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In Situ Reconfiguration of Assembling Pattern for Modular Continuum Robots

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Journal of Bionic Engineering 2024年第4期21卷 1695-1706页

作者： jie Zhang Jiannan Cai Ke Ma Jinzhao Yang Zhigang wu Haijun Peng Jianing wu School of Mechanical Engineering Dalian University of TechnologyDalian116024People’s Republic of China School of Advanced Manufacturing Sun Yat-Sen UniversityShenzhen518107People’s Republic of China School of Aeronautics and Astronautics Sun Yat-Sen UniversityShenzhen518107People’s Republic of China

Modular continuum robots possess significant versatility across various scenarios;however,conventional assembling methods typically rely on linear connection between *** limitation can impede the robotic interaction capabilities,especially in specific engineering ***,inspired by the assembling pattern between the femur and tibia in a human knee,we proposed a multidirectional assembling *** strategy encompasses linear,oblique,and orthogonal connections,allowing a two-module continuum robot to undergo in-situ reconfiguration into three distinct initial *** anticipate the final configuration resulting from diverse assembling patterns,we employed the positional formulation finite element framework to establish a mechanical model,and the theoretical results reveal that our customizable strategy can offer an effective route for robotic *** showcased diverse assembling patterns for coping with interaction *** experimental results indicate that our modular continuum robot not only reconfigures its initial profile in situ but also enables on-demand regulation of the final *** capabilities provide a foundation for the future development of modular continuum robots,enabling them to be adaptable to diverse environments,particularly in unstructured surroundings.

关键词： Assembling patterns Continuum robot In-situ reconfiguration Tensegrity structure Varying stiffness

Green light mediates atypical photomorphogenesis by dual modulation of Arabidopsis phytochromes B and A

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Journal of Integrative Plant Biology 2024年第9期66卷 1915-1933页

作者： Miqi Xu Yi‐Yuan Wang Yujie wu Xiuhong Zhou Ziyan Shan Kunying Tao Kaiqiang Qian Xuncheng Wang Jian Li Qingqing wu Xing Wang Deng Jun‐jie ling National Engineering Laboratory of Crop Stress Resistance Breeding School of Life SciencesAnhui Agricultural UniversityHefei 230036China Province Key Laboratory of Resource Insect Biology and Innovative Utilization School of Life SciencesAnhui Agricultural UniversityHefei 230036China Biotechnology Center State Key Laboratory of Tea Plant Biology and UtilizationSchool of Tea and Food Sciences and TechnologyAnhui Agricultural UniversityHefei 230036China Beijing Key Laboratory of Environment Friendly Management on Fruit Diseases and Pests in North China Institute of Plant and Environment ProtectionBeijing Academy of Agriculture and Forestry SciencesBeijing 100097China College of Life Sciences Nanjing Normal UniversityNanjing 210023China State Key Laboratory of Protein and Plant Gene Research Peking–Tsinghua Center for Life SciencesSchool of Advanced Agriculture Sciencesand School of Life SciencesPeking UniversityBeijing 100871China State Key Laboratory of Wheat Improvement Shandong Laboratory of Advanced Agricultural Sciences at WeifangPeking University Institute of Advanced Agricultural SciencesWeifang 261000China

Although green light(GL)is located in the middle of the visible light spectrum and regulates a series of plant developmental processes,the mechanism by which it regulates seedling development is largely *** this study,we demonstrated that GL promotes atypical photomorphogenesis in Arabidopsis thaliana via the dual regulations of phytochrome B(phyB)and *** the Pr-to-Pfr conversion rates of phyB and phyA under GL were lower than those under red light(RL)in a fluence rate-dependent and time-dependent manner,long-term treatment with GL induced high Pfr/Pr ratios of phyB and ***,GL induced the formation of numerous small phyB photobodies in the nucleus,resulting in atypical photomorphogenesis,with smaller cotyledon opening angles and longer hypocotyls in seedlings compared to *** abundance of phyA significantly decreased after short-and long-term GL *** determined that four major PHYTOCHROME-INTERACTING FACTORs(PIFs:PIF1,PIF3,PIF4,and PIF5)act downstream of phyB in GL-mediated cotyledon *** addition,GL plays opposite roles in regulating different *** example,under continuous GL,the protein levels of all PIFs decreased,whereas the transcript levels of PIF4 and PIF5 strongly increased compared with dark *** together,our work provides a detailed molecular framework for understanding the role of the antagonistic regulations of phyB and phyA in GL-mediated atypical photomorphogenesis.

关键词： cotyledon development green light photobody phytochrome PIF3

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Numerical modeling of all-day albedo variation for bifacial PV systems on rooftops and annual yield prediction in Beijing

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Building Simulation 2024年第6期17卷 955-964页

作者： Xiaoxiao Su Chenglong Luo Xinzhu Chen jie Ji Yanshun Yu Yuandan wu wu Zou School of Energy and Power Engineering Nanjing University of Science and TechnologyNanjing210094China Department of Thermal Science and Energy Engineering University of Science and Technology of ChinaHefei230027China Institute of Energy Research Jiangxi Academy of SciencesNanchang330096China

Bifacial PV modules capture solar radiation from both sides,enhancing power generation by utilizing reflected ***,there are difficulties in obtaining ground albedo data due to its dynamic *** address this issue,this study established an experimental testing system on a rooftop and developed a model to analyze dynamic albedo variations,utilizing specific data from the *** results showed that the all-day dynamic variations in ground albedo ranged from 0.15 to 0.22 with an average of ***,this study evaluates the annual performance of a bifacial PV system in Beijing by considering the experimental conditions,utilizing bifacial modules with a front-side efficiency of 21.23%and a bifaciality factor of 0.8,and analyzing the dynamic all-day albedo data obtained from the numerical *** results indicate that the annual radiation on the rear side of bifacial PV modules is 278.90 kWh/m^(2),which accounts for only 15.50%of the front-side ***,when using the commonly default albedo value of 0.2,the rear-side radiation is 333.01 kWh/m^(2),resulting in an overestimation of 19.40%.Under dynamic albedo conditions,the bifacial system is predicted to generate an annual power output of 412.55 kWh/m^(2),representing a significant increase of approximately 12.37%compared to an idealized monofacial PV system with equivalent front-side *** a 25-year lifespan,the bifacial PV system is estimated to reduce carbon emissions by 8393.91 kgCO_(2)/m^(2),providing an additional reduction of 924.31 kgCO_(2)/m^(2)compared to the idealized monofacial PV *** findings offer valuable insights to promote the application of bifacial PV modules.

关键词： bifacial PV module ground albedo simulation carbon emission reduction

Topology design and graph embedding for decentralized federated learning

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Intelligent and Converged Networks 2024年第2期5卷 100-115页

作者： Yubin Duan Xiuqi Li jie wu Department of Computer and Information Sciences Temple UniversityPhiladelphiaPA 19122USA

Federated learning has been widely employed in many applications to protect the data privacy of participating *** the dataset is decentralized among training devices in federated learning,the model parameters are usually stored in a centralized *** federated learning is easy to implement;however,a centralized scheme causes a communication bottleneck at the central server,which may significantly slow down the training *** improve training efficiency,we investigate the decentralized federated learning *** decentralized scheme has become feasible with the rapid development of device-to-device communication techniques under ***,the convergence rate of learning models in the decentralized scheme depends on the network topology *** propose optimizing the topology design to improve training efficiency for decentralized federated learning,which is a non-trivial problem,especially when considering data *** this paper,we first demonstrate the advantage of hypercube topology and present a hypercube graph construction method to reduce data heterogeneity by carefully selecting neighbors of each training device—a process that resembles classic graph *** addition,we propose a heuristic method for generating torus ***,we have explored the communication patterns in hypercube topology and propose a sequential synchronization scheme to reduce communication cost during training.A batch synchronization scheme is presented to fine-tune the communication pattern for hypercube *** on real-world datasets show that our proposed graph construction methods can accelerate the training process,and our sequential synchronization scheme can significantly reduce the overall communication traffic during training.

关键词： data heterogeneity decentralized federated learning graph embedding network topology

Elevational and temporal patterns of pollination success in distylous and homostylous buckwheats(Fagopyrum)in the Hengduan Mountains

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Plant Diversity 2024年第5期46卷 661-670页

作者： ling-Yun wu Shuang-Quan Huang Ze-Yu Tong Faculty of Resources and Environmental Science Hubei UniversityWuhan 430062China Institute of Evolution and Ecology School of Life SciencesCentral China Normal UniversityWuhan 430079China

Reproductive strategies of sexually dimorphic plants vary in response to the ***,we ask whether the sexual systems of Fagopyrum species(i.e.,selfing homostylous and out-crossing distylous)represent distinct adaptive strategies to increase reproductive success in changing alpine *** answer this question,we determined how spatial and temporal factors(e.g.,elevation and peak flowering time)affect reproductive success(i.e.,stigmatic pollen load)in nine wild Fagopyrum species(seven distylous and two homostylous)among 28 populations along an elevation gradient of 1299-3315 m in the Hengduan Mountains,southwestern *** also observed pollinators and conducted hundreds of hand pollinations to investigate inter/intra-morph compatibility,self-compatibility and pollen limitation in four Fagopyrum species(two distylous and two homostylous).We found that Fagopyrum species at higher elevation generally had bigger flowers and more stigmatic pollen loads;lateflowering individuals had smaller flowers and lower pollen *** pollen deposition was more variable in distylous species than in homostylous *** seed set was not pollenlimited in all species,we found that fruit set was much lower in distylous species,which rely on frequent pollinator visits,than in homostylous species capable of autonomous *** findings that pollination success increases at high elevations and decreases during the flowering season suggest that distylous and homostylous species have spatially and temporally distinct reproductive strategies related to environment-dependent pollinator activity.

关键词： Biodiversity hotspot Elevation gradient Fagopyrum Stigmatic pollen load Temporal pattern

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Reaction behavior of MgO refractory with high-Mn and high-Al steel

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Journal of Iron and Steel Research International 2024年第6期31卷 1389-1398页

作者： ling-zhong Kong Lin Zu jie Yang Xi-min Zang Xin Yang Ming Kang School of Materials and Metallurgy University of Science and Technology LiaoningAnshan 114051LiaoningChina

To understand the mechanism of the interfacial reaction between high-Mn and high-Al steel and MgO refractory,a series of laboratory experiments as well as thermodynamic calculations were *** effects of Mn and Al contents in the steel and the reaction time on the interfacial reaction were *** was observed that the erosion of the MgO refractory is caused by the reaction of Al and Mn in the steel with MgO in the refractory,which would lead to the formation of(Mn,Mg)O·Al_(2)O_(3) spinel and(Mn,Mg)O solid *** formation mechanism of the spinel and solid solution is as *** Al in the steel firstly reacts with MgO in the refractory to generate MgO·Al_(2)O_(3) spinel,and then,the spinel reacts with Mn in the steel to form(Mn,Mg)O·Al_(2)O_(3) ***,the MnO in the spinel reacts with the MgO in the inner refractory to form(Mn,Mg)O solid *** addition,only(Mn,Mg)O·Al_(2)O_(3) spinel is present in the interfacial reaction layer of the refractory when the Al content in the steel is sufficient.

关键词： High-Mn high-Al steel MgO refractory Reaction behavior Spinel

Diagnostic values of questionnaires of Convergence Insufficiency Symptom Survey and College of Optometrists Vision Development Quality of Life in the screening of convergence insufficiency

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International Journal of Ophthalmology(English edition) 2024年第5期17卷 904-908页

作者： ling Xiong Qian Chen Ye wu Department of Ophthalmology West China HospitalSichuan University/Laboratory of Optometry and Vision ScienceWest China School of MedicineChengdu 610041Sichuan ProvinceChina Department of Clinical Research Management Center of BiostatisticsDesignMeasurement and EvaluationWest China HospitalSichuan UniversityChengdu 610041Sichuan ProvinceChina

AIM:To compare and analyse the diagnostic efficacy of the College of Optometrists Vision Development Quality of Life Questionnaire(COVD-QOL)and the Convergence Insufficiency Symptom Survey(CISS)in detecting convergence insufficiency and to compare their diagnostic value in clinical ***:Using the diagnostic test method,62 adult patients with convergence insufficiency(age:24.74±3.75y)and 62 normal participants(age:23.61±3.13y)who visited the Optometry Clinic of West China Hospital of Sichuan University from April 2021 to January 2023 were *** subjects completed the CISS and *** analysis of the sensitivity and specificity of the CISS and COVD-QOL and comparison and joint experimental analysis of their diagnostic efficacy were ***:The sensitivity of the CISS and COVD-QOL for convergence insufficiency was 64.5%and 71.0%,respectively,while the specificity was 96.8%and 67.7%,*** to the CISS alone,the combination of the CISS and COVD-QOL demonstrated lower sensitivity and *** areas under the receiver operating characteristic curve of CISS,COVD-QOL and CISS combined with COVD-QOL were 0.806,0.694 and 0.782,***:Considering the low sensitivity of the CISS and the low specificity of the COVD-QOL,it is recommended to supplement these questionnaires with other screening tests for the detection of convergence insufficiency.

关键词： convergence insufficiency symptom survey College of Optometrists Vision Development Quality of Life Questionnaire convergence insufficiency asthenopia

A model reduction approach for discrete-time linear time-variant systems with delayed inputs

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Science China(Information Sciences) 2024年第4期67卷 197-217页

作者： Ai-Guo wu Guang-Ren DUAN Yu WANG jie ZHANG School of Mechanical Engineering and Automation Harbin Institute of Technology(Shenzhen) HIT wuhu Robot Technology Research Institute Center for Control Science and Technology Southern University of Science and Technology

A model reduction approach is presented for discrete-time linear time-variant input-delayed systems. According to this proposed approach, a dynamical variable is constructed by taking advantage of the current state and historical information of input. It is revealed that the behavior of this dynamical variable is governed by a discrete-time linear delay-free system. It is worth noting that the presented variable transformation does not require the system matrix to be invertible. Based on the reduced delay-free models,stabilizing control laws can be easily obtained for the original delayed system. For the case with a single input delay, the constructed variable is an exact prediction for the future state, and thus the stabilizing control law could be designed by replacing the future state with its prediction. Finally, three discrete-time periodic systems with delayed input are employed to illustrate how to utilize the presented model reduction approaches.

关键词： reduction approach predictor-based feedback time-varying systems delayed input periodic system

Ambarzumyan's Theorem for the Dirac Operator on Equilateral Tree Graphs

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Acta Mathematicae Applicatae Sinica 2024年第2期40卷 568-576页

作者： Dong-jie wu Xin-Jian XU Chuan-Fu YANG Department of Mathematics School of Mathematics and StatisticsNanjing University of Science and TechnologyNanjing 210094China

The classical Ambarzumyan’s theorem states that if the Neumann eigenvalues of the Sturm-Liouville operator-d^(2)/dx^(2)+q with an integrable real-valued potential q on[0,π] are {n^(2):n≥0},then q=0 for almost all x∈[0,π].In this work,the classical Ambarzumyan’s theorem is extended to the Dirac operator on equilateral tree *** prove that if the spectrum of the Dirac operator on graphs coincides with the unperturbed case,then the potential is identically zero.

关键词： dirac operator quantum graph Ambarzumyan’s theorem inverse spectral problem

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