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Human-Robot Collaboration Framework Based on Impedance Control in Robotic Assembly

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Engineering 2023年第11期30卷 83-92页

作者： Xingwei Zhao Yiming Chen Lu Qian Bo Tao Han Ding State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.In the HRC framework,the human is the decision maker,the robot acts as the executor,while the assembly environment provides constraints.The robot is the main executor to perform the assembly action,which has the position control,drag and drop,positive impedance control,and negative impedance control modes.To reveal the characteristics of the HRC framework,the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed.In the end,HRC assembly experiments are conducted,where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit.Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.

关键词： Human-robot collaboration Impedance control Robotic assembly

Role of biological rhythm dysfunction in the development and management of bipolar disorders: a review

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General Psychiatry 2020年第1期33卷 8-19页

作者： Yiming Chen Wu Hong Yiru Fang Clinical Research Center&Division of Mood Disorders Shanghai Mental Health CenterShanghai Jiao Tong University School of MedicineShanghaiChina Shanghai Key Laboratory of Psychotic Disorders ShanghaiChina CAS Center for Excellence in Brain Science and Intelligence Technology ShanghaiChina

Disturbance of biological rhythms contributes to the onset of bipolar disorders and is an important clinical feature of the condition.To further explore the role of biological rhythms in bipolar disorders,95 English articles published between 1968 and 2019 were retrieved from the PubMed database and analysed.We herein review the outcomes of studies on biological rhythm disturbance in bipolar disorders,including the epidemiology,aetiology,clinical features(eg,sleep,feeding and eating disorders)and treatment of the condition evaluated by patients*selfreport and biological indicators such as melatonin.Our report supports the characterisation of biological rhythm disturbance as a significant clinical feature affecting the onset and development of bipolar disorders and reviews classical and novel treatments,such as chronotherapy,that can be applied in the clinical practice.Our analysis indicates that a more comprehensive study of the pathophysiology,clinical phenomenology and treatment of biological rhythm disturbance is required.

关键词： epidemiology bipolar disturbance

Evolutionary Game Analysis of the Production Decisions of Automakers in the Chinese Automobile Industry:A Tripartite Model of Government,Automakers,and Consumers

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Journal of Systems Science and Systems Engineering 2023年第6期32卷 708-728页

作者： Jinhuan Tang Qiong Wu Yiming Chen Yuran Jin Kun Wang School of Economics and Management Shenyang Aerospace UniversityShenyang110136China School of Business Administration University of Science and Technology LiaoningAnshan114051China

Based on the evolutionary game approach,this paper analyzes how the automaker makes rational production decisions under the influence of the government and consumers.A tripartite evolutionary game model of“government-automaker-consumer”is established to explore the interactions under the condition of bounded rationality.The study shows that:1)The increase of credit price and credit ratio will promote the diffusion of new energy vehicles(NEVs).2)The cost premium of NEVs and the shrinking market will slow the spread of NEVs to some extent but will not prevent NEVs from becoming a trend in the automobile industry.However,the cost premium of fuel vehicles(FVs)will accelerate the development of the NEV industry.3)Government subsidies can promote the development of NEV industry to some extent,but they are not always effective.The government can simultaneously implement subsidies for automakers and consumers in the early stages,and choose to implement the subsidy only for consumers in the medium term.Additionally,there is no need to implement the subsidy policy at a later stage.

关键词： Dual-credit policy new energy vehicles tripartite evolutionary game government subsidy

Robust state of charge estimation of lithium-ion battery via mixture kernel mean p-power error loss LSTM with heap-based-optimizer

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Journal of Energy Chemistry 2023年第5期80卷 768-784,I0016页

作者： Wentao Ma yiming Lei Xiaofei Wang Badong chen School of Electrical Engineering Xi'an University of TechnologyXi’an 710048ShaanxiChina School of Microelectronics Xi'an Jiaotong UniversityXi’an 710049ShaanxiChina Institute of Artificial Intelligence and Robotics(IAIR) Xi'an Jiaotong UniversityXi’an 710049ShaanxiChina

The state of charge(SOC)estimation of lithium-ion battery is an important function in the battery management system(BMS)of electric vehicles.The long short term memory(LSTM)model can be employed for SOC estimation,which is capable of estimating the future changing states of a nonlinear system.Since the BMS usually works under complicated operating conditions,i.e the real measurement data used for model training may be corrupted by non-Gaussian noise,and thus the performance of the original LSTM with the mean square error(MSE)loss may deteriorate.Therefore,a novel LSTM with mixture kernel mean p-power error(MKMPE)loss,called MKMPE-LSTM,is developed by using the MKMPE loss to replace the MSE as the learning criterion in LSTM framework,which can achieve robust SOC estimation under the measurement data contaminated with non-Gaussian noises(or outliers)because of the MKMPE containing the p-order moments of the error distribution.In addition,a meta-heuristic algorithm,called heap-based-optimizer(HBO),is employed to optimize the hyper-parameters(mainly including learning rate,number of hidden layer neuron and value of p in MKMPE)of the proposed MKMPE-LSTM model to further improve its flexibility and generalization performance,and a novel hybrid model(HBO-MKMPE-LSTM)is established for SOC estimation under non-Gaussian noise cases.Finally,several tests are performed under various cases through a benchmark to evaluate the performance of the proposed HBO-MKMPE-LSTM model,and the results demonstrate that the proposed hybrid method can provide a good robustness and accuracy under different non-Gaussian measurement noises,and the SOC estimation results in terms of mean square error(MSE),root MSE(RMSE),mean absolute relative error(MARE),and determination coefficient R2are less than 0.05%,3%,3%,and above 99.8%at 25℃,respectively.

关键词： SOC estimation Long short term memory model Mixture kernel mean p-power error Heap-based-optimizer Lithium-ion battery Non-Gaussian noisy measurement data

A pilot allocation method for multi-cell multi-user massive MIMO system

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Journal of Systems Engineering and Electronics 2021年第2期32卷 399-407页

作者： LI yiming DU Liping chen Yueyun School of Computer and Communication Engineering University of Science and Technology BeijingBeijing 100083China Wireless and Space Communication Laboratory Shunde Graduate School of University of Science and Technology BeijingFoshan 528000China

Pilot contamination can spoil the accuracy of channel estimation and then has become one of the key problems influencing the performance of massive multiple input multiple output(MIMO)systems.This paper proposes a method based on cell classification and users grouping to mitigate the pilot contamination in multi-cell massive MIMO systems and improve the spectral efficiency.The pilots of the terminals are allocated onebit orthogonal identifier to diminish the cell categories by the operation of exclusive OR(XOR).At the same time,the users are divided into edge user groups and central user groups according to the large-scale fading coefficients by the clustering algorithm,and different pilot sequences are assigned to different groups.The simulation results show that the proposed method can effectively improve the spectral efficiency of multi-cell massive MIMO systems.

关键词： massive multiple input multiple output(MIMO) pilot allocation cell classification users grouping(UG) spectral efficiency

Crossroads:Pathogenic role and therapeutic targets of neutrophil extracellular traps in rheumatoid arthritis

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BIOCELL 2024年第1期48卷 9-19页

作者： YANG LI JIAN LIU YUEDI HU chenGZHI CONG Yiming Chen QIAO ZHOU Department of Rheumatology The First Affiliated Hospital of Anhui University of Chinese MedicineHefei230031China First Clinical Medical School Anhui University of Chinese MedicineHefei230031China Institute of Rheumatology Anhui Academy of Chinese MedicineHefei230031China

Rheumatoid arthritis(RA)is a prevalent autoimmune disease whose main features include chronic synovial inflammation,bone destruction,and joint degeneration.Neutrophils are often considered to be the first responders to inflammation and are a key presence in the inflammatory milieu of RA.Neutrophil extracellular traps(NETs),a meshwork of DNA-histone complexes and proteins released by activated neutrophils,are widely involved in the pathophysiology of autoimmune diseases,especially RA,in addition to playing a key role in the neutrophil innate immune response.NETs have been found to be an important source of citrullinated autoantigen antibodies and inflammatory factor release,which can activate RA synovial fibroblasts(FLS)and cause joint damage.This article reviews the role of NETs in the pathophysiology of RA,demonstrating the application of multiple molecules with various therapies,with a view to informing the discovery and development of novel biomarkers and therapeutic targets for RA.

关键词： Rheumatoid arthritis Neutrophil extracellular traps Review

Ni(NH_(3))_(6)^(2+) more efficient than Ni(H_(2)O)_(6)^(2+) and Ni(OH)_(2) for catalyzing water and phenol oxidation on illuminated Bi_(2)MoO_(6) with visible light

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Journal of Environmental Sciences 2023年第4期126卷 556-564页

作者： Yaru Wang Yechen Wang Xubo Huang Min chen yiming Xu State Key Laboratory of Silicon Materials and Department of Chemistry Zhejiang UniversityHangzhou 310027China

Nickel (hydr)oxide (NiOH) is known to be good co-catalyst for the photoelectrochemical oxidation of water,and for the photocatalytic oxidation of organics on different semiconductors.Herein we report a greatly improved activity of Bi_(2)MoO_(6)(BMO) by nickel hexammine perchlorate (NiNH).Under visible light,phenol oxidation on BMO was slow.After NiNH,NiOH,and Ni^(2+)loading,a maximum rate of phenol oxidation increased by factors of approximately 16,8.8,and 4.7,respectively.With a BMO electrode,all catalysts inhibited O_(2)reduction,enhanced water (photo-)oxidation,and facilitated the charge transfer at solidliquid interface,respectively,the degree of which was always NiNH>NiOH>Ni^(2+).Solid emission spectra indicated that all catalysts improved the charge separation of BMO,the degree of which also varied as NiNH>NiOH>Ni^(2+).Furthermore,after a phenol-free aqueous suspension of NiNH/BMO was irradiated,there was a considerable Ni(Ⅲ) species,but a negligible NH_(2)radical.Accordingly,a plausible mechanism is proposed,involving the hole oxidation of Ni(Ⅱ) into Ni(Ⅳ),which is reactive to phenol oxidation,and hence promotes O_(2)reduction.Because NH_(3)is a stronger ligand than H_(2)O,the Ni(Ⅱ) oxidation is easier for Ni(NH_(3))6+than for Ni(H_(2)O)6+.This work shows a simple route how to improve BMO photocatalysis through a co-catalyst.

关键词： Semiconductor Photocatalysis Organic degradation Water oxidation Bismuth molybdate Nickel hexammine perchlorate

Restoring After Central Nervous System Injuries:Neural Mechanisms and Translational Applications of Motor Recovery

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Neuroscience Bulletin 2022年第12期38卷 1569-1587页

作者： Zhengrun Gao Zhen Pang Yiming Chen Gaowei Lei Shuai Zhu Guotao Li Yundong Shen Wendong Xu Department of Hand Surgery Huashan HospitalFudan UniversityShanghai 200040China The National Clinical Research Center for Aging and Medicine Fudan UniversityShanghai 200040China Department of Hand and Upper Extremity Surgery Jing’an District Central HospitalFudan UniversityShanghai 200040China Institutes of Brain Science Fudan UniversityShanghai 200040China State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Fudan UniversityShanghai 200040China Institute of Automation State Key Laboratory of Management and Control for Complex SystemsChinese Academy of SciencesBeijing 100190China Co-innovation Center of Neuroregeneration Nantong UniversityNantong 226000China Research Unit of Synergistic Reconstruction of Upper and Lower Limbs after Brain Injury Chinese Academy of Medical SciencesShanghai 200400China

Central nervous system(CNS)injuries,including stroke,traumatic brain injury,and spinal cord injury,are leading causes of long-term disability.It is estimated that more than half of the survivors of severe unilateral injury are unable to use the denervated limb.Previous studies have focused on neuroprotective interventions in the affected hemisphere to limit brain lesions and neurorepair measures to promote recovery.However,the ability to increase plasticity in the injured brain is restricted and difficult to improve.Therefore,over several decades,researchers have been prompted to enhance the compensation by the unaffected hemisphere.Animal experiments have revealed that regrowth of ipsilateral descending fibers from the unaffected hemisphere to denervated motor neurons plays a significant role in the restoration of motor function.In addition,several clinical treatments have been designed to restore ipsilateral motor control,including brain stimulation,nerve transfer surgery,and brain–computer interface systems.Here,we comprehensively review the neural mechanisms as well as translational applications of ipsilateral motor control upon rehabilitation after CNS injuries.

关键词： Stroke Traumatic brain injury Spinal cord injury Brain-computer interface system Neuroplasticity Ipsilateral motor control Axon regrowth

Metabolic flux simulation of microbial systems based on optimal planning algorithms

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Green Chemical Engineering 2023年第2期4卷 146-159页

作者： chen Yang Boyuan Xue yiming Zhang Shaojie Wang Haijia Su State Key Laboratory of Chemical Resource Engineering Beijing Key Laboratory of BioprocessBeijing Advanced Innovation Center for Soft Matter Science and EngineeringBeijing University of Chemical TechnologyBeijing100029China

The genomic scale metabolic networks of the microorganisms can be constructed based on their genome se-quences,functional annotations,and biochemical reactions,reflecting almost all of the metabolic functions.Mathematical simulations of metabolic fluxes could make these functions be visualized,thereby providing guidance for rational engineering design and experimental operations.This review summarized recently devel-oped flux simulation algorithms of microbial systems.For the single microbial systems,the optimal planning algorithm has low complexity because there is no interaction between microorganisms,and it can quickly simulate the stable metabolic states through the pseudo-steady hypothesis.Besides,the experimental conditions of single microbial systems are easier to reach or close to the optimal states of simulation,compared with pol-ymicrobial systems.The polymicrobial culture systems could outcompete the single microbial systems as they could relieve metabolic pressure through metabolic division,resource exchange,and complex substrate co-utilization.Besides,they provide varieties of intracellular production environments,which render them the po-tential to achieve efficient bioproduct synthesis.However,due to the quasi-steady hypothesis that restricts the simulation of the dynamic processes of microbial interactions and the algorithm complexity,there are few re-searches on simulation algorithms of polymicrobial metabolic fluxes.Therefore,this review also analyzed and combed the microbial interactions based on the commonly used hypothesis of maximizing growth rates,and studied the strategies of coupling interactions with optimal planning simulations for metabolism.Finally,this review provided new insights into the genomic scale metabolic flux simulations of polymicrobial systems.

关键词： Optimal planning algorithm Metabolic flux simulation Microbial system Interaction