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Human-machine shared control:New avenue to dexterous prosthetic hand manipulation

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Science China(Technological Sciences) 2021年第4期64卷 767-773页

作者： YANG dapeng liu Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Artificial Intelligence Laboratory Harbin Institute of TechnologyHarbin 150080China

At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively low.The unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous products.Recently,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous prostheses.In this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are indicated.In practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback together.This method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine perspective.It is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.

关键词： robotic hand dexterous prostheses shared control computer vision deep learning

Relative equivariant coarse index and relative L^(2)-index

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Science China Mathematics 2023年第7期66卷 1449-1472页

作者： Xiaoman Chen Yanlin liu dapeng Zhou School of Mathematical Sciences Fudan UniversityShanghai 200433China School of Statistics and Information Shanghai University of International Business and EconomicsShanghai 201620China Research Center for Operator Algebras East China Normal UniversityShanghai 200062China

In this paper,we define a relative equivariant coarse index for proper actions and a relative L^(2)-index.We derive a relative equivariant coarse index theorem connecting the relative equivariant coarse index with the localized equivariant coarse index.Furthermore,we present a calculation formula on the relative L^(2)-index and provide a relative L^(2)-index theorem.Our work is an expansion of the relative index theory which reflects the difference between two manifolds.

关键词： relative equivariant coarse index relative L^(2)-index regular cover Roe algebra

Numerical and experimental study on the refrigeration performance of a variable-section gas wave oscillation tube

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Science China(Technological Sciences) 2023年第2期66卷 489-500页

作者： WANG HaiTao liu XinYu FU ZhongMeng HU dapeng liu PeiQi Frontier Science Center for Smart Materials Dalian University of TechnologyDalian 116024China

This paper introduces the refrigeration cycle process of the gas wave oscillation tube(GWOT).Aiming at the problem that the strong reverse compression waves generated during the refrigeration process affect the performance,this paper proposes a variable-section GWOT that weakens the reverse compression waves and a variable-section structure designed using a numerical method.Results showed that the variable-section structure could reduce the intensity of the incident shock wave by approximately 7%and the total entropy production in the refrigeration cycle by approximately 8%under the design condition.Moreover,the variable-section structure can effectively weaken the strength of the reverse compression waves and improve the refrigeration efficiency by approximately 4%under the same working conditions.The variable-section structure can also widen the highperformance working range of the GWOT.The experimental results reveal that the high-performance working range can be expanded by more than two times under the design condition.The research can guide the subsequent development of gas wave refrigeration technology and a reference for other wave rotor application technologies.

关键词： gas wave oscillation tube variable-section refrigeration pressure fluctuation entropy production rate wave rotor

Emission Properties of Individual AIE-Luminogens in Solution at Room Temperature

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Chinese Journal of Chemistry 2023年第23期41卷 3245-3252页

作者： Yuehua Zhao Hongbo Chen Shaojie Geng Shunjie liu dapeng Wang Key Laboratory of Polymer Physics and Chemistry Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchunJilin130022 China Key Laboratory of Polymer Ecomaterials Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchunJilin130022 China

Here,we combined the photon antibunching analysis,fluorescence correlation spectroscopy,and time-domain fluorescence lifetime imaging microscopy(TD-FLIM)to study the emission properties of a representative AIE-luminogen—4,4’-(benzo[c][1,2,5]thiadiazole-4,7-diyl)bis(N,N-diphenylaniline)(TPA-BT)at the single emitter level in a tetrahydrofuran(THF)/water solution where water is a non-solvent for TPA-BT.Our findings suggest that,at a constant water fraction in the solution,the size of TPA-BT aggregates increases with the TPA-BT concentration;TPA-BT aggregates are not a quantum emitter at room temperature in the solution.Moreover,utilizing TD-FLIM and a gel trapping technique allowed us to study the fluorescence lifetime of individual TPA-BT aggregates.Adding a polar solvent like water does not result in an overall decrease in fluorescence lifetime.Rather,it causes the fluorescence lifetime distribution to become wider,and only some molecules experience a decrease in their fluorescence lifetime.These results could represent a step forward in further understanding the photophysics of AIE-luminogens.

关键词： Aggregation-induced emission Fluorescence Fluorescence spectroscopy Antibunching Time-domain fluorescence lifetime imaging microscopy

Crack mystery of the damaging Kumamoto earthquakes

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Science Bulletin 2016年第11期61卷 868-870页

作者： dapeng Zhao Xin liu Department of Geophysics Tohoku University College of Marine Geosciences Ocean University of China

The 2016 Kumamoto earthquake(M 7.3 in the Japan Meteorological Agency(JMA)scale)sequence wrote a new chapter of active seismotectonics and subduction dynamics in the Japan Islands.This earthquake sequence,

关键词：地震序列破坏性日本气象厅裂缝活动构造 Moto 动力学上地壳

Ultra-low V_(pp)and high-modulation-depth InP-based electro-optic microring modulator

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Journal of Semiconductors 2021年第8期42卷 55-59页

作者： Dapeng Liu Jian Tang Yao Meng Wei Li Ninghua Zhu Ming Li State Key Laboratory of Integrated Optoelectronics Institute of SemiconductorsChinese Academy of SciencesBeijing 100083China School of Electronic Electrical and Communication EngineeringUniversity of Chinese Academy of ScienceBeijing 100049China

A modulator is an essential building block in the integrated photonics,connecting the electrical with optical signals.The microring modulator gains much attention because of the small footprint,low drive voltage and high extinction ratio.An ultra-low V_(pp)and high-modulation-depth indium phosphide-based racetrack microring modulator is demonstrated in this paper.The proposed device mainly comprises one racetrack microring,incorporating a semiconductor amplifier,and coupling with a bus waveguide through a multimode interference coupler.Traveling wave electrodes are employed to supply bidirectional bias ports,terminating with a 50-Ω impedance.The on/off extinction ratio of the microring reaches 43.3 dB due to the delicately tuning of the gain.An 11 mV V_(pp),a maximum 42.5 dB modulation depth and a 6.6 GHz bandwidth are realized,respectively.This proposed microring modulator could enrich the functionalities and designability of the fundamental integrated devices.

关键词： integrated photonics high-modulation-depth microring modulator

Global-Attention-Based Neural Networks for Vision Language Intelligence

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IEEE/CAA Journal of Automatica Sinica 2021年第7期8卷 1243-1252页

作者： Pei liu Yingjie Zhou Dezhong Peng dapeng Wu the College of Computer Science Sichuan UniversityChengdu 610065China the College of Computer Science Sichuan UniversityChengdu 610065 Sichuan Zhiqian Technology Co. Ltd.Chengdu 610041 Shenzhen Peng Cheng Laboratory Shenzhen 518052China the Department of Electrical and Computer Engineering University of FloridaGainesville FL 32611 USA

In this paper,we develop a novel global-attentionbased neural network(GANN)for vision language intelligence,specifically,image captioning(language description of a given image).As many previous works,the encoder-decoder framework is adopted in our proposed model,in which the encoder is responsible for encoding the region proposal features and extracting global caption feature based on a specially designed module of predicting the caption objects,and the decoder generates captions by taking the obtained global caption feature along with the encoded visual features as inputs for each attention head of the decoder layer.The global caption feature is introduced for the purpose of exploring the latent contributions of region proposals for image captioning,and further helping the decoder better focus on the most relevant proposals so as to extract more accurate visual feature in each time step of caption generation.Our GANN is implemented by incorporating the global caption feature into the attention weight calculation phase in the word predication process in each head of the decoder layer.In our experiments,we qualitatively analyzed the proposed model,and quantitatively evaluated several state-of-the-art schemes with GANN on the MS-COCO dataset.Experimental results demonstrate the effectiveness of the proposed global attention mechanism for image captioning.

关键词： Global attention image captioning latent contribution

A Synthetic Framework for Evaluating and Designing an Anthropomorphic Prosthetic Hand

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Journal of Bionic Engineering 2018年第1期15卷 69-82页

作者： Li Jiang Yuan liu dapeng Yang Hong liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The mimic of aesthetics, fianction, and rehabilitation application makes the prosthetic hand design an interdisciplinary, synthetic work. Prosthetic hands should be designed in a comprehensive consideration with a synthetic framework from multiple areas. In this case, a synthetic framework containing 12 anthropomorphism indexes is established and utilized to understand the human hand characteristic and quantifiably evaluate the anthropomorphism of a prosthetic hand. Our quantified evaluation results show that a Global Anthropomorphic Score （GAS） of the current commercial prosthetic hands is only 45.2%. The compliance, coupling speed ratio and configuration of the Degrees Of Freedom （DOF） are found to be the lowest three anthropomorphism evaluation indexes in all 12 indexes. In addition, a design priority is proposed based on the quantified evaluation results and contributes to a prosthetic hand design. Moreover, our correlation analysis results between each index and GAS show that, compared with the conventional evaluation index-grasp gesture, the rotation axis distribution index has a stronger distinguishing capability to the hand performance. Finally, a flowchart of prosthetic hand design was presented for a designer to design a prosthetic hand with a high anthropomorphism.

关键词： prosthetic hand anthropomorphism quantified evaluation bionic design mechanical implementation rehabilitation

3D-printed mechanically strong and extreme environment adaptable boron nitride/cellulose nanofluidic macrofibers

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Nano Research 2023年第5期16卷 7609-7617页

作者： Le Yu Tingting Gao Ruiyu Mi Jing Huang Weiqing Kong Dapeng Liu Zhiqiang Liang Dongdong Ye Chaoji Chen School of Resource and Environmental Sciences Hubei Biomass-Resource Chemistry and Environmental Biotechnology Key LaboratoryWuhan UniversityWuhan 430079China Key Laboratory of Textile Science and Technology Ministry of EducationCollege of TextilesDonghua UniversityShanghai 201620China Beijing Key Laboratory of Materials Utilization of Nonmetallic Minerals and Solid Wastes National Laboratory of Mineral MaterialsSchool of Materials Science and TechnologyChina University of GeosciencesBeijing 100083China State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Materials Science and EngineeringDonghua UniversityShanghai 201620China Interdisciplinary Materials Research Center School of Materials Science and EngineeringTongji UniversityShanghai 201804China Institute of Functional Nano and Soft Materials(FUNSOM) Jiangsu Key Laboratory for Carbon-Based Functional Materials and DevicesSoochow UniversitySuzhou 215123China School of Textile Materials and Engineering Wuyi UniversityJiangmen 529020China

Fibrous nanofluidic materials are ideal building blocks for implantable electrode,biomimetic actuator,wearable electronics due to their favorable features of intrinsic flexibility and unidirectional ion transport.However,the large-scale preparation of fibrous nanofluidic materials with desirable mechanical strength and good environment adaptability for practical use remains challenging.Herein,by fully taking advantage of the attractive mechanical,structural,chemical features of boron nitride(BN)nanosheet and nanofibrillated cellulose(NFC),a scalable and cost-effective three-dimensional(3D)printed macrofiber featuring abundant vertically aligned nanofluidic channels is demonstrated to exhibit a good combination of high tensile strength of 100 MPa,thermal stability of up to 230℃,ionic conductivity of 1.8×10^(−4)S/cm at low salt concentrations(<10^(−3)M).In addition,the versatile surface chemistry of cellulose allows us to stabilize the macrofiber at the molecular level via a facile postcross-linking method,which eventually enables the stable operation of the modified macrofiber in various extreme environments such as strong acidic,strong alkaline,high temperature.We believe this work implies a promising guideline for designing and manufacturing fibrous nanodevices towards extreme environment operations.

关键词： three-dimensional(3D)printing nanofluidic boron nitride cellulose macrofiber