Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequent...Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.展开更多
Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptabilit...Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.展开更多
This study proposes a novel approach to optimizing individual work schedules for book digitization using mixed-integer programming (MIP). By leveraging the power of MIP solvers, we aimed to minimize the overall digiti...This study proposes a novel approach to optimizing individual work schedules for book digitization using mixed-integer programming (MIP). By leveraging the power of MIP solvers, we aimed to minimize the overall digitization time while considering various constraints and process dependencies. The book digitization process involves three key steps: cutting, scanning, and binding. Each step has specific requirements and limitations such as the number of pages that can be processed simultaneously and potential bottlenecks. To address these complexities, we formulate the problem as a one-machine job shop scheduling problem with additional constraints to capture the unique characteristics of book digitization. We conducted a series of experiments to evaluate the performance of our proposed approach. By comparing the optimized schedules with the baseline approach, we demonstrated significant reductions in the overall processing time. In addition, we analyzed the impact of different weighting schemes on the optimization results, highlighting the importance of identifying and prioritizing critical processes. Our findings suggest that MIP-based optimization can be a valuable tool for improving the efficiency of individual work schedules, even in seemingly simple tasks, such as book digitization. By carefully considering specific constraints and objectives, we can save time and leverage resources by carefully considering specific constraints and objectives.展开更多
Computing-in-memory(CIM)has been a promising candidate for artificial-intelligent applications thanks to the absence of data transfer between computation and storage blocks.Resistive random access memory(RRAM)based CI...Computing-in-memory(CIM)has been a promising candidate for artificial-intelligent applications thanks to the absence of data transfer between computation and storage blocks.Resistive random access memory(RRAM)based CIM has the advantage of high computing density,non-volatility as well as high energy efficiency.However,previous CIM research has predominantly focused on realizing high energy efficiency and high area efficiency for inference,while little attention has been devoted to addressing the challenges of on-chip programming speed,power consumption,and accuracy.In this paper,a fabri-cated 28 nm 576K RRAM-based CIM macro featuring optimized on-chip programming schemes is proposed to address the issues mentioned above.Different strategies of mapping weights to RRAM arrays are compared,and a novel direct-current ADC design is designed for both programming and inference stages.Utilizing the optimized hybrid programming scheme,4.67×programming speed,0.15×power saving and 4.31×compact weight distribution are realized.Besides,this macro achieves a normalized area efficiency of 2.82 TOPS/mm2 and a normalized energy efficiency of 35.6 TOPS/W.展开更多
With the widespread application of large language models(LLMs)in natural language processing and code generation,traditional High-Level Language Programming courses are facing unprecedented challenges and opportunitie...With the widespread application of large language models(LLMs)in natural language processing and code generation,traditional High-Level Language Programming courses are facing unprecedented challenges and opportunities.As a core programming language for computer science majors,C language remains irreplaceable due to its foundational nature and engineering adaptability.This paper,based on the rapid development of large model technologies,proposes a systematic reform design for C language teaching,focusing on teaching objectives,content structure,teaching methods,and evaluation systems.The article suggests a teaching framework centered on“human-computer collaborative programming,”integrating prompt training,AI-assisted debugging,and code generation analysis,aiming to enhance students’problem modeling ability,programming expression skills,and AI collaboration literacy.展开更多
Three-dimensional(3D)single molecule localization microscopy(SMLM)plays an important role in biomedical applications,but its data processing is very complicated.Deep learning is a potential tool to solve this problem....Three-dimensional(3D)single molecule localization microscopy(SMLM)plays an important role in biomedical applications,but its data processing is very complicated.Deep learning is a potential tool to solve this problem.As the state of art 3D super-resolution localization algorithm based on deep learning,FD-DeepLoc algorithm reported recently still has a gap with the expected goal of online image processing,even though it has greatly improved the data processing throughput.In this paper,a new algorithm Lite-FD-DeepLoc is developed on the basis of FD-DeepLoc algorithm to meet the online image processing requirements of 3D SMLM.This new algorithm uses the feature compression method to reduce the parameters of the model,and combines it with pipeline programming to accelerate the inference process of the deep learning model.The simulated data processing results show that the image processing speed of Lite-FD-DeepLoc is about twice as fast as that of FD-DeepLoc with a slight decrease in localization accuracy,which can realize real-time processing of 256×256 pixels size images.The results of biological experimental data processing imply that Lite-FD-DeepLoc can successfully analyze the data based on astigmatism and saddle point engineering,and the global resolution of the reconstructed image is equivalent to or even better than FD-DeepLoc algorithm.展开更多
Soft robots, inspired by the flexibility and versatility of biological organisms, have potential in a variety of applications. Recent advancements in magneto-soft robots have demonstrated their abilities to achieve pr...Soft robots, inspired by the flexibility and versatility of biological organisms, have potential in a variety of applications. Recent advancements in magneto-soft robots have demonstrated their abilities to achieve precise remote control through magnetic fields, enabling multi-modal locomotion and complex manipulation tasks. Nonetheless, two main hurdles must be overcome to advance the field: developing a multi-component substrate with embedded magnetic particles to ensure the requisite flexibility and responsiveness, and devising a cost-effective,straightforward method to program three-dimensional distributed magnetic domains without complex processing and expensive machinery. Here, we introduce a cost-effective and simple heat-assisted in-situ integrated molding fabrication method for creating magnetically driven soft robots with three-dimensional programmable magnetic domains. By synthesizing a composite material with neodymium-iron-boron(NdFeB) particles embedded in a polydimethylsiloxane(PDMS) and Ecoflex matrix(PDMS:Ecoflex = 1:2 mass ratio, 50% magnetic particle concentration), we achieved an optimized balance of flexibility, strength, and magnetic responsiveness. The proposed heat-assisted in-situ magnetic domains programming technique,performed at an experimentally optimized temperature of 120℃, resulted in a 2 times magnetization strength(9.5 mT) compared to that at 20℃(4.8 m T), reaching a saturation level comparable to a commercial magnetizer. We demonstrated the versatility of our approach through the fabrication of six kinds of robots, including two kinds of two-dimensional patterned soft robots(2D-PSR), a circular six-pole domain distribution magnetic robot(2D-CSPDMR), a quadrupedal walking magnetic soft robot(QWMSR), an object manipulation robot(OMR), and a hollow thin-walled spherical magneto-soft robot(HTWSMSR). The proposed method provides a practical solution to create highly responsive and adaptable magneto-soft robots.展开更多
As one of the core courses for computer-related majors,the Python programming course has become increasingly important in the era of artificial intelligence.It aims to help students develop good computer thinking and ...As one of the core courses for computer-related majors,the Python programming course has become increasingly important in the era of artificial intelligence.It aims to help students develop good computer thinking and improve their abilities in programming and data analysis.The application of artificial intelligence technology in the teaching of Python programming courses is of great significance for optimizing the allocation of teaching resources,enriching students’learning experience,and significantly improving teaching quality.Based on this,this paper first briefly expounds on the importance of applying artificial intelligence technology in the teaching of Python programming courses.On this basis,it focuses on exploring effective strategies for the teaching reform of Python programming courses based on artificial intelligence technology,hoping to provide new ideas for the teaching of Python programming courses and contribute to cultivating more Python programming talents with artificial intelligence literacy.展开更多
With the continuous advancement of the New Engineering Education initiative,universities are raising the standards for cultivating engineering talents.C Programming Language,as a core course for computer science and r...With the continuous advancement of the New Engineering Education initiative,universities are raising the standards for cultivating engineering talents.C Programming Language,as a core course for computer science and related majors,plays a fundamental role in developing logical thinking,programming skills,and engineering practice.However,problems such as outdated content,weak practical connections,and single assessment methods still exist in current teaching,which affects both learning outcomes and students’skill development.Based on the outcome-based education(OBE)approach and supported by AI-assisted teaching tools,this paper proposes a reform plan focusing on teaching content,instructional methods,and evaluation systems.The goal is to enhance students’overall abilities and practical innovation skills,and to align the course more closely with modern industry needs.展开更多
Toric patch is a kind of rational multisided patch,which is associated with a finite integer lattice points set A.A set of weights is defined which depend on a parameter according to regular decomposition of A.When al...Toric patch is a kind of rational multisided patch,which is associated with a finite integer lattice points set A.A set of weights is defined which depend on a parameter according to regular decomposition of A.When all weights of the patch tend to infinity,we obtain the limiting form of toric patch which is called its regular control surface.The diferent weights may induce the diferent regular control surfaces of the same toric patch.It prompts us to consider that how many regular control surfaces of a toric patch.In this paper,we study the regular decompositions of A by using integer programming method firstly,and then provide the relationship between all regular decompositions of A and corresponding state polytope.Moreover,we present that the number of regular control surfaces of a toric patch associated with A is equal to the number of regular decompositions of A.An algorithm to calculate the number of regular control surfaces of toric patch is provided.The algorithm also presents a method to construct all of the regular control surfaces of a toric patch.At last,the application of proposed result in shape deformation is demonstrated by several examples.展开更多
Prenatal caffeine exposure(PCE)leads to intrauterine growth retardation and altered glucose homeostasis after birth,but the underlying mechanism remains unclear.This study aims to investigate the alteration of pancrea...Prenatal caffeine exposure(PCE)leads to intrauterine growth retardation and altered glucose homeostasis after birth,but the underlying mechanism remains unclear.This study aims to investigate the alteration of pancreatic development and insulin biosynthesis in the PCE female offspring and explore the intrauterine programming mechanism.Pregnant rats were orally treated with 120 mg/(kg·day)of caffeine from gestational day(GD)9 to 20.Results showed that fetal pancreaticβ-cells in the PCE group exhibited reduced mass and impaired insulin synthesis function,as evidenced by decreased expression of developmental and functional genes and reduced pancreatic insulin content.At postnatal week(PW)12,the PCE offspring exhibited glucose intolerance,diminishedβ-cell mass,and lower blood insulin levels.However,by PW28,glucose tolerance showed some improvement.Both in vivo and in vitro findings collectively indicated that excessive serum corticosterone(CORT)levels of the PCE fetuses may act through the activation of the pancreatic glucocorticoid receptor(GR)and recruitment of histone deacetylase 9(HDAC9),leading to H3K9 deacetylation in promoter and downregulation of insulin-like growth factor 1(IGF1),thereby inhibiting pancreatic islet morphogenesis and insulin synthesis in fetal rats.Furthermore,the PCE offspring after birth exhibited decreased blood CORT levels,increased H3K9 acetylation in promoter and upregulated gene expression of the pancreatic IGF1 promoter region,accompanied by elevated insulin biosynthesis.However,when exposed to chronic stress,the above changes were totally reversed.Conclusively,“glucocorticoid-insulin like growth factor 1(GC-IGF1)axis”programming may be involved in pancreaticβ-cell dysplasia and dysfunction in the PCE female offspring.展开更多
Correction to:J.Iron Steel Res.Int.https://doi.org/10.1007/s42243-025-01545-x The publication of this article unfortunately contained mistakes.Equation(14)was not correct.The corrected equation is given below.
In order to solve the black-box modeling problem and improve the prediction accuracy of model,two distinguished models for tensile strength(Ts)and yield strength(Ys)of hot-rolled strip steel are established based on t...In order to solve the black-box modeling problem and improve the prediction accuracy of model,two distinguished models for tensile strength(Ts)and yield strength(Ys)of hot-rolled strip steel are established based on the industrial hot-rolled data and the algorithm of gene expression programming(GEP).Firstly,the industrial data of hot-rolled strip steel are preprocessed using the Pauta criterion,so as to eliminate outliers.The key input variables that affect Ys and Ts are selected by using the method of the maximal information coefficient(MIC).Secondly,the explicit prediction models of Ys and Ts are established using GEP.Subsequently,the model results based on GEP are compared with those based on the support vector regression(SVR)and the back propagation neural network(BPNN).Finally,the mathematical expression models for Ys and Ts obtained by GEP are used to further analyse the specific relationships between the chemical composition and mechanical property.It is shown that the errors of Ys and Ts based on GEP are less than 4%,and the coefficient of determination(R^(2))of Ys and Ts based on GEP is above 0.9,which has strong prediction performance.The prediction accuracy of GEP can achieve the same level with SVR and BPNN.It is worth mentioning that the proposed model can not only show the explicit relationship between the chemical composition,production process,and mechanical property of strip steel,but also occupy high prediction accuracy,which can make reliable reference for strip steel product design and optimisation.展开更多
Assessing the stability of pillars in underground mines(especially in deep underground mines)is a critical concern during both the design and the operational phases of a project.This study mainly focuses on developing...Assessing the stability of pillars in underground mines(especially in deep underground mines)is a critical concern during both the design and the operational phases of a project.This study mainly focuses on developing two practical models to predict pillar stability status.For this purpose,two robust models were developed using a database including 236 case histories from seven underground hard rock mines,based on gene expression programming(GEP)and decision tree-support vector machine(DT-SVM)hybrid algorithms.The performance of the developed models was evaluated based on four common statistical criteria(sensitivity,specificity,Matthews correlation coefficient,and accuracy),receiver operating characteristic(ROC)curve,and testing data sets.The results showed that the GEP and DT-SVM models performed exceptionally well in assessing pillar stability,showing a high level of accuracy.The DT-SVM model,in particular,outperformed the GEP model(accuracy of 0.914,sensitivity of 0.842,specificity of 0.929,Matthews correlation coefficient of 0.767,and area under the ROC of 0.897 for the test data set).Furthermore,upon comparing the developed models with the previous ones,it was revealed that both models can effectively determine the condition of pillar stability with low uncertainty and acceptable accuracy.This suggests that these models could serve as dependable tools for project managers,aiding in the evaluation of pillar stability during the design and operational phases of mining projects,despite the inherent challenges in this domain.展开更多
The study believes teaching is a communication and exchange process between teachers and students,and the quality of teaching depends on communication qualities,especially whether theories,ideas,and methods are accura...The study believes teaching is a communication and exchange process between teachers and students,and the quality of teaching depends on communication qualities,especially whether theories,ideas,and methods are accurately transmitted from teachers to students.In programming course teaching,there are losses of the original meaning of the English textbook after being translated into Chinese.In order to avoid the loss of original meaning,the study uses original English textbook for the software programming teaching.In the language choice for specific documentation and programming descriptions,the study emphasizes the choice of the inventor’s language.Based on practice,the study summarized the principle of the Language Oriented Approach of Teaching Programming Skills,and outlined the main points and structure of this approach,concluding the prerequisites for its use.Also,the categories of Language Oriented Approach are mentioned.The study shed light on attributing the use of AI,such as the emerging ChatGPT applications,to the Language Oriented Approach.展开更多
Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disruptin...Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disrupting the neural connections that allow communication between the brain and the rest of the body, which results in varying degrees of motor and sensory impairment. Disconnection in the spinal tracts is an irreversible condition owing to the poor capacity for spontaneous axonal regeneration in the affected neurons.展开更多
Races using kitefoil and windfoil surfboards have been in the Olympic Games for the first time in Paris 2024,signalling their relevance in sailing sports.However,the dynamics of these devices is yet not well understoo...Races using kitefoil and windfoil surfboards have been in the Olympic Games for the first time in Paris 2024,signalling their relevance in sailing sports.However,the dynamics of these devices is yet not well understood,in particular the influence on the hydrodynamic forces and moments of the distance of the foil to the free surface.Considering this,the present paper documents an experimental investigation in which forces and torque produced,under uniform flow,by a full-scale state-of-the-art hydrofoil(suitable both for kitesurf and windsurf)were measured.A range of velocities,angles of attack,and submergences were tested,leading to Froude numbers based on submergence with maximum values around five,a typical range in actual sailing conditions.From these tests,formulae for the hydrodynamic coefficients have been proposed.They can be used for developing Velocity Prediction Programs(VPP)for this kind of craft,a necessary tool to plan racing configurations and to analyze their racing performance.With the aim of making the experimental data useful for benchmarking numerical models and for future research on related topics such as foil ventilation and transition to turbulence,the specimen’s 3D file is provided as supplementary material to this paper.展开更多
Downregulation of the inwardly rectifying potassium channel Kir4.1 is a key step for inducing retinal Müller cell activation and interaction with other glial cells,which is involved in retinal ganglion cell apopt...Downregulation of the inwardly rectifying potassium channel Kir4.1 is a key step for inducing retinal Müller cell activation and interaction with other glial cells,which is involved in retinal ganglion cell apoptosis in glaucoma.Modulation of Kir4.1 expression in Müller cells may therefore be a potential strategy for attenuating retinal ganglion cell damage in glaucoma.In this study,we identified seven predicted phosphorylation sites in Kir4.1 and constructed lentiviral expression systems expressing Kir4.1 mutated at each site to prevent phosphorylation.Following this,we treated Müller glial cells in vitro and in vivo with the m Glu R I agonist DHPG to induce Kir4.1 or Kir4.1 Tyr^(9)Asp overexpression.We found that both Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression inhibited activation of Müller glial cells.Subsequently,we established a rat model of chronic ocular hypertension by injecting microbeads into the anterior chamber and overexpressed Kir4.1 or Kir4.1 Tyr^(9)Asp in the eye,and observed similar results in Müller cells in vivo as those seen in vitro.Both Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression inhibited Müller cell activation,regulated the balance of Bax/Bcl-2,and reduced the m RNA and protein levels of pro-inflammatory factors,including interleukin-1βand tumor necrosis factor-α.Furthermore,we investigated the regulatory effects of Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression on the release of pro-inflammatory factors in a co-culture system of Müller glial cells and microglia.In this co-culture system,we observed elevated adenosine triphosphate concentrations in activated Müller cells,increased levels of translocator protein(a marker of microglial activation),and elevated interleukin-1βm RNA and protein levels in microglia induced by activated Müller cells.These changes could be reversed by Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression in Müller cells.Kir4.1 overexpression,but not Kir4.1 Tyr^(9)Asp overexpression,reduced the number of proliferative and migratory microglia induced by activated Müller cells.Collectively,these results suggest that the tyrosine residue at position nine in Kir4.1 may serve as a functional modulation site in the retina in an experimental model of glaucoma.Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression attenuated Müller cell activation,reduced ATP/P2X receptor–mediated interactions between glial cells,inhibited microglial activation,and decreased the synthesis and release of pro-inflammatory factors,consequently ameliorating retinal ganglion cell apoptosis in glaucoma.展开更多
During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive...During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.展开更多
基金supported by the National Natural Science Foundation of China(No.62203256)。
文摘Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.
基金the National Key R&D Program of China(No.2023YFE0208700)National Natural Sci-ence Foundation of China(No.92163109 and 52072095)+7 种基金Shenzhen Science and Technology Program(No.RCJC20231211090000001,GXWD20231129101105001)the National Natural Science Foundation of China(No.52205590)the Natural Science Foundation of Jiangsu Province(No.BK20220834)the Start-up Research Fund of Southeast University(No.RF1028623098)the State Key Laboratory of Robotics and Systems(HIT)(No.SKLRS-2024-KF-11)National Natural Science Foundation of China(No.52202348)Guangdong Basic and Applied Basic Research Foundation(No.2023A1515011491)Shenzhen Science and Technology Program(Nos.GXWD20220818224716001,KJZD20231023100302006).
文摘Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.
文摘This study proposes a novel approach to optimizing individual work schedules for book digitization using mixed-integer programming (MIP). By leveraging the power of MIP solvers, we aimed to minimize the overall digitization time while considering various constraints and process dependencies. The book digitization process involves three key steps: cutting, scanning, and binding. Each step has specific requirements and limitations such as the number of pages that can be processed simultaneously and potential bottlenecks. To address these complexities, we formulate the problem as a one-machine job shop scheduling problem with additional constraints to capture the unique characteristics of book digitization. We conducted a series of experiments to evaluate the performance of our proposed approach. By comparing the optimized schedules with the baseline approach, we demonstrated significant reductions in the overall processing time. In addition, we analyzed the impact of different weighting schemes on the optimization results, highlighting the importance of identifying and prioritizing critical processes. Our findings suggest that MIP-based optimization can be a valuable tool for improving the efficiency of individual work schedules, even in seemingly simple tasks, such as book digitization. By carefully considering specific constraints and objectives, we can save time and leverage resources by carefully considering specific constraints and objectives.
基金supported in part by the National Natural Science Foundation of China (62422405, 62025111,62495100, 92464302)the STI 2030-Major Projects(2021ZD0201200)+1 种基金the Shanghai Municipal Science and Technology Major Projectthe Beijing Advanced Innovation Center for Integrated Circuits
文摘Computing-in-memory(CIM)has been a promising candidate for artificial-intelligent applications thanks to the absence of data transfer between computation and storage blocks.Resistive random access memory(RRAM)based CIM has the advantage of high computing density,non-volatility as well as high energy efficiency.However,previous CIM research has predominantly focused on realizing high energy efficiency and high area efficiency for inference,while little attention has been devoted to addressing the challenges of on-chip programming speed,power consumption,and accuracy.In this paper,a fabri-cated 28 nm 576K RRAM-based CIM macro featuring optimized on-chip programming schemes is proposed to address the issues mentioned above.Different strategies of mapping weights to RRAM arrays are compared,and a novel direct-current ADC design is designed for both programming and inference stages.Utilizing the optimized hybrid programming scheme,4.67×programming speed,0.15×power saving and 4.31×compact weight distribution are realized.Besides,this macro achieves a normalized area efficiency of 2.82 TOPS/mm2 and a normalized energy efficiency of 35.6 TOPS/W.
基金Education and Teaching Research Project of Beijing University of Technology(ER2024KCB08)。
文摘With the widespread application of large language models(LLMs)in natural language processing and code generation,traditional High-Level Language Programming courses are facing unprecedented challenges and opportunities.As a core programming language for computer science majors,C language remains irreplaceable due to its foundational nature and engineering adaptability.This paper,based on the rapid development of large model technologies,proposes a systematic reform design for C language teaching,focusing on teaching objectives,content structure,teaching methods,and evaluation systems.The article suggests a teaching framework centered on“human-computer collaborative programming,”integrating prompt training,AI-assisted debugging,and code generation analysis,aiming to enhance students’problem modeling ability,programming expression skills,and AI collaboration literacy.
基金supported by the Start-up Fund from Hainan University(No.KYQD(ZR)-20077)。
文摘Three-dimensional(3D)single molecule localization microscopy(SMLM)plays an important role in biomedical applications,but its data processing is very complicated.Deep learning is a potential tool to solve this problem.As the state of art 3D super-resolution localization algorithm based on deep learning,FD-DeepLoc algorithm reported recently still has a gap with the expected goal of online image processing,even though it has greatly improved the data processing throughput.In this paper,a new algorithm Lite-FD-DeepLoc is developed on the basis of FD-DeepLoc algorithm to meet the online image processing requirements of 3D SMLM.This new algorithm uses the feature compression method to reduce the parameters of the model,and combines it with pipeline programming to accelerate the inference process of the deep learning model.The simulated data processing results show that the image processing speed of Lite-FD-DeepLoc is about twice as fast as that of FD-DeepLoc with a slight decrease in localization accuracy,which can realize real-time processing of 256×256 pixels size images.The results of biological experimental data processing imply that Lite-FD-DeepLoc can successfully analyze the data based on astigmatism and saddle point engineering,and the global resolution of the reconstructed image is equivalent to or even better than FD-DeepLoc algorithm.
基金supported by National Natural Science Foundation of China(Grant Nos.62473277,62473275,62133004,52105072,and 62073230)Jiangsu Provincial Outstanding Youth Program(Grant No.BK20230072)+5 种基金National Key R&D Program of China(Grant Nos.2022YFC3802302 and 2023YFB4705600)Suzhou Industrial Foresight and Key Core Technology Project(Grant No.SYC2022044)Zhejiang Provincial Natural Science Foundation of China(Grant No.LZ24E050004)Shenzhen Polytechnic High-level Talent Start-up Project(Grant No.6023330006K)Shenzhen Science and Technology Program(Grant No.JCYJ20210324132810026)a Grant from Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems,Grants from Jiangsu QingLan Project and Jiangsu 333 high-level talents.
文摘Soft robots, inspired by the flexibility and versatility of biological organisms, have potential in a variety of applications. Recent advancements in magneto-soft robots have demonstrated their abilities to achieve precise remote control through magnetic fields, enabling multi-modal locomotion and complex manipulation tasks. Nonetheless, two main hurdles must be overcome to advance the field: developing a multi-component substrate with embedded magnetic particles to ensure the requisite flexibility and responsiveness, and devising a cost-effective,straightforward method to program three-dimensional distributed magnetic domains without complex processing and expensive machinery. Here, we introduce a cost-effective and simple heat-assisted in-situ integrated molding fabrication method for creating magnetically driven soft robots with three-dimensional programmable magnetic domains. By synthesizing a composite material with neodymium-iron-boron(NdFeB) particles embedded in a polydimethylsiloxane(PDMS) and Ecoflex matrix(PDMS:Ecoflex = 1:2 mass ratio, 50% magnetic particle concentration), we achieved an optimized balance of flexibility, strength, and magnetic responsiveness. The proposed heat-assisted in-situ magnetic domains programming technique,performed at an experimentally optimized temperature of 120℃, resulted in a 2 times magnetization strength(9.5 mT) compared to that at 20℃(4.8 m T), reaching a saturation level comparable to a commercial magnetizer. We demonstrated the versatility of our approach through the fabrication of six kinds of robots, including two kinds of two-dimensional patterned soft robots(2D-PSR), a circular six-pole domain distribution magnetic robot(2D-CSPDMR), a quadrupedal walking magnetic soft robot(QWMSR), an object manipulation robot(OMR), and a hollow thin-walled spherical magneto-soft robot(HTWSMSR). The proposed method provides a practical solution to create highly responsive and adaptable magneto-soft robots.
文摘As one of the core courses for computer-related majors,the Python programming course has become increasingly important in the era of artificial intelligence.It aims to help students develop good computer thinking and improve their abilities in programming and data analysis.The application of artificial intelligence technology in the teaching of Python programming courses is of great significance for optimizing the allocation of teaching resources,enriching students’learning experience,and significantly improving teaching quality.Based on this,this paper first briefly expounds on the importance of applying artificial intelligence technology in the teaching of Python programming courses.On this basis,it focuses on exploring effective strategies for the teaching reform of Python programming courses based on artificial intelligence technology,hoping to provide new ideas for the teaching of Python programming courses and contribute to cultivating more Python programming talents with artificial intelligence literacy.
基金funded by Xinjiang Natural Science Foundation of China(2023D01C52)University Key Project(2023YSZD004).
文摘With the continuous advancement of the New Engineering Education initiative,universities are raising the standards for cultivating engineering talents.C Programming Language,as a core course for computer science and related majors,plays a fundamental role in developing logical thinking,programming skills,and engineering practice.However,problems such as outdated content,weak practical connections,and single assessment methods still exist in current teaching,which affects both learning outcomes and students’skill development.Based on the outcome-based education(OBE)approach and supported by AI-assisted teaching tools,this paper proposes a reform plan focusing on teaching content,instructional methods,and evaluation systems.The goal is to enhance students’overall abilities and practical innovation skills,and to align the course more closely with modern industry needs.
基金Supported by the National Natural Science Foundation of China(12001327,12071057)。
文摘Toric patch is a kind of rational multisided patch,which is associated with a finite integer lattice points set A.A set of weights is defined which depend on a parameter according to regular decomposition of A.When all weights of the patch tend to infinity,we obtain the limiting form of toric patch which is called its regular control surface.The diferent weights may induce the diferent regular control surfaces of the same toric patch.It prompts us to consider that how many regular control surfaces of a toric patch.In this paper,we study the regular decompositions of A by using integer programming method firstly,and then provide the relationship between all regular decompositions of A and corresponding state polytope.Moreover,we present that the number of regular control surfaces of a toric patch associated with A is equal to the number of regular decompositions of A.An algorithm to calculate the number of regular control surfaces of toric patch is provided.The algorithm also presents a method to construct all of the regular control surfaces of a toric patch.At last,the application of proposed result in shape deformation is demonstrated by several examples.
基金supported by grants from the National Key Research and Development Program of China(2020YFA0803900)the National Natural Science Foundation of China(U23A20407,82414020,81703631)the Hubei Provincial Natural Science Foundation of China(2024AFB742)。
文摘Prenatal caffeine exposure(PCE)leads to intrauterine growth retardation and altered glucose homeostasis after birth,but the underlying mechanism remains unclear.This study aims to investigate the alteration of pancreatic development and insulin biosynthesis in the PCE female offspring and explore the intrauterine programming mechanism.Pregnant rats were orally treated with 120 mg/(kg·day)of caffeine from gestational day(GD)9 to 20.Results showed that fetal pancreaticβ-cells in the PCE group exhibited reduced mass and impaired insulin synthesis function,as evidenced by decreased expression of developmental and functional genes and reduced pancreatic insulin content.At postnatal week(PW)12,the PCE offspring exhibited glucose intolerance,diminishedβ-cell mass,and lower blood insulin levels.However,by PW28,glucose tolerance showed some improvement.Both in vivo and in vitro findings collectively indicated that excessive serum corticosterone(CORT)levels of the PCE fetuses may act through the activation of the pancreatic glucocorticoid receptor(GR)and recruitment of histone deacetylase 9(HDAC9),leading to H3K9 deacetylation in promoter and downregulation of insulin-like growth factor 1(IGF1),thereby inhibiting pancreatic islet morphogenesis and insulin synthesis in fetal rats.Furthermore,the PCE offspring after birth exhibited decreased blood CORT levels,increased H3K9 acetylation in promoter and upregulated gene expression of the pancreatic IGF1 promoter region,accompanied by elevated insulin biosynthesis.However,when exposed to chronic stress,the above changes were totally reversed.Conclusively,“glucocorticoid-insulin like growth factor 1(GC-IGF1)axis”programming may be involved in pancreaticβ-cell dysplasia and dysfunction in the PCE female offspring.
文摘Correction to:J.Iron Steel Res.Int.https://doi.org/10.1007/s42243-025-01545-x The publication of this article unfortunately contained mistakes.Equation(14)was not correct.The corrected equation is given below.
基金supported by the National Natural Science Foundation of China(Grant Nos.52074187 and 52274388)Liaoning Province Artificial Intelligence Innovation and Development Plan Project(Major Science and Technology Project)(2023JH26-10100002)the National Key Research and Development Program of China(No.2022YFB3304800).
文摘In order to solve the black-box modeling problem and improve the prediction accuracy of model,two distinguished models for tensile strength(Ts)and yield strength(Ys)of hot-rolled strip steel are established based on the industrial hot-rolled data and the algorithm of gene expression programming(GEP).Firstly,the industrial data of hot-rolled strip steel are preprocessed using the Pauta criterion,so as to eliminate outliers.The key input variables that affect Ys and Ts are selected by using the method of the maximal information coefficient(MIC).Secondly,the explicit prediction models of Ys and Ts are established using GEP.Subsequently,the model results based on GEP are compared with those based on the support vector regression(SVR)and the back propagation neural network(BPNN).Finally,the mathematical expression models for Ys and Ts obtained by GEP are used to further analyse the specific relationships between the chemical composition and mechanical property.It is shown that the errors of Ys and Ts based on GEP are less than 4%,and the coefficient of determination(R^(2))of Ys and Ts based on GEP is above 0.9,which has strong prediction performance.The prediction accuracy of GEP can achieve the same level with SVR and BPNN.It is worth mentioning that the proposed model can not only show the explicit relationship between the chemical composition,production process,and mechanical property of strip steel,but also occupy high prediction accuracy,which can make reliable reference for strip steel product design and optimisation.
文摘Assessing the stability of pillars in underground mines(especially in deep underground mines)is a critical concern during both the design and the operational phases of a project.This study mainly focuses on developing two practical models to predict pillar stability status.For this purpose,two robust models were developed using a database including 236 case histories from seven underground hard rock mines,based on gene expression programming(GEP)and decision tree-support vector machine(DT-SVM)hybrid algorithms.The performance of the developed models was evaluated based on four common statistical criteria(sensitivity,specificity,Matthews correlation coefficient,and accuracy),receiver operating characteristic(ROC)curve,and testing data sets.The results showed that the GEP and DT-SVM models performed exceptionally well in assessing pillar stability,showing a high level of accuracy.The DT-SVM model,in particular,outperformed the GEP model(accuracy of 0.914,sensitivity of 0.842,specificity of 0.929,Matthews correlation coefficient of 0.767,and area under the ROC of 0.897 for the test data set).Furthermore,upon comparing the developed models with the previous ones,it was revealed that both models can effectively determine the condition of pillar stability with low uncertainty and acceptable accuracy.This suggests that these models could serve as dependable tools for project managers,aiding in the evaluation of pillar stability during the design and operational phases of mining projects,despite the inherent challenges in this domain.
文摘The study believes teaching is a communication and exchange process between teachers and students,and the quality of teaching depends on communication qualities,especially whether theories,ideas,and methods are accurately transmitted from teachers to students.In programming course teaching,there are losses of the original meaning of the English textbook after being translated into Chinese.In order to avoid the loss of original meaning,the study uses original English textbook for the software programming teaching.In the language choice for specific documentation and programming descriptions,the study emphasizes the choice of the inventor’s language.Based on practice,the study summarized the principle of the Language Oriented Approach of Teaching Programming Skills,and outlined the main points and structure of this approach,concluding the prerequisites for its use.Also,the categories of Language Oriented Approach are mentioned.The study shed light on attributing the use of AI,such as the emerging ChatGPT applications,to the Language Oriented Approach.
基金financially supported by Ministerio de Ciencia e Innovación projects SAF2017-82736-C2-1-R to MTMFin Universidad Autónoma de Madrid and by Fundación Universidad Francisco de Vitoria to JS+2 种基金a predoctoral scholarship from Fundación Universidad Francisco de Vitoriafinancial support from a 6-month contract from Universidad Autónoma de Madrida 3-month contract from the School of Medicine of Universidad Francisco de Vitoria。
文摘Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disrupting the neural connections that allow communication between the brain and the rest of the body, which results in varying degrees of motor and sensory impairment. Disconnection in the spinal tracts is an irreversible condition owing to the poor capacity for spontaneous axonal regeneration in the affected neurons.
文摘Races using kitefoil and windfoil surfboards have been in the Olympic Games for the first time in Paris 2024,signalling their relevance in sailing sports.However,the dynamics of these devices is yet not well understood,in particular the influence on the hydrodynamic forces and moments of the distance of the foil to the free surface.Considering this,the present paper documents an experimental investigation in which forces and torque produced,under uniform flow,by a full-scale state-of-the-art hydrofoil(suitable both for kitesurf and windsurf)were measured.A range of velocities,angles of attack,and submergences were tested,leading to Froude numbers based on submergence with maximum values around five,a typical range in actual sailing conditions.From these tests,formulae for the hydrodynamic coefficients have been proposed.They can be used for developing Velocity Prediction Programs(VPP)for this kind of craft,a necessary tool to plan racing configurations and to analyze their racing performance.With the aim of making the experimental data useful for benchmarking numerical models and for future research on related topics such as foil ventilation and transition to turbulence,the specimen’s 3D file is provided as supplementary material to this paper.
基金supported by the National Natural Science Foundation of China,Nos.32271043(to ZW)and 82171047(to YM)the both Science and Technology Major Project of Shanghai,No.2018SHZDZX01 and ZJLabShanghai Center for Brain Science and Brain-Inspired Technology(to ZW)。
文摘Downregulation of the inwardly rectifying potassium channel Kir4.1 is a key step for inducing retinal Müller cell activation and interaction with other glial cells,which is involved in retinal ganglion cell apoptosis in glaucoma.Modulation of Kir4.1 expression in Müller cells may therefore be a potential strategy for attenuating retinal ganglion cell damage in glaucoma.In this study,we identified seven predicted phosphorylation sites in Kir4.1 and constructed lentiviral expression systems expressing Kir4.1 mutated at each site to prevent phosphorylation.Following this,we treated Müller glial cells in vitro and in vivo with the m Glu R I agonist DHPG to induce Kir4.1 or Kir4.1 Tyr^(9)Asp overexpression.We found that both Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression inhibited activation of Müller glial cells.Subsequently,we established a rat model of chronic ocular hypertension by injecting microbeads into the anterior chamber and overexpressed Kir4.1 or Kir4.1 Tyr^(9)Asp in the eye,and observed similar results in Müller cells in vivo as those seen in vitro.Both Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression inhibited Müller cell activation,regulated the balance of Bax/Bcl-2,and reduced the m RNA and protein levels of pro-inflammatory factors,including interleukin-1βand tumor necrosis factor-α.Furthermore,we investigated the regulatory effects of Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression on the release of pro-inflammatory factors in a co-culture system of Müller glial cells and microglia.In this co-culture system,we observed elevated adenosine triphosphate concentrations in activated Müller cells,increased levels of translocator protein(a marker of microglial activation),and elevated interleukin-1βm RNA and protein levels in microglia induced by activated Müller cells.These changes could be reversed by Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression in Müller cells.Kir4.1 overexpression,but not Kir4.1 Tyr^(9)Asp overexpression,reduced the number of proliferative and migratory microglia induced by activated Müller cells.Collectively,these results suggest that the tyrosine residue at position nine in Kir4.1 may serve as a functional modulation site in the retina in an experimental model of glaucoma.Kir4.1 and Kir4.1 Tyr^(9)Asp overexpression attenuated Müller cell activation,reduced ATP/P2X receptor–mediated interactions between glial cells,inhibited microglial activation,and decreased the synthesis and release of pro-inflammatory factors,consequently ameliorating retinal ganglion cell apoptosis in glaucoma.
基金supported by the National Natural Sci‐ence Foundation of China(Grant No.62306325)。
文摘During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.
