Robust teleoperation in image-guided interventions faces critical challenges from latency,deformation,and the quasi-periodic nature of physiological motion.This paper presents a fully integrated,latency-aware visual s...Robust teleoperation in image-guided interventions faces critical challenges from latency,deformation,and the quasi-periodic nature of physiological motion.This paper presents a fully integrated,latency-aware visual servoing system leveraging stereo vision,hand–eye calibration,and learning-based prediction for motion-compensated teleoperation.The system combines a calibrated binocular camera setup,dual robotic arms,and a predictive control loop incorporating Long Short-Term Memory(LSTM)and Temporal Convolutional Network(TCN)models.Through experiments using both in vivo and phantom datasets,we quantitatively assess the prediction accuracy and motion-compensation performance of both models.Results show that TCNs deliver more stable and precise tracking,especially on regular trajectories,while LSTMs exhibit robustness under quasi-periodic dynamics.By matching prediction horizons to system latency,the approach significantly reduces peak and steady-state tracking errors,demonstrating practical feasibility for deploying prediction-augmented servoing in teleoperated surgical.展开更多
Off-axis aspherical mirrors are widely used in optical systems and precision measuring instruments,whereas off-axis aspherical mirrors with large sizes and off-axis are used in large optical systems such as astronomic...Off-axis aspherical mirrors are widely used in optical systems and precision measuring instruments,whereas off-axis aspherical mirrors with large sizes and off-axis are used in large optical systems such as astronomical telescopes and radio telescopes.However,if the off-axis amount of an off-axis aspherical mirror exceeds the capability of the machine tool,traditional rotary-turning machining methods are not applicable,and advanced computerized numerical control(CNC)machining methods,such as the slow-tool-servo method,must be im-plemented.This article proposes a non-conventional offset(NCO)fabrication method based on slow-tool-servo single-point diamond turning for machining off-axis aspherical surfaces with large off-axis amounts.This method is theoretically applicable to the machining of off-axis aspherical surfaces with any off-axis amount.NCO fab-rication is a simpler and more efficient path-planning solution for machining individual off-axis parabolic sur-faces.In addition,corresponding solutions for other types of aspherical surfaces are proposed using the NCO method.The turning depths of workpieces with different off-axis amounts at the same machining position are analyzed and compared.A specific measurement scheme for the NCO method is presented,and the experimental results indicate that the PV and RMS form errors are 0.658μm and 60 nm,respectively.This work demonstrates that the NCO method can effectively deal with the machining challenges of off-axis aspherical structures with large off-axis amounts.展开更多
This article presents a new synergistic extraction system composed of Cyanex 272(C272,bis(2,4,4-trimethylpentyl)phosphinic acid)and iso-octanol for Sc_(3+) separation.The proposed synergistic system possessed an Sc^(3...This article presents a new synergistic extraction system composed of Cyanex 272(C272,bis(2,4,4-trimethylpentyl)phosphinic acid)and iso-octanol for Sc_(3+) separation.The proposed synergistic system possessed an Sc^(3+) extraction efficiency of 93.5%and a back-extraction efficiency of 82.7%,with selectivity coefficients of β_(Sc/Fe)=459 and β_(Sc/Al)=4241,which are considerably higher as compared to the current extraction systems.The extraction mechanism was studied and interpreted.The enhanced extraction efficiency is attributed to the increased hydrophobicity of the ternary complex,whereas the back-extraction efficiency can be ascribed to the attenuated stability of the complex.C272 and C272–iso-octanol systems also possess considerable surface activity,which is beneficial for the phase separation in solvent extraction.Based on the solvent extraction results,a preliminary study was conducted on polymer inclusion membranes(PIMs)using the binary system for Sc^(3+) separation to avoid the formation of the third phase,achieving an optimal initial flux of PIM of 6.71×10^(−4)mol·m^(−2)·h^(−1).Our results provide valuable information on highly efficient Sc^(3+) separation,and the study on PIM extraction has shown a green alternative to solvent extraction.展开更多
Both natural and human-induced disturbances affect the normal functioning and services of mangrove ecosystems.To address the consequences of intense human and climatic disturbances on sedimentation and carbon burial,s...Both natural and human-induced disturbances affect the normal functioning and services of mangrove ecosystems.To address the consequences of intense human and climatic disturbances on sedimentation and carbon burial,sediment cores from the last remaining mangrove Kandelia obovata forest and an adjacent mudflat in the densely populated and typhoon-prone Zhujiang(Pearl)River estuary of China,were analyzed using methods including^(210)Pb dating andδ^(13)C analysis.Results indicate that after damming in the 1950s,during 1960-1980,the natural establishment of K.obovata forests initiated the insitu sedimentation.As these forests matured during 1980-1990,they significantly boosted siltation in the region on mudflat.During 1990-2015,the invasion of Spartina alterniflora and land reclamation for aquaculture caused infiltration of coarse sediments and the impacts of typhoons were recorded within the K.obovata forest,while no clear typhoon record was observed on the mudflat.Since 2015,reforestation efforts with S.apetala that began in 1999 have reversed the effects of earlier deforestation.Over time,mangroves established a rapid autochthonous carbon burial that grew as the forests age,potentially surpassing the influx of allochthonous carbon due to deforestation.The reforestation also immediately improved carbon burial on the mudflat,which stabilized after a decade due to the rapid growth and high biomass of S.apetala.Overall,the K.obovata forest demonstrated a stronger sedimentation and carbon burial capabilities than the mudflat,with a surplus of 35.2 Mg C/hm^(2)in soil organic carbon stock and 1.0 Mg C/(hm^(2)·a)in burial rate.Organic matter dissolved in soil was mainly humus-like components,and mangrove inputs likely increased the degree of humification.This study offered direct evidence regarding the impact of multiple disturbances on local and regional sedimentation and carbon burial,and future management strategies.展开更多
This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanis...This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.展开更多
A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the...A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.展开更多
An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rot...An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.展开更多
目的探索酮还原酶家族1成员C3(aldo-keto reductase family 1 member C3,AKR1C3)对乳腺癌恶性细胞生物学行为的干预作用及对程序性细胞死亡蛋白/程序性死亡-配体1(programmed cell death protein1/programmed death-ligand1,PD-1/PD-L)...目的探索酮还原酶家族1成员C3(aldo-keto reductase family 1 member C3,AKR1C3)对乳腺癌恶性细胞生物学行为的干预作用及对程序性细胞死亡蛋白/程序性死亡-配体1(programmed cell death protein1/programmed death-ligand1,PD-1/PD-L)通路的影响。方法把MCF-7人乳腺癌细胞中NC组和AKR1C3组分别转染空质粒和AKR1C3质粒,采用MTT法检测转染后24 h、48 h、72 h细胞活力;采用流式细胞技术测定各组细胞的存活率以及早期、晚期凋亡比例;通过Transwell实验对各组细胞的迁移和侵袭能力进行检测;通过Western blot检测各组细胞PD-1、PD-L1、蛋白激酶B(protein kinase b,AKT)蛋白表达水平。使用C57BL/6小鼠构建荷瘤模型,将采用人乳腺癌MCF-7细胞转染NC质粒和AKR1C3质粒进行细胞荷瘤,每3 d测量瘤体积,持续21 d,绘制两组小鼠肿瘤生长曲线,并于实验终点测量肿瘤质量。结果相较于NC组,AKR1C3组细胞活力降低(P<0.05),并且具有时间依赖效应(P<0.05),迁移和侵袭能力降低(P<0.05),早期凋亡和晚期凋亡比例升高(P<0.05),PD-1、PD-L1、AKT蛋白表达水平降低(P<0.05)。动物实验表明,AKR1C3组小鼠肿瘤体积降低,肿瘤质量下降(P<0.05)。结论AKR1C3可以抑制人乳腺癌细胞恶性生物学行为,抑制PD-1/PDL1信号通路蛋白表达。展开更多
In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized...In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized bionic optimization algorithm inspired from the behavior of real ants, and a kind of positive feedback mechanism is adopted in ACA. On the basis of brief introduction of LuGre friction model, a method for identifying the static LuGre friction parameters and the dynamic LuGre friction parameters using ACA is derived. Finally, this new friction parameter identification scheme is applied to a electric-driven flight simulation servo system with high precision. Simulation and application results verify the feasibility and the effectiveness of the scheme. It provides a new way to identify the friction parameters of LuGre model.展开更多
Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varietie...Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.展开更多
In an actual control system, it is often difficult to find out where the faults are if only based on the outside fault phenomena, acquired frequently from a fault system. So the fault diagnosis by outside fault phenom...In an actual control system, it is often difficult to find out where the faults are if only based on the outside fault phenomena, acquired frequently from a fault system. So the fault diagnosis by outside fault phenomena is considered. Based on the theory of fuzzy recognition and fault diagnosis, this method only depends on experience and statistical data to set up fuzzy query relationship between the outside phenomena (fault characters) and the fault sources (fault patterns). From this relationship the most probable fault sources can be obtained, to attain the goal of quick diagnosis. Based on the above approach, the standard fuzzy relationship matrix is stored in the computer as a system database. And experiment data are given to show the fault diagnosis results. The important parameters can be on line sampled and analyzed, and when faults occur, faults can be found, the alarm is given and the controller output is regulated.展开更多
Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on s...Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on some weapon tracking servo system, a three layer BPNN was used to off line identify the backlash characteristics, then a nonlinear compensator was designed according to the identification results. Results The simulation results show that the method can effectively get rid of the sustained oscillation(limit cycle) of the system caused by the backlash characteristics, and can improve the system accuracy. Conclusion The method is effective on sloving the problems produced by the backlash characteristics in servo systems, and it can be easily accomplished in engineering.展开更多
基金Support by Sichuan Science and Technology Program[2023YFSY0026,2023YFH0004]Guangzhou Huashang University[2024HSZD01,HS2023JYSZH01].
文摘Robust teleoperation in image-guided interventions faces critical challenges from latency,deformation,and the quasi-periodic nature of physiological motion.This paper presents a fully integrated,latency-aware visual servoing system leveraging stereo vision,hand–eye calibration,and learning-based prediction for motion-compensated teleoperation.The system combines a calibrated binocular camera setup,dual robotic arms,and a predictive control loop incorporating Long Short-Term Memory(LSTM)and Temporal Convolutional Network(TCN)models.Through experiments using both in vivo and phantom datasets,we quantitatively assess the prediction accuracy and motion-compensation performance of both models.Results show that TCNs deliver more stable and precise tracking,especially on regular trajectories,while LSTMs exhibit robustness under quasi-periodic dynamics.By matching prediction horizons to system latency,the approach significantly reduces peak and steady-state tracking errors,demonstrating practical feasibility for deploying prediction-augmented servoing in teleoperated surgical.
基金Supported by National Key R&D Program of China(Grant No.2023YFE0203800)the National Natural Science Foundation of China(Grant No.52105482).
文摘Off-axis aspherical mirrors are widely used in optical systems and precision measuring instruments,whereas off-axis aspherical mirrors with large sizes and off-axis are used in large optical systems such as astronomical telescopes and radio telescopes.However,if the off-axis amount of an off-axis aspherical mirror exceeds the capability of the machine tool,traditional rotary-turning machining methods are not applicable,and advanced computerized numerical control(CNC)machining methods,such as the slow-tool-servo method,must be im-plemented.This article proposes a non-conventional offset(NCO)fabrication method based on slow-tool-servo single-point diamond turning for machining off-axis aspherical surfaces with large off-axis amounts.This method is theoretically applicable to the machining of off-axis aspherical surfaces with any off-axis amount.NCO fab-rication is a simpler and more efficient path-planning solution for machining individual off-axis parabolic sur-faces.In addition,corresponding solutions for other types of aspherical surfaces are proposed using the NCO method.The turning depths of workpieces with different off-axis amounts at the same machining position are analyzed and compared.A specific measurement scheme for the NCO method is presented,and the experimental results indicate that the PV and RMS form errors are 0.658μm and 60 nm,respectively.This work demonstrates that the NCO method can effectively deal with the machining challenges of off-axis aspherical structures with large off-axis amounts.
基金support from the National Natural Science Foundation of China Regional Innovation and Development Joint Fund(U24A20557)the Strategic Priority Research Program of the Chinese Academy of Sciences(XDC0230403)+3 种基金the National Natural Science Foundation of China(22378393,22208356)“Hundred Talents Program”of the Chinese Academy of Sciencesthe Chinese Academy of Sciences stably supports the youth team plan in the field of basic research(YSBR 038)Key Research&Development projects in Qinghai Province(2023-HZ-805).
文摘This article presents a new synergistic extraction system composed of Cyanex 272(C272,bis(2,4,4-trimethylpentyl)phosphinic acid)and iso-octanol for Sc_(3+) separation.The proposed synergistic system possessed an Sc^(3+) extraction efficiency of 93.5%and a back-extraction efficiency of 82.7%,with selectivity coefficients of β_(Sc/Fe)=459 and β_(Sc/Al)=4241,which are considerably higher as compared to the current extraction systems.The extraction mechanism was studied and interpreted.The enhanced extraction efficiency is attributed to the increased hydrophobicity of the ternary complex,whereas the back-extraction efficiency can be ascribed to the attenuated stability of the complex.C272 and C272–iso-octanol systems also possess considerable surface activity,which is beneficial for the phase separation in solvent extraction.Based on the solvent extraction results,a preliminary study was conducted on polymer inclusion membranes(PIMs)using the binary system for Sc^(3+) separation to avoid the formation of the third phase,achieving an optimal initial flux of PIM of 6.71×10^(−4)mol·m^(−2)·h^(−1).Our results provide valuable information on highly efficient Sc^(3+) separation,and the study on PIM extraction has shown a green alternative to solvent extraction.
基金Supported by the National Natural Science Foundation of China(No.U21A6001)the Guangdong Natural Science Foundation Youth Enhancement Program(No.2024A1515030206)the China Meteorological Administration Climate Change Special Program(No.QBZ202301)。
文摘Both natural and human-induced disturbances affect the normal functioning and services of mangrove ecosystems.To address the consequences of intense human and climatic disturbances on sedimentation and carbon burial,sediment cores from the last remaining mangrove Kandelia obovata forest and an adjacent mudflat in the densely populated and typhoon-prone Zhujiang(Pearl)River estuary of China,were analyzed using methods including^(210)Pb dating andδ^(13)C analysis.Results indicate that after damming in the 1950s,during 1960-1980,the natural establishment of K.obovata forests initiated the insitu sedimentation.As these forests matured during 1980-1990,they significantly boosted siltation in the region on mudflat.During 1990-2015,the invasion of Spartina alterniflora and land reclamation for aquaculture caused infiltration of coarse sediments and the impacts of typhoons were recorded within the K.obovata forest,while no clear typhoon record was observed on the mudflat.Since 2015,reforestation efforts with S.apetala that began in 1999 have reversed the effects of earlier deforestation.Over time,mangroves established a rapid autochthonous carbon burial that grew as the forests age,potentially surpassing the influx of allochthonous carbon due to deforestation.The reforestation also immediately improved carbon burial on the mudflat,which stabilized after a decade due to the rapid growth and high biomass of S.apetala.Overall,the K.obovata forest demonstrated a stronger sedimentation and carbon burial capabilities than the mudflat,with a surplus of 35.2 Mg C/hm^(2)in soil organic carbon stock and 1.0 Mg C/(hm^(2)·a)in burial rate.Organic matter dissolved in soil was mainly humus-like components,and mangrove inputs likely increased the degree of humification.This study offered direct evidence regarding the impact of multiple disturbances on local and regional sedimentation and carbon burial,and future management strategies.
基金supported by the National Natural Science Foundation under Grant 62273189the Shandong Province Natural Science Foundation under Grant ZR2021MF005Systems Science Plus Joint Research Program of Qingdao University under Grant XT2024201 of China supporting this research work.
文摘This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.
文摘A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.
基金Supported by the National Natural Science Foundation of China(No.52375037)the Outstanding Youth of Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture(No.GDRC 20220801)+1 种基金the Graduate Innovation Fund Project of Beijing University of Civil Engineering and Architecture(No.PG2025160)the Special Fund for Cultivation Projects of Beijing University of Civil Engineering and Architecture(No.X24026).
文摘An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.
文摘In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized bionic optimization algorithm inspired from the behavior of real ants, and a kind of positive feedback mechanism is adopted in ACA. On the basis of brief introduction of LuGre friction model, a method for identifying the static LuGre friction parameters and the dynamic LuGre friction parameters using ACA is derived. Finally, this new friction parameter identification scheme is applied to a electric-driven flight simulation servo system with high precision. Simulation and application results verify the feasibility and the effectiveness of the scheme. It provides a new way to identify the friction parameters of LuGre model.
文摘Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.
文摘In an actual control system, it is often difficult to find out where the faults are if only based on the outside fault phenomena, acquired frequently from a fault system. So the fault diagnosis by outside fault phenomena is considered. Based on the theory of fuzzy recognition and fault diagnosis, this method only depends on experience and statistical data to set up fuzzy query relationship between the outside phenomena (fault characters) and the fault sources (fault patterns). From this relationship the most probable fault sources can be obtained, to attain the goal of quick diagnosis. Based on the above approach, the standard fuzzy relationship matrix is stored in the computer as a system database. And experiment data are given to show the fault diagnosis results. The important parameters can be on line sampled and analyzed, and when faults occur, faults can be found, the alarm is given and the controller output is regulated.
文摘Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on some weapon tracking servo system, a three layer BPNN was used to off line identify the backlash characteristics, then a nonlinear compensator was designed according to the identification results. Results The simulation results show that the method can effectively get rid of the sustained oscillation(limit cycle) of the system caused by the backlash characteristics, and can improve the system accuracy. Conclusion The method is effective on sloving the problems produced by the backlash characteristics in servo systems, and it can be easily accomplished in engineering.
