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Adaptive patient-cooperative compliant control of lower limb rehabilitation robot

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Biomimetic Intelligence & Robotics 2024年第2期4卷 42-49页

作者： Lingling Chen Jjiabao Huang Yanglong Wang Shijie guo Mengge Wang xin guo School of Artificial Intelligence Hebei University of TechnologyTianjin 300400China Inteligent Rehabilitation Device and Detection Technology Engineering Research Centre of the Ministry of Education Tianjin 300400China School of Mechanical Engineering Hebei University of TechnologyTianjin 300400China School of Electrical Engineering Hebei University of TechnologyTianjin 300400China

With the increase in the number of stroke patients,there is a growing demand for rehabilitation ***-assisted training is expected to play a crucial role in meeting this *** ensure the safety and comfort of patients during rehabilitation training,it is important to have a patient-cooperative compliant control system for rehabilitation *** order to enhance the motion compliance of patients during rehabilitation training,a hierarchical adaptive patient-cooperative compliant control strategy that includes patient-passive exercise and patient-cooperative exercise is proposed.A low-level adaptive backstepping position controller is selected to ensure accurate tracking of the desired *** the high-level,an adaptive admittance controller is employed to plan the desired trajectory based on the interaction force between the patient and the *** results of the patient-robot cooperation experiment on a rehabilitation robot show a significant improvement in tracking trajectory,with a decrease of 76.45%in the dimensionless squared jerk(DSJ)and a decrease of 15.38%in the normalized root mean square deviation(NRMSD)when using the adaptive admittance *** proposed adaptive patient-cooperative control strategy effectively enhances the compliance of robot movements,thereby ensuring the safety and comfort of patients during rehabilitation training.

关键词： Compliant control Lower limb rehabilitation robot(LLRR) Adaptive admittance controller Adaptive backstepping controller Human-robot interaction

GWASTool:A web pipeline for detecting SNP-phenotype associations

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Fundamental Research 2024年第4期4卷 761-769页

作者： xin Wang Beibei xin Maozu guo guoxian Yu Jun Wang School of Software Shandong UniversityJinan 250101China Joint SDU-NTU Centre for Artificial Intelligence Research Shandong UniversityJinan 250101China College of Agronomy&Biotechnology China Agricultural UniversityBeijing 100193China College of Electrical and Information Engineering Bejing University of Civil Engineering and ArchitectureBeijing 100044China

The genome-wide association study(GWAS)aims to detect associations between individual single nucleotide polymorphisms(SNPs)or SNP interactions and phenotypes to decipher the genetic *** GWAS analysis tools have different focuses and advantages,but suffer a series of tedious and heterogeneous configurations for *** is inconvenient for researchers to simply choose and apply these tools,statistically and biologically analyze their results for different *** address these issues,we develop a user friendly web pipeline GWASTool for detecting associations,which includes simulation data generation,associated loci detection,result visualization,analysis and *** provides a unified and plugin-able framework to encapsulate the heterogeneity of GWAS algorithms,simplifies the analysis steps and energizes GWAS *** is implemented in Java and is freely available for public use at http://***/*** website hosts a comprehensive collection of resources,including a user manual,description of integrated algorithms,data examples and standalone version for download.

关键词： Genome-wideassociation studies SNP interactions Associated loci detection SNP visualization Web server

Highly sensitive nanozyme strip:An effective tool for forensic material evidence identification

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Nano Research 2024年第3期17卷 1785-1791页

作者： Juanji hong Zhanjun guo Dihan Duan Yi Zhang xin Chen Yongjiu Li Zheng Tu Lei Feng Lei Chen Xiyun Yan Lizeng Gao Minmin Liang Demin Duan Experimental Center of Advanced Materials School of Materials Science&EngineeringBeijing Institute of TechnologyBeijing 100081China College of Bioscience and Biotechnology Shenyang Agricultural UniversityShenyang 110866China Chongqing kangjuquanhong biology science and technology Co. ltdChongqing 400026China Key Laboratory of Forensic Genetics Institute of Forensic ScienceMinistry of Public SecurityBeijing 100038China CAS Engineering Laboratory for Nanozyme Key Laboratory of BiomacromoleculesInstitute of BiophysicsChinese Academic of ScienceBeijing 100101China

During criminal case investigations,blood evidence tracing is critical for criminal ***,the blood stains are often cleaned or covered up after the crime,resulting in trace residue and difficult ***,a highly sensitive and specific method for the rapid detection of human blood stains remains *** solve this problem,we established a nanozyme-based strip for rapid detection of blood evidence with high sensitivity and *** construct reliable nanozyme strips,we synthesized CoFe_(2)O_(4) nanozymes with high peroxidase-like activity by scaling up to gram level,which can be supplied for six million tests,and conjugated antibody as a detection probe in nanozyme *** developed CoFe_(2)O_(4) nanozyme strip can detect human hemoglobin(HGB)at a concentration as low as 1 ng/mL,which is 100 times lower than the commercially available colloidal gold strips(100 ng/mL).Moreover,this CoFe_(2)O_(4) nanozyme strip showed high generality on 12 substrates and high specificity to human HGB among 13 animal blood ***,we applied the developed CoFe_(2)O_(4) nanozyme strip to successfully detect blood stains in three real cases,where the current commercial colloidal gold strip failed to *** results suggest that the CoFe_(2)O_(4) nanozyme strip can be used as an effective on-scene detection method for human blood stains,and can further be used as a long-term preserved material evidence for traceability inquiry.

关键词： CoFe_(2)O_(4)nanozyme nanozyme strip peroxidase-like activity human hemoglobin blood evidence

Nonalternant isomer of pentacene fusing two azulene units

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Chinese Chemical Letters 2024年第5期35卷 244-248页

作者： Bo Yu Pengchen Du Jianwen guo Hanshen xin Jianhua Zhang Department of Chemistry College of SciencesShanghai UniversityShanghai 200444China School of Microelectronics Shanghai UniversityShanghai 201800China

Azulene is a promising building block for creating innovative polycyclic aromatic hydrocarbons. This study involved the construction of three nonalternant isomers of pentacene by fusing two azulene units, named Az-PH1/2/3. Az-PH1 was initially developed through the rhodium(Ⅱ)-catalyzed cyclization of bis(N-tosylhydrazone)s. Intriguingly, Az-PH1 was also unexpectedly obtained during a nickel(0)-catalyzed one-step tandem reaction. We investigated the optical and electrochemical properties, aromaticity, and photo-oxidative stability of Az-PH1, comparing it with the well-known pentacene using density functional theory, electrochemical, and photophysical tests. Our results showed that the azulene-fusing strategy resulted in a molecule with narrow optical bandgaps(2.046 eV) and a long half-life time under ambient air conditions.

关键词： Azulene Isomer Polycyclic aromatic hydrocarbon Nickel(0)-catalyzed Photo-oxidative stability

Regulation of Ti(C,N)deposition on hot surface of refractory in blast furnace hearth

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Journal of Iron and Steel Research International 2024年第6期31卷 1423-1435页

作者： Jian Cao Cui Wang Jjan-liang Zhang Ke-xin Jiao guo-hua Zhang State Key Laboratory of Advanced Metallurgy University of Science and Technology BeijingBeijing 100083China School of Metallurgical and Ecological Engineering University of Science and Technology BeijingBeijing 100083China

Ti(C,N)concentration was found to be lower on the hearth sidewall of a blast furnace and increased gradually toward the bottom of the blast *** Ti(C,N)protective layer in a blast furnace is ***,the formation of a Ti(C,N)protective layer was promoted by studying the heterogeneous nucleation principle of titanium compounds on different substances and regulation measures for the deposition process of titanium compounds on refractories or *** lattice disregistry between the titanium compounds and the main components in the refractory or the main impurities in the protective layer was calculated using a two-dimensional disregistry equation to study the heterogeneous nucleation principle of titanium *** results revealed that in refractory materials,the heterogeneous nucleation of carbonitride is weak when C,SiO_(2),and Al_(2)O_(3) are used as heterogeneous nucleation substrates,and the heterogeneous nucleation of carbonitride is strong when TiO_(2) and SiC are used as heterogeneous nucleation *** nucleation phases,TiC,TiN,Ti(C_(0.3),N_(0.7)),and Ti(C_(0.5),N_(0.5))have similar heterogeneous nucleation ability in single component refractory,and the type of carbonitride has little effect on the lattice *** impurities in the protective layer as the substrate phases are not conducive to the heterogeneous nucleation of *** CaS was used as the substrate phase,the heterogeneous nucleation ability of carbonitride was the *** carbon and alumina were not conducive to the heterogeneous nucleation of carbonitride,but carbon was more unfavourable than alumina.

关键词： Ti(C,N) Lattice disregistry Lattice constant Heterogeneous nucleation Regulation measure

Deep learning for joint channel estimation and feedback in massive MIMO systems

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Digital Communications and Networks 2024年第1期10卷 83-93页

作者： Jiajia guo Tong Chen Shi Jin Geoffrey Ye Li xin Wang Xiaolin Hou National Mobile Communications Research Laboratory Southeast UniversityNanjing210096China Department of Electrical and Electronic Engineering Imperial College LondonLondonSW72AZUK DOCOMO Beijing Communications Laboratories Co. LtdBeijingChina

The great potentials of massive Multiple-Input Multiple-Output(MIMO)in Frequency Division Duplex(FDD)mode can be fully exploited when the downlink Channel State Information(CSI)is available at base ***,the accurate CsI is difficult to obtain due to the large amount of feedback overhead caused by massive *** this paper,we propose a deep learning based joint channel estimation and feedback framework,which comprehensively realizes the estimation,compression,and reconstruction of downlink channels in FDD massive MIMO *** networks are constructed to perform estimation and feedback explicitly and *** explicit network adopts a multi-Signal-to-Noise-Ratios(SNRs)technique to obtain a single trained channel estimation subnet that works well with different SNRs and employs a deep residual network to reconstruct the channels,while the implicit network directly compresses pilots and sends them back to reduce network *** module is also designed to generate data-bearing *** results show that the two proposed networks exhibit excellent performance of reconstruction and are robust to different environments and quantization errors.

关键词： Channel estimation CSI feedback Deep learning Massive MIMO FDD

Role of alloying and heat treatment on microstructure and mechanical properties of cast Al-Li alloys:A review

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China Foundry 2024年第5期21卷 445-460页

作者： guo-hua Wu You-jie guo Fang-zhou Qi Shen Zhang Yi-xiao Wang xin Tong Liang Zhang School of Materials Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

Due to the prominent advantages of low density,high elastic modulus,high specific strength and specific stiffness,cast Al-Li alloys are suitable metallic materials for manufacturing complex large-sized components and are ideal structural materials for aerospace,defense and military *** the basis of the microstructural characteristics of cast Al-Li alloys,exploring the role of alloying and micro-alloying can stabilize their dominant position and further expand their application *** this review,the development progress of cast Al-Li alloys was summarized *** to the latest research highlights,the influence of alloying and heat treatment on the microstructure and mechanical properties was systematically *** potential methods to improve the alloy performance were *** response to the practical engineering requirements of cast Al-Li alloys,the scientific challenges and future research directions were discussed and prospected.

关键词： cast Al-Li alloy alloying microstructure mechanical properties heat treatment

Innovations in metallurgical and materials processes:advancing liquid theory and honoring ***-jie guo's contributions to physical chemistry in metallurgy

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Journal of Iron and Steel Research International 2024年第1期31卷 1-2页

作者： Shuai Liu Jing guo Han-jie guo School of Artificial Intelligence Beijing Technology and Business UniversityBeijing100048China School of Metallurgical and Ecological Engineering University of Science and Technology Beijing(USTB)Beijing100083China

Spanning three decades,***-jie guo's research group has dedicated itself to exploring the fundamental theories and practical applications of physical chemistry within the realm of *** under the assumption that molecul... 详细信息

关键词： chemistry liquid complexes

An Accelerated Proximal Gradient Algorithm for Hankel Tensor Completion

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Journal of the Operations Research Society of China 2024年第2期12卷 461-477页

作者： Chuan-Long Wang Xiong-Wei guo Xi-hong Yan Key Laboratory of Engineering and Computational Science Shanxi Provincial Department of EducationJinzhong 030619ShanxiChina Department of Mathematics Taiyuan Normal UniversityJinzhong 030619ShanxiChina

In this paper,an accelerated proximal gradient algorithm is proposed for Hankel tensor completion *** our method,the iterative completion tensors generated by the new algorithm keep Hankel structure based on projection on the Hankel tensor ***,due to the special properties of Hankel structure,using the fast singular value thresholding operator of the mode-s unfolding of a Hankel tensor can decrease the computational ***,the convergence of the new algorithm is discussed under some reasonable ***,the numerical experiments show the effectiveness of the proposed algorithm.

关键词： Hankel tensor Tensor completion Accelerated proximal gradient algorithm