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Accurate manipulation of anthropomorphic robotic arm based on 3d human eye gazing with posture error compensation

Science China Technological Sciences 2025年

作者： Quanlin LI Xianzong WANG Jiaji MA Qianjun huang Qizhi JIANG Wenbin CHEN Caihua XIONG State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology Institute of Medical Equipment Science and Engineering Huazhong University of Science and Technology

As humans and robots work closer together than ever, anthropomorphic robotic arms with intuitive human-robot interaction interfaces have drawn massive attention to improving the quality of robot-assisted manipulation. In pursuit of this,we designed a dedicated 7-degrees-of-freedom (doF) anthropomorphic robotic arm having three compact differential joints and a head-mounted gaze tracker enabling head-pose-tracked 3d gaze estimation. Moreover, two key challenges were addressed to achieve accurate robot-assisted manipulation of the object indicated by the direction of human gaze. First, a novel predictive pupil feature was proposed for 3d gaze estimation. differing from most existing features subjected to the common paraxial approximation assumption, the proposed novel predictive pupil feature considered the light refraction at two corneal surfaces with a more realistic eye model, significantly improving the 3d gaze estimation accuracy when the eyeball rotates at large angles. Second, a novel optimization-based approach was developed to efficiently compensate for the posture errors of the designed 7-doF anthropomorphic robotic arm for accurate manipulation. Compared with the existing Jacobian-based or optimization-based approaches with nominal joint values as iteration initial, the proposed approach computed the optimal iteration initial and realized faster convergence for real-time posture error compensation. With the posture error compensation in real time and 3d gaze estimated accurately, the human can command accurate robot-assisted manipulation using his eyes intuitively. The proposed system was successfully tested on five healthy subjects.

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Optimizing hardware-software co-design based on non-ideality in memristor crossbars for in-memory computing

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Science China(Information Sciences) 2025年

作者： Pinfeng JIANG danzhe SONG Menghua huang Fan YANG Letian WANG Pan LIU Xiangshui MIAO Xingsheng WANG School of Integrated Circuits Huazhong University of Science and Technology Hubei Yangtze Memory Labs

The memristor crossbar, with its exceptionally high storage density and parallelism, enables efficient vector matrix multiplication (VMM), significantly improving data throughput and computational efficiency. However, its analog computing is vulnerable to issues like IR-drop, device-to-device (d2d) variation, and stuck-at-fault (SAF), leading to a substantial decrease in the inference accuracy of neural networks deployed on crossbars. This work presents a hardware-software co-design approach tailored to deal with memristor crossbar non-ideality. We introduce an end-to-end functional array simulator (FAST) for precise and ultra fast end-to-end training, mapping, and evaluation of neural networks on the memristor crossbar. Utilizing the sparsity of the memristor crossbar coefficient matrix, it achieves simulation with low storage and computational resource requirements,dynamically selecting the optimal solution to complete the process. It can also precisely simulate the impact of non-ideal effects such as IR-drop, retention, variation, SAF, and Ad/dA precision. Using FAST, we assess memristor crossbar matrix operations under non-ideal conditions, identifying the max throughput and the most energy-efficient crossbar configurations. Additionally,we propose a comparator-based activation function modulation (CAFM) scheme and its corresponding hardware architecture with programmable activation function circuits to address the IR-drop issue, enabling low power and area overheads, resulting in the recovery of neural network accuracy by 54%or more. This is validated within FAST, demonstrating the success of our hardware-software optimization co-design.

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Mitigating methodology of hardware non-ideal characteristics for non-volatile memory based neural networks

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Science China(Information Sciences) 2025年

作者： Lixia HAN Peng huang Yijiao WANG Zheng ZHOU Haozhang YANG Yiyang CHEN Xiaoyan LIU Jinfeng KANG School of Integrated Circuits Peking University Beijing Advanced Innovation Center for Integrated Circuits School of Integrated Circuit Science and Engineering Beihang University

Non-volatile memory-based computing-in-memory (nvCIM) paradigm has been extensively studied to boost the energy efficiency of neural network accelerators in edge ***,the degradation of inference accuracy induced by the non-ideal characteristics across circuits,arrays,and devices is becoming a crucial *** this work,we establish a hardware characteristic behavior model to analyze the impact of nvCIM non-ideal characteristics on neural network *** we propose a hardware aware training and weight mapping correction methods to mitigate inference accuracy *** simulation verification,about 95%inference accuracy degradation is recovered by adopting the proposed mitigation method for various non-ideal characteristics and various neural network *** feasibility of the proposed method is further proved in an experimental example with a flash-based LeNet recognition system.

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Thermally triggered topological polymerization in diacetylene-functionalized covalent organic framework toward enhanced memristive properties

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Science China Chemistry 2025年

作者： Panke Zhou Yuxing huang Ziyue Yu Cong Zhang Qian Chen Yiping Li Chao Lin Xiong Chen State Key Laboratory of Photocatalysis on Energy and Environment Key Laboratory of Advanced Carbon-Based Functional MaterialsCollege of Chemistry Fuzhou University

The development of stimuli-responsive switching memory devices and the elucidation of their switching mechanisms in specific environments are crucial for advancing the field of molecular electronics. Herein, we propose two distinct two-dimensional covalent organic frameworks (COFs), namely Py-EdA and Py-BdA, incorporating acetylene (-C≡C-) or diacetylene(-C≡C-C≡C-) moieties, respectively, targeting fabricate memory devices exhibiting stimuli-responsive switching *** findings demonstrate that the incorporation of acetylene units effectively modulates the electronic band structure and enhances the degree ofπ-conjugation, resulting in devices that exhibit typical bipolar nonvolatile memory performance. Notably,upon thermal treatment, the memory behavior of the ITO/Py-BdA/Ag device transitions to a write-once-read-many-times(WORM) mode, displaying decreased SET voltage, increased ON/OFF current ratio, and remarkable retention reliability and cycle stability. This switching behavior is attributed to the occurrence of interlayer solid-state topological polymerization at 350℃, leading to the transformation of diacetylene columnar arrays into enyne chains within Py-BdA, thereby further promoting interlayer charge transfer and separation.

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dCaT:面向高分辨率场景的轻量级语义分割模型

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计算机工程与应用 2025年第1期61卷 252-262页

作者：黄科迪黄鹤鸣李伟樊永红青海师范大学计算机学院西宁810008 藏语智能信息处理及应用国家重点实验西宁810008

语义分割是计算机视觉中分析和理解场景的关键任务,但现有的分割模型需要较高的计算成本和内存需求,不适合高分辨率场景的轻量级语义分割。针对该问题,提出了一种新的面向高分辨率场景的轻量级语义分割模型dCaT。采用深度可分离卷积提... 详细信息

语义分割是计算机视觉中分析和理解场景的关键任务,但现有的分割模型需要较高的计算成本和内存需求,不适合高分辨率场景的轻量级语义分割。针对该问题,提出了一种新的面向高分辨率场景的轻量级语义分割模型dCaT。采用深度可分离卷积提取图像的局部语义;使用基于坐标感知和动态稀疏混合注意力的轻量级Transformer获取图像的全局语义;通过模块融合,在低级语义上注入高级语义;通过分割头输出像素预测标签。实验结果表明:与基线模型相比,dCaT在高分辨率数据集Cityscapes上的平均交并比提高了1.5个百分点,模型复杂度降低了26%,推理速度提升了12%。实现了高分辨率场景下模型复杂度与性能之间的更好平衡,证明了dCaT的有效性和实用性。

关键词：语义分割轻量化高分辨率 Transformer 稀疏注意力

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Effect of pouring time on microstructure and mechanical properties of centrifugal cast Ti-46Al alloy tubes

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China Foundry 2025年

作者： Gang huang Qian dang Cong-cong Su Jing Zhao Chi Zhang Guo-huai Liu Zhao-dong Wang The State Key Laboratory of Rolling and Automation Northeastern University School of Materials Science and Engineering Shenyang University of Technology

The grain size of TiAl alloy castings prepared by traditional casting process is coarse, thus showing poor mechanical properties. In this study, a new type of high performance Ti-46Al alloy tube prepared by vacuum centrifugal casting technology was introduced. This research comprehensively examined the influence of pouring time on the microstructure and mechanical performance of the castings, employing both experimental approaches and ProCast simulation methodologies. The findings indicate that prolonging the pouring time facilitates a microstructural evolution from coarse columnar grains to refined equiaxed grains. Under the condition of pouring temperature of 1,600 °C, rotation speed of 800 r·min-1and pouring time of 6 s, the tensile strength of Ti-46Al alloy at room temperature reaches 650 MPa, and the tensile strength at 800 °C reaches 705 MPa, which is significantly higher than that of traditional as-cast Ti-Al alloy.

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Exploring the interaction between the gut microbiota and cyclic adenosine monophosphate-protein kinase A signaling pathway:a potential therapeutic approach for neurodegenerative diseases

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Neural Regeneration Research 2025年第11期20卷 3095-3112页

作者： Fengcheng deng dan Yang Lingxi Qing Yifei Chen Jilian Zou Meiling Jia Qian Wang Runda Jiang Lihua huang College of Pharmacy Chengdu University of Traditional Chinese MedicineChengduSichuan ProvinceChina State Key Laboratory of Southwestern Chinese Medicine Resources Chengdu University of Traditional Chinese MedicineChengduSichuan ProvinceChina

The interaction between the gut microbiota and cyclic adenosine monophosphate(cAMP)-protein kinase A(PKA)signaling pathway in the host's central nervous system plays a crucial role in neurological diseases and enhances communication along the gut–brain *** gut microbiota influences the cAMP-PKA signaling pathway through its metabolites,which activates the vagus nerve and modulates the immune and neuroendocrine ***,alterations in the cAMP-PKA signaling pathway can affect the composition of the gut microbiota,creating a dynamic network of microbial-host *** reciprocal regulation affects neurodevelopment,neurotransmitter control,and behavioral traits,thus playing a role in the modulation of neurological *** coordinated activity of the gut microbiota and the cAMP-PKA signaling pathway regulates processes such as amyloid-β protein aggregation,mitochondrial dysfunction,abnormal energy metabolism,microglial activation,oxidative stress,and neurotransmitter release,which collectively influence the onset and progression of neurological *** study explores the complex interplay between the gut microbiota and cAMP-PKA signaling pathway,along with its implications for potential therapeutic interventions in neurological *** pharmacological research has shown that restoring the balance between gut flora and cAMP-PKA signaling pathway may improve outcomes in neurodegenerative diseases and emotional *** can be achieved through various methods such as dietary modifications,probiotic supplements,Chinese herbal extracts,combinations of Chinese herbs,and innovative dosage *** findings suggest that regulating the gut microbiota and cAMP-PKA signaling pathway may provide valuable evidence for developing novel therapeutic approaches for neurodegenerative diseases.

关键词： cyclic adenosine monophosphate emotional disorders gut microbiota neurodegenerative diseases neurological diseases protein kinase A reciprocal regulation signaling pathway strategy therapies

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Impacts of Nutlin-3a and exercise on murine double minute 2-enriched glioma treatment

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Neural Regeneration Research 2025年第4期20卷 1135-1152页

作者： Yisheng Chen Zhongcheng Fan Zhiwen Luo Xueran Kang Renwen Wan Fangqi Li Weiwei Lin Zhihua Han Beijie Qi Jinrong Lin Yaying Sun Jiebin huang Yuzhen Xu Shiyi Chen department of Sport Medicine Huashan HospitalFudan UniversityShanghaiChina department of Orthopedic Surgery Hainan Province Clinical Medical CenterHaikou Affiliated Hospital of Central South University Xiangya School of MedicineHaikouHainan ProvinceChina department of Basic Medicine Shanghai Jiao Tong University School of MedicineShanghai Jiao Tong UniversityShanghaiChina department of Neurosurgery Second Affiliated Hospital of Zhejiang University School of MedicineZhejiang UniversityHangzhouZhejiang ProvinceChina department of Orthopedics Shanghai General HospitalSchool of Medicine Shanghai Jiao Tong UniversityShanghaiChina department of Infectious diseases Children’s Hospital of Fudan UniversityNational Children’s Medical CenterShanghaiChina department of Rehabilitation The Second Affiliated Hospital of Shandong First Medical UniversityTaianShandong ProvinceChina

Recent research has demonstrated the impact of physical activity on the prognosis of glioma patients,with evidence suggesting exercise may reduce mortality risks and aid neural *** role of the small ubiquitin-like modifier(SUMO)protein,especially post-exercise,in cancer progression,is gaining attention,as are the potential anti-cancer effects of *** used machine learning to create the exercise and SUMO-related gene signature(ESLRS).This signature shows how physical activity might help improve the outlook for low-grade glioma and other *** demonstrated the prognostic and immunotherapeutic significance of ESLRS markers,specifically highlighting how murine double minute 2(MdM2),a component of the ESLRS,can be targeted by *** underscores the intricate relationship between natural compounds such as nutlin-3 and immune *** comprehensive CRISPR screening,we validated the effects of specific ESLRS genes on low-grade glioma *** also revealed insights into the effectiveness of Nutlin-3a as a potent MdM2 inhibitor through molecular docking and dynamic ***-3a inhibited glioma cell proliferation and activated the p53 *** efficacy decreased with MdM2 overexpression,and this was reversed by Nutlin-3a or *** using a low-grade glioma mouse model highlighted the effect of physical activity on oxidative stress and molecular pathway ***,both physical exercise and Nutlin-3a administration improved physical function in mice bearing tumors derived from MdM2-overexpressing *** results suggest the potential for Nutlin-3a,an MdM2 inhibitor,with physical exercise as a therapeutic approach for glioma *** research also supports the use of natural products for therapy and sheds light on the interaction of exercise,natural products,and immune regulation in cancer treatment.

关键词： exercise and SUMO-related gene signatures(ESLRS) glioblastoma management low-grade glioma natural bioactives neural regeneration physical exercise

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dietary carbohydrate intake and risk of type 2 diabetes:a 16-year prospective cohort study

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Science China Life Sciences 2025年

作者： Lu Gan Yi Yang Bin Zhao Kai Yu Kehua Guo Fang Fang Zhiguang Zhou demetrius Albanes Jiaqi huang Key Laboratory of diabetes Immunology Ministry of Education and Department of Metabolism and Endocrinology The Second Xiangya Hospital of Central South University CSU-Sinocare Research Center for Nutrition and Metabolic Health Xiangya School of Public Health Central South UniversityFurong Laboratory division of Cancer Epidemiology and Genetics National Cancer Institute NIH Department of Health and Human Services School of Computer Science and Engineering Central South University Institute of Environmental Medicine Karolinska Institute National Clinical Research Center for Metabolic diseases Key Laboratory of Diabetes Immunology Ministry of Education and Department of Metabolism and Endocrinology The Second Xiangya Hospital of Central South University

despite considerable research underscoring the importance of carbohydrate intake in relation to the risk of type 2 diabetes(T2d), a comprehensive assessment of this relationship is currently lacking. We aimed to examine the associations of various types and food sources of dietary carbohydrate intake with the risk of T2d, to evaluate potential effect modification by other factors, including genetic susceptibility,and to explore the potential mediators for such associations. The present study included 161,872 participants of the UK Biobank who were free of prevalent cancer, cardiovascular disease, or diabetes, and had at least one validated 24-h dietary recall assessment. Multivariableadjusted age-stratified Cox proportional hazard regression models were applied to estimate hazard ratios(HRs) and 95% confidence intervals(CI) for the associations of various types and food sources of dietary carbohydrate intake with risk of T2d. during a median follow-up of13.6 years, 4,176 incident cases of T2d were identified. In the multivariable-adjusted models, a greater intake of fiber, carbohydrates from whole grains, and carbohydrates from non-starchy vegetables was significantly associated with a lower risk of T2d(highest vs. lowest quantile, HR [95% CI]=0.70 [0.62–0.79], 0.74 [0.67–0.82], and 0.83 [0.75–0.92], respectively, all P for trend d carbohydrate from starchy vegetables was associated with an increased risk of T2d(highest vs. lowest quantile, HR [95%CI]=1.31 [1.16–1.48] and 1.19 [1.09–1.31], respectively, both P for trend d grains or starchy vegetables with an equal amount of whole grains or non-starchy vegetables was associated with 4% to 10% lower risk of T2d(all P values d associations were generally similar across population subgroups, including individuals with different genetic susceptibility to T2d. Mediation analyses of the inverse association between T

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A novel flexible nerve guidance conduit promotes nerve regeneration while providing excellent mechanical properties

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Neural Regeneration Research 2025年第7期20卷 2084-2094页

作者： Tong Li Quhan Cheng Jingai Zhang Boxin Liu Yu Shi Haoxue Wang Lijie huang Su Zhang Ruixin Zhang Song Wang Guangxu Lu Peifu Tang Zhongyang Liu Kai Wang department of Orthopedics the Fourth Medical Center of Chinese PLA General HospitalBeijingChina department of Training and Sports Medicine Characteristic Medical Center of Chinese People’s Armed Police ForceTianjinChina Medical School of Chinese PLA BeijingChina Key Laboratory of Bioactive Materials for the Ministry of Education College of Life SciencesNankai UniversityTianjinChina department of Orthopedics Tianjin HospitalTianjinChina department of Rehabilitation Medicine Er Quan Hospital of PAPWuxiJiangsu ProvinceChina

Autografting is the gold standard for surgical repair of nerve defects>5 mm in length;however,autografting is associated with potential complications at the nerve donor *** an alternative,nerve guidance conduits may be *** ideal conduit should be flexible,resistant to kinks and lumen collapse,and provide physical cues to guide nerve *** designed a novel flexible conduit using electrospinning technology to create fibers on the innermost surface of the nerve guidance conduit and employed melt spinning to align ***,we prepared disordered electrospun fibers outside the aligned fibers and helical melt-spun fibers on the outer wall of the electrospun fiber *** presence of aligned fibers on the inner surface can promote the extension of nerve cells along the *** helical melt-spun fibers on the outer surface can enhance resistance to kinking and compression and provide *** novel conduit promoted nerve regeneration and functional recovery in a rat sciatic nerve defect model,suggesting that it has potential for clinical use in human nerve injuries.

关键词： aligned fibers anti-kinking helical fibers nerve guidance conduit nerve regeneration peripheral nerve injury topological guidance

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