Tendon-driven robots have distinct advantages in high-dynamic performance motion and high-degree-of-freedom manipulation.However,these robots face challenges related to control complexity,intricate tendon drive paths,...Tendon-driven robots have distinct advantages in high-dynamic performance motion and high-degree-of-freedom manipulation.However,these robots face challenges related to control complexity,intricate tendon drive paths,and tendon slackness.In this study,the authors present a novel modular tendon-driven actuator design that integrates a series elastic element.The actuator incorporates a unique magnetic position sensing technology that enables observation of the length and tension of the tendon and features an exceptionally compact design.The modular architecture of the tendon-driven actuator addresses the complexity of tendon drive paths,while the tension observation functionality mitigates slackness issues.The design and modeling of the actuator are described in this paper,and a series of tests are conducted to validate the simulation model and to test the performance of the proposed actuator.The model can be used for training robot control neural networks based on simulation,thereby overcoming the challenges associated with controlling tendon-driven robots.展开更多
Coronaviruses are single-stranded,positive-sense RNA enveloped viruses that have posed a significant threat to human health over the past few decades,particularly severe acute respiratory syndrome coronavirus(SARS-CoV...Coronaviruses are single-stranded,positive-sense RNA enveloped viruses that have posed a significant threat to human health over the past few decades,particularly severe acute respiratory syndrome coronavirus(SARS-CoV),Middle East respiratory syndrome coronavirus(MERS-CoV),and SARS-CoV-2.These viruses have caused widespread infections and fatalities,with profound impacts on global economies,social life,and public health systems.Due to their broad host range in natural settings and the consequent high potential for zoonotic spillover events,a thorough investigation of the common viral mechanisms and the identification of druggable targets for pan-coronavirus antiviral development are of utmost importance.展开更多
Shaft alignment is an important technique during installation and maintenance of a rotating machine. A high-precision laser alignment system has been designed with dual PSDs (Position Sensing Detector) to change tradi...Shaft alignment is an important technique during installation and maintenance of a rotating machine. A high-precision laser alignment system has been designed with dual PSDs (Position Sensing Detector) to change traditional manual way of shaft alignment and to make the measurement easier and more accurate. The system is comprised of two small measuring units (laser transmitter and detector) and a PDA (Personal Digital Assistant) with measurement software. The laser alignment system with dual PSDs was improved on a single PSD system, and yields higher measurement accuracy than the previous design, and has been successful for designing and implements actual shaft alignment. In the system, the range of offset measurement is ±4 mm, and the resolution is 1.5 μm, with accuracy being less than 2 μm.展开更多
Background:Acute ankle injury causes damage to joint mechanoreceptors and deafferentation and contributes to proprioception deficits in patients with chronic ankle instability(CAI).We aimed to explore whether deficits...Background:Acute ankle injury causes damage to joint mechanoreceptors and deafferentation and contributes to proprioception deficits in patients with chronic ankle instability(CAI).We aimed to explore whether deficits of proprioception,including kinesthesia and joint position sense(JPS),exist in patients with CAI when compared with the uninjured contralateral side and healthy people.We hypothesized that proprioception deficits did exist in patients with CAI and that the deficits varied by test methodologies.Methods:The study was a systematic review and meta-analysis.We identified studies that compared kinesthesia or JPS in patients with CAI with the uninjured contralateral side or with healthy controls.Meta-analyses were conducted for the studies with similar test procedures,and narrative syntheses were undertaken for the rest.Results:A total of 7731 studies were identified,of which 30 were included for review.A total of 21 studies were eligible for meta-analysis.Compared with the contralateral side,patients with CAI had ankle kinesthesia deficits in inversion and plantarflexion,with a standardized mean difference(SMD)of 0.41 and 0.92,respectively,and active and passive JPS deficits in inversion(SMD=0.92 and 0.72,respectively).Compared with healthy people,patients with CAI had ankle kinesthesia deficits in inversion and eversion(SMD=0.64 and 0.76,respectively),and active JPS deficits in inversion and eversion(SMD=1.00 and 4.82,respectively).Proprioception deficits in the knee and shoulder of patients with CAI were not statistically significant.Conclusion:Proprioception,including both kinesthesia and JPS,of the injured ankle of patients with CAI was impaired,compared with the uninjured contralateral limbs and healthy people.Proprioception varied depending on different movement directions and test methodologies.The use of more detailed measurements of proprioception and interventions for restoring the deficits are recommended in the clinical management of CAI.展开更多
To control movement,the brain has to integrate proprioceptive information from a variety of mechanoreceptors.The role of proprioception in daily activities,exercise,and sports has been extensively investigated,using d...To control movement,the brain has to integrate proprioceptive information from a variety of mechanoreceptors.The role of proprioception in daily activities,exercise,and sports has been extensively investigated,using different techniques,yet the proprioceptive mechanisms underlying human movement control are still unclear.In the current work we have reviewed understanding of proprioception and the three testing methods:threshold to detection of passive motion,joint position reproduction,and active movement extent discrimination,all of which have been used for assessing proprioception.The origin of the methods,the different testing apparatus,and the procedures and protocols used in each approach are compared and discussed.Recommendations are made for choosing an appropriate technique when assessing proprioceptive mechanisms in different contexts.展开更多
Beyond providing user access to the core network,the radio access network(RAN) is expected to support precise positioning and sensing for emerging applications such as virtual reality(VR) and drone fleets.To achieve t...Beyond providing user access to the core network,the radio access network(RAN) is expected to support precise positioning and sensing for emerging applications such as virtual reality(VR) and drone fleets.To achieve this,fronthaul-the link connecting the central units/distributed units(CUs/DUs) to wireless remote units(RUs) in centralized RAN-must realize both high-capacity transmission and low-timing-jitter clock synchronization between RUs.However,existing solutions fall short of supporting these functions within one simple,cost-effective network.In this work,we propose a solution that simultaneously achieves picosecond-level timing jitter clock distribution and Tb/s data transmission with simp lified DSP,using an electro-optic(EO) comb cloning technique to enable multifunctionality in fronthaul systems.Through the delivery of pilot comb lines,a 1 ps(integrated from 1 Hz to 40 MHz) low-timing-jitter 100 MHz clock is distributed by the beating of adjacent pilot comb lines and subsequent frequency dividing,realizing frequency synchronization between the CUs/DUs and RUs.Moreover,the delivery of pilot comb lines also facilitates self-homodyne structures through EO comb cloning,and supports wavelength division multiplexing(WDM) transmission with a line capacity of 2.88 Tb/s and a net capacity of 2.5 Tb/s.Thanks to the clock-synchronized and self-homodyne structure,DSP is streamlined,with digital timing recovery,carrier phase estimation,and frequency offset estimation all omitted.This work lays the technical foundation for implementing a 6G WDM fronthaul architecture that integrates ultra-wide wireless bandwidth with precise positioning and sensing.展开更多
Visible light communication plays an essential role in the next-generation 6G network due to its extremely high bandwidth and ultrafast transmission speed.Incorporating position sensing functionality into the communic...Visible light communication plays an essential role in the next-generation 6G network due to its extremely high bandwidth and ultrafast transmission speed.Incorporating position sensing functionality into the communication system is highly desired for achieving target-oriented beamforming and accommodating high-speed data service.However,an efficient solution to integrated sensing and light communication remains challenging.Here,we demonstrate an integrated system that concurrently accomplishes high-precision sensing and high-speed data transmission by spatio-temporal modulation of the illumination and computational reconstruction.We developed a compressive angular projection imaging scheme to achieve rapid three-dimensional localization with high resolution,and a jointly optimized waveform design ensures slight sacrifice in the transmission data rate on the integrated system.We experimentally demonstrated a resolving resolution of 1 mm in lateral and 4 cm in depth within 0.6 m×0.6 m×0.6 m volume over 2 m distance at the sensing speed of 39 Hz in both static and dynamic conditions.This capability enables adaptive beamforming,which significantly enhances the data rate by 184%to permit errorless transmission of high-throughput virtual reality videos.Our work offers a promising route for intelligent wireless light communication systems with spatial perception capability,presenting the possibility of cable-free,immersive virtual reality experiences.展开更多
基金supported in part by the National Key R&D Program of China under Grant 2024YFB4707900the National Natural Science Foundation of China under Grant 91948302 and Grant 52021003.
文摘Tendon-driven robots have distinct advantages in high-dynamic performance motion and high-degree-of-freedom manipulation.However,these robots face challenges related to control complexity,intricate tendon drive paths,and tendon slackness.In this study,the authors present a novel modular tendon-driven actuator design that integrates a series elastic element.The actuator incorporates a unique magnetic position sensing technology that enables observation of the length and tension of the tendon and features an exceptionally compact design.The modular architecture of the tendon-driven actuator addresses the complexity of tendon drive paths,while the tension observation functionality mitigates slackness issues.The design and modeling of the actuator are described in this paper,and a series of tests are conducted to validate the simulation model and to test the performance of the proposed actuator.The model can be used for training robot control neural networks based on simulation,thereby overcoming the challenges associated with controlling tendon-driven robots.
基金supported by the Key Research and Development Program,Ministry of Science and Technology of the People’s Republic of China(Nos.2023YFC2606500,2023YFE0206500).
文摘Coronaviruses are single-stranded,positive-sense RNA enveloped viruses that have posed a significant threat to human health over the past few decades,particularly severe acute respiratory syndrome coronavirus(SARS-CoV),Middle East respiratory syndrome coronavirus(MERS-CoV),and SARS-CoV-2.These viruses have caused widespread infections and fatalities,with profound impacts on global economies,social life,and public health systems.Due to their broad host range in natural settings and the consequent high potential for zoonotic spillover events,a thorough investigation of the common viral mechanisms and the identification of druggable targets for pan-coronavirus antiviral development are of utmost importance.
基金Project (No. 60337030) partly supported by the National NaturalScience Foundation of China
文摘Shaft alignment is an important technique during installation and maintenance of a rotating machine. A high-precision laser alignment system has been designed with dual PSDs (Position Sensing Detector) to change traditional manual way of shaft alignment and to make the measurement easier and more accurate. The system is comprised of two small measuring units (laser transmitter and detector) and a PDA (Personal Digital Assistant) with measurement software. The laser alignment system with dual PSDs was improved on a single PSD system, and yields higher measurement accuracy than the previous design, and has been successful for designing and implements actual shaft alignment. In the system, the range of offset measurement is ±4 mm, and the resolution is 1.5 μm, with accuracy being less than 2 μm.
基金the National Natural Science Foundation of China(Grant No.81871823).
文摘Background:Acute ankle injury causes damage to joint mechanoreceptors and deafferentation and contributes to proprioception deficits in patients with chronic ankle instability(CAI).We aimed to explore whether deficits of proprioception,including kinesthesia and joint position sense(JPS),exist in patients with CAI when compared with the uninjured contralateral side and healthy people.We hypothesized that proprioception deficits did exist in patients with CAI and that the deficits varied by test methodologies.Methods:The study was a systematic review and meta-analysis.We identified studies that compared kinesthesia or JPS in patients with CAI with the uninjured contralateral side or with healthy controls.Meta-analyses were conducted for the studies with similar test procedures,and narrative syntheses were undertaken for the rest.Results:A total of 7731 studies were identified,of which 30 were included for review.A total of 21 studies were eligible for meta-analysis.Compared with the contralateral side,patients with CAI had ankle kinesthesia deficits in inversion and plantarflexion,with a standardized mean difference(SMD)of 0.41 and 0.92,respectively,and active and passive JPS deficits in inversion(SMD=0.92 and 0.72,respectively).Compared with healthy people,patients with CAI had ankle kinesthesia deficits in inversion and eversion(SMD=0.64 and 0.76,respectively),and active JPS deficits in inversion and eversion(SMD=1.00 and 4.82,respectively).Proprioception deficits in the knee and shoulder of patients with CAI were not statistically significant.Conclusion:Proprioception,including both kinesthesia and JPS,of the injured ankle of patients with CAI was impaired,compared with the uninjured contralateral limbs and healthy people.Proprioception varied depending on different movement directions and test methodologies.The use of more detailed measurements of proprioception and interventions for restoring the deficits are recommended in the clinical management of CAI.
基金the University of Canberra,Key Laboratory of Exercise and Health Sciences of Ministry of Education,Shanghai University of Sport and Shanghai Municipal Science and Technology Commission (No.13490503800)supported by Shanghai Pujiang Program (No.15PJ1407600)
文摘To control movement,the brain has to integrate proprioceptive information from a variety of mechanoreceptors.The role of proprioception in daily activities,exercise,and sports has been extensively investigated,using different techniques,yet the proprioceptive mechanisms underlying human movement control are still unclear.In the current work we have reviewed understanding of proprioception and the three testing methods:threshold to detection of passive motion,joint position reproduction,and active movement extent discrimination,all of which have been used for assessing proprioception.The origin of the methods,the different testing apparatus,and the procedures and protocols used in each approach are compared and discussed.Recommendations are made for choosing an appropriate technique when assessing proprioceptive mechanisms in different contexts.
基金Natural Science Foundation of Beijing Municipality(JQ24027).
文摘Beyond providing user access to the core network,the radio access network(RAN) is expected to support precise positioning and sensing for emerging applications such as virtual reality(VR) and drone fleets.To achieve this,fronthaul-the link connecting the central units/distributed units(CUs/DUs) to wireless remote units(RUs) in centralized RAN-must realize both high-capacity transmission and low-timing-jitter clock synchronization between RUs.However,existing solutions fall short of supporting these functions within one simple,cost-effective network.In this work,we propose a solution that simultaneously achieves picosecond-level timing jitter clock distribution and Tb/s data transmission with simp lified DSP,using an electro-optic(EO) comb cloning technique to enable multifunctionality in fronthaul systems.Through the delivery of pilot comb lines,a 1 ps(integrated from 1 Hz to 40 MHz) low-timing-jitter 100 MHz clock is distributed by the beating of adjacent pilot comb lines and subsequent frequency dividing,realizing frequency synchronization between the CUs/DUs and RUs.Moreover,the delivery of pilot comb lines also facilitates self-homodyne structures through EO comb cloning,and supports wavelength division multiplexing(WDM) transmission with a line capacity of 2.88 Tb/s and a net capacity of 2.5 Tb/s.Thanks to the clock-synchronized and self-homodyne structure,DSP is streamlined,with digital timing recovery,carrier phase estimation,and frequency offset estimation all omitted.This work lays the technical foundation for implementing a 6G WDM fronthaul architecture that integrates ultra-wide wireless bandwidth with precise positioning and sensing.
基金National Key Research and Development Program of China(2023YFB2804701)National Natural Science Foundation of China(62401156,61925104,62201157,62231018)。
文摘Visible light communication plays an essential role in the next-generation 6G network due to its extremely high bandwidth and ultrafast transmission speed.Incorporating position sensing functionality into the communication system is highly desired for achieving target-oriented beamforming and accommodating high-speed data service.However,an efficient solution to integrated sensing and light communication remains challenging.Here,we demonstrate an integrated system that concurrently accomplishes high-precision sensing and high-speed data transmission by spatio-temporal modulation of the illumination and computational reconstruction.We developed a compressive angular projection imaging scheme to achieve rapid three-dimensional localization with high resolution,and a jointly optimized waveform design ensures slight sacrifice in the transmission data rate on the integrated system.We experimentally demonstrated a resolving resolution of 1 mm in lateral and 4 cm in depth within 0.6 m×0.6 m×0.6 m volume over 2 m distance at the sensing speed of 39 Hz in both static and dynamic conditions.This capability enables adaptive beamforming,which significantly enhances the data rate by 184%to permit errorless transmission of high-throughput virtual reality videos.Our work offers a promising route for intelligent wireless light communication systems with spatial perception capability,presenting the possibility of cable-free,immersive virtual reality experiences.
