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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

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

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 Han.a 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

Metal-modulated epitaxy of Mg-doped Al_(0.80)In_(0.20)n-based layer for application as the electron blocking layer in deep ultraviolet light-emitting diodes

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Journal of Semiconductors 2024年第5期45卷 80-89页

作者： Horacio Irán Solís-Cisneros Carlos Alberto Hernández-Gutiérrez Enrique Campos-González Máximo López-López Optomechatronics Group Tecnológico Nacional de México Campus Tuxtla Gutiérrezcarretera Panamericana 1080C.P.29050Tuxtla GutiérrezChiapasMéxico Departamento de Física Instituto Nacional de Investigaciones NuclearesCarretera México-Toluca s/nC.P.52750La Marquesa OcoyoacacMéxico Departamento de Física Centro de Investigación y estudios Avanzados del Instituto Politécnico NacionalAv.Instituto Politécnico Nacional 2508San Pedro ZacatencoGustavo A.Madero07360 Ciudad de MéxicoCDMXMéxico

This work reports the growth and characterization of p-AlInn layers doped with Mg by plasma-assisted molecular beam epitaxy(PAMBE).AlInn was grown with an.al molar fraction of 0.80 by metal-modulated epitaxy(MME)with a thickness of 180 nm on Si(111)substrates using Aln as buffer *** substrate temperatures were used to enhance the incorporation of indium atoms into the alloy without clustering,as confirmed by X-ray diffraction(XRD).Cathodoluminescence measurements revealed ultraviolet(UV)range ***,Hall effect measurements indicated a maximum hole mobility of 146 cm^(2)/(V∙s),corresponding to a free hole concentration of 1.23×10^(19)cm^(−3).The samples were analyzed by X-ray photoelectron spectroscopy(XPS)estimating the alloy composition and extracting the Fermi level by valence band ***-doped AlInn layers were studied for use as the electron-blocking layer(EBL)in LED *** varied the Al composition in the EBL from 0.84 to 0.96 molar fraction to assess its theoretical effects on electroluminescence,carrier concentration,and electric field,using SILVACO *** results from this study highlight the importance and capability of producing high-quality Mg-doped p-AlInn layers through *** simulations suggest that an.al content of 0.86 is optimal for achieving desired outcomes in electroluminescence,carrier concentration,and electric field.

关键词： metal-modulated epitaxy AlInn DUV-LED EBL simulation

Synthesis and applications of lanthanoid complexes of pentadentate and hexadentate n_(5) and n_(6) macrocycles:A review

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Journal of Rare Earths 2024年第1期42卷 1-15,I0001页

作者： Julio Corredoira-Vázquez Cristina González-Barreira Paula Oreiro-Martínez Ana M.García-Deibe Jesús San.artín-Matalobos Matilde Fondo Departamento de Química Inorganica Facultade de QuímicaUniversidade de Santiago de CompostelaCampus Vida15782Santiago de CompostelaSpain Phantom-g CICECO-Aveiro Institute of MaterialsDepartment of PhysicsUniversity of Aveiro3810-193AveiroPortugal Institute of Materials(iMATUS) Universidade de Santiago de Compostela15782Santiago de CompostelaSpain

In this paper,the lanthanoid complexes of n_(5) and n_(6) macrocycle ligands,without pendant arms or additional heteroatoms,are *** review covers the period from 2015 to the current date,since in 2014 Schiff base macrocyclic ligands incorporating the pyridine moiety,and their complexes,were revised,and in 2015 the chemistry of pentaaza macrocycle ligands with rare earth metals was also *** and phthalocyanine ligands are not included in this review,which primarily focuses on complexes with Schiff bases and amines without pendant arms or any additional donor other than *** synthetic methods,structural characterization,based on single X-ray crystal data,and properties of the lanthanoid complexes,with special attention to magneto-structural correlations,are presented herein.

关键词： Lanthanoid n_(5),n_(6)macrocycle Coordination chemistry Chirality Biological activity Molecule magnet

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 an.ara 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

Comprehensive analysis of uncertainty quantification for the^(58)ni(n,p)^(58)Co reaction cross section

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Chinese Physics C 2024年第9期48卷 170-175页

作者： Mahesh Choudhary Aman Sharma namrata Singh Mahima Upadhyay Punit Dubey A.Gandhi Akash Hingu G Mishra Sukan.a De L.S.Danu Ajay Kumar R.G.Thomas Saurav Sood Sajin Prasad S.Mukherjee I.n.Ruskov Yu.n.Kopatch A.Kumar Department of Physics Banaras Hindu UniversityVaranasi 221005India Horia Hulubei national Institute of Physics and nuclear Engineering-IFIn-HH Bucharest 077125Romania Department of Physics The Maharaja Sayajirao University of BarodaVadodara 390002India nuclear Physics Division Bhabha Atomic Research CentreMumbai 400085India Health Physics Division Bhabha Atomic Research CentreMumbai 400085India Department of Electrical Power Engineering Brno University of TechnologyBrno 61600Czech Republic Institute for nuclear Research and nuclear Energy Bulgarian Academy of SciencesSofia 1784Bulgaria Joint Institute for nuclear Research(JInR) Dubna 141980Russia

In this study,we measured the^(58)ni(n,p)^(58)Co reaction cross section with neutron energies of 1.06,1.86,and 2.85 *** cross section was measured using neutron activation techniques andγ-ray spectroscopy,and it was compared with cross section data available in the ***,we calculated the covariance matrix of the measured cross section for the aforementioned nuclear *** uncertainties of the theoretical calculation for^(58)ni(n,p)^(58)Co reaction cross section were calculated via Monte Carlo *** this study,we used uncertainties in the optical model and level density parameters to calculate uncertainties in the theoretical cross *** theoretical calculations were performed by using *** this study,we aim to analyze the effect of uncertainties of the nuclear model input as well as different experimental variables used to obtain the values of reaction cross section.

关键词： ^(58)ni(n p)^(58)Co reaction γ-ray spectroscopy uncertainty quantification of cross section covariance analysis