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Crawling gait realization of the mini-modular climbing caterpillar robot

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Progress in Natural Science:Materials International 2009年第12期19卷 1821-1829页

作者： Wei Wang~(a,*),Kun Wang~a,Houxiang zhang~b a Robotics Institute,School of Mechanical engineering and automation,Beihang university,Beijing 100083,china b TAMS,department of Computer Science,university of Hamburg,Vogt-Koelln-Strasse 30,Hamburg 22527,Germany [a]Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100083 China [b]TAMS Department of Computer Science University of Hamburg Vogt-Koelln-Strasse 30 Hamburg 22527 Germany

The concept of a modular climbing caterpillar robot is inspired by the kinematics of real *** typical kinematics models and gaits are investigated based on the crawling motion of the inchworm and the tobacco *** to the fixed constraints between the suckers and the wall,the gait of a caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain,and then to an open chain in *** the open chain periods,an unsymmetrical phase method(UPM) is used to ensure the reliable attachment of the passive suckers to the *** the closed-chain state,a four-link kinematics model is adopted to fulfill the fixed *** combining the two methods together,the complete joint control trajectories are acquired for a modular caterpillar robot with seven *** last,on-site tests confirm the proposed principles and the validity of the climbing gait.

关键词： Climbing robot Modular Biologically inspired Gait

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惰性气体在LIBS中的辅助测量研究

光谱学与光谱分析 2024年第3期44卷 601-609页

作者：许杰谷懿宋宝林葛良全张庆贤杨文佳成都理工大学核技术与自动化工程学院四川成都610059 成都理工大学地学核技术重点实验室四川成都610059 中广核工程有限公司广东深圳518124 四川省安全科学技术研究院综合所四川成都610041

激光诱导击穿光谱(LIBS)是一种发射光谱分析技术,因其实时、多元素、无损、远程等优势,在分析高危环境和重要文物等方面具有极大潜力。目前,LIBS测量技术仍受实验设备,测量环境等因素影响,其中,气氛环境对LIBS测量的影响尤为显著。惰性... 详细信息

激光诱导击穿光谱(LIBS)是一种发射光谱分析技术,因其实时、多元素、无损、远程等优势,在分析高危环境和重要文物等方面具有极大潜力。目前,LIBS测量技术仍受实验设备,测量环境等因素影响,其中,气氛环境对LIBS测量的影响尤为显著。惰性气体因其优秀的物理性质(比热容,导电率,稳定的化学性质,较大的相对分子质量等)有利于辅助LIBS测量,增强光谱信号,提高检测下限,在激光诱导击穿光谱测量中的应用愈发频繁。因此,在详细调研了惰性气体于LIBS测量过程中的应用基础上,解析了其对光谱信号的影响因素,如很低的化学活性有效降低了空气中其他气体(氧气,氮气等)对光谱信号的吸收湮灭、较大的原子体积限制了等离子体向外扩张,使得单位体积内的温度大幅度上升、丰富的核外电子使产生的等离子体中自由电子大幅度上升,提高了电子密度、亚稳态的存在促使惰性气体对待测样品的延迟激发,辅助激发某些较轻元素并大幅度增加等离子体寿命、能量传递更能特定增强某些特殊能级的发射谱线,获得更高的增强因子、还分析了氡气通过衰变对发射谱线的影响,惰性气体的发射谱线也可用于计算样品的等离子体温度和电子密度等,对LIBS的辅助测量有重要影响。列举了亚稳态在LIBS测量中的应用和惰性气体在不同测量对象中对谱线信号的增强因子。分析比较了不同惰性气体在信号增强,烧蚀质量,时间演化方面的差异,结果表明,氦气相比其他惰性气体较为特殊,归结于其特殊的物理性质和核外结构,而其他气体随着周期数的增加,信号增强因子逐渐增加而烧蚀质量却逐渐减小,等离子的时间演化也逐渐变长,为LIBS测量中选择合适的惰性气体提供理论支持和参考。

关键词：光谱测量原子发射光谱分析法惰性气体综述

Assistive robots for Beijing Winter Paralympic torch relay: Accessible technologies to restore human functionality

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The Innovation 2024年第1期5卷 19-20页

作者： Bi zhang Mei Shuai Bicheng Han Shuo Li Lianqing Liu Xingang Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationCASShenyang 110016China Institutes for Robotics and Intelligent Manufacturing CASShenyang 110169China department of Biomedical engineering Beihang UniversityBeijing 100191China Beijing AI-Robotics Technology Co. Ltd.Beijing 100176China Zhejiang BrainCo Technology Co. Ltd.Hangzhou 311121China

The success of the Beijing Winter Olympics and Paralympics epitomized the vision of a community with a shared future for *** robots and artificial intelligence technologies were used in various games and events,such as assisting in parades,logistics,and security *** integration of unmanned robotic systems into torch relays was one of the highlights of the Winter Olympics.

关键词： Winter Access artificial

The Design and Discuss of the Traffic and Road Management Information System

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Systems Science and Systems engineering 1998年第4期8卷 457-461页

作者： zhang Hao LIU Yongqing(automation department, South china university of Technology,Guangzhou, 510641 P.R.china)

In this paper, coupled with the developing and designing of the Traffic and Road Management information System, the character and framework of Management information System(MIS) arediscussed. The design and realization of MIS under Client/Server construction are brought up. A neweffective developing method of MIS is given. At last the advantage of developing Database applicationsystem by means of PowerBuilder 5.0 as tool software is put forward.

关键词： MIS Client/Server PowerBuilder Database

The Immense Impact of Reverse Edges on Large Hierarchical Networks

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engineering 2024年第5期36卷 240-249页

作者： Haosen Cao Bin-Bin Hu Xiaoyu Mo Duxin Chen Jianxi Gao Ye Yuan Guanrong Chen Tamás Vicsek Xiaohong Guan Hai-Tao zhang MOE engineering Research Center of Autonomous Intelligent Unmanned Systems State Key Laboratory of Intelligent Manufacturing Equipment and TechnologySchool of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China School of Mechanical and Aerospace engineering Nanyang Technological UniversitySingapore 639798Singapore Jiangsu Key Laboratory of Networked Collective Intelligence School of MathematicsSoutheast UniversityNanjing 210096China department of Computer Science Rensselaer Polytechnic InstituteTroyNY 12180USA department of Electronic engineering City University of Hong KongHong Kong 999077China department of Biological Physics Eötvös UniversityBudapest 1117Hungary MOE Key Laboratory for Intelligent Networks and Network Security School of Automation Science and EngineeringXi’an Jiaotong UniversityXi’an 710049China

Hierarchical networks are frequently encountered in animal groups,gene networks,and artificial engineering systems such as multiple robots,unmanned vehicle systems,smart grids,wind farm networks,and so *** structure of a large directed hierarchical network is often strongly influenced by reverse edges from lower-to higher-level nodes,such as lagging birds’howl in a flock or the opinions of lowerlevel individuals feeding back to higher-level ones in a social *** study reveals that,for most large-scale real hierarchical networks,the majority of the reverse edges do not affect the synchronization process of the entire network;the synchronization process is influenced only by a small part of these reverse edges along specific *** surprisingly,a single effective reverse edge can slow down the synchronization of a huge hierarchical network by over 60%.The effect of such edges depends not on the network size but only on the average in-degree of the involved *** overwhelming majority of active reverse edges turn out to have some kind of“bunching”effect on the information flows of hierarchical networks,which slows down synchronization *** finding refines the current understanding of the role of reverse edges in many natural,social,and engineering hierarchical networks,which might be beneficial for precisely tuning the synchronization rhythms of these *** study also proposes an effective way to attack a hierarchical network by adding a malicious reverse edge to it and provides some guidance for protecting a network by screening out the specific small proportion of vulnerable nodes.

关键词： Synchronizability Large hierarchical networks Reverse edges Information flows Complex networks

Recent advances in photochemistry for positron emission tomography imaging

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Chinese Chemical Letters 2024年第8期35卷 149-162页

作者： Jing-Jing zhang Lujun Lou Rui Lv Jiahui Chen Yinlong Li Guangwei Wu Lingchao Cai Steven H.Liang Zhen Chen Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources Jiangsu Provincial Key Lab for the Chemistry and Utilization of Agro-Forest BiomassJiangsu Key Lab of Biomass-Based Green Fuels and ChemicalsInternational Innovation Center for Forest Chemicals and MaterialsCollege of Chemical EngineeringNanjing Forestry UniversityNanjing 210037China department of Radiology and Imaging Sciences Emory UniversityAtlantaGA 30322United States

As a powerful noninvasive imaging technology,positron emission tomography(PET)has been playing an important role in disease theranostics and drug *** successful application of PET relies on not only the biological properties of PET tracers but also the availability of facile and efficient radiochemical reactions to enable practical production and widespread use of PET *** recently,photochemistry is emerging as a novel,mild and efficient approach to generating PET *** this review,we focus on the recent advances in newly developed photocatalytic radiochemical reactions,innovation on automated photochemical radiosynthesis modules,as well as implementation in late-stage radiolabeling and radio-pharmaceutical synthesis for PET *** believe that this review will inspire the development of more promising radiolabeling protocols for the preparation of clinically useful PET agents.

关键词： Positron emission tomography(PET) Fluorine-18 Carbon-11 Photocatalysis automation Late-stage functionalization

Brain-inspired artificial intelligence research: A review

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Science china(Technological Sciences) 2024年第8期67卷 2282-2296页

作者： WANG GuoYin BAO HuaNan LIU Qun ZHOU TianGang WU Si HUANG TieJun YU ZhaoFei LU CeWu GONG YiHong zhang ZhaoXiang HE Sheng Chongqing Key Laboratory of Computational Intelligence Chongqing University of Posts and TelecommunicationsChongqing 400065China Key Laboratory of Cyberspace Big Data Intelligent Security Chongqing University of Posts and TelecommunicationsChongqing 400065China College of Computer and Information Science Chongqing Normal UniversityChongqing 401331China State Key Laboratory of Brain and Cognitive Science Institute of BiophysicsChinese Academy of SciencesBeijing 100101China School of Psychological and Cognitive Sciences Peking UniversityBeijing 100871China State Key Laboratory of Multimedia Information Processing School of Computer SciencePeking UniversityBeijing 100871China department of Computer Science School of ElectronicsInformation and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Faculty of Electronic and Information engineering Xi’an Jiaotong UniversityXi’an 710049China The Center for Research on Intelligent Perception and Computing Institute of AutomationChinese Academy of SciencesBeijing 100190China Institute of Biophysics Chinese Academy of SciencesBeijing 100101China

Artificial intelligence(AI) systems surpass certain human intelligence abilities in a statistical sense as a whole, but are not yet the true realization of these human intelligence abilities and behaviors. There are differences, and even contradictions, between the cognition and behavior of AI systems and humans. With the goal of achieving general AI, this study contains a review of the role of cognitive science in inspiring the development of the three mainstream academic branches of AI based on the three-layer framework proposed by David Marr, and the limitations of the current development of AI are explored and analyzed. The differences and inconsistencies between the cognition mechanisms of the human brain and the computation mechanisms of AI systems are analyzed. They are found to be the cause of the differences and contradictions between the cognition and behavior of AI systems and humans. Additionally, eight important research directions and their scientific issues that need to focus on braininspired AI research are proposed: highly imitated bionic information processing, a large-scale deep learning model that balances structure and function, multi-granularity joint problem solving bidirectionally driven by data and knowledge, AI models that simulate specific brain structures, a collaborative processing mechanism with the physical separation of perceptual processing and interpretive analysis, embodied intelligence that integrates the brain cognitive mechanism and AI computation mechanisms,intelligence simulation from individual intelligence to group intelligence(social intelligence), and AI-assisted brain cognitive intelligence.

关键词： artificial intelligence cognitive science brain science intelligence science large language model

GRIN2A基因变异所致癫痫失语疾病谱临床表型及基因型分析

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中华神经科杂志 2024年第2期57卷 123-132页

作者：马昂梅道启张耀东梅世月王媛马远宁郭建梅张文乾段勇涛郑州大学附属儿童医院、河南省儿童医院、郑州儿童医院东区儿内科郑州450018 郑州大学附属儿童医院、河南省儿童医院、郑州儿童医院东区神经内科郑州450018 郑州大学附属儿童医院、河南省儿童遗传代谢性疾病重点实验室、河南省儿童神经发育工程研究中心、郑州市儿童疾病斑马鱼模型构建及药物筛选工程研究中心郑州450018

目的探讨经二代测序确诊的GRIN2A基因变异所致癫痫失语疾病谱患儿的临床表型特征及基因变异特点。方法回顾性分析2019年2月至2022年11月郑州大学附属儿童医院神经内科确诊的5例以癫痫起病的癫痫失语疾病谱患儿的临床资料,采用二代测序... 详细信息

目的探讨经二代测序确诊的GRIN2A基因变异所致癫痫失语疾病谱患儿的临床表型特征及基因变异特点。方法回顾性分析2019年2月至2022年11月郑州大学附属儿童医院神经内科确诊的5例以癫痫起病的癫痫失语疾病谱患儿的临床资料,采用二代测序方法对先证者进行全外显子基因组测序,证实5例均为GRIN2A基因变异患儿,并通过一代Sanger测序对家系成员进行验证以确认变异来源,对GRIN2A基因变异特点进行分析。结果5例确诊为GRIN2A基因变异所致癫痫失语疾病谱的患儿中,男女比例为4∶1,起病年龄范围为1.5~4.4岁。临床表型均有癫痫发作,4例有语言及智能发育落后;3例共患有注意力缺陷多动障碍;癫痫发作表现为局灶性发作或继发全面性发作;应用抗癫痫药物均得到有效控制。5例患儿中例1的基因变异源于父亲杂合变异,例2~5均为新发变异,分别为c.2107C>T(***703*)无义变异、c.2284G>A(***762Arg)错义变异、c.2197del(***733Glnfs*3)移码变异、c.2511G>A(***837*)无义变异、c.1651+1G>C剪切位点变异。经查阅文献,5例的基因变异位点均未见相关报道。结论癫痫失语疾病谱是一种起病复杂的癫痫综合征,不同基因变异位点可能有不同表型,发作形式以局灶性发作为主,部分可继发全面性发作,应用抗癫痫药物能够有效控制发作。GRIN2A基因变异为癫痫失语疾病谱的遗传学病因。

关键词： GRIN2A基因癫痫癫痫失语疾病谱新发变异

Social Energy:Mining Energy From the Society

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 466-482页

作者： Jun Jason zhang David wenzhong Gao Yingchen zhang Xiao Wang Xiangyang Zhao Dongliang Duan Xiaoxiao Dai Jun Hao Fei-Yue Wang department of Electrical and Computer engineering Ritchie School of Engineering and Computer ScienceUniversity of Denver IEEE National Renewable Energy Laboratory Qingdao Academy of Intelligent Industries(QAII) QingdaoShandongChinaand SKL-MCCSCASIA School of automation Science and Electrical engineering Beihang University department of Electrical and Computer engineering College of Engineering and Applied ScienceUniversity of Wyoming State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences(SKL-MCCSCASIA) Research Center of Computational Experiments and Parallel Systems National University of Defense Technology

The inherent nature of energy,i.e.,physicality,sociality and informatization,implies the inevitable and intensive interaction between energy systems and social *** this perspective,we define "social energy" as a complex sociotechnical system of energy systems,social systems and the derived artificial virtual systems which characterize the intense intersystem and intra-system *** recent advancement in intelligent technology,including artificial intelligence and machine learning technologies,sensing and communication in Internet of Things technologies,and massive high performance computing and extreme-scale data analytics technologies,enables the possibility of substantial advancement in socio-technical system optimization,scheduling,control and *** this paper,we provide a discussion on the nature of energy,and then propose the concept and intention of social energy systems for electrical power.A general methodology of establishing and investigating social energy is proposed,which is based on the ACP approach,i.e., "artificial systems"(A), "computational experiments"(C) and "parallel execution"(P),and parallel system methodology.A case study on the university of Denver(DU) campus grid is provided and studied to demonstrate the social energy *** the concluding remarks,we discuss the technical pathway,in both social and nature sciences,to social energy,and our vision on its future.

关键词： ACP distribution locational marginal pricing intelligent operation in power systems parallel control parallel intelligence parallel management social energy socio-technical energy systems