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The Merits of Passive Compliant Joints in Legged Locomotion： Fast Learning, Superior Energy Efficiency and Versatile Sensing in a Quadruped Robot

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Journal of Bionic Engineering 2017年第1期14卷 1-14页

作者： matej hoffmann Jakub Simanek iCub Facility Istituto Italiano di Tecnologia Genova 16123 Italy Artificial Intelligence Laboratory Department of lnformatics University of Zurich Zurich 8050 Switzerland Department of Measurement Faculty of Electrical Engineering Czech Technical University in Prague Prague 166 27 Czech Republic

A quadruped robot with four actuated hip joints and four passive highly compliant knee joints is used to demonstrate the potential of underactuation from two standpoints： learning locomotion and perception. First, we show that：（i） forward locomotion on flat ground can be learned rapidly （minutes of optimization time）; （ii） a simulation study reveals that a passive knee configuration leads to faster, more stable, and more efficient locomotion than a variant of the robot with active knees; （iii） the robot is capable of learning turning gaits as well. The merits of underactuation （reduced controller complexity, weight, and energy consumption） are thus preserved without compromising the versatility of behavior. Direct optimization on the reduced space of active joints leads to effective learning of model-free controllers. Second, we find passive compliant joints with po- tentiometers to effectively complement inertial sensors in a velocity estimation task and to outperform inertial and pressure sensors in a terrain detection task. Encoders on passive compliant joints thus constitute a cheap and compact but powerful sensing device that gauges joint position and force/torque, and -- if mounted more distally than the last actuated joints in a legged robot -- it delivers valuable information about the interaction of the robot with the ground.

关键词： legged robots underactuated robots compliant joints learning locomotion force and tactile sensing haptic terrain classification

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The Ca^(2+)-sensing receptor and the pocketome:comparing nature's complexity with human intervention in receptor modulation

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Signal Transduction and Targeted Therapy 2024年第8期9卷 3153-3154页

作者： Edda S.F.Matthees Carsten hoffmann Institut fur Molekulare Zellbiologie CMB-Center for Molecular BiomedicineUniversitatsklinikum JenaHans-Knoll StraBe 2D-07745 JenaGermany Friedrich-Schiller-Universitat Jena Hans-KnollStraBe2D-07745 JenaGermany

In a recent paper published in Nature,the relatively understudied Ca^(2+)-sensing,receptor(CasR)within the Gprotein-coupled receptor(GPCR)family C,gained attention due to pioneering research led by Georgios Skiniotis ... 详细信息

关键词： Stanford gained Skin

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Navigating the Challenges of Emerging Contaminants to Protect Human and Ecological Health

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Engineering 2024年第6期37卷 1-2页

作者： Jiuhui Qu Michael R.hoffmann Gang Yu School of Environment Tsinghua UniversityBeijing 100084China Linde-Robinson Laboratories California Institute of TechnologyPasadenaCA 91125USA Advanced Interdisciplinary Institute of Environmental and Ecology Beijing Normal UniversityZhuhai 519000China

Emerging contaminants are defined as chemicals that are not currently(or have only recently been)regulated and about which there are concerns regarding their impact on human or ecological *** contaminants are widely detected in air,water,soil,sediment,and biotic *** is against this backdrop of urgency that we have curated this special issue titled“Emerging Contaminants Control:Science and Technology,”with the goal of uniting the latest scientific insights and pioneering strategies to address this global *** special issue embarks on a comprehensive examination of the emerging contaminants dilemma,covering aspects such as risk assessment,remediation technologies,environmental surveying,and the broader implications for *** a collection of articles,we probe deep into the core of this issue,showcasing studies that range from appraising environmental risks to forging new methods for treatment and scrutinizing the occurrence of contaminants across different environmental settings.

关键词： Ecological surveying environmental

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The 5C Model of Linguistic Creativity:Construction Grammar as a Cognitive Theory of Verbal Creativity

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Journal of Foreign Languages and Cultures 2024年第1期8卷 139-154页

作者： Thomas hoffmann Catholic University Eichstatt-Ingolstadt

Creativity is a design feature of human *** paper presents a cognitive model of verbal creativity that draws on insights from the psychological research into creativity-particularly Glaveanu's 5A model that distinguishes five crucial perspectives on a creative act(actors,audience,artefacts,actions and affordances).The paper will outline a linguistic version of this model that adopts Construction Grammar as its theoretical *** resulting"5C model of constructional creativity"argues that the central elements of linguistic creativity are constructors,co-constructors,constructs,constructional blending and the constructional network.

关键词： creativity construction grammar cognitive linguistics blending 5C model of constructional creativity cognition constructional networks

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Egg-associated secretions from the brown planthopper(Nilaparvata lugens)activate rice immune responses

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Insect Science 2024年第4期31卷 1135-1149页

作者： Jing Li Shuai Li Jing Li Xinyang Tan Zhichang Zhao Lei Jiang Ary A.hoffmann Jichao Fang Rui Ji Institute of Plant Protection Jiangsu Academy of Agricultural SciencesJiangsu Key Laboratory for Food and Safety-State Key Laboratory Cultivation Base of Ministry of Science and TechnologyNanjingChina College of Plant Protection Nanjing Agricultural UniversityNanjingChina School of Plant Protection Anhui Agricultural UniversityHefeiChina School of BioSciences Bio21 InstituteUniversity of MelbourneParkvilleVICAustralia Jiangsu Collaborative Innovation Center of Regional Modern Agriculture&Environmental Protection Huaiyin Normal UniversityHuaianJiangsu ProvinceChina

The brown planthopper(BPH,Nilaparvata lugens)is a notorious sap-sucking insect pest that damages rice(Oryza sativa)plants throughout *** BPH feeding,saliva enters rice plant tissues,whereas during oviposition egg-associated secretions(EAS)are deposited in damaged plant *** changes in rice to planthopper salivary effectors have been widely ***,the effects of EAS from planthopper on rice immunity remains largely *** this study,we found that both infestation of rice by gravid BPH female adults and treatment with the EAS elicited a strong and rapid accumulation of jasmonic acid(JA),JA-isoleucine,and hydrogen peroxide in *** enhanced plant defenses not only in rice but also in tobacco,and these impaired the performance of BPH on rice,as well as the performance of aphids and whiteflies on ***-throughput proteome sequencing of EAS led to 110 proteins being identified and 53 proteins with 2 or more unique peptides being *** proteins from BPH EAS were also found in the salivary proteome from herbivores,suggesting potential evolutionary conservation of effector functions across feeding and oviposition;however,others were only identified in EAS,and these are likely specifically related to *** findings point to novel proteins affecting interactions between planthoppers and rice during oviposition,providing an additional source of information for effector studies.

关键词： egg-associated secretion Nilaparvata lugens oviposition plant immunity proteome

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Attitudes,beliefs,behaviours and perspectives on barriers and enablers of Australian general practitioners towards non-drug interventions:a national survey

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Family Medicine and Community Health 2024年第1期12卷 1-8页

作者： Loai Albarqouni Hannah Greenwood Caroline Dowsett Tammy hoffmann Rae Thomas Paul Glasziou Institute for Evidence-based Healthcare Faculty of Health Sciences&MedicineBond UniversityRobinaQueenslandAustralia Tropical Australian Academic Health Centre TownsvilleQueenslandAustralia

Background Many guidelines recommend non-drug interventions(NDIs)for managing common conditions in primary ***,compared with drug interventions,NDIs are less widely known,promoted and *** aim to(1)examine general practitioners’(GPs’)knowledge,attitudes and practices for NDIs,including their use of the Royal Australian College of General Practitioners(RACGP)Handbook of Non-Drug Interventions(HANDI),and(2)identify factors influencing their use of NDIs and *** We conducted a web-based cross-sectional survey of practicing GP members in Australia during October-November *** survey contained five sections:characteristics of GP;knowledge and use of NDIs;attitudes towards NDIs;barriers and enablers to using HANDI;and suggestions of NDIs and ideas to improve the uptake of NDIs in primary *** Of the 366 GPs who completed the survey,242(66%)were female,and 248(74%)were≥45 years *** in three GPs reported that they regularly(‘always’)recommend NDIs to their patients when appropriate(34%),whereas one-third of GPs were unaware of HANDI(39%).GPs identified several factors that improve the uptake of HANDI,including‘access and integration of HANDI in clinical practice’,‘content and support to use in practice’and‘awareness and training’.Conclusions While many GPs are aware of the effectiveness of NDIs and often endorse their use,obstacles still prevent widespread adoption in primary *** results of this survey can serve as a foundation for developing implementation strategies to improve the uptake of effective evidence-based NDIs in primary care.

关键词： enable survey sectional

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应对新污染物挑战，保护人类和生态健康（英文）

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Engineering 2024年第6期 1-2页

作者：曲久辉 Michael R.hoffmann 余刚 School of Environment Tsinghua University Linde-Robinson Laboratories California Institute of Technology Advanced Interdisciplinary Institute of Environmental and Ecology Beijing Normal University

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涂料助剂:用量小,作用大

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中国涂料 2024年第2期39卷 75-76页

作者： Bettina hoffmann 不详

自2020年以来,涂料市场经历了一段动荡、艰难的时期,至今仍未完全稳定下来,不过,助剂的好日子也即将又一次到来。即使增长潜力既不可靠,规模也不大,但再也不会存在挥之不去的不确定性迹象。近年来,助剂制造商面临着各种挑战。与所有原... 详细信息

自2020年以来,涂料市场经历了一段动荡、艰难的时期,至今仍未完全稳定下来,不过,助剂的好日子也即将又一次到来。即使增长潜力既不可靠,规模也不大,但再也不会存在挥之不去的不确定性迹象。近年来,助剂制造商面临着各种挑战。与所有原材料供应商一样,大多数的全球性问题引起了很多连锁反应:新冠肺炎疫情、通货膨胀和价格波动引起的材料短缺、供应链延误、需求波动。然而,全球涂料助剂市场的发展令人备受鼓舞:市场研究机构Frost&Sullivan认为,2022年的销售额约为98亿欧元。这相当于估计250万~300万t的销售量(见图1)。

关键词：涂料助剂市场研究机构涂料市场原材料供应商全球性问题连锁反应需求波动增长潜力

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Patient-derived skin fibroblasts as a model to study frontotemporal lobar degeneration

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Neural Regeneration Research 2022年第12期17卷 2669-2671页

作者： Dorit hoffmann Annakaisa Haapasalo A.I.Virtanen Institute for Molecular Sciences University of Eastern FinlandKuopioFinland

Frontotemporal lobar degeneration(FTLD)is one of the most common causes of early-onset dementia in patients under the age of 65 *** is a clinically,genetically,and neuropathologically heterogeneous group of neurodegenerative syndromes,causing atrophy in the temporal and frontal lobes of the *** is accompanied by progressive cognitive dysfunction,behavioral changes,difficulties in understanding or producing speech,and often also neuropsychiatric symptoms(Haapasalo and Remes,2015).Moreover,the clinical,genetic,and neuropathological features of FTLD may overlap with those of amyotrophic lateral sclerosis(ALS).Motor dysfunction is commonly present in FTLD patients and a portion of ALS patients experience frontal and temporal lobe dysfunction(Smith et al.,2019).

关键词： degeneration patients

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Food safety management and regulation:International experiences and lessons for China

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Journal of Integrative Agriculture 2015年第11期14卷 2218-2230页

作者： L Unnevehr V hoffmann Agricultural and Consumer Economics University of Illinois Urbana-Champaign International Food Policy Research Institute

China is experiencing rapid urbanization, changes in diets, and modernization of food retailing and production. In this context, food safety can become a greater concern for a variety of reasons. The purpose of this article is to review the international experiences and lessons regarding food safety management, regulation, and consumer behavior, with the goal of identifying how to improve food safety in middle income countries such as China. International experience in addressing food safety provides two general kinds of lessons. First, a middle-income country such as China needs to develop the capacity to carry out risk analysis in order to better focus public resources on the most important risks. Second, it will be important to leverage market incentives so as to make the best use of limited public capacity to enforce standards. Inter- national experiences show that food safety management is feasible where market incentives exist, and that public-private partnerships can support the process of improving food safety management. Market incentives require effective consumer or buyer demand, mechanisms to identify and reward quality, and supply chain coordination. Public efforts can be targeted to supporting these market developments for the risks that are the greatest burden to public health.

关键词： food safety regulation supply chain coordination risk analysis

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