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A Bio-Inspired Integration Model of Basal Ganglia and Cerebellum for Motion Learning of a Musculoskeletal Robot

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Journal of Systems Science & Complexity 2024年第1期37卷 82-113页

作者： ZHANG Jinhan CHEN jiahao ZHONG shanlin QIAO Hong State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China.

It is a significant research direction for highly complex musculoskeletal robots that how to develop the ability of motion learning and generalization.The cooperations of multiple brain regions are crucial to improving motion performance.Inspired by the neural mechanisms of structures,functions,and interconnections of basal ganglia and cerebellum,a biologically inspired integration model for motor learning of musculoskeletal robots is proposed.Based on the neural characteristics of the basal ganglia,the basal ganglia actor network,which mainly simulates the dorsal striatum,outputs motion commands,and the basal ganglia critic network,which simulates the ventral striatum,estimates actionstate values.Their network parameters are updated using the soft actor-critic method.Based on the sensorimotor prediction mechanism of the cerebellum,the cerebellum network evaluates the state feature extraction quality of the basal ganglia actor network and then updates the weights of its feature layer.This learning method is proven to converge to the optimal policy.Furthermore,drawing on the mechanism of dopaminergic dynamic regulation in the basal ganglia,the adaptive adjustment of target entropy and the dopaminergic experience replay are proposed to further improve the integration model,which contributes to the exploration-exploitation trade-off of motor learning.The bio-inspired integration model is validated on a musculoskeletal system.Experimental results indicate that this model can effectively control the musculoskeletal robot to accomplish the motion task from random starting locations to random target positions with high precision and robustness.

关键词： Basal ganglia and cerebellum bio-inspired integration model motion learning musculoskeletal robot reinforcement learning.

Germ cell-specific deletion of Pex3 reveals essential roles of PEX3-dependent peroxisomes in spermiogenesis

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The Journal of Biomedical Research 2024年第1期38卷 24-36页

作者： Yejin Yao Baolu Shi Xiangzheng Zhang Xin Wang Shuangyue Li Ying Yao Yueshuai Guo Dingdong Chen Bing Wang Yan Yuan jiahao sha Xuejiang Guo State Key Laboratory of Reproductive Medicine and Offspring Health Nanjing Medical UniversityNanjingJiangsu 211166China Reproductive and Genetic Branch the First Affiliated Hospital of USTCDivision of Life Sciences and MedicineUniversity of Science and Technology of ChinaHefeiAnhui 230001China State Key Laboratory of Reproductive Medicine and Offspring Health Women's Hospital of Nanjing Medical UniversityNanjing Maternity and Child Health Care HospitalNanjing Medical UniversityNanjingJiangsu 211166China.

Peroxisomes are organelles enclosed by a single membrane and are present in various species.The abruption of peroxisomes is correlated with peroxisome biogenesis disorders and single peroxisomal enzyme deficiencies that induce diverse diseases in different organs.However,little is known about the protein compositions and corresponding roles of heterogeneous peroxisomes in various organs.Through transcriptomic and proteomic analyses,we observed heterogenous peroxisomal components among different organs,as well as between testicular somatic cells and different developmental stages of germ cells.As Pex3 is expressed in both germ cells and Sertoli cells,we generated Pex3 germ cell-and Sertoli cell-specific knockout mice.While Pex3 deletion in Sertoli cells did not affect spermatogenesis,the deletion in germ cells resulted in male sterility,manifested as the destruction of intercellular bridges between spermatids and the formation of multinucleated giant cells.Proteomic analysis of the Pex3-deleted spermatids revealed defective expressions of peroxisomal proteins and spermiogenesis-related proteins.These findings provide new insights that PEX3-dependent peroxisomes are essential for germ cells undergoing spermiogenesis,but not for Sertoli cells.

关键词： male infertility spermiogenesis peroxisome oxidative stress PEX3

Nonlinear Extrapolation Estimates of π

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Acta Mathematicae Applicatae Sinica 2024年第1期40卷 91-108页

作者： Wen-qing Xu sha-sha Wang Da-chuan Xu Beijing Institute for Scientific and Engineering Computing Beijing University of TechnologyBeijing100124China Department of Mathematics and Statistics California State UniversityLong BeachCalifornia90840USA Department of Mathematics and Physics Shijiazhuang Tiedao UniversityShijiazhuang050043China

The classical Archimedean approximation of π uses the semiperimeter or area of regular polygons inscribed in or circumscribed about a unit circle in R~2 and it is well-known that by using linear combinations of these basic estimates,modern extrapolation techniques can greatly speed up the approximation process.Similarly,when n vertices are randomly selected on the circle,the semiperimeter and area of the corresponding random inscribed and circumscribing polygons are known to converge to π almost surely as n→∞,and by further applying extrapolation processes,faster convergence rates can also be achieved through similar linear combinations of the semiperimeter and area of these random polygons.In this paper,we further develop nonlinear extrapolation methods for approximating π through certain nonlinear functions of the semiperimeter and area of such polygons.We focus on two types of extrapolation estimates of the forms χ_n=S_n~αA_n~β and Y_n(p)=(αS_n~p+βA_n~p)~(1/p) where α+β=1,p≠0,and Sn and An respectively represents the semiperimeter and area of a random n-gon inscribed in the unit circle in R~2,and Xn may be viewed as the limit of Y_n(p) when p→0.By deriving probabilistic asymptotic expansions with carefully controlled error estimates for Xn and Y_n(p),we show that the choice α=4/3,β=-1/3 minimizes the approximation error in both cases,and their distributions are also asymptotically normal.

关键词： Archimedean polygons random polygons approximations ofπ extrapolation processes asymptotic convergence

Unraveling the Cenozoic carbon cycle by reconstructing carbonate compensation depth(CCD)

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Science China Earth Sciences 2024年第6期67卷 1743-1758页

作者： Kaixun XIAO Xiumian HU Jingxin JIANG jiahao WANG State Key Laboratory of Mineral Deposit Research School of Earth Sciences and EngineeringNanjing UniversityNanjing 210023China

The Carbonate Compensation Depth(CCD)refers to the depth within the ocean where the production and dissolution rates of carbonates reach equilibrium,widely likened to the oceanic calcareous‘snowline’.The reconstruction of deep-time CCD has significant implications for understanding ocean circulation,seawater chemical conditions,sediment distribution,and the surface carbon cycle.This paper critically reviews the methods for CCD reconstruction,summarizes the driving mechanisms of the Cenozoic CCD evolution and its association with the carbon cycle,and offers insights into future directions for CCD research.CCD reconstruction has evolved over the past half century from early qualitative to quantitative methods.These methodological improvements have markedly improved the accuracy and resolution of CCD.Existing studies have indicated a general trend of the CCD deepening across major ocean basins since the Cenozoic,interspersed with a minor shallowing phase during the mid-Miocene.The variations in the CCD are primarily influenced by factors such as ocean productivity,weathering,and shelf-basin partitioning.During climate events such as the Paleocene-Eocene Thermal Maximum,the CCD exhibits pulselike fluctuations.Future research should focus on precision and quantification while integrating model simulations to further explore the correlations and response mechanisms between the CCD and the paleoclimate as well as the carbon cycle.

关键词： Carbonate Compensation Depth Cenozoic Carbon cycle Paleoclimate Paleoceanography

Establishment of a three-dimensional particle library for graded crushed stone based on a new aggregate morphology characterization method

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Journal of Traffic and Transportation Engineering(English Edition) 2024年第1期11卷 117-130页

作者： Haitao Ge Aimin sha Zhenqiang Han School of Future Transportation Chang'an UniversityXi'an 710064China University of Strasbourg INSA StrasbourgCNRSICubeUMR 7357Strasbourg F-67000France School of Highway Chang'an UniversityXi'an 710064China Key Laboratory for Special Area Highway Engineering of Ministry of Education Chang'an UniversityXi'an 710064China

The morphology of graded crushed stone(GCS)particles has an essential influence on the performance of aggregate mixtures.The impact of particle shape is a comprehensive effect that cannot be considered separately,leading to difficulties in establishing the relationship between the mixture properties and the aggregate morphology by using laboratory methods.The discrete element method(DEM)is an effective way widely adopted to reconstruct the morphology of particles and simulate performance tests of granular materials.However,selecting limited particles characterizing a real particle-assembly for simulation is still a challenge in current research due to the inherent rich variability of particle shapes.In this study,based on the acquisition of three-dimensional(3D)aggregate shapes by using laser scanning,ellipsoid index(EDI)translating the particle shape as a function of surface area,volume,and contour length is proposed to comprehensively evaluate aggregate morphology.Further,a particle library capable of characterizing aggregate morphology distribution is established based on the statistics of the corresponding morphological characteristics of particle samples.The model reliability is validated by carrying out a series of experimental and numerical penetration tests with nine different gradations.The established particle library can be used to model aggregate mixtures and the proposed simulation framework is promising for optimizing the mixture gradation design numerically.

关键词： Particle library Discrete element method 3D laser scanning Coarse aggregate Morphology characterization Gradation design

Quantifying peripapillary vessel density and retinal nerve fibre layer in type 1 diabetic children without clinically detectable retinopathy using OCTA

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International Journal of Ophthalmology(English edition) 2024年第2期17卷 278-281页

作者： Ling Chen Yun Feng sha-sha Zhang Yan-Fang Liu Ping Lin Xi’an Children’s Hospital Affiliated to Xi’an Jiaotong University Xi’an 710002Shaanxi ProvinceChina

AIM:To quantify changes in radial peripapillary capillary vessel density(ppVD)and the peripapillary retinal nerve fiber layer(pRNFL)in children with type 1 diabetes without clinical diabetic retinopathy by optical coherence tomography angiography(OCTA),providing a basis for early retinopathy in children with type 1 diabetes.METHODS:This was a retrospective study.A total of 30 patients(3–14y)with type 1 diabetes without clinical diabetic retinopathy(NDR group)were included.A total of 30 age-matched healthy subjects were included as the normal control group(CON group).The HbA1c level in the last 3mo was measured once in the NDR group.The pRNFL thickness and ppVD were automatically measured,and the mean pRNFL and ppVD were calculated in the nasal,inferior,temporal,and superior quadrants.The changes in ppVD and pRNFL in the two groups were analyzed.RESULTS:Compared with CON group,the nasal and superior ppVDs decreased in the NDR group(all P0.05).Person and Spearman correlation analysis of ppVD and pRNFL thickness in each quadrant of the NDR group showed a positive correlation between nasal and superior(all P0.05).There was no significant correlation between the HbA1c level and ppVD and pRNFL in any quadrant(all P>0.05).There was no significant correlation between the course of diabetes mellitus and ppVD and pRNFL in any quadrant(all P>0.05).CONCLUSION:ppVD and pRNFL decrease in eyes of children with type 1 diabetes before clinically detectable retinopathy and OCTA is helpful for early monitoring.

关键词： diabetic retinopathy children peripapillary vessel density peripapillary retinal nerve fiber layer optical coherence tomography angiography

Nano-effect enhanced cooperative luminescence of Yb^(3+) clusters in bulk materials

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Journal of Rare Earths 2024年第3期42卷 473-478,I0002页

作者： Daguang Li jiahao Cui Yanhui Dong Hao Cui Dan Zhao Weiping Qin State Key Laboratory on Integrated Optoelectronics College of Electronic Science and EngineeringJilin UniversityChangchun130012China

In order to improve the multi-ion cooperative transition, we proposed and exploited a novel nanoscale effect, namely the nanoshell effect in bulk materials. Based on the effect, an optimal material structure was designed by coating the surfaces of Ca F_(2):Yb^(3+)micron size particles with ZrO_(2). An about 2 times higher intensity of cooperative luminescence is observed upon laser excitation at 980 nm. Dynamical analysis exhibits that the novel effect plays a key role in improving the performance of cooperative transitions. Our results also suggest that the nanoshell effect in bulk materials is likely to be significant in some special cases, which have not been reported yet in the literature.

关键词： Yb^(3+)cluster ZrO_(2) Nanoshell Enhancement Cooperative luminescence Rare earths

Insight into the development of electrolytes for aqueous zinc metal batteries from alkaline to neutral

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Chinese Chemical Letters 2024年第2期35卷 232-241页

作者： An Duan sha Luo Wei Sun School of Materials and Energy University of Electronic Science and Technology of ChinaChengdu 611731China

Aqueous zinc metal batteries are considered as promising candidates for next-generation electrochemical energy storage devices,especially for large-scale energy storage,due to the advantages of high-safety,high energy density and low cost.As the bridge connecting cathode and anode,electrolyte provides a realistic operating environment.In alkaline and neutral aqueous zinc metal batteries,issues associated with electrolyte and anode are still intractable.In this review,we reveal the development and evolution of electrolytes for aqueous zinc metal batteries from alkaline to neutral via the description of fundamentals and challenges in terms of comparison and connection.We also elaborate the strategies in electrolytes regulation and highlight the basic roles and progresses in additives engineering.

关键词： Aqueous electrolytes Zinc metal batteries pH-dependent chemistry Electrolyte regulation Additives engineering

Correcting of the unexpected localization measurement for indoor automatic mobile robot transportation based on a neural network

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Transportation Safety and Environment 2024年第2期6卷 24-35页

作者： jiahao Huang Steffen Jung inger Hui Liu Kerstin Thurow Center for Life Science Automation(CELISCA) University of RostockRostock 18119Germany Institute of Automation University of RostockRostock 18119Germany Institute of Artificial Intelligence&Robotics(IAIR) School of Traffic&Transportation EngineeringCentral South UniversityChangsha 410075HunanChina

The increasing use of mobile robots in laboratory settings has led to a higher degree of laboratory automation.However,when mobile robots move in laboratory environments,mechanical errors,environmental disturbances and signal interruptions are inevitable.This can compromise the accuracy of the robot’s localization,which is crucial for the safety of staff,robots and the laboratory.A novel time-series predicting model based on the data processing method is proposed to handle the unexpected localization measurement of mobile robots in laboratory environments.The proposed model serves as an auxiliary localization system that can accurately correct unexpected localization errors by relying solely on the historical data of mobile robots.The experimental results demonstrate the effectiveness of this proposed method.

关键词： mobile robots laboratory automation indoor localization neural network