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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

Fast and Accurate Predictor-Corrector Methods Using Feedback-Accelerated Picard Iteration for Strongly nonlinear Problems

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Computer Modeling in Engineering & Sciences 2024年第5期139卷 1263-1294页

作者： Xuechuan wang Wei He Haoyang Feng Satya n.Atluri School of Astronautics Northwestern Polytechnical UniversityXi’an710072China Department of Mechanical Engineering Texas Tech UniversityLubbock79409USA

Although predictor-corrector methods have been extensively applied,they might not meet the requirements of practical applications and engineering tasks,particularly when high accuracy and efficiency are necessary.A novel class of correctors based on feedback-accelerated Picard iteration(FAPI)is proposed to further enhance computational *** optimal feedback terms that do not require inversion of matrices,significantly faster convergence speed and higher numerical accuracy are achieved by these correctors compared with their counterparts;however,the computational complexities are comparably *** advantages enable nonlinear engineering problems to be solved quickly and accurately,even with rough initial guesses from elementary *** proposed method offers flexibility,enabling the use of the generated correctors for either bulk processing of collocation nodes in a domain or successive corrections of a single node in a finite difference *** our method,the functional formulas of FAPI are discretized into numerical forms using the collocation *** collocated iteration formulas can directly solve nonlinear problems,but they may require significant computational resources because of the manipulation of *** address this,the collocated iteration formulas are further converted into finite difference forms,enabling the design of lightweight predictor-corrector algorithms for real-time *** generality of the proposed method is illustrated by deriving new correctors for three commonly employed finite-difference approaches:the modified Euler approach,the Adams-Bashforth-Moulton approach,and the implicit Runge-Kutta ***,the updated approaches are tested in solving strongly nonlinear problems,including the Matthieu equation,the Duffing equation,and the low-earth-orbit tracking *** numerical findings confirm the computational accuracy and efficiency of the derived predictor-correc

关键词： Predictor-corrector method feedback-accelerated Picard iteration nonlinear dynamical system real-time computation

High-quality assembled and annotated genomes of nicotiana tabacum and nicotiana benthamiana reveal chromosome evolution and changes in defense arsenals

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Molecular Plant 2024年第3期17卷 423-437页

作者： Jubin wang Qingling Zhang Jeffrey Tung Xi Zhang Dan Liu Yingtian Deng Zhendong Tian Huilan Chen Taotao wang Weixiao Yin Bo lij Zhibing Lai Savithramma P.Dinesh-Kumar Barbara Baker Feng Li national Key Laboratory for Germplasm Innovation and Utilization for Fruit and Vegetable Horticultural Crops College of Horticulture and Forestry SciencesHuazhong Agricultural UniversityWuhanHubei 430070China Plant Gene Expression Center Department of Plant and Microbial BiologyUniversity of CaliforniaBerkeleyBerkeleyCA 94706USA College of Plant Science and Technology Huazhong Agricultural UniversityWuhanHubei 430070China College of Life Science and Technology Huazhong Agricultural UniversityWuhanHubei 430070China Department of Plant Biology and The Genome Center College of Biological SciencesUniversity of CalforniaDavisDavisCA 95616USA The Key Laboratory of Horticultural Plant Genetic and Improvement of Jiangxi Province Institute of Biological ResourcesJiangxi Academy of SciencesNanchang 330299China institute of Vegetables and Flowers Jiangxi Academy of Agricultural SciencesNanchang 330200Chin Hubei Hongshan Laboratory WuhanHubei 430070China

nicotiana tabacum and nicotiana benthamiana are widely used models in plant biology ***,genomic studies of these species have *** we report the chromosome-level reference genome assemblies for *** and *** with an estimated 99.5%and 99.8%completeness,*** transcription start and termination site sequencing methods were developed and used for accurate gene annotation in *** analyses revealed evidence for the parental origins and chromosome structural changes,leading to hybrid genome formation of each ***,theantiviral silencinggenesRDR1,RDR6,DCL2,DCL3,andAGO2were lost from one or both subgenomes in ***,while both homeologs were kept in ***,the *** genome encodes fewer immune receptors and signaling components than that of *** find-ings uncover possible reasons underlying the hypersusceptible nature of *** developed the user-friendly nicomics(http:/***/nicomics/)web server to facilitate better use of nicotiana genomic resources as well as gene structure and expression analyses.

关键词： nicotiana tabacum nicotiana benthamiana genomics evolution disease resistance nLR

The interaction of the structure-directing agent with the zeolite framework determines germanium distribution in SCM-15 germanosilicate

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Frontiers of Chemical Science and Engineering 2024年第5期18卷 105-114页

作者： Stoyan P.Gramatikov Petko St.Petkov Zhendong wang Weimin Yang Georgi n.Vayssilov Faculty of Chemistry and Pharmacy University of Sofia1126 SofiaBulgaria State Key Laboratory of Green Chemical Engineering and Industrial Catalysis Sinopec Shanghai Research Institute of Petrochemical Technology Co.Ltd.Shanghai 201208China

We report results from computational modeling of the relative stability of germanosilicate SCM-15 structure due to different distribution of germanium heteroatoms in the double four-member rings(D4Rs)of the framework and the orientation of the structure directing agent(SDA)molecules in the as-synthesized *** calculated relative energies of the bare zeolite framework suggest that structures with germanium ions clustered in the same D4Rs,e.g.,with large number of Ge–O-Ge contacts,are the most *** simulations of various orientations of the SDA in the pores of the germanosilicate zeolite show different stability order-the most stable models are the structures with germanium spread among all ***,for SCM-15 the stabilization due to the presence of the SDA and their orientation,is thermodynamic factor directing both the formation of specific framework type and Ge distribution in the framework during the *** relative stability of bare structures with different germanium distribution is of minor *** differs from SCM-14 germanosilicate,reported earlier,for which the stability order is preserved in presence of ***,even for zeolites with the same chemical composition and SDA,the characteristics of their framework lead to different energetic preference for germanium distribution.

关键词： zeolite density functional theory structure-directing agent SCM-15

A core-satellite self-assembled SERS aptasensor containing a“biological-silent region”Raman tag for the accurate and ultrasensitive detection of histamine

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Food Science and Human Wellness 2024年第2期13卷 1029-1039页

作者： Chen Chen Yingfang Zhang Ximo wang Xuguang Qiao Geoffrey I.n.Waterhouse Zhixiang Xu Key Laboratory of Food Processing Technology and Quality Control in Shandong Province College of Food Science and EngineeringShandong Agricultural UniversityTai’an 271018China School of Chemical Sciences The University of AucklandAuckland 1142New Zealand

Herein,a novel interference-free surface-enhanced Raman spectroscopy(SERS)strategy based on magnetic nanoparticles(MnPs)and aptamer-driven assemblies was proposed for the ultrasensitive detection of histamine.A core-satellite SERS aptasensor was constructed by combining aptamer-decorated Fe_(3)O_(4)@Au MnPs(as the recognize probe for histamine)and complementary DnA-modified silver nanoparticles carrying 4-mercaptobenzonitrile(4-MBn)(Ag@4-MBn@Ag-c-DnA)as the SERS signal probe for the indirect detection of *** an applied magnetic field in the absence of histamine,the assembly gave an intense Raman signal at“Raman biological-silent”region due to *** the presence of histamine,the Ag@4-MBn@Ag-c-DnA SERS-tag was released from the Fe_(3)O_(4)@Au MnPs,thus decreasing the SERS *** optimal conditions,an ultra-low limit of detection of 0.65×10^(-3)ng/mL and a linear range 10^(-2)-10^5 ng/mL on the SERS aptasensor were *** histamine content in four food samples were analyzed using the SERS aptasensor,with the results consistent with those determined by high performance liquid *** present work highlights the merits of indirect strategies for the ultrasensitive and highly selective SERS detection of small biological molecules in complex matrices.

关键词： Surface-enhanced Raman spectroscopy Raman biological-silent region Aptamer Histamine detection Universal SERS-tag

Recent developments in three-dimensional Zn metal anodes for battery applications

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InfoMat 2024年第1期6卷 1-30页

作者： Jianyu Chen Yizhou wang Zhengnan Tian Jin Zhao Yanwen Ma Husam n.Alshareef State Key Laboratory of Organic Electronics and Information Displays(KLOEID)and Jiangsu Key Laboratory for Biosensors Institute of Advanced Materials(IAM)Nanjing University of Posts&Telecommunications(NUPT)Nanjingthe People's Republic of China Materials Science and Engineering King Abdullah University of Science and Technology(KAUST)ThuwalSaudi Arabia Suzhou Vocational Institute of Industrial Technology Suzhouthe People's Republic of China

Aqueous zinc(Zn)ion batteries(AZIBs)are regarded as one of the promising candidates for next-generation electrochemical energy storage systems due to their low cost,high safety,and environmental ***,the commercialization of AZIBs has been severely restricted by the growth of dendrite at the Zn metal *** the planar-structured Zn anodes into threedimensional(3D)structures has proven to be an effective way to modulate the plating/stripping behavior of Zn anodes,resulting in the suppression of dendrite *** review provides an up-to-date review of 3D structured Zn metal anodes,including working principles,design,current status,and future *** aim to give the readers a comprehensive understanding of 3D-structured Zn anodes and their effective usage to enhance AZIB performance.

关键词： 3D metal anodes aqueous Zn ion batteries dendrite suppression Zn dendrite Zn metal anodes

Flat Zn deposition at battery anode via an ultrathin robust interlayer

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nano Research 2024年第9期17卷 8104-8111页

作者： Yizhou wang Jianyu Chen Zibo Chen Qian He Zhengnan Tian Jin Zhao Yanwen Ma Husam n.Alshareef Materials Science and Engineering King Abdullah University of Science and Technology(KAUST)Thuwal 23955-6900Saudi Arabia State Key Laboratory of Organic Electronics and Information Displays(KLOEID)and Jiangsu Key Laboratory for Biosensors Institute of Advanced Materials(IAM)Nanjing University of Posts and TelecommunicationsNanjing 210023China Suzhou Vocational Institute of Industrial Technology Suzhou 215104China

Rechargeable aqueous zinc(Zn)ion batteries(AZIBs)using low-cost and safe Zn metal anodes are considered promising candidates for future grid-scale energy storage systems,but the Zn dendrite problem severely hinders the further prospects of *** Zn depositing behaviors toward horizontal alignment is highly effective and thus has received huge ***,such a strategy is usually based on previous substrate engineering,which requires complex preparation or expensive ***,it is essential to develop a novel solution that can realize horizontally aligned Zn flake deposition via easy operation and low ***,we report an ultrathin and robust Kevlar membrane as the interlayer to mechanically suppress Zn dendrite *** to the randomly distributed flaky dendrites in the control group,the deposited Zn sheets would grow into parallel alignment with the existence of such *** the dendrites are effectively suppressed,Zn||Cu asymmetric,Zn||Zn symmetric,and Zn||MnO_(2)full batteries using Kevlar interlayer deliver significantly improved cycling ***,the Zn||MnO_(2)pouch cell using a Kevlar interlayer delivers stable cycling performance and shows stable operation during multi-angle *** believe this work provides a new possibility for regulating Zn deposition from a crystallographic perspective.

关键词： Zn metal anodes Zn dendrites aqueous Zn ion batteries dendrite suppression (002)crystal plane

Bioinspired Double-stranded Yarn with Alternating Hydrophobic/Hydrophilic Patterns for High-efficiency Fog Collection

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Chinese Journal of Polymer Science 2024年第7期42卷 968-975,I0008页

作者： Lan-Lan Hou Meng-na Qiu Ya-Qiong wang Tong-Hua Bai Zhi-Min Cui Jing-Chong Liu Ying-Qun Qi nü wang Yong Li Yong Zhao Beijing Institute of Graphic Communication Beijing102600China Key Laboratory of Bioinspired Smart Interfacial Science and Technology of Ministry of Education Beijing Key Laboratory of Bioinspired Energy Materials and DevicesSchool of ChemistryBeijing Advanced Innovation Center for Biomedical EngineeringBeihang UniversityBeijing100191China Key Laboratory of Cryogenics Technical Institute of Physics and ChemistryChinese Academy of SciencesBeijing100190China Beijing Key Laboratory for Bioengineering and Sensing TechnologyDaxing Research InstituteSchool of Chemistry and Biological EngineeringUniversity of Science and Technology BeijingBeijing100083China

Efforts to develop innovative water harvesting strategies offer powerful solutions to alleviate the water crisis,especially in remote and arid *** by the hydrophobic/hydrophilic pattern of desert beetles and water self-propulsion property of spider silks,a double-strand hydrophobic PVDF-HFP/hydrophilic PAn nanofibers yarn is proposed by electrospinning and twisting *** double-strand cooperation approach allows for water deposition on hydrophobic PVDF-HFP segment and transport under the asymmetric capillary driving force of hydrophilic PAn segment,thus speeded up the aggregation and growth of *** effects of the composition and the diameter ratio of the two primary yarns were studied and optimized for boosting fog collection *** double-strand anisotropic yarn not only provide an effective method for water harvesting,but also hold the potential to inspire innovative design concepts for fog collection materials in challenging environments.

关键词： Fog collection Wettability Electrospinning nanofibers Spider silk

Swarm intention identification via dynamic distribution probability image

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Chinese Journal of Aeronautics 2024年第10期37卷 380-392页

作者： Yinhan wang Jiang wang Shaoming HE Fei wang Qi wang School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China

In the realm of decision-making for defense and security applications,it is paramount to swiftly and accurately identify the intentions of incoming *** identification methods predominantly focus on single-target applications and overlook the perturbations introduced by measurement *** this study,we propose a novel concept:the Dynamic Distribution Probability(DDP)image,which is constructed using the estimated state and its covariance *** grayscale pixel value within the image signifies the probability of the presence of the agent within the *** proposed identification scheme integrates the use of Extended Kalman Filter(EKF),Convolutional neural network(Cnn),Back Propagation(BP)network,and Gated Recurrent Unit(GRU)***,the DDP image is processed through a Cnn to distill the formation characteristics,and the estimated swarm state from EKF is inputted into a BP network to deduce the kinematic *** outputs from both networks are summed and subsequently channeled into a GRU network to capture temporal *** numerical simulations and flight experiments are presented to demonstrate the robust anti-noise capability of the proposed scheme compared with conventional methods,as well as its superior training efficiency.

关键词： Intention Identification Kalman filters Convolutional neural networks Swarm intelligence