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Intuitive Human-Robot-Environment Interaction With EMG Signals:A Review

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1075-1091页

作者： Dezhen Xiong Daohui Zhang Yaqi Chu Yiwen Zhao Xingang Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169 University of chinese academy of sciences Beijing 100049China

A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive ***,it still has a gap between scientific research and real-life *** studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly *** fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)*** general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are ***-based intention decoding is treated as a module of the proposed *** key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are *** important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future *** the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is *** provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.

关键词： robot summarized Robot

Genetic dissection and validation of a major QTL for grain weight on chromosome 3B in bread wheat(Triticum aestivum L.)

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Journal of Integrative Agriculture 2024年第1期23卷 77-92页

作者： Simin Liao Zhibin Xu Xiaoli Fan Qiang Zhou Xiaofeng Liu Cheng Jiang Liangen Chen Dian Lin Bo Feng Tao Wang Chengdu Institute of Biology Chinese Academy of SciencesChengdu 610041China University of chinese academy of sciences Beijing 100049China The Innovative academy of Seed Design Chinese Academy of SciencesBeijing 100101China

Grain weight is one of the key components of wheat(Triticum aestivum L.)*** manipulation of grain weight is an efficient approach for improving yield potential in breeding programs.A recombinant inbred line(RIL)population derived from a cross between W7268 and Chuanyu 12(CY12)was employed to detect quantitative trait loci(QTLs)for thousand-grain weight(TGW),grain length(GL),grain width(GW),and the ratio of grain length to width(GLW)in six *** major QTLs,***-2D,***-2D,***-3B,***-4B.1,***-2D.1,***-2D.1 and ***-3B.1,were consistently identified in at least four environments and the best linear unbiased estimation(BLUE)datasets,and they explained 2.61 to 34.85%of the phenotypic *** interactions were detected between the two major TGW QTLs and three major GW *** addition,***-3B.1 and ***-3B were co-located,and the improved TGW at this locus was contributed by *** other loci,***-3B.1/***-3B had no effect on grain number per spike(GNS).They were further validated in advanced lines using Kompetitive Allele Specific PCR(KASP)markers,and a comparison analysis indicated that ***-3B.1/***-3B is likely a novel *** haplotypes were identified in the region of this QTL and their distribution frequencies varied between the landraces and *** to gene annotation,spatial expression patterns,ortholog analysis and sequence variation,the candidate gene of ***-3B.1/***-3B was ***,the major QTLs and KASP markers reported here provide valuable information for elucidating the genetic architecture of grain weight and for molecular marker-assisted breeding in grain yield improvement.

关键词： thousand-grain weight QTL mapping haplotype analysis candidate gene

Two thin middle-crust low-velocity zones imaged in the Chuan-Dian region of southeastern Tibetan Plateau and their tectonic implications

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Science China Earth sciences 2024年第5期67卷 1675-1686页

作者： Long LI Xin WANG Guangbing HOU Yuan LING Yinshuang AI Key Laboratory of Earth and Planetary Physics Institute of Geology and GeophysicsChinese Academy of SciencesBeijing 100029China College of Earth and Planetary sciences University of Chinese Academy of SciencesBeijing 100049China Innovation academy for Earth Science Chinese Academy of SciencesBeijing 100029China

Intracrustal low-velocity zones(LVZs)indicate a mechanically weak crust and are widely observed in the southeast margin of the Tibetan ***,their spatial distributions and formation mechanisms remain *** investigate their distribution and detailed morphology of the LVZs in the southeastern Tibetan Plateau,here we used teleseismic events and continuous waveform data recorded by 40 broadband seismic stations newly deployed in the Sichuan-Yunnan region from December 2018 to October 2020.A total of 12,924 high-quality P-wave receiver functions and 5–40 s fundamental Rayleigh surface wave phase velocity dispersion curves from ambient noise cross-correlation functions were *** Swave velocity model at a depth interval of 0–100 km in the study area was inverted by using the trans-dimensional Markov chain Monte Carlo strategy to jointly invert the complementary data of the receiver function waveform and Rayleigh surface wave phase velocity *** results show that there are two separate LVZs(~3.5 km/s)surrounding the rigid Daliangshan subblock at crustal depths of approximately 30–40 km,providing new constraints on the geometry of the LVZs in our study *** two LVZs obtained in this study may represent the middle crustal flow channels,through which the material in the center of the Tibetan Plateau extrudes to its southeast *** by the rigid Sichuan Basin and the spindle-like Daliangshan subblock,the material continues to flow southward through the mechanically weak middle crustal channels surrounding the Daliangshan *** addition,the existence of thin LVZs in the middle crust plays an important role in understanding the decoupling between the upper and lower crust in the study *** also provides new constraint on the complex tectonic deformation process of the southeastern margin of the Tibetan Plateau caused by the collision and compression of the Indian and the Eurasian plates.

关键词： Southeastern Tibetan Plateau Joint inversion Intracrustal low-velocity zone Mid-crustal channel flow

TULAM:trajectory-user linking via attention mechanism

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Science China(Information sciences) 2024年第1期67卷 51-68页

作者： Hao LI Shuyu CAO Yaqing CHEN Min ZHANG Dengguo FENG Trusted Computing and Information Assurance Laboratory Institute of SoftwareChinese Academy of Sciences University of chinese academy of sciences

Recently,the application of location-based services(LBS) has become a prevalent means to provide convenience in customers’ everyday ***,because massive volumes of location information are collected by LBS applications,users may suffer from serious privacy *** studies have shown that the identities of users can be inferred from historical anonymous trajectories,which is formulated as the trajectory-user linking(TUL) *** some recurrent neural network(RNN)-based models have been proposed to capture implicit movement patterns among trajectories to improve TUL performance,they cannot learn the sequential and contextual semantics within any individual trajectory completely,leaving the advantages of RNNs *** therefore propose an RNN model with an attention mechanism called TULAM to improve the accuracy of the TUL *** learns sequential relationships within individual trajectories via RNN and captures contextual semantics from trajectories via a multi-head attention ***,we propose a novel location encoding method called approximate one-hot to solve the corpus shortage problem of trajectory *** were conducted on real datasets from the Gowalla and Foursquare LBS *** experimental results indicate that TULAM is a practical solution that achieves significant improvements over existing methods with satisfactory model complexity and convergence.

关键词： information security data security and privacy trajectory-user linking deep learning recurrent neural network attention mechanism

Diversity and ecological assembly process of aerobic anoxygenic phototrophic bacteria in a low irradiation area,Three Gorges Reservoir

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Journal of Environmental sciences 2024年第9期143卷 116-125页

作者： Lixin Huo Anran Ma Hong Liu Xingzu Wang Cheng Song Chongqing Institute of Green and Intelligent Technology Chinese Academy of SciencesChongqing 400714China Chongqing School University of Chinese Academy of SciencesCollege of Resources and EnvironmentChongqing 400714China Key Laboratory of Reservoir Aquatic Environment Chinese Academy of SciencesChongqing 400714China University of chinese academy of sciences Beijing 100049China

Aerobic anoxygenic phototrophic bacteria(AAPB)are significant bacterial groups in aquatic ecosystems,known for their rapid growth and photoheterotrophic ***,the distribution and ecological assembly process of AAPB in low irradiation freshwater basins remain unclear,warranting further *** this study,we present the diversity,abundance,spatial variations,ecological process,and community interaction of AAPB in sediment of Three Gorges Reservoir(TGR)under low *** findings demonstrate the dominant genera of AAPB community that exist in the TGR area also are appeared in different waters,with some regional ***,the concentration of pufM gene,an indicator for AAPB,maintains a consistently high numerical level ranging from(2.21±0.44)×10^(4)to(9.98±0.30)×10^(7)gene copies/*** solar irradiation is suggested as the major factor affecting AAPB,it remains unclear whether and how AAPB differ between regions due to varying solar irradiation *** results show spatial differences between total bacteria and AAPB communities,with significant differences observed only in *** and environmental factor contributed less than 10%to the spatial difference of community,with sediment type and environmental factors being the key factors influencing microbial community *** stochastic process plays a dominant role in the aggregation and replacement of AAPB communities,among which the most contribution is dispersal *** AAPB network,Yoonia and Gemmobacter are the hubs for *** results valuable insights into the AAPB communities in TGR with low irradiation.

关键词： Three Gorges Reservoir(TGR) Aerobic anoxygenic phototrophic bacteria(AAPB) Bacterial community Null model Community assembly

Plutonium utilization in a small modular molten-salt reactor based on a batch fuel reprocessing scheme

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Nuclear Science and Techniques 2024年第4期35卷 15-28页

作者： Xue-Chao Zhao Rui Yan Gui-Feng Zhu Ya-Fen Liu Jian Guo Xiang-Zhou Cai Yang Zou Shanghai Institute of Applied Physics Chinese Academy of SciencesShanghai 201800China CAS Innovative Academies in TMSR Energy System Chinese Academy of SciencesShanghai 201800China University of chinese academy of sciences Beijing 100049China

A molten salt reactor(MSR)has outstanding features considering the application of thorium fuel,inherent safety,sustainability,and resistance to ***,fissile material^(233)U is significantly rare at the current stage,thus it is difficult for MSR to achieve a pure thorium-uranium fuel ***,using plutonium or enriched uranium as the initial fuel for MSR is more *** this study,we aim to verify the feasibility of a small modular MSR that utilizes plutonium as the starting fuel(SM-MSR-Pu),and highlight its advantages and ***,the structural design and fuel management scheme of the SM-MSR-Pu were ***,the neutronic characteristics,such as the graphite-irradiation lifetime,burn-up performance,and coefficient of temperature reactivity were calculated to analyze the physical characteristics of the *** results indicate that plutonium is a feasible and advantageous starting fuel for a SM-MSR;however,there are certain shortcomings that need to be *** a 250 MWth SM-MSR-Pu,approximately 288.64 kg^(233)U of plutonium with a purity of greater than 90% is produced while 978.00 kg is burned every ten *** temperature reactivity coefficient decreases from -4.0 to -6.5 pcm K^(-1) over the 50-year operating time,which ensures a long-term safe ***,the amount of plutonium and accumulation of minor actinides(MAs)would increase as the burn-up time increases,and the annual production and purity of^(233)U will *** achieve an optimal burn-up performance,setting the entire operation time to 30 years is ***,more than 3600 kg of plutonium eventually accumulate in the *** research is required to effectively utilize this accumulated plutonium.

关键词： Molten salt fuel Plutonium utilization ^(233)U TRUs mole fraction Temperature feedback coefficient

Multifunction-oriented high-mobility polymer semiconductors

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National Science Review 2024年第3期11卷 16-19页

作者： Mingliang Zhu Yunlong Guo Yunqi Liu Beijing National Laboratory for Molecular sciences Organic Solids Laboratory Institute of Chemistry Chinese Academy of Sciences School of Chemical sciences University of Chinese Academy of Sciences

The discovery of conductive polyacetylene has initiated interdisciplinary research into condensed matter physics and synthetic chemistry in organic electronics. Unlike their inorganic and small-molecule counterparts, polymer semiconductors possess the inherent advantages of facile solution processing,large-area manufacturing, excellent mechanical strength and intrinsic flexibility.

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SAT-Based Automatic Searching for Differential and Linear Trails: Applying to CRAX

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chinese Journal of Electronics 2024年第1期33卷 72-79页

作者： Yiyi HAN Caibing WANG Zhongfeng NIU Lei HU State Key Laboratory of Information Security Institute of Information Engineering Chinese Academy of Sciences School of Cyber Security University of Chinese Academy of Sciences

Boolean satisfiability problem(SAT) is now widely applied in differential cryptanalysis and linear cryptanalysis for various cipher *** generated many excellent results for some ciphers,for example,*** this research,we study the differential and linear propagations through the operations of addition,rotation and XOR(ARX),and construct the SAT *** apply the models to CRAX to search differential trails and linear trails *** this sense,our contnbution can be broadly divided into two *** give the bounds for differential and linear cryptanalysis of Alzette both up to 12 steps,by which we present a 3-round differential attack and a 3-round linear attack for *** construct a 4-round key-recovery attack for CRAX with time complexity289times of 4-round encryption and data complexity 225.

关键词： Ciphers Encryption Complexity theory Time complexity

Deciphering and integrating invariants for neural operator learning with various physical mechanisms

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National Science Review 2024年第4期11卷 111-122页

作者： Rui Zhang Qi Meng Zhi-Ming Ma academy of Mathematics and Systems Science Chinese Academy of Sciences(CAS) Microsoft Research

Neural operators have been explored as surrogate models for simulating physical systems to overcome the limitations of traditional partial differential equation(PDE) solvers. However, most existing operator learning methods assume that the data originate from a single physical mechanism, limiting their applicability and performance in more realistic scenarios. To this end, we propose the physical invariant attention neural operator(PIANO) to decipher and integrate the physical invariants for operator learning from the PDE series with various physical mechanisms. PIANO employs self-supervised learning to extract physical knowledge and attention mechanisms to integrate them into dynamic convolutional *** to existing techniques, PIANO can reduce the relative error by 13.6%–82.2% on PDE forecasting tasks across varying coefficients, forces or boundary conditions. Additionally, varied downstream tasks reveal that the PI embeddings deciphered by PIANO align well with the underlying invariants in the PDE systems, verifying the physical significance of PIANO.

关键词： neural operator PDE solver contrastive learning physical invariants