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基于“人-机-环”信息流的机器人手术系统研究与展望

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模式识别与人工智能 2024年第1期37卷 47-57页

作者：崔皓鑫王嵘郑楠章颂任瞳梁渝靖中国科学院大学人工智能学院北京100049 中国科学院自动化研究所多模态人工智能系统全国重点实验室北京100190 中国人民解放军总医院第六医学中心心血管病医学部成人心脏外科北京100853

机器人手术系统凭借微创、精细、灵活、无震颤等优势,在多个外科领域不断得到普及应用.然而,现有的机器人手术系统尚未充分发挥人和机器各自的优势,在智能化交互方面的表现有待提高.因此,文中首先从系统科学的角度分析机器人手术系统中... 详细信息

机器人手术系统凭借微创、精细、灵活、无震颤等优势,在多个外科领域不断得到普及应用.然而,现有的机器人手术系统尚未充分发挥人和机器各自的优势,在智能化交互方面的表现有待提高.因此,文中首先从系统科学的角度分析机器人手术系统中交互关系的发展,并从多方面提出当前人机交互的不足.然后,构建面向机器人手术系统的“人-机-环”信息流框架,以机器人辅助乳内动脉获取手术场景为例,梳理“人-机-环”各部分之间的复杂交互.最后,基于“人-机结合”理论,结合构建的“人-机-环”信息流框架,提出以“人机融合智能共进”为目标的新一代机器人手术系统的设计思路,为实现更安全高效的机器人微创外科手术目标提供借鉴.

关键词：综合集成人机系统信息流机器人手术系统

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Exogeneous metal ions as therapeutic agents in cardiovascular disease and their delivery strategies

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Regenerative Biomaterials 2024年第2期3卷 1-16页

作者： Xiaoqian Hong Geer Tian Yang Zhu Tanchen ren Department of Cardiology of the Second Affliated Hospital and State Key Laboratory of Transvascular Implantation Devices Cardiovascular Key Laboratory of Zhejiang ProvinceZhejiang University School of MedicineHangzhou 310o09China Binjiang Institute of Zhejiang University Hangzhou 310053China MOE Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and EngineeringZhejiang UniversityHangzhou 310027China

Metal ions participate in many metabolic processes in the human body,and their homeostasis is crucial for *** cardiovascular diseases(CVDs),the equilibriums of metal ions are frequently interrupted,which are related to a variety of disturbances of physiological processes leading to abnormal cardiac *** supplement of metal ions has the potential to work as therapeutic strategies for the treatment of *** with other therapeutic drugs,metal ions possess broad availability,good stability and safety and diverse drug delivery *** delivery strategies of metal ions are important to exert their ther-apeutic effects and reduce the potential toxic side effects for cardiovascular applications,which are also receiving increasing *** local delivery strategies for metal ions based on various biomaterials are constantly being *** this review,we comprehensively summarized the positive roles of metal ions in the treatment of cVDs from three aspects:protecting cells from oxidative stress,inducing angiogenesis,and adjusting the functions of ion *** addition,we introduced the transferability of metal ions in vascular reconstruction and cardiac tissue repair,as well as the currently available engineered strategies for the precise delivery of metal ions,such as integrated with nanoparticles,hydrogels and scaffolds.

关键词： metal ions cardiovascular disease tissue engineering oxidative stress angiogenesis ion channel

MEMS Huygens Clock Based on Synchronized Micromechanical Resonators

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Engineering 2024年第5期36卷 124-131页

作者： Xueyong Wei Mingke Xu Qiqi Yang Liu Xu a Yonghong Qi Ziming ren Juan ren ronghua Huan Zhuangde Jiang State Key Laboratory for Manufacturing System Engineering Xi’an Jiaotong UniversityXi’an 710049China School of Construction Machinery Chang’an UniversityXi’an 710064China Department of Mechanics Zhejiang UniversityHangzhou 310027China

With the continuous miniaturization of electronic devices,microelectromechanical system(MEMS)oscillators that can be combined with integrated circuits have attracted increasing *** study reports a MEMS Huygens clock based on the synchronization principle,comprising two synchronized MEMS oscillators and a frequency compensation *** MEMS Huygens clock improved shorttime stability,improving the Allan deviation by a factor of 3.73 from 19.3 to 5.17 ppb at 1 s.A frequency compensation system based on the MEMS oscillator’s temperature-frequency characteristics was developed to compensate for the frequency shift of the MEMS Huygens clock by controlling the resonator *** effectively improved the long-term stability of the oscillator,with the Allan deviation improving by 1.6343105 times to 30.9 ppt at 6000 *** power consumption for compensating both oscillators simultaneously is only 2.85 mW·℃^(-1).Our comprehensive solution scheme provides a novel and precise engineering solution for achieving high-precision MEMS oscillators and extends synchronization applications in MEMS.

关键词： Frequency stability Huygens clock MEMS Oscillator Synchronization

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面向超图数据的最大独立集算法

软件学报 2024年第6期35卷 2999-3012页

作者：徐兰天李荣华戴永恒王国仁北京理工大学计算机学院北京100081 电科云北京科技有限公司北京100043

超图是普通图的泛化表示,在许多应用领域都很常见,包括互联网、生物信息学和社交网络等.独立集问题是图分析领域的一个基础性研究问题,传统的独立集算法大多都是针对普通图数据,如何在超图数据上实现高效的最大独立集挖掘是一个亟待解... 详细信息

超图是普通图的泛化表示,在许多应用领域都很常见,包括互联网、生物信息学和社交网络等.独立集问题是图分析领域的一个基础性研究问题,传统的独立集算法大多都是针对普通图数据,如何在超图数据上实现高效的最大独立集挖掘是一个亟待解决的问题.针对这一问题,提出一种超图独立集的定义.首先分析超图独立集搜索的两个特性,然后提出一种基于贪心策略的基础算法.接着提出一种超图近似最大独立集搜索的剪枝框架即精确剪枝与近似剪枝相结合,以精确剪枝策略缩小图的规模,以近似剪枝策略加快搜索速度.此外,还提出4种高效的剪枝策略,并对每种剪枝策略进行理论证明.最后,通过在10个真实超图数据集上进行实验,结果表明剪枝算法可以高效地搜索到更接近于真实结果的超图最大独立集.

关键词：超图最大独立集启发式算法

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Effects of projectile parameters on the momentum transfer and projectile melting during hypervelocity impact

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Defence Technology（防务技术） 2024年第2期32卷 89-103页

作者： Wenjin Liu Qingming Zhang renrong Long Zizheng Gong ren Jiankang Xin Hu Siyuan ren Qiang Wu Guangming Song State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing100081China Beijing Institute of Spacecraft Environment Engineering China Academy of Space TechnologyBeijing100094China

The effects of projectile/target impedance matching and projectile shape on energy,momentum transfer and projectile melting during collisions are investigated by numerical *** comparing the computation results with the experimental results,the correctness of the calculation and the statistical method of momentum transfer coefficient is *** shapes of aluminum,copper and heavy tungsten alloy projectiles striking aluminum,basalt,and pumice target for impacts up to 10 km/s are *** influence mechanism of the shape of the projectile and projectile/target density on the momentum transfer was *** an increase in projectile density and length-diameter ratio,the energy transfer time between the projectile and targets is *** projectile decelerates slowly,resulting in a larger cratering *** energy consumed by the projectile in the excavation stage increased,resulting in lower mass-velocity of ejecta and momentum transfer *** numerical simulation results demonstrated that for different projectile/target combinations,the higher the wave impedance of the projectile,the higher the initial phase transition velocity and the smaller the mass of phase *** results can provide theoretical guidance for kinetic impactor design and material selection.

关键词： Hypervelocity impact Energy partitioning Impact melting Momentum transfer

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Design,Testing and Control of a Magnetorheological Damper for Knee Prostheses

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Journal of Bionic Engineering 2024年第4期21卷 1788-1800页

作者： Hounan Song Yu Cao Wei Chen Lei ren Yongxin Ma Kunyang Wang Xu Wang Yao Zhang Luquan ren Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityChangchun130022People’s Republic of China Department of Mechanical Aerospace and Civil EngineeringThe University of ManchesterManchesterM139PLUK

This study aims to develop a magnetorheological(MR)damper for semi-active knee prostheses to restore the walking ability of transfemoral *** core dimensions of the MR damper were determined via theoretical magnetic field calculations,and the theoretical relationship between current and joint torque was derived through electromagnetic ***,a physical prototype of the semi-active prosthetic knee equipped with the MR damper was *** on the data obtained from angle sensor,pressure sensor(loadcell),and inertial measurement unit(IMU)on the prosthesis,a matching control algorithm is *** joint torque of the MR damper can be adaptively adjusted according to the walking speed of the amputee,allowing the amputee to realize a natural *** effectiveness of the control program was verified by the ADAMS and MATLAB *** results of the test and simulation show that the MR damper can provide sufficient torque needed for normal human activities.

关键词： Semi-active knee prosthesis Magnetorheological damper Theoretical analysis ADAMS and MATLAB co-simulation

Performance Prediction Based Workload Scheduling in Co-Located Cluster

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Computer Modeling in Engineering & Sciences 2024年第5期139卷 2043-2067页

作者： Dongyang Ou Yongjian ren Congfeng Jiang School of Computer Science and Technology Hangzhou Dianzi UniversityHangzhou310018China

Cloud service providers generally co-locate online services and batch jobs onto the same computer cluster,where the resources can be pooled in order to maximize data center resource *** to resource competition between batch jobs and online services,co-location frequently impairs the performance of online *** study presents a quality of service(QoS)prediction-based schedulingmodel(QPSM)for *** performance prediction of QPSM consists of two parts:the prediction of an online service’s QoS anomaly based on XGBoost and the prediction of the completion time of an offline batch job based on ***-line service QoS anomaly prediction is used to evaluate the influence of batch jobmix on on-line service performance,and batch job completion time prediction is utilized to reduce the total waiting time of batch *** the same number of batch jobs are scheduled in experiments using typical test sets such as CloudSuite,the scheduling time required by QPSM is reduced by about 6 h on average compared with the first-come,first-served strategy and by about 11 h compared with the random scheduling *** with the non-co-located situation,QPSM can improve CPU resource utilization by 12.15% and memory resource utilization by 5.7% on *** show that the QPSM scheduling strategy proposed in this study can effectively guarantee the quality of online services and further improve cluster resource utilization.

关键词： Co-located cluster workload scheduling online service batch jobs data center

A Comprehensive Overview of the Neural Mechanisms of Light Therapy

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Neuroscience Bulletin 2024年第3期40卷 350-362页

作者： Xiaodan Huang Qian Tao Chaoran ren Guangdong-Hongkong-Macao Institute of CNS Regeneration Ministry of Education CNS Regeneration Collaborative Joint LaboratoryJinan UniversityGuangzhou 510632China Psychology Department School of MedicineJinan UniversityGuangzhou 510632China

Light is a powerful environmental factor influencing diverse brain *** evidence supports the beneficial effect of light therapy on several diseases,including depression,cognitive dysfunction,chronic pain,and sleep ***,the precise mechanisms underlying the effects of light therapy are still not well *** this review,we critically evaluate current clinical evidence showing the beneficial effects of light therapy on *** addition,we introduce the research progress regarding the neural circuit mechanisms underlying the modulatory effects of light on brain functions,including mood,memory,pain perception,sleep,circadian rhythm,brain development,and metabolism.

关键词： Light therapy Neural circuit Mood Cognition Pain Sleep Development Metabolism

A Hybrid Feature Fusion Traffic Sign Detection Algorithm Based on YOLOv7

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Computers, Materials & Continua 2024年第7期80卷 1425-1440页

作者： Bingyi ren Juwei Zhang Tong Wang School of Mechanical Engineering Henan University of Science and TechnologyLuoyang471000China School of Information Engineering Henan University of Science and TechnologyLuoyang471000China School of Electronic Information Zhengzhou Institute of Aeronautical Industry ManagementZhengzhou450046China Henan Province New Energy Vehicle Power Electronics and Power Transmission Engineering Research Center Luoyang471000China

Autonomous driving technology has entered a period of rapid development,and traffic sign detection is one of the important *** target detection networks are difficult to adapt to scenarios where target sizes are seriously imbalanced,and traffic sign targets are small and have unclear features,which makes detection more ***,we propose aHybrid Feature Fusion Traffic Sign detection algorithmbased onYOLOv7(HFFTYOLO).First,a self-attention mechanism is incorporated at the end of the backbone network to calculate feature interactions within scales;Secondly,the cross-scale fusion part of the neck introduces a bottom-up multi-path fusion *** reuse paths at the end of the neck,paying particular attention to cross-scale fusion of highlevel *** addition,we found the appropriate channel width through a lot of experiments and reduced the superfluous *** terms of training,a newregression lossCMPDIoUis proposed,which not only considers the problem of loss degradation when the aspect ratio is the same but the width and height are different,but also enables the penalty term to dynamically change at different ***,our proposed improved method shows excellent results on the TT100K *** with the baseline model,without increasing the number of parameters and computational complexity,AP0.5 and AP increased by 2.2%and 2.7%,respectively,reaching 92.9%and 58.1%.

关键词： Small target detection YOLOv7 traffic sign detection regression loss