Objectives:College students face increasing mental health challenges.Although Acceptance and CommitmentTherapy(ACT)is effective,the efficacy of Internet-based ACT(iACT)needs further exploration.Methods:This study exam...Objectives:College students face increasing mental health challenges.Although Acceptance and CommitmentTherapy(ACT)is effective,the efficacy of Internet-based ACT(iACT)needs further exploration.Methods:This study examines the efficacy of iACT on college students’mental health through a randomized controlled trial.We recruited 90 college students(19.16±1.02 years old)and randomly divided them into the iACT group,face-to-face ACT group,and control group.The effects of the interventions were evaluated using the comprehensive assessment of ACT processes(CompACT)and the Depression Anxiety Stress Scales(DASS-21).Results:Two-factor repeated measures ANOVA revealed a significant time main effect of iACT.Face-to-face ACT and iACT effectively improved college students’psychological flexibility[F(2,83)=18.78,p<0.001,η^(2)=0.18]and alleviated their negative emotions[F(2,82)=41.17,p<0.001,η^(2)=0.36].Face-to-face ACT exhibited sustained effects on improving participants’psychological flexibility and alleviating their negative emotions(p<0.001),while iACT showed no sustained effect on improving participants’psychological flexibility(p>0.05).Conclusion:While iACT and face-to-face ACT are effective shortterm interventions,face-to-face ACT demonstrates superior sustainability.Integrating guided sessions into iACT may enhance long-term outcomes.These findings advocate for blended interventions to address college students’mental health needs,particularly in resource-limited settings.展开更多
Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization commun...Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization communication driven method is proposed to overcome the negative effects induced by time delay. This method is a non-time based method and it can get rid of the effects of time in the control loop of telerobotics. Stability, transparency and synchronization can be maintained in it by event-driven method. Multimodal enhanced telerobotics is put forward with its feedback including force, video, audio and temperature etc. The use of multimodal feedback improves the efficiency and safety of the whole system. Synchronization in multimodal feedback is hard to ensure and event-driven method is also good for it. Experiments on an Internet-based shaft-hole assemblage system show good results by using event synchronization communication driven method and UDP protocol.展开更多
Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion...Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.展开更多
An Internet-based teleoperation platform for Mobile Robot is introduced in this paper. The hardware of the system mainly consists of a mobile robot. Its software employs client-server architecture for robot control an...An Internet-based teleoperation platform for Mobile Robot is introduced in this paper. The hardware of the system mainly consists of a mobile robot. Its software employs client-server architecture for robot control and feedback information display. Different communication protocols are adopted according to the characteristics of message exchanged between the robot server and the client. The user interface is designed for the purpose of interaction. The great benefit of this client-server architecture is that the client software is insulated from the lowest level details of the mobile robot. Thus, it is very easy to implement and test new advanced teleoperation control algorithms, interface designs and applications on this platform without large programming work.展开更多
Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function....Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.展开更多
Wing design is a critical factor in the aerodynamic performance of flapping-wing(FW)robots.Inspired by the natural wing structures of insects,bats,and birds,we explored how bio-mimetic wing vein morphologies,combined ...Wing design is a critical factor in the aerodynamic performance of flapping-wing(FW)robots.Inspired by the natural wing structures of insects,bats,and birds,we explored how bio-mimetic wing vein morphologies,combined with a bio-inspired double wing clap-and-fling mechanism,affect thrust generation.This study focused on increasing vertical force and payload capacity.Through systematic experimentation with various vein configurations and structural designs,we developed innovative wings optimized for thrust production.Comprehensive tests were conducted to measure aerodynamic forces,power consumption,and wing kinematics across a range of flapping frequencies.Additionally,wings with different aspect ratios,a key factor in wing design,were fabricated and extensively evaluated.The study also examined the role of bio-inspired vein layouts on wing flexibility,a critical component in improving flight efficiency.Our findings demonstrate that the newly developed wing design led to a 20%increase in thrust,achieving up to 30 g-force(gf).This research sheds light on the clap-and-fling effect and establishes a promising framework for bio-inspired wing design,offering significant improvements in both performance and payload capacity for FW robots.展开更多
Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challeng...Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challenge due to factors such as light scattering,absorption,restricted visibility,and ambient noise.The advancement of deep learning has introduced powerful techniques for processing large amounts of unstructured and imperfect data collected from underwater environments.This study evaluated the efficacy of the You Only Look Once(YOLO)algorithm,a real-time object detection and localization model based on convolutional neural networks,in identifying and classifying various types of pipeline defects in underwater settings.YOLOv8,the latest evolution in the YOLO family,integrates advanced capabilities,such as anchor-free detection,a cross-stage partial network backbone for efficient feature extraction,and a feature pyramid network+path aggregation network neck for robust multi-scale object detection,which make it particularly well-suited for complex underwater environments.Due to the lack of suitable open-access datasets for underwater pipeline defects,a custom dataset was captured using a remotely operated vehicle in a controlled environment.This application has the following assets available for use.Extensive experimentation demonstrated that YOLOv8 X-Large consistently outperformed other models in terms of pipe defect detection and classification and achieved a strong balance between precision and recall in identifying pipeline cracks,rust,corners,defective welds,flanges,tapes,and holes.This research establishes the baseline performance of YOLOv8 for underwater defect detection and showcases its potential to enhance the reliability and efficiency of pipeline inspection tasks in challenging underwater environments.展开更多
Strategically coupling nanoparticle hybrids and internal thermosensitive molecular switches establishes an innovative paradigm for constructing micro/nanoscale-reconfigurable robots,facilitating energyefficient CO_(2)...Strategically coupling nanoparticle hybrids and internal thermosensitive molecular switches establishes an innovative paradigm for constructing micro/nanoscale-reconfigurable robots,facilitating energyefficient CO_(2) management in life-support systems of confined space.Here,a micro/nano-reconfigurable robot is constructed from the CO_(2) molecular hunters,temperature-sensitive molecular switch,solar photothermal conversion,and magnetically-driven function engines.The molecular hunters within the molecular extension state can capture 6.19 mmol g^(−1) of CO_(2) to form carbamic acid and ammonium bicarbonate.Interestingly,the molecular switch of the robot activates a molecular curling state that facilitates CO_(2) release through nano-reconfiguration,which is mediated by the temperature-sensitive curling of Pluronic F127 molecular chains during the photothermal desorption.Nano-reconfiguration of robot alters the amino microenvironment,including increasing surface electrostatic potential of the amino group and decreasing overall lowest unoccupied molecular orbital energy level.This weakened the nucleophilic attack ability of the amino group toward the adsorption product derivatives,thereby inhibiting the side reactions that generate hard-to-decompose urea structures,achieving the lowest regeneration temperature of 55℃ reported to date.The engine of the robot possesses non-contact magnetically-driven micro-reconfiguration capability to achieve efficient photothermal regeneration while avoiding local overheating.Notably,the robot successfully prolonged the survival time of mice in the sealed container by up to 54.61%,effectively addressing the issue of carbon suffocation in confined spaces.This work significantly enhances life-support systems for deep-space exploration,while stimulating innovations in sustainable carbon management technologies for terrestrial extreme environments.展开更多
At present,energy consumption is one of the main bottlenecks in autonomous mobile robot development.To address the challenge of high energy consumption in path planning for autonomous mobile robots navigating unknown ...At present,energy consumption is one of the main bottlenecks in autonomous mobile robot development.To address the challenge of high energy consumption in path planning for autonomous mobile robots navigating unknown and complex environments,this paper proposes an Attention-Enhanced Dueling Deep Q-Network(ADDueling DQN),which integrates a multi-head attention mechanism and a prioritized experience replay strategy into a Dueling-DQN reinforcement learning framework.A multi-objective reward function,centered on energy efficiency,is designed to comprehensively consider path length,terrain slope,motion smoothness,and obstacle avoidance,enabling optimal low-energy trajectory generation in 3D space from the source.The incorporation of a multihead attention mechanism allows the model to dynamically focus on energy-critical state features—such as slope gradients and obstacle density—thereby significantly improving its ability to recognize and avoid energy-intensive paths.Additionally,the prioritized experience replay mechanism accelerates learning from key decision-making experiences,suppressing inefficient exploration and guiding the policy toward low-energy solutions more rapidly.The effectiveness of the proposed path planning algorithm is validated through simulation experiments conducted in multiple off-road scenarios.Results demonstrate that AD-Dueling DQN consistently achieves the lowest average energy consumption across all tested environments.Moreover,the proposed method exhibits faster convergence and greater training stability compared to baseline algorithms,highlighting its global optimization capability under energy-aware objectives in complex terrains.This study offers an efficient and scalable intelligent control strategy for the development of energy-conscious autonomous navigation systems.展开更多
Background:The easy accessibility,increasing usage,and low cost of internet make it a desirable way of providing health information and delivering interventions for health consumers.Studies in other countries have ver...Background:The easy accessibility,increasing usage,and low cost of internet make it a desirable way of providing health information and delivering interventions for health consumers.Studies in other countries have verified and confirmed the effectiveness of internet-based interventions among people with mental health problems.Similar programs have yet to commence in China.Purpose:This study investigated the willingness for,and attitude toward internet-based intervention in Chinese mental health service users and explored the feasibility of such an intervention.Methods:A cross-sectional survey utilizing a self-developed questionnaire was administered to 186 mental health service users in Beijing,between April and May 2011.Results:Most participants held a positive attitude toward online information and expressed interest in getting assistance from the internet.Some advice and suggestions were provided such as more ways of getting assistance,setting up more professional websites,increasing interaction,as well as having government funding and guidance.Conclusion:Internet-based programs are feasible and applicable,and worth implementing with Chinese people with mental illness.展开更多
Manufacture is facing more furiously competition in the new century. It tends to be globalized. Rapid response and technology innovation have become the key factor to the success of manufacture enterprise. At present,...Manufacture is facing more furiously competition in the new century. It tends to be globalized. Rapid response and technology innovation have become the key factor to the success of manufacture enterprise. At present, internet-based manufacturing develops rapidly. With the development of engineering material and machining techniques, better cutting properties of metal cutting tools are required. The world is paying more attention to the study of indexable carbide inserts with three-dimensional complex grooves which can affect cutting properties directly and chip-controlling. So the variety and specification of indexable insert develop quickly and the application of insert with three-dimensional complex chip-former becomes wider and wider. Because milling is an interrupted cutting, the process of milling is complicated and the failure of the milling inserts is severe. It is important to choose suitable milling inserts groove for particular machining conditions before actual machining, it will extend tool life and raise productivity. Optimization and choice of inserts with complex groove via internet may serve for manufacture enterprises all over the world. The milling inserts with three-dimensional complex grooves are optimized and chosen via Internet in this paper. The face-milling process is studied, with the mathematics models of cutting force for different shape of cutting edges established, the cutting forces predicted and stress-fields of different insert grooves analyzed by FEM, according to the predictable results and the most suitable insert groove for particular machining conditions are optimized and chosen. The complex groove optimization and choice are based on a client/server model, with the client and server being on different machines across the internet. Communication between the client and server uses the TCP/IP. The result of optimization and choice will be sent to the users via Internet. Manufacturers all over the world can get the desired insert groove without paying for expensive experiments. Thus, the cost and lead time of products are reduced.展开更多
There is a documented and often unmet need for interventions aimed at supporting young people with attention-deficit/hyperactivity disorder (ADHD) and/or autism spectrum disorder (ASD) in their transition between adol...There is a documented and often unmet need for interventions aimed at supporting young people with attention-deficit/hyperactivity disorder (ADHD) and/or autism spectrum disorder (ASD) in their transition between adolescence and adulthood. Difficulties with social interaction, initiation difficulties, and impairments in executive function can complicate visits at a clinic, i.e. traditional treatment, for individuals with neuropsychiatric disorders (NPD). A model for internet-based support and coaching aimed at young people with ASD and/or ADHD was developed and tested at three treatment sites in western Sweden. The implementation was analyzed against an inventory according to which implementations are more likely to be successful if an intervention: 1) has advantages compared to other existing methods, 2) matches the individual and organizational values, norms and work practices of its recipients, 3) is perceived as easy to use, and 4) is adaptable to local conditions and the recipients’ needs. Data were collected through group interviews with professionals involved in the implementation of the intervention. The implementation of the intervention showed promising results on measures such as access, delivery/quality of healthcare services, and equality of distribution of healthcare services. The identified impediments to successful implementation related to a wide range of factors and levels, including the design of the intervention, technical issues, attitudes of staff, organizational culture, and organizational structure at the implementation sites in terms of patient stock, work division, and resource allocation. The results are consistent with previous studies that stress the need for multi-component implementation strategies.展开更多
Objectives:This study reviewed published randomized controlled trials(RCTs)and evaluated the efficacy of internet-based acceptance and commitment therapy(IACT)on adolescent mental health.Methods:Searches were conducte...Objectives:This study reviewed published randomized controlled trials(RCTs)and evaluated the efficacy of internet-based acceptance and commitment therapy(IACT)on adolescent mental health.Methods:Searches were conducted in PubMed,ProQuest,APA(PsycNET/PsycINFO),and Web of Science from inception to Jan-uary 2022 to identify RCTs evaluating the effects of IACT on adolescents.The included studies were assessed for quality and risk of bias.This study was performed using the standard mean difference and associated 95%confidence interval of effective measures.Review Manager 5.4 software was adopted to calculate the effect size.Results:Compared to adolescents in control groups,those in the IACT groups showed some improvement in the efficacy of depression symptoms(SMD=−0.24,95%CI=[−0.44,−0.05],p=0.01)and had a small but sig-nificant effect on reducing experiential avoidance(SMD=−0.24,95%CI=[−0.46,−0.01],p=0.04).However,the effect size on anxiety did not reach the threshold(SMD=−0.18,95%CI=[−0.27,−0.09],p<0.0001).In addition,there were no significant differences in stress and well-being compared to those of the control group.Compared with universal adolescents,IACT was found to have a more significant therapeutic effect on targeted adolescents.Conclusions:IACT is effective in adolescent mental health interventions,but its clinical reliability and significant efficacy are limited,and more rigorous RCTs are needed in future studies.展开更多
With the development of internet technology, customers play more and more important roles in new product development. The paper defines customer knowledge; then analyses the modes of customer knowledge transferring ba...With the development of internet technology, customers play more and more important roles in new product development. The paper defines customer knowledge; then analyses the modes of customer knowledge transferring based on SECI model and information emission model. Finally customer knowledge transferring mechanism is discussed.展开更多
Two significant issues in Internet-based networked control systems （ INCSs）, transport performance of different protocols and security breach from Internet side, are investigated. First, for improving the performanc...Two significant issues in Internet-based networked control systems （ INCSs）, transport performance of different protocols and security breach from Internet side, are investigated. First, for improving the performance of data transmission, user datagram protocol （UDP） is adopted as the main stand for controllers and plants using INCSs. Second, a dual-channel secure transmission scheme （DCSTS）based on data transmission characteristics of INCSs is proposed, in which a raw UDP channel and a secure TCP （transmission control protocol） connection making use of SSL/TLS （secure sockets layer/transport layer security） are included. Further, a networked control protocol （NCP） at application layer for supporting DCSTS between the controllers and plants in INCSs is designed, and it also aims at providing a universal communication mechanism for interoperability of devices among the networked control laboratories in Beijing Institute of Technology of China, Central South University of China and Tokyo University of Technology of Japan. By means of a networked single-degree-of-free- dom robot arm, an INCS under the new protocol and security environment is created. Compared with systems such as IPSec or SSL/TLS, which may cause more than 91% network throughput deduction, the new DCSTS protocol may yield results ten times better, being just 5.67%.展开更多
Internet-based teleoperation employs robots and internet a two breakthrough technologies to manipulate robots from distance for different applications. Variable and unknown time delay dynamics of internet is the main ...Internet-based teleoperation employs robots and internet a two breakthrough technologies to manipulate robots from distance for different applications. Variable and unknown time delay dynamics of internet is the main obstacle for realtime teleoperation via internet. In this paper the internet delay dynamics and its characteristics have been studied based on the measurement in different nodes. Then a black-box model for end-to-end internet delay dynamics has been developed using system identification and Auto-Regressive eXogeneous (ARX) model. Our experimental studies show a regular periodic behaviour in long-term intervals of internet delay variation and also confirm the accuracy and reliability of our theoretical and modelling derivations. This paper also introduces a novel multivariable control method for real-time telerobotic operations via Internet. Random communications delay of the Internet can cause instability in realtime closed-loop telerobotic systems. When a single identification model is used, it will have to adapt itself to the operating condition before an appropriate control mechanism can be applied. Slow adaptation may result in a large transient error. As an alternative, we propose to use a Multiple Model framework. The control strategy is to determine the best model for the current operating condition and activate the corresponding controller. We propose the use of Multi-Model Adaptive Control Theory and Multivariable Wave prediction method to capture the concurrency and complexity of Internet-based teleoperation. The results confirm the efficiency of the proposed technique in dealing with constant and variable delay dynamics of internet.展开更多
基金funded by the Education and Teaching Reform Research Major Project of Anhui Province(2022xqhz023)(2023sx170).
文摘Objectives:College students face increasing mental health challenges.Although Acceptance and CommitmentTherapy(ACT)is effective,the efficacy of Internet-based ACT(iACT)needs further exploration.Methods:This study examines the efficacy of iACT on college students’mental health through a randomized controlled trial.We recruited 90 college students(19.16±1.02 years old)and randomly divided them into the iACT group,face-to-face ACT group,and control group.The effects of the interventions were evaluated using the comprehensive assessment of ACT processes(CompACT)and the Depression Anxiety Stress Scales(DASS-21).Results:Two-factor repeated measures ANOVA revealed a significant time main effect of iACT.Face-to-face ACT and iACT effectively improved college students’psychological flexibility[F(2,83)=18.78,p<0.001,η^(2)=0.18]and alleviated their negative emotions[F(2,82)=41.17,p<0.001,η^(2)=0.36].Face-to-face ACT exhibited sustained effects on improving participants’psychological flexibility and alleviating their negative emotions(p<0.001),while iACT showed no sustained effect on improving participants’psychological flexibility(p>0.05).Conclusion:While iACT and face-to-face ACT are effective shortterm interventions,face-to-face ACT demonstrates superior sustainability.Integrating guided sessions into iACT may enhance long-term outcomes.These findings advocate for blended interventions to address college students’mental health needs,particularly in resource-limited settings.
文摘Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization communication driven method is proposed to overcome the negative effects induced by time delay. This method is a non-time based method and it can get rid of the effects of time in the control loop of telerobotics. Stability, transparency and synchronization can be maintained in it by event-driven method. Multimodal enhanced telerobotics is put forward with its feedback including force, video, audio and temperature etc. The use of multimodal feedback improves the efficiency and safety of the whole system. Synchronization in multimodal feedback is hard to ensure and event-driven method is also good for it. Experiments on an Internet-based shaft-hole assemblage system show good results by using event synchronization communication driven method and UDP protocol.
文摘Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.
文摘An Internet-based teleoperation platform for Mobile Robot is introduced in this paper. The hardware of the system mainly consists of a mobile robot. Its software employs client-server architecture for robot control and feedback information display. Different communication protocols are adopted according to the characteristics of message exchanged between the robot server and the client. The user interface is designed for the purpose of interaction. The great benefit of this client-server architecture is that the client software is insulated from the lowest level details of the mobile robot. Thus, it is very easy to implement and test new advanced teleoperation control algorithms, interface designs and applications on this platform without large programming work.
基金the National Natural Science Foundation of China[62525301,62127811,62433019]the New Cornerstone Science Foundation through the XPLORER PRIZEthe financial support by the China Postdoctoral Science Foundation[GZB20240797].
文摘Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.
基金Nguyen Tat Thanh University,Ho Chi Minh City,Vietnam for supporting this study。
文摘Wing design is a critical factor in the aerodynamic performance of flapping-wing(FW)robots.Inspired by the natural wing structures of insects,bats,and birds,we explored how bio-mimetic wing vein morphologies,combined with a bio-inspired double wing clap-and-fling mechanism,affect thrust generation.This study focused on increasing vertical force and payload capacity.Through systematic experimentation with various vein configurations and structural designs,we developed innovative wings optimized for thrust production.Comprehensive tests were conducted to measure aerodynamic forces,power consumption,and wing kinematics across a range of flapping frequencies.Additionally,wings with different aspect ratios,a key factor in wing design,were fabricated and extensively evaluated.The study also examined the role of bio-inspired vein layouts on wing flexibility,a critical component in improving flight efficiency.Our findings demonstrate that the newly developed wing design led to a 20%increase in thrust,achieving up to 30 g-force(gf).This research sheds light on the clap-and-fling effect and establishes a promising framework for bio-inspired wing design,offering significant improvements in both performance and payload capacity for FW robots.
文摘Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challenge due to factors such as light scattering,absorption,restricted visibility,and ambient noise.The advancement of deep learning has introduced powerful techniques for processing large amounts of unstructured and imperfect data collected from underwater environments.This study evaluated the efficacy of the You Only Look Once(YOLO)algorithm,a real-time object detection and localization model based on convolutional neural networks,in identifying and classifying various types of pipeline defects in underwater settings.YOLOv8,the latest evolution in the YOLO family,integrates advanced capabilities,such as anchor-free detection,a cross-stage partial network backbone for efficient feature extraction,and a feature pyramid network+path aggregation network neck for robust multi-scale object detection,which make it particularly well-suited for complex underwater environments.Due to the lack of suitable open-access datasets for underwater pipeline defects,a custom dataset was captured using a remotely operated vehicle in a controlled environment.This application has the following assets available for use.Extensive experimentation demonstrated that YOLOv8 X-Large consistently outperformed other models in terms of pipe defect detection and classification and achieved a strong balance between precision and recall in identifying pipeline cracks,rust,corners,defective welds,flanges,tapes,and holes.This research establishes the baseline performance of YOLOv8 for underwater defect detection and showcases its potential to enhance the reliability and efficiency of pipeline inspection tasks in challenging underwater environments.
基金supported by the National Natural Science Foundation of China(22168008,22378085)the Guangxi Natural Science Foundation(2024GXNSFDA010053)+1 种基金the Technology Development Project of Guangxi Bossco Environmental Protection Technology Co.,Ltd(202100039)Innovation Project of Guangxi Graduate Education(YCBZ2024065).
文摘Strategically coupling nanoparticle hybrids and internal thermosensitive molecular switches establishes an innovative paradigm for constructing micro/nanoscale-reconfigurable robots,facilitating energyefficient CO_(2) management in life-support systems of confined space.Here,a micro/nano-reconfigurable robot is constructed from the CO_(2) molecular hunters,temperature-sensitive molecular switch,solar photothermal conversion,and magnetically-driven function engines.The molecular hunters within the molecular extension state can capture 6.19 mmol g^(−1) of CO_(2) to form carbamic acid and ammonium bicarbonate.Interestingly,the molecular switch of the robot activates a molecular curling state that facilitates CO_(2) release through nano-reconfiguration,which is mediated by the temperature-sensitive curling of Pluronic F127 molecular chains during the photothermal desorption.Nano-reconfiguration of robot alters the amino microenvironment,including increasing surface electrostatic potential of the amino group and decreasing overall lowest unoccupied molecular orbital energy level.This weakened the nucleophilic attack ability of the amino group toward the adsorption product derivatives,thereby inhibiting the side reactions that generate hard-to-decompose urea structures,achieving the lowest regeneration temperature of 55℃ reported to date.The engine of the robot possesses non-contact magnetically-driven micro-reconfiguration capability to achieve efficient photothermal regeneration while avoiding local overheating.Notably,the robot successfully prolonged the survival time of mice in the sealed container by up to 54.61%,effectively addressing the issue of carbon suffocation in confined spaces.This work significantly enhances life-support systems for deep-space exploration,while stimulating innovations in sustainable carbon management technologies for terrestrial extreme environments.
文摘At present,energy consumption is one of the main bottlenecks in autonomous mobile robot development.To address the challenge of high energy consumption in path planning for autonomous mobile robots navigating unknown and complex environments,this paper proposes an Attention-Enhanced Dueling Deep Q-Network(ADDueling DQN),which integrates a multi-head attention mechanism and a prioritized experience replay strategy into a Dueling-DQN reinforcement learning framework.A multi-objective reward function,centered on energy efficiency,is designed to comprehensively consider path length,terrain slope,motion smoothness,and obstacle avoidance,enabling optimal low-energy trajectory generation in 3D space from the source.The incorporation of a multihead attention mechanism allows the model to dynamically focus on energy-critical state features—such as slope gradients and obstacle density—thereby significantly improving its ability to recognize and avoid energy-intensive paths.Additionally,the prioritized experience replay mechanism accelerates learning from key decision-making experiences,suppressing inefficient exploration and guiding the policy toward low-energy solutions more rapidly.The effectiveness of the proposed path planning algorithm is validated through simulation experiments conducted in multiple off-road scenarios.Results demonstrate that AD-Dueling DQN consistently achieves the lowest average energy consumption across all tested environments.Moreover,the proposed method exhibits faster convergence and greater training stability compared to baseline algorithms,highlighting its global optimization capability under energy-aware objectives in complex terrains.This study offers an efficient and scalable intelligent control strategy for the development of energy-conscious autonomous navigation systems.
文摘Background:The easy accessibility,increasing usage,and low cost of internet make it a desirable way of providing health information and delivering interventions for health consumers.Studies in other countries have verified and confirmed the effectiveness of internet-based interventions among people with mental health problems.Similar programs have yet to commence in China.Purpose:This study investigated the willingness for,and attitude toward internet-based intervention in Chinese mental health service users and explored the feasibility of such an intervention.Methods:A cross-sectional survey utilizing a self-developed questionnaire was administered to 186 mental health service users in Beijing,between April and May 2011.Results:Most participants held a positive attitude toward online information and expressed interest in getting assistance from the internet.Some advice and suggestions were provided such as more ways of getting assistance,setting up more professional websites,increasing interaction,as well as having government funding and guidance.Conclusion:Internet-based programs are feasible and applicable,and worth implementing with Chinese people with mental illness.
文摘Manufacture is facing more furiously competition in the new century. It tends to be globalized. Rapid response and technology innovation have become the key factor to the success of manufacture enterprise. At present, internet-based manufacturing develops rapidly. With the development of engineering material and machining techniques, better cutting properties of metal cutting tools are required. The world is paying more attention to the study of indexable carbide inserts with three-dimensional complex grooves which can affect cutting properties directly and chip-controlling. So the variety and specification of indexable insert develop quickly and the application of insert with three-dimensional complex chip-former becomes wider and wider. Because milling is an interrupted cutting, the process of milling is complicated and the failure of the milling inserts is severe. It is important to choose suitable milling inserts groove for particular machining conditions before actual machining, it will extend tool life and raise productivity. Optimization and choice of inserts with complex groove via internet may serve for manufacture enterprises all over the world. The milling inserts with three-dimensional complex grooves are optimized and chosen via Internet in this paper. The face-milling process is studied, with the mathematics models of cutting force for different shape of cutting edges established, the cutting forces predicted and stress-fields of different insert grooves analyzed by FEM, according to the predictable results and the most suitable insert groove for particular machining conditions are optimized and chosen. The complex groove optimization and choice are based on a client/server model, with the client and server being on different machines across the internet. Communication between the client and server uses the TCP/IP. The result of optimization and choice will be sent to the users via Internet. Manufacturers all over the world can get the desired insert groove without paying for expensive experiments. Thus, the cost and lead time of products are reduced.
文摘There is a documented and often unmet need for interventions aimed at supporting young people with attention-deficit/hyperactivity disorder (ADHD) and/or autism spectrum disorder (ASD) in their transition between adolescence and adulthood. Difficulties with social interaction, initiation difficulties, and impairments in executive function can complicate visits at a clinic, i.e. traditional treatment, for individuals with neuropsychiatric disorders (NPD). A model for internet-based support and coaching aimed at young people with ASD and/or ADHD was developed and tested at three treatment sites in western Sweden. The implementation was analyzed against an inventory according to which implementations are more likely to be successful if an intervention: 1) has advantages compared to other existing methods, 2) matches the individual and organizational values, norms and work practices of its recipients, 3) is perceived as easy to use, and 4) is adaptable to local conditions and the recipients’ needs. Data were collected through group interviews with professionals involved in the implementation of the intervention. The implementation of the intervention showed promising results on measures such as access, delivery/quality of healthcare services, and equality of distribution of healthcare services. The identified impediments to successful implementation related to a wide range of factors and levels, including the design of the intervention, technical issues, attitudes of staff, organizational culture, and organizational structure at the implementation sites in terms of patient stock, work division, and resource allocation. The results are consistent with previous studies that stress the need for multi-component implementation strategies.
基金the Humanities and Social Sciences Key Research Base Project of Anhui Province(SK2017A0278).
文摘Objectives:This study reviewed published randomized controlled trials(RCTs)and evaluated the efficacy of internet-based acceptance and commitment therapy(IACT)on adolescent mental health.Methods:Searches were conducted in PubMed,ProQuest,APA(PsycNET/PsycINFO),and Web of Science from inception to Jan-uary 2022 to identify RCTs evaluating the effects of IACT on adolescents.The included studies were assessed for quality and risk of bias.This study was performed using the standard mean difference and associated 95%confidence interval of effective measures.Review Manager 5.4 software was adopted to calculate the effect size.Results:Compared to adolescents in control groups,those in the IACT groups showed some improvement in the efficacy of depression symptoms(SMD=−0.24,95%CI=[−0.44,−0.05],p=0.01)and had a small but sig-nificant effect on reducing experiential avoidance(SMD=−0.24,95%CI=[−0.46,−0.01],p=0.04).However,the effect size on anxiety did not reach the threshold(SMD=−0.18,95%CI=[−0.27,−0.09],p<0.0001).In addition,there were no significant differences in stress and well-being compared to those of the control group.Compared with universal adolescents,IACT was found to have a more significant therapeutic effect on targeted adolescents.Conclusions:IACT is effective in adolescent mental health interventions,but its clinical reliability and significant efficacy are limited,and more rigorous RCTs are needed in future studies.
文摘With the development of internet technology, customers play more and more important roles in new product development. The paper defines customer knowledge; then analyses the modes of customer knowledge transferring based on SECI model and information emission model. Finally customer knowledge transferring mechanism is discussed.
文摘Two significant issues in Internet-based networked control systems （ INCSs）, transport performance of different protocols and security breach from Internet side, are investigated. First, for improving the performance of data transmission, user datagram protocol （UDP） is adopted as the main stand for controllers and plants using INCSs. Second, a dual-channel secure transmission scheme （DCSTS）based on data transmission characteristics of INCSs is proposed, in which a raw UDP channel and a secure TCP （transmission control protocol） connection making use of SSL/TLS （secure sockets layer/transport layer security） are included. Further, a networked control protocol （NCP） at application layer for supporting DCSTS between the controllers and plants in INCSs is designed, and it also aims at providing a universal communication mechanism for interoperability of devices among the networked control laboratories in Beijing Institute of Technology of China, Central South University of China and Tokyo University of Technology of Japan. By means of a networked single-degree-of-free- dom robot arm, an INCS under the new protocol and security environment is created. Compared with systems such as IPSec or SSL/TLS, which may cause more than 91% network throughput deduction, the new DCSTS protocol may yield results ten times better, being just 5.67%.
文摘Internet-based teleoperation employs robots and internet a two breakthrough technologies to manipulate robots from distance for different applications. Variable and unknown time delay dynamics of internet is the main obstacle for realtime teleoperation via internet. In this paper the internet delay dynamics and its characteristics have been studied based on the measurement in different nodes. Then a black-box model for end-to-end internet delay dynamics has been developed using system identification and Auto-Regressive eXogeneous (ARX) model. Our experimental studies show a regular periodic behaviour in long-term intervals of internet delay variation and also confirm the accuracy and reliability of our theoretical and modelling derivations. This paper also introduces a novel multivariable control method for real-time telerobotic operations via Internet. Random communications delay of the Internet can cause instability in realtime closed-loop telerobotic systems. When a single identification model is used, it will have to adapt itself to the operating condition before an appropriate control mechanism can be applied. Slow adaptation may result in a large transient error. As an alternative, we propose to use a Multiple Model framework. The control strategy is to determine the best model for the current operating condition and activate the corresponding controller. We propose the use of Multi-Model Adaptive Control Theory and Multivariable Wave prediction method to capture the concurrency and complexity of Internet-based teleoperation. The results confirm the efficiency of the proposed technique in dealing with constant and variable delay dynamics of internet.
