Photothermoelectric(PTE)photodetectors with selfpowered and uncooled advantages have attracted much interest due to the wide application prospects in the military and civilian fields.However,traditional PTE photodetec...Photothermoelectric(PTE)photodetectors with selfpowered and uncooled advantages have attracted much interest due to the wide application prospects in the military and civilian fields.However,traditional PTE photodetectors lack of mechanical flexibility and cannot operate independently without the test instrument.Herein,we present a flexible PTE photodetector capable of dual-mode output,combining electrical and optical signal generation for enhanced functionality.Using solution processing,high-quality MXene thin films are assembled on asymmetric electrodes as the photosensitive layer.The geometrically asymmetric electrode design significantly enhances the responsivity,achieving 0.33 m A W^(-1)under infrared illumination,twice that of the symmetrical configuration.This improvement stems from optimized photothermal conversion and an expanded temperature gradient.The PTE device maintains stable performance after 300 bending cycles,demonstrating excellent flexibility.A new energy conversion pathway has been established by coupling the photothermal conversion of MXene with thermochromic composite materials,leading to a real-time visualization of invisible infrared radiation.Leveraging this functionality,we demonstrate the first human-machine collaborative infrared imaging system,wherein the dual-mode photodetector arrays synchronously generate human-readable pattern and machine-readable pattern.Our study not only provides a new solution for functional integration of flexible photodetectors,but also sets a new benchmark for human-machine collaborative optoelectronics.展开更多
We analyze existence and uniqueness of solutions for perturbations of a Jensen functional inequality in several variables.Applications in connection with asymptotic behaviors of isomorphisms,derivations and n-Jordan d...We analyze existence and uniqueness of solutions for perturbations of a Jensen functional inequality in several variables.Applications in connection with asymptotic behaviors of isomorphisms,derivations and n-Jordan derivations on Banach algebras are also provided.The results of this paper correct and improve the main results of[12,16,22,23]and improve the corresponding results in[2,9,27],but under weaker assumptions.展开更多
In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordinat...In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordination control strategy under a single objective and simple conditions is difficult to adapt to the multi-dimensional state variables’input.In this paper,we propose a deep reinforcement learning algorithm-based multi-objective parallel human-machine steering coordination strategy for path tracking considering driver misoperation and external disturbance.Firstly,the driver steering mathematical model is constructed based on the driver preview characteristics and steering delay response,and the driver characteristic parameters are fitted after collecting the actual driver driving data.Secondly,considering that the vehicle is susceptible to the influence of external disturbances during the driving process,the Tube MPC(Tube Model Predictive Control)based path tracking steering controller is designed based on the vehicle system dynamics error model.After verifying that the driver steering model meets the driver steering operation characteristics,DQN(Deep Q-network),DDPG(Deep Deterministic Policy Gradient)and TD3(Twin Delayed Deep Deterministic Policy Gradient)deep reinforcement learning algorithms are utilized to design a multi-objective parallel steering coordination strategy which satisfies the multi-dimensional state variables’input of the vehicle.Finally,the tracking accuracy,lateral safety,human-machine conflict and driver steering load evaluation index are designed in different driver operation states and different road environments,and the performance of the parallel steering coordination control strategies with different deep reinforcement learning algorithms and fuzzy algorithms are compared by simulations and hardware in the loop experiments.The results show that the parallel steering collaborative strategy based on a deep reinforcement learning algorithm can more effectively assist the driver in tracking the target path under lateral wind interference and driver misoperation,and the TD3-based coordination control strategy has better overall performance.展开更多
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
Virtual reality(VR)is an emerging communication means and creates extensive opportunities in interacting scenarios such as remote collaboration and metaverse.Human-machine interfaces(HMIs)play important roles in VR as...Virtual reality(VR)is an emerging communication means and creates extensive opportunities in interacting scenarios such as remote collaboration and metaverse.Human-machine interfaces(HMIs)play important roles in VR as they provide interaction platforms between users and virtual environments.However,traditional VR HMIs based on handheld devices or keyboards cannot recognize diverse three-dimensional(3D)gestures,which results in limited freedom of VR interactions.Here,we report a noncontact VR HMI enabled by an electret-nanofiber-based triboelectric sensor(ETS),which is fabricated by the electrospun polylactic acid/thermoplastic polyurethane(PLA/TPU)electret nanofiber film.The nanofiber structure of PLA/TPU electret enhanced the charge retention ability of triboelectric sensor and thus significantly improved its signal strength and stability.Integrated with a deep learning-based multilayer perceptron neural network,the ETS realizes the recognition of 18 different types of 3D gestures with a high average accuracy of 97.3%.An intelligent noncontact VR interactive system based on the ETS is further developed,which is used to manipulate game characters for performing different actions by 3D gestures.Compared with traditional VR HMIs,the proposed VR HMI based on PLA/TPU electret nanofiber film can detect various 3D gestures and offers a superior interaction freedom.This work for the first time introduces the triboelectric 3D gesture recognition method to the VR HMIs,and could make the interaction between human and virtual environments become more efficient and fascinating.展开更多
In this article, we prove the Hyers-Ulam-Rassias stability of the following Cauchy-Jensen functional inequality：‖f （x） ＋ f （y） ＋ 2f （z） ＋ 2f （w）‖ ≤‖ 2f x ＋ y2 ＋ z ＋ w ‖（0.1）This is applied to inv...In this article, we prove the Hyers-Ulam-Rassias stability of the following Cauchy-Jensen functional inequality：‖f （x） ＋ f （y） ＋ 2f （z） ＋ 2f （w）‖ ≤‖ 2f x ＋ y2 ＋ z ＋ w ‖（0.1）This is applied to investigate isomorphisms between C＊-algebras, Lie C＊-algebras and JC＊-algebras, and derivations on C＊-algebras, Lie C＊-algebras and JC＊-algebras, associated with the Cauchy-Jensen functional equation 2f （x ＋ y/2 ＋ z ＋ w） = f（x） ＋ f（y） ＋ 2f（z） ＋ 2f（w）.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
Most of the phosphorite deposits in the world contain isomorphism rare earths （RE） which are considerably difficult to be leached into solution in the wet phos- phoric acid process. In this work, a systematic study ...Most of the phosphorite deposits in the world contain isomorphism rare earths （RE） which are considerably difficult to be leached into solution in the wet phos- phoric acid process. In this work, a systematic study of leaching RE using sulfuric acid, phosphoric acid, mixed acid and two-step leaching of phosphoric acid and sulfuric acid was performed. The aims are to illuminate the main factors that inhibit RE leaching and to provide insights into the further enrichment of RE in the wet phosphoric acid solution. The results indicate that H2SO4 is not an effective acid for leaching isomorphism RE from phosphorite ore. The low RE leaching efficiency attributes to the RE cocrystallized and encapsulated by phosphogypsum （PG） as well as the precipitation of RE by RE sulfates or phosphates. High concentration of H3PO4 can enhance the dissolution and diffusion of RE ions. Hence, the optimized leaching mode of improving RE leaching efficiency is to adequately dissolve phosphorite ores in high concentration of H3PO4 solution and then add H2SO4 to crystallize PG. The effect of corystallization or encapsulation of PG on RE can be decreased due to the crystallizing mode of PG in the bulk solution instead of on the interface of solid reactants. RE leaching efficiency can be high up to 65% by the optimized leaching mode.展开更多
Evolutionary computation techniques have mostly been used to solve various optimization problems, and it is well known that graph isomorphism problem （GIP） is a nondeterministic polynomial problem. A simulated annea...Evolutionary computation techniques have mostly been used to solve various optimization problems, and it is well known that graph isomorphism problem （GIP） is a nondeterministic polynomial problem. A simulated annealing （SA） algorithm for detecting graph isomorphism is proposed, and the proposed SA algorithm is well suited to deal with random graphs with large size. To verify the validity of the proposed SA algorithm, simulations are performed on three pairs of small graphs and four pairs of large random graphs with edge densities 0.5, 0.1, and 0.01, respectively. The simulation results show that the proposed SA algorithm can detect graph isomorphism with a high probability.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
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
We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications.From an engineering perspective,we discuss the design constraint...We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications.From an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist users.To date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction.Some specific examples are illustrated from the authors' experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM),Italy.展开更多
If T is an isomorphism of （c0） into C（Ω） （where Ω is a sequentially compact and paracompact space, or a compact metric space in particular）, which satisfies the condition ｜｜T｜｜·｜｜T^-1｜｜ ≤ 1 ＋ε ...If T is an isomorphism of （c0） into C（Ω） （where Ω is a sequentially compact and paracompact space, or a compact metric space in particular）, which satisfies the condition ｜｜T｜｜·｜｜T^-1｜｜ ≤ 1 ＋ε for some ε ∈ （0,1/5）, then T/｜｜T｜｜ is close to an isometry with an error less than 9ε. The proof of this article is simple without using the dual space or adjoint operator.展开更多
To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory s...To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory shoulder joints,an exact kinematic constraint system can be formed between the exoskeleton and the upper arm by introducing a passive sliding pair and a center of glenohumeral(CGH)unpowered compensation mechanism,which realizes the human-machine kinematic compatibility.Gravity balance is used in the CGH compensation mechanism to provide shoulder joint support.Meanwhile,the motion of the compensation mechanism is pulled by doing reverse leading through the arm to realize the kinematic self-adaptive,which decreases control complexity.Besides,a simple and intuitive spring adjustment strategy is proposed to ensure the gravity balance of any prescribed quality.Furthermore,according to the influencing factors analysis of the scapulohumeral rhythm,the kinematic analysis of CGH mechanism is performed,which shows that the mechanism can fit the trajectory of CGH under various conditions.Finally,the dynamic simulation of the mechanism is carried out.Results indicate that the compensation torques are reduced to below 0.22 N·m,and the feasibility of the mechanism is also verified.展开更多
Basing on the papers from [1] to [4], this paper gives some further research,mainly solves the following problems:(1) It proved that several theorems of subgroup which have been raised to the hypergroup are still true...Basing on the papers from [1] to [4], this paper gives some further research,mainly solves the following problems:(1) It proved that several theorems of subgroup which have been raised to the hypergroup are still true.(2) It proved that the isomorphous relationship of the bottomgroups which guid to the hypergroup can still keep such relationship.(3) It proved that the basic isomorphous Theorem and the homogenous Theorem of the bottomgroup which raise to the hypergroup are still true.(4) It point out that when the isomorphous bottomgroups have been raised to the hypergroup,the conditions which form the isomorphism should be lessened.展开更多
This study undertakes a systematic examination of characteristics of the spatio-temporal evolution of industrial economies in Central Asia from the perspectives of industrial scale,structural rationality,industrial co...This study undertakes a systematic examination of characteristics of the spatio-temporal evolution of industrial economies in Central Asia from the perspectives of industrial scale,structural rationality,industrial competitiveness,and industrial isomorphism.The results show that industrial structures in Central Asian countries are becoming increasingly advanced,with certain differences among them in the characteristics of this evolution.Kazakhstan has long had a tertiary-secondary-primary industrial pattern,and productive services have played an increasingly prominent role in the development of its tertiary industry.The transformation of the industrial structure in Uzbekistan,from a secondary-tertiary-primary pattern at its independence from the Soviet Union to a tertiary-secondary-primary pattern,is apparent.Tajikistan's industrial structure has also changed significantly in recent times.Its secondary industries shrunk while tertiary industries developed rapidly.In Kyrgyzstan,the ratios of secondary and tertiary industries to total industrial output have fluctuated significantly while considerable progress has been made in the service sector.The industrial structure of Turkmenistan is significantly lower than the other countries,and Turkmenistan is the only country in the Central Asian region which still shows a tertiary-secondary-primary industrial pattern.The feasibility and competitiveness of the industrial structures of these five Central Asian countries have different characteristics.Kazakhstan has structural advantages but lags in competitiveness,Uzbekistan is driven by both structural and competitive advantages,Tajikistan enjoys structural advantages while Kyrgyzstan lags behind in competitiveness,and Turkmenistan has a competitiveness-driven economy.Furthermore,values of the similar coefficient index of the three industrial structures in these countries were mostly above 0.95,the coefficients of the secondary industrial subdivisions in some countries were below 0.85,and those of tertiary industrial subdivisions among most countries were above 0.89,indicating considerable similarities in industrial structure among them.These findings are important in the context of establishing an effective industrial development strategy for the Silk Road Economic Belt,improving international cooperation,and upgrading industrial structures to achieve economic prosperity.展开更多
In this paper we study the isomorphisms of two ＊-bisimple type A ω2-semigroups such that D^＊ = ^~D） and obtain a criterion for isomorphisms of two such semigroups.
The adjacent matrix method for identifying isomorphism to planar kinematic chain with multiple joints and higher pairs is presented. The topological invariants of the planar kinematic chain can be calculated and compa...The adjacent matrix method for identifying isomorphism to planar kinematic chain with multiple joints and higher pairs is presented. The topological invariants of the planar kinematic chain can be calculated and compared by adjacent matrix. The quantity of calculation can be reduced effectively using the several divisions of bars and the reconfiguration of the adjacent matrix. As two structural characteristics of adjacent matrix, the number of division and division code are presented. It can be identified that two kinematic chains are isomorphic or not by comparing the structural characteristics of their adjacent matrixes using a method called matching row-to-row. This method may be applied to the planar linkage chain too. So, the methods of identifying isomorphism are unified in the planar kinematic chain that has or hasn＇t higher pairs with or without multiple joints. And it has some characters such as visual, simple and convenient for processing by computer, and so on.展开更多
A novel framework for parallel subgraph isomorphism on GPUs is proposed, named GPUSI, which consists of GPU region exploration and GPU subgraph matching. The GPUSI iteratively enumerates subgraph instances and solves ...A novel framework for parallel subgraph isomorphism on GPUs is proposed, named GPUSI, which consists of GPU region exploration and GPU subgraph matching. The GPUSI iteratively enumerates subgraph instances and solves the subgraph isomorphism in a divide-and-conquer fashion. The framework completely relies on the graph traversal, and avoids the explicit join operation. Moreover, in order to improve its performance, a task-queue based method and the virtual-CSR graph structure are used to balance the workload among warps, and warp-centric programming model is used to balance the workload among threads in a warp. The prototype of GPUSI is implemented, and comprehensive experiments of various graph isomorphism operations are carried on diverse large graphs. The experiments clearly demonstrate that GPUSI has good scalability and can achieve speed-up of 1.4–2.6 compared to the state-of-the-art solutions.展开更多
Isomorphism detection is fundamental to the synthesis and innovative design of kinematic chains(KCs).The detection can be performed accurately by using the similarity of KCs.However,there are very few works on isomorp...Isomorphism detection is fundamental to the synthesis and innovative design of kinematic chains(KCs).The detection can be performed accurately by using the similarity of KCs.However,there are very few works on isomorphism detection based on the properties of similar vertices.In this paper,an ameliorated multi-order adjacent vertex assignment sequence(AMAVS)method is proposed to seek out similar vertices and identify the isomorphism of the planar KCs.First,the specific definition of AMAVS is described.Through the calculation of the AMAVS,the adjacent vertex value sequence reflecting the uniqueness of the topology features is established.Based on the value sequence,all possible similar vertices,corresponding relations,and isomorphism discrimination can be realized.By checking the topological graph of KCs with a different number of links,the effectiveness and efficiency of the proposed method are verified.Finally,the method is employed to implement the similar vertices and isomorphism detection of all the 9-link 2-D0F(degree of freedom)planar KCs.展开更多
基金supported by the Fundamental Research Funds for the Central Universities(xxj022019009)。
文摘Photothermoelectric(PTE)photodetectors with selfpowered and uncooled advantages have attracted much interest due to the wide application prospects in the military and civilian fields.However,traditional PTE photodetectors lack of mechanical flexibility and cannot operate independently without the test instrument.Herein,we present a flexible PTE photodetector capable of dual-mode output,combining electrical and optical signal generation for enhanced functionality.Using solution processing,high-quality MXene thin films are assembled on asymmetric electrodes as the photosensitive layer.The geometrically asymmetric electrode design significantly enhances the responsivity,achieving 0.33 m A W^(-1)under infrared illumination,twice that of the symmetrical configuration.This improvement stems from optimized photothermal conversion and an expanded temperature gradient.The PTE device maintains stable performance after 300 bending cycles,demonstrating excellent flexibility.A new energy conversion pathway has been established by coupling the photothermal conversion of MXene with thermochromic composite materials,leading to a real-time visualization of invisible infrared radiation.Leveraging this functionality,we demonstrate the first human-machine collaborative infrared imaging system,wherein the dual-mode photodetector arrays synchronously generate human-readable pattern and machine-readable pattern.Our study not only provides a new solution for functional integration of flexible photodetectors,but also sets a new benchmark for human-machine collaborative optoelectronics.
文摘We analyze existence and uniqueness of solutions for perturbations of a Jensen functional inequality in several variables.Applications in connection with asymptotic behaviors of isomorphisms,derivations and n-Jordan derivations on Banach algebras are also provided.The results of this paper correct and improve the main results of[12,16,22,23]and improve the corresponding results in[2,9,27],but under weaker assumptions.
基金Supported by National Natural Science Foundation of China(Grant Nos.U22A20246,52372382)Hefei Municipal Natural Science Foundation(Grant No.2022008)+1 种基金the Open Fund of State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures(Grant No.KF2023-06)S&T Program of Hebei(Grant No.225676162GH).
文摘In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordination control strategy under a single objective and simple conditions is difficult to adapt to the multi-dimensional state variables’input.In this paper,we propose a deep reinforcement learning algorithm-based multi-objective parallel human-machine steering coordination strategy for path tracking considering driver misoperation and external disturbance.Firstly,the driver steering mathematical model is constructed based on the driver preview characteristics and steering delay response,and the driver characteristic parameters are fitted after collecting the actual driver driving data.Secondly,considering that the vehicle is susceptible to the influence of external disturbances during the driving process,the Tube MPC(Tube Model Predictive Control)based path tracking steering controller is designed based on the vehicle system dynamics error model.After verifying that the driver steering model meets the driver steering operation characteristics,DQN(Deep Q-network),DDPG(Deep Deterministic Policy Gradient)and TD3(Twin Delayed Deep Deterministic Policy Gradient)deep reinforcement learning algorithms are utilized to design a multi-objective parallel steering coordination strategy which satisfies the multi-dimensional state variables’input of the vehicle.Finally,the tracking accuracy,lateral safety,human-machine conflict and driver steering load evaluation index are designed in different driver operation states and different road environments,and the performance of the parallel steering coordination control strategies with different deep reinforcement learning algorithms and fuzzy algorithms are compared by simulations and hardware in the loop experiments.The results show that the parallel steering collaborative strategy based on a deep reinforcement learning algorithm can more effectively assist the driver in tracking the target path under lateral wind interference and driver misoperation,and the TD3-based coordination control strategy has better overall performance.
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 by the National Natural Science Foundation of China(No.52303112)the Henan Province Science and Technology Research and Development Program Joint Fund Advantageous Discipline Cultivation Project(No.232301420033)+1 种基金the China Postdoctoral Science Foundation(Nos.2022TQ0281 and 2023M733213)the Key R&D and Promotion Special(Scientific Problem Tackling)Project of Henan Province(No.242102231014).
文摘Virtual reality(VR)is an emerging communication means and creates extensive opportunities in interacting scenarios such as remote collaboration and metaverse.Human-machine interfaces(HMIs)play important roles in VR as they provide interaction platforms between users and virtual environments.However,traditional VR HMIs based on handheld devices or keyboards cannot recognize diverse three-dimensional(3D)gestures,which results in limited freedom of VR interactions.Here,we report a noncontact VR HMI enabled by an electret-nanofiber-based triboelectric sensor(ETS),which is fabricated by the electrospun polylactic acid/thermoplastic polyurethane(PLA/TPU)electret nanofiber film.The nanofiber structure of PLA/TPU electret enhanced the charge retention ability of triboelectric sensor and thus significantly improved its signal strength and stability.Integrated with a deep learning-based multilayer perceptron neural network,the ETS realizes the recognition of 18 different types of 3D gestures with a high average accuracy of 97.3%.An intelligent noncontact VR interactive system based on the ETS is further developed,which is used to manipulate game characters for performing different actions by 3D gestures.Compared with traditional VR HMIs,the proposed VR HMI based on PLA/TPU electret nanofiber film can detect various 3D gestures and offers a superior interaction freedom.This work for the first time introduces the triboelectric 3D gesture recognition method to the VR HMIs,and could make the interaction between human and virtual environments become more efficient and fascinating.
基金supported by the Daejin University grants in 2010
文摘In this article, we prove the Hyers-Ulam-Rassias stability of the following Cauchy-Jensen functional inequality：‖f （x） ＋ f （y） ＋ 2f （z） ＋ 2f （w）‖ ≤‖ 2f x ＋ y2 ＋ z ＋ w ‖（0.1）This is applied to investigate isomorphisms between C＊-algebras, Lie C＊-algebras and JC＊-algebras, and derivations on C＊-algebras, Lie C＊-algebras and JC＊-algebras, associated with the Cauchy-Jensen functional equation 2f （x ＋ y/2 ＋ z ＋ w） = f（x） ＋ f（y） ＋ 2f（z） ＋ 2f（w）.
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 National Natural Science Foundation of China (Nos. 51364005, 51564003 and 51574094)
文摘Most of the phosphorite deposits in the world contain isomorphism rare earths （RE） which are considerably difficult to be leached into solution in the wet phos- phoric acid process. In this work, a systematic study of leaching RE using sulfuric acid, phosphoric acid, mixed acid and two-step leaching of phosphoric acid and sulfuric acid was performed. The aims are to illuminate the main factors that inhibit RE leaching and to provide insights into the further enrichment of RE in the wet phosphoric acid solution. The results indicate that H2SO4 is not an effective acid for leaching isomorphism RE from phosphorite ore. The low RE leaching efficiency attributes to the RE cocrystallized and encapsulated by phosphogypsum （PG） as well as the precipitation of RE by RE sulfates or phosphates. High concentration of H3PO4 can enhance the dissolution and diffusion of RE ions. Hence, the optimized leaching mode of improving RE leaching efficiency is to adequately dissolve phosphorite ores in high concentration of H3PO4 solution and then add H2SO4 to crystallize PG. The effect of corystallization or encapsulation of PG on RE can be decreased due to the crystallizing mode of PG in the bulk solution instead of on the interface of solid reactants. RE leaching efficiency can be high up to 65% by the optimized leaching mode.
基金the National Natural Science Foundation of China (60373089, 60674106, and 60533010)the National High Technology Research and Development "863" Program (2006AA01Z104)
文摘Evolutionary computation techniques have mostly been used to solve various optimization problems, and it is well known that graph isomorphism problem （GIP） is a nondeterministic polynomial problem. A simulated annealing （SA） algorithm for detecting graph isomorphism is proposed, and the proposed SA algorithm is well suited to deal with random graphs with large size. To verify the validity of the proposed SA algorithm, simulations are performed on three pairs of small graphs and four pairs of large random graphs with edge densities 0.5, 0.1, and 0.01, respectively. The simulation results show that the proposed SA algorithm can detect graph isomorphism with a high probability.
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.
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.
基金supported by the research project RORAS 2 of the Mediterranean Program funded by INRIA,France
文摘We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications.From an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist users.To date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction.Some specific examples are illustrated from the authors' experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM),Italy.
基金National Natural Science Foundation of China(10571090)the Research Fund for the Doctoral Program of Higher Education(20060055010)
文摘If T is an isomorphism of （c0） into C（Ω） （where Ω is a sequentially compact and paracompact space, or a compact metric space in particular）, which satisfies the condition ｜｜T｜｜·｜｜T^-1｜｜ ≤ 1 ＋ε for some ε ∈ （0,1/5）, then T/｜｜T｜｜ is close to an isometry with an error less than 9ε. The proof of this article is simple without using the dual space or adjoint operator.
基金The National Natural Science Foundation of China(No.51675098)。
文摘To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory shoulder joints,an exact kinematic constraint system can be formed between the exoskeleton and the upper arm by introducing a passive sliding pair and a center of glenohumeral(CGH)unpowered compensation mechanism,which realizes the human-machine kinematic compatibility.Gravity balance is used in the CGH compensation mechanism to provide shoulder joint support.Meanwhile,the motion of the compensation mechanism is pulled by doing reverse leading through the arm to realize the kinematic self-adaptive,which decreases control complexity.Besides,a simple and intuitive spring adjustment strategy is proposed to ensure the gravity balance of any prescribed quality.Furthermore,according to the influencing factors analysis of the scapulohumeral rhythm,the kinematic analysis of CGH mechanism is performed,which shows that the mechanism can fit the trajectory of CGH under various conditions.Finally,the dynamic simulation of the mechanism is carried out.Results indicate that the compensation torques are reduced to below 0.22 N·m,and the feasibility of the mechanism is also verified.
文摘Basing on the papers from [1] to [4], this paper gives some further research,mainly solves the following problems:(1) It proved that several theorems of subgroup which have been raised to the hypergroup are still true.(2) It proved that the isomorphous relationship of the bottomgroups which guid to the hypergroup can still keep such relationship.(3) It proved that the basic isomorphous Theorem and the homogenous Theorem of the bottomgroup which raise to the hypergroup are still true.(4) It point out that when the isomorphous bottomgroups have been raised to the hypergroup,the conditions which form the isomorphism should be lessened.
基金The Strategic Priority Research Program of the CAS,No.XDA20040400National Natural Science Foundation of China,No.41801114。
文摘This study undertakes a systematic examination of characteristics of the spatio-temporal evolution of industrial economies in Central Asia from the perspectives of industrial scale,structural rationality,industrial competitiveness,and industrial isomorphism.The results show that industrial structures in Central Asian countries are becoming increasingly advanced,with certain differences among them in the characteristics of this evolution.Kazakhstan has long had a tertiary-secondary-primary industrial pattern,and productive services have played an increasingly prominent role in the development of its tertiary industry.The transformation of the industrial structure in Uzbekistan,from a secondary-tertiary-primary pattern at its independence from the Soviet Union to a tertiary-secondary-primary pattern,is apparent.Tajikistan's industrial structure has also changed significantly in recent times.Its secondary industries shrunk while tertiary industries developed rapidly.In Kyrgyzstan,the ratios of secondary and tertiary industries to total industrial output have fluctuated significantly while considerable progress has been made in the service sector.The industrial structure of Turkmenistan is significantly lower than the other countries,and Turkmenistan is the only country in the Central Asian region which still shows a tertiary-secondary-primary industrial pattern.The feasibility and competitiveness of the industrial structures of these five Central Asian countries have different characteristics.Kazakhstan has structural advantages but lags in competitiveness,Uzbekistan is driven by both structural and competitive advantages,Tajikistan enjoys structural advantages while Kyrgyzstan lags behind in competitiveness,and Turkmenistan has a competitiveness-driven economy.Furthermore,values of the similar coefficient index of the three industrial structures in these countries were mostly above 0.95,the coefficients of the secondary industrial subdivisions in some countries were below 0.85,and those of tertiary industrial subdivisions among most countries were above 0.89,indicating considerable similarities in industrial structure among them.These findings are important in the context of establishing an effective industrial development strategy for the Silk Road Economic Belt,improving international cooperation,and upgrading industrial structures to achieve economic prosperity.
基金Supported by the National Natural Science Foundation of China(Grant No.10901134)the Science Foundation of the Department of Education of Yunnan Province(Grant No.2011Y478)
文摘In this paper we study the isomorphisms of two ＊-bisimple type A ω2-semigroups such that D^＊ = ^~D） and obtain a criterion for isomorphisms of two such semigroups.
文摘The adjacent matrix method for identifying isomorphism to planar kinematic chain with multiple joints and higher pairs is presented. The topological invariants of the planar kinematic chain can be calculated and compared by adjacent matrix. The quantity of calculation can be reduced effectively using the several divisions of bars and the reconfiguration of the adjacent matrix. As two structural characteristics of adjacent matrix, the number of division and division code are presented. It can be identified that two kinematic chains are isomorphic or not by comparing the structural characteristics of their adjacent matrixes using a method called matching row-to-row. This method may be applied to the planar linkage chain too. So, the methods of identifying isomorphism are unified in the planar kinematic chain that has or hasn＇t higher pairs with or without multiple joints. And it has some characters such as visual, simple and convenient for processing by computer, and so on.
基金Projects(61272142,61103082,61003075,61170261,61103193)supported by the National Natural Science Foundation of ChinaProject supported by Funds for New Century Excellent Talents in University of ChinaProjects(2012AA01A301,2012AA010901)supported by the National High Technology Research and Development Program of China
文摘A novel framework for parallel subgraph isomorphism on GPUs is proposed, named GPUSI, which consists of GPU region exploration and GPU subgraph matching. The GPUSI iteratively enumerates subgraph instances and solves the subgraph isomorphism in a divide-and-conquer fashion. The framework completely relies on the graph traversal, and avoids the explicit join operation. Moreover, in order to improve its performance, a task-queue based method and the virtual-CSR graph structure are used to balance the workload among warps, and warp-centric programming model is used to balance the workload among threads in a warp. The prototype of GPUSI is implemented, and comprehensive experiments of various graph isomorphism operations are carried on diverse large graphs. The experiments clearly demonstrate that GPUSI has good scalability and can achieve speed-up of 1.4–2.6 compared to the state-of-the-art solutions.
基金Supported by National Natural Science Foundation of China(Grant Nos.51675488,51975534)Zhejiang Provincial Natural Science Foundation of China(Grant No.LY19E050021)。
文摘Isomorphism detection is fundamental to the synthesis and innovative design of kinematic chains(KCs).The detection can be performed accurately by using the similarity of KCs.However,there are very few works on isomorphism detection based on the properties of similar vertices.In this paper,an ameliorated multi-order adjacent vertex assignment sequence(AMAVS)method is proposed to seek out similar vertices and identify the isomorphism of the planar KCs.First,the specific definition of AMAVS is described.Through the calculation of the AMAVS,the adjacent vertex value sequence reflecting the uniqueness of the topology features is established.Based on the value sequence,all possible similar vertices,corresponding relations,and isomorphism discrimination can be realized.By checking the topological graph of KCs with a different number of links,the effectiveness and efficiency of the proposed method are verified.Finally,the method is employed to implement the similar vertices and isomorphism detection of all the 9-link 2-D0F(degree of freedom)planar KCs.
