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function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Frontiers of Mechanical Engineering 2022年第3期17卷 75-89页

作者： yue ZHENG Xiangxin LI Lan tian Guanglin LI CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology(SIAT)Chinese Academy of Sciences(CAS)Shenzhen518055China Shenzhen College of Advanced Technology University of Chinese Academy of SciencesShenzhen518055China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen518055China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055China

The loss of hand functions in upper limb amputees severely restricts their mobility in daily *** a humanoid prosthetic hand would be an effective way of restoring lost hand *** a prosthetic hand design,replicating the natural and dexterous grasping functions with a few actuators remains a big *** this study,a function-oriented optimization design(FOD)method is proposed for the design of a tendon-driven humanoid prosthetic *** optimization function of different functional conditions of full-phalanx contact,total contact force,and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping *** a genetic algorithm,the optimal geometric parameters of the prosthetic finger could be determined for specific functional *** results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes.A prosthetic finger was fabricated and tested with grasping *** mean absolute percentage error between the theoretical value and the experimental result is less than 10%,demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method *** study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage,which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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Data-driven rational design of single-atom materials for hydrogen evolution and sensing

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Nano Research 2024年第4期17卷 3352-3358页

作者： Lei Zhou Pengfei tian Bowei Zhang fu-Zhen Xuan Shanghai Key Laboratory of Intelligent Sensing and Detection Technology East China University of Science and TechnologyShanghai 200237China School of Mechanical and Power Engineering East China University of Science and TechnologyShanghai 200237China Key Laboratory of Pressure Systems and Safety of Ministry of Education East China University of Science and TechnologyShanghai 200237China

Herein we proposed a data-driven high-throughput principle to screen high-performance single-atom materials for hydrogen evolution reaction(HER)and hydrogen sensing by combing the theoretical computations and a topology-based multi-scale convolution kernel machine learning *** the rational training by 25 groups of data and prediction of all 168 groups of single-atom materials for HER and sensing,respectively,a high prediction accuracy(>0.931 R^(2) score)was achieved by our *** show that the promising HER catalysts include Pt atoms in C_(4) and Sc atoms in C_(1)N_(3) coordination ***,Y atoms in C_(4) coordination environment and Cd atoms in C_(2)N_(2)-ortho coordination environment were predicted with great potential as hydrogen sensing *** method provides a way to accelerate the discovery of innovative materials by avoiding the time-consuming empirical principles in experiments.

关键词： machine learning single-atom materials sensing hydrogen evolution

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Alamouti code based on block repetition in FBMC/OQAM systems

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Digital Communications and Networks 2022年第1期8卷 58-63页

作者： Dejin Kong Xing Zheng Yukang tian Tao Jiang yue Zhang School of Electronic and Electrical Engineering Wuhan Textile UniversityWuhanChina State Key Laboratory of New Textile Materials and Advanced Processing Technologies Wuhan Textile UniversityWuhanChina Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhanChina Department of Engineering University of LeicesterLeicesterLEI 7RHUK

In this paper,we address the Alamouti code in Filter-Bank Multicarrier with Offset Quadrature Amplitude Modulation(FBMC/OQAM)and propose a novel block-wise Alamouti code,in which a repeated block is designed to eliminate the imaginary interference among FBMC/OQAM *** proposed approach exhibits a higher spectral efficiency than the conventional block-wise Alamouti scheme,as only one column of zero symbols is used as a guard interval instead of ***,compared to the conventional scheme,the bit error ratio is improved in the proposed block-wise Alamouti,as the assumption on channel invariance at two adjacent sub-carriers is not *** results indicate that,with a significantly reduced overhead,the proposed Alamouti scheme achieves better performance over the conventional block-wise Alamouti scheme.

关键词： Alamouti Filter-bank multicarrier Block repetition Imaginary interference

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Mechanisms for simultaneous ozonation of sulfamethoxazole and natural organic matters in secondary effluent from sewage treatment plant

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Frontiers of Environmental Science & Engineering 2021年第4期15卷 299-310页

作者： Xinshu Liu Xiaoman Su Sijie tian yue Li Rongfang Yuan Beijing Key Laboratory of Resource-oriented Treatment of Industrial Pollutants Department of Environmental Science and EngineeringUniversity of Science and Technology BeijingBeijing100083China

Sulfamethoxazole(SMX)is commonly detected in wastewater and cannot be completely decomposed during conventional treatment ***(O_(3))is often used in water *** study explored the influence of natural organic matters(NOM)in secondary effluent of a sewage treatment plant on the ozonation pathways of *** changes in NOM components during ozonation were also *** was primarily degraded by hydrolysis,isoxazole-ring opening,and double-bond addition,whereas hydroxylation was not the principal route given the low maximum abundances of the hydroxylated products,with m/z of 269 and *** hydroxylation process occurred mainly through indirect oxidation because the maximum abundances of the products reduced by about 70%after the radical quencher was added,whereas isoxazole-ring opening and double-bond addition processes mainly depended on direct oxidation,which was unaffected by the *** mainly affected the degradation of micropollutants by consuming•OH rather than O_(3)molecules,resulting in the 63%–85%decrease in indirect oxidation *** NOM in the effluent were also degraded simultaneously during ozonation,and the components with larger aromaticity were more likely degraded through direct *** dependences of the three main components of NOM in the effluent on indirect oxidation followed the sequence:humic-like substances>fluvic-like substance-s>protein-like *** study reveals the ozonation mechanism of SMX in secondary effluent and provides a theoretical basis for the control of SMX and its degradation products in actual water treatment.

关键词： Sulfamethoxazole Ozonation Natural organic matters Secondary effluent Degradation mechanism

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Cause analysis and reoperation effect of failure and recurrence after epiblepharon correction in children

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World Journal of Clinical Cases 2020年第24期8卷 6274-6281页

作者： yue Wang Yang Zhang Ning tian Department of Ophthalmology Beijing Tongren Eye CenterBeijing Tongren Hospital of Capital Medical UniversityBeijing Key Laboratory of Ophthalmology and Visual ScienceBeijing 100730China

BACKGROUND In children, it is common to see failure and recurrence in the correction ofepiblepharon and to have reoperation due to obvious irritation symptoms andcorneal *** To explore the causes of failure and recurrence after epiblepharon correction inchildren, to remove accurately redundant epiblepharon and orbicularis oculimuscle in patients via the cilia-everting suture technique combined with lidmargin splitting in some patients due to inverted lashes in the medial part of theeyelid, and to observe the therapeutic *** From 2015 to 2019, in the Outpatient Department of Ophthalmology of BeijingTongren Hospital, 22 children (40 eyes) with epiblepharon, aged 5-12 years, weretreated due to correction failure and recurrence. Fourteen patients (28 eyes)underwent the full-thickness everting suture technique, and eight patients (16eyes) underwent incisional surgery. They were treated by reviewing the previoussurgical methods and observing epiblepharon, eyelash direction, and cornealinjury. During reoperation, a subciliary incision was made 1 mm below theinferior lash line. Incisional surgery for the lower eyelid was used to removeaccurately redundant epiblepharon and part of the pretarsal orbicularis *** tissue and the orbicularis muscle of the upper skin-muscle flapwere anchored to the anterior fascia of the tarsal plate by rotational sutures. Lidmargin splitting was used only for patients who had seriously inverted lasheslocated in the medial part of the eyelid. All patients were followed for 6-12 moafter reoperation to observe the lower eyelid position, skin incision, eyelash direction, corneal damage, and *** After reoperation, all the patients were corrected. Photophobia, rubbing the eye,winking, and tearing disappeared. There was no lower eyelid entropion,ectropion, or retraction. There was no obvious sunken scar or lower eyelid *** eyelashes were far away from the cornea, and when the patients lookeddown, t

关键词： Epiblepharon failure recurrence Children Reoperation effect Epiblepharon correction Irritation symptom

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A　NEW　APPROACH　TO　SYNTHESIZING　2－ALKOXYCARBONYL　－2－METHYL　ETHYL　TIN　TRICHLORIDES　AND　THEIR　COMPLEXES　WITH　DBSO　AND　HMPA

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Chinese Chemical Letters 1996年第2期7卷 105-106页

作者： tian, LJ fu, FX Pan, HD QUfu NORMAL UNIV DEPT CHEMQUFU 273165PEOPLES R CHINA NE NORMAL UNIV DEPT CHEMCHANGCHUN 130024PEOPLES R CHINA

A new approach based on transesterification reaction to synthesizing 2-alkoxycarbonyl-2 -methyl ethyl tin trichlorides and their complexes with dibenzylsulfoxide (DBSO) and hexamethylphosphoramide (HMPA )was reported. They were characterized by elemental analysis,IR and HNMR spectra. The possible mechanism for transesterifications was suggested.

关键词： HMPA DBSO WITH COMPLEXES AND ALKOXYCARBONYL

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Deep reinforcement learning for shared control of mobile robots

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IET Cyber-Systems and Robotics 2021年第4期3卷 315-330页

作者： Chong tian Shahil Shaik yue Wang Mechanical Engineering Department Clemson UniversityClemsonSouth CarolinaUSA

Shared control of mobile robots integrates manual input with auxiliary autonomous controllers to improve the overall system ***,prior work that seeks to find the optimal shared control ratio needs an accurate human model,which is usually challenging to *** this study,the authors develop an extended Twin Delayed Deep Deterministic Policy Gradient(DDPG)(TD3X)-based shared control framework that learns to assist a human operator in teleoperating mobile robots *** robot's states,shared control ratio in the previous time step,and human's control input is used as inputs to the reinforcement learning(RL)agent,which then outputs the optimal shared control ratio between human input and autonomous controllers without knowing the human *** softmax policies are developed to make the TD3X algorithm feasible under the constraint of a shared control ***,to accelerate the training process and protect the robot,a navigation demonstration policy and a safety guard are developed.A neural network(NN)structure is developed to maintain the correlation of sensor readings among heterogeneous input data and improve the learning *** addition,an extended DAGGER(DAGGERX)human agent is developed for training the RL agent to reduce human *** simulations and experiments with humans in the loop are *** results show that the DAGGERX human agent can simulate real human inputs in the worst-case scenarios with a mean square error of *** to the original TD3 agent,the TD3X-based shared control system decreased the average collision number from 387.3 to 44.4 in a simplistic environment and 394.2 to 171.2 in a more complex *** maximum average return increased from 1043 to 1187 with a faster converge speed in the simplistic environment,while the performance is equally good in the complex environment because of the use of an advanced human *** the human subject tests,participants'average perceived wo

关键词： control deep learning human robot interaction mobile robots reinforcement learning

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Silica-alumina molar ratio and some factors effect on the synthesis of zeolites from fly ash

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Journal of Coal Science & Engineering(China) 2009年第4期15卷 430-433页

作者： SUN yue-zhi fu Ke-ming ZHU Hong ZHU tian-lin Department of Biology and Chemistry Jiaozuo Teacher＇s College Jiaozuo 454003 China Department of Chemical and Environmental Engineering Jiaozuo University Jiaozuo 454003 China The Housing Development Company Housing Management Bureau Jiaozuo 454151 China

In order to improve the activity and eliminate some impurities, pretreatment was used before hydrothermal synthesis. The fly ash was mixed with an aqueous NaOH solution, the alkali melted fly ash was also adopted, which is hydrothermally treated at about 104 ℃, and the liquid/solid ratio was controlled at 6：1. In order to control Si/Al molar ratio, SiO2 or Al2O3 powers were added to the fly ash. The results of XRD and SEM show that the alkali melted can activate fly ash and eliminate its quartz and mullite, along with the improvement of Si/Al molar ratio and alkalinity. In addition, zeolite Na-A changes into sodalite gradually, and nepheline is the synthesized intermediate product. Those results were discussed on the basis of a formation mechanism of zeolite from fly ash.

关键词： fly ash zeolite hydrothermal treatment Si/Al molar ratio

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Plug-and-Play algorithm for under-sampling Fourier single-pixel imaging

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Science China(Information Sciences) 2022年第10期65卷 307-308页

作者： Ye tian Ying fu Jun ZHANG School of Information and Electronics Beijing Institute of Technology Advanced Research Institute of Multidisciplinary Science Beijing Institute of Technology School of Computer Science and Technology Beijing Institute of Technology

Dear editor,Single-pixel imaging(SPI) is an indirect image measurement technique that can capture images using a detector without spatial resolution [1]. The principle of SPI is using a sequence of structured light patterns to sample the object image and recording the reflected or refracted light intensity using a single-pixel detector.

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Transformer-Based Under-sampled Single-Pixel Imaging

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Chinese Journal of Electronics 2023年第5期32卷 1151-1159页

作者： tian Ye fu Ying ZHANG Jun School of Information and Electronics Beijing Institute of Technology Advanced Research Institute of Multidisciplinary Science Beijing Institute of Technology Yangtze Delta Region Academy of Beijing Institute of Technology School of Computer Science and Technology Beijing Institute of Technology

Single-pixel imaging, as an innovative imaging technique, has attracted much attention during the last decades. However, it is still a challenging task for single-pixel imaging to reconstruct high-quality images with fewer measurements. Recently, deep learning techniques have shown great potential in single-pixel imaging especially for under-sampling cases. Despite outperforming traditional model-based methods, the existing deep learning-based methods usually utilize fully convolutional networks to model the imaging process which have limitations in long-range dependencies capturing, leading to limited reconstruction performance. In this paper, we present a transformer-based single-pixel imaging method to realize high-quality image reconstruction in undersampled situation. By taking advantage of self-attention mechanism, the proposed method is good at modeling the imaging process and directly reconstructs high-quality images from the measured one-dimensional light intensity sequence. Numerical simulations and real optical experiments demonstrate that the proposed method outperforms the state-of-the-art single-pixel imaging methods in terms of reconstruction performance and noise robustness.

关键词： Imaging Computer architecture Optical computing Transformers Optical imaging Noise robustness Optical noise

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