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Advanced Design of Soft Robots with Artificial Intelligence

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Nano-Micro Letters 2024年第10期16卷 474-521页

作者： ying cao Bingang Xu Bin Li Hong Fu Nanotechnology Center School of Fashion and TextilesThe Hong Kong Polytechnic UniversityHong Kong 999077People's Republic of China Department of Mathematics and Information Technology The Education University of Hong KongHong Kong 999077People's Republic of China Bioinspired Engineering and Biomechanics Center Xi'an Jiaotong UniversityXi'an 710049People's Republic of China

In recent years,breakthrough has been made in the field of artificial intelligence(AI),which has also revolutionized the industry of *** robots featured with high-level safety,less weight,lower power consumption have always been one of the research ***,multifunctional sensors for perception of soft robotics have been rapidly developed,while more algorithms and models of machine learning with high accuracy have been optimized and *** of soft robots with AI have also been advanced ranging from multimodal sensing,human-machine interaction to effective actuation in robotic ***-less,comprehensive reviews concerning the new developments and strategies for the ingenious design of the soft robotic systems equipped with AI are ***,the new development is systematically reviewed in the field of soft robots with ***,background and mechanisms of soft robotic systems are briefed,after which development focused on how to endow the soft robots with AI,including the aspects of feeling,thought and reaction,is ***,applications of soft robots with AI are systematically summarized and discussed together with advanced strategies proposed for performance *** thoughts for future intelligent soft robotics are pointed ***,some perspectives are put forward.

关键词： Soft robotic systems Artificial intelligence Design tactics Review and perspective

The Investigation of Data Voting Algorithm for Train Air-Braking System Based on Multi-Classification SVM and ANFIS

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Chinese Journal of Electronics 2024年第1期33卷 274-281页

作者： Juhan WANG ying GAO Yuan cao Tao TANG School of Electronics and Information Engineering Beijing Jiaotong University Graduate Department China Academy of Railway Science National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University

The pressure data of the train air braking system is of great significance to accurately evaluate its operation state. In order to overcome the influence of sensor fault on the pressure data of train air braking system, it is necessary to design a set of sensor fault-tolerant voting mechanism to ensure that in the case of a pressure sensor fault, the system can accurately identify and locate the position of the faulty sensor, and estimate the fault data according to other normal data. A fault-tolerant mechanism based on multi-classification support vector machine(SVM) and adaptive network-based fuzzy inference system(ANFIS) is introduced. Multi-classification SVM is used to identify and locate the system fault state, and ANFIS is used to estimate the real data of the fault sensor. After estimation, the system will compare the real data of the fault sensor with the ANFIS estimated data. If it is similar,the system will recognize that there is a false alarm and record it. Then the paper tests the whole mechanism based on the real data. The test shows that the system can identify the fault samples and reduce the occurrence of false alarms.

关键词： Support vector machines Fault diagnosis Pressure sensors Fuzzy logic Fault tolerance Adaptive systems Fault tolerant systems

An Online Q-Learning Method for Linear-Quadratic Nonzero-Sum Stochastic Differential Games with Completely Unknown Dynamics

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Journal of Systems Science & Complexity 2024年第5期37卷 1907-1922页

作者： ZHANG Bao-Qiang WANG Bing-Chang cao ying School of Control Science and Engineering Shandong UniversityJinan 250000China

In this paper,the authors design a reinforcement learning algorithm to solve the adaptive linear-quadratic stochastic n-players non-zero sum differential game with completely unknown *** each player,a critic network is used to estimate the Q-function,and an actor network is used to estimate the control input.A model-free online Q-learning algorithm is obtained for solving this kind of *** is proved that under some mild conditions the system state and weight estimation errors can be uniformly ultimately bounded.A simulation with five players is given to verify the effectiveness of the algorithm.

关键词： Actor-critic algorithm model-free adaptive control nonzero-sum stochastic game reinforcement learning

An online value iteration method for linear-quadratic mean field social control with unknown dynamics

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Science China(Information Sciences) 2024年第4期67卷 38-39页

作者： Bing-Chang WANG Shumei LI ying cao School of Control Science and Engineering Shandong University

Mean field(MF) models have been widely applied to economics, control theory, and other fields. Its prominent feature is that the individual influence on the overall population is negligible and the impact of the entire system to the single agent is significant and cannot be ignored. As a classical problem in control theory, linear quadratic(LQ) control for MF models has been widely investigated(e.g., [1, 2]).

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Integrated Frequency-constrained Scheduling Considering Coordination of Frequency Regulation Capabilities from Multi-source Converters

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Journal of Modern Power Systems and Clean Energy 2024年第1期12卷 261-274页

作者： Jiaming Li ying Qiao Zongxiang Lu Wei Ma Xin cao Rongfu Sun the Department of Electrical Engineering Tsinghua UniversityBeijing 100084China the China Suntien Green Energy Limited Company Shijiazhuang 050011China the State Grid Jibei Electric Power Company Beijing 100054China

As the proportion of renewable energy(RE)increases,the inertia and the primary frequency regulation(FR)capability of the power system ***,ensuring frequency security in the scheduling model has become a new technical requirement in power systems with a high share of *** to a shortage of conventional synchronous generators,the frequency support of multi-source converters has become an indispensable part of the system frequency resources,especially variable-speed wind turbine generation(WTG)and battery energy storage(BES).Quantitative expression of the FR capability of multi-source converters is necessary to construct frequency-constrained scheduling ***,the frequency support performance of these converter-interfaced devices is related to their working states,operation modes,and parameters,and the complex coupling of these factors has not been fully exploited in existing *** this study,we propose an integrated frequency-constrained scheduling model considering the coordination of FR capabilities from multi-source *** FR control strategies and variable FR parameters for WTG with or without reserved power are modeled,and multi-target allocation of BES capacity between tracking dispatch instruction and emergency FR is ***,the variable FR capabilities of WTG and BES are embedded into the integrated frequency-constrained scheduling *** nonlinear constraints for frequency security are precisely linearized through an improved iteration-based *** effectiveness of the proposed model is verified in a modified IEEE 24-bus standard *** results suggest that the coordinated participation of BES and WTG in FR can effectively reduce the cost of the scheduling model while meeting frequency security constraints.

关键词： Battery energy storage(BES) wind turbine generation(WTG) frequency regulation(FR) frequency security power system scheduling

From ancient wisdom to modern science:Gut microbiota sheds light on property theory of traditional Chinese medicine

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Journal of Integrative Medicine 2024年第4期22卷 413-444页

作者： Ya-nan Yang Jia-guo Zhan ying cao Chong-ming Wu School of Chinese Materia Medica Tianjin University of Traditional Chinese MedicineTianjin 301617China Tianjin Key Laboratory of Therapeutic Substance of Traditional Chinese Medicine Tianjin 301617China

The property theory of traditional Chinese medicine(TCM) has been practiced for thousands of years,playing a pivotal role in the clinical application of TCM. While advancements in energy metabolism,chemical composition analysis, machine learning, ion current modeling, and supercritical fluid technology have provided valuable insight into how aspects of TCM property theory may be measured, these studies only capture specific aspects of TCM property theory in isolation, overlooking the holistic perspective inherent in TCM. To systematically investigate the modern interpretation of the TCM property theory from multidimensional perspectives, we consulted the Chinese Pharmacopoeia(2020 edition) to compile a list of Chinese materia medica(CMM). Then, using the Latin names of each CMM and gut microbiota as keywords, we searched the PubMed database for relevant research on gut microbiota and CMM. The regulatory patterns of different herbs on gut microbiota were then summarized from the perspectives of the four natures, the five flavors and the meridian tropism. In terms of the four natures, we found that warm-natured medicines promoted the colonization of specific beneficial bacteria,while cold-natured medicines boosted populations of some beneficial bacteria while suppressing pathogenic bacteria. Analysis of the five flavors revealed that sweet-flavored and bitter-flavored CMMs positively influenced beneficial bacteria while inhibiting harmful bacteria. CMMs with different meridian tropism exhibited complex modulative patterns on gut microbiota, with Jueyin(Liver) and Taiyin(Lung) meridian CMMs generally exerting a stronger effect. The gut microbiota may be a biological indicator for characterizing the TCM property theory, which not only enhances our understanding of classic TCM theory but also contributes to its scientific advancement and application in healthcare.

关键词： Traditional Chinese medicine Property theory Gut microbiota Four natures Five flavors Meridian tropism

Fabrication of Molecularly Imprinted Electrospun Nanofibers with Mono-amidoxime Functional Ligand for Efficient Decontamination of Toxic Organophosphates

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Chinese Journal of Polymer Science 2024年第4期42卷 446-456页

作者： Lan Wang Peng Jiang Ya-Lin Niu Jun-Peng cao Tian-ying Guo Key Laboratory of Functional Polymer Materials Ministry of EducationInstitute of Polymer ChemistryCollege of Chemistry and Frontier Science Center for the Creation of New Organic SubstancesNankai UniversityTianjin300071China

There is an urgent imperative to discover practical and efficacious artificial catalysts for the expeditious decontamination of toxic organophosphates. Herein, we propose a novel molecularly imprinted approach utilizing electrospun fiber scaffolds. Specifically, an amidoxime-based functional polymer (PMAOX) has been synthesized, which contains amidoxime groups that can act as nucleophiles and ligands for the formation of catalytic active sites. This polymer was blended with polyacrylonitrile (PAN), a well-processable material, to prepare a nanofiber mat using electrospinning techniques. Then, the amidoxime side groups on fiber surface were further cross-linked after the molecular coordination of templates to complete the molecularly imprinting process. This approach can not only enhance the content of functional molecularly imprinted polymers without affecting structural stability, but also combines surface MI technology to fully expose and leverage the advantages of active sites. The as prepared molecularly imprinted electrospun nanofibers MIF-Zn-PMAOX/PAN-6/4 catalyzes the degradation of paraoxon with a half-life of 32 min, and MIF-Ag-PMAOX/PAN catalyzes the degradation of parathion with a half-life of 18 min. The maximum catalytic rate evidence rate enhancements nearly 3700-fold of the self-hydrolysis. Thus, the mono-amidoxime based molecularly imprinted fibers demonstrate the versatility and superiority as self-detoxifying for organophosphates.

关键词： Organophosphateshydrolysis Electrospinning Molecular imprinting

Surface-induced Microstructure and Performance Changes in P3HT Ultrathin Films

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Chinese Journal of Polymer Science 2024年第6期42卷 805-814页

作者： Hong-Tao Shan Jia-Xin He Bing-Yan Zhu Xue-Ting cao ying-ying Yan Jian-Jun Zhou Hong Huo Beijing Key Laboratory of Energy Conversion and Storage Materials College of ChemistryBeijing Normal UniversityBeijing100875China

In this work,poly(3-hexylthiophene)(P3HT)ultrathin films(P3HT-T)were prepared by spin-coating a dilute P3HT solution(in a toluene:o-dichlorobenzene(Tol:ODCB)blend with a volume ratio of 80:20)with ultrasonication and the addition of the nucleating agent bicycle[2.2.1]heptane-2,3-dicarboxylic acid disodium salt(HPN-68L)on glass,Si wafers and indium tin oxide(ITO)*** electrical and mechanical properties of the P3HT-T ultrathin films were investigated,and it was found that the conductivity and crack onset strain(COS)were simultaneously improved in comparison with those of the corresponding pristine P3HT film(P3HT-0,without ultrasonication and nucleating agent)on the same substrate,regardless of what substrate was ***,the conductivity of P3HT-T ultrathin films on different substrates was similar(varying from 3.7 S·cm^(-1)to 4.4 S·cm^(-1)),yet the COS increased from 97%to 138%by varying the substrate from a Si wafer to *** grazing-incidence wide-angle X-ray diffraction(GIXRD),UV-visible(UV-Vis)spectroscopy and atomic force microscopy(AFM),we found that the solid order and crystallinity of the P3HT-T ultrathin film on the Si wafer are highest,followed by those on glass,and much lower on ***,the surface energy and roughness of three substrates were investigated,and it was found that the polar component of the surface energyγp plays a critical role in determining the crystalline microstructures of P3HT ultrathin films on different *** work indicates that the P3HT ultrathin film can obviously improve the stretchability and simultaneously retain similar electrical performance when a suitable substrate is *** findings offer a new direction for research on stretchable CP ultrathin films to facilitate future practical applications.

关键词： P3HT ultrathin film Substrate Crystalline microstructures Polar component of the surface energy Electrical and stretchable performances

Wideband spectrum sensing using step-sampling based on the multipath nyquist folding receiver

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Defence Technology（防务技术） 2024年第1期31卷 523-536页

作者： Kai-lun Tian Kai-li Jiang Sen cao Jian Gao ying Xiong Bin Tang Xu-ying Zhang Yan-fei Li University of Electronic Science and Technology of China Chengdu611731China China Electronics Technology Group Corporation 29th Research Institute Chengdu610036China

Wideband spectrum sensing with a high-speed analog-digital converter(ADC) presents a challenge for practical *** Nyquist folding receiver(NYFR) is a promising scheme for achieving cost-effective real-time spectrum sensing,which is subject to the complexity of processing the modulated *** this case,a multipath NYFR architecture with a step-sampling rate for the different paths is *** different numbers of digital channels for each path are designed based on the Chinese remainder theorem(CRT).Then,the detectable frequency range is divided into multiple frequency grids,and the Nyquist zone(NZ) of the input can be obtained by sensing these ***,high-precision parameter estimation is performed by utilizing the NYFR *** with the existing methods,the scheme proposed in this paper overcomes the challenge of NZ estimation,information damage,many computations,low accuracy,and high false alarm *** simulation experiments verify the effectiveness of the proposed architecture in this paper.

关键词： Wideband spectrum sensing Sub-Nyquist sampling Step-sampling Nyquist folding receiver(NYFR) Multisignal processing