suspended depth(include floating)and flexible assembly is designed,which is less prone to dislodgement due to in situ synthesis and has a wider range of applicability than previously reported photocatalysts.The photocatalytic removal of Microcystis aeruginosa revealed that the suspended depth and distribution format of the CdZnS/TiO_(2) membrane photocatalysts have striking effects on the photocatalytic removal performance of Microcystis aeruginosa,the photocatalytic removal efficiency of CdZnS/TiO_(2)-2 membrane photocatalysts for Microcystis aeruginosa could reach to 98.6%in 60 min when the photocatalysts assembled in the form of 3×3 arrays suspended at a depth of 2 cm from the liquid surface.A tiny amount of TiO_(2) loading allows the formation of Z-Scheme heterojunction,resulting in accelerating the separation efficiency of photogenerated carriers,preserving the photogenerated electrons and holes with stronger reduction and oxidation ability and inhabiting the photo-corrosion of CdZnS.展开更多
Membrane electrode assembly(MEA)is widely considered to be the most promising type of electrolyzer for the practical application of electrochemical CO_(2) reduction reaction(CO_(2)RR).In MEAs,a square-shaped cross-sec...Membrane electrode assembly(MEA)is widely considered to be the most promising type of electrolyzer for the practical application of electrochemical CO_(2) reduction reaction(CO_(2)RR).In MEAs,a square-shaped cross-section in the flow channel is normally adopted,the configuration optimization of which could potentially enhance the performance of the electrolyzer.This paper describes the numerical simulation study on the impact of the flow-channel cross-section shapes in the MEA electrolyzer for CO_(2)RR.The results show that wide flow channels with low heights are beneficial to the CO_(2)RR by providing a uniform flow field of CO_(2),especially at high current densities.Moreover,the larger the electrolyzer,the more significant the effect is.This study provides a theoretical basis for the design of high-performance MEA electrolyzers for CO_(2)RR.展开更多
A unitized regenerative fuel cell(URFC)is a device that may function reversibly as either a fuel cell(FC)or water elec-trolysis(WE).An important component of this device is the Membrane electrode assembly(MEA).Therefo...A unitized regenerative fuel cell(URFC)is a device that may function reversibly as either a fuel cell(FC)or water elec-trolysis(WE).An important component of this device is the Membrane electrode assembly(MEA).Therefore,this study aimed to compare the performance outcomes of MEA using electrodes with single and three catalyst layers.This study measured Electrochemical Surface Area(ECSA),Electrochemical Impedance Spectroscopy(EIS),X-ray Diffraction analysis(XRD),and X-ray Fluorescence(XRF).Furthermore,the round-trip efficiency(RTE)of the MEA,as w ell as the performance in FC and WE mode,was measured.In comparison,The ECSA values of Pt-Ru/C and Pt/C with three catalyst layers were higher than the single catalyst layer.This result was supported by electrode characterization data for XRD and XRF.The respective electrical conductivity values of Pt-Ru/C and Pt/C with three catalyst layers are also higher than the single cata-lyst layer,and the performance of URFC using MEA with three catalyst layers has the highest value of RTE among the MEA performances of URFC,which is 100%at a current density of 4 mA·cm-2.展开更多
Assembly precision greatly influences the performance of complex high-end equipment.The traditional industrial assembly process and deviation transfer are implicit and uncertain,causing problems like poor component fi...Assembly precision greatly influences the performance of complex high-end equipment.The traditional industrial assembly process and deviation transfer are implicit and uncertain,causing problems like poor component fit and hard-to-trace assembly stress concentration.Assemblers can only check whether the dimensional tolerance of the component design is exceeded step by step in combination with prior knowledge.Inversion in industrial assembly optimizes assembly and design by comparing real and theoretical results and doing inversion analysis to reduce assembly deviation.The digital twin(DT)technology visualizes and predicts the assembly process by mapping real and virtual model parameters and states simultaneously,expanding parameter range for inversion analysis and improving inversion result accuracy.Problems in improving industrial assembly precision and the significance and research status of DT-driven parametric inversion of assembly tools,processes and object precision are summarized.It analyzes vital technologies for assembly precision inversion such as multi-attribute assembly process parameter sensing,virtual modeling of high-fidelity assembly systems,twin synchronization of assembly process data models,multi-physical field simulation,and performance twin model construction of the assembly process.Combined with human-cyber-physical system,augmented reality,and generative intelligence,the outlook of DT-driven assembly precision inversion is proposed,providing support for DT's use in industrial assembly and precision improvement.展开更多
As the demands for assembly quality and efficiency increase,robot-assisted assembly applications are becoming more widespread.Peg-in-hole assembly,as a typical form of assembly,has been widely researched by scholars.C...As the demands for assembly quality and efficiency increase,robot-assisted assembly applications are becoming more widespread.Peg-in-hole assembly,as a typical form of assembly,has been widely researched by scholars.Currently,robotic peg-in-hole assembly faces challenges such as complex analysis of part contact forces,difficulties in task modeling,and the failure of traditional strategies.Simply controlling the position of the robot's end effector cannot achieve high precision,high efficiency peg-in-hole assembly.Flexible assembly,especially intelligent flexible assembly,is becoming the future development trend.So there is a lack of comprehensive reviews on robotic flexible peg-in-hole assembly.This paper first outlines the basic components of peg-in-hole assembly and summarizes the two basic operational processes of peg-in-hole assembly,along with their related theoretical foundations.We then review and analyze the research on passive compliant assembly,active compliant assembly,and intelligent flexible assembly.Finally,it presents an outlook on the future development directions of robotic peg-in-hole assembly.展开更多
To address the challenges of insufficient visualization in the industrial robot assembly operation system and the limitation of visualizing only geometric attributes of physical properties,a method is proposed for con...To address the challenges of insufficient visualization in the industrial robot assembly operation system and the limitation of visualizing only geometric attributes of physical properties,a method is proposed for constructing an industrial robot assembly system based on virtual reality technology.Focusing on the shaft hole assembly,the mechanical characteristics of the industrial robot shaft hole assembly process are analyzed and a dynamic model is established for shaft hole assembly operations.The key elements of virtual assembly operations for industrial robots are summarized and a five-dimensional model is proposed for industrial robot virtual operations.Utilizing the Unity3D engine based on the 5-D model for industrial robot virtual operations,an industrial robot shaft hole assembly system is developed.This system enables virtual assembly operations,displays physical attributes,and provides valuable references for the research of virtual systems.展开更多
Molecular recognition of fullerene using various host compounds is well-known in literature.But most studies focus on host-vip complexation in solution using host compounds with a single binding cavity.Herein,we rep...Molecular recognition of fullerene using various host compounds is well-known in literature.But most studies focus on host-vip complexation in solution using host compounds with a single binding cavity.Herein,we report a series of highly preorganized janusarene derivatives with homoditopic binding sites.These novel janusarenes can bind and align various fullerenes such as C_(60),C_(70),C_(84),and Gd@C_(82)in a highly efficient manner.Robust shape complementary association and assembly are observed in solution,in the bulk solid state,in the liquid crystalline state,or on surface,and the assembled structures are characterized by nuclear magnetic resonance(NMR)titration,X-ray diffraction,polarized optical microscopy,and scanning tunneling microscopy.展开更多
Despite the gradual transformation of traditional manufacturing by the Human-Robot Collaboration Assembly(HRCA),challenges remain in the robot’s ability to understand and predict human assembly intentions.This study ...Despite the gradual transformation of traditional manufacturing by the Human-Robot Collaboration Assembly(HRCA),challenges remain in the robot’s ability to understand and predict human assembly intentions.This study aims to enhance the robot’s comprehension and prediction capabilities of operator assembly intentions by capturing and analyzing operator behavior and movements.We propose a video feature extraction method based on the Temporal Shift Module Network(TSM-ResNet50)to extract spatiotemporal features from assembly videos and differentiate various assembly actions using feature differences between video frames.Furthermore,we construct an action recognition and segmentation model based on the Refined-Multi-Scale Temporal Convolutional Network(Refined-MS-TCN)to identify assembly action intervals and accurately acquire action categories.Experiments on our self-built reducer assembly action dataset demonstrate that our network can classify assembly actions frame by frame,achieving an accuracy rate of 83%.Additionally,we develop a HiddenMarkovModel(HMM)integrated with assembly task constraints to predict operator assembly intentions based on the probability transition matrix and assembly task constraints.The experimental results show that our method for predicting operator assembly intentions can achieve an accuracy of 90.6%,which is a 13.3%improvement over the HMM without task constraints.展开更多
基金financially supported by the National Natural Science Foundation of China (Nos.20973020 and21173016)Doctoral Fund of Ministry of Education of China (No. 20101102110002)+1 种基金Program for New Century Excellent Talents in University (No.NCET-08-0034)Program for Changjiang Scholars and Innovative Research Team in University (No.IRT0805)
文摘Iridium nanoparticles (IrNPs) and submicroparticles (IrSMPs) with different shapes were synthesized and assembled on indium thin oxide (ITO) and Si substrates using two different methods: direct surface growth and drop-drying assembly. The obtained IrNPs and IrSMPs were characterized using scanning electron microscopy (SEM) and energy dispersive spectroscopy (EDS). The IrSMPs (or IrNPs) with disc-like shape and irregular shapes were obtained on ITO substrate by direct surface growth method using polyvinylpyrrolidone (PVP) and sodium citrate as different stabilizers, respectively. The reaction time and the injection temperature of reducing agent are found to have great effect on the size and morphology of the surface-grown Ir particles. The disc-like, ellipsoidal, and spherical IrSMPs (or IrNPs) were also synthesized in homogeneous solution in the presence of H3BO3 and Na2B4O7 as assistant-stabilizer. These IrNPs and IrSMPs were used as building blocks to construct nanoparticle assemblies by using a simple drop-drying method. Uniform IrNP and IrSMP assemblies were successfully prepared on Si and ITO substrates, indicating that the drop-drying method is efficient for the preparation of not only nanoparticle assemblies but also submicroparticle assemblies.
基金supported by Shanghai Municipal Natural Science Foundation,China(No.21ZR1446800)the National Natural Science Foundation of China(No.41877425)the Fundamental Research Funds for the Central Universities(No.226-2024-00052)。
文摘Microorganisms can colonize the surface of microplastics(MPs)to form a distinctive microbiome,known as a“plastisphere”which is regarded as an anthropogenic niche for microbial growth.However,bacterial community assembly in virgin and aging MP plastispheres across different habitats is poorly understood.This study aims to assess the variations in bacterial community assembly across different niches and habitats with an in situ ex-periment,in which constructed forest wetland(FW),natural lake wetland(LW),and lotus pond wetland(LP)were habitats,and plastispheres of virgin and aging low-density polyethylene(LDPE)MPs,as well as surround-ing wetland soils were niches.Significant niche-related differences in bacterial communities were observed,with lower diversity and enrichment of potential plastic-degrading bacteria in the plastisphere than in the soil bacterial communities.Furthermore,habitat-related differences exerted a more pronounced influence on the beta-diversity patterns of the bacterial communities.The linear regression analyses indicated that the local species pool con-tributed more to bacterial community assembly in the LW wetland,whereas the relative abundance of species was the primary factor in the LP wetland.The null model analysis indicated that plastisphere bacterial communi-ties were predominantly driven by the stochastic process,with a more deterministic assembly observed in the LP wetland and soil bacterial communities.Additionally,the primary ecological process shaping plastisphere com-munities shifted from drift in the virgin LDPE to homogenising dispersal in the aging LDPE.This study provides new insights into the fate and ecological impacts of MPs in wetlands,thereby facilitating the effective regulations of plastic pollution.
基金Supported by the National Natural Science Foundation of China(Nos.42141003,42176147)the National Key Research and Development Program of China(No.2022YFF0802204)the Xiamen Key Laboratory of Urban Sea Ecological Conservation and Restoration(USER)(Nos.USER2021-1,USER2021-5)。
文摘Ecological floating bed is an important biological remediation method for water pollution control.During the removal of excess nutrients and pollutants,changes in environmental factors affect the characteristics of microorganisms in aquatic ecosystems.To understand the influences of ecological floating beds on size-fractionated microorganisms,we investigated the community assembly and nitrogen metabolic characteristics of three size-fractionated microorganism groups in the ecological floating bed area,using 18S rDNA,16S rDNA metabarcoding,and metagenomic sequencing techniques.Firstly,we discovered substantial differences between size-fractionated groups in the diversity and compositions of both microeukaryotic and bacterial communities,as well as the influences of floating beds on specific groups.The floating beds appeared to provide more habitats for heterotrophs and symbiotes while potentially inhibiting the growth of certain phytoplankton(cyanobacteria).Secondly,we observed that microeukaryotic and bacterial communities were predominantly influenced by stochastic and deterministic processes,respectively,and they both exhibited distinct patterns across different size-fractionated groups.Notably,microeukaryotic community assembly demonstrated a greater sensitivity to ecological floating beds,as indicated by an increase in dispersal limitation processes.Finally,the nitrogen metabolism functional genes revealed that microbes associated with large-sized particles played a crucial role in dissimilatory nitrate reduction to ammonium(DNRA)and denitrification processes within the floating bed area,thereby facilitating the removal of excess nitrogen nutrients from the water.In contrast,freeliving microorganisms from small-sized groups were linked mainly to the genes involved in nitrogen assimilation and assimilatory nitrate reduction to ammonium(ANRA)processes.These findings help understand the impact of ecological floating beds on the diversity and functional characteristics of microorganism communities in different size-fractionated groups.
基金supported by Key Laboratory of Cyberspace Security,Ministry of Education,China。
文摘Transformer-based models have significantly advanced binary code similarity detection(BCSD)by leveraging their semantic encoding capabilities for efficient function matching across diverse compilation settings.Although adversarial examples can strategically undermine the accuracy of BCSD models and protect critical code,existing techniques predominantly depend on inserting artificial instructions,which incur high computational costs and offer limited diversity of perturbations.To address these limitations,we propose AIMA,a novel gradient-guided assembly instruction relocation method.Our method decouples the detection model into tokenization,embedding,and encoding layers to enable efficient gradient computation.Since token IDs of instructions are discrete and nondifferentiable,we compute gradients in the continuous embedding space to evaluate the influence of each token.The most critical tokens are identified by calculating the L2 norm of their embedding gradients.We then establish a mapping between instructions and their corresponding tokens to aggregate token-level importance into instructionlevel significance.To maximize adversarial impact,a sliding window algorithm selects the most influential contiguous segments for relocation,ensuring optimal perturbation with minimal length.This approach efficiently locates critical code regions without expensive search operations.The selected segments are relocated outside their original function boundaries via a jump mechanism,which preserves runtime control flow and functionality while introducing“deletion”effects in the static instruction sequence.Extensive experiments show that AIMA reduces similarity scores by up to 35.8%in state-of-the-art BCSD models.When incorporated into training data,it also enhances model robustness,achieving a 5.9%improvement in AUROC.
基金financial y supported by the National Key Research and Development Program of China (2023YFD1900902)the Joint Funds of the Zhejiang Provincial Natural Science Foundation of China (LLSSZ24C030001)+1 种基金the Earmarked Fund for China Agriculture Research System (CARS-08-G-09)sponsored by the K.C.Wong Magna Fund of Ningbo University,China。
文摘Fungi play crucial roles in nutrient acquisition,plant growth promotion,and the enhancement of resistance to both abiotic and biotic stresses.However,studies on the fungal communities associated with peas (Pisum sativum L.) remain limited.In this study,we systematically investigated the ecological effects of host niches (soil,root,stem,leaf,and pod) and genotypes on the diversity and composition of fungal communities in peas using a multi-level approach that encompassed pattern recognition (β-diversity decomposition),mechanism validation (neutral community model testing),and dynamic tracking methods (migration pathway source-tracking).The results revealed that the dominant fungal phyla across niches and genotypes were Ascomycota,Basidiomycota,and Mortierellomycota,and the community structures of the soil–plant continuum were primarily determined by the pea niches rather than genotypes.β-diversity decomposition was largely attributed to species replacement rather than richness differences,indicating strong niche specificity and microbial replacement across microhabitats.Neutral model analysis revealed that stochastic processes influenced genotypeassociated communities,while deterministic processes played a dominant role in niche-based community assembly.Source-tracking analysis identified niche-to-niche fungal migration,with Erysiphe,Fusarium,Cephaliophora,Ascobolus,Alternaria,and Aspergillus as the key genera.Migration rates from exogenous to endogenous niches were low (1.3–61.5%),whereas those within exogenous (64.4–83.7%) or endogenous (73.9–96.4%) compartments were much higher,suggesting that the pea epidermis acts as a selective barrier that filters and enriches microbial communities prior to internal colonization.This study provides comprehensive insights into the mechanisms of host filtering,enrichment and microbial sourcing,which increases our understanding of the assembly rules of the pea-associated fungal microbiome.
基金supported by the National Natural Science Foundation of China(Grant No.52475543)Natural Science Foundation of Henan(Grant No.252300421101)+1 种基金Henan Province University Science and Technology Innovation Talent Support Plan(Grant No.24HASTIT048)Science and Technology Innovation Team Project of Zhengzhou University of Light Industry(Grant No.23XNKJTD0101).
文摘Aircraft assembly is characterized by stringent precedence constraints,limited resource availability,spatial restrictions,and a high degree of manual intervention.These factors lead to considerable variability in operator workloads and significantly increase the complexity of scheduling.To address this challenge,this study investigates the Aircraft Pulsating Assembly Line Scheduling Problem(APALSP)under skilled operator allocation,with the objective of minimizing assembly completion time.A mathematical model considering skilled operator allocation is developed,and a Q-Learning improved Particle Swarm Optimization algorithm(QLPSO)is proposed.In the algorithm design,a reverse scheduling strategy is adopted to effectively manage large-scale precedence constraints.Moreover,a reverse sequence encoding method is introduced to generate operation sequences,while a time decoding mechanism is employed to determine completion times.The problem is further reformulated as a Markov Decision Process(MDP)with explicitly defined state and action spaces.Within QLPSO,the Q-learning mechanism adaptively adjusts inertia weights and learning factors,thereby achieving a balance between exploration capability and convergence performance.To validate the effectiveness of the proposed approach,extensive computational experiments are conducted on benchmark instances of different scales,including small,medium,large,and ultra-large cases.The results demonstrate that QLPSO consistently delivers stable and high-quality solutions across all scenarios.In ultra-large-scale instances,it improves the best solution by 25.2%compared with the Genetic Algorithm(GA)and enhances the average solution by 16.9%over the Q-learning algorithm,showing clear advantages over the comparative methods.These findings not only confirm the effectiveness of the proposed algorithm but also provide valuable theoretical references and practical guidance for the intelligent scheduling optimization of aircraft pulsating assembly lines.
基金supported by the National Key R&D Project of China(Nos.2022YFC2304205,2022YFC2304202)Key scientific research project of universities in Guangdong Province(No.2023KCXTD026)the Major Project of Guangzhou National Laboratory(No.GZNL2023A03002).
文摘Adjuvants enhance and prolong the immune response to therapeutic agents,such as drugs and vaccines.However,conventional adjuvants have limitations in terms of immune specificity and duration.Nanoadjuvants can leverage their nanoscale size to increase the capture efficacy of antigens by antigen-presenting cells and improve immunogen presentation for targeted delivery.Furthermore,noninvasive visualization of bifunctional nanoadjuvants with integrated efficacy and imaging postdelivery can provide insights into in vivo distribution and performance,aiding in the optimization and design of new dosage forms.This review systematically summarizes the structure,assembly,and function of nanoadjuvants alongside contrast agents.It delves into the impact of complex structures formed by nanoadjuvant-contrast agent interactions on antigen presentation,migration,imaging tracking,and visualization of immune cell recruitment.It also discusses how imaging can determine optimal immune intervals,vaccine safety,and toxicity while enabling diagnostic and therapeutic integration.Moreover,this paper discusses potential applications of novel adjuvants and promising imaging technologies that could have implications for future vaccine and drug development endeavors.
文摘Modern manufacturing processes have become more reliant on automation because of the accelerated transition from Industry 3.0 to Industry 4.0.Manual inspection of products on assembly lines remains inefficient,prone to errors and lacks consistency,emphasizing the need for a reliable and automated inspection system.Leveraging both object detection and image segmentation approaches,this research proposes a vision-based solution for the detection of various kinds of tools in the toolkit using deep learning(DL)models.Two Intel RealSense D455f depth cameras were arranged in a top down configuration to capture both RGB and depth images of the toolkits.After applying multiple constraints and enhancing them through preprocessing and augmentation,a dataset consisting of 3300 annotated RGB-D photos was generated.Several DL models were selected through a comprehensive assessment of mean Average Precision(mAP),precision-recall equilibrium,inference latency(target≥30 FPS),and computational burden,resulting in a preference for YOLO and Region-based Convolutional Neural Networks(R-CNN)variants over ViT-based models due to the latter’s increased latency and resource requirements.YOLOV5,YOLOV8,YOLOV11,Faster R-CNN,and Mask R-CNN were trained on the annotated dataset and evaluated using key performance metrics(Recall,Accuracy,F1-score,and Precision).YOLOV11 demonstrated balanced excellence with 93.0%precision,89.9%recall,and a 90.6%F1-score in object detection,as well as 96.9%precision,95.3%recall,and a 96.5%F1-score in instance segmentation with an average inference time of 25 ms per frame(≈40 FPS),demonstrating real-time performance.Leveraging these results,a YOLOV11-based windows application was successfully deployed in a real-time assembly line environment,where it accurately processed live video streams to detect and segment tools within toolkits,demonstrating its practical effectiveness in industrial automation.The application is capable of precisely measuring socket dimensions by utilising edge detection techniques on YOLOv11 segmentation masks,in addition to detection and segmentation.This makes it possible to do specification-level quality control right on the assembly line,which improves the ability to examine things in real time.The implementation is a big step forward for intelligent manufacturing in the Industry 4.0 paradigm.It provides a scalable,efficient,and accurate way to do automated inspection and dimensional verification activities.
基金supported by the National Key R&D Program of China(2024YFD1201100)the research program from the Zhongshan Biological Breeding Laboratory(ZSBBL-KY2023-02)the National Natural Science Foundation of China(32341037).
文摘Wheat(Triticum aestivum)faces significant threats from diseases such as powdery mildew(Blumeria graminis)and Fusarium head blight(FHB;caused by Fusarium graminearum),which cause severe yield losses.Moreover,the antagonism between yield-related traits and disease resistance makes yield resistance coordination a major challenge in wheat breeding.The lack of genetic resources combining both disease resistance and high yield constrains the elucidation of underlying resistance-yield trade-off mechanisms,thereby hindering the development of high-yield and disease-resistant wheat cultivars.Remarkably,Yangmai 33(YM33),a notable wheat cultivar with resistance to both powdery mildew and FHB as well as high-yield performance,was recently developed.It offers a unique opportunity to dissect the genomic architecture underlying the coordination between disease resistance and yield.
基金supported by the National Natural Science Foundation of China(Nos.51839011,42203079,and U2240208)the Carbon Peak/Neutralization Technology Innovation Project of Jiangsu Province,China(No.BK20220043)the Excellent Postdoctoral Project of Jiangsu Province,China(No.2022ZB452).
文摘Biological nitrogen fixation(BNF)is a crucial process that provides bioavailable nitrogen and supports primary production in freshwater lake ecosystems.However,the characteristics of diazotrophic community and nitrogenase activity in freshwater lake sediments remain poorly understood.Here,we investigated the diazotrophic communities and nitrogenase activities in the sediments of three large river-connected freshwater lakes in eastern China using 15N-isotope tracing and nifH sequencing.The sediments in these lakes contained diverse nitrogenase genes that were phylogenetically grouped into Clusters I and III.The diazotrophic communities in the sedimentswere dominated by stochastic processes in Hongze Lake and Taihu Lake,which had heterogeneous habitats and shallower water depths,while in Poyang Lake,which had deeper water and a shorter hydraulic retention time,the assembly of the diazotrophic community in the sediments was dominated by homogeneous selection processes.Temperature and water depth were also found the key environmental factors affecting the sediment diazotrophic communities.Sediment nitrogenase activities varied in the three lakes and within distinct regions of an individual lake,ranging from 0 to 14.58 nmol/(kg·hr).Nitrogenase activity was significantly correlated with ferric iron,total phosphorus,and organic matter contents.Our results suggested that freshwater lake sediment contain high diversity of nitrogen-fixing microorganisms with potential metabolic diversity,and the community assembly patterns and nitrogenase activities varied with the lake habitat.
基金supported by the Yunnan Seed Laboratory,China(202205AR070001-15)the National Natural Science Foundation of China,China(Grant No.32160697)。
文摘Juglans sigillata is an economically valuable nut crop renowned for its nutritional richness,including essential nutrients,antioxidants,and healthy fats,which boost human cardial,brain and gut health.Despite its importance,the lack of a complete genome assembly has been a stumbling block in its biological breeding process.Therefore,we generated deep coverage ultralong Oxford Nanopore Technology(ONT)and PacBio HiFi reads to construct a telomere-to-telomere(T2T)genome assembly.The final assembly spans 537.27 Mb with no gaps,demonstrating a remarkable completeness of 98.1%.We utilized a combination of transcriptome data and homologous proteins to annotate the genome,identifying 36018 protein-coding genes.Furthermore,we profiled global cytosine DNA methylations using ONT sequencing data.Global methylome analysis revealed high methylation levels in transposable element(TE)-rich chromosomal regions juxtaposed with comparatively lower methylation in gene-rich areas.By integrating a detailed multi-omics data analysis,we obtained valuable insights into the mechanism underlying endopleura coloration.This investigation led to the identification of eight candidate genes(e.g.ANR)involved in anthocyanin biosynthesis pathways,which are crucial for the development of color in plants.The comprehensive genome assembly and the understanding of the genetic basis of important traits like endopleura coloration will open avenues for more efficient breeding programs and improved crop quality.
基金financially supported by the Natural Science Foundation of ShanDong(Nos.ZR2023QD152 and ZR2021MD002).
文摘The application of photocatalytic technology in algae killing is limited by the non-floatability and difficulty in recycling of the photocatalysts.Loading photocatalyst on magnetic or floatable carriers is the most popular method for overcoming the above inadequacies.In this work,a CdZnS/TiO_(2) membrane photocatalyst with adjustable suspended depth(include floating)and flexible assembly is designed,which is less prone to dislodgement due to in situ synthesis and has a wider range of applicability than previously reported photocatalysts.The photocatalytic removal of Microcystis aeruginosa revealed that the suspended depth and distribution format of the CdZnS/TiO_(2) membrane photocatalysts have striking effects on the photocatalytic removal performance of Microcystis aeruginosa,the photocatalytic removal efficiency of CdZnS/TiO_(2)-2 membrane photocatalysts for Microcystis aeruginosa could reach to 98.6%in 60 min when the photocatalysts assembled in the form of 3×3 arrays suspended at a depth of 2 cm from the liquid surface.A tiny amount of TiO_(2) loading allows the formation of Z-Scheme heterojunction,resulting in accelerating the separation efficiency of photogenerated carriers,preserving the photogenerated electrons and holes with stronger reduction and oxidation ability and inhabiting the photo-corrosion of CdZnS.
基金the National Key R&D Program of China(No.2021YFA1501503)the National Natural Science Foundation of China(Nos.22250008,22121004,22108197)+3 种基金the Haihe Laboratory of Sustainable Chemical Transformations(No.CYZC202107)the Natural Science Foundation of Tianjin City(No.21JCZXJC00060)the Program of Introducing Talents of Discipline to Universities(No.BP0618007)the Xplorer Prize for financial support。
文摘Membrane electrode assembly(MEA)is widely considered to be the most promising type of electrolyzer for the practical application of electrochemical CO_(2) reduction reaction(CO_(2)RR).In MEAs,a square-shaped cross-section in the flow channel is normally adopted,the configuration optimization of which could potentially enhance the performance of the electrolyzer.This paper describes the numerical simulation study on the impact of the flow-channel cross-section shapes in the MEA electrolyzer for CO_(2)RR.The results show that wide flow channels with low heights are beneficial to the CO_(2)RR by providing a uniform flow field of CO_(2),especially at high current densities.Moreover,the larger the electrolyzer,the more significant the effect is.This study provides a theoretical basis for the design of high-performance MEA electrolyzers for CO_(2)RR.
基金support from the Ministry of Higher Education Malaysia under grant HICOE-2023-005.
文摘A unitized regenerative fuel cell(URFC)is a device that may function reversibly as either a fuel cell(FC)or water elec-trolysis(WE).An important component of this device is the Membrane electrode assembly(MEA).Therefore,this study aimed to compare the performance outcomes of MEA using electrodes with single and three catalyst layers.This study measured Electrochemical Surface Area(ECSA),Electrochemical Impedance Spectroscopy(EIS),X-ray Diffraction analysis(XRD),and X-ray Fluorescence(XRF).Furthermore,the round-trip efficiency(RTE)of the MEA,as w ell as the performance in FC and WE mode,was measured.In comparison,The ECSA values of Pt-Ru/C and Pt/C with three catalyst layers were higher than the single catalyst layer.This result was supported by electrode characterization data for XRD and XRF.The respective electrical conductivity values of Pt-Ru/C and Pt/C with three catalyst layers are also higher than the single cata-lyst layer,and the performance of URFC using MEA with three catalyst layers has the highest value of RTE among the MEA performances of URFC,which is 100%at a current density of 4 mA·cm-2.
基金Supported by National Key Research and Development Program of China(Grant No.2022YFB3304200)National Natural Science Foundation of China(Grant No.52205288)+1 种基金China Postdoctoral Science Foundation(Grant Nos.2024T170795,2024M762815)Zhejiang Provincial Key Research and Development Program(Grant No.2024C01029)。
文摘Assembly precision greatly influences the performance of complex high-end equipment.The traditional industrial assembly process and deviation transfer are implicit and uncertain,causing problems like poor component fit and hard-to-trace assembly stress concentration.Assemblers can only check whether the dimensional tolerance of the component design is exceeded step by step in combination with prior knowledge.Inversion in industrial assembly optimizes assembly and design by comparing real and theoretical results and doing inversion analysis to reduce assembly deviation.The digital twin(DT)technology visualizes and predicts the assembly process by mapping real and virtual model parameters and states simultaneously,expanding parameter range for inversion analysis and improving inversion result accuracy.Problems in improving industrial assembly precision and the significance and research status of DT-driven parametric inversion of assembly tools,processes and object precision are summarized.It analyzes vital technologies for assembly precision inversion such as multi-attribute assembly process parameter sensing,virtual modeling of high-fidelity assembly systems,twin synchronization of assembly process data models,multi-physical field simulation,and performance twin model construction of the assembly process.Combined with human-cyber-physical system,augmented reality,and generative intelligence,the outlook of DT-driven assembly precision inversion is proposed,providing support for DT's use in industrial assembly and precision improvement.
基金Supported by National Natural Science Foundation of China(Grant Nos.52475509 and U22A20203)Beijing Municipal Natural Science Foundation(Grant No.L248005)Hebei Provincial Natural Science Foundation(Grant No.E2023105059)。
文摘As the demands for assembly quality and efficiency increase,robot-assisted assembly applications are becoming more widespread.Peg-in-hole assembly,as a typical form of assembly,has been widely researched by scholars.Currently,robotic peg-in-hole assembly faces challenges such as complex analysis of part contact forces,difficulties in task modeling,and the failure of traditional strategies.Simply controlling the position of the robot's end effector cannot achieve high precision,high efficiency peg-in-hole assembly.Flexible assembly,especially intelligent flexible assembly,is becoming the future development trend.So there is a lack of comprehensive reviews on robotic flexible peg-in-hole assembly.This paper first outlines the basic components of peg-in-hole assembly and summarizes the two basic operational processes of peg-in-hole assembly,along with their related theoretical foundations.We then review and analyze the research on passive compliant assembly,active compliant assembly,and intelligent flexible assembly.Finally,it presents an outlook on the future development directions of robotic peg-in-hole assembly.
基金Sponsored by the National Natural Science Foundation of China(Grant No.52005003)the Science and Technology Planning Project of Wuhu City(Grant No.2022jc41)。
文摘To address the challenges of insufficient visualization in the industrial robot assembly operation system and the limitation of visualizing only geometric attributes of physical properties,a method is proposed for constructing an industrial robot assembly system based on virtual reality technology.Focusing on the shaft hole assembly,the mechanical characteristics of the industrial robot shaft hole assembly process are analyzed and a dynamic model is established for shaft hole assembly operations.The key elements of virtual assembly operations for industrial robots are summarized and a five-dimensional model is proposed for industrial robot virtual operations.Utilizing the Unity3D engine based on the 5-D model for industrial robot virtual operations,an industrial robot shaft hole assembly system is developed.This system enables virtual assembly operations,displays physical attributes,and provides valuable references for the research of virtual systems.
基金supported by the National Natural Science Foundation of China(Nos.22325111,2220312,21871298,91956118)Guangdong Basic Research Center of Excellence for Functional Molecular Engineeringthe Sun Yat-sen University。
文摘Molecular recognition of fullerene using various host compounds is well-known in literature.But most studies focus on host-vip complexation in solution using host compounds with a single binding cavity.Herein,we report a series of highly preorganized janusarene derivatives with homoditopic binding sites.These novel janusarenes can bind and align various fullerenes such as C_(60),C_(70),C_(84),and Gd@C_(82)in a highly efficient manner.Robust shape complementary association and assembly are observed in solution,in the bulk solid state,in the liquid crystalline state,or on surface,and the assembled structures are characterized by nuclear magnetic resonance(NMR)titration,X-ray diffraction,polarized optical microscopy,and scanning tunneling microscopy.
文摘Despite the gradual transformation of traditional manufacturing by the Human-Robot Collaboration Assembly(HRCA),challenges remain in the robot’s ability to understand and predict human assembly intentions.This study aims to enhance the robot’s comprehension and prediction capabilities of operator assembly intentions by capturing and analyzing operator behavior and movements.We propose a video feature extraction method based on the Temporal Shift Module Network(TSM-ResNet50)to extract spatiotemporal features from assembly videos and differentiate various assembly actions using feature differences between video frames.Furthermore,we construct an action recognition and segmentation model based on the Refined-Multi-Scale Temporal Convolutional Network(Refined-MS-TCN)to identify assembly action intervals and accurately acquire action categories.Experiments on our self-built reducer assembly action dataset demonstrate that our network can classify assembly actions frame by frame,achieving an accuracy rate of 83%.Additionally,we develop a HiddenMarkovModel(HMM)integrated with assembly task constraints to predict operator assembly intentions based on the probability transition matrix and assembly task constraints.The experimental results show that our method for predicting operator assembly intentions can achieve an accuracy of 90.6%,which is a 13.3%improvement over the HMM without task constraints.
