In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft...In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft, (τ1,τ2)'-semi open soft, (τ1,τ2)'-pre open soft, (τ1,τ2)'-α-open soft, (τ1,τ2)'-βopen soft) set via two soft topologies. Also we introduce (τ1,τ2)-regular open soft and ESDC on two soft topologies. The aim of this paper is to investigate properties of some mixed soft operations and characterizations of ESDC. Finally, we study τ2-ESDC soft topologies τ1.展开更多
Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-t...Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-term wearability;however,the integration of these properties remains a significant challenge.Here,we present a biomass-derived conductive elastomer featuring a rationally engineered dynamic crosslinked network integrated with a tunable microporous architecture.This structural design imparts pronounced micromechanical sensitivity,an ultralow density(~0.25 g cm^(−3)),and superior mechanical compliance for adaptive deformation.Moreover,the unique micro-spring effect derived from the porous architecture ensures exceptional stretchability(>500%elongation at break)and superior resilience,delivering immediate and stable electrical response under both subtle(<1%)and large(>200%)mechanical stimuli.Intrinsic dynamic interactions endow the elastomer with efficient room temperature self-healing and complete recyclability without compromising performance.First-principles simulations clarify the mechanisms behind micropore formation and the resulting functionality.Beyond its facile and mild fabrication process,this work establishes a scalable route toward high-performance,sustainable conductive elastomers tailored for next-generation soft electronics.展开更多
Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stabi...Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.展开更多
The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actu...The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.展开更多
Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation ...Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.展开更多
Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mec...Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.展开更多
This paper introduces fuzzy N-bipolar soft(FN-BS)sets,a novel mathematical framework designed to enhance multi-criteria decision-making(MCDM)processes under uncertainty.The study addresses a significant limitation in ...This paper introduces fuzzy N-bipolar soft(FN-BS)sets,a novel mathematical framework designed to enhance multi-criteria decision-making(MCDM)processes under uncertainty.The study addresses a significant limitation in existing models by unifying fuzzy logic,the consideration of bipolarity,and the ability to evaluate attributes on a multinary scale.The specific contributions of the FN-BS framework include:(1)a formal definition and settheoretic foundation,(2)the development of two innovative algorithms for solving decision-making(DM)problems,and(3)a comparative analysis demonstrating its superiority over established models.The proposed framework is applied to a real-world case study on selecting vaccination programs across multiple countries,showcasing consistent DM outcomes and exceptional adaptability to complex and uncertain scenarios.These results position FN-BS sets as a versatile and powerful tool for addressing dynamic DM challenges.展开更多
近年来,综合能源系统作为一种以多种能源形态和设备相互交互的能源系统方案得到了广泛应用和研究.然而,在面对动态复杂的多能源系统时,传统的优化调度方法往往无法满足其实时性和精准度需求.因此,本文设计了一种软深度确定性策略梯度(So...近年来,综合能源系统作为一种以多种能源形态和设备相互交互的能源系统方案得到了广泛应用和研究.然而,在面对动态复杂的多能源系统时,传统的优化调度方法往往无法满足其实时性和精准度需求.因此,本文设计了一种软深度确定性策略梯度(Soft Deep Deterministic Policy Gradient,Soft-DDPG)算法驱动的综合能源系统优化调度方法,以最小化调度周期内系统总运行成本为目标,建立设备运行综合能效评估模型,再采用Soft-DDPG算法对每个能源设备的能效调度动作进行优化控制.Soft-DDPG算法将softmax算子引入到动作值函数的计算中,有效降低了Q值高估问题.与此同时,该算法在动作选择策略中加入了随机噪声,提高了算法的学习效率.实验结果显示,本文所提出的方法解决了综合能源系统能效调度实时性差、精准度低的瓶颈问题,实现了系统的高效灵活调度,降低了系统的总运行成本.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
The concept of soft topological space was introduced by some authors. In the present paper, we investigate some basic notions of soft topological spaces by using new soft point concept. Later we give soft locally comp...The concept of soft topological space was introduced by some authors. In the present paper, we investigate some basic notions of soft topological spaces by using new soft point concept. Later we give soft locally compact space and the relationships between them are discussed in detail. Finally, we define soft paracompactness and explore some of its basic properties.展开更多
Owing to the presence of large residual internal stress during cold compaction,it is difficult to optimize the multiple high-frequency magnetic properties of amorphous soft magnetic composites(ASMCs)simultaneously.Her...Owing to the presence of large residual internal stress during cold compaction,it is difficult to optimize the multiple high-frequency magnetic properties of amorphous soft magnetic composites(ASMCs)simultaneously.Here,a surface nanoengineering strategy was proposed to address the above dilemma by constructing a stress buffer layer composed of amorphous nano-particles,between amorphous powder and insulation coating.The amorphous FeSiBCCr@x wt.%FeB(x=0.5,1,3)composite powders with coreshell structures were successfully prepared via an in-situ chemical reduction method.Especially,when the composite ratio of nano-particles is 1 wt.%,the comprehensive properties of the ASMC reach the best balance.Compared with the FeSiBCCr ASMC,the saturation magnetization of the modified ASMC enhances from 153 to 171 emu/g.Meanwhile,the core loss decreases by 28.25%,while the effective permeability increases by 25% and can stabilize to∼20 MHz.Therefore,our work provides a strategy for achieving superior comprehensive soft magnetic properties of ASMCs via surface nanoengineering,which presents enormous application potential in high-frequency electric devices.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-toler...Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.展开更多
The mechanical properties of biological soft tissues play a critical role in the study of biomechanics and the development of protective measures against human injury.Various testing techniques at different scales hav...The mechanical properties of biological soft tissues play a critical role in the study of biomechanics and the development of protective measures against human injury.Various testing techniques at different scales have been employed to characterize the mechanical behavior of soft tissues,which is essential for developing accurate tissue simulants and numerical models.This review comprehensively explores the mechanical properties of soft tissues,examining experimental methods,mechanical models,numerical simulations,and the progress in materials that mimic the mechanical performance of soft tissues.Finally,it reviews the damage and protection of human tissues under kinetic impacts,anticipating the future construction of soft tissue surrogate targets.The aim is to provide a systematic theoretical foundation and the latest advancements in the field,addressing the design,preparation,and quantitative modeling of biomimetic materials,thereby promoting the in-depth development of soft tissue mechanics and its applications.展开更多
Urban transportation planning involves evaluating multiple conflicting criteria such as accessibility,cost-effectiveness,and environmental impact,often under uncertainty and incomplete information.These complex decisi...Urban transportation planning involves evaluating multiple conflicting criteria such as accessibility,cost-effectiveness,and environmental impact,often under uncertainty and incomplete information.These complex decisions require input from various stakeholders,including planners,policymakers,engineers,and community representatives,whose opinions may differ or contradict.Traditional decision-making approaches struggle to effectively handle such bipolar and multivalued expert evaluations.To address these challenges,we propose a novel decisionmaking framework based on Pythagorean fuzzy N-bipolar soft expert sets.This model allows experts to express both positive and negative opinions on a multinary scale,capturing nuanced judgments with higher accuracy.It introduces algebraic operations and a structured aggregation algorithm to systematically integrate and resolve conflicting expert inputs.Applied to a real-world case study,the framework evaluated five urban transport strategies based on key criteria,producing final scores as follows:improving public transit(−0.70),optimizing traffic signal timing(1.86),enhancing pedestrian infrastructure(3.10),expanding bike lanes(0.59),and implementing congestion pricing(0.77).The results clearly identify enhancing pedestrian infrastructure as the most suitable option,having obtained the highest final score of 3.10.Comparative analysis demonstrates the framework’s superior capability in modeling expert consensus,managing uncertainty,and supporting transparent multi-criteria group decision-making.展开更多
Soft set theory has a rich potential application in several fields. A soft group is a parameterized family of subgroups and a fuzzy soft group is a parameterized family of fuzzy subgroups. The concept of fuzzy soft gr...Soft set theory has a rich potential application in several fields. A soft group is a parameterized family of subgroups and a fuzzy soft group is a parameterized family of fuzzy subgroups. The concept of fuzzy soft group is the generalization of soft group. Abdulkadir Aygunoglu and Halis Aygun introduced the notion of fuzzy soft groups in 2009[1]. In this paper, the concept of lattice ordered fuzzy soft groups and its duality has been introduced. Then distributive and modular lattice ordered fuzzy soft groups are analysed. The objective of this paper is to study the lattice theory over the collection of fuzzy soft group in a parametric manner. Some pertinent properties have been analysed and hence established duality principle.展开更多
降维对于数据的可视化和预处理具有重要意义,主成分分析作为最常用的无监督降维算法之一,在实际应用中面临着对噪声和离群点敏感的问题。为了解决这个问题,研究者们提出了多种鲁棒主成分分析算法,通过减小整体样本的重构误差来减小离群...降维对于数据的可视化和预处理具有重要意义,主成分分析作为最常用的无监督降维算法之一,在实际应用中面临着对噪声和离群点敏感的问题。为了解决这个问题,研究者们提出了多种鲁棒主成分分析算法,通过减小整体样本的重构误差来减小离群点的影响。然而,这些算法忽略了数据的固有局部结构,导致数据的本质结构信息丢失,从而影响了对噪声和离群点的准确辨识和移除,进而影响了后续算法的性能。因此,该文提出了基于Soft均值滤波的鲁棒主成分分析(Robust Principal Component Analysis Based on Soft Mean Filtering,RPCA-SMF)算法。RPCA-SMF采用Soft均值滤波的思想,通过两步走的形式,不仅在模型学习前对噪声处理,同时在模型学习后也引入了噪声处理机制。具体而言,RPCA-SMF算法首先引入了均值滤波的相关思想,通过对比样本与其局部近邻这两者和局部均值的偏差对样本进行Soft加权,从而对噪声进行判定。随后,通过第一步获取的关于噪声的“判别知识”处理噪声信息。由于均值滤波能有效保留数据的整体轮廓信息,因此对于被识别为噪声的样本,RPCA-SMF算法强调保留其低频整体轮廓信息,而非高频的噪声信息。这样能够有效地保留数据中的有用信息,提高对数据整体结构特征的保留能力,使得算法具有较强的鲁棒性和较好的泛化性。展开更多
针对人类示教轨迹样本存在的时间和空间不对齐导致难以提取运动特征的问题,首先提出了基于典型时间规整(Canonical Time Warping,CTW)算法用于多条轨迹对齐的方法,并将其引入到软-动态时间规整(soft-dynamic time warping,soft-DTW)算...针对人类示教轨迹样本存在的时间和空间不对齐导致难以提取运动特征的问题,首先提出了基于典型时间规整(Canonical Time Warping,CTW)算法用于多条轨迹对齐的方法,并将其引入到软-动态时间规整(soft-dynamic time warping,soft-DTW)算法中以提取轨迹模板,其次在CTW算法中引入了一个新的变量,以提升CTW算法在对齐多条轨迹方面的能力;最后,在实验中利用多种轨迹验证了所提出的轨迹模板提取方法,实验结果表明所提出的方法可以从人类示教轨迹中快速地提取共有的运动特征,并且对示教轨迹在时间和空间上的差异具有较好的鲁棒性.展开更多
Hypersoft set is an extension of soft set as it further partitions each attribute into its corresponding attribute-valued set.This structure is more flexible and useful as it addresses the limitation of soft set for d...Hypersoft set is an extension of soft set as it further partitions each attribute into its corresponding attribute-valued set.This structure is more flexible and useful as it addresses the limitation of soft set for dealing with the scenarios having disjoint attribute-valued sets corresponding to distinct attributes.The main purpose of this study is to make the existing literature regarding neutrosophic parameterized soft set in line with the need of multi-attribute approximate function.Firstly,we conceptualize the neutrosophic parameterized hypersoft sets under the settings of fuzzy set,intuitionistic fuzzy set and neutrosophic set along with some of their elementary properties and set theoretic operations.Secondly,we propose decision-making-based algorithms with the help of these theories.Moreover,illustrative examples are presented which depict the structural validity for successful application to the problems involving vagueness and uncertainties.Lastly,the generalization of the proposed structure is discussed.展开更多
文摘In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft, (τ1,τ2)'-semi open soft, (τ1,τ2)'-pre open soft, (τ1,τ2)'-α-open soft, (τ1,τ2)'-βopen soft) set via two soft topologies. Also we introduce (τ1,τ2)-regular open soft and ESDC on two soft topologies. The aim of this paper is to investigate properties of some mixed soft operations and characterizations of ESDC. Finally, we study τ2-ESDC soft topologies τ1.
基金supported by National Natural Science Foundation of China(No.52103044)Double First-Class Initiative University of Science and Technology of China(KY2400000037)the Young Talent Programme(GG2400007009).
文摘Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-term wearability;however,the integration of these properties remains a significant challenge.Here,we present a biomass-derived conductive elastomer featuring a rationally engineered dynamic crosslinked network integrated with a tunable microporous architecture.This structural design imparts pronounced micromechanical sensitivity,an ultralow density(~0.25 g cm^(−3)),and superior mechanical compliance for adaptive deformation.Moreover,the unique micro-spring effect derived from the porous architecture ensures exceptional stretchability(>500%elongation at break)and superior resilience,delivering immediate and stable electrical response under both subtle(<1%)and large(>200%)mechanical stimuli.Intrinsic dynamic interactions endow the elastomer with efficient room temperature self-healing and complete recyclability without compromising performance.First-principles simulations clarify the mechanisms behind micropore formation and the resulting functionality.Beyond its facile and mild fabrication process,this work establishes a scalable route toward high-performance,sustainable conductive elastomers tailored for next-generation soft electronics.
基金supported by the NSFC under Grant No.62474169the National Key Research and Development Program of China under Grant No.2024YFB3212200the funding from USTC under Grant Nos.WK2100000025,KY2190000003,and KY2190000006。
文摘Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.
基金supported by Singapore MOE Tier-2 Award MOE-T2EP50123-0015.
文摘The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.
文摘Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.
基金supported by the Korea Institute of Science and Technology(KIST)Institutional Program(Project No.2E32501-23-106)the National Research Foundation of Korea(NRF)grant funded by the Korea government(the Ministry of Science,ICT,MSIT)(RS-2022-00165524)+2 种基金the development of technologies for electroceuticals of National Research Foundation(NRF)funded by the Korean government(MSIT)(RS-2023-00220534)ICT Creative Consilience program through the Institute of Information&Communications Technology Planning&Evaluation(IITP)grant funded by the Korea government(MSIT)(IITP-2024-2020-0-01819)Start up Pioneering in Research and Innovation(SPRINT)through the Commercialization Promotion Agency for R&D Outcomes(COMPA)grant funded by the Korea government(Ministry of Science and ICT)(1711198921).
文摘Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.
文摘This paper introduces fuzzy N-bipolar soft(FN-BS)sets,a novel mathematical framework designed to enhance multi-criteria decision-making(MCDM)processes under uncertainty.The study addresses a significant limitation in existing models by unifying fuzzy logic,the consideration of bipolarity,and the ability to evaluate attributes on a multinary scale.The specific contributions of the FN-BS framework include:(1)a formal definition and settheoretic foundation,(2)the development of two innovative algorithms for solving decision-making(DM)problems,and(3)a comparative analysis demonstrating its superiority over established models.The proposed framework is applied to a real-world case study on selecting vaccination programs across multiple countries,showcasing consistent DM outcomes and exceptional adaptability to complex and uncertain scenarios.These results position FN-BS sets as a versatile and powerful tool for addressing dynamic DM challenges.
文摘近年来,综合能源系统作为一种以多种能源形态和设备相互交互的能源系统方案得到了广泛应用和研究.然而,在面对动态复杂的多能源系统时,传统的优化调度方法往往无法满足其实时性和精准度需求.因此,本文设计了一种软深度确定性策略梯度(Soft Deep Deterministic Policy Gradient,Soft-DDPG)算法驱动的综合能源系统优化调度方法,以最小化调度周期内系统总运行成本为目标,建立设备运行综合能效评估模型,再采用Soft-DDPG算法对每个能源设备的能效调度动作进行优化控制.Soft-DDPG算法将softmax算子引入到动作值函数的计算中,有效降低了Q值高估问题.与此同时,该算法在动作选择策略中加入了随机噪声,提高了算法的学习效率.实验结果显示,本文所提出的方法解决了综合能源系统能效调度实时性差、精准度低的瓶颈问题,实现了系统的高效灵活调度,降低了系统的总运行成本.
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.
文摘The concept of soft topological space was introduced by some authors. In the present paper, we investigate some basic notions of soft topological spaces by using new soft point concept. Later we give soft locally compact space and the relationships between them are discussed in detail. Finally, we define soft paracompactness and explore some of its basic properties.
基金financially supported by Guangdong Major Project of Basic and Applied Basic Research,China(No.2019B030302010)the National Natural Science Foundation of China(Nos.52071222,52301212,52101191,52192601,52192602,52192603)+1 种基金the National Key Research and Development Program of China(No.2021YFA0716302)Dongguan Key Research and Development Projects(No.20221200300062).
文摘Owing to the presence of large residual internal stress during cold compaction,it is difficult to optimize the multiple high-frequency magnetic properties of amorphous soft magnetic composites(ASMCs)simultaneously.Here,a surface nanoengineering strategy was proposed to address the above dilemma by constructing a stress buffer layer composed of amorphous nano-particles,between amorphous powder and insulation coating.The amorphous FeSiBCCr@x wt.%FeB(x=0.5,1,3)composite powders with coreshell structures were successfully prepared via an in-situ chemical reduction method.Especially,when the composite ratio of nano-particles is 1 wt.%,the comprehensive properties of the ASMC reach the best balance.Compared with the FeSiBCCr ASMC,the saturation magnetization of the modified ASMC enhances from 153 to 171 emu/g.Meanwhile,the core loss decreases by 28.25%,while the effective permeability increases by 25% and can stabilize to∼20 MHz.Therefore,our work provides a strategy for achieving superior comprehensive soft magnetic properties of ASMCs via surface nanoengineering,which presents enormous application potential in high-frequency electric devices.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
基金supported by the Liaoning Revitalization Talents Program(XLYC2203148)
文摘Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.
基金supported by the National Natural Science Foundation of China(Grant No.U2241273)the Beijing Municipal Natural Science Foundation(Grant No.Z240017)+3 种基金the 111 project(Grant No.B13003)the Fundamental Research Funds for the Central Universitiesthe China Scholarship Councilthe Academic Excellence Foundation of BUAA for PhD Students.
文摘The mechanical properties of biological soft tissues play a critical role in the study of biomechanics and the development of protective measures against human injury.Various testing techniques at different scales have been employed to characterize the mechanical behavior of soft tissues,which is essential for developing accurate tissue simulants and numerical models.This review comprehensively explores the mechanical properties of soft tissues,examining experimental methods,mechanical models,numerical simulations,and the progress in materials that mimic the mechanical performance of soft tissues.Finally,it reviews the damage and protection of human tissues under kinetic impacts,anticipating the future construction of soft tissue surrogate targets.The aim is to provide a systematic theoretical foundation and the latest advancements in the field,addressing the design,preparation,and quantitative modeling of biomimetic materials,thereby promoting the in-depth development of soft tissue mechanics and its applications.
文摘Urban transportation planning involves evaluating multiple conflicting criteria such as accessibility,cost-effectiveness,and environmental impact,often under uncertainty and incomplete information.These complex decisions require input from various stakeholders,including planners,policymakers,engineers,and community representatives,whose opinions may differ or contradict.Traditional decision-making approaches struggle to effectively handle such bipolar and multivalued expert evaluations.To address these challenges,we propose a novel decisionmaking framework based on Pythagorean fuzzy N-bipolar soft expert sets.This model allows experts to express both positive and negative opinions on a multinary scale,capturing nuanced judgments with higher accuracy.It introduces algebraic operations and a structured aggregation algorithm to systematically integrate and resolve conflicting expert inputs.Applied to a real-world case study,the framework evaluated five urban transport strategies based on key criteria,producing final scores as follows:improving public transit(−0.70),optimizing traffic signal timing(1.86),enhancing pedestrian infrastructure(3.10),expanding bike lanes(0.59),and implementing congestion pricing(0.77).The results clearly identify enhancing pedestrian infrastructure as the most suitable option,having obtained the highest final score of 3.10.Comparative analysis demonstrates the framework’s superior capability in modeling expert consensus,managing uncertainty,and supporting transparent multi-criteria group decision-making.
文摘Soft set theory has a rich potential application in several fields. A soft group is a parameterized family of subgroups and a fuzzy soft group is a parameterized family of fuzzy subgroups. The concept of fuzzy soft group is the generalization of soft group. Abdulkadir Aygunoglu and Halis Aygun introduced the notion of fuzzy soft groups in 2009[1]. In this paper, the concept of lattice ordered fuzzy soft groups and its duality has been introduced. Then distributive and modular lattice ordered fuzzy soft groups are analysed. The objective of this paper is to study the lattice theory over the collection of fuzzy soft group in a parametric manner. Some pertinent properties have been analysed and hence established duality principle.
文摘降维对于数据的可视化和预处理具有重要意义,主成分分析作为最常用的无监督降维算法之一,在实际应用中面临着对噪声和离群点敏感的问题。为了解决这个问题,研究者们提出了多种鲁棒主成分分析算法,通过减小整体样本的重构误差来减小离群点的影响。然而,这些算法忽略了数据的固有局部结构,导致数据的本质结构信息丢失,从而影响了对噪声和离群点的准确辨识和移除,进而影响了后续算法的性能。因此,该文提出了基于Soft均值滤波的鲁棒主成分分析(Robust Principal Component Analysis Based on Soft Mean Filtering,RPCA-SMF)算法。RPCA-SMF采用Soft均值滤波的思想,通过两步走的形式,不仅在模型学习前对噪声处理,同时在模型学习后也引入了噪声处理机制。具体而言,RPCA-SMF算法首先引入了均值滤波的相关思想,通过对比样本与其局部近邻这两者和局部均值的偏差对样本进行Soft加权,从而对噪声进行判定。随后,通过第一步获取的关于噪声的“判别知识”处理噪声信息。由于均值滤波能有效保留数据的整体轮廓信息,因此对于被识别为噪声的样本,RPCA-SMF算法强调保留其低频整体轮廓信息,而非高频的噪声信息。这样能够有效地保留数据中的有用信息,提高对数据整体结构特征的保留能力,使得算法具有较强的鲁棒性和较好的泛化性。
文摘针对人类示教轨迹样本存在的时间和空间不对齐导致难以提取运动特征的问题,首先提出了基于典型时间规整(Canonical Time Warping,CTW)算法用于多条轨迹对齐的方法,并将其引入到软-动态时间规整(soft-dynamic time warping,soft-DTW)算法中以提取轨迹模板,其次在CTW算法中引入了一个新的变量,以提升CTW算法在对齐多条轨迹方面的能力;最后,在实验中利用多种轨迹验证了所提出的轨迹模板提取方法,实验结果表明所提出的方法可以从人类示教轨迹中快速地提取共有的运动特征,并且对示教轨迹在时间和空间上的差异具有较好的鲁棒性.
文摘Hypersoft set is an extension of soft set as it further partitions each attribute into its corresponding attribute-valued set.This structure is more flexible and useful as it addresses the limitation of soft set for dealing with the scenarios having disjoint attribute-valued sets corresponding to distinct attributes.The main purpose of this study is to make the existing literature regarding neutrosophic parameterized soft set in line with the need of multi-attribute approximate function.Firstly,we conceptualize the neutrosophic parameterized hypersoft sets under the settings of fuzzy set,intuitionistic fuzzy set and neutrosophic set along with some of their elementary properties and set theoretic operations.Secondly,we propose decision-making-based algorithms with the help of these theories.Moreover,illustrative examples are presented which depict the structural validity for successful application to the problems involving vagueness and uncertainties.Lastly,the generalization of the proposed structure is discussed.
