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A Learning-based Control Framework for Fast and Accurate Manipulation of a Flexible Object

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Journal of Bionic Engineering 2024年第4期21卷 1761-1774页

作者： Junyi Wang Xiaofeng Xiong Silvia Tolu Stanislav n.Gorb Department of Electrical and Photonics Engineering Technical University of DenmarkAnker Engelunds Vej 101Kongens LyngbyZealand2800Denmark SDU Biorobotics Mærsk Mc-Kinney Møller InstituteUniversity of Southern Denmark(SDU)Campusvej 55Odense MFunen5230Denmark Department Functional morphology and Biomechanics Zoological InstituteUniversity of KielAm Botanischen Garten 1–9D-24118KielSchleswig-HolsteinGermany

This paper presents a learning-based control framework for fast(3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed *** ad... 详细信息

This paper presents a learning-based control framework for fast(nd accurate manipulation of a flexible object,i.e.,whip *** framework consists of a motion planner learned or optimized by an algorithm,Online Impedance Adaptation Control(OIAC),a sim2real mechanism,and a visual feedback *** experimental results show that a soft actor-critic algorithm outperforms three Deep Reinforcement Learning(DRL),a nonlinear optimization,and a genetic algorithm in learning generalization of motion *** can greatly reduce average learning trials(tond maximize average rewards(to>3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed *** addition,the trajectory similarity between simulated and physical whips is *** presented framework provides a new method integrating data-driven and physics-based algorithms for controlling fast and accurate arm manipulation of a flexible object.

关键词： Deep reinforcement learning Deformable object manipulation Variable impedance control Sim2real Visual tracking

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Genes & Diseases 2024年第3期11卷 66-68页

作者： Aswathi n Jincy M.Jose Sreelata B.nair Prabha S.n Pappachan S Department of Medical Genetics Lifeline Super Specialty HospitalPathanamthittaKerala 691523India Lifeline Super Specialty Hospital PathanamthittaKerala 691523India

Alagille syndrome(ALGS;OMIM#118450)is a highlyvariable,multi-systemic,autosomal dominant disorder,caused by mutations in the Jagged Canonical notch Ligand 1(JAG1)gene(20p12.2)or in the neurogenic locus notch homolog protein 2(nOTCH2)gene(1p13).^(1)It primarily affects the liver,heart,eyes,face,kidney,skin,vertebrae,and skeleton.^(1,2)The JAG1 gene has 26 exons and about 90%of the ALGS cases result from pathogenic variants in the JAG1 and around 7%of cases have deletions in chromosome 20 that include this gene.

关键词： JAG1 cases notch

Two-dimensional magnetic materials for spintronic applications

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nano Research 2024年第2期17卷 743-762页

作者： Shivam n.Kajale Jad Hanna Kyuho Jang Deblina Sarkar MIT Media Lab Massachusetts Institute of TechnologyCambridgeMA 02139USA Department of Information Technology and Electrical Engineering ETH ZürichZürich8092Switzerland

Spintronic devices are driving new paradigms of bio-inspired,energy efficient computation like neuromorphic stochastic computing and in-memory *** have also emerged as key candidates for non-volatile memories for embedded systems as well as alternatives to persistent *** meet the growing demands from such diverse applications,there is need for innovation in materials and device designs which can be scaled and adapted according to the ***-dimensional(2D)magnetic materials address challenges facing bulk magnet systems by offering scalability while maintaining device integrity and allowing efficient control of *** this review,we highlight the progress made in experimental studies on 2D magnetic materials towards their integration into spintronic *** provide an account of the various relevant material discoveries,demonstrations of current and voltage-based control of magnetism and reported device systems,while also discussing the challenges and opportunities towards integration of 2D magnetic materials in commercial spintronic devices.

关键词： spintronics van der Waals magnetic tunnel junction(MTJ) spin-orbit torque magnetism

Symmetry quantification and segmentation in STEM imaging through Zernike moments

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Chinese Physics B 2024年第8期33卷 39-48页

作者： Jiadong Dan Cheng Zhang 赵晓续 n.Duane Loh Department of Biological Sciences National University of SingaporeSingapore Center for Bioimaging Sciences(CBIS) National University of SingaporeSingapore Department of Physics National University of SingaporeSingapore School of Materials Science and Engineering Peking UniversityBeijing 100871China

We present a method using Zernike moments for quantifying rotational and reflectional symmetries in scanning transmission electron microscopy(STEM)images,aimed at improving structural analysis of materials at the atomic *** technique is effective against common imaging noises and is potentially suited for low-dose imaging and identifying quantum *** showcase its utility in the unsupervised segmentation of polytypes in a twisted bilayer TaS_(2),enabling accurate differentiation of structural phases and monitoring transitions caused by electron beam *** approach enhances the analysis of structural variations in crystalline materials,marking a notable advancement in the characterization of structures in materials science.

关键词： scanning transmission electron microscopy(STEM) symmetry segmentation

Effect of cold-working on corrosion induced damage in lug joints

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Defence Technology（防务技术） 2024年第6期36卷 175-182页

作者： Ramanath M.n Chikmath L. Murthy H. Department of Aerospace Engineering Indian Institute of Technology-MadrasChennai 600036India Department of Aeronautical Engineering KLS Gogte Institute of TechnologyBelagavi 590008India

Lug joints are preferred joineries for transferring heavy loads to parent components in aerospace *** experience corrosion due to environmental conditions,improper surface finishes and rubbing displacement between the pin and *** causes damage of different sizes and shapes near the *** degradation due to corrosion-induced damage is modelled as a through-pit at one of the identified critical locations through stress *** effect of this pit on fatigue crack initiation life is ***-hole is pre-stressed by cold-working and the benefits of inducing plastic wake on the intended performance of the lug joint during the damages due to corrosion are brought out and compared with non-cold-worked *** analysis is performed on this lug joint with *** results obtained highlight the benefits of cold-working and the methodology can be extended to damage growth and analyse the effect of surface treatments for better structural integrity of components of aerospace vehicles.

关键词： Lug joint Corrosion Crack initiation Cold-working Structural integrity

Endodontic irrigants from a comprehensive perspective

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World Journal of Clinical Cases 2024年第21期12卷 4460-4468页

作者： Rayana Duarte Khoury Lara Steffany de Carvalho Mauro Felipe rios do nascimento Fadi Alhussain AmjadAbu Hasna Department of Restorative Dentistry Endodontics DivisionInstitute of Science and TechnologySão Paulo State UniversitySão Josédos Campos 12245000SPBrazil Department of Biosciences and Oral Diagnosis Institute of Science and TechnologySão Paulo State UniversitySão Josédos Campos 12245000SPBrazil School of Dentistry The National Institute of Higher Education and Postgraduate Studies Padre Gervásio-INAPÓSPouso Alegre 37550-121MGBrazil School of Dentistry Syrian Private UniversityAl Kiswah 877C+P2DamascusSyria School of Dentistry Universidad Espíritu SantoSamborondón 092301Ecuador

This review article explores the fundamental principles of modern endodontics with a focus on root canal cleaning and *** reviews commonly used endodontic irrigant,namely sodium hypochlorite(naOCl),herbal extracts,chlorhexidine(CHX),and chelating agents,highlighting their properties,applications,and potential ***,a key antimicrobial agent,demonstrates effectiveness against various microorganisms but poses challenges such as high *** extracts,gaining recognition in endodontics,present an alternative with potential advantages in preserving dentin ***,known for its broad-spectrum antimicrobial activity,is discussed in both liquid and gel formulations,emphasizing its role in reducing smear layer formation and preserving hybrid layer *** agents,specifically ethylenediaminetetraacetic acid and citric acid,play a vital role in removing the smear layer,enhancing dentin permeability,and facilitating the penetration of antimicrobial *** review article underscores the importance of careful application and consideration of each irrigant's properties to ensure safe and effective endodontic *** serves as a valuable guide for clinicians in selecting appropriate irrigants based on specific treatment requirements.

关键词： Root canal irrigants Sodium hypochlorite Chlorhexidine Chelating agents Plant extracts

Comparison of mismatch repair and immune checkpoint protein profile with histopathological parameters in pancreatic,periampullary/ampullary,and choledochal adenocarcinomas

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World Journal of Gastrointestinal Oncology 2024年第3期16卷 875-882页

作者： Arzu Hazal Aydın nesrin Turhan Department of Pathology Aksaray University Aksaray Training and Research HospitalAksaray 68200Turkey Department of Pathology University of Health Sciences Ankara City HospitalAnkara 06800Turkey

BACKGROUnD Pancreatic,periampullary/ampullary,and choledochal adenocarcinomas are aggressive malignancies with a poor *** checkpoint blockade is a promising treatment option for several tumor types.H long terminal repeatassociating 2(HHLA2),which is analogous to programmed death-ligand 1(PDL1),is a recently discovered member of the B7/cluster of differentiation 28 family and is expressed in many *** To analyze the expression of HHLA2 and its association with the pathologic biomarkers that predict sensitivity to *** ninety-two adenocarcinoma cases located in the pancreas,ampulla,and distal common bile duct were *** study assessed 106 pancreaticoduodenectomy and distal/total pancreatectomy samples that were delivered to Ankara City Hospital between 2019 and *** was conducted to examine the expression of DnA mismatch repair(MMR),PD-L1,and HHLA2 *** Patients with high HHLA2 expression had a higher mean age than those with low *** HHLA2 expression was associated with high perineural ***2 expression was low in pathological stage T3(pT)3 cases and high in pathological stage T1,T2,and T4 *** was no correlation between HHLA2 expression and the expression of MMR proteins and *** Evaluation of HHLA2 expression in microsatellite stable and PD-L1-negative tumors may be useful for predicting the response of individuals to immunotherapy and may serve as a novel therapeutic target for immunotherapy in advanced-stage disease.

关键词： H long terminal repeat-associating 2 Programmed death-ligand 1 Adenocarcinoma Pancreas Ampulla of Vater Distal common bile duct

Case Studies on Time-Dependent Ginzburg-Landau Simulations for Superconducting Applications

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Electromagnetic Science 2024年第2期2卷 1-20页

作者： Cun Xue Qing-Yu Wang Han-Xi Ren An He alejandro V.Silhanek School of Mechanics Civil Engineering and ArchitectureNorthwestern Polytechnical UniversityXi’an 710072China School of Aeronautics Northwestern Polytechnical UniversityXi’an 710072China College of Science Chang’an UniversityXi’an 710064China Department of Physics Universitéde LiègeB-4000 Sart TilmanBelgium

The macroscopic electromagnetic properties of type-II superconductors are mainly influenced by the behavior of micro-scopic superconducting flux quantum ***-dependent Ginzburg-Landau(TDGL)theory is a well-known tool for describing and examining both the statics and dynamics of these superconducting *** have been instrumental in replicating and elucidat-ing numerous experimental results over the past *** paper provides a comprehensive overview of the progress in TDGL simulations,focusing on three key aspects of superconductor *** delve first into vortex rectification in supercon-ductors described within the TDGL framework,specifically highlighting the achievement of superconducting diode effect through asymmetric pinning landscapes and the reversible manipulation of vortex ratchets with dynamic pinning *** terms of the achievements of TDGL simulations concerning the critical current density of superconductors,we emphasize particularly on the optimization of pinning sites,including vortex pinning and dynamics in polycrystalline nb3Sn with grain *** the third aspect,we concentrate on numerical modeling of vortex penetration and dynamics in superconducting radio-frequency cavities,including a discussion on superconductor-insulator-superconductor multilayer ***,we present key findings,insights,and perspectives derived from the discussed simulations.

关键词： Time-dependent Ginzburg-Landau Vortex rectification Critical current density Superconducting radio-frequen-cy cavities

Efficient Real-Time Devices Based on Accelerometer UsingMachine Learning for HAR on Low-PerformanceMicrocontrollers

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Computers, Materials and Continua 2024年第1期81卷 1729-1756页

作者： Vi M.-T. Tran D.-n. Thuong V.T. Linh n.n. Tran D.-T. Faculty of Electrical and Electronic Engineering Phenikaa University Hanoi City 100000 Viet Nam Institute of Information Technology Vietnam Academy of Science and Technology Hanoi City 100000 Viet Nam Faculty of Information Technology and Communication Phuong Dong University Hanoi City 100000 Viet Nam Graduate University of Sciences and Technology Vietnam Academy of Science and Technology Hanoi City 100000 Viet Nam International School-Vietnam national University Hanoi City 100000 Viet Nam

Analyzing physical activities through wearable devices is a promising research area for improving health assessment. This research focuses on the development of an affordable and real-time Human Activity Recognition (HAR) system designed to operate on low-performance microcontrollers. The system utilizes data from a bodyworn accelerometer to recognize and classify human activities, providing a cost-effective, easy-to-use, and highly accurate solution. A key challenge addressed in this study is the execution of efficient motion recognition within a resource-constrained environment. The system employs a Random Forest (RF) classifier, which outperforms Gradient Boosting Decision Trees (GBDT), Support VectorMachines (SVM), and K-nearest neighbors (Knn) in terms of accuracy and computational efficiency. The proposed featuresAverage absolute deviation (AAD), Standard deviation (STD), Interquartile range (IQR), Range, and Root mean square (RMS). The research has conducted numerous experiments and comparisons to establish optimal parameters for ensuring system effectiveness, including setting a sampling frequency of 50 Hz and selecting an 8-s window size with a 40% overlap between *** conducted on both theWISDMpublic dataset and a self-collected dataset, focusing on five fundamental daily activities: Standing, Sitting, Jogging,Walking, andWalking the stairs. The results demonstrated high recognition accuracy, with the system achieving 96.7% on the WISDM dataset and 97.13% on the collected dataset. This research confirms the feasibility of deployingHAR systems on low-performance microcontrollers and highlights the system's potential applications in patient support, rehabilitation, and elderly care. © 2024 The Authors. Published by Tech Science Press.

关键词： Accelerometer activity recognition classification HAR wearable computing