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A Learning-based Control Framework for Fast and Accurate Manipulation of a Flexible Object

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Journal of Bionic Engineering 2024年第4期21卷 1761-1774页

作者： Junyi Wang Xiaofeng Xiong Silvia Tolu Stanislav n.Gorb department of Electrical and Photonics Engineering Technical University of DenmarkAnker Engelunds Vej 101Kongens LyngbyZealand2800Denmark SdU Biorobotics Mærsk Mc-Kinney Møller InstituteUniversity of Southern Denmark(SDU)Campusvej 55Odense MFunen5230Denmark department Functional Morphology and Biomechanics Zoological InstituteUniversity of KielAm Botanischen Garten 1–9D-24118KielSchleswig-HolsteinGermany

This paper presents a learning-based control framework for fast(3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed *** ad... 详细信息

This paper presents a learning-based control framework for fast(nd accurate manipulation of a flexible object,i.e.,whip *** framework consists of a motion planner learned or optimized by an algorithm,Online Impedance Adaptation Control(OIAC),a sim2real mechanism,and a visual feedback *** experimental results show that a soft actor-critic algorithm outperforms three deep Reinforcement Learning(dRL),a nonlinear optimization,and a genetic algorithm in learning generalization of motion *** can greatly reduce average learning trials(tond maximize average rewards(to>3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed *** addition,the trajectory similarity between simulated and physical whips is *** presented framework provides a new method integrating data-driven and physics-based algorithms for controlling fast and accurate arm manipulation of a flexible object.

关键词： deep reinforcement learning deformable object manipulation Variable impedance control Sim2real Visual tracking

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Genes & diseases 2024年第3期11卷 66-68页

作者： Aswathi n Jincy M.Jose Sreelata B.nair Prabha S.n Pappachan S department of Medical Genetics Lifeline Super Specialty HospitalPathanamthittaKerala 691523India Lifeline Super Specialty Hospital PathanamthittaKerala 691523India

Alagille syndrome(ALGS;OMIM#118450)is a highlyvariable,multi-systemic,autosomal dominant disorder,caused by mutations in the Jagged Canonical notch Ligand 1(JAG1)gene(20p12.2)or in the neurogenic locus notch homolog protein 2(nOTCH2)gene(1p13).^(1)It primarily affects the liver,heart,eyes,face,kidney,skin,vertebrae,and skeleton.^(1,2)The JAG1 gene has 26 exons and about 90%of the ALGS cases result from pathogenic variants in the JAG1 and around 7%of cases have deletions in chromosome 20 that include this gene.

关键词： JAG1 cases notch

Two-dimensional magnetic materials for spintronic applications

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nano Research 2024年第2期17卷 743-762页

作者： Shivam n.Kajale Jad Hanna Kyuho Jang deblina Sarkar MIT Media Lab Massachusetts Institute of TechnologyCambridgeMA 02139USA department of Information Technology and Electrical Engineering ETH ZürichZürich8092Switzerland

Spintronic devices are driving new paradigms of bio-inspired,energy efficient computation like neuromorphic stochastic computing and in-memory *** have also emerged as key candidates for non-volatile memories for embedded systems as well as alternatives to persistent *** meet the growing demands from such diverse applications,there is need for innovation in materials and device designs which can be scaled and adapted according to the ***-dimensional(2d)magnetic materials address challenges facing bulk magnet systems by offering scalability while maintaining device integrity and allowing efficient control of *** this review,we highlight the progress made in experimental studies on 2d magnetic materials towards their integration into spintronic *** provide an account of the various relevant material discoveries,demonstrations of current and voltage-based control of magnetism and reported device systems,while also discussing the challenges and opportunities towards integration of 2d magnetic materials in commercial spintronic devices.

关键词： spintronics van der Waals magnetic tunnel junction(MTJ) spin-orbit torque magnetism

Integrative Analysis of Transcriptome and Phenolic Compounds Profile Provides Insights into the Quality of Soursop (Annona muricata L.) Fruit

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Phyton-International Journal of Experimental Botany 2024年第7期93卷 1717-1732页

作者： Yolotzin Apatzingán Palomino-Hermosillo Ángel Elpidio díaz-Jasso Rosendo Balois-Morales Verónica AlhelíOchoa-Jiménez Pedro Ulises Bautista-Rosales Guillermo Berumen-Varela Unidad de Tecnología de Alimentos-Secretaría de Investigación y Posgrado Universidad Autónoma de Nayarit.Ciudad de la Cultura SNTepic63000NayaritMéxico Programa Académico de Biología Unidad Académica de AgriculturaUniversidad Autónoma de NayaritKm.9.Carretera Tepic-CompostelaXalisco63780NayaritMéxico Estancias Posdoctorales-Consejo nacional de Humanidades Ciencias y TecnologíasCoordinación de Apoyos a Becarios e InvestigadoresDirección de PosgradoCiudad de México03940México

Soursop(Annona muricata L.)is a tropical fruit highly valued for its uniqueﬂavor,nutritional value,and health-promoting *** ripening process of soursop involves complex changes in gene expression and metabo-lite accumulation,which have been studied using various omics *** analysis has provided insights into the regulation of key genes involved in ripening,while metabolic compound analysis has revealed the presence of numerous bioactive compounds with potential health beneﬁ***,the integration of transcrip-tome and metabolite compound data has not been extensively explored in ***,in this paper,we present a comprehensive analysis of the transcriptome and phenolic compound proﬁles of soursop during *** integration analysis showed that the genes and phenolic compounds were mainly involved in the starch and sucrose metabolism pathways during soursop ***,the phenolic compounds Kaempferol 3-Q-galactoside,Procyanidin C1,Procyanidin trimmer C1,and m-Coumaric,as well as the genes Ubiquitin-like protein 5(UBL5_ARATH),ATP-dependent zinc metalloprotease FTSH8(FTSH8_ORYSJ),Zinc transporter 4(ZIP4_AR-ATH),Thioredoxin-like 3-1(TRL31_ORYSJ),Mitogen-activated protein kinase YOdA(YOdA_ARATH),R-man-delonitrile lyase-like(MGL_ARATH),26s protease regulatory subunit 6A homolog(PRS6_SOLLC),Cytochrome P45072A13(C7A13ARATH),Cytochrome P45084A1(C84A1_ARATH)and Homoserine O-trans-acetylase(MET2-ORYSJ)were correlated and differentially accumulated and expressed,*** study provides new insights into the molecular mechanisms underlying soursop ripening and may contribute to the development of strategies for improving the nutritional quality and shelf life of this important fruit.

关键词： Bioinformatics data integration genes metabolites postharvest storage ripening

Effect of cold-working on corrosion induced damage in lug joints

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defence Technology（防务技术） 2024年第6期36卷 175-182页

作者： Ramanath M.n Chikmath L. Murthy H. department of Aerospace Engineering Indian Institute of Technology-MadrasChennai 600036India department of Aeronautical Engineering KLS Gogte Institute of TechnologyBelagavi 590008India

Lug joints are preferred joineries for transferring heavy loads to parent components in aerospace *** experience corrosion due to environmental conditions,improper surface finishes and rubbing displacement between the pin and *** causes damage of different sizes and shapes near the *** degradation due to corrosion-induced damage is modelled as a through-pit at one of the identified critical locations through stress *** effect of this pit on fatigue crack initiation life is ***-hole is pre-stressed by cold-working and the benefits of inducing plastic wake on the intended performance of the lug joint during the damages due to corrosion are brought out and compared with non-cold-worked *** analysis is performed on this lug joint with *** results obtained highlight the benefits of cold-working and the methodology can be extended to damage growth and analyse the effect of surface treatments for better structural integrity of components of aerospace vehicles.

关键词： Lug joint Corrosion Crack initiation Cold-working Structural integrity

Symmetry quantification and segmentation in STEM imaging through Zernike moments

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Chinese Physics B 2024年第8期33卷 39-48页

作者： Jiadong dan Cheng Zhang 赵晓续 n.duane Loh department of Biological Sciences National University of SingaporeSingapore Center for Bioimaging Sciences(CBIS) National University of SingaporeSingapore department of Physics National University of SingaporeSingapore School of Materials Science and Engineering Peking UniversityBeijing 100871China

We present a method using Zernike moments for quantifying rotational and reflectional symmetries in scanning transmission electron microscopy(STEM)images,aimed at improving structural analysis of materials at the atomic *** technique is effective against common imaging noises and is potentially suited for low-dose imaging and identifying quantum *** showcase its utility in the unsupervised segmentation of polytypes in a twisted bilayer TaS_(2),enabling accurate differentiation of structural phases and monitoring transitions caused by electron beam *** approach enhances the analysis of structural variations in crystalline materials,marking a notable advancement in the characterization of structures in materials science.

关键词： scanning transmission electron microscopy(STEM) symmetry segmentation

Improved Leap-frog Method for Time-domain Fault Location

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Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 670-674页

作者： Izudin džafić Rabih A.Jabr Faculty of Electrical Engineering University of SarajevoSarajevo 71000Bosnia and Herzegovina department of Electrical and Computer Engineering American University of BeirutBeirut 11072020Lebanon IEEE

The partial differential equation(PdE)solution of the telegrapher is a promising fault location method among time-domain and model-based *** research works have shown that the leap-frog process is superior to other explicit methods for the PdE ***,its implementation is challenged by determining the initial conditions in time and the boundary conditions in *** letter proposes two implicit solution methods for determining the initial conditions and an analytical way to obtain the boundary conditions founded on the signal *** results show that the proposal gives fault location accuracy superior to the existing leap-frog scheme,particularly in the presence of harmonics.

关键词： Fault location leap-frog partial differential equation time-domain analysis transmission line

The Effect of External Magnetic Field on Electron Scale Kelvin–Helmholtz Instability

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Research in Astronomy and Astrophysics 2024年第9期24卷 236-247页

作者： d.Tsiklauri Joule Physics Laboratory School of ScienceEngineering and EnvironmentUniversity of SalfordManchesterM54WTUK

We use particle-in-cell,fully electromagnetic,plasma kinetic simulation to study the effect of external magnetic field on electron scale Kelvin–Helmholtz instability(ESKHI).The results are applicable to collisionless plasmas when,e.g.,solar wind interacts with planetary magnetospheres or a magnetic field is generated in AGn *** find that as in the case of magnetohydrodynamic(MHd)KHI,in the kinetic regime,the presence of an external magnetic field reduces the growth rate of the *** the MHd case,there is a known threshold magnetic field for KHI stabilization,while for ESKHI this is to be analytically *** a kinetic analytical expression,we use several numerical simulation runs to establish an empirical dependence of ESKHI growth rate,Γ(B_(0))ω_(pe),on the strength of the applied external magnetic *** find the best fit is hyperbolic,Γ(B_(0))ω_(pe)=Γ_(0)ω_(pe)/(A+BB_(0)),where Γ_(0) is the ESKHI growth rate without an external magnetic field and B_(0)=B_(0)/B_(MHd)is the ratio of external and two-fluid MHd stability threshold magnetic field,derived *** analytical theory to back up this growth rate dependence on the external magnetic field is *** results suggest that in astrophysical settings where a strong magnetic field pre-exists,the generation of an additional magnetic field by the ESKHI is suppressed,which implies that nature provides a“safety valve”—natural protection not to“over-generate”magnetic field by the ESKHI ***,we find that our two-fluid MHd threshold magnetic field is the same(up to a factor √γ_(0))as the dC saturation magnetic field,previously predicted by fully kinetic theory.

关键词： instabilities magnetic fields plasmas Sun:heliosphere ISM:magnetic fields

Comparison of mismatch repair and immune checkpoint protein profile with histopathological parameters in pancreatic,periampullary/ampullary,and choledochal adenocarcinomas

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World Journal of Gastrointestinal Oncology 2024年第3期16卷 875-882页

作者： Arzu Hazal Aydın nesrin Turhan department of Pathology Aksaray University Aksaray Training and Research HospitalAksaray 68200Turkey department of Pathology University of Health Sciences Ankara City HospitalAnkara 06800Turkey

BACKGROUnd Pancreatic,periampullary/ampullary,and choledochal adenocarcinomas are aggressive malignancies with a poor *** checkpoint blockade is a promising treatment option for several tumor types.H long terminal repeatassociating 2(HHLA2),which is analogous to programmed death-ligand 1(PdL1),is a recently discovered member of the B7/cluster of differentiation 28 family and is expressed in many *** To analyze the expression of HHLA2 and its association with the pathologic biomarkers that predict sensitivity to *** ninety-two adenocarcinoma cases located in the pancreas,ampulla,and distal common bile duct were *** study assessed 106 pancreaticoduodenectomy and distal/total pancreatectomy samples that were delivered to Ankara City Hospital between 2019 and *** was conducted to examine the expression of dnA mismatch repair(MMR),Pd-L1,and HHLA2 *** Patients with high HHLA2 expression had a higher mean age than those with low *** HHLA2 expression was associated with high perineural ***2 expression was low in pathological stage T3(pT)3 cases and high in pathological stage T1,T2,and T4 *** was no correlation between HHLA2 expression and the expression of MMR proteins and *** Evaluation of HHLA2 expression in microsatellite stable and Pd-L1-negative tumors may be useful for predicting the response of individuals to immunotherapy and may serve as a novel therapeutic target for immunotherapy in advanced-stage disease.

关键词： H long terminal repeat-associating 2 Programmed death-ligand 1 Adenocarcinoma Pancreas Ampulla of Vater distal common bile duct