Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disruptin...Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disrupting the neural connections that allow communication between the brain and the rest of the body, which results in varying degrees of motor and sensory impairment. Disconnection in the spinal tracts is an irreversible condition owing to the poor capacity for spontaneous axonal regeneration in the affected neurons.展开更多
During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive...During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.展开更多
In this work, we explore and study the implication of having more than one output on a genetic programming （GP） graph-representation. This approach, called multiple interactive outputs in a single tree （MIOST）, is...In this work, we explore and study the implication of having more than one output on a genetic programming （GP） graph-representation. This approach, called multiple interactive outputs in a single tree （MIOST）, is based on two ideas. First, we defined an approach, called interactivity within an individual （IWI）, which is based on a graph-GP representation. Second, we add to the individuals created with the IWI approach multiple outputs in their structures and as a result of this, we have MIOST. As a first step, we analyze the effects of IWI by using only mutations and analyze its implications （i.e., presence of neutrality）. Then, we continue testing the effectiveness of IWI by allowing mutations and the standard GP crossover in the evolutionary process. Finally, we tested the effectiveness of MIOST by using mutations and crossover and conducted extensive empirical results on different evolvable problems of different complexity taken from the literature. The results reported in this paper indicate that the proposed approach has a better overall performance in terms of consistency reaching feasible solutions.展开更多
In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed metho...In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback-merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization problem. We then design an observer to reproduce the full state of the system by measuring the inputs and outputs. Moreover, this technique includes both a policy iteration algorithm and a value iteration algorithm to determine the optimal feedback gain without using a dynamic system model. It is important that with this concept one does not need to solve the regulator equation. Finally, this control method was tested on an inverter system of grid-connected LCLs to demonstrate that the proposed method provides the desired performance in terms of both tracking and disturbance rejection.展开更多
Over the last two decades,the dogma that cell fate is immutable has been increasingly challenged,with important implications for regenerative medicine.The brea kth rough discovery that induced pluripotent stem cells c...Over the last two decades,the dogma that cell fate is immutable has been increasingly challenged,with important implications for regenerative medicine.The brea kth rough discovery that induced pluripotent stem cells could be generated from adult mouse fibroblasts is powerful proof that cell fate can be changed.An exciting extension of the discovery of cell fate impermanence is the direct cellular reprogram ming hypothesis-that terminally differentiated cells can be reprogrammed into other adult cell fates without first passing through a stem cell state.展开更多
The brain's extracellular matrix(ECM),which is comprised of protein and glycosaminoglycan(GAG)scaffolds,constitutes 20%-40% of the human brain and is considered one of the largest influencers on brain cell functio...The brain's extracellular matrix(ECM),which is comprised of protein and glycosaminoglycan(GAG)scaffolds,constitutes 20%-40% of the human brain and is considered one of the largest influencers on brain cell functioning(Soles et al.,2023).Synthesized by neural and glial cells,the brain's ECM regulates a myriad of homeostatic cellular processes,including neuronal plasticity and firing(Miyata et al.,2012),cation buffering(Moraws ki et al.,2015),and glia-neuron interactions(Anderson et al.,2016).Considering the diversity of functions,dynamic remodeling of the brain's ECM indicates that this understudied medium is an active participant in both normal physiology and neurological diseases.展开更多
Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequent...Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.展开更多
Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptabilit...Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.展开更多
Learning-based methods have become mainstream for solving residential energy scheduling problems. In order to improve the learning efficiency of existing methods and increase the utilization of renewable energy, we pr...Learning-based methods have become mainstream for solving residential energy scheduling problems. In order to improve the learning efficiency of existing methods and increase the utilization of renewable energy, we propose the Dyna actiondependent heuristic dynamic programming(Dyna-ADHDP)method, which incorporates the ideas of learning and planning from the Dyna framework in action-dependent heuristic dynamic programming. This method defines a continuous action space for precise control of an energy storage system and allows online optimization of algorithm performance during the real-time operation of the residential energy model. Meanwhile, the target network is introduced during the training process to make the training smoother and more efficient. We conducted experimental comparisons with the benchmark method using simulated and real data to verify its applicability and performance. The results confirm the method's excellent performance and generalization capabilities, as well as its excellence in increasing renewable energy utilization and extending equipment life.展开更多
This study proposes a novel approach to optimizing individual work schedules for book digitization using mixed-integer programming (MIP). By leveraging the power of MIP solvers, we aimed to minimize the overall digiti...This study proposes a novel approach to optimizing individual work schedules for book digitization using mixed-integer programming (MIP). By leveraging the power of MIP solvers, we aimed to minimize the overall digitization time while considering various constraints and process dependencies. The book digitization process involves three key steps: cutting, scanning, and binding. Each step has specific requirements and limitations such as the number of pages that can be processed simultaneously and potential bottlenecks. To address these complexities, we formulate the problem as a one-machine job shop scheduling problem with additional constraints to capture the unique characteristics of book digitization. We conducted a series of experiments to evaluate the performance of our proposed approach. By comparing the optimized schedules with the baseline approach, we demonstrated significant reductions in the overall processing time. In addition, we analyzed the impact of different weighting schemes on the optimization results, highlighting the importance of identifying and prioritizing critical processes. Our findings suggest that MIP-based optimization can be a valuable tool for improving the efficiency of individual work schedules, even in seemingly simple tasks, such as book digitization. By carefully considering specific constraints and objectives, we can save time and leverage resources by carefully considering specific constraints and objectives.展开更多
With the rapid development of artificial intelligence technology,AIGC(Artificial Intelligence-Generated Content)has triggered profound changes in the field of high-level language programming courses.This paper deeply ...With the rapid development of artificial intelligence technology,AIGC(Artificial Intelligence-Generated Content)has triggered profound changes in the field of high-level language programming courses.This paper deeply explored the application principles,advantages,and limitations of AIGC in intelligent code generation,analyzed the new mode of human-computer collaboration in high-level language programming courses driven by AIGC,discussed the impact of human-computer collaboration on programming efficiency and code quality through practical case studies,and looks forward to future development trends.This research aims to provide theoretical and practical guidance for high-level language programming courses and promote innovative development of high-level language programming courses under the human-computer collaboration paradigm.展开更多
目的通过生物信息学分析及免疫组化实验探讨c-myc和UTP14a在乳腺癌组织及癌旁组织的差异表达、诊断和预后价值。方法从癌症基因组图谱(The Cancer Genome Atlas,TCGA)数据库获取癌症患者的UTP14a、c-myc基因表达和临床信息数据,并进行...目的通过生物信息学分析及免疫组化实验探讨c-myc和UTP14a在乳腺癌组织及癌旁组织的差异表达、诊断和预后价值。方法从癌症基因组图谱(The Cancer Genome Atlas,TCGA)数据库获取癌症患者的UTP14a、c-myc基因表达和临床信息数据,并进行生存表达分析。对92例乳腺癌患者癌组织样本进行UTP14a、c-myc的免疫组化染色,采用χ^(2)检验和Spearman相关系数分析UTP14a与c-myc在不同亚组的表达水平与预后的关系。结果受试者工作特征(receiver operating characteristic,ROC)曲线分析结果显示,UTP14a在1年、3年和5年的ROC曲线下面积(area under curve,AUC)分别为0.559(95%CI:0.445~0.672)、0.542(95%CI:0.480~0.605)和0.545(95%CI:0.488~0.603);KM生存曲线分析结果显示,UTP14a高风险组和低风险组之间的生存差异无统计学意义(P=0.083)。c-myc在1年、3年和5年的AUC值分别为0.629(95%CI:0.550~0.708)、0.530(95%CI:0.460~0.600)和0.514(95%CI:0.438~0.590);KM生存曲线分析结果显示,c-myc高风险组和低风险组之间的生存差异无统计学意义(P=0.149)。免疫组化实验结果显示,UTP14a与c-myc主要在癌细胞的胞核和胞浆表达,肿瘤组织内UTP14a、c-myc阳性表达率高于正常组织(P<0.05);UTP14a在乳腺癌组织中的表达与患者年龄、组织学分级以及腋窝淋巴结转移率显著相关(P<0.05);c-myc在乳腺癌组织中的表达与患者组织学分级、腋窝淋巴结转移率、神经侵犯比例及雌激素受体(estrogen receptor,ER)表达阳性显著相关(P<0.05)。c-myc抗体和UTP14a抗体表达之间存在正相关性(P<0.05)。结论UTP14a和c-myc的联合检测可能为乳腺癌患者的治疗提供重要参考,帮助临床医生更好地进行个体化治疗。未来有待在更大规模的队列中验证本研究结果,以支持其在临床实践中的应用。展开更多
Computing-in-memory(CIM)has been a promising candidate for artificial-intelligent applications thanks to the absence of data transfer between computation and storage blocks.Resistive random access memory(RRAM)based CI...Computing-in-memory(CIM)has been a promising candidate for artificial-intelligent applications thanks to the absence of data transfer between computation and storage blocks.Resistive random access memory(RRAM)based CIM has the advantage of high computing density,non-volatility as well as high energy efficiency.However,previous CIM research has predominantly focused on realizing high energy efficiency and high area efficiency for inference,while little attention has been devoted to addressing the challenges of on-chip programming speed,power consumption,and accuracy.In this paper,a fabri-cated 28 nm 576K RRAM-based CIM macro featuring optimized on-chip programming schemes is proposed to address the issues mentioned above.Different strategies of mapping weights to RRAM arrays are compared,and a novel direct-current ADC design is designed for both programming and inference stages.Utilizing the optimized hybrid programming scheme,4.67×programming speed,0.15×power saving and 4.31×compact weight distribution are realized.Besides,this macro achieves a normalized area efficiency of 2.82 TOPS/mm2 and a normalized energy efficiency of 35.6 TOPS/W.展开更多
With the widespread application of large language models(LLMs)in natural language processing and code generation,traditional High-Level Language Programming courses are facing unprecedented challenges and opportunitie...With the widespread application of large language models(LLMs)in natural language processing and code generation,traditional High-Level Language Programming courses are facing unprecedented challenges and opportunities.As a core programming language for computer science majors,C language remains irreplaceable due to its foundational nature and engineering adaptability.This paper,based on the rapid development of large model technologies,proposes a systematic reform design for C language teaching,focusing on teaching objectives,content structure,teaching methods,and evaluation systems.The article suggests a teaching framework centered on“human-computer collaborative programming,”integrating prompt training,AI-assisted debugging,and code generation analysis,aiming to enhance students’problem modeling ability,programming expression skills,and AI collaboration literacy.展开更多
More than seventy years before airplanes were invented,a twelve⁃year⁃old girl named Ada Lovelace dreamed of flying.She studied birds and experimented with materials to make wings,even writing a guide called Flyology.B...More than seventy years before airplanes were invented,a twelve⁃year⁃old girl named Ada Lovelace dreamed of flying.She studied birds and experimented with materials to make wings,even writing a guide called Flyology.But her curiosity didnt stop there.展开更多
With the rapid development of modern science and technology,the era of artificial intelligence has quietly come.Against the background of the new era,students’learning needs,learning resource acquisition methods,teac...With the rapid development of modern science and technology,the era of artificial intelligence has quietly come.Against the background of the new era,students’learning needs,learning resource acquisition methods,teachers’teaching concepts,teaching tools,and so on have changed significantly.How to carry out teaching reform based on this change has become one of the important issues facing educators,and the same is true for the teaching of computer programming courses.This paper focuses on the teaching reform of AI-enabled computer programming courses,analyzes its basic problems,and puts forward corresponding reform countermeasures to provide a useful reference for front-line teachers.展开更多
Three-dimensional(3D)single molecule localization microscopy(SMLM)plays an important role in biomedical applications,but its data processing is very complicated.Deep learning is a potential tool to solve this problem....Three-dimensional(3D)single molecule localization microscopy(SMLM)plays an important role in biomedical applications,but its data processing is very complicated.Deep learning is a potential tool to solve this problem.As the state of art 3D super-resolution localization algorithm based on deep learning,FD-DeepLoc algorithm reported recently still has a gap with the expected goal of online image processing,even though it has greatly improved the data processing throughput.In this paper,a new algorithm Lite-FD-DeepLoc is developed on the basis of FD-DeepLoc algorithm to meet the online image processing requirements of 3D SMLM.This new algorithm uses the feature compression method to reduce the parameters of the model,and combines it with pipeline programming to accelerate the inference process of the deep learning model.The simulated data processing results show that the image processing speed of Lite-FD-DeepLoc is about twice as fast as that of FD-DeepLoc with a slight decrease in localization accuracy,which can realize real-time processing of 256×256 pixels size images.The results of biological experimental data processing imply that Lite-FD-DeepLoc can successfully analyze the data based on astigmatism and saddle point engineering,and the global resolution of the reconstructed image is equivalent to or even better than FD-DeepLoc algorithm.展开更多
Soft robots, inspired by the flexibility and versatility of biological organisms, have potential in a variety of applications. Recent advancements in magneto-soft robots have demonstrated their abilities to achieve pr...Soft robots, inspired by the flexibility and versatility of biological organisms, have potential in a variety of applications. Recent advancements in magneto-soft robots have demonstrated their abilities to achieve precise remote control through magnetic fields, enabling multi-modal locomotion and complex manipulation tasks. Nonetheless, two main hurdles must be overcome to advance the field: developing a multi-component substrate with embedded magnetic particles to ensure the requisite flexibility and responsiveness, and devising a cost-effective,straightforward method to program three-dimensional distributed magnetic domains without complex processing and expensive machinery. Here, we introduce a cost-effective and simple heat-assisted in-situ integrated molding fabrication method for creating magnetically driven soft robots with three-dimensional programmable magnetic domains. By synthesizing a composite material with neodymium-iron-boron(NdFeB) particles embedded in a polydimethylsiloxane(PDMS) and Ecoflex matrix(PDMS:Ecoflex = 1:2 mass ratio, 50% magnetic particle concentration), we achieved an optimized balance of flexibility, strength, and magnetic responsiveness. The proposed heat-assisted in-situ magnetic domains programming technique,performed at an experimentally optimized temperature of 120℃, resulted in a 2 times magnetization strength(9.5 mT) compared to that at 20℃(4.8 m T), reaching a saturation level comparable to a commercial magnetizer. We demonstrated the versatility of our approach through the fabrication of six kinds of robots, including two kinds of two-dimensional patterned soft robots(2D-PSR), a circular six-pole domain distribution magnetic robot(2D-CSPDMR), a quadrupedal walking magnetic soft robot(QWMSR), an object manipulation robot(OMR), and a hollow thin-walled spherical magneto-soft robot(HTWSMSR). The proposed method provides a practical solution to create highly responsive and adaptable magneto-soft robots.展开更多
As one of the core courses for computer-related majors,the Python programming course has become increasingly important in the era of artificial intelligence.It aims to help students develop good computer thinking and ...As one of the core courses for computer-related majors,the Python programming course has become increasingly important in the era of artificial intelligence.It aims to help students develop good computer thinking and improve their abilities in programming and data analysis.The application of artificial intelligence technology in the teaching of Python programming courses is of great significance for optimizing the allocation of teaching resources,enriching students’learning experience,and significantly improving teaching quality.Based on this,this paper first briefly expounds on the importance of applying artificial intelligence technology in the teaching of Python programming courses.On this basis,it focuses on exploring effective strategies for the teaching reform of Python programming courses based on artificial intelligence technology,hoping to provide new ideas for the teaching of Python programming courses and contribute to cultivating more Python programming talents with artificial intelligence literacy.展开更多
基金financially supported by Ministerio de Ciencia e Innovación projects SAF2017-82736-C2-1-R to MTMFin Universidad Autónoma de Madrid and by Fundación Universidad Francisco de Vitoria to JS+2 种基金a predoctoral scholarship from Fundación Universidad Francisco de Vitoriafinancial support from a 6-month contract from Universidad Autónoma de Madrida 3-month contract from the School of Medicine of Universidad Francisco de Vitoria。
文摘Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disrupting the neural connections that allow communication between the brain and the rest of the body, which results in varying degrees of motor and sensory impairment. Disconnection in the spinal tracts is an irreversible condition owing to the poor capacity for spontaneous axonal regeneration in the affected neurons.
基金supported by the National Natural Sci‐ence Foundation of China(Grant No.62306325)。
文摘During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.
基金This paper was supported by the Mexican Consejo Nacional de Ciencia y Tecnologia(CONACyT)for the postgraduate studies at University of Essex.
文摘In this work, we explore and study the implication of having more than one output on a genetic programming （GP） graph-representation. This approach, called multiple interactive outputs in a single tree （MIOST）, is based on two ideas. First, we defined an approach, called interactivity within an individual （IWI）, which is based on a graph-GP representation. Second, we add to the individuals created with the IWI approach multiple outputs in their structures and as a result of this, we have MIOST. As a first step, we analyze the effects of IWI by using only mutations and analyze its implications （i.e., presence of neutrality）. Then, we continue testing the effectiveness of IWI by allowing mutations and the standard GP crossover in the evolutionary process. Finally, we tested the effectiveness of MIOST by using mutations and crossover and conducted extensive empirical results on different evolvable problems of different complexity taken from the literature. The results reported in this paper indicate that the proposed approach has a better overall performance in terms of consistency reaching feasible solutions.
基金supported by the National Science Fund for Distinguished Young Scholars (62225303)the Fundamental Research Funds for the Central Universities (buctrc202201)+1 种基金China Scholarship Council,and High Performance Computing PlatformCollege of Information Science and Technology,Beijing University of Chemical Technology。
文摘In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback-merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization problem. We then design an observer to reproduce the full state of the system by measuring the inputs and outputs. Moreover, this technique includes both a policy iteration algorithm and a value iteration algorithm to determine the optimal feedback gain without using a dynamic system model. It is important that with this concept one does not need to solve the regulator equation. Finally, this control method was tested on an inverter system of grid-connected LCLs to demonstrate that the proposed method provides the desired performance in terms of both tracking and disturbance rejection.
基金supported by Canada First Research Excellence Fund,Medicine by Design(to CMM)。
文摘Over the last two decades,the dogma that cell fate is immutable has been increasingly challenged,with important implications for regenerative medicine.The brea kth rough discovery that induced pluripotent stem cells could be generated from adult mouse fibroblasts is powerful proof that cell fate can be changed.An exciting extension of the discovery of cell fate impermanence is the direct cellular reprogram ming hypothesis-that terminally differentiated cells can be reprogrammed into other adult cell fates without first passing through a stem cell state.
基金supported by National Institute on Aging(NIH-NIA)R21 AG074152(to KMA)National Institute of Allergy and Infectious Diseases(NIAID)grant DP2 AI171150(to KMA)Department of Defense(DoD)grant AZ210089(to KMA)。
文摘The brain's extracellular matrix(ECM),which is comprised of protein and glycosaminoglycan(GAG)scaffolds,constitutes 20%-40% of the human brain and is considered one of the largest influencers on brain cell functioning(Soles et al.,2023).Synthesized by neural and glial cells,the brain's ECM regulates a myriad of homeostatic cellular processes,including neuronal plasticity and firing(Miyata et al.,2012),cation buffering(Moraws ki et al.,2015),and glia-neuron interactions(Anderson et al.,2016).Considering the diversity of functions,dynamic remodeling of the brain's ECM indicates that this understudied medium is an active participant in both normal physiology and neurological diseases.
基金supported by the National Natural Science Foundation of China(No.62203256)。
文摘Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.
基金the National Key R&D Program of China(No.2023YFE0208700)National Natural Sci-ence Foundation of China(No.92163109 and 52072095)+7 种基金Shenzhen Science and Technology Program(No.RCJC20231211090000001,GXWD20231129101105001)the National Natural Science Foundation of China(No.52205590)the Natural Science Foundation of Jiangsu Province(No.BK20220834)the Start-up Research Fund of Southeast University(No.RF1028623098)the State Key Laboratory of Robotics and Systems(HIT)(No.SKLRS-2024-KF-11)National Natural Science Foundation of China(No.52202348)Guangdong Basic and Applied Basic Research Foundation(No.2023A1515011491)Shenzhen Science and Technology Program(Nos.GXWD20220818224716001,KJZD20231023100302006).
文摘Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.
基金supported in part by the National Key Research and Development Program of China(2024YFB4709100,2021YFE0206100)the National Natural Science Foundation of China(62073321)+1 种基金the National Defense Basic Scientific Research Program(JCKY2019203C029)the Science and Technology Development Fund,Macao SAR,China(0015/2020/AMJ)
文摘Learning-based methods have become mainstream for solving residential energy scheduling problems. In order to improve the learning efficiency of existing methods and increase the utilization of renewable energy, we propose the Dyna actiondependent heuristic dynamic programming(Dyna-ADHDP)method, which incorporates the ideas of learning and planning from the Dyna framework in action-dependent heuristic dynamic programming. This method defines a continuous action space for precise control of an energy storage system and allows online optimization of algorithm performance during the real-time operation of the residential energy model. Meanwhile, the target network is introduced during the training process to make the training smoother and more efficient. We conducted experimental comparisons with the benchmark method using simulated and real data to verify its applicability and performance. The results confirm the method's excellent performance and generalization capabilities, as well as its excellence in increasing renewable energy utilization and extending equipment life.
文摘This study proposes a novel approach to optimizing individual work schedules for book digitization using mixed-integer programming (MIP). By leveraging the power of MIP solvers, we aimed to minimize the overall digitization time while considering various constraints and process dependencies. The book digitization process involves three key steps: cutting, scanning, and binding. Each step has specific requirements and limitations such as the number of pages that can be processed simultaneously and potential bottlenecks. To address these complexities, we formulate the problem as a one-machine job shop scheduling problem with additional constraints to capture the unique characteristics of book digitization. We conducted a series of experiments to evaluate the performance of our proposed approach. By comparing the optimized schedules with the baseline approach, we demonstrated significant reductions in the overall processing time. In addition, we analyzed the impact of different weighting schemes on the optimization results, highlighting the importance of identifying and prioritizing critical processes. Our findings suggest that MIP-based optimization can be a valuable tool for improving the efficiency of individual work schedules, even in seemingly simple tasks, such as book digitization. By carefully considering specific constraints and objectives, we can save time and leverage resources by carefully considering specific constraints and objectives.
基金Education and Teaching Research Project of Beijing University of Technology(ER2024KCB08)。
文摘With the rapid development of artificial intelligence technology,AIGC(Artificial Intelligence-Generated Content)has triggered profound changes in the field of high-level language programming courses.This paper deeply explored the application principles,advantages,and limitations of AIGC in intelligent code generation,analyzed the new mode of human-computer collaboration in high-level language programming courses driven by AIGC,discussed the impact of human-computer collaboration on programming efficiency and code quality through practical case studies,and looks forward to future development trends.This research aims to provide theoretical and practical guidance for high-level language programming courses and promote innovative development of high-level language programming courses under the human-computer collaboration paradigm.
文摘目的通过生物信息学分析及免疫组化实验探讨c-myc和UTP14a在乳腺癌组织及癌旁组织的差异表达、诊断和预后价值。方法从癌症基因组图谱(The Cancer Genome Atlas,TCGA)数据库获取癌症患者的UTP14a、c-myc基因表达和临床信息数据,并进行生存表达分析。对92例乳腺癌患者癌组织样本进行UTP14a、c-myc的免疫组化染色,采用χ^(2)检验和Spearman相关系数分析UTP14a与c-myc在不同亚组的表达水平与预后的关系。结果受试者工作特征(receiver operating characteristic,ROC)曲线分析结果显示,UTP14a在1年、3年和5年的ROC曲线下面积(area under curve,AUC)分别为0.559(95%CI:0.445~0.672)、0.542(95%CI:0.480~0.605)和0.545(95%CI:0.488~0.603);KM生存曲线分析结果显示,UTP14a高风险组和低风险组之间的生存差异无统计学意义(P=0.083)。c-myc在1年、3年和5年的AUC值分别为0.629(95%CI:0.550~0.708)、0.530(95%CI:0.460~0.600)和0.514(95%CI:0.438~0.590);KM生存曲线分析结果显示,c-myc高风险组和低风险组之间的生存差异无统计学意义(P=0.149)。免疫组化实验结果显示,UTP14a与c-myc主要在癌细胞的胞核和胞浆表达,肿瘤组织内UTP14a、c-myc阳性表达率高于正常组织(P<0.05);UTP14a在乳腺癌组织中的表达与患者年龄、组织学分级以及腋窝淋巴结转移率显著相关(P<0.05);c-myc在乳腺癌组织中的表达与患者组织学分级、腋窝淋巴结转移率、神经侵犯比例及雌激素受体(estrogen receptor,ER)表达阳性显著相关(P<0.05)。c-myc抗体和UTP14a抗体表达之间存在正相关性(P<0.05)。结论UTP14a和c-myc的联合检测可能为乳腺癌患者的治疗提供重要参考,帮助临床医生更好地进行个体化治疗。未来有待在更大规模的队列中验证本研究结果,以支持其在临床实践中的应用。
基金supported in part by the National Natural Science Foundation of China (62422405, 62025111,62495100, 92464302)the STI 2030-Major Projects(2021ZD0201200)+1 种基金the Shanghai Municipal Science and Technology Major Projectthe Beijing Advanced Innovation Center for Integrated Circuits
文摘Computing-in-memory(CIM)has been a promising candidate for artificial-intelligent applications thanks to the absence of data transfer between computation and storage blocks.Resistive random access memory(RRAM)based CIM has the advantage of high computing density,non-volatility as well as high energy efficiency.However,previous CIM research has predominantly focused on realizing high energy efficiency and high area efficiency for inference,while little attention has been devoted to addressing the challenges of on-chip programming speed,power consumption,and accuracy.In this paper,a fabri-cated 28 nm 576K RRAM-based CIM macro featuring optimized on-chip programming schemes is proposed to address the issues mentioned above.Different strategies of mapping weights to RRAM arrays are compared,and a novel direct-current ADC design is designed for both programming and inference stages.Utilizing the optimized hybrid programming scheme,4.67×programming speed,0.15×power saving and 4.31×compact weight distribution are realized.Besides,this macro achieves a normalized area efficiency of 2.82 TOPS/mm2 and a normalized energy efficiency of 35.6 TOPS/W.
基金Education and Teaching Research Project of Beijing University of Technology(ER2024KCB08)。
文摘With the widespread application of large language models(LLMs)in natural language processing and code generation,traditional High-Level Language Programming courses are facing unprecedented challenges and opportunities.As a core programming language for computer science majors,C language remains irreplaceable due to its foundational nature and engineering adaptability.This paper,based on the rapid development of large model technologies,proposes a systematic reform design for C language teaching,focusing on teaching objectives,content structure,teaching methods,and evaluation systems.The article suggests a teaching framework centered on“human-computer collaborative programming,”integrating prompt training,AI-assisted debugging,and code generation analysis,aiming to enhance students’problem modeling ability,programming expression skills,and AI collaboration literacy.
文摘More than seventy years before airplanes were invented,a twelve⁃year⁃old girl named Ada Lovelace dreamed of flying.She studied birds and experimented with materials to make wings,even writing a guide called Flyology.But her curiosity didnt stop there.
文摘With the rapid development of modern science and technology,the era of artificial intelligence has quietly come.Against the background of the new era,students’learning needs,learning resource acquisition methods,teachers’teaching concepts,teaching tools,and so on have changed significantly.How to carry out teaching reform based on this change has become one of the important issues facing educators,and the same is true for the teaching of computer programming courses.This paper focuses on the teaching reform of AI-enabled computer programming courses,analyzes its basic problems,and puts forward corresponding reform countermeasures to provide a useful reference for front-line teachers.
基金supported by the Start-up Fund from Hainan University(No.KYQD(ZR)-20077)。
文摘Three-dimensional(3D)single molecule localization microscopy(SMLM)plays an important role in biomedical applications,but its data processing is very complicated.Deep learning is a potential tool to solve this problem.As the state of art 3D super-resolution localization algorithm based on deep learning,FD-DeepLoc algorithm reported recently still has a gap with the expected goal of online image processing,even though it has greatly improved the data processing throughput.In this paper,a new algorithm Lite-FD-DeepLoc is developed on the basis of FD-DeepLoc algorithm to meet the online image processing requirements of 3D SMLM.This new algorithm uses the feature compression method to reduce the parameters of the model,and combines it with pipeline programming to accelerate the inference process of the deep learning model.The simulated data processing results show that the image processing speed of Lite-FD-DeepLoc is about twice as fast as that of FD-DeepLoc with a slight decrease in localization accuracy,which can realize real-time processing of 256×256 pixels size images.The results of biological experimental data processing imply that Lite-FD-DeepLoc can successfully analyze the data based on astigmatism and saddle point engineering,and the global resolution of the reconstructed image is equivalent to or even better than FD-DeepLoc algorithm.
基金supported by National Natural Science Foundation of China(Grant Nos.62473277,62473275,62133004,52105072,and 62073230)Jiangsu Provincial Outstanding Youth Program(Grant No.BK20230072)+5 种基金National Key R&D Program of China(Grant Nos.2022YFC3802302 and 2023YFB4705600)Suzhou Industrial Foresight and Key Core Technology Project(Grant No.SYC2022044)Zhejiang Provincial Natural Science Foundation of China(Grant No.LZ24E050004)Shenzhen Polytechnic High-level Talent Start-up Project(Grant No.6023330006K)Shenzhen Science and Technology Program(Grant No.JCYJ20210324132810026)a Grant from Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems,Grants from Jiangsu QingLan Project and Jiangsu 333 high-level talents.
文摘Soft robots, inspired by the flexibility and versatility of biological organisms, have potential in a variety of applications. Recent advancements in magneto-soft robots have demonstrated their abilities to achieve precise remote control through magnetic fields, enabling multi-modal locomotion and complex manipulation tasks. Nonetheless, two main hurdles must be overcome to advance the field: developing a multi-component substrate with embedded magnetic particles to ensure the requisite flexibility and responsiveness, and devising a cost-effective,straightforward method to program three-dimensional distributed magnetic domains without complex processing and expensive machinery. Here, we introduce a cost-effective and simple heat-assisted in-situ integrated molding fabrication method for creating magnetically driven soft robots with three-dimensional programmable magnetic domains. By synthesizing a composite material with neodymium-iron-boron(NdFeB) particles embedded in a polydimethylsiloxane(PDMS) and Ecoflex matrix(PDMS:Ecoflex = 1:2 mass ratio, 50% magnetic particle concentration), we achieved an optimized balance of flexibility, strength, and magnetic responsiveness. The proposed heat-assisted in-situ magnetic domains programming technique,performed at an experimentally optimized temperature of 120℃, resulted in a 2 times magnetization strength(9.5 mT) compared to that at 20℃(4.8 m T), reaching a saturation level comparable to a commercial magnetizer. We demonstrated the versatility of our approach through the fabrication of six kinds of robots, including two kinds of two-dimensional patterned soft robots(2D-PSR), a circular six-pole domain distribution magnetic robot(2D-CSPDMR), a quadrupedal walking magnetic soft robot(QWMSR), an object manipulation robot(OMR), and a hollow thin-walled spherical magneto-soft robot(HTWSMSR). The proposed method provides a practical solution to create highly responsive and adaptable magneto-soft robots.
文摘As one of the core courses for computer-related majors,the Python programming course has become increasingly important in the era of artificial intelligence.It aims to help students develop good computer thinking and improve their abilities in programming and data analysis.The application of artificial intelligence technology in the teaching of Python programming courses is of great significance for optimizing the allocation of teaching resources,enriching students’learning experience,and significantly improving teaching quality.Based on this,this paper first briefly expounds on the importance of applying artificial intelligence technology in the teaching of Python programming courses.On this basis,it focuses on exploring effective strategies for the teaching reform of Python programming courses based on artificial intelligence technology,hoping to provide new ideas for the teaching of Python programming courses and contribute to cultivating more Python programming talents with artificial intelligence literacy.
