Quadruped robots are able to exhibit a range of gaits,each with its own traversability and energy efficiency characteristics.By actively coordinating between gaits in different scenarios,energy-efficient and adaptive ...Quadruped robots are able to exhibit a range of gaits,each with its own traversability and energy efficiency characteristics.By actively coordinating between gaits in different scenarios,energy-efficient and adaptive locomotion can be achieved.This study investigates the performances of learned energy-eficient policies for quadrupedal gaits under different commands.We propose a training synthesizing framework that integrates learned gait-conditioned locomotion policies into an efficient multiskill locomotion policy.The resulting control policy achieves low-cost smooth switching and controllable gaits.Our results of the learned multiskill policy demonstrate seamless gait transitions while maintaining energy optimality across all commands.展开更多
Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater...Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater robots are widely employed in marine science,resource surveys,seabed geological investigations,and marine life observations,owing to their compact size,minimal noise,and agile move-ment.In recent years,researchers have developed diverse miniature underwater robots inspired by bion-ics and other disciplines,leading to many landmark achievements such as centimeter-level wireless control,movement speeds up to hundreds of millimeters per second,underwater three-dimensional motion capabilities,robot swarms,and underwater operation robots.This article offers an overview of the actuation methods and locomotion patterns utilized by miniature underwater robots and assesses the advantages and disadvantages of each method.Furthermore,the challenges confronting currently available miniature underwater robots are summarized,and future development trends are explored.展开更多
Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to s...Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.展开更多
Recently,wearable gait-assist robots have been evolving towards using soft materials designed for the elderly rather than individuals with disabilities,which emphasize modularization,simplification,and weight reductio...Recently,wearable gait-assist robots have been evolving towards using soft materials designed for the elderly rather than individuals with disabilities,which emphasize modularization,simplification,and weight reduction.Thus,synchronizing the robotic assistive force with that of the user’s leg movements is crucial for usability,which requires accurate recognition of the user’s gait intent.In this study,we propose a deep learning model capable of identifying not only gait mode and gait phase but also phase progression.Utilizing data from five inertial measurement units placed on the body,the proposed two-stage architecture incorporates a bidirectional long short-term memory-based model for robust classification of locomotion modes and phases.Subsequently,phase progression is estimated through 1D convolutional neural network-based regressors,each dedicated to a specific phase.The model was evaluated on a diverse dataset encompassing level walking,stair ascent and descent,and sit-to-stand activities from 10 healthy participants.The results demonstrate its ability to accurately classify locomotion phases and estimate phase progression.Accurate phase progression estimation is essential due to the age-related variability in gait phase durations,particularly evident in older adults,the primary demographic for gait-assist robots.These findings underscore the potential to enhance the assistance,comfort,and safety provided by gait-assist robots.展开更多
Carbon dots(CDs)-based composites have shown impressive performance in fields of information encryption and sensing,however,a great challenge is to simultaneously implement multi-mode luminescence and room-temperature...Carbon dots(CDs)-based composites have shown impressive performance in fields of information encryption and sensing,however,a great challenge is to simultaneously implement multi-mode luminescence and room-temperature phosphorescence(RTP)detection in single system due to the formidable synthesis.Herein,a multifunctional composite of Eu&CDs@p RHO has been designed by co-assembly strategy and prepared via a facile calcination and impregnation treatment.Eu&CDs@p RHO exhibits intense fluorescence(FL)and RTP coming from two individual luminous centers,Eu3+in the free pores and CDs in the interrupted structure of RHO zeolite.Unique four-mode color outputs including pink(Eu^(3+),ex.254 nm),light violet(CDs,ex.365 nm),blue(CDs,254 nm off),and green(CDs,365 nm off)could be realized,on the basis of it,a preliminary application of advanced information encoding has been demonstrated.Given the free pores of matrix and stable RTP in water of confined CDs,a visual RTP detection of Fe^(3+)ions is achieved with the detection limit as low as 9.8μmol/L.This work has opened up a new perspective for the strategic amalgamation of luminous vips with porous zeolite to construct the advanced functional materials.展开更多
Soft robots capable of navigating complex environments hold promise for minimally invasive medical procedures and micromanipulation tasks.Here,we present a magnetically controlled multi-legged soft robot inspired by g...Soft robots capable of navigating complex environments hold promise for minimally invasive medical procedures and micromanipulation tasks.Here,we present a magnetically controlled multi-legged soft robot inspired by green sea turtle locomotion.Our designed robot,featuring six magnetized feet,demonstrates stable motion within a magnetic field strength range of 1.84–6.44 mT.Locomotion displacement scales linearly with field strength,while velocity correlates with frequency,reaching approximately 25 mm/s at 10 Hz.The robot navigates dry,semi-submerged,and fully submerged conditions,climbs slopes up to 30°,and maneuvers through U-shaped bends.Additionally,we demonstrate the robot's capability to smoothly transition between terrestrial and aquatic environments,demonstrating its amphibious locomotion performance.This adaptability to diverse environments,coupled with precise magnetic control,opens new possibilities for soft robotics in confined and complex spaces.Our findings provide a framework for designing highly maneuverable small-scale soft robots with potential applications ranging from targeted drug delivery to environmental sensing in challenging terrains.展开更多
Zebrafish are increasingly being utilized as a laboratory animal species to study various biological processes,both normal and pathological.It is crucial to comprehend the dynamics of zebrafish locomotion and put fort...Zebrafish are increasingly being utilized as a laboratory animal species to study various biological processes,both normal and pathological.It is crucial to comprehend the dynamics of zebrafish locomotion and put forth realistic models since their locomotion characteristics are employed as feedback indicators in diverse experiments.In this study,we conducted experimental research on the locomotion of zebrafish across various spatial sizes,focusing on the analysis of motion step size and motion direction.The results indicated that the motion step exhibits long-range correlations,the motion direction shows unbiased randomness,and the data characteristics are not influenced by spatial size.The dynamic mechanisms are complicated dynamical processes rather than fractional Brownian or Lévy processes motion.Based on the experimental results,we proposed a model for describing the movement of zebrafish in a circular container.Our findings shed light on the locomotion characteristics of zebrafish,and have the potential to benefit both the biological outcomes of animal tests and the welfare of the subjects.展开更多
Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, hold...Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, holds significant importance in the study of underwater motion mechanisms. In this study, we present theoretical fluid mechanics analysis and modeling of the three distinct motion stages of scallops, providing parameterized descriptions of scallop locomotion mechanisms. Accordingly, three-stage adaptive motion control for the scallop robot and model-based robot configuration optimization design were achieved. An experimental platform and a robot prototype were built to validate the accuracy of the motion model and the effectiveness of the control strategy. Additionally, based on the models, future optimization directions for the robot are proposed.展开更多
Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate repti...Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate reptiles,exhibit diverse and powerful locomotion abilities,including prey constriction,sidewinding,accordion locomotion,and winding climbing,making them a focus of robotics research.In this study,we present a snake-inspired soft robot with an initial coiling structure,fabricated using MXene-cellulose nanofiber ink printed on pre-expanded polyethylene film through direct ink writing technology.The controllable fabrication of initial coiling structure soft robot(ICSBot)has been achieved through theoretical calculations and finite element analysis to predict and analyze the initial structure of ICSBot,and programmable ICSBot has been designed and fabricated.This robot functions as a coiling gripper capable of grasping objects with complex shapes under near infrared light stimulation.Additionally,it demonstrates multi-modal crawling locomotion in various environments,including confined spaces,unstructured terrains,and both inside and outside tubes.These results offer a novel strategy for designing and fabricating coiling-structured soft robots and highlight their potential applications in smart and multifunctional robotics.展开更多
Animals can adapt to their surroundings by modifying their trunk morphology,whereas legged robots currently utilize rigid trunks.This study introduces a single-degree-of-freedom(DoF),six-revolute(6R)morphing trunk mec...Animals can adapt to their surroundings by modifying their trunk morphology,whereas legged robots currently utilize rigid trunks.This study introduces a single-degree-of-freedom(DoF),six-revolute(6R)morphing trunk mechanism designed to equip legged robots with variable-width capabilities.Subsequently,a morphology-aware locomotion learning pipeline,based on reinforcement learning,is proposed for real-time trunk-width deformation and adaptive legged locomotion.The proposed variable-width trunk is integrated into a quadrupedal robot,and the learning pipeline is employed to train the adaptive locomotion controller of this robot.This study has three key contributions:(1)An overconstrained morphing mechanism is designed to achieve single-DoF trunk-width deformation,thereby minimizing power consumption and simplifying motion control.(2)A novel morphology-adaptive learning pipeline is introduced that utilizes adversarial joint-level motion imitation to ensure coordination consistency during morphological adaptation.This method addresses dynamic disturbances and interlimb coordination disruptions caused by width modifications.(3)A historical proprioception-based asymmetric neural network architecture is utilized to attain implicit terrain perception without visual input.Collectively,these developments enable the proposed variable-width legged robot to maintain consistent locomotion across complex terrains and facilitate rapid width deformation in response to environmental changes.Extensive simulation experiments validate the proposed design and control methodology.展开更多
The ability of cyborg locusts to achieve directional movement in complex outdoor environments is critical for search and rescue missions.Currently,there is a lack of research on motion control for cyborg locusts in ou...The ability of cyborg locusts to achieve directional movement in complex outdoor environments is critical for search and rescue missions.Currently,there is a lack of research on motion control for cyborg locusts in outdoor settings.In this study,we developed cyborg locusts capable of performing directional locomotion in intricate outdoor environments,including jumping over obstacles,climbing slopes,traversing narrow pipelines,and accurately reaching predetermined targets along specified routes.We designed a miniature electrical backpack(10 mm×10 mm,0.75 g)capable of receiving stimulus parameters(frequency,duty ratio,and stimulation time)via Bluetooth commands from mobile phones.Electrical stimulation of locust sensory organs,such as the antennae and cercus,induced turning and jumping behaviors.Experi-mental testing of locust movement control was conducted under outdoor conditions with a short electrical stimulation interval.Results showed a positive correlation between locust turning angles and electrical stimulation parameters within a specified range,with an average jumping height exceeding 10 cm.Additionally,the success rate of locust turning and jumping behaviors correlated positively with the interval time between electrical stimulations.Adjusting these intervals during forward crawling phases increased the likelihood of the locusts jumping again.In conclusion,this study success-fully achieved directional locomotion control of cyborg locusts outdoors,providing insights and references for advancing search and rescue capabilities.展开更多
Prostate cancer(PCa)is characterized by high incidence and propensity for easy metastasis,presenting significant challenges in clinical diagnosis and treatment.Tumor microenvironment(TME)-responsive nanomaterials prov...Prostate cancer(PCa)is characterized by high incidence and propensity for easy metastasis,presenting significant challenges in clinical diagnosis and treatment.Tumor microenvironment(TME)-responsive nanomaterials provide a promising prospect for imaging-guided precision therapy.Considering that tumor-derived alkaline phosphatase(ALP)is over-expressed in metastatic PCa,it makes a great chance to develop a theranostics system with ALP responsive in the TME.Herein,an ALP-responsive aggregationinduced emission luminogens(AIEgens)nanoprobe AMNF self-assembly was designed for enhancing the diagnosis and treatment of metastatic PCa.The nanoprobe exhibited self-aggregation in the presence of ALP resulted in aggregation-induced fluorescence,and enhanced accumulation and prolonged retention period at the tumor site.In terms of detection,the fluorescence(FL)/computed tomography(CT)/magnetic resonance(MR)multi-mode imaging effect of nanoprobe was significantly improved post-aggregation,enabling precise diagnosis through the amalgamation of multiple imaging modes.Enhanced CT/MR imaging can achieve assist preoperative tumor diagnosis,and enhanced FL imaging technology can achieve“intraoperative visual navigation”,showing its potential application value in clinical tumor detection and surgical guidance.In terms of treatment,AMNF showed strong absorption in the near infrared region after aggregation,which improved the photothermal treatment effect.Overall,our work developed an effective aggregation-enhanced theranostic strategy for ALP-related cancers.展开更多
Small-scale magnetic soft robots are promising candidates for minimally invasive medical applications;however,they struggle to achieve efficient locomotion across various interfaces.In this study,we propose a magnetic...Small-scale magnetic soft robots are promising candidates for minimally invasive medical applications;however,they struggle to achieve efficient locomotion across various interfaces.In this study,we propose a magnetic soft robot that integrates two distinct bio-inspired locomotion modes for enhanced interface navigation.Inspired by water striders’superhydrophobic legs and the meniscus climbing behavior of Pyrrhalta nymphaeae larvae,we developed a rectangular sheet-based robot with hydrophobic surface treatment and novel control strategies.The proposed robot implements two locomotion modes:a bipedal peristaltic locomotion mode(BPLM)and a single-region contact-vibration locomotion mode(SCLM).The BPLM achieves stable movement at 20 mm/s through coordinated front-rear contact points,whereas the SCLM reaches an ultrafast speed of 52 mm/s by optimizing surface tension interactions.The proposed robot demonstrates precise trajectory control with minimal deviations and successfully navigates confined spaces while manipulating objects.Theoretical analysis and experimental validation demonstrate that the integration of triangular wave control signals and steady-state components enables smooth transitions between locomotion modes.This study presents a new paradigm for bio-inspired design of small-scale robots and demonstrates the potential for medical applications requiring precise navigation across multiple terrains.展开更多
Low-carbon smart parks achieve selfbalanced carbon emission and absorption through the cooperative scheduling of direct current(DC)-based distributed photovoltaic,energy storage units,and loads.Direct current power li...Low-carbon smart parks achieve selfbalanced carbon emission and absorption through the cooperative scheduling of direct current(DC)-based distributed photovoltaic,energy storage units,and loads.Direct current power line communication(DC-PLC)enables real-time data transmission on DC power lines.With traffic adaptation,DC-PLC can be integrated with other complementary media such as 5G to reduce transmission delay and improve reliability.However,traffic adaptation for DC-PLC and 5G integration still faces the challenges such as coupling between traffic admission control and traffic partition,dimensionality curse,and the ignorance of extreme event occurrence.To address these challenges,we propose a deep reinforcement learning(DRL)-based delay sensitive and reliable traffic adaptation algorithm(DSRTA)to minimize the total queuing delay under the constraints of traffic admission control,queuing delay,and extreme events occurrence probability.DSRTA jointly optimizes traffic admission control and traffic partition,and enables learning-based intelligent traffic adaptation.The long-term constraints are incorporated into both state and bound of drift-pluspenalty to achieve delay awareness and enforce reliability guarantee.Simulation results show that DSRTA has lower queuing delay and more reliable quality of service(QoS)guarantee than other state-of-the-art algorithms.展开更多
The all-wheel drive(AWD)hybrid system is a research focus on high-performance new energy vehicles that can meet the demands of dynamic performance and passing ability.Simultaneous optimization of the power and economy...The all-wheel drive(AWD)hybrid system is a research focus on high-performance new energy vehicles that can meet the demands of dynamic performance and passing ability.Simultaneous optimization of the power and economy of hybrid vehicles becomes an issue.A unique multi-mode coupling(MMC)AWD hybrid system is presented to realize the distributed and centralized driving of the front and rear axles to achieve vectored distribution and full utilization of the system power between the axles of vehicles.Based on the parameters of the benchmarking model of a hybrid vehicle,the best model-predictive control-based energy management strategy is proposed.First,the drive system model was built after the analysis of the MMC-AWD’s drive modes.Next,three fundamental strategies were established to address power distribution adjustment and battery SOC maintenance when the SOC changed,which was followed by the design of a road driving force observer.Then,the energy consumption rate in the average time domain was processed before designing the minimum fuel consumption controller based on the equivalent fuel consumption coefficient.Finally,the advantage of the MMC-AWD was confirmed by comparison with the dynamic performance and economy of the BYD Song PLUS DMI-AWD.The findings indicate that,in comparison to the comparative hybrid system at road adhesion coefficients of 0.8 and 0.6,the MMC-AWD’s capacity to accelerate increases by 5.26%and 7.92%,respectively.When the road adhesion coefficient is 0.8,0.6,and 0.4,the maximum climbing ability increases by 14.22%,12.88%,and 4.55%,respectively.As a result,the dynamic performance is greatly enhanced,and the fuel savings rate per 100 km of mileage reaches 12.06%,which is also very economical.The proposed control strategies for the new hybrid AWD vehicle can optimize the power and economy simultaneously.展开更多
This work evaluates the viability of a cutting-edge flexible wing prototype actuated by Shape Memory Alloy(SMA)wire actuators.Such flexible wings have garnered significant interest for their potential to enhance aerod...This work evaluates the viability of a cutting-edge flexible wing prototype actuated by Shape Memory Alloy(SMA)wire actuators.Such flexible wings have garnered significant interest for their potential to enhance aerodynamic efficiency by mitigating noise and delaying flow separation.SMA actuators are particularly advantageous due to their superior power-to-weight ratio and adaptive response,making them increasingly favored in morphing aircraft applications.Our methodology begins with a detailed delineation of the fishbone camber morphing wing rib structure,followed by the construction of a multi-mode morphing wing segment through 3D-printed rib assembly.Comprehensive testing of the SMA wire actuators’actuation capacity and efficiency was conducted to establish their operational parameters.Subsequent experimental analyses focused on the bi-directional and reciprocating morphing performance of the fishbone wing rib,which incorporates SMA wires on the upper and lower sides.These experiments confirmed the segment’s multi-mode morphing abilities.Aerodynamic assessments have demonstrated that our design substantially improves the Lift-to-Drag ratio(L/D)when compared to conventional rigid wings.Finally,two phases of flight tests demonstrated the feasibility of SMA as an aircraft actuator and the validity of flexible wing structures to adjust the aircraft attitude,respectively.展开更多
Aim: This dissection study was conducted to verify if the Myofascial kinetic lines, outlined in detail in humans and recently documented in horses, were present in dogs. These dynamic lines present rows of interconnec...Aim: This dissection study was conducted to verify if the Myofascial kinetic lines, outlined in detail in humans and recently documented in horses, were present in dogs. These dynamic lines present rows of interconnected muscles, myofascia and other fascia structures, which influence the biomechanics of the spine and limbs. Methods: Forty-two dogs of different breeds and genders were dissected, imaged, and videoed. Results: Similar kinetic lines were verified in the dog, as described in humans and horses, and additionally, three new branches of the lines were discovered. The kinetic lines described were three superficial lines: Dorsal, Ventral, and Lateral, which all started in the hindlimb and ended in the temporal and occipital regions. These lines act respectively in spinal extension, flexion, and lateral flexion. Three profound lines, which started in the tail and ended in the head. The Deep Dorsal Line followed the transversospinal myofascia. The Deep Ventral Line showed an additional start deep in the medial hind limb, continued in the hypaxial myofascia, and enveloped all the viscera. Also, the Deep Lateral Line started in the hindlimb but parted along the trunk in the deep lateral myofascial structures. Two helical lines crossed the midline two or three times and served to rotate the spine. The Functional Line established a sling from the axilla to the contralateral stifle and presented a new ipsilateral branch. The Spiral Line connected the head and the ipsilateral tarsus and additionally presented a new straight branch. The four front limb lines describe their motion: the Front Limb Protraction and Retraction, Adduction, and Abduction Lines. Conclusion: The canine lines mirrored the equine and human lines with exceptions due to differences in anatomy, foot posture, lumbosacral flexibility, and their biomechanical constitution as predator versus prey animals. Additionally, three new canine branches were verified and described.展开更多
Lower Limb Exoskeletons(LLEs)are receiving increasing attention for supporting activities of daily living.In such active systems,an intelligent controller may be indispensable.In this paper,we proposed a locomotion in...Lower Limb Exoskeletons(LLEs)are receiving increasing attention for supporting activities of daily living.In such active systems,an intelligent controller may be indispensable.In this paper,we proposed a locomotion intention recognition system based on time series data sets derived from human motion signals.Composed of input data and Deep Learning(DL)algorithms,this framework enables the detection and prediction of users’movement patterns.This makes it possible to predict the detection of locomotion modes,allowing the LLEs to provide smooth and seamless assistance.The pre-processed eight subjects were used as input to classify four scenes:Standing/Walking on Level Ground(S/WOLG),Up the Stairs(US),Down the Stairs(DS),and Walking on Grass(WOG).The result showed that the ResNet performed optimally compared to four algorithms(CNN,CNN-LSTM,ResNet,and ResNet-Att)with an approximate evaluation indicator of 100%.It is expected that the proposed locomotion intention system will significantly improve the safety and the effectiveness of LLE due to its high accuracy and predictive performance.展开更多
In recent years,how to efficiently and accurately identify multi-model fake news has become more challenging.First,multi-model data provides more evidence but not all are equally important.Secondly,social structure in...In recent years,how to efficiently and accurately identify multi-model fake news has become more challenging.First,multi-model data provides more evidence but not all are equally important.Secondly,social structure information has proven to be effective in fake news detection and how to combine it while reducing the noise information is critical.Unfortunately,existing approaches fail to handle these problems.This paper proposes a multi-model fake news detection framework based on Tex-modal Dominance and fusing Multiple Multi-model Cues(TD-MMC),which utilizes three valuable multi-model clues:text-model importance,text-image complementary,and text-image inconsistency.TD-MMC is dominated by textural content and assisted by image information while using social network information to enhance text representation.To reduce the irrelevant social structure’s information interference,we use a unidirectional cross-modal attention mechanism to selectively learn the social structure’s features.A cross-modal attention mechanism is adopted to obtain text-image cross-modal features while retaining textual features to reduce the loss of important information.In addition,TD-MMC employs a new multi-model loss to improve the model’s generalization ability.Extensive experiments have been conducted on two public real-world English and Chinese datasets,and the results show that our proposed model outperforms the state-of-the-art methods on classification evaluation metrics.展开更多
Lanthanum-doped double halide perovskite has attracted increasing interest due to its distinctive upconversion and near-infrared(NIR) luminous characteristics.Here,erbium ion(Er^(3+)) doped Cs_(2)(Na/Ag)BiCl_(6) micro...Lanthanum-doped double halide perovskite has attracted increasing interest due to its distinctive upconversion and near-infrared(NIR) luminous characteristics.Here,erbium ion(Er^(3+)) doped Cs_(2)(Na/Ag)BiCl_(6) microcrystals(MCs) were synthesized and proved to be one of the most prospective candidates for optical thermometry.The enhancement of both white light from self-trapped exciton emission and NIR emission from Er^(3+) ion of Cs_(2)AgBiCl_(6) microcrystals is caused by lattice distortion due to Na^(+) ion doping.Fluorescence intensity ratio and lifetime methods provide self-referenced and sensitive thermometry under 405 and/or 980 nm laser excitation at the temperatures from 80 to 480 K.Besides,the maximum values of relative and absolute sensitivity of 3.62%/K and 27//K can be achieved in the low to high temperature range under 980 and 405 nm laser co-excitation.Through the experimental analysis,Er^(3+)doped Cs_(2)(Na/Ag)BiCl_(6) double perovskite is considered to be an ideal self-calibrating thermometric material due to its good long-term stability and multi-mode function of excitation and detection.展开更多
基金Project supported by the "Leading Goose" R&D Program of Zhejiang Province(No.2023C01177)the Research Project on the Motion Control of Bipedal Maneuver(No.8KD006(2024)-2)+1 种基金the National Key R&D Program of China(No.2022YFB4701502)the 2035 Key Technological Innovation Program of Ningbo City(No.2024Z300)。
文摘Quadruped robots are able to exhibit a range of gaits,each with its own traversability and energy efficiency characteristics.By actively coordinating between gaits in different scenarios,energy-efficient and adaptive locomotion can be achieved.This study investigates the performances of learned energy-eficient policies for quadrupedal gaits under different commands.We propose a training synthesizing framework that integrates learned gait-conditioned locomotion policies into an efficient multiskill locomotion policy.The resulting control policy achieves low-cost smooth switching and controllable gaits.Our results of the learned multiskill policy demonstrate seamless gait transitions while maintaining energy optimality across all commands.
基金supported by the Natural Science Foundation of Jiangsu Province,China(BK20220813)the Fundamental Research Funds for the Central Universities(2242023K40014).
文摘Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater robots are widely employed in marine science,resource surveys,seabed geological investigations,and marine life observations,owing to their compact size,minimal noise,and agile move-ment.In recent years,researchers have developed diverse miniature underwater robots inspired by bion-ics and other disciplines,leading to many landmark achievements such as centimeter-level wireless control,movement speeds up to hundreds of millimeters per second,underwater three-dimensional motion capabilities,robot swarms,and underwater operation robots.This article offers an overview of the actuation methods and locomotion patterns utilized by miniature underwater robots and assesses the advantages and disadvantages of each method.Furthermore,the challenges confronting currently available miniature underwater robots are summarized,and future development trends are explored.
基金supported by the National Key Research&Development Program of China(Grant No.2020YFB1313504)the State Key Laboratory of Mechanics and Control for Aerospace Structures of Nanjing University of Aeronautics and Astronautics.
文摘Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.
基金supported by a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute(KHIDI)funded by the Ministry of Health&Welfare,Republic of Korea(Grant Number:RS-2022-KH129263).
文摘Recently,wearable gait-assist robots have been evolving towards using soft materials designed for the elderly rather than individuals with disabilities,which emphasize modularization,simplification,and weight reduction.Thus,synchronizing the robotic assistive force with that of the user’s leg movements is crucial for usability,which requires accurate recognition of the user’s gait intent.In this study,we propose a deep learning model capable of identifying not only gait mode and gait phase but also phase progression.Utilizing data from five inertial measurement units placed on the body,the proposed two-stage architecture incorporates a bidirectional long short-term memory-based model for robust classification of locomotion modes and phases.Subsequently,phase progression is estimated through 1D convolutional neural network-based regressors,each dedicated to a specific phase.The model was evaluated on a diverse dataset encompassing level walking,stair ascent and descent,and sit-to-stand activities from 10 healthy participants.The results demonstrate its ability to accurately classify locomotion phases and estimate phase progression.Accurate phase progression estimation is essential due to the age-related variability in gait phase durations,particularly evident in older adults,the primary demographic for gait-assist robots.These findings underscore the potential to enhance the assistance,comfort,and safety provided by gait-assist robots.
基金supported by the National Natural Science Foundation of China(No.22288101)the 111 Project(No.B17020)。
文摘Carbon dots(CDs)-based composites have shown impressive performance in fields of information encryption and sensing,however,a great challenge is to simultaneously implement multi-mode luminescence and room-temperature phosphorescence(RTP)detection in single system due to the formidable synthesis.Herein,a multifunctional composite of Eu&CDs@p RHO has been designed by co-assembly strategy and prepared via a facile calcination and impregnation treatment.Eu&CDs@p RHO exhibits intense fluorescence(FL)and RTP coming from two individual luminous centers,Eu3+in the free pores and CDs in the interrupted structure of RHO zeolite.Unique four-mode color outputs including pink(Eu^(3+),ex.254 nm),light violet(CDs,ex.365 nm),blue(CDs,254 nm off),and green(CDs,365 nm off)could be realized,on the basis of it,a preliminary application of advanced information encoding has been demonstrated.Given the free pores of matrix and stable RTP in water of confined CDs,a visual RTP detection of Fe^(3+)ions is achieved with the detection limit as low as 9.8μmol/L.This work has opened up a new perspective for the strategic amalgamation of luminous vips with porous zeolite to construct the advanced functional materials.
基金supported by Shenzhen Science and Technology Program(nos.JCYJ20210324132810026,GXWD20220811164014001 and KQTD20210811090146075)the National Natural Science Foundation of China(no.52375175)+3 种基金Guangdong Basic and Applied Basic Research Foundation(no.2024A1515240015)Jiangsu Provincial Outstanding Youth Program(no.BK20230072)Suzhou Industrial Foresight and Key Core Technology Project(no.SYC2022044)grants from Jiangsu QingLan Project and Jiangsu 333 high-level talents.
文摘Soft robots capable of navigating complex environments hold promise for minimally invasive medical procedures and micromanipulation tasks.Here,we present a magnetically controlled multi-legged soft robot inspired by green sea turtle locomotion.Our designed robot,featuring six magnetized feet,demonstrates stable motion within a magnetic field strength range of 1.84–6.44 mT.Locomotion displacement scales linearly with field strength,while velocity correlates with frequency,reaching approximately 25 mm/s at 10 Hz.The robot navigates dry,semi-submerged,and fully submerged conditions,climbs slopes up to 30°,and maneuvers through U-shaped bends.Additionally,we demonstrate the robot's capability to smoothly transition between terrestrial and aquatic environments,demonstrating its amphibious locomotion performance.This adaptability to diverse environments,coupled with precise magnetic control,opens new possibilities for soft robotics in confined and complex spaces.Our findings provide a framework for designing highly maneuverable small-scale soft robots with potential applications ranging from targeted drug delivery to environmental sensing in challenging terrains.
基金Project supported by the National Natural Science Foundation of China(Grant No.12205006)the Excellent Youth Scientific Research Project of Anhui Province,China(Grant No.2022AH030107)。
文摘Zebrafish are increasingly being utilized as a laboratory animal species to study various biological processes,both normal and pathological.It is crucial to comprehend the dynamics of zebrafish locomotion and put forth realistic models since their locomotion characteristics are employed as feedback indicators in diverse experiments.In this study,we conducted experimental research on the locomotion of zebrafish across various spatial sizes,focusing on the analysis of motion step size and motion direction.The results indicated that the motion step exhibits long-range correlations,the motion direction shows unbiased randomness,and the data characteristics are not influenced by spatial size.The dynamic mechanisms are complicated dynamical processes rather than fractional Brownian or Lévy processes motion.Based on the experimental results,we proposed a model for describing the movement of zebrafish in a circular container.Our findings shed light on the locomotion characteristics of zebrafish,and have the potential to benefit both the biological outcomes of animal tests and the welfare of the subjects.
基金supported by the Fundamental Research Funds for the Central Universities(No.30922010719).
文摘Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, holds significant importance in the study of underwater motion mechanisms. In this study, we present theoretical fluid mechanics analysis and modeling of the three distinct motion stages of scallops, providing parameterized descriptions of scallop locomotion mechanisms. Accordingly, three-stage adaptive motion control for the scallop robot and model-based robot configuration optimization design were achieved. An experimental platform and a robot prototype were built to validate the accuracy of the motion model and the effectiveness of the control strategy. Additionally, based on the models, future optimization directions for the robot are proposed.
基金supported by the National Key R&D Program of China(NO.2024YFB3409900)the China Postdoctoral Science Foundation(NO.2023M730845)the Heilongjiang Postdoctoral Fund(NO.LBH-Z23182)。
文摘Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate reptiles,exhibit diverse and powerful locomotion abilities,including prey constriction,sidewinding,accordion locomotion,and winding climbing,making them a focus of robotics research.In this study,we present a snake-inspired soft robot with an initial coiling structure,fabricated using MXene-cellulose nanofiber ink printed on pre-expanded polyethylene film through direct ink writing technology.The controllable fabrication of initial coiling structure soft robot(ICSBot)has been achieved through theoretical calculations and finite element analysis to predict and analyze the initial structure of ICSBot,and programmable ICSBot has been designed and fabricated.This robot functions as a coiling gripper capable of grasping objects with complex shapes under near infrared light stimulation.Additionally,it demonstrates multi-modal crawling locomotion in various environments,including confined spaces,unstructured terrains,and both inside and outside tubes.These results offer a novel strategy for designing and fabricating coiling-structured soft robots and highlight their potential applications in smart and multifunctional robotics.
基金Supported by State Key Lab of Mechanical System and Vibration Project of China(Grant No.MSVZD202008).
文摘Animals can adapt to their surroundings by modifying their trunk morphology,whereas legged robots currently utilize rigid trunks.This study introduces a single-degree-of-freedom(DoF),six-revolute(6R)morphing trunk mechanism designed to equip legged robots with variable-width capabilities.Subsequently,a morphology-aware locomotion learning pipeline,based on reinforcement learning,is proposed for real-time trunk-width deformation and adaptive legged locomotion.The proposed variable-width trunk is integrated into a quadrupedal robot,and the learning pipeline is employed to train the adaptive locomotion controller of this robot.This study has three key contributions:(1)An overconstrained morphing mechanism is designed to achieve single-DoF trunk-width deformation,thereby minimizing power consumption and simplifying motion control.(2)A novel morphology-adaptive learning pipeline is introduced that utilizes adversarial joint-level motion imitation to ensure coordination consistency during morphological adaptation.This method addresses dynamic disturbances and interlimb coordination disruptions caused by width modifications.(3)A historical proprioception-based asymmetric neural network architecture is utilized to attain implicit terrain perception without visual input.Collectively,these developments enable the proposed variable-width legged robot to maintain consistent locomotion across complex terrains and facilitate rapid width deformation in response to environmental changes.Extensive simulation experiments validate the proposed design and control methodology.
基金supported by Postgraduate Research&Practice Innovation Program of Jiangsu Province under Grant KYCX22_0290.
文摘The ability of cyborg locusts to achieve directional movement in complex outdoor environments is critical for search and rescue missions.Currently,there is a lack of research on motion control for cyborg locusts in outdoor settings.In this study,we developed cyborg locusts capable of performing directional locomotion in intricate outdoor environments,including jumping over obstacles,climbing slopes,traversing narrow pipelines,and accurately reaching predetermined targets along specified routes.We designed a miniature electrical backpack(10 mm×10 mm,0.75 g)capable of receiving stimulus parameters(frequency,duty ratio,and stimulation time)via Bluetooth commands from mobile phones.Electrical stimulation of locust sensory organs,such as the antennae and cercus,induced turning and jumping behaviors.Experi-mental testing of locust movement control was conducted under outdoor conditions with a short electrical stimulation interval.Results showed a positive correlation between locust turning angles and electrical stimulation parameters within a specified range,with an average jumping height exceeding 10 cm.Additionally,the success rate of locust turning and jumping behaviors correlated positively with the interval time between electrical stimulations.Adjusting these intervals during forward crawling phases increased the likelihood of the locusts jumping again.In conclusion,this study success-fully achieved directional locomotion control of cyborg locusts outdoors,providing insights and references for advancing search and rescue capabilities.
基金supported by Natural Science Foundation of Jilin Province(No.SKL202302002)Key Research and Development project of Jilin Provincial Science and Technology Department(No.20210204142YY)+2 种基金The Science and Technology Development Program of Jilin Province(No.2020122256JC)Beijing Kechuang Medical Development Foundation Fund of China(No.KC2023-JX-0186BQ079)Talent Reserve Program(TRP),the First Hospital of Jilin University(No.JDYY-TRP-2024007)。
文摘Prostate cancer(PCa)is characterized by high incidence and propensity for easy metastasis,presenting significant challenges in clinical diagnosis and treatment.Tumor microenvironment(TME)-responsive nanomaterials provide a promising prospect for imaging-guided precision therapy.Considering that tumor-derived alkaline phosphatase(ALP)is over-expressed in metastatic PCa,it makes a great chance to develop a theranostics system with ALP responsive in the TME.Herein,an ALP-responsive aggregationinduced emission luminogens(AIEgens)nanoprobe AMNF self-assembly was designed for enhancing the diagnosis and treatment of metastatic PCa.The nanoprobe exhibited self-aggregation in the presence of ALP resulted in aggregation-induced fluorescence,and enhanced accumulation and prolonged retention period at the tumor site.In terms of detection,the fluorescence(FL)/computed tomography(CT)/magnetic resonance(MR)multi-mode imaging effect of nanoprobe was significantly improved post-aggregation,enabling precise diagnosis through the amalgamation of multiple imaging modes.Enhanced CT/MR imaging can achieve assist preoperative tumor diagnosis,and enhanced FL imaging technology can achieve“intraoperative visual navigation”,showing its potential application value in clinical tumor detection and surgical guidance.In terms of treatment,AMNF showed strong absorption in the near infrared region after aggregation,which improved the photothermal treatment effect.Overall,our work developed an effective aggregation-enhanced theranostic strategy for ALP-related cancers.
基金supported by the Shenzhen Science and Technology Program(Nos.JCYJ20210324132810026,KQTD20210811090146075,and GXWD20220811164014001)the National Natural Science Foundation of China(Nos.52375175,52005128,62473277,and 52475075)+4 种基金the National Key Research and Development Program of China(No.2022YFC3802302)Guangdong Basic and Applied Basic Research Foundation(No.2024A1515240015)Jiangsu Provincial Outstanding Youth Program(No.BK20230072)Suzhou Industrial Foresight and Key Core Technology Project(No.SYC2022044)a grant from Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems,and grants from Jiangsu Qinglan Project and Jiangsu 333 High-level Talents.
文摘Small-scale magnetic soft robots are promising candidates for minimally invasive medical applications;however,they struggle to achieve efficient locomotion across various interfaces.In this study,we propose a magnetic soft robot that integrates two distinct bio-inspired locomotion modes for enhanced interface navigation.Inspired by water striders’superhydrophobic legs and the meniscus climbing behavior of Pyrrhalta nymphaeae larvae,we developed a rectangular sheet-based robot with hydrophobic surface treatment and novel control strategies.The proposed robot implements two locomotion modes:a bipedal peristaltic locomotion mode(BPLM)and a single-region contact-vibration locomotion mode(SCLM).The BPLM achieves stable movement at 20 mm/s through coordinated front-rear contact points,whereas the SCLM reaches an ultrafast speed of 52 mm/s by optimizing surface tension interactions.The proposed robot demonstrates precise trajectory control with minimal deviations and successfully navigates confined spaces while manipulating objects.Theoretical analysis and experimental validation demonstrate that the integration of triangular wave control signals and steady-state components enables smooth transitions between locomotion modes.This study presents a new paradigm for bio-inspired design of small-scale robots and demonstrates the potential for medical applications requiring precise navigation across multiple terrains.
基金supported by the Science and Technology Project of State Grid Corporation of China under grant 52094021N010(5400-202199534A-0-5-ZN)。
文摘Low-carbon smart parks achieve selfbalanced carbon emission and absorption through the cooperative scheduling of direct current(DC)-based distributed photovoltaic,energy storage units,and loads.Direct current power line communication(DC-PLC)enables real-time data transmission on DC power lines.With traffic adaptation,DC-PLC can be integrated with other complementary media such as 5G to reduce transmission delay and improve reliability.However,traffic adaptation for DC-PLC and 5G integration still faces the challenges such as coupling between traffic admission control and traffic partition,dimensionality curse,and the ignorance of extreme event occurrence.To address these challenges,we propose a deep reinforcement learning(DRL)-based delay sensitive and reliable traffic adaptation algorithm(DSRTA)to minimize the total queuing delay under the constraints of traffic admission control,queuing delay,and extreme events occurrence probability.DSRTA jointly optimizes traffic admission control and traffic partition,and enables learning-based intelligent traffic adaptation.The long-term constraints are incorporated into both state and bound of drift-pluspenalty to achieve delay awareness and enforce reliability guarantee.Simulation results show that DSRTA has lower queuing delay and more reliable quality of service(QoS)guarantee than other state-of-the-art algorithms.
基金Supported by Hebei Provincial Natural Science Foundation of China(Grant Nos.E2020203174,E2020203078)S&T Program of Hebei Province of China(Grant No.226Z2202G)Science Research Project of Hebei Provincial Education Department of China(Grant No.ZD2022029).
文摘The all-wheel drive(AWD)hybrid system is a research focus on high-performance new energy vehicles that can meet the demands of dynamic performance and passing ability.Simultaneous optimization of the power and economy of hybrid vehicles becomes an issue.A unique multi-mode coupling(MMC)AWD hybrid system is presented to realize the distributed and centralized driving of the front and rear axles to achieve vectored distribution and full utilization of the system power between the axles of vehicles.Based on the parameters of the benchmarking model of a hybrid vehicle,the best model-predictive control-based energy management strategy is proposed.First,the drive system model was built after the analysis of the MMC-AWD’s drive modes.Next,three fundamental strategies were established to address power distribution adjustment and battery SOC maintenance when the SOC changed,which was followed by the design of a road driving force observer.Then,the energy consumption rate in the average time domain was processed before designing the minimum fuel consumption controller based on the equivalent fuel consumption coefficient.Finally,the advantage of the MMC-AWD was confirmed by comparison with the dynamic performance and economy of the BYD Song PLUS DMI-AWD.The findings indicate that,in comparison to the comparative hybrid system at road adhesion coefficients of 0.8 and 0.6,the MMC-AWD’s capacity to accelerate increases by 5.26%and 7.92%,respectively.When the road adhesion coefficient is 0.8,0.6,and 0.4,the maximum climbing ability increases by 14.22%,12.88%,and 4.55%,respectively.As a result,the dynamic performance is greatly enhanced,and the fuel savings rate per 100 km of mileage reaches 12.06%,which is also very economical.The proposed control strategies for the new hybrid AWD vehicle can optimize the power and economy simultaneously.
基金co-supported by the National Key R&D Program of China(No.2022YFB3402200)the National Natural Science Foundation of China(Nos.12372123,12272305 and 12372156)+2 种基金the Key Project of NSFC,China(Nos.92271205,12032018 and 12220101002)the Fundamental Research Funds for the Central Universities of China(No.G2022KY0606)the Basic Research Program of China(No.JCKY2022603C016).
文摘This work evaluates the viability of a cutting-edge flexible wing prototype actuated by Shape Memory Alloy(SMA)wire actuators.Such flexible wings have garnered significant interest for their potential to enhance aerodynamic efficiency by mitigating noise and delaying flow separation.SMA actuators are particularly advantageous due to their superior power-to-weight ratio and adaptive response,making them increasingly favored in morphing aircraft applications.Our methodology begins with a detailed delineation of the fishbone camber morphing wing rib structure,followed by the construction of a multi-mode morphing wing segment through 3D-printed rib assembly.Comprehensive testing of the SMA wire actuators’actuation capacity and efficiency was conducted to establish their operational parameters.Subsequent experimental analyses focused on the bi-directional and reciprocating morphing performance of the fishbone wing rib,which incorporates SMA wires on the upper and lower sides.These experiments confirmed the segment’s multi-mode morphing abilities.Aerodynamic assessments have demonstrated that our design substantially improves the Lift-to-Drag ratio(L/D)when compared to conventional rigid wings.Finally,two phases of flight tests demonstrated the feasibility of SMA as an aircraft actuator and the validity of flexible wing structures to adjust the aircraft attitude,respectively.
文摘Aim: This dissection study was conducted to verify if the Myofascial kinetic lines, outlined in detail in humans and recently documented in horses, were present in dogs. These dynamic lines present rows of interconnected muscles, myofascia and other fascia structures, which influence the biomechanics of the spine and limbs. Methods: Forty-two dogs of different breeds and genders were dissected, imaged, and videoed. Results: Similar kinetic lines were verified in the dog, as described in humans and horses, and additionally, three new branches of the lines were discovered. The kinetic lines described were three superficial lines: Dorsal, Ventral, and Lateral, which all started in the hindlimb and ended in the temporal and occipital regions. These lines act respectively in spinal extension, flexion, and lateral flexion. Three profound lines, which started in the tail and ended in the head. The Deep Dorsal Line followed the transversospinal myofascia. The Deep Ventral Line showed an additional start deep in the medial hind limb, continued in the hypaxial myofascia, and enveloped all the viscera. Also, the Deep Lateral Line started in the hindlimb but parted along the trunk in the deep lateral myofascial structures. Two helical lines crossed the midline two or three times and served to rotate the spine. The Functional Line established a sling from the axilla to the contralateral stifle and presented a new ipsilateral branch. The Spiral Line connected the head and the ipsilateral tarsus and additionally presented a new straight branch. The four front limb lines describe their motion: the Front Limb Protraction and Retraction, Adduction, and Abduction Lines. Conclusion: The canine lines mirrored the equine and human lines with exceptions due to differences in anatomy, foot posture, lumbosacral flexibility, and their biomechanical constitution as predator versus prey animals. Additionally, three new canine branches were verified and described.
基金the financial support of Shanghai Science and Technology innovation action plan(19DZ2203600).
文摘Lower Limb Exoskeletons(LLEs)are receiving increasing attention for supporting activities of daily living.In such active systems,an intelligent controller may be indispensable.In this paper,we proposed a locomotion intention recognition system based on time series data sets derived from human motion signals.Composed of input data and Deep Learning(DL)algorithms,this framework enables the detection and prediction of users’movement patterns.This makes it possible to predict the detection of locomotion modes,allowing the LLEs to provide smooth and seamless assistance.The pre-processed eight subjects were used as input to classify four scenes:Standing/Walking on Level Ground(S/WOLG),Up the Stairs(US),Down the Stairs(DS),and Walking on Grass(WOG).The result showed that the ResNet performed optimally compared to four algorithms(CNN,CNN-LSTM,ResNet,and ResNet-Att)with an approximate evaluation indicator of 100%.It is expected that the proposed locomotion intention system will significantly improve the safety and the effectiveness of LLE due to its high accuracy and predictive performance.
基金This research was funded by the General Project of Philosophy and Social Science of Heilongjiang Province,Grant Number:20SHB080.
文摘In recent years,how to efficiently and accurately identify multi-model fake news has become more challenging.First,multi-model data provides more evidence but not all are equally important.Secondly,social structure information has proven to be effective in fake news detection and how to combine it while reducing the noise information is critical.Unfortunately,existing approaches fail to handle these problems.This paper proposes a multi-model fake news detection framework based on Tex-modal Dominance and fusing Multiple Multi-model Cues(TD-MMC),which utilizes three valuable multi-model clues:text-model importance,text-image complementary,and text-image inconsistency.TD-MMC is dominated by textural content and assisted by image information while using social network information to enhance text representation.To reduce the irrelevant social structure’s information interference,we use a unidirectional cross-modal attention mechanism to selectively learn the social structure’s features.A cross-modal attention mechanism is adopted to obtain text-image cross-modal features while retaining textual features to reduce the loss of important information.In addition,TD-MMC employs a new multi-model loss to improve the model’s generalization ability.Extensive experiments have been conducted on two public real-world English and Chinese datasets,and the results show that our proposed model outperforms the state-of-the-art methods on classification evaluation metrics.
基金Project supported by the Heilongjiang Provincial Key Laboratory of Micro-nano Sensitive Devices and SystemsBasic Research Project for Outstanding Young Teachers of Heilongjiang Province (YQJH2023128)Cultivation Project of Double First-class Initiative Discipline by Heilongjiang Province(LJGXCG2022-061)。
文摘Lanthanum-doped double halide perovskite has attracted increasing interest due to its distinctive upconversion and near-infrared(NIR) luminous characteristics.Here,erbium ion(Er^(3+)) doped Cs_(2)(Na/Ag)BiCl_(6) microcrystals(MCs) were synthesized and proved to be one of the most prospective candidates for optical thermometry.The enhancement of both white light from self-trapped exciton emission and NIR emission from Er^(3+) ion of Cs_(2)AgBiCl_(6) microcrystals is caused by lattice distortion due to Na^(+) ion doping.Fluorescence intensity ratio and lifetime methods provide self-referenced and sensitive thermometry under 405 and/or 980 nm laser excitation at the temperatures from 80 to 480 K.Besides,the maximum values of relative and absolute sensitivity of 3.62%/K and 27//K can be achieved in the low to high temperature range under 980 and 405 nm laser co-excitation.Through the experimental analysis,Er^(3+)doped Cs_(2)(Na/Ag)BiCl_(6) double perovskite is considered to be an ideal self-calibrating thermometric material due to its good long-term stability and multi-mode function of excitation and detection.
