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Sim-to-Real: A Performance Comparison of PPO, TD3, and SAC Reinforcement Learning Algorithms for Quadruped walking Gait Generation

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Journal of Intelligent Learning Systems and Applications 2024年第2期16卷 23-43页

作者： James w. Mock Suresh S. Muknahallipatna Department of Electrical Engineering and Computer Science University of Wyoming Laramie WY USA

The performance of the state-of-the-art Deep Reinforcement algorithms such as Proximal Policy Optimization, Twin Delayed Deep Deterministic Policy Gradient, and Soft Actor-Critic for generating a quadruped walking gait in a virtual environment was presented in previous research work titled “A Comparison of PPO, TD3, and SAC Reinforcement Algorithms for Quadruped walking Gait Generation”. we demonstrated that the Soft Actor-Critic Reinforcement algorithm had the best performance generating the walking gait for a quadruped in certain instances of sensor configurations in the virtual environment. In this work, we present the performance analysis of the state-of-the-art Deep Reinforcement algorithms above for quadruped walking gait generation in a physical environment. The performance is determined in the physical environment by transfer learning augmented by real-time reinforcement learning for gait generation on a physical quadruped. The performance is analyzed on a quadruped equipped with a range of sensors such as position tracking using a stereo camera, contact sensing of each of the robot legs through force resistive sensors, and proprioceptive information of the robot body and legs using nine inertial measurement units. The performance comparison is presented using the metrics associated with the walking gait: average forward velocity (m/s), average forward velocity variance, average lateral velocity (m/s), average lateral velocity variance, and quaternion root mean square deviation. The strengths and weaknesses of each algorithm for the given task on the physical quadruped are discussed.

关键词： Reinforcement Learning Reality Gap Position Tracking Action Spaces Domain Randomization

Effect of Spray Rails on Takeoff Performance of Amphibian Aircraft

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world Journal of Engineering and Technology 2024年第1期12卷 117-140页

作者： Soham S. Bahulekar Alberto w. Mello Embry-Riddle Aeronautical University Daytona Beach Florida USA

Amphibian aircraft have seen a rise in popularity in the recreational and utility sectors due to their ability to take off and land on both land and water, thus serving a myriad of purposes, such as aerobatics, surveillance, and firefighting. Such seaplanes must be aerodynamically and hydrodynamically efficient, particularly during the takeoff phase. Naval architects have long employed innovative techniques to optimize the performance of marine vessels, including incorporating spray rails on hulls. This research paper is dedicated to a comprehensive investigation into the potential utilization of spray rails to enhance the takeoff performance of amphibian aircraft. Several spray rail configurations obtained from naval research were simulated on a bare Seamax M22 amphibian hull to observe an approximate 10% - 25% decrease in water resistance at high speeds alongside a 3% reduction in the takeoff time. This study serves as a motivation to improve the design of the reference airplane hull and a platform for detailed investigations in the future to improve modern amphibian design.

关键词： Seaplane Spray Rails Hull Optimization Take-Off Performance

Clinical-based phenotypes in children with pediatric post-COVID-19 condition

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world Journal of Pediatrics 2024年第7期20卷 682-691页

作者： Lieke C.E.Noij Jelle M.Blankestijn Coen R.Lap Marlies A.van Houten Giske Biesbroek Anke-Hilse Maitland-van der Zee Mahmoud I.Abdel-Aziz Johannes B.van Goudoever Mattijs w.Alsem Caroline L.H.Brackel Kim J.Oostrom Simone Hashimoto Suzanne w.J.Terheggen-Lagro Department of Pediatric Pulmonology and Allergy Amsterdam UMCLocation AMCEmma Children’s HospitalAmsterdam University Medical CenterRoom G2-222Meibergdreef 91105AZAmsterdamThe Netherlands Department of Pulmonary Medicine Amsterdam UMCAmsterdamThe Netherlands Department of Pediatrics Spaarne GasthuisHoofddorpThe Netherlands Department of Pediatrics Emma Children’s HospitalAmsterdam University Medical CenterAmsterdamThe Netherlands Department of Rehabilitation Medicine Amsterdam Movement SciencesMeibergdreef 9AmsterdamThe Netherlands Department of Paediatric Pulmonology Department of PaediatricsTergooi MCHilversumThe Netherlands Department of Child and Adolescent Psychiatry and Psychosocial Care Amsterdam UMCAmsterdam Reproduction and DevelopmentAmsterdamThe Netherlands

Background Pediatric post coronavirus disease 2019(COVID-19)condition(PPCC)is a heterogeneous syndrome,which can significantly affect the daily lives of *** study aimed to identify clinically meaningful phenotypes in children with PPCC,to better characterize and treat this *** Participants were children with physician-diagnosed PPCC,referred to the academic hospital Amsterdam UMC in the Netherlands between November 2021 and March *** factors and information on post-COVID symptoms,comorbidities,and impact on daily life were *** clusters were identified using an unsupervised and unbiased approach for mixed data *** Analysis of 111 patients(aged 3–18 years)revealed three distinct clusters within *** 1(n=62,median age=15 years)predominantly consisted of girls(74.2%).These patients suffered relatively more from exercise intolerance,dyspnea,and smell *** 2(n=33,median age=13 years)contained patients with an even gender distribution(51.5%girls).They suffered from relatively more sleep problems,memory loss,gastrointestinal symptoms,and *** 3(n=16,median age=11 years)had a higher proportion of boys(75.0%),suffered relatively more from fever,had significantly fewer symptoms(median of 5 symptoms compared to 8 and 10 for clusters 1 and 2 respectively),and experienced a lower impact on daily *** This study identified three distinct clinical PPCC phenotypes,with variations in sex,age,symptom patterns,and impact on daily *** findings highlight the need for further research to understand the potentially diverse underlying mechanisms contributing to post-COVID symptoms in children.

关键词： Adolescents Clusters Long COVID Pediatric Phenotypes Post-COVID syndrome

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碱改性铜锰尖晶石室温催化氧化空气中甲醛

Chinese Journal of Catalysis 2024年第5期60卷 337-350页

作者： Yongbiao Hua Kumar Vikrant Ki-Hyun Kim Philippe M.Heynderickx Danil w.Boukhvalov 汉阳大学土木与环境工程系韩国首尔根特大学国际校区环境与能源研究中心催化与表征材料工程韩国仁川根特大学生物科学工程学院绿色化学与技术系比利时根特京林业大学理学院材料物理与化学研究所江苏南京210037 拉尔联邦大学物理与技术研究所俄罗斯叶卡捷琳堡

甲醛(FA)作为一种有致癌风险的有害污染物,在室内环境中普遍存在.为了高效去除甲醛,催化氧化技术成为了一种既经济又节能的选择,它不仅能降低材料成本(例如避免使用贵金属),也能在无光和室温的条件下进行.本文制备了一种成本效益高的碱... 详细信息

甲醛(FA)作为一种有致癌风险的有害污染物,在室内环境中普遍存在.为了高效去除甲醛,催化氧化技术成为了一种既经济又节能的选择,它不仅能降低材料成本(例如避免使用贵金属),也能在无光和室温的条件下进行.本文制备了一种成本效益高的碱改性锰酸铜尖晶石(CuMn^(2)O_(4))催化剂,并用于甲醛催化氧化反应中.实验结果表明,采用碱(1 mol L^(-1)氢氧化钾)改性的CuMn^(2)O_(4)(1-CuMn^(2)O_(4))作为催化剂,在室温条件下,当甲醛浓度为50 ppm,气体空速为4777 h^(-1)时,甲醛转化率(XFA)达到100%;此外,在甲醛转化率为10%时,其稳态反应速率达到了8.18×10^(-2) mmol g^(-1) h^(-1).原位漫反射红外傅立叶变换光谱结果表明,在催化剂的作用下,甲醛分子经过二氧亚甲基和甲酸酯中间体的转化,最终被氧化为水和二氧化碳.进一步结合密度泛函理论模拟发现,1-CuMn^(2)O_(4)具有较高的催化氧化甲醛性能,可归因于甲醛分子更牢固地吸附在1-CuMn^(2)O_(4)表面,甲醛吸附所需的能量较低,以及最终产物从催化剂表面脱附所需的能量也较低的综合效应.本研究为在无光和室温条件下,高效去除空气中甲醛提供了新型高效、成本效益高且无需贵金属的催化剂,从而为室内空气净化提供了新的科学见解.

关键词：甲醛碱修饰锰酸铜尖晶石催化氧化室内空气

LPA_(1) antagonist-derived LNPs deliver A20 mRNA and promote anti-fibrotic activities

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Nano Research 2024年第10期17卷 9095-9102页

作者： Jingyue Yan Diana D.Kang Chang wang Xucheng Hou Shi Du Siyu wang Yonger Xue Zhengwei Liu Haoyuan Li Yichen Zhong Binbin Deng David w.McComb Yizhou Dong Division of Pharmaceutics&Pharmacology College of PharmacyThe Ohio State UniversityColumbusOH 43210USA Icahn Genomics Institute Precision Immunology InstituteDepartment of Immunology and ImmunotherapyDepartment of Oncological SciencesTisch Cancer InstituteBiomedical Engineering and Imaging InstituteFriedman Brain InstituteIcahn School of Medicine at Mount SinaiNew YorkNY 10029USA Center for Electron Microscopy and Analysis The Ohio State UniversityColumbusOH 43212USA Department of Materials Science and Engineering The Ohio State UniversityColumbusOH 43210USA

Activated fibroblasts are major mediators of pulmonary *** are generally found in the connective tissue but upon activation can generate excess extracellular matrix(ECM)in the lung interstitial ***,fibroblasts are one of the most targeted cells for treating idiopathic pulmonary fibrosis(IPF).Here,we develop an anti-fibrotic platform that can modulate both the lysophosphatidic acid receptor 1(LPA_(1))and the inflammatory pathway through tumor necrosis factorα-induced protein 3(TNFAIP3,also known as A20)in ***,we synthesized a series of LPA_(1) antagonists,AM095 and AM966,derived amino lipids(LA lipids)which were formulated into LA-lipid nanoparticles(LA-LNPs)encapsulating ***,LA5-LNPs,with AM966 head group and biodegradable acetal lipid tails,showed efficient A20 mRNA delivery to lung fibroblasts in vitro(80.2%±1.5%)and ex vivo(17.2%±0.4%).when treated to primary mouse lung fibroblasts(MLF),this formulation inhibited fibroblast migration and collagen production,thereby slowing the progression of ***,LA5-LNPs encapsulated with A20 mRNA is a novel platform offering a potential approach to regulate fibroblast activation for the treatment of IPF.

关键词： lysophosphatidic acid receptor 1(LPA_(1))antagonist tumor necrosis factorα-induced protein 3(A20) lung fibrosis lipid nanoparticles mRNA

Highly enhanced UV absorption and light emission of monolayer wS_(2)through hybridization with Ti_(2)N MXene quantum dots and g-C_(3)N_(4)quantum dots

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Opto-Electronic Advances 2024年第6期7卷 31-39页

作者： Anir S.Sharbirin Rebekah E.Kong wendy B.Mato Trang Thu Tran Eunji Lee Jolene w.P.Khor Afrizal L.Fadli Jeongyong Kim Department of Energy Science Sungkyunkwan UniversitySuwon 16419Republic of Korea

Two-dimensional(2D)transition metal dichalcogenides(TMD)are atomically thin semiconductors with promising optoelectronic applications across the visible ***,their intrinsically weak light absorption and the low photoluminescence quantum yield(PLQY)restrict their performance and potential use,especially in ultraviolet(UV)wavelength light *** dots(QD)derived from 2D materials(2D/QD)provide efficient light absorption and emission of which energy can be tuned for desirable light *** this study,we greatly enhanced the photon absorption and PLQY of monolayer(1L)tungsten disulfide(wS_(2))in the UV range via hybridization with 2D/QD,particularly titanium nitride MXene QD(Ti_(2)N MQD)and graphitic carbon nitride QD(GCNQD).with the hybridization of MQD or GCNQD,1LwS_(2)showed a maximum PL enhancement by 15 times with 300 nm wavelength excitation,while no noticeable enhancement was observed when the excitation photon energy was less than the bandgap of the QD,indicating that UV absorption by the QD played a crucial role in enhancing the light emission of 1L-wS_(2)in our 0D/2D hybrid *** findings present a convenient method for enhancing the photo-response of 1L-wS_(2)to UV light and offer exciting possibilities for harvesting UV energy using 1L-TMD.

关键词： monolayer TMD wS_(2) 2D-derived quantum dots UV absorption energy transfer

从机械机器人到智能机器人:人工智能的图像学

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外国文学研究 2024年第3期46卷 1-7页

作者： w.J.T.米切尔韦清琦(译) 美国芝加哥大学东南大学外国语学院

智能机器人将人类带入了自原子弹、电灯或是印刷术以来最伟大的科技革命之中,同时智能机器也能走火入魔这一构思也向来是科幻作品的核心想象。纵观媒体发明的历史长河,对人工智能的恐慌并不新鲜,人们曾认为书写的发明和照相术将扼杀记... 详细信息

智能机器人将人类带入了自原子弹、电灯或是印刷术以来最伟大的科技革命之中,同时智能机器也能走火入魔这一构思也向来是科幻作品的核心想象。纵观媒体发明的历史长河,对人工智能的恐慌并不新鲜,人们曾认为书写的发明和照相术将扼杀记忆和绘画,现在又照例指责数码正在毁灭模拟技术的独一性。人类应该冷静下来,采取对症下药的态度。有必要解构关于人与机器之差异的想象,而毋需躲避与智能机器人的交互谈话。人类物种虽然在作茧自缚,但同时又以进化与生态智能为基础,努力建设可持续全球体系。图像学研究的图像和文字同时包括了机器和人类的作品,因而相关的研究者应明确自己的任务:就文字与图像和智能机器人展开对话,在上述人类的生存努力中谋求与智能机器人携手合作。

关键词：智能机器人人工智能机器图像学传媒人文

Association of accelerometer-measured sleep duration and different intensities of physical activity with incident type 2 diabetes in a population-based cohort study

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Journal of Sport and Health Science 2024年第2期13卷 222-232页

作者： Xinyi Jin Yilin Chen Hongliang Feng Mingqing Zhou Joey w.Y.Chang Yaping Liu Alice Pik Shan Kong Xiao Tan Yun-Kwok wing Yannis Yan Liang Jihui Zhang Guangdong Cardiovascular Institute Guangdong Provincial People’s HospitalGuangdong Academy of Medical SciencesGuangzhou 510080China Guangdong Provincial Key Laboratory of Coronary Heart Disease Prevention Guangdong Cardiovascular InstituteGuangdong Provincial People’s Hospital(Guangdong Academy of Medical Sciences)Southern Medical UniversityGuangzhou 510080China School of Medicine South China University of TechnologyGuangzhou 510641China Center for Sleep and Circadian Medicine The Affiliated Brain Hospital of Guangzhou Medical UniversityGuangzhou 510180China The Second School of Clinical Medicine Southern Medical UniversityGuangzhou 510282China Guangdong Mental Health Center Guangdong Provincial People’s Hospital(Guangdong Academy of Medical Sciences)Southern Medical UniversityGuangzhou 510120China Li Chiu Kong Family Sleep Assessment Unit Department of PsychiatryFaculty of MedicineThe Chinese University of Hong KongHong Kong 999077China Department of Psychiatry Faculty of MedicineThe Chinese University of Hong KongHong Kong 999077China Department of Medicine and Therapeutics Faculty of MedicineThe Chinese University of Hong KongHong Kong 999077China Department of Medical Sciences Uppsala UniversityUppsala 75185Sweden Department of Big Data in Health Science Zhejiang University School of Public HealthHangzhou 310058China Key Laboratory of Neurogenetics and Channelopathies of Guangdong Province and the Ministry of Education of China Guangzhou 510260China

Purpose:The aim of the current study was to investigate the association of accelerometer-measured sleep duration and different intensities of physical activity(PA)with the risk of incident type 2 diabetes in a population-based prospective cohort ***:Altogether,88,000 participants(mean age=62.2±7.9 years,mean±SD)were included from the UK *** duration(short:8 h/day)and PA of different intensities were measured using a wrist-won accelerometer over a 7-day period between 2013 and *** was classified according to the median or world Health Organization-recommendation:total volume of PA(high,low),moderate-to-vigorous PA(MVPA)(recommended,not recommended),and light-intensity PA(high,low).Incidence of type 2diabetes was ascertained using hospital records or death ***:During a median follow-up of 7.0 years,1615 incident type 2 diabetes cases were *** with normal sleep duration,short(hazard ratio(HR)=1.21,95%confidence interval(95%CI):1.03-1.41)but not long sleep duration(HR=1.01,95%CI:0.89-1.15)was associated with excessive type 2 diabetes *** increased risk among short sleepers seems to be protected against by *** with normal sleepers with high or recommended PA,short sleepers with low volume of PA(HR=1.81,95%CI:1.46-2.25),not recommended(below the world Health Organization-recommended level of)MVPA(HR=1.92,95%CI:1.55-2.36),or low light-intensity PA(HR=1.49,95%CI:1.13-1.90)had a higher risk of type 2 diabetes,while short sleepers with a high volume of PA(HR=1.14,95%CI:0.88-1.49),recommended MVPA(HR=1.02,95%CI:0.71-1.48),or high light-intensity PA(HR=1.14,95%CI:0.92-1.41)did ***:Accelerometer-measured short but not long sleep duration was associated with a higher risk of incident type 2 diabetes.A higher level of PA,regardless of intensity,potentially ameliorates this excessive risk.

关键词： Light physical activity Sleep duration Triaxial accelerometer Type 2 diabetes UK Biobank

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综述杂豆酚类化合物多样性的影响因素

中国食品学报 2024年第1期24卷 390-406页

作者：李昱昊宋萧萧聂少平 Cui Steve w. 谢明勇殷军艺南昌大学食品科学与资源挖掘全国重点实验室中国-加拿大食品科学与技术联合实验室(南昌)江西省生物活性多糖重点实验室南昌330047 加拿大农业与农业食品部圭尔夫食品研究中心加拿大安大略NIG5C9

杂豆酚类化合物种类繁多,并影响杂豆的外观、感官特征及营养特性。杂豆酚类化合物多样性是杂豆营养特性研究的重点。本文总结杂豆酚类化合物多样性的影响因素,发现合理的提取与分析方法有利于酚类化合物提取的完整性以及表征的正确性。... 详细信息

杂豆酚类化合物种类繁多,并影响杂豆的外观、感官特征及营养特性。杂豆酚类化合物多样性是杂豆营养特性研究的重点。本文总结杂豆酚类化合物多样性的影响因素,发现合理的提取与分析方法有利于酚类化合物提取的完整性以及表征的正确性。在此基础上,指出种属与产地、生长与贮藏及加工过程影响杂豆酚类化合物的合成、溶出与释放,并促使酚类化合物多样性的形成。最后介绍杂豆酚类化合物多样性的代谢组学技术在杂豆多样性研究方面的贡献与优势,提出今后工作的重点与挑战,以期为杂豆酚类化合物的变化机制、加工利用及育种等提供参考。

关键词：杂豆酚类化合物多样性提取方法定性与定量影响因素