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An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

Research 2024年第1期2023卷 149-163页

作者： Qian li Haoze li Huan shen Yangguang Yu Haoran He Xincheng Feng Yi Sun Zhiyuan Mao Guangming Chen Zongjun Tian lida shen Xiangming Zheng Aihong Ji College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjingChina

Insects that can perform flapping-wing flight,climb on a wall,and switch smoothly between the 2 locomotion regimes provide us with excellent biomimetic ***,very few biomimetic robots can perform complex locomotion tasks that combine the 2 abilities of climbing and ***,we describe an aerial–wall amphibious robot that is self-contained for flying and climbing,and that can seamlessly move between the air and *** adopts a flapping/rotor hybrid power layout,which realizes not only efficient and controllable flight in the air but also attachment to,and climbing on,the vertical wall through a synergistic combination of the aerodynamic negative pressure adsorption of the rotor power and a climbing mechanism with bionic adhesion *** the basis of the attachment mechanism of insect foot pads,the prepared biomimetic adhesive materials of the robot can be applied to various types of wall surfaces to achieve stable *** longitudinal axis layout design of the rotor dynamics and control strategy realize a unique cross-domain movement during the flying–climbing transition,which has important implications in understanding the takeoff and landing of ***,it enables the robot to cross the air–wall boundary in 0.4 s(landing),and cross the wall–air boundary in 0.7 s(taking off).The aerial–wall amphibious robot expands the working space of traditional flying and climbing robots,which can pave the way for future robots that can perform autonomous visual monitoring,human search and rescue,and tracking tasks in complex air–wall environments.

关键词： robot smoothly Vertical

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Effect of moxibustion on expression profile of miRNAs in Tripterygium glycoside-induced decreased ovarian reserve

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Journal of Traditional Chinese Medicine 2024年第4期44卷 745-752页

作者： shen Jie YIN Yaoli li Hongxiao LU Ge ZHU Yaoyao QIN Yantong JIN Xun CHENG Jie shen Meihong College of Acupuncture and Tuina Nanjing University of Chinese MedicineNanjing 210023China

OBJECTIVE:To explore the possible regulatory mechanism of microRNA(miRNA)in moxibustion treatment for decreased ovarian reserve(DOR).METHODS:The DOR model was constructed by intragastrical Tripterygium glycoside suspension administration,and moxibustion therapy was simultaneously *** morphological ovarian changes were observed by hematoxylin and eosin *** miRNA expression profile was detected by RNA sequencing,and bioinformatics analysis was *** software 3.6.1 was used to establish a regulatory network and differentially expressed miRNAs were verified by reverse transcription quantitative polymerase chain reaction(RT-qPCR).RESULTS:Decreased number of mature follicles,increased atresia follicles,and abnormal granulosa cell morphology were observed in the model group compared with the control *** moxibustion group demonstrated increased mature follicles,decreased atretic follicles,and significantly decreased abnormal morphology of granulosa cells compared with the model ***,RNA sequencing results manifested significantly up-regulated miRNA expressions(miR-92b-3p,miR-26-5p_R+1_1ss10TC,miR-206-3p,miR-9993b-3p_1ss6GA,miR-7857-3p_R-1,miR-219a-2-3p_1ss10GC,miR-3968-p5_1ss10AT,and PC-5p-6478_1795)and down-regulated miR-664-2-5p_R+1 in the model group,compared with the control group,and the moxibustion group reversed abnormal disorder levels of these ***,these differentially expressed miRNAs were mainly involved in the phosphatidylinositol-3-kinase/protein kinase B signaling pathway and nuclear factor erythropoietin-2-related factor 2/heme oxygenase 1 signaling ***,network and RT-qPCR verification revealed miR-9993b-3p_1ss6GA as the most critical ***:This experiment proved the effectiveness of moxibustion in improving the ovarian reserve of rats by regulating miRNA expression,especially miR-9993b-3p_1ss6GA.

关键词： ovarian reserve moxibustion microRNAs mechanics

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Transverse momentum balance of dijets in Xe+Xe collisions at the LHC

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Nuclear Science and Techniques 2024年第7期35卷 137-146页

作者： Yao li Shu-Wan shen Sa Wang Ben-Wei Zhang Key Laboratory of Quark&Lepton Physics(MOE)and Institute of Particle Physics Central China Normal UniversityWuhan430079China College of Science China Three Gorges UniversityYichang443002China Center for Astronomy and Space Sciences and Institute of Modern Physics China Three Gorges UniversityYichang443002China Guangdong-Hong Kong Joint Laboratory of Quantum Matter Guangdong Provincial Key Laboratory of Nuclear ScienceSouthern Nuclear Science Computing CenterSouth China Normal UniversityGuangzhou510006China

We present a theoretical study of the medium modifications of the p_(T)balance (x_(J)) of dijets in Xe+Xe collisions at■.The initial production of dijets was carried out using the POWHEG+PYTHIA8 prescription,which matches the next-toleading-order (NLO) QCD matrix elements with the parton shower (PS) *** SHELL model described the in-medium evolution of nucleus–nucleus collisions using a transport *** theoretical results of the dijet xJin the Xe+Xe collisions exhibit more imbalanced distributions than those in the p+p collisions,consistent with recently reported ATLAS *** utilizing the Interleaved Flavor Neutralisation,an infrared-and-collinear-safe jet flavor algorithm,to identify the flavor of the reconstructed jets,we classify dijets processes into three categories:gluon–gluon (gg),quark–gluon (qg),and quark–quark (qq),and investigated the respective medium modification patterns and fraction changes of the gg,qg,and qq components of the dijet sample in Xe+Xe *** is shown that the increased fraction of qg component at a small x_(J)contributes to the imbalance of the dijet;in particular,the q_(1)g_(2)(quark-jet-leading) dijets experience more significant asymmetric energy loss than the g_(1)q_(2)(gluon-jet-leading) dijets traversing the *** comparing the■of inclusive,■ dijets in Xe+Xe collisions,we observe■.Moreover,ρ_(Xe),P_(b),the ratios of the nuclear modification factors of dijets in Xe+Xe to those in Pb+Pb,were calculated,which indicates that the yield suppression of dijets in Pb+Pb is more pronounced than that in Xe+Xe owing to the larger radius of the lead nucleus.

关键词： Heavy-ion collisions Quark-gluon plasma Jet quenching Transverse momentum balance

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In Situ Coupling of Highly Dispersed Ni/Fe Metal-NC Sites and N-Doped 3D Carbon Fibers Toward Free-Standing Bifunctional Cathode for Flexible Zinc-Air Battery

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Energy & Environmental Materials 2024年第1期7卷 125-134页

作者： Chenglong Lai Mengjun li Yi shen Min Zhou Wei Wang Kai Jiang Haomiao li Kangli Wang State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology School of Materials Science and Engineering Huazhong University of Science and Technology Engineering Research Center of Power Safety and Efficiency Ministry of Education

Designing flexible free-standing air-electrode with efficient OER/ORR performance is of vital importance for the application of Zinc-air batteries in flexible ***,a flexible free-standing electrode(Ni/Fe-NC/NCF/CC) is synthesized by in-situ coupling of binary Ni/Fe-NC nanocubes and N-doped carbon nanofibers(NCF) rooted on carbon cloth.

关键词： binary Ni/Fe-NC sites in-situ coupling synergistic catalytic effect Zn-air battery

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An overview of detecting gene-trait associations by integrating GWAS summary statistics and eQTLs

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Science China(life Sciences) 2024年第6期67卷 1133-1154页

作者： Yang Zhang Mengyao Wang Zhenguo li Xuan Yang Keqin li ao Xie Fang Dong Shihan Wang Jianbing Yan Jianxiao liu National Key Laboratory of Crop Genetic Improvement Huazhong Agricultural UniversityWuhan 430070China Key Laboratory of Smart Farming for Agricultural Animals Huazhong Agricultural UniversityWuhan 430070China Hubei Key Laboratory of Agricultural Bioinformatics Huazhong Agricultural UniversityWuhan 430070China College of Informatics Huazhong Agricultural UniversityWuhan 430070China College of life Sciences Nankai UniversityTianjin 300071China

Detecting genes that affect specific traits(such as human diseases and crop yields)is important for treating complex diseases and improving crop quality.A genome-wide association study(GWAS)provides new insights and directions for understanding complex traits by identifying important single nucleotide *** GWAS summary statistics data related to various complex traits have been gathered *** have shown that GWAS risk loci and expression quantitative trait loci(e QTLs)often have a lot of overlaps,which makes gene expression gradually become an important intermediary to reveal the regulatory role of *** this review,we review three types of gene-trait association detection methods of integrating GWAS summary statistics and e QTLs data,namely colocalization methods,transcriptome-wide association study-oriented approaches,and Mendelian randomization-related *** the theoretical level,we discussed the differences,relationships,advantages,and disadvantages of various algorithms in the three kinds of gene-trait association detection *** further discuss the performance of various methods,we summarize the significant gene sets that influence highdensity lipoprotein,low-density lipoprotein,total cholesterol,and triglyceride reported in 16 *** discuss the performance of various algorithms using the datasets of the four lipid *** advantages and limitations of various algorithms are analyzed based on experimental results,and we suggest directions for follow-up studies on detecting gene-trait associations.

关键词： gene-trait association GWAS eQTL colocalization transcriptome-wide association study(TWAS) Mendelian randomization(MR)

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ZnSb/Ti_(3)C_(2)T_(x)MXene van der Waals heterojunction for flexible near-infrared photodetector arrays

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Journal of Semiconductors 2024年第5期45卷 99-105页

作者： Chuqiao Hu Ruiqing Chai Zhongming Wei La li Guozhen shen State Key Laboratory for Superlattices and Microstructures Institute of SemiconductorsChinese Academy of SciencesBeijing 100083China Center of Materials Science and Optoelectronic Engineering University of Chinese Academy of SciencesBeijing 100049China School of Integrated Circuits and Electronics Beijing Institute of TechnologyBeijing 100081China

Two-dimension(2D)van der Waals heterojunction holds essential promise in achieving high-performance flexible near-infrared(NIR)***,we report the successful fabrication of ZnSb/Ti_(3)C_(2)T_(x)MXene based flexible NIR photodetector array via a facile photolithography *** single ZnSb/Ti_(3)C_(2)T_(x)photodetector exhibited a high light-to-dark current ratio of 4.98,fast response/recovery time(2.5/1.3 s)and excellent stability due to the tight connection between 2D ZnSb nanoplates and 2D Ti_(3)C_(2)T_(x)MXene nanoflakes,and the formed 2D van der Waals *** polyethylene terephthalate(PET)substrate enables the ZnSb/Ti_(3)C_(2)T_(x)photodetector withstand bending such that stable photoelectrical properties with non-obvious change were maintained over 5000 bending ***,the ZnSb/Ti_(3)C_(2)T_(x)photodetectors were integrated into a 26×5 device array,realizing a NIR image sensing application.

关键词： ZnSb nanoplates Ti_(3)C_(2)T_(x)MXene van der Waals heterojunction flexible photodetector image sensing

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Generalized Embedding Machines for Recommender Systems

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Machine Intelligence Research 2024年第3期21卷 571-584页

作者： Enneng Yang Xin Xin li shen Yudong Luo Guibing Guo Software College Northeastern UniversityShenyang110000China School of Computer Science and Technology Shandong UniversityQingdao266000China JD Explore Academy JD Explore AcademyBeijing100000China

Factorization machine (FM) is an effective model for feature-based recommendation that utilizes inner products to capture second-order feature interactions. However, one of the major drawbacks of FM is that it cannot capture complex high-order interaction signals. A common solution is to change the interaction function, such as stacking deep neural networks on the top level of FM. In this work, we propose an alternative approach to model high-order interaction signals at the embedding level, namely generalized embedding machine (GEM). The embedding used in GEM encodes not only the information from the feature itself but also the information from other correlated features. Under such a situation, the embedding becomes high-order. Then we can incorporate GEM with FM and even its advanced variants to perform feature interactions. More specifically, in this paper, we utilize graph convolution networks (GCN) to generate high-order embeddings. We integrate GEM with several FM-based models and conduct extensive experiments on two real-world datasets. The results demonstrate significant improvement of GEM over the corresponding baselines.

关键词： Feature interactions high-order interaction factorization machine(FM) recommender system graph neural network(GNN)

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Runoff and Infiltration responses of revegetated slopes to clipping management on the northern Loess Plateau

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International Soil and Water Conservation Research 2024年第1期12卷 171-183页

作者： Qilin He Binbin li Fengbao Zhang Nan shen Mingyi Yang The Research Center of Soil and Water Conservation and Ecological Environment Chinese Academy of Sciences and Ministry of EducationYanglingShaanxi712100China Institute of Soil and Water Conservation Chinese Academy of Sciences and Ministry of Water ResourcesYanglingShaanxi712100China Institute of Soil and Water Conservation Northwest A&F UniversityYanglingShaanxi712100China Water and Soil Conservation Monitoring Center of Ministry of Water Resources Beijing100053China University of Chinese Academy of Sciences Beijing100049China

Large-scale vegetation restoration can reduce local watershed water yield,limit vegetation establishment and subsequent growth,and influence regional ecosystem *** management by reducing aboveground parts of grassland was gradually recommended and adopted in Grain-for-Green project management to offset these additional ***,scientific evaluation of the effectiveness of clipping management on infiltration and runoff processes is necessary for maintaining the stability of the surface water system and the sustainability of vegetation restoration in semi-arid regions.A field simulated rainfall experiment was conducted with four managed clipping grasslands(mainly bunge needlegrass and Stipa grandis),including no clipping,light clipping,heavy clipping,and complete clipping under three slope gradients(10,20,and 30°)and three rainfall intensities(60,90,and 120 mm/h)to explore the mechanism of runoff and infiltration responses to clipping using structural equation modeling and variation partitioning based on an SCS-CN *** results showed the runoff coefficient of the light clipping,heavy clipping,and complete clipping plots were 1.33,2.22,and 4.22 times that of the no clipping *** light clipping,heavy clipping,and complete clipping plots decreased the infiltration coefficients by 0%,5%,and 26%relative to the no clipping *** intensity dominated runoff and infiltration amounts,and clipping intensity's total effect was stronger than slope *** intensity and slope gradient were more influential on runoff with increasing rainfall *** mutual inhibition effect was between clipping intensity and slope gradient on *** order to maintain the sustainability of restoration,a 25-50%vegetation coverage after clipping maximizes the benefits of increasing runoff and maintaining enough soil water supply that prevents possible soil *** propose that future vegetation restoration policies should evaluate the appropriat

关键词： Runoff Infiltration Grassland clipping management SCS-CN model Structural equation model Variation partitioning

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Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 181-195页

作者： Xiaolin Tang Yuyou Yang Teng liu Xianke lin Kai Yang shen li IEEE the College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China the Clinical Research Center and Medical Pathology Center Chongqing University Three Gorges HospitalChongqing UniversityWanzhou 404000 the Department of Automotive and Mechatronics Engineering Ontario Tech UniversityOshawa ON LIG OC5Canada the School of Civil Engineering Tsinghua UniversityBeijing 100084China

Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

关键词： Automatic parking control strategy parking deviation(APS) soft actor-critic(SAC)

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The Journey/Dao/Tao of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu shen Jinlin Sun Shihan Kong Yutong Wang Juanjuan li Xuan li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence Dao Tao

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