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

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 *** cooperations of multiple brain regions are crucial to improving motion *** 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 *** 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 *** network parameters are updated using the soft actor-critic *** 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 *** learning method is proven to converge to the optimal ***,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 *** bio-inspired integration model is validated on a musculoskeletal *** 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.

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Reliability Analysis of Reinforcement Based on GM(1,1)-Markov Semi-immersion Test

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Journal of Wuhan University of Technology(Materials Science) 2024年第5期39卷 1177-1187页

作者： fu Yong qiao Hongxia HAKUZWEYEZU Theogene School of Civil Engineering Lanzhou University of TechnologyLanzhou 730050China Gansu Advanced Civil Engineering Materials Engineering Research Center Lanzhou 730050China State Key Laboratory of Geomechanics and Geotechnical Enginering Institute of Rock and Soil MechanicsChinese Academy of SciencesWuhan 430071China Civil Engineering Department University of Chinese Academy of SciencesBeijing 100049China

To investigate the corrosion degradation law and service life of reinforced concrete in various salt solution environments,reinforced concrete specimens were semi-immersed in 3%Na_(2)CO_(3)(N3-0-0),3%Na_(2)CO_(3)+3%NaCl(N3-Cl3-0)and 3%Na_(2)CO_(3)+3%NaCl+3%Na_(2)SO_(4)(N3-Cl3-S3)salt *** electrochemical workstation was used for regular non-destructive testing,and the polarization curve and related electrochemical parameters were used as the macroscopic durability evaluation indicators,while microscopic analysis of steel bar corrosion products was performed in combination with SEM and *** addition,the corrosion current density degradation model of GM(1,1)was established and compared with the modified GM(1,1)-Markov degradation *** results showed that the prediction error of the GM(1,1)-Markov model was smaller and more accurate than that of GM(1,1).The reinforced concrete specimens in the N3-0-0,N3-Cl3-0 and N3-Cl3-S3 solutions reached the failure state in 3.08,1.67,and 2.30 years,respectively,as predicted by the GM(1,1)-Markov *** to ESM and EDS microscopic analysis of reinforcement,carbonate had no significant effect on reinforcement corrosion,chloride ions played a dominant role in reinforcement corrosion,and sulfate ion improved concrete's resistance to chloride ion *** on GM(1,1)-Markov model,the failure and damage of reinforced concrete in saline soil areas can be quantitatively evaluated in the whole life cycle,which provides a theoretical basis for the early maintenance or reinforcing of reinforced concrete.

关键词： salt solution semi-immersion corrosion current density GM(1,1)-Markov

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Understanding and improving Yangtze River Basin summer precipitation prediction using an optimal multi-Physics ensemble

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Frontiers of Earth Science 2024年第1期18卷 256-277页

作者： Yang ZHAO Fengxue qiao Xin-zhong LIANG Jinhua YU Climate Environment and Sustainability CenterNanjing University of Information Science and TechnologyNanjing 210044China Key Laboratory of Geographic Information Science(Ministry of Education) East China Normal UniversityShanghai 200241China School of Geographic Sciences East China Normal UniversityShanghai 200241China Department of Atmospheric and Oceanic Science University of MarylandCollege Park MD 20740USA Earth System Science Interdisciplinary Center University of MarylandCollege Park MD 20740USA Key Laboratory of Meteorological Disaster(KLME)(Ministry of Education)/Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters(CIC-FEMD) Nanjing University of Information Science and TechnologyNanjing 210044China

This study employs the regional Climate-Weather Research and Forecasting model(CWRF)to first investigate the primary physical mechanisms causing biases in simulating summer precipitation over the Yangtze River Basin(YRB),and then enhance its predictive ability through an optimal multi-physics ensemble *** CWRF 30-km simulations in China are compared among 28 combinations of varying physics parameterizations during 1980−***-term average summer biases in YRB precipitation are remotely correlated with those of large-scale *** teleconnections of biases are highly consistent with the observed correlation patterns between interannual variations of precipitation and circulations,despite minor shifts in their primary action *** YRB precipitation aligns with a southward shifted East Asian westerly jet,an intensified low-level southerly flow south of YRB,and a south-eastward shifted South Asian high,alongside higher moisture availability over ***,decreased YRB precipitation corresponds to an opposite circulation *** CWRF control configuration using the ensemble cumulus parameterization(ECP),compared to other cumulus schemes,best captures the observed YRB precipitation characteristics and associated circulation *** ECP with the Morrison or Morrison-aerosol microphysics and the CCCMA or CAML radiation schemes enhances the overall CWRF *** to the control CWRF,the ensemble average of these skill-enhanced physics configurations more accurately reproduces YRB summer precipitation’s spatial distributions,interannual anomalies,and associated circulation *** Bayesian Joint Probability calibration to these configurations improves the ensemble’s spatial distributions but compromises its interannual anomalies and teleconnection *** findings highlight substantial potential for refining the representation of climate system physics to improve YRB precipitation *** is notabl

关键词： physics parameterization regional climate model downscaling skill enhancement multi-physics ensemble teleconnection bias reduction

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Cryptic diversity and rampant hybridization in annual gentians on the Qinghai-Tibet Plateau revealed by population genomic analysis

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Plant Diversity 2024年第2期46卷 194-205页

作者： Peng-Cheng fu qiao-qiao Guo Di Chang Qing-Bo Gao Shan-Shan Sun School of Life Science Luoyang Normal UniversityLuoyang 471934PR China Key Laboratory of Adaptation and Evolution of Plateau Biota Northwest Institute of Plateau BiologyChinese Academy of SciencesXining 810001PR China

Understanding the evolutionary and ecological processes involved in population differentiation and speciation provides critical insights into biodiversity formation. In this study, we employed 29,865 single nucleotide polymorphisms(SNPs) and complete plastomes to examine genomic divergence and hybridization in Gentiana aristata, which is endemic to the Qinghai-Tibet Plateau(QTP) region. Genetic clustering revealed that G. aristata is characterized by geographic genetic structures with five clusters(West, East, Central, South and North). The West cluster has a specific morphological character(i.e., blue corolla) and higher values of FSTcompared to the remaining clusters, likely the result of the geological barrier formed by the Yangtze River. The West cluster diverged from the other clusters in the Early Pliocene;these remaining clusters diverged from one another in the Early Quaternary. Phylogenetic reconstructions based on SNPs and plastid data revealed substantial cyto-nuclear conflicts. Genetic clustering and D-statistics demonstrated rampant hybridization between the Central and North clusters,along the Bayankala Mountains, which form the geological barrier between the Central and North clusters. Species distribution modeling demonstrated the range of G. aristata expanded since the Last Interglacial period. Our findings provide genetic and morphological evidence of cryptic diversity in G. aristata, and identified rampant hybridization between genetic clusters along a geological *** findings suggest that geological barriers and climatic fluctuations have an important role in triggering diversification as well as hybridization, indicating that cryptic diversity and hybridization are essential factors in biodiversity formation within the QTP region.

关键词： Gentiana aristata Hybrid zone Qinghai-Tibet Plateau Plastome Nuclear SNPs

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An approach for formation design and flight performance prediction based on aerodynamic formation unit:Energy-saving considerations

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Chinese Journal of Aeronautics 2024年第3期37卷 77-91页

作者： Nanxuan qiao Tielin MA Xiangsheng WANG Jie WANG Jingcheng fu Pu XUE School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China Institute of Unmanned System Beihang UniversityBeijing 100191China Key Laboratory of Advanced Technology of Intelligent Unmanned Flight System Ministry of Industry and Information TechnologyBeijing 100191China School of Transportation Science and Engineering Beihang UniversityBeijing 102206China Beijing Institute of Space Long March Vehicle Beijing 100076China

The performance improvement of swarm drones through aerodynamic shape optimization may be challenging due to folded size constraints imposed by the specific launch ***,fixed-wing aircraft swarms can benefit from formation flight in terms of energy *** study introduces the concept of the"aerodynamic formation unit",which consists of two or three aircraft that form an inseparable unit of the *** the Unmanned Aerial Vehicle(UAV)distribution and wingtip vortex interference in the formation,two typical aerodynamic formation units are optimized by the variable-fidelity aerodynamic optimization method based on space *** aerodynamic characteristics of the formation UAVs that affect flight performance,such as lift-to-drag ratio(L/D ratio)and static stability are analyzed by Computational Fluid Dynamics(CFD)*** L/D ratio(cruising condition)of the following aircraft can be increased by 22.8%and 57.5%in the optimal units that involve two and three aircraft ***,this study conducts several CFD simulations for multi-aircraft formations formed by the units,which show that the average L/D ratio of the formation can be improved by more than 19%.These results verify the feasibility and effectiveness of the"aerodynamic formation unit"concept and the optimization framework for formation parameters.

关键词： Formation flight CFD Aerodynamic formation unit Wingtip vortices Foldable tandem-wing aircraft

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Freestanding MoSe_(2)nanoflowers for superior Li/Na storage properties

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Tungsten 2024年第1期6卷 238-247页

作者： qiao Cu Chao-Qun Shang Guo-fu Zhou Xin Wang Guangdong Provincial Key Laboratory of Optical Information Materials South China Normal UniversityGuangzhou 510006China School of Materials Science and Engineering and Hubei Key Laboratory of Plasma Chemistry and Advanced Materials Wuhan Institute of TechnologyWuhan 430205China International Academy of Optoelectronics at Zhaoqing South China Normal UniversityZhaoqing 526060China

MoSe_(2),with high theoretical specific capacity,has attracted a lot of *** remains an open challenge to effectively suppress the irreversible selenium dissolution and rapid capacity decrease induced by severe volume change during ***,we synthesize MoSe_(2)nanoflowers dispersed on one-dimensional(1D)N-doped carbon nanofibers(MoSe_(2)@NCNFs)for use as a freestanding *** this unique structure,the 1D N-doped carbon nanofibers are found to not only enhance the conductivity but also ensure the structural integrity during the Li^(+)/Na^(+)insertion/destraction *** expected,at 2 A·g^(-1),the specific capacity of the MoSe_(2)@NCNFs is maintained at 180 mAh·g^(-1)after 500 cycles when used in lithium storage ***,in the case of sodium storage,at 1 A·g^(-1),the MoSe_(2)@NCNFs shows a capacity of 122mAh·g^(-1)after 500 *** findings suggest that the MoSe_(2)@NCNF electrodes may be a promising candidate for use in reversible Li/Na storage applications.

关键词： Li/Na storage Freestanding electrode MoSe_(2) Electrochemical reaction kinetics Structural integrity

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Dynamics of the spatiotemporal velocity of glaciers on the eastern slope of Mount Gongga,China,under climate change

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Advances in Climate Change Research 2024年第3期15卷 490-499页

作者： Yin fu Bo ZHANG qiao LIU Guo-Xiang LIU Rui ZHANG Institute of Mountain Hazards and Environment Chinese Academy of SciencesChengdu 610299China Faculty of Geosciences and Environmental Engineering Southwest Jiaotong UniversityChengdu 611756China

The quantitative assessment of glacier flow velocity dynamics plays a pivotal role in understanding its response mechanisms concerning climate *** work provides a systematic quantitative assessment of the deceleration status of glaciers in this region by investigating the motion evolution of typical glaciers in Mount Gongga in recent years,thereby revealing the seasonal dynamics and inter-annual evolution over an extensive time *** used the optical flow-small baseline subset(OF-SBAS)method to compute the time-series velocities of the Hai-luogou Glacier and the Mozigou Glacier using 178 archived Sentinel-1 satellite synthetic aperture radar(SAR)images from 2014 to *** findings revealed a prominent seasonal pattern in glacier motion,characterised by cyclic variations in velocity from cold to warm ***,we identified variations in velocities across distinct regions of the glacier surface,underscored by the lag in the peak time node of glacier flow with increasing *** pattern may have been determined by a combination of internal and external factors,including mass accumulation and ablation-driven subglacial drainage,as well as the glacier geomorphological ***,during 2015-2021,the glaciers on the eastern slope of Mount Gongga exhibited an overarching trend of ***,the ablation area of the Hailuogou Glacier recorded the most substantial deceleration,exceeding 8%per *** study underscores the efficacy of the OF-SBAS method in extracting long-term glacier *** work also establishes a robust foundation for the analysis of spatiotemporal fluctuations in glacier movement within the context of climate warming.

关键词： Monsoonal temperate glaciers Synthetic aperture radar(SAR) Glacier movement Hailuogou glacier Mozigou glacier Optical flow-small baseline subset(OF-SBAS)

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First-principles study on the heterogeneous formation of environmentally persistent free radicals(EPFRs)overα-Fe2O3(0001)surface:Effect of oxygen vacancy

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Journal of Environmental Sciences 2024年第8期142卷 279-289页

作者： Wenxiao Pan Shuming He qiao Xue Xian Liu Jianjie fu Kang Xiao Aiqian Zhang State Key Laboratory of Environmental Chemistry and Ecotoxicology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China School of Environment Hangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesHangzhou 310012China College of Resources and Environment University of Chinese Academy of SciencesBeijing 100049China Beijing Yanshan Earth Critical Zone National Research Station University of Chinese Academy of SciencesBeijing 101408China

Metal oxides with oxygen vacancies have a significant impact on catalytic activity for the transformation of organic pollutants in waste-to-energy(WtE)incineration *** study aims to investigate the influence of hematite surface oxygen point defects on the formation of environmentally persistent free radicals(EPFRs)from phenolic compounds based on the first-principles *** oxygen-deficient conditions were considered:oxygen vacancies at the top surface and on the *** simulations indicate that the adsorption strength of phenol on theα-Fe_(2)O_(3)(0001)surface is enhanced by the presence of oxygen ***,the presence of oxygen vacancies has a negative impact on the dissociation of the phenol molecule,particularly for the surface with a defective point at the top ***-kinetic parameters were established over a temperature range of300-1000 K,and lower reaction rate constants were observed for the scission of phenolic O-H bonds over the oxygen-deficient surfaces compared to the pristine *** negative effects caused by the oxygen-deficient conditions could be attributed to the local reduction of FeⅢto FeⅡ,which lower the oxidizing ability of surface reaction *** findings of this study provide us a promising approach to regulate the formation of EPFRs.

关键词： EPFR formation Phenol dissociation Oxygen-vacancy impact Hematite surface First-principles calculation

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An Intelligent Framework for Resilience Recovery of FANETs with Spatio-Temporal Aggregation and Multi-Head Attention Mechanism

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Computers, Materials & Continua 2024年第5期79卷 2375-2398页

作者： Zhijun Guo Yun Sun YingWang Chaoqi fu Jilong zhong Air Traffic Control and Navigation College Air Force Engineering UniversityXi’an710000China Institute of Systems Engineering Academy of Military ScienceBeijing100101China Equipment Management and UAV Engineering College Air Force Engineering UniversityXi’an710038China Defense Innovation Institute Academy of Military ScienceBeijing100071China

Due to the time-varying topology and possible disturbances in a conflict environment,it is still challenging to maintain the mission performance of flying Ad hoc networks(FANET),which limits the application of Unmanned Aerial Vehicle(UAV)swarms in harsh *** paper proposes an intelligent framework to quickly recover the cooperative coveragemission by aggregating the historical spatio-temporal network with the attention *** mission resilience metric is introduced in conjunction with connectivity and coverage status information to simplify the optimization model.A spatio-temporal node pooling method is proposed to ensure all node location features can be updated after destruction by capturing the temporal network *** with the corresponding Laplacian matrix as the hyperparameter,a recovery algorithm based on the multi-head attention graph network is designed to achieve rapid *** results showed that the proposed framework can facilitate rapid recovery of the connectivity and coverage more effectively compared to the existing *** results demonstrate that the average connectivity and coverage results is improved by 17.92%and 16.96%,respectively compared with the state-of-the-art ***,by the ablation study,the contributions of each different improvement are *** proposed model can be used to support resilient network design for real-time mission execution.

关键词： Resilience cooperative mission FANET spatio-temporal node pooling multi-head attention graph network

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Immune checkpoint inhibitor-associated gastritis:Patterns and management

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World Journal of Gastroenterology 2024年第14期30卷 1941-1948页

作者： Jing Lin zhong-qiao Lin Shi-Cheng Zheng Yu Chen Department of Medical Oncology Clinical Oncology School of Fujian Medical UniversityFujian Cancer HospitalFuzhou 350000Fujian ProvinceChina Phase I Clinical Trial Ward Clinical Oncology School of Fujian Medical UniversityFujian Cancer HospitalFuzhou 350000Fujian ProvinceChina School of Basic Medical Sciences Fujian Medical UniversityFuzhou 350000Fujian ProvinceChina

Immune checkpoint inhibitors(ICIs)are widely used due to their effectiveness in treating various ***-related adverse events(irAEs)are defined as adverse effects resulting from ICI *** irAEs are a common type of irAEs characterized by intestinal side effects,such as diarrhea and colitis,which may lead to the cessation of *** irAE gastritis is rarely reported,it may lead to serious complications such as ***,irAE gastritis is often difficult to identify early due to its diverse *** steroid hormones and immunosuppressants are commonly used to reverse irAEs,the best regimen and dosage for irAE gastritis remains *** addition,the risk of recurrence of irAE gastritis after the reuse of ICIs should be *** this editorial,strategies such as early identification,pathological diagnosis,mana-gement interventions,and immunotherapy rechallenge are discussed to enable clinicians to better manage irAE gastritis and improve the prognosis of these patients.

关键词： Immunotherapy Immune checkpoint inhibitor Immune-related adverse events Immune checkpoint inhibitor-related gastritis

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