Rock discontinuities control rock mechanical behaviors and significantly influence the stability of rock masses.However,existing discontinuity mapping algorithms are susceptible to noise,and the calculation results ca...Rock discontinuities control rock mechanical behaviors and significantly influence the stability of rock masses.However,existing discontinuity mapping algorithms are susceptible to noise,and the calculation results cannot be fed back to users timely.To address this issue,we proposed a human-machine interaction(HMI)method for discontinuity mapping.Users can help the algorithm identify the noise and make real-time result judgments and parameter adjustments.For this,a regular cube was selected to illustrate the workflows:(1)point cloud was acquired using remote sensing;(2)the HMI method was employed to select reference points and angle thresholds to detect group discontinuity;(3)individual discontinuities were extracted from the group discontinuity using a density-based cluster algorithm;and(4)the orientation of each discontinuity was measured based on a plane fitting algorithm.The method was applied to a well-studied highway road cut and a complex natural slope.The consistency of the computational results with field measurements demonstrates its good accuracy,and the average error in the dip direction and dip angle for both cases was less than 3.Finally,the computational time of the proposed method was compared with two other popular algorithms,and the reduction in computational time by tens of times proves its high computational efficiency.This method provides geologists and geological engineers with a new idea to map rapidly and accurately rock structures under large amounts of noises or unclear features.展开更多
Electromyography(EMG)has already been broadly used in human-machine interaction(HMI)applications.Determining how to decode the information inside EMG signals robustly and accurately is a key problem for which we urgen...Electromyography(EMG)has already been broadly used in human-machine interaction(HMI)applications.Determining how to decode the information inside EMG signals robustly and accurately is a key problem for which we urgently need a solution.Recently,many EMG pattern recognition tasks have been addressed using deep learning methods.In this paper,we analyze recent papers and present a literature review describing the role that deep learning plays in EMG-based HMI.An overview of typical network structures and processing schemes will be provided.Recent progress in typical tasks such as movement classification,joint angle prediction,and force/torque estimation will be introduced.New issues,including multimodal sensing,inter-subject/inter-session,and robustness toward disturbances will be discussed.We attempt to provide a comprehensive analysis of current research by discussing the advantages,challenges,and opportunities brought by deep learning.We hope that deep learning can aid in eliminating factors that hinder the development of EMG-based HMI systems.Furthermore,possible future directions will be presented to pave the way for future research.展开更多
Hydrogel-based triboelectric nanoge nerator(TENG)has a promising applied prospect in wearable electronic devices.However,its low performance,poor stability,insufficient recyclability and inferior self-healing seriousl...Hydrogel-based triboelectric nanoge nerator(TENG)has a promising applied prospect in wearable electronic devices.However,its low performance,poor stability,insufficient recyclability and inferior self-healing seriously hinder its development.Herein,we report a robust route to a liquid metal(LM)/polyvinyl alcohol(PVA)hydrogel-based TENG(LP-TENG).Owing to the intrinsically liquid feature of conductive LM within the flexible PVA hydrogel,the as-prepared LP-TENG exhibited comprehensiye advantages of adaptability,biocompatibility,outstanding electrical performance,superior stability,recyclability and diverse applications,which were unattainable by traditional systems.Concretely,the LP-TENG delivered appealing open circuit voltage of 250 V,short circuit current of 4μA and transferred charge of 120 nC with high stability,outperforming most advanced TENG systems.The LP-TENG was successfully employed for versatile applications with multifunctionality,including human motion detection,handwriting recognition,energy collection,message transmission and human-machine interaction.This work presents significant prospects for crafting advanced materials and devices in the fields of wearable electronics,flexible skin and smart robots.展开更多
Speech recognition rate will deteriorate greatly in human-machine interaction when the speaker's speech mixes with a bystander's voice. This paper proposes a time-frequency approach for Blind Source Seperation...Speech recognition rate will deteriorate greatly in human-machine interaction when the speaker's speech mixes with a bystander's voice. This paper proposes a time-frequency approach for Blind Source Seperation (BSS) for intelligent Human-Machine Interaction(HMI). Main idea of the algorithm is to simultaneously diagonalize the correlation matrix of the pre-whitened signals at different time delays for every frequency bins in time-frequency domain. The prososed method has two merits: (1) fast convergence speed; (2) high signal to interference ratio of the separated signals. Numerical evaluations are used to compare the performance of the proposed algorithm with two other deconvolution algorithms. An efficient algorithm to resolve permutation ambiguity is also proposed in this paper. The algorithm proposed saves more than 10% of computational time with properly selected parameters and achieves good performances for both simulated convolutive mixtures and real room recorded speeches.展开更多
Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,...Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,a robotic teleoperation system for precise robotic manipulation is established.The data glove and the 7-degrees of freedom(DOFs)force feedback controller are used for the remote control interaction.The control system and the monitor system are designed for the remote precise manipulation.The monitor system contains an image acquisition system and a human-machine interaction module,and aims to simulate and detect the robot running state.Besides,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations.The established robotic teleoperation systemis applied to a series of experiments,and high-precision results are obtained,showing the effectiveness of the physical system.展开更多
As the Internet of Things advances,gesture recognition emerges as a prominent domain in human-machine interaction(HMI).However,interactive wearables based on conductive hydrogels for individuals with single-arm functi...As the Internet of Things advances,gesture recognition emerges as a prominent domain in human-machine interaction(HMI).However,interactive wearables based on conductive hydrogels for individuals with single-arm functionality or disabilities remain underexplored.Here,we devised a wearable one-handed keyboard with gesture recognition,employing machine learning algorithms and hydrogel-based mechanical sensors to boost productivity.PCG(PAM/CMC/rGO)hydrogels are composed of polyacrylamide(PAM),sodium carboxymethyl cellulose(CMC),and reduced graphene oxide(rGO),which function as a strain,pressure sensor,and electrode material.The PAM chains offer the gel’s elasticity by covalent cross-linking,while the biocompatible CMC improves the dispersion of rGO and promotes electromechanical properties.Integrating rGO sheets into the polymer matrix facilitates cross-linking and generates supple-mentary conductive pathways,thereby augmenting the gel system’s elasticity,sensitivity,and durability.Our hydrogel sensors include high sensitivity(gage factor(GF)=8.18,395.6%-551.96%)and superior pressure sensing capabilities(Sensitivity(S)=0.3116 kPa^(-1),0-9.82 kPa).Furthermore,we developed a wearable keyboard with up to 98.13%accuracy using convolutional neural networks and a custom data acquisition system.This study establishes the groundwork for creating multifunctional gel sensors for intelligent machines,wearable devices,and brain-computer interfaces.展开更多
Today’s product creative design has rendered many fe atures and has brought a great change in our everyday life, there are many new c hallenges in its traditional theory and principle. According to the traditional de...Today’s product creative design has rendered many fe atures and has brought a great change in our everyday life, there are many new c hallenges in its traditional theory and principle. According to the traditional design theory, the FBS design model pays more attention to the function and stru cture of the product. But this model still couldn’t strengthen the relation bet ween product appearance design and human-machine design effectively. This paper adopt converse design thinking and presents an improved design thinking methodo logy based on C: FBS for product appearance design and give a general summarizat ion for the features, methods and technology based on human-machine interaction and interface. Meanwhile it also combines with the behavior design of product r elated IT fields and constructs a new outline to improve the design of product a ppearance supported by the technology of computer aided design. So the new metho d about design thinking for computer aided design, the new abstract product design model and the key problem of design thinking based on human-machine inte raction and interface are addressed in this paper. This kind of creative design theory that is driven by human-machine interaction and interface will help the development of CAD software system and the research of product design and manufa cture. Additionally, this paper gives some beneficial characters to address the theory based on human-machine interaction and interface. Meanwhile, combining with the developing of computer technology, the trends of design thinking based on t he technology of human-machine interaction and interface are also analyzed and discussed at the end of this paper.展开更多
Surgical robots are designed to provide enhanced precision and dexterity compared to manual surgical procedures,which mainly rely on multimodal sensing technologies for the surgeon to seamlessly operate the robotic ar...Surgical robots are designed to provide enhanced precision and dexterity compared to manual surgical procedures,which mainly rely on multimodal sensing technologies for the surgeon to seamlessly operate the robotic arms and instruments.Compared with single-mode sensors,optical and mechanical bi-modal sensors provide improved precision,enhanced safety,and robustness of human-machine interaction systems.Here,the template-guided and pneumatic printing technologies are combined to construct perovskite and graphene parallel structures with both optical and mechanical sensing capabilities.The printed uniformly crystallized perovskite microstructure exhibits fast and sensitive photoelectric response characteristics,enabling shadow recognition functionality.The combination of graphene and elastic rubber endows the great printability to prepare parallel structures near the perovskite arrays for force sensing capabilities.Thus,the printed perovskite and graphene structures possess non-contact optical sensing capabilities to detect hand position by recognizing shadows between the hand and the sensor,as well as contact mechanical sensing capabilities to detect touch force applied by the hand.It provides a synergistic platform for real-time and multidimensional feedback to improve human-machine interaction.展开更多
Three-dimensional(3D) display technology—a cutting-edge medium for human-machine interaction—enhances visual information density via image dimensional expansion and reduces the cognitive load to improve the efficien...Three-dimensional(3D) display technology—a cutting-edge medium for human-machine interaction—enhances visual information density via image dimensional expansion and reduces the cognitive load to improve the efficiency of information exchange [1–3].展开更多
Exoskeleton robots and their control methods have been extensively developed to aid post-stroke rehabilitation. Most of the existing methods using linear controllers are designed for position control and are not suita...Exoskeleton robots and their control methods have been extensively developed to aid post-stroke rehabilitation. Most of the existing methods using linear controllers are designed for position control and are not suitable for human-machine interaction(HMI) force control, as the interaction system between the human body and exoskeleton is uncertain and nonlinear. We present an approach for HMI force control via model reference adaptive impedance control(MRAIC) to solve this problem in case of index finger exoskeleton control. First, a dynamic HMI model, which is based on a position control inner loop, is formulated. Second, the theoretical MRAC framework is implemented in the control system. Then, the adaptive controllers are designed according to the Lyapunov stability theory. To verify the performance of the proposed method, we compare it with a proportional-integral-derivative(PID) method in the time domain with real experiments and in the frequency domain with simulations. The results illustrate the effectiveness and robustness of the proposed method in solving the nonlinear HMI force control problem in hand exoskeleton.展开更多
Noncontact interaction systems have attracted considerable research attention in recent years because of convenient operation,sterility,and injury prevention.However,the insufficient sensing distance and weak robustne...Noncontact interaction systems have attracted considerable research attention in recent years because of convenient operation,sterility,and injury prevention.However,the insufficient sensing distance and weak robustness of noncontact interaction systems for complex environments limit their practical applications.Here,we designed an integrated optical noncontact controlling system(ONCS)based on PtTe_(x)/Si optoelectronic heterojunction array.Broadband sensitive photoresponse is realized at zero bias voltage,with excellent detectivity and responsivity,boosting the noncontact sensing distance to at least 150 mm.Consequently,the system can perform noncontact detection,encoding,and control by recognizing shadow-induced spatiotemporal sequence changes in heterojunction array photocurrents.As a proof of concept,different interactive functions have been demonstrated with good accuracy and robustness by encoding finger movement above the ONCS.This study provides a new perspective for constructing high-performance noncontact interaction systems.展开更多
Human-machine interaction can incorporate several components which when suitably designed,synthesized,and integrated can benefit the human decision maker in performing various tasks and activities.These interactions c...Human-machine interaction can incorporate several components which when suitably designed,synthesized,and integrated can benefit the human decision maker in performing various tasks and activities.These interactions can be designed through multiple modalities such as textural,graphic,audio,or any tangible interfaces depending on the specific nature of the decision-making task which needs to be performed by human.The control and decision-making architecture of such humanmachine interaction can be defined in variety of ways.In this paper,we present an overview of an architecture which has been recently proposed in the literature based on the notion of open quantum systems.We present a brief interpretation of some of the main modelling and solution components of this framework.The main implication of this framework is that it presents the state of the decision maker and the interacting environment in a probabilistic framework,where the time evolution of this ensemble is estimated within the interpretation and solutions of the open quantum system.展开更多
Developing effective,versatile,and high-precision sensing interfaces remains a crucial challenge in human-machine-environment interaction applications.Despite progress in interaction-oriented sensing skins,limitations...Developing effective,versatile,and high-precision sensing interfaces remains a crucial challenge in human-machine-environment interaction applications.Despite progress in interaction-oriented sensing skins,limitations remain in unit-level reconfiguration,multiaxial force and motion sensing,and robust operation across dynamically changing or irregular surfaces.Herein,we develop a reconfigurable omnidirectional triboelectric whisker sensor array(RO-TWSA)comprising multiple sensing units that integrate a triboelectric whisker structure(TWS)with an untethered hydro-sealing vacuum sucker(UHSVS),enabling reversibly portable deployment and omnidirectional perception across diverse surfaces.Using a simple dual-triangular electrode layout paired with MXene/silicone nanocomposite dielectric layer,the sensor unit achieves precise omnidirectional force and motion sensing with a detection threshold as low as 0.024 N and an angular resolution of 5°,while the UHSVS provides reliable and reversible multi-surface anchoring for the sensor units by involving a newly designed hydrogel combining high mechanical robustness and superior water absorption.Extensive experiments demonstrate the effectiveness of RO-TWSA across various interactive scenarios,including teleoperation,tactile diagnostics,and robotic autonomous exploration.Overall,RO-TWSA presents a versatile and high-resolution tactile interface,offering new avenues for intelligent perception and interaction in complex real-world environments.展开更多
Luminescent metal-organic frameworks(MOFs)have garnered significant attention due to their structural tunability and potential applications in solid-state lighting,bioimaging,sensing,anticounterfeiting,and other field...Luminescent metal-organic frameworks(MOFs)have garnered significant attention due to their structural tunability and potential applications in solid-state lighting,bioimaging,sensing,anticounterfeiting,and other fields.Nevertheless,due to the tendency of1,4-benzenedicarboxylic acid(BDC)to rotate within the framework,MOFs composed of it exhibit significant non-radiative energy dissipation and thus impair the emissive properties.In this study,efficient luminescence of MIL-140A nanocrystals(NCs)with BDC rotors as ligands is achieved by pressure treatment strategy.Pressure treatment effectively modulates the pore structure of the framework,enhancing the interactions between the N,N-dimethylformamide vip molecules and the BDC ligands.The enhanced host-vip interaction contributes to the structural rigidity of the MOF,thereby suppressing the rotation-induced excited-state energy loss.As a result,the pressure-treated MIL-140A NCs displayed bright blue-light emission,with the photoluminescence quantum yield increasing from an initial 6.8%to 69.2%.This study developed an effective strategy to improve the luminescence performance of rotor ligand MOFs,offers a new avenue for the rational design and synthesis of MOFs with superior luminescent properties.展开更多
Based on the Smit-Suhl formula,we propose a universal approach for solving the magnon-magnon coupling problem in bilayer coupled systems(e.g.,antiferromagnets).This method requires only the energy expression,enabling ...Based on the Smit-Suhl formula,we propose a universal approach for solving the magnon-magnon coupling problem in bilayer coupled systems(e.g.,antiferromagnets).This method requires only the energy expression,enabling the automatic derivation of analytical expressions for the eigenmatrix elements via symbolic computation,eliminating the need for tedious manual calculations.Using this approach,we investigate the impact of magnetic hysteresis on magnon-magnon coupling in a system with interlayer Dzyaloshinskii-Moriya interaction(DMI).The magnetic hysteresis leads to an asymmetric magnetic field dependence of the resonance frequency and alters the number of degeneracy points between the pure optical and acoustic modes.Moreover,it can result in the coupling strength at the gap of the f–H phase diagram being nearly vanishing,contrary to the conventionally expected maximum.These results deepen the understanding of the effect of interlayer DMI on magnon–magnon coupling and the proposed universal method significantly streamlines the solving process of magnon–magnon coupling problems.展开更多
Beryllium-containing sludge(BCS)is a typical hazardous waste from Be smelting,which can cause serious harm to ecology and human health by releasing harmful Be if it is stored long-term in environment.Nonetheless,the o...Beryllium-containing sludge(BCS)is a typical hazardous waste from Be smelting,which can cause serious harm to ecology and human health by releasing harmful Be if it is stored long-term in environment.Nonetheless,the occurrence of Be in BCS is unclear,which seriously hinders the development of pollution control technologies.In order to enhance the understanding of BCS,the occurrence of Be and the microscale interactions with coexisting phases were investigated for the first time.It was found that CaSO_(4)·2H_(2)O and amorphous SiO_(2) are the primary phases of BCS.The simulated experiments of purified materials showed that Be interacted with CaSO_(4)·2H_(2)O and amorphous SiO_(2).Be can enter into the lattice of CaSO_(4)·2H_(2)O mainly as free Be2+.Amorphous SiO_(2) can adsorb Be2+particularly at a pH range of 3–5.The dissolution behavior experiment of BCS shows that about 52%of the Be is readily extracted under acidic conditions,which refers to the Be of independent occurrence.In contrast,the remaining 48%of Be can be extracted only after the CaSO_(4)·2H_(2)O has completely dissolved.Hence,CaSO_(4)·2H_(2)O is identified as the key occurrence phase which determines the highly efficient dissolution of Be.As a result,this study enhances the understanding of BCS and lays the foundation for the development of Be separation technologies.展开更多
Human-machine interaction(HMI)has always been at the frontier of technological innovation,making our interactions with technology more intuitive and effi-cient,as well as driving much of the research interest in this ...Human-machine interaction(HMI)has always been at the frontier of technological innovation,making our interactions with technology more intuitive and effi-cient,as well as driving much of the research interest in this field.Wearable electronic systems can seamlessly and accurately receive,store,process,and output information.This endows them with tremendous potential applications ranging from daily life interactions to monitoring physiological signals and clinical medical treatments.Building upon this foundation,researchers have embarked on a series of innovations concerning textile fibers’materials,manufacturing techniques,and further functional payloads.展开更多
The primary mechanism of secondary injury after cerebral ischemia may be the brain inflammation that emerges after an ischemic stroke,which promotes neuronal death and inhibits nerve tissue regeneration.As the first i...The primary mechanism of secondary injury after cerebral ischemia may be the brain inflammation that emerges after an ischemic stroke,which promotes neuronal death and inhibits nerve tissue regeneration.As the first immune cells to be activated after an ischemic stroke,microglia play an important immunomodulatory role in the progression of the condition.After an ischemic stroke,peripheral blood immune cells(mainly T cells)are recruited to the central nervous system by chemokines secreted by immune cells in the brain,where they interact with central nervous system cells(mainly microglia)to trigger a secondary neuroimmune response.This review summarizes the interactions between T cells and microglia in the immune-inflammatory processes of ischemic stroke.We found that,during ischemic stroke,T cells and microglia demonstrate a more pronounced synergistic effect.Th1,Th17,and M1 microglia can co-secrete proinflammatory factors,such as interferon-γ,tumor necrosis factor-α,and interleukin-1β,to promote neuroinflammation and exacerbate brain injury.Th2,Treg,and M2 microglia jointly secrete anti-inflammatory factors,such as interleukin-4,interleukin-10,and transforming growth factor-β,to inhibit the progression of neuroinflammation,as well as growth factors such as brain-derived neurotrophic factor to promote nerve regeneration and repair brain injury.Immune interactions between microglia and T cells influence the direction of the subsequent neuroinflammation,which in turn determines the prognosis of ischemic stroke patients.Clinical trials have been conducted on the ways to modulate the interactions between T cells and microglia toward anti-inflammatory communication using the immunosuppressant fingolimod or overdosing with Treg cells to promote neural tissue repair and reduce the damage caused by ischemic stroke.However,such studies have been relatively infrequent,and clinical experience is still insufficient.In summary,in ischemic stroke,T cell subsets and activated microglia act synergistically to regulate inflammatory progression,mainly by secreting inflammatory factors.In the future,a key research direction for ischemic stroke treatment could be rooted in the enhancement of anti-inflammatory factor secretion by promoting the generation of Th2 and Treg cells,along with the activation of M2-type microglia.These approaches may alleviate neuroinflammation and facilitate the repair of neural tissues.展开更多
Deficiency or restriction of Zn absorption in soils is one of the most common micronutrients deficient in cereal plants. To investigate critical micronutrient interaction in zinc deficiency and zinc sufficient in soil...Deficiency or restriction of Zn absorption in soils is one of the most common micronutrients deficient in cereal plants. To investigate critical micronutrient interaction in zinc deficiency and zinc sufficient in soil, a factorial experiment based on completely randomized design (CRD) with three replications was conducted in 2023. Six wheat cultivars with different Zn efficiency were used. The cultivars were grown under Zn deficiency and adequate conditions. Results showed that in Zn deficiency conditions, with increasing Zn concentration in the roots, Fe concentrations were increased too, while the Cu and Mn concentrations decreased. In the same condition and with increasing Zn concentration in shoots, the concentrations of Fe and Mn decreased, while Cu were increased. However, by increasing Zn concentration, Fe, Cu, and Mn concentrations were increased in Zn deficiency condition in grains, as well as Zn sufficient conditions. RST (root to shoot micronutrient translocation) comparison of cultivars showed that in lack of Zn, the ability of translocation of Zn, Fe, and Mn in Zn-inefficient cultivar from root to shoot was higher than inefficient cultivar. In the same conditions, the capability of Zn-inefficient cultivar in Cu translocation from root to shoot was lower than other cultivars. In general, it seems that in Zn deficiency conditions, there are antagonistic effects among Zn, Cu and Mn and synergistic effects between Zn and Fe in the root. Also, in Zn sufficient conditions, there were synergistic effects among all studies micronutrients which include Zn, Fe, Cu, and Mn.展开更多
Combination flexible and stretchable textiles with self-powered sensors bring a novel insight into wearable functional electronics and cyber security in the era of Internet of Things.This work presents a highly flexib...Combination flexible and stretchable textiles with self-powered sensors bring a novel insight into wearable functional electronics and cyber security in the era of Internet of Things.This work presents a highly flexible and self-powered fully fabric-based triboelectric nanogenerator(F-TENG)with sandwiched structure for biomechanical energy harvesting and real-time biometric authentication.The prepared F-TENG can power a digital watch by low-frequency motion and respond to the pressure change by the fall of leaves.A self-powered wearable keyboard(SPWK)is also fabricated by integrating large-area F-TENG sensor arrays,which not only can trace and record electrophysiological signals,but also can identify individuals’typing characteristics by means of the Haar wavelet.Based on these merits,the SPWK has promising applications in the realm of wearable electronics,self-powered sensors,cyber security,and artificial intelligences.展开更多
基金supported by the National Key R&D Program of China(No.2023YFC3081200)the National Natural Science Foundation of China(No.42077264)the Scientific Research Project of PowerChina Huadong Engineering Corporation Limited(HDEC-2022-0301).
文摘Rock discontinuities control rock mechanical behaviors and significantly influence the stability of rock masses.However,existing discontinuity mapping algorithms are susceptible to noise,and the calculation results cannot be fed back to users timely.To address this issue,we proposed a human-machine interaction(HMI)method for discontinuity mapping.Users can help the algorithm identify the noise and make real-time result judgments and parameter adjustments.For this,a regular cube was selected to illustrate the workflows:(1)point cloud was acquired using remote sensing;(2)the HMI method was employed to select reference points and angle thresholds to detect group discontinuity;(3)individual discontinuities were extracted from the group discontinuity using a density-based cluster algorithm;and(4)the orientation of each discontinuity was measured based on a plane fitting algorithm.The method was applied to a well-studied highway road cut and a complex natural slope.The consistency of the computational results with field measurements demonstrates its good accuracy,and the average error in the dip direction and dip angle for both cases was less than 3.Finally,the computational time of the proposed method was compared with two other popular algorithms,and the reduction in computational time by tens of times proves its high computational efficiency.This method provides geologists and geological engineers with a new idea to map rapidly and accurately rock structures under large amounts of noises or unclear features.
基金supported in part by the National Natural Science Foundation of China(U181321461773369+2 种基金61903360)the Selfplanned Project of the State Key Laboratory of Robotics(2020-Z12)China Postdoctoral Science Foundation funded project(2019M661155)。
文摘Electromyography(EMG)has already been broadly used in human-machine interaction(HMI)applications.Determining how to decode the information inside EMG signals robustly and accurately is a key problem for which we urgently need a solution.Recently,many EMG pattern recognition tasks have been addressed using deep learning methods.In this paper,we analyze recent papers and present a literature review describing the role that deep learning plays in EMG-based HMI.An overview of typical network structures and processing schemes will be provided.Recent progress in typical tasks such as movement classification,joint angle prediction,and force/torque estimation will be introduced.New issues,including multimodal sensing,inter-subject/inter-session,and robustness toward disturbances will be discussed.We attempt to provide a comprehensive analysis of current research by discussing the advantages,challenges,and opportunities brought by deep learning.We hope that deep learning can aid in eliminating factors that hinder the development of EMG-based HMI systems.Furthermore,possible future directions will be presented to pave the way for future research.
基金financially supported by the Natural Science Foundation of China(Nos.22109120,62104170 and 82202757)Zhejiang Provincial Natural Science Foundation of China(Nos.LQ21B030002 and LY23F040001)。
文摘Hydrogel-based triboelectric nanoge nerator(TENG)has a promising applied prospect in wearable electronic devices.However,its low performance,poor stability,insufficient recyclability and inferior self-healing seriously hinder its development.Herein,we report a robust route to a liquid metal(LM)/polyvinyl alcohol(PVA)hydrogel-based TENG(LP-TENG).Owing to the intrinsically liquid feature of conductive LM within the flexible PVA hydrogel,the as-prepared LP-TENG exhibited comprehensiye advantages of adaptability,biocompatibility,outstanding electrical performance,superior stability,recyclability and diverse applications,which were unattainable by traditional systems.Concretely,the LP-TENG delivered appealing open circuit voltage of 250 V,short circuit current of 4μA and transferred charge of 120 nC with high stability,outperforming most advanced TENG systems.The LP-TENG was successfully employed for versatile applications with multifunctionality,including human motion detection,handwriting recognition,energy collection,message transmission and human-machine interaction.This work presents significant prospects for crafting advanced materials and devices in the fields of wearable electronics,flexible skin and smart robots.
文摘Speech recognition rate will deteriorate greatly in human-machine interaction when the speaker's speech mixes with a bystander's voice. This paper proposes a time-frequency approach for Blind Source Seperation (BSS) for intelligent Human-Machine Interaction(HMI). Main idea of the algorithm is to simultaneously diagonalize the correlation matrix of the pre-whitened signals at different time delays for every frequency bins in time-frequency domain. The prososed method has two merits: (1) fast convergence speed; (2) high signal to interference ratio of the separated signals. Numerical evaluations are used to compare the performance of the proposed algorithm with two other deconvolution algorithms. An efficient algorithm to resolve permutation ambiguity is also proposed in this paper. The algorithm proposed saves more than 10% of computational time with properly selected parameters and achieves good performances for both simulated convolutive mixtures and real room recorded speeches.
基金NSFC-Shenzhen Robotics Research Center Project(No.U2013207)the Beijing Science and Technology Plan Project(No.Z191100008019008)。
文摘Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,a robotic teleoperation system for precise robotic manipulation is established.The data glove and the 7-degrees of freedom(DOFs)force feedback controller are used for the remote control interaction.The control system and the monitor system are designed for the remote precise manipulation.The monitor system contains an image acquisition system and a human-machine interaction module,and aims to simulate and detect the robot running state.Besides,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations.The established robotic teleoperation systemis applied to a series of experiments,and high-precision results are obtained,showing the effectiveness of the physical system.
基金supported by the China Postdoctoral Science Foundation(No.2022BG011)the Fundamental Research Funds for Central Universities(No.2020CDJ-LHZZ-077)+1 种基金the Natural Science Foundation of Chongqing,China(No.c stc2020jcyj-msxmX0397)the Fundamental Research Funds for Central Universities(No.00007717).
文摘As the Internet of Things advances,gesture recognition emerges as a prominent domain in human-machine interaction(HMI).However,interactive wearables based on conductive hydrogels for individuals with single-arm functionality or disabilities remain underexplored.Here,we devised a wearable one-handed keyboard with gesture recognition,employing machine learning algorithms and hydrogel-based mechanical sensors to boost productivity.PCG(PAM/CMC/rGO)hydrogels are composed of polyacrylamide(PAM),sodium carboxymethyl cellulose(CMC),and reduced graphene oxide(rGO),which function as a strain,pressure sensor,and electrode material.The PAM chains offer the gel’s elasticity by covalent cross-linking,while the biocompatible CMC improves the dispersion of rGO and promotes electromechanical properties.Integrating rGO sheets into the polymer matrix facilitates cross-linking and generates supple-mentary conductive pathways,thereby augmenting the gel system’s elasticity,sensitivity,and durability.Our hydrogel sensors include high sensitivity(gage factor(GF)=8.18,395.6%-551.96%)and superior pressure sensing capabilities(Sensitivity(S)=0.3116 kPa^(-1),0-9.82 kPa).Furthermore,we developed a wearable keyboard with up to 98.13%accuracy using convolutional neural networks and a custom data acquisition system.This study establishes the groundwork for creating multifunctional gel sensors for intelligent machines,wearable devices,and brain-computer interfaces.
文摘Today’s product creative design has rendered many fe atures and has brought a great change in our everyday life, there are many new c hallenges in its traditional theory and principle. According to the traditional design theory, the FBS design model pays more attention to the function and stru cture of the product. But this model still couldn’t strengthen the relation bet ween product appearance design and human-machine design effectively. This paper adopt converse design thinking and presents an improved design thinking methodo logy based on C: FBS for product appearance design and give a general summarizat ion for the features, methods and technology based on human-machine interaction and interface. Meanwhile it also combines with the behavior design of product r elated IT fields and constructs a new outline to improve the design of product a ppearance supported by the technology of computer aided design. So the new metho d about design thinking for computer aided design, the new abstract product design model and the key problem of design thinking based on human-machine inte raction and interface are addressed in this paper. This kind of creative design theory that is driven by human-machine interaction and interface will help the development of CAD software system and the research of product design and manufa cture. Additionally, this paper gives some beneficial characters to address the theory based on human-machine interaction and interface. Meanwhile, combining with the developing of computer technology, the trends of design thinking based on t he technology of human-machine interaction and interface are also analyzed and discussed at the end of this paper.
基金supported by the National Natural Science Foundation of China(Grant Nos.52222313,22075296,52321006,T2394480,and T2394484)the National Key R&D Program of China(Grant Nos.2023YFE0111500,2021YFB3200701,and 2022YFB4700804)+1 种基金Beijing National Laboratory for Molecular Sciences(Grant No.BNLMSCXXM-202005)Beijing Municipal Science&Technology Commission(Grant No.Z231100005923039).
文摘Surgical robots are designed to provide enhanced precision and dexterity compared to manual surgical procedures,which mainly rely on multimodal sensing technologies for the surgeon to seamlessly operate the robotic arms and instruments.Compared with single-mode sensors,optical and mechanical bi-modal sensors provide improved precision,enhanced safety,and robustness of human-machine interaction systems.Here,the template-guided and pneumatic printing technologies are combined to construct perovskite and graphene parallel structures with both optical and mechanical sensing capabilities.The printed uniformly crystallized perovskite microstructure exhibits fast and sensitive photoelectric response characteristics,enabling shadow recognition functionality.The combination of graphene and elastic rubber endows the great printability to prepare parallel structures near the perovskite arrays for force sensing capabilities.Thus,the printed perovskite and graphene structures possess non-contact optical sensing capabilities to detect hand position by recognizing shadows between the hand and the sensor,as well as contact mechanical sensing capabilities to detect touch force applied by the hand.It provides a synergistic platform for real-time and multidimensional feedback to improve human-machine interaction.
文摘Three-dimensional(3D) display technology—a cutting-edge medium for human-machine interaction—enhances visual information density via image dimensional expansion and reduces the cognitive load to improve the efficiency of information exchange [1–3].
基金Project supported by the National Natural Science Foundation of China(No.51221004)
文摘Exoskeleton robots and their control methods have been extensively developed to aid post-stroke rehabilitation. Most of the existing methods using linear controllers are designed for position control and are not suitable for human-machine interaction(HMI) force control, as the interaction system between the human body and exoskeleton is uncertain and nonlinear. We present an approach for HMI force control via model reference adaptive impedance control(MRAIC) to solve this problem in case of index finger exoskeleton control. First, a dynamic HMI model, which is based on a position control inner loop, is formulated. Second, the theoretical MRAC framework is implemented in the control system. Then, the adaptive controllers are designed according to the Lyapunov stability theory. To verify the performance of the proposed method, we compare it with a proportional-integral-derivative(PID) method in the time domain with real experiments and in the frequency domain with simulations. The results illustrate the effectiveness and robustness of the proposed method in solving the nonlinear HMI force control problem in hand exoskeleton.
基金supported by the National Natural Science Foundation of China(NSFC,Grant Nos.61625404,61874111,61888102 and 62022079)the Youth Innovation Promotion Association of the Chinese Academy of Sciences(No.2020115).
文摘Noncontact interaction systems have attracted considerable research attention in recent years because of convenient operation,sterility,and injury prevention.However,the insufficient sensing distance and weak robustness of noncontact interaction systems for complex environments limit their practical applications.Here,we designed an integrated optical noncontact controlling system(ONCS)based on PtTe_(x)/Si optoelectronic heterojunction array.Broadband sensitive photoresponse is realized at zero bias voltage,with excellent detectivity and responsivity,boosting the noncontact sensing distance to at least 150 mm.Consequently,the system can perform noncontact detection,encoding,and control by recognizing shadow-induced spatiotemporal sequence changes in heterojunction array photocurrents.As a proof of concept,different interactive functions have been demonstrated with good accuracy and robustness by encoding finger movement above the ONCS.This study provides a new perspective for constructing high-performance noncontact interaction systems.
文摘Human-machine interaction can incorporate several components which when suitably designed,synthesized,and integrated can benefit the human decision maker in performing various tasks and activities.These interactions can be designed through multiple modalities such as textural,graphic,audio,or any tangible interfaces depending on the specific nature of the decision-making task which needs to be performed by human.The control and decision-making architecture of such humanmachine interaction can be defined in variety of ways.In this paper,we present an overview of an architecture which has been recently proposed in the literature based on the notion of open quantum systems.We present a brief interpretation of some of the main modelling and solution components of this framework.The main implication of this framework is that it presents the state of the decision maker and the interacting environment in a probabilistic framework,where the time evolution of this ensemble is estimated within the interpretation and solutions of the open quantum system.
基金supported by the National Natural Science Foundation of China(General Program)under Grant 52571385National Key R&D Program of China(Grant No.2024YFC2815000 and No.2024YFB3816000)+12 种基金Open Fund of State Key Laboratory of Deep-sea Manned Vehicles(Grant No.2025SKLDMV07)Shenzhen Science and Technology Program(WDZC20231128114452001,JCYJ20240813112107010 and JCYJ20240813111910014)the Tsinghua SIGS Scientific Research Startup Fund(QD2022021C)the Dreams Foundation of Jianghuai Advance Technology Center(2023-ZM 01 Z006)the Ocean Decade International Cooperation Center(ODCC)(GHZZ3702840002024020000026)Shenzhen Key Laboratory of Advanced Technology for Marine Ecology(ZDSYS20230626091459009)Shenzhen Science and Technology Program(No.KJZD20240903100905008)the National Natural Science Foundation of China(No.22305141)Pearl River Talent Program(No.2023QN10C114)General Program of Guangdong Province(No.2025A1515011700)the Guangdong Innovative and Entrepreneurial Research Team Program(2023ZT10C040)Scientific Research Foundation from Shenzhen Finance Bureau(No.GJHZ20240218113600002)Tsinghua University(JC2023001).
文摘Developing effective,versatile,and high-precision sensing interfaces remains a crucial challenge in human-machine-environment interaction applications.Despite progress in interaction-oriented sensing skins,limitations remain in unit-level reconfiguration,multiaxial force and motion sensing,and robust operation across dynamically changing or irregular surfaces.Herein,we develop a reconfigurable omnidirectional triboelectric whisker sensor array(RO-TWSA)comprising multiple sensing units that integrate a triboelectric whisker structure(TWS)with an untethered hydro-sealing vacuum sucker(UHSVS),enabling reversibly portable deployment and omnidirectional perception across diverse surfaces.Using a simple dual-triangular electrode layout paired with MXene/silicone nanocomposite dielectric layer,the sensor unit achieves precise omnidirectional force and motion sensing with a detection threshold as low as 0.024 N and an angular resolution of 5°,while the UHSVS provides reliable and reversible multi-surface anchoring for the sensor units by involving a newly designed hydrogel combining high mechanical robustness and superior water absorption.Extensive experiments demonstrate the effectiveness of RO-TWSA across various interactive scenarios,including teleoperation,tactile diagnostics,and robotic autonomous exploration.Overall,RO-TWSA presents a versatile and high-resolution tactile interface,offering new avenues for intelligent perception and interaction in complex real-world environments.
基金supported by the National Key R&D Program of China(Grant No.2023YFA1406200)the National Natural Science Foundation of China(No.12274177 and 12304261)the China Postdoctoral Science Foundation(No.2024M751076)。
文摘Luminescent metal-organic frameworks(MOFs)have garnered significant attention due to their structural tunability and potential applications in solid-state lighting,bioimaging,sensing,anticounterfeiting,and other fields.Nevertheless,due to the tendency of1,4-benzenedicarboxylic acid(BDC)to rotate within the framework,MOFs composed of it exhibit significant non-radiative energy dissipation and thus impair the emissive properties.In this study,efficient luminescence of MIL-140A nanocrystals(NCs)with BDC rotors as ligands is achieved by pressure treatment strategy.Pressure treatment effectively modulates the pore structure of the framework,enhancing the interactions between the N,N-dimethylformamide vip molecules and the BDC ligands.The enhanced host-vip interaction contributes to the structural rigidity of the MOF,thereby suppressing the rotation-induced excited-state energy loss.As a result,the pressure-treated MIL-140A NCs displayed bright blue-light emission,with the photoluminescence quantum yield increasing from an initial 6.8%to 69.2%.This study developed an effective strategy to improve the luminescence performance of rotor ligand MOFs,offers a new avenue for the rational design and synthesis of MOFs with superior luminescent properties.
基金supported by the National Key Research and Development Program of China (MOST)(Grant No.2022YFA1402800)the Chinese Academy of Sciences (CAS) Presidents International Fellowship Initiative (PIFI)(Grant No.2025PG0006)+3 种基金the National Natural Science Foundation of China (NSFC)(Grant Nos.51831012,12274437,and 52161160334)the CAS Project for Young Scientists in Basic Research (Grant No.YSBR-084)the CAS Youth Interdisciplinary Teamthe China Postdoctoral Science Foundation (Grant No.2025M773402)。
文摘Based on the Smit-Suhl formula,we propose a universal approach for solving the magnon-magnon coupling problem in bilayer coupled systems(e.g.,antiferromagnets).This method requires only the energy expression,enabling the automatic derivation of analytical expressions for the eigenmatrix elements via symbolic computation,eliminating the need for tedious manual calculations.Using this approach,we investigate the impact of magnetic hysteresis on magnon-magnon coupling in a system with interlayer Dzyaloshinskii-Moriya interaction(DMI).The magnetic hysteresis leads to an asymmetric magnetic field dependence of the resonance frequency and alters the number of degeneracy points between the pure optical and acoustic modes.Moreover,it can result in the coupling strength at the gap of the f–H phase diagram being nearly vanishing,contrary to the conventionally expected maximum.These results deepen the understanding of the effect of interlayer DMI on magnon–magnon coupling and the proposed universal method significantly streamlines the solving process of magnon–magnon coupling problems.
基金supported by the National Natural Science Foundation of China(No.22276219)the foundation for Innovative Research Groups of the National Natural Science Foundation of China(No.52121004)+1 种基金the major program Natural Science Foundation of Hunan Province of China(No.2021JC0001)the Fundamental Research Funds for the Central Universities of Central South University(No.2024ZZTS0063).
文摘Beryllium-containing sludge(BCS)is a typical hazardous waste from Be smelting,which can cause serious harm to ecology and human health by releasing harmful Be if it is stored long-term in environment.Nonetheless,the occurrence of Be in BCS is unclear,which seriously hinders the development of pollution control technologies.In order to enhance the understanding of BCS,the occurrence of Be and the microscale interactions with coexisting phases were investigated for the first time.It was found that CaSO_(4)·2H_(2)O and amorphous SiO_(2) are the primary phases of BCS.The simulated experiments of purified materials showed that Be interacted with CaSO_(4)·2H_(2)O and amorphous SiO_(2).Be can enter into the lattice of CaSO_(4)·2H_(2)O mainly as free Be2+.Amorphous SiO_(2) can adsorb Be2+particularly at a pH range of 3–5.The dissolution behavior experiment of BCS shows that about 52%of the Be is readily extracted under acidic conditions,which refers to the Be of independent occurrence.In contrast,the remaining 48%of Be can be extracted only after the CaSO_(4)·2H_(2)O has completely dissolved.Hence,CaSO_(4)·2H_(2)O is identified as the key occurrence phase which determines the highly efficient dissolution of Be.As a result,this study enhances the understanding of BCS and lays the foundation for the development of Be separation technologies.
基金supported by the National Natural Science Foundation of China(81930051)the Program of Shanghai Academic/Technology Research Leader(22XD1422600).
文摘Human-machine interaction(HMI)has always been at the frontier of technological innovation,making our interactions with technology more intuitive and effi-cient,as well as driving much of the research interest in this field.Wearable electronic systems can seamlessly and accurately receive,store,process,and output information.This endows them with tremendous potential applications ranging from daily life interactions to monitoring physiological signals and clinical medical treatments.Building upon this foundation,researchers have embarked on a series of innovations concerning textile fibers’materials,manufacturing techniques,and further functional payloads.
基金supported by the National Natural Science Foundation of China,Nos.82104560(to CL),U21A20400(to QW)the Natural Science Foundation of Beijing,No.7232279(to XW)the Project of Beijing University of Chinese Medicine,No.2022-JYB-JBZR-004(to XW)。
文摘The primary mechanism of secondary injury after cerebral ischemia may be the brain inflammation that emerges after an ischemic stroke,which promotes neuronal death and inhibits nerve tissue regeneration.As the first immune cells to be activated after an ischemic stroke,microglia play an important immunomodulatory role in the progression of the condition.After an ischemic stroke,peripheral blood immune cells(mainly T cells)are recruited to the central nervous system by chemokines secreted by immune cells in the brain,where they interact with central nervous system cells(mainly microglia)to trigger a secondary neuroimmune response.This review summarizes the interactions between T cells and microglia in the immune-inflammatory processes of ischemic stroke.We found that,during ischemic stroke,T cells and microglia demonstrate a more pronounced synergistic effect.Th1,Th17,and M1 microglia can co-secrete proinflammatory factors,such as interferon-γ,tumor necrosis factor-α,and interleukin-1β,to promote neuroinflammation and exacerbate brain injury.Th2,Treg,and M2 microglia jointly secrete anti-inflammatory factors,such as interleukin-4,interleukin-10,and transforming growth factor-β,to inhibit the progression of neuroinflammation,as well as growth factors such as brain-derived neurotrophic factor to promote nerve regeneration and repair brain injury.Immune interactions between microglia and T cells influence the direction of the subsequent neuroinflammation,which in turn determines the prognosis of ischemic stroke patients.Clinical trials have been conducted on the ways to modulate the interactions between T cells and microglia toward anti-inflammatory communication using the immunosuppressant fingolimod or overdosing with Treg cells to promote neural tissue repair and reduce the damage caused by ischemic stroke.However,such studies have been relatively infrequent,and clinical experience is still insufficient.In summary,in ischemic stroke,T cell subsets and activated microglia act synergistically to regulate inflammatory progression,mainly by secreting inflammatory factors.In the future,a key research direction for ischemic stroke treatment could be rooted in the enhancement of anti-inflammatory factor secretion by promoting the generation of Th2 and Treg cells,along with the activation of M2-type microglia.These approaches may alleviate neuroinflammation and facilitate the repair of neural tissues.
文摘Deficiency or restriction of Zn absorption in soils is one of the most common micronutrients deficient in cereal plants. To investigate critical micronutrient interaction in zinc deficiency and zinc sufficient in soil, a factorial experiment based on completely randomized design (CRD) with three replications was conducted in 2023. Six wheat cultivars with different Zn efficiency were used. The cultivars were grown under Zn deficiency and adequate conditions. Results showed that in Zn deficiency conditions, with increasing Zn concentration in the roots, Fe concentrations were increased too, while the Cu and Mn concentrations decreased. In the same condition and with increasing Zn concentration in shoots, the concentrations of Fe and Mn decreased, while Cu were increased. However, by increasing Zn concentration, Fe, Cu, and Mn concentrations were increased in Zn deficiency condition in grains, as well as Zn sufficient conditions. RST (root to shoot micronutrient translocation) comparison of cultivars showed that in lack of Zn, the ability of translocation of Zn, Fe, and Mn in Zn-inefficient cultivar from root to shoot was higher than inefficient cultivar. In the same conditions, the capability of Zn-inefficient cultivar in Cu translocation from root to shoot was lower than other cultivars. In general, it seems that in Zn deficiency conditions, there are antagonistic effects among Zn, Cu and Mn and synergistic effects between Zn and Fe in the root. Also, in Zn sufficient conditions, there were synergistic effects among all studies micronutrients which include Zn, Fe, Cu, and Mn.
基金the National Key R&D Project from Minister of Science and Technology(Grant No.2016YFA0202704)the Beijing Municipal Natural Science Foundation(Grant No.2212052)+1 种基金the Shanghai Sailing Program(Grant No.19S28101)the Fundamental Research Funds for the Central Universities(Grant No.19D128102).
文摘Combination flexible and stretchable textiles with self-powered sensors bring a novel insight into wearable functional electronics and cyber security in the era of Internet of Things.This work presents a highly flexible and self-powered fully fabric-based triboelectric nanogenerator(F-TENG)with sandwiched structure for biomechanical energy harvesting and real-time biometric authentication.The prepared F-TENG can power a digital watch by low-frequency motion and respond to the pressure change by the fall of leaves.A self-powered wearable keyboard(SPWK)is also fabricated by integrating large-area F-TENG sensor arrays,which not only can trace and record electrophysiological signals,but also can identify individuals’typing characteristics by means of the Haar wavelet.Based on these merits,the SPWK has promising applications in the realm of wearable electronics,self-powered sensors,cyber security,and artificial intelligences.
