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Smart Gait:A Gait Optimization Framework for Hexapod Robots

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 146-159页

作者： Yunpeng Yin Feng Gao Qiao Sun Yue zhao Yuguang xiao State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Lenovo Corporation ShanghaiChina AI Institute School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural *** paper proposes a gait optimization framework for hexapod robots called Smart *** Gait contains three modules:swing leg trajectory optimization,gait period&duty optimization,and gait sequence *** full dynamics of a single leg,and the centroid dynamics of the overall robot are considered in the respective *** Smart Gait not only helps the robot to decrease the energy consumption when in locomotion,mostly,it enables the hexapod robot to determine its gait pattern transitions based on its current state,instead of repeating the formalistic clock-set step *** Smart Gait framework allows the hexapod robot to behave nimbly as a living animal when in 3D movements for the first *** Smart Gait framework combines offline and online optimizations without any fussy data-driven training procedures,and it can run efficiently on board in real-time after *** experiments are carried out on the hexapod robot *** results show that the energy consumption is reduced by 15.9%when in *** gait patterns can be generated spontaneously both in regular and challenge environments,and when facing external interferences.

关键词： Gait optimization Swing trajectory optimization Legged robot Hexapod robot

Efficient spectral single-pixel imaging via Morton frequency-domain scanning [Invited]

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Chinese Optics Letters 2024年第6期22卷 8-14页

作者： Zi-Dong zhao zhao-Hua Yang Zhi-Hao zhao ling-An Wu Yuan-Jin Yu School of Instrumentation and Optoelectronic Engineering Beihang UniversityBeijing 100191China Institute of Physics Chinese Academy of SciencesBeijing 100190China School of Automation MIIT Key Laboratory of Complex-field Intelligent SensingBeijing Institute of TechnologyBeijing 100081China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing 314019China

Single-pixel imaging (SPI) captures two-dimensional images utilizing a sequence of modulation patterns and measurements recorded by a single-pixel detector. However, the sequential measurement of a scene is time-consuming, especially for high-spatial-resolution imaging. Furthermore, for spectral SPI, the enormous data storage and processing time requirements substantially diminish imaging efficiency. To reduce the required number of patterns, we propose a strategy by optimizing a Hadamard pattern sequence via Morton frequency domain scanning to enhance the quality of a reconstructed spectral cube at low sampling rates. Additionally, we expedite spectral cube reconstruction, eliminating the necessity for a large Hadamard matrix. We demonstrate the effectiveness of our approach through both simulation and experiment,achieving sub-Nyquist sampling of a three-dimensional spectral cube with a spatial resolution of 256×256 pixels and181 spectral bands and a reduction in reconstruction time by four orders of magnitude. Consequently, our method offers an efficient solution for compressed spectral imaging.

关键词： single-pixel imaging spectral imaging optimized Hadamard basis

Large-inductance superconducting microstrip photon detector enabling 10 photon-number resolution

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Advanced Photonics 2024年第1期6卷 96-105页

作者： ling-Dong Kong Tian-Zhu Zhang xiao-Yu Liu Hao Li Zhen Wang xiao-Ming Xie Li-Xing You Chinese Academy of Sciences(CAS) Shanghai Institute of Microsystem and Information TechnologyNational Key Laboratory of Materials for Integrated CircuitsShanghaiChina CAS Center for Excellence in Superconducting Electronics ShanghaiChina University of Chinese Academy of Sciences Center of Materials Science and Optoelectronics EngineeringBeijingChina

Efficient and precise photon-number-resolving detectors are essential for optical quantum information *** this,very few detectors have been able to distinguish photon numbers with both high fidelity and a large dynamic range,all while maintaining high speed and high timing *** nanostrip-based detectors excel at counting single photons efficiently and rapidly,but face challenges in balancing dynamic range and ***,we have pioneered the demonstration of 10 true photon-number resolution using a superconducting microstrip detector,with readout fidelity reaching an impressive 98%and 90%for 4-photon and 6-photon events,***,our proposed dual-channel timing setup drastically reduces the amount of data acquisition by 3 orders of magnitude,allowing for real-time photon-number *** then demonstrate the utility of our scheme by implementing a quantum random-number generator based on sampling the parity of a coherent state,which guarantees inherent unbiasedness,robustness against experimental imperfections and environmental noise,as well as invulnerability to *** solution boasts high fidelity,a large dynamic range,and real-time characterization for photon-number resolution and simplicity with respect to device structure,fabrication,and readout,which may provide a promising avenue towards optical quantum information science.

关键词： superconducting microstrips single-photon detector photon-number resolution quantum random number

Core and variable antimicrobial resistance genes in the gut microbiomes of Chinese and European pigs

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Zoological Research 2024年第1期45卷 189-200页

作者： Cui-Hong Tong Zhi-Peng Huo Lu Diao Dan-Yu xiao Ruo-Nan zhao Zhen-ling Zeng Wen-Guang Xiong Guangdong Provincial Key Laboratory of Veterinary Pharmaceutics Development and Safety Evaluation South China Agricultural UniversityGuangzhouGuangdong 510642China National Risk Assessment Laboratory for Antimicrobial Resistance of Animal Original Bacteria College of Veterinary MedicineSouth China Agricultural UniversityGuangzhouGuangdong 510642China National Laboratory of Safety Evaluation(Environmental Assessment)of Veterinary Drugs South China Agricultural UniversityGuangzhouGuangdong 510642China National Reference Laboratory of Veterinary Drug Residues South China Agricultural UniversityGuangzhouGuangdong 510642China

Monitoring the prevalence of antimicrobial resistance genes(ARGs)is vital for addressing the global crisis of antibiotic-resistant bacterial *** its importance,the characterization of ARGs and microbiome structures,as well as the identification of indicators for routine ARG monitoring in pig farms,are still lacking,particularly concerning variations in antimicrobial exposure in different countries or ***,metagenomics and random forest machine learning were used to elucidate the ARG profiles,microbiome structures,and ARG contamination indicators in pig manure under different antimicrobial pressures between China and *** showed that Chinese pigs exposed to high-level antimicrobials exhibited higher total and plasmid-mediated ARG abundances compared to those in European pigs(P<0.05).ANT(6)-Ib,APH(3')-IIIa,and tet(40)were identified as shared core ARGs between the two pig ***,the core ARGs identified in pig populations were correlated with those found in human populations within the same geographical *** and Prevotella were identified as the dominant genera in the core microbiomes of Chinese and European pigs,*** ARG markers and 43 biomarkers were able to differentiate between the Chinese and European pig manure samples with accuracies of 100%and 98.7%,*** for assessing ARG contamination in Chinese and European pigs also achieved high accuracy(r=0.72-0.88).Escherichia flexneri in both Chinese and European pig populations carried between 21 and 37 *** results of this study emphasize the importance of global collaboration in reducing antimicrobial resistance risk and provide validated indicators for evaluating the risk of ARG contamination in pig farms.

关键词： Metagenomic Pig manure Antimicrobial pressure Antimicrobial resistance genes Microbiome

Pressure-induced emission(PIE)in halide perovskites toward promising applications in scintillators and solid-state lighting

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Aggregate 2024年第1期5卷 9-15页

作者： Wenya zhao Guanjun xiao Bo Zou State Key Laboratory of Superhard Materials College of PhysicsJilin UniversityChangchunChina

High-pressure chemistry has provided a huge boost to the development of scientific ***-induced emission(PIE)in halide perovskites is gradually showing its unique charm in both pressure sensing and optoelectronic device ***,the PIE retention of halide perovskites under ambient conditions is of great commercial ***,we mainly focus on the potential applications of PIE and PIE retention in metal halide perovskites for scintillators and solid-state *** on the performance requirements of scintillator and single-component white light-emitting diodes(WLEDs),the significance of PIE and PIE retention is critically clarified,aiming to design and synthesize materials used for high-performance optoelectronic *** perspective not only demonstrates promising applications of PIE in the fields of scintillators and WLEDs,but also provides potential applications in display imaging and anti-counterfeiting of PIE ***,solving the scientific disputes that exist under ambient conditions is also simply discussed as an outlook by introducing high-pressure dimension to produce PIE.

关键词： halide perovskites high pressure light-emitting diode pressure-induced emission scintillators solidstate lighting

High-strength,stretchable,and NIR-induced rapid self-healing polyurethane nanocomposites with bio-inspired hybrid crosslinked network

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Nano Research 2024年第7期17卷 6353-6361页

作者： Tianbo Deng Junyuan Zhu He zhao Binbin Xu ling Zhang Chunzhong Li Key Laboratory for Ultrafine Materials of Ministry of Education Shanghai Engineering Research Center of Hierarchical NanomaterialsFrontiers Science Center for Materiobiology and Dynamic ChemistrySchool of Materials Science and EngineeringEast China University of Science&TechnologyShanghai 200237China

Stretchable and self-healable materials with excellent mechanical performance hold great promise for applications in flexible functional *** rapid developments,achieving high mechanical strength,extreme stretchability,and rapid selfhealing capability in self-healing materials remains ***,inspired by the hierarchical structure and unique network of connective tissue,we fabricated a class of bionic nanocomposites with high stretchability,outstanding mechanical strength,and rapid self-healing ability by integrating the bottlebrush copolymer functionalized graphene oxide(BCP@GO)into a polyurethane(PU)matrix via in-situ *** bottlebrush copolymer(BCP)acted as a bond bridge for linking the GO nanosheets(noncovalent interaction)and PU chains(covalent and hydrogen-bond interaction).The covalent interactions were responsible for providing high mechanical strength,and the abundant hydrogen-bond-based cross-links realized extreme stretchability and rapid self-healing *** resultant BCP@GO/PU nanocomposite with only 0.5 wt.%GO loading exhibited excellent mechanical properties(tensile strength increased by 52.1%,up to 28.6 MPa;toughness increased by 70.8%,up to 256.9 MJ/m^(3);elongation at break increased by 12.8%,up to 1847.2%),exceptional rapid and efficient self-healing ability(~99%with 20 s NIR irradiation),as well as superior shape memory and recyclable *** study develops a new strategy for designing highperformance self-healing nanocomposites and unfolds broad application prospects in smart materials.

关键词： self-healing materials smart nanocomposite high mechanical property shape memory recyclability

Existence of long-range magnetic order in Heisenberg spin nanoribbons with edge modification

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Communications in Theoretical Physics 2024年第7期76卷 134-144页

作者： Da-cheng Ma ling-yi Cui Chu-xiao Sun xiao-dan Chi Zheng-Nan XianYu An Du College of Science Northeastern UniversityShenyang 110819China Department of Basic Science Dalian Naval AcademyDalian 116018China Department of Physics College of SciencesShenyang University of Chemical TechnologyShenyang 110142China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern UniversityChina Key Laboratory of Data Analytics and Optimization for Smart Industry(Northeastern University) Ministry of EducationChina

Long-range magnetic order appears on a side decorated Heisenberg spin nanoribbon at nonzero temperature,although no spontaneous magnetization exists in a one-or two-dimensional isotropic Heisenberg model at any nonzero temperature according to the Mermin-Wagner *** use of the spin Green's function method,we calculated the magnetizations of Heisenberg nanoribbons decorated by side spins with single-ion anisotropy and found that the system exhibits a nonzero transition temperature,whether the decorated edge spins of the system link together or separate from each *** the width of the nanoribbon achieves infinite limit,the transition temperatures of the system tend to the same finite constant eventually whether one edge or both edges are decorated by side spins in the *** results reveal that the magnetism of a low-dimensional spin system is different from that of a threedimensional spin *** the single-ion anisotropy of edge spins in a Heisenberg spin nanoribbon can be modulated by an electric field experimentally,various useful long-range magnetic orders of the system can be *** work can provide a detailed theoretical basis for designing and fabricating next-generation low-dimensional magnetic random-access memory.

关键词： Nanoribbon magnetic anisotropy long-range magnetic order Heisenberg model transition temperature

Gates joint locally connected network for accurate and robust reconstruction in optical molecular tomography

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Journal of Innovative Optical Health Sciences 2024年第3期17卷 11-22页

作者： Minghua zhao Yahui xiao Jiaqi Zhang Xin Cao Lin Wang School of Computer Science and Engineering Xi’an University of TechnologyXi’anChina School of Information Science and Technology Northwest UniversityXi’an 710127China

Optical molecular tomography(OMT)is a potential pre-clinical molecular imaging technique with applications in a variety of biomedical areas,which can provide non-invasive quantitative three-dimensional(3D)information regarding tumor distribution in living *** construction of optical transmission models and the application of reconstruction algorithms in traditional model-based reconstruction processes have affected the reconstruction results,resulting in problems such as low accuracy,poor robustness,and long-time ***,a gates joint locally connected network(GLCN)method is proposed by establishing the mapping relationship between the inside source distribution and the photon density on surface directly,thus avoiding the extra time consumption caused by iteration and the reconstruction errors caused by model ***,gates module was composed of the concatenation and multiplication operators of three different *** was embedded into the network aiming at remembering input surface photon density over a period and allowing the network to capture neurons connected to the true source selectively by controlling three different *** evaluate the performance of the proposed method,numerical simulations were conducted,whose results demonstrated good performance in terms of reconstruction positioning accuracy and robustness.

关键词： Optical molecular tomography gates module positioning accuracy robustness

Transport properties of topological nodal-line semimetal candidate CaAs_3 under hydrostatic pressure

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Chinese Physics B 2019年第4期28卷 36-40页

作者： Jing Li ling-xiao zhao Yi-Yan Wang Xin-Min Wang Chao-Yang Ma Wen-Liang Zhu Mo-Ran Gao Shuai Zhang Zhi-An Ren Gen-Fu Chen Institute of Physics and Beijing National Laboratory for Condensed Matter Physics Chinese Academy of Sciences School of Physical Sciences University of Chinese Academy of Sciences SongShan Lake Materials Laboratory

We report the transport properties of the CaAs_3 single crystal, which has been predicted to be a candidate for topological nodal-line semimetals. At ambient pressure, CaAs_3 exhibits semiconducting behavior with a small gap, while in some crystals containing tiny defects or impurities, a large "hump" in the resistivity is observed around 230 K. By applying hydrostatic pressure, the samples appear to a tendency towards metallic behavior, but not fully metallized up to 2 *** high pressure studies are needed to explore the topological characteristics for CaAs_3.

关键词： hydrostatic pressure topological material crystal growth