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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao jiliang zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

Non-electrocardiography-gated dual-energy cardiac CT angiography for assessment of left atrial appendage thrombus

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Radiation Medicine and Protection 2024年第2期5卷 68-74页

作者： Feifei zhang Tian Jiang Ruigang Xie jiliang zhang Minghua Sun Yinghui Ge Department of Radiology Henan Provincial People's HospitalDepartment of Radiology of Central China Fuwai HospitalCentral China Fuwai Hospital of Zhengzhou UniversityZhengzhou 450003China

Objective:To explore the diagnosis value of a low dose,dual-energy cardiac computed tomography angiography(CTA)with non-electrocardiography-gated(non-ECG-gated)in detecting left atrial appendage(IAA)***:Consecutive patients with atrial fibrillation who underwent cardiac CTA protocol(dual-energy scan for arterial phase and conventional scan for delayed phase)were prospectively *** lesions were proved by clinical comprehensive diagnosis,the final study included 18 cases with LAA thrombus and 48 cases with circulatory *** parameters derived from dual-energy images were measured for the LAA lesions,including the conventional CT attenuation value(CT value),iodine concentration(IC),normalized iodine concentration(NIC),effective atomic number values(Zeff)and energy spectrum curve slope(Slope).The differences between LAA thrombus group and circulatory stasis group were compared by independent sample t-test or Wilcoxon rank sum test regarding to the normality *** diagnosis performance of the dual-energy parameters was assessed using receiver operating characteristic(ROC)curve analysis and area under curve(AUC).Results:All the dual-energy parameters were demonstrated significantly difference between LAA thrombus and circulatory stasis group(P<0.05),and showed better diagnostic performance than the conventional CT *** analysis revealed IC was the most predictive parameter with AUC equal to *** radiation dose in the arterial phase was(2.640.66)mSv.

关键词： Dual-energy computed tomography Imaging Atrial fibrillation Left atrial appendage Thrombus Circulatory stasis

An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 511-525页

作者： Yongbai Liu Keping Liu Gang Wang jiliang zhang Yao Chou Zhongbo Sun Department of Mechanical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina School of Electrical and Information Engineering Jilin Engineering Normal UniversityChangchunChina College of Information Science and Engineering Northeastern UniversityShenyangChina Department of Electrical and Computer Engineering Brigham Young UniversityProvoUtahUSA

In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ***,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be *** deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI *** upper limb-robotic exoskeleton system is re-modelled as an artificial *** on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical ***,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and *** results substantiate the global convergence and robustness of the proposed controller in the presence of different external *** addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

关键词： neural network pattern recognition robotics signal processing

Biomass-derived porous carbon with single-atomic cobalt toward high-performance aqueous zinc-sulfur batteries at room temperature

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Journal of Energy Chemistry 2024年第8期95卷 325-335,I0008页

作者： Shenfei Zhao Xiaoshuai Wu jiliang zhang Chunjie Li Zixiang Cui Weihua Hu Ruguang Ma Changming Li Institute for Clean Energy&Advanced Materials School of Materials&EnergySouthwest UniversityChongqing 400715China Institute for Materials Science and Devices School of Materials Science and EngineeringSuzhou University of Science and TechnologySuzhou 215009JiangsuChina School of Materials Science and Engineering Dalian Jiaotong UniversityDalian 116028LiaoningChina

Aqueous zinc-sulfur batteries at room temperature hold great potential for next-generation energy storage technology due to their low cost,safety and high energy ***,slow reaction kinetics and high activation energy at the sulfur cathode pose great challenges for the practical ***,biomass-derived carbon with single-atomic cobalt sites(MMPC-Co)is synthesized as the cathode in Zn-S *** catalysis of single-atom Co sites greatly promotes the transform of cathode electrolyte interface(CEI)on the cathode surface,while offering accelerated charge transfer rate for high conversion reversibility and large electrochemical surface area(ECSA)for high electrocatalytic ***,the rich pore structure not only physically limits sulfur loss,but also accelerates the transport of zinc *** addition,the large pore volume of MMPC-Co is able to relieve the stress effect caused by the volume expansion of Zn S during charge/discharge cycles,thereby maintaining the stability of electrode ***,the sulfur cathode maintains a high specific capacity of 729.96 m A h g^(-1)after 500 cycles at4 A g^(-1),which is much better than most cathode materials reported in the *** work provides new insights into the design and development of room-temperature aqueous Zn-S batteries.

关键词： Biomass-derived carbon Single-atom catalysts Rich pore structure Sulfur cathode Aqueous zinc-sulfur batteries

SDL PUF:高可靠自适应偏差锁定PUF电路

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电子与信息学报 2024年第5期46卷 2274-2280页

作者：张源罗静茹张吉良湖南大学半导体学院(集成电路学院) 长沙410000

物理不可克隆函数(Physical Unclonable Function, PUF)作为一种新的硬件安全原语,通过提取工艺偏差产生唯一的响应序列为计算系统提供可信根。然而现有基于现场可编辑门阵列(Field Programmable Gate Array, FPGA)的PUF难以在较宽的温... 详细信息

物理不可克隆函数(Physical Unclonable Function, PUF)作为一种新的硬件安全原语,通过提取工艺偏差产生唯一的响应序列为计算系统提供可信根。然而现有基于现场可编辑门阵列(Field Programmable Gate Array, FPGA)的PUF难以在较宽的温度和电压范围内实现高可靠性。该文提出一种基于自定时环(Self-Timed Ring,STR)的自适应偏差锁定PUF(Self-adaption Deviation Locking PUF, SDL PUF),首先利用STR延迟引起的振荡频率差产生PUF响应;然后通过在初始化阶段自适应配置,有效扩大STR环内的事件到达时间偏差,从而显著提高PUF的可靠性;最后进一步提出一种对比混淆策略,通过提取工艺偏差自动生成随机比特配置并混淆比较器,以抵抗侧信道攻击。在Xilinx Virtex-6 FPGA上实验结果表明,SDL PUF在0~80°C的温度范围和0.85~1.15V的电压范围内误码率为0,唯一性和均匀性分别为49.29%和49.84%。

关键词：物理不可克隆函数自定时环 FPGA 可靠性

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误诊为肺癌骨转移的播散性隐球菌病1例报道及文献复习

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中国真菌学杂志 2024年第3期19卷 277-280页

作者：李妮张纪良陈济成都市第七人民医院肿瘤科成都610000

报道1例播散性的骨隐球菌感染的高龄男性患者的诊疗情况并文献复习,旨在加深对该病的认识,为临床医生提供经验,避免误诊。患者,男,83岁,因左侧髋部疼痛来院就诊,影像学检查提示肺癌伴骨转移可能性大,后行左侧大腿受累股骨穿刺活检术,病... 详细信息

报道1例播散性的骨隐球菌感染的高龄男性患者的诊疗情况并文献复习,旨在加深对该病的认识,为临床医生提供经验,避免误诊。患者,男,83岁,因左侧髋部疼痛来院就诊,影像学检查提示肺癌伴骨转移可能性大,后行左侧大腿受累股骨穿刺活检术,病理诊断示骨隐球菌感染,经氟康唑治疗半年余疼痛逐渐好转,并定期门诊随访。隐球菌病累及骨较为罕见,易与肿瘤、结核等疾病相混淆,主要通过组织活检确诊,经抗真菌、手术治疗可好转或治愈,预后可。

关键词：隐球菌误诊骨肺癌

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全同态加密软硬件加速研究进展

电子与信息学报 2024年第5期46卷 1790-1805页

作者：边松毛苒朱永清傅云濠张舟丁林张吉良张博陈弈董进关振宇北京航空航天大学网络空间安全学院北京100191 湖南大学半导体学院(集成电路学院) 长沙410000 北京微芯区块链与边缘计算研究院北京100080

全同态加密(FHE)是一种重计算、轻交互的多方安全计算协议。在基于全同态加密的计算协议中,尽管计算参与方之间无需多轮交互与大量通信,加密状态下的密态数据处理时间通常是明文计算的10~3~10~6倍,极大地阻碍了这类计算协议的实际落地;... 详细信息

全同态加密(FHE)是一种重计算、轻交互的多方安全计算协议。在基于全同态加密的计算协议中,尽管计算参与方之间无需多轮交互与大量通信,加密状态下的密态数据处理时间通常是明文计算的10~3~10~6倍,极大地阻碍了这类计算协议的实际落地;而密态数据上的主要处理负担是大规模的并行密码运算和运算所必须的密文及密钥数据搬运需求。该文聚焦软、硬件两个层面上的全同态加密加速这一研究热点,通过系统性地归类及整理当前领域中的文献,讨论全同态加密计算加速的研究现状与展望。

关键词：全同态加密同态算法密码硬件加速

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大学生高质量就业中的社会资本:功能机理与作用限阈

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牡丹江大学学报 2024年第5期33卷 70-78页

作者：董彦宏张继亮黑龙江大学政府管理学院黑龙江哈尔滨150080

大学生作为推动国家发展和社会进步的生力军,其就业问题一直受到全社会的广泛关注。促进高校毕业生高质量就业已成为新时代全面推进中国式现代化的重要人才战略任务。大学生高质量就业是一种人才与岗位更好匹配、具有持久稳定性并能最... 详细信息

大学生作为推动国家发展和社会进步的生力军,其就业问题一直受到全社会的广泛关注。促进高校毕业生高质量就业已成为新时代全面推进中国式现代化的重要人才战略任务。大学生高质量就业是一种人才与岗位更好匹配、具有持久稳定性并能最大程度促进生产力发展和人的自身发展的就业形态。社会资本作为一种关系嵌入性资源,在大学生就业场域中可以发挥提高就业效率、降低就业成本、增强就业稳定、促进就业自信等重要的积极作用。其功能机理在于:社会资本所内蕴的“信任”“规范”和“网络”三大结构要素相辅相成,可以为大学生高质量就业提供担保机制、规约机制和监督机制。当然,社会资本的运行也时常暴露一些实践风险。因此,大学生就业场域中社会资本的运行不能损害就业公平,也不能代替人力资本的核心地位。

关键词：高质量就业社会资本人力资本信任

The dynamic relaxation form finding method aided with advanced recurrent neural network

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CAAI Transactions on Intelligence Technology 2023年第3期8卷 635-644页

作者： Liming Zhao Zhongbo Sun Keping Liu jiliang zhang Department of Mechanical and Electrical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina Department of Electronic and Electrical Engineering The University of SheffieldSheffieldEngland

How to establish a self‐equilibrium configuration is vital for further kinematics and dynamics analyses of tensegrity *** this study,for investigating tensegrity form‐finding problems,a concise and efficient dynamic relaxation‐noise tolerant zeroing neural network(DR‐NTZNN)form‐finding algorithm is established through analysing the physical properties of tensegrity *** addition,the non‐linear constrained opti-misation problem which transformed from the form‐finding problem is solved by a sequential quadratic programming ***,the noise may produce in the form‐finding process that includes the round‐off errors which are brought by the approximate matrix and restart point calculating course,disturbance caused by external force and manufacturing error when constructing a tensegrity ***,for the purpose of suppressing the noise,a noise tolerant zeroing neural network is presented to solve the search direction,which can endow the anti‐noise capability to the form‐finding model and enhance the calculation ***,the dynamic relaxation method is contributed to seek the nodal coordinates rapidly when the search direction is *** numerical results show the form‐finding model has a huge capability for high‐dimensional free form cable‐strut mechanisms with complicated ***,comparing with other existing form‐finding methods,the contrast simulations reveal the excellent anti‐noise performance and calculation capacity of DR‐NTZNN form‐finding algorithm.

关键词： dynamic relaxation form‐finding noise‐tolerant zeroing neural network sequential quadratic programming Tensegrity

Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1766-1768页

作者： Zhongbo Sun Shijun Tang jiliang zhang Junzhi Yu the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE College of Information Science and Engineering Northeastern UniversityShenyang 110819China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t... 详细信息

关键词： directional programming hardware