Currently,research in multi-body dynamics predominantly focuses on symmetric parallel mechanisms with multiple branches.However,for the working mechanism(WM)of a face-shovel hydraulic excavator,an asymmetric mechanism...Currently,research in multi-body dynamics predominantly focuses on symmetric parallel mechanisms with multiple branches.However,for the working mechanism(WM)of a face-shovel hydraulic excavator,an asymmetric mechanism with multiple closed loops,there is a significant lack of research on dynamic models that account for the mass and inertia of all its moving components.The main focus of this study is to research a dynamic model of multi-closed-loop multi-body planar mechanism considering all moving components.This paper introduces a novel WM for a face-shovel excavator,featuring 4 loops and 12 links.By loop decomposition,the kinematic equations of the 11 primary moving components of the WM,including position,velocity,angular velocity,acceleration,and angular acceleration,are accurately formulated.For comparative analysis,a simplified dynamic model of WM was established,considering only the boom,stick,and bucket.The complete dynamic models based on the virtual work principle were also established.The correctness of both the simplified and complete dynamic models was verified through numerical simulations in Adams software.A comparison of simplified and complete dynamic simulation results shows that the new complete dynamic model has the advantage of accuracy.This research proposes a kinematic and dynamic modeling method with reference significance for the kinematic and dynamic analysis of planar complex multi-loop mechanisms,laying a foundation for performance analysis and the design of excavator WMs.展开更多
In the version of the article originally published in the volume 68,issue 12,2025 of Sci China Mater(pages 4413-4422,https://doi.org/10.1007/s40843-025-3667-7),the Chinese name of the co-first author(肖天孝)was incorr...In the version of the article originally published in the volume 68,issue 12,2025 of Sci China Mater(pages 4413-4422,https://doi.org/10.1007/s40843-025-3667-7),the Chinese name of the co-first author(肖天孝)was incorrect.The corrected Chinese name is:肖天笑.展开更多
Researchers are increasingly focused on enabling groups of multiple unmanned vehicles to operate cohesively in complex,real-world environments,where coordinated formation control and obstacle avoidance are essential f...Researchers are increasingly focused on enabling groups of multiple unmanned vehicles to operate cohesively in complex,real-world environments,where coordinated formation control and obstacle avoidance are essential for executing sophisticated collective tasks.This paper presents a Distributed Formation Control and Obstacle Avoidance(DFCOA)framework for multi-unmanned ground vehicles(UGV).DFCOA integrates a virtual leader structure for global guidance,an improved A^(*)path planning algorithm with an advanced cost function for efficient path planning,and a repulsive-force-based improved vector field histogram star(VFH^(*))technique for collision avoidance.The virtual leader generates a reference trajectory while enabling distributed execution;the improved A^(*)algorithm reduces planning time and number of nodes to determine the shortest path from the starting position to the goal;and the improved VFH^(*)uses 2D LiDAR data with inter-agent repulsive force to simultaneously avoid collision with obstacles and maintain safe inter-vehicle distances.The formation stability of the proposed DFCOA reaches 95.8%and 94.6%in two scenarios,with root mean square(RMS)centroid errors of 0.9516 and 1.0008 m,respectively.Velocity tracking is precise(velocity centroid error RMS of 0.2699 and 0.1700 m/s),and linear velocities closely match the desired 0.3 m/s.Safety metrics showed average collision risks of 0.7773 and 0.5143,with minimum inter-vehicle distances of 0.4702 and 0.8763 m,confirming collision-free navigation of four UGVs.DFCOA outperforms conventional methods in formation stability,path efficiency,and scalability,proving its suitability for decentralized multi-UGV applications.展开更多
To address the issues of frequent identity switches(IDs)and degraded identification accuracy in multi object tracking(MOT)under complex occlusion scenarios,this study proposes an occlusion-robust tracking framework ba...To address the issues of frequent identity switches(IDs)and degraded identification accuracy in multi object tracking(MOT)under complex occlusion scenarios,this study proposes an occlusion-robust tracking framework based on face-pedestrian joint feature modeling.By constructing a joint tracking model centered on“intra-class independent tracking+cross-category dynamic binding”,designing a multi-modal matching metric with spatio-temporal and appearance constraints,and innovatively introducing a cross-category feature mutual verification mechanism and a dual matching strategy,this work effectively resolves performance degradation in traditional single-category tracking methods caused by short-term occlusion,cross-camera tracking,and crowded environments.Experiments on the Chokepoint_Face_Pedestrian_Track test set demonstrate that in complex scenes,the proposed method improves Face-Pedestrian Matching F1 area under the curve(F1 AUC)by approximately 4 to 43 percentage points compared to several traditional methods.The joint tracking model achieves overall performance metrics of IDF1:85.1825%and MOTA:86.5956%,representing improvements of 0.91 and 0.06 percentage points,respectively,over the baseline model.Ablation studies confirm the effectiveness of key modules such as the Intersection over Area(IoA)/Intersection over Union(IoU)joint metric and dynamic threshold adjustment,validating the significant role of the cross-category identity matching mechanism in enhancing tracking stability.Our_model shows a 16.7%frame per second(FPS)drop vs.fairness of detection and re-identification in multiple object tracking(FairMOT),with its cross-category binding module adding aboute 10%overhead,yet maintains near-real-time performance for essential face-pedestrian tracking at small resolutions.展开更多
Phytomelatonin,an emerging plant hormone,plays vital roles in plant growth,development,and stress adaptation(Arnao et al.,2022;Ullah et al.,2024).It acts both as a direct antioxidant and a signaling molecule,engaging ...Phytomelatonin,an emerging plant hormone,plays vital roles in plant growth,development,and stress adaptation(Arnao et al.,2022;Ullah et al.,2024).It acts both as a direct antioxidant and a signaling molecule,engaging complex networks and interacting with other phytohormones(Liu et al.,2022;Khan et al.,2023).Although phytomelatonin receptors(PMTRs)have been identified in many plants(Wei et al.,2018;Wang et al.,2022;Liu et al.,2025),the downstream signaling mechanisms,particularly receptor-mediated protein modifications and transcriptional regulation,remain poorly characterized.展开更多
High-throughput transcriptomics has evolved from bulk RNA-seq to single-cell and spatial profiling,yet its clinical translation still depends on effective integration across diverse omics and data modalities.Emerging ...High-throughput transcriptomics has evolved from bulk RNA-seq to single-cell and spatial profiling,yet its clinical translation still depends on effective integration across diverse omics and data modalities.Emerging foundation models and multimodal learning frameworks are enabling scalable and transferable representations of cellular states,while advances in interpretability and real-world data integration are bridging the gap between discovery and clinical application.This paper outlines a concise roadmap for AI-driven,transcriptome-centered multi-omics integration in precision medicine(Figure 1).展开更多
Multi-organ-on-a-chip(MOOC)technology represents a pivotal direction in the organ-on-a-chip field,seeking to emulate the complex interactions of multiple human organs in vitro through microfluidic systems.This technol...Multi-organ-on-a-chip(MOOC)technology represents a pivotal direction in the organ-on-a-chip field,seeking to emulate the complex interactions of multiple human organs in vitro through microfluidic systems.This technology overcomes the limitations of traditional single-organ models,providing a novel platform for investigating complex disease mechanisms and evaluating drug efficacy and toxicity.Although it demonstrates broad application prospects,its development still faces critical bottlenecks,including inadequate physiological coupling between organs,short functional maintenance durations,and limited real-time monitoring capabilities.Contemporary research is advancing along three key directions,including functional coupling,sensor integration,and full-process automation systems,to propel the technology toward enhanced levels of physiological relevance and predictive accuracy.展开更多
The goal of the present work is to demonstrate the potential of Artificial Neural Network(ANN)-driven Genetic Algorithm(GA)methods for energy efficiency and economic performance optimization of energy efficiency measu...The goal of the present work is to demonstrate the potential of Artificial Neural Network(ANN)-driven Genetic Algorithm(GA)methods for energy efficiency and economic performance optimization of energy efficiency measures in a multi-family house building in Greece.The energy efficiency measures include different heating/cooling systems(such as low-temperature and high-temperature heat pumps,natural gas boilers,split units),building envelope components for floor,walls,roof and windows of variable heat transfer coefficients,the installation of solar thermal collectors and PVs.The calculations of the building loads and investment and operating and maintenance costs of the measures are based on the methodology defined in Directive 2010/31/EU,while economic assumptions are based on EN 15459-1 standard.Typically,multi-objective optimization of energy efficiency measures often requires the simulation of very large numbers of cases involving numerous possible combinations,resulting in intense computational load.The results of the study indicate that ANN-driven GA methods can be used as an alternative,valuable tool for reliably predicting the optimal measures which minimize primary energy consumption and life cycle cost of the building with greatly reduced computational requirements.Through GA methods,the computational time needed for obtaining the optimal solutions is reduced by 96.4%-96.8%.展开更多
When a new user accesses the CDMA system, the load will change drastically, and therefore, the advanced outer loop power control （OLPC） technology has to be adopted to enrich the target signal interference ratio （S...When a new user accesses the CDMA system, the load will change drastically, and therefore, the advanced outer loop power control （OLPC） technology has to be adopted to enrich the target signal interference ratio （Silt） and improve the system performance. The existing problems about DS-CDMA outer loop power control for multi-service are introduced and the power control theoretical model is analyzed. System simulation is adopted on how to obtain the theoretical performance and parameter optimization of the power control algorithm. The OLPC algorithm is improved and the performance comparisons between the old algorithm and the improved algorithm are given. The results show good performance of the improved OLPC algorithm and prove the validity of the improved method for multi-service.展开更多
In this paper, a novel vibration-suppression open-loop control method for multi-mass system is proposed, which uses two-stage velocity compensating algorithm and fuzzy I ＋ P control- ler. This compensating method is ...In this paper, a novel vibration-suppression open-loop control method for multi-mass system is proposed, which uses two-stage velocity compensating algorithm and fuzzy I ＋ P control- ler. This compensating method is based on model-based control theory in order to provide a damp- ing effect on the system mechanical part. The mathematical model of multi-mass system is built and reduced to estimate the velocities of masses. The velocity difference between adjacent masses is cal- culated dynamically. A 3-mass system is regarded as the composition of two 2-mass systems in order to realize the two-stage compensating algorithm. Instead of using a typical PI controller in the velocity compensating loop, a fuzzy I ＋ P controller is designed and its input variables are decided according to their impact on the system, which is different from the conventional fuzzy PID controller designing rules. Simulations and experimental results show that the proposed veloc- ity compensating method is effective in suppressing vibration on a 3-mass system and it has a better performance when the designed fuzzy I ＋ P controller is utilized in the control system.展开更多
Chemical looping dry reforming（CLDR） is an innovative technology for CO2 utilization using the chemical looping principle.The CLDR process consists of three stages,i.e.CH4 reduction,CO2 reforming,and air oxidation.S...Chemical looping dry reforming（CLDR） is an innovative technology for CO2 utilization using the chemical looping principle.The CLDR process consists of three stages,i.e.CH4 reduction,CO2 reforming,and air oxidation.Spinel nickel ferrite（NiFe2O4） was prepared and its multi-cycle performance as an oxygen carrier for CLDR was experimentally investigated.X-ray diffraction（XRD） and Laser Raman spectroscopy showed that a pure spinel crystalline phase（NiFe2O4） was obtained by a parallel flow co-precipitating method.NiFe2O4was reduced into Fe-Ni alloy and wustite（FexO） during the CH4 reduction process.Subsequent oxidation of the reduced oxygen carrier was performed with CO2 as an oxidant to form an intermediate state：a mixture of spinel Ni（1-x）Fe（2＋x）O4,Fe（2＋y）O4 and metallic Ni.And CO was generated in parallel during this stage.Approximate 185 mL of CO was generated for 1 g spinel NiFe2O4 in a single cycle.The intermediate oxygen carrier was fully oxidized in the air oxidation stage to form a mixture of Ni（1＋x）Fe（2-x）O4 and Fe2O3.Although the original state of oxygen carrier（NiFe2O4） was not fully regenerated and agglomeration was observed,a good recyclability was shown in 10 successive redox cycles.展开更多
A set of multi-component matrix Lie algebra is constructed. It follows that a type of new loop algebra AM-1 is presented. An isospectral problem is established. Integrable multi-component hierarchy is obtained by Tu p...A set of multi-component matrix Lie algebra is constructed. It follows that a type of new loop algebra AM-1 is presented. An isospectral problem is established. Integrable multi-component hierarchy is obtained by Tu pattern, which possesses tri-Hamiltonian structures. Furthermore, it can be reduced to the well-known AKNS hierarchy and BPT hierarchy. Therefore, the major result of this paper can be regarded as a unified expression integrable model of the AKNS hierarchy and the BPT hierarchy.展开更多
基金Supported by Natural Science Foundation of China(Grant Nos.51975544,52205036)Industry-University Cooperation Collaborative Education Project of Ministry of Education(Grant No.220904701054946).
文摘Currently,research in multi-body dynamics predominantly focuses on symmetric parallel mechanisms with multiple branches.However,for the working mechanism(WM)of a face-shovel hydraulic excavator,an asymmetric mechanism with multiple closed loops,there is a significant lack of research on dynamic models that account for the mass and inertia of all its moving components.The main focus of this study is to research a dynamic model of multi-closed-loop multi-body planar mechanism considering all moving components.This paper introduces a novel WM for a face-shovel excavator,featuring 4 loops and 12 links.By loop decomposition,the kinematic equations of the 11 primary moving components of the WM,including position,velocity,angular velocity,acceleration,and angular acceleration,are accurately formulated.For comparative analysis,a simplified dynamic model of WM was established,considering only the boom,stick,and bucket.The complete dynamic models based on the virtual work principle were also established.The correctness of both the simplified and complete dynamic models was verified through numerical simulations in Adams software.A comparison of simplified and complete dynamic simulation results shows that the new complete dynamic model has the advantage of accuracy.This research proposes a kinematic and dynamic modeling method with reference significance for the kinematic and dynamic analysis of planar complex multi-loop mechanisms,laying a foundation for performance analysis and the design of excavator WMs.
文摘In the version of the article originally published in the volume 68,issue 12,2025 of Sci China Mater(pages 4413-4422,https://doi.org/10.1007/s40843-025-3667-7),the Chinese name of the co-first author(肖天孝)was incorrect.The corrected Chinese name is:肖天笑.
文摘Researchers are increasingly focused on enabling groups of multiple unmanned vehicles to operate cohesively in complex,real-world environments,where coordinated formation control and obstacle avoidance are essential for executing sophisticated collective tasks.This paper presents a Distributed Formation Control and Obstacle Avoidance(DFCOA)framework for multi-unmanned ground vehicles(UGV).DFCOA integrates a virtual leader structure for global guidance,an improved A^(*)path planning algorithm with an advanced cost function for efficient path planning,and a repulsive-force-based improved vector field histogram star(VFH^(*))technique for collision avoidance.The virtual leader generates a reference trajectory while enabling distributed execution;the improved A^(*)algorithm reduces planning time and number of nodes to determine the shortest path from the starting position to the goal;and the improved VFH^(*)uses 2D LiDAR data with inter-agent repulsive force to simultaneously avoid collision with obstacles and maintain safe inter-vehicle distances.The formation stability of the proposed DFCOA reaches 95.8%and 94.6%in two scenarios,with root mean square(RMS)centroid errors of 0.9516 and 1.0008 m,respectively.Velocity tracking is precise(velocity centroid error RMS of 0.2699 and 0.1700 m/s),and linear velocities closely match the desired 0.3 m/s.Safety metrics showed average collision risks of 0.7773 and 0.5143,with minimum inter-vehicle distances of 0.4702 and 0.8763 m,confirming collision-free navigation of four UGVs.DFCOA outperforms conventional methods in formation stability,path efficiency,and scalability,proving its suitability for decentralized multi-UGV applications.
基金supported by the confidential research grant No.a8317。
文摘To address the issues of frequent identity switches(IDs)and degraded identification accuracy in multi object tracking(MOT)under complex occlusion scenarios,this study proposes an occlusion-robust tracking framework based on face-pedestrian joint feature modeling.By constructing a joint tracking model centered on“intra-class independent tracking+cross-category dynamic binding”,designing a multi-modal matching metric with spatio-temporal and appearance constraints,and innovatively introducing a cross-category feature mutual verification mechanism and a dual matching strategy,this work effectively resolves performance degradation in traditional single-category tracking methods caused by short-term occlusion,cross-camera tracking,and crowded environments.Experiments on the Chokepoint_Face_Pedestrian_Track test set demonstrate that in complex scenes,the proposed method improves Face-Pedestrian Matching F1 area under the curve(F1 AUC)by approximately 4 to 43 percentage points compared to several traditional methods.The joint tracking model achieves overall performance metrics of IDF1:85.1825%and MOTA:86.5956%,representing improvements of 0.91 and 0.06 percentage points,respectively,over the baseline model.Ablation studies confirm the effectiveness of key modules such as the Intersection over Area(IoA)/Intersection over Union(IoU)joint metric and dynamic threshold adjustment,validating the significant role of the cross-category identity matching mechanism in enhancing tracking stability.Our_model shows a 16.7%frame per second(FPS)drop vs.fairness of detection and re-identification in multiple object tracking(FairMOT),with its cross-category binding module adding aboute 10%overhead,yet maintains near-real-time performance for essential face-pedestrian tracking at small resolutions.
基金supported by the grants from the Key Research and Development Program of Xinjiang Uygur autonomous region in China(Grant No.2023B02017)the National Key Research and Development Program of China(Grant No.2024YFD2300703)+1 种基金the financial support from the Beijing Rural Revitalization Agricultural Science and Technology Project(Grant No.NY2401080000),BAIC01-2025the 2115 Talent Development Program of China Agricultural University.
文摘Phytomelatonin,an emerging plant hormone,plays vital roles in plant growth,development,and stress adaptation(Arnao et al.,2022;Ullah et al.,2024).It acts both as a direct antioxidant and a signaling molecule,engaging complex networks and interacting with other phytohormones(Liu et al.,2022;Khan et al.,2023).Although phytomelatonin receptors(PMTRs)have been identified in many plants(Wei et al.,2018;Wang et al.,2022;Liu et al.,2025),the downstream signaling mechanisms,particularly receptor-mediated protein modifications and transcriptional regulation,remain poorly characterized.
文摘High-throughput transcriptomics has evolved from bulk RNA-seq to single-cell and spatial profiling,yet its clinical translation still depends on effective integration across diverse omics and data modalities.Emerging foundation models and multimodal learning frameworks are enabling scalable and transferable representations of cellular states,while advances in interpretability and real-world data integration are bridging the gap between discovery and clinical application.This paper outlines a concise roadmap for AI-driven,transcriptome-centered multi-omics integration in precision medicine(Figure 1).
基金supported by the Shenzhen Medical Research Fund(Grant No.A2303049)Guangdong Basic and Applied Basic Research(Grant No.2023A1515010647)+1 种基金National Natural Science Foundation of China(Grant No.22004135)Shenzhen Science and Technology Program(Grant No.RCBS20210706092409020,GXWD20201231165807008,20200824162253002).
文摘Multi-organ-on-a-chip(MOOC)technology represents a pivotal direction in the organ-on-a-chip field,seeking to emulate the complex interactions of multiple human organs in vitro through microfluidic systems.This technology overcomes the limitations of traditional single-organ models,providing a novel platform for investigating complex disease mechanisms and evaluating drug efficacy and toxicity.Although it demonstrates broad application prospects,its development still faces critical bottlenecks,including inadequate physiological coupling between organs,short functional maintenance durations,and limited real-time monitoring capabilities.Contemporary research is advancing along three key directions,including functional coupling,sensor integration,and full-process automation systems,to propel the technology toward enhanced levels of physiological relevance and predictive accuracy.
文摘The goal of the present work is to demonstrate the potential of Artificial Neural Network(ANN)-driven Genetic Algorithm(GA)methods for energy efficiency and economic performance optimization of energy efficiency measures in a multi-family house building in Greece.The energy efficiency measures include different heating/cooling systems(such as low-temperature and high-temperature heat pumps,natural gas boilers,split units),building envelope components for floor,walls,roof and windows of variable heat transfer coefficients,the installation of solar thermal collectors and PVs.The calculations of the building loads and investment and operating and maintenance costs of the measures are based on the methodology defined in Directive 2010/31/EU,while economic assumptions are based on EN 15459-1 standard.Typically,multi-objective optimization of energy efficiency measures often requires the simulation of very large numbers of cases involving numerous possible combinations,resulting in intense computational load.The results of the study indicate that ANN-driven GA methods can be used as an alternative,valuable tool for reliably predicting the optimal measures which minimize primary energy consumption and life cycle cost of the building with greatly reduced computational requirements.Through GA methods,the computational time needed for obtaining the optimal solutions is reduced by 96.4%-96.8%.
基金the National Natural Science Foundation of China (60532030).
文摘When a new user accesses the CDMA system, the load will change drastically, and therefore, the advanced outer loop power control （OLPC） technology has to be adopted to enrich the target signal interference ratio （Silt） and improve the system performance. The existing problems about DS-CDMA outer loop power control for multi-service are introduced and the power control theoretical model is analyzed. System simulation is adopted on how to obtain the theoretical performance and parameter optimization of the power control algorithm. The OLPC algorithm is improved and the performance comparisons between the old algorithm and the improved algorithm are given. The results show good performance of the improved OLPC algorithm and prove the validity of the improved method for multi-service.
基金supported by the Fundamental Research Funds for the Central Universities of China
文摘In this paper, a novel vibration-suppression open-loop control method for multi-mass system is proposed, which uses two-stage velocity compensating algorithm and fuzzy I ＋ P control- ler. This compensating method is based on model-based control theory in order to provide a damp- ing effect on the system mechanical part. The mathematical model of multi-mass system is built and reduced to estimate the velocities of masses. The velocity difference between adjacent masses is cal- culated dynamically. A 3-mass system is regarded as the composition of two 2-mass systems in order to realize the two-stage compensating algorithm. Instead of using a typical PI controller in the velocity compensating loop, a fuzzy I ＋ P controller is designed and its input variables are decided according to their impact on the system, which is different from the conventional fuzzy PID controller designing rules. Simulations and experimental results show that the proposed veloc- ity compensating method is effective in suppressing vibration on a 3-mass system and it has a better performance when the designed fuzzy I ＋ P controller is utilized in the control system.
基金the financial support by the National Natural Science Foundation of China(51406214 and51406208)supported by the Natural science Foundation of Guangdong Province(2015A030313719)the Science&Technology Research Project of Guangdong Province(2013B050800008)
文摘Chemical looping dry reforming（CLDR） is an innovative technology for CO2 utilization using the chemical looping principle.The CLDR process consists of three stages,i.e.CH4 reduction,CO2 reforming,and air oxidation.Spinel nickel ferrite（NiFe2O4） was prepared and its multi-cycle performance as an oxygen carrier for CLDR was experimentally investigated.X-ray diffraction（XRD） and Laser Raman spectroscopy showed that a pure spinel crystalline phase（NiFe2O4） was obtained by a parallel flow co-precipitating method.NiFe2O4was reduced into Fe-Ni alloy and wustite（FexO） during the CH4 reduction process.Subsequent oxidation of the reduced oxygen carrier was performed with CO2 as an oxidant to form an intermediate state：a mixture of spinel Ni（1-x）Fe（2＋x）O4,Fe（2＋y）O4 and metallic Ni.And CO was generated in parallel during this stage.Approximate 185 mL of CO was generated for 1 g spinel NiFe2O4 in a single cycle.The intermediate oxygen carrier was fully oxidized in the air oxidation stage to form a mixture of Ni（1＋x）Fe（2-x）O4 and Fe2O3.Although the original state of oxygen carrier（NiFe2O4） was not fully regenerated and agglomeration was observed,a good recyclability was shown in 10 successive redox cycles.
文摘A set of multi-component matrix Lie algebra is constructed. It follows that a type of new loop algebra AM-1 is presented. An isospectral problem is established. Integrable multi-component hierarchy is obtained by Tu pattern, which possesses tri-Hamiltonian structures. Furthermore, it can be reduced to the well-known AKNS hierarchy and BPT hierarchy. Therefore, the major result of this paper can be regarded as a unified expression integrable model of the AKNS hierarchy and the BPT hierarchy.
