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Highly efficient recognition of similar objects based on ionic robotic tactile sensors

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Science Bulletin 2024年第13期69卷 2089-2098页

作者： Yongkang Kong Guanyin Cheng Mengqin Zhang Yongting Zhao Wujun Meng Xin Tian Bihao Sun Fuping Yang Dapeng Wei chongqing Key Laboratory of Generic technology and System of Service Robots Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714China School of Computer Science and technology Chongqing University of Posts and TelecommunicationsChongqing 400065China

Tactile sensing provides robots the ability of object recognition,fine operation,natural interaction,***,in the actual scenario,robotic tactile recognition of similar objects still faces difficulties such as low efficiency and accuracy,resulting from a lack of high-performance sensors and intelligent recognition *** this paper,a flexible sensor combining a pyramidal microstructure with a gradient conformal ionic gel coating was demonstrated,exhibiting excellent signal-to-noise ratio(48 dB),low detection limit(1 Pa),high sensitivity(92.96 kPa^(-1)),fast response time(55 ms),and outstanding stability over 15,000 compression-release ***,a Pressure-Slip Dual-Branch Convolutional Neural Network(PSNet)architecture was proposed to separately extract hardness and texture features and perform feature *** tactile experiments on different kinds of leaves,a recognition rate of 97.16%was achieved,and surpassed that of human hands recognition(72.5%).These researches showed the great potential in a broad application in bionic robots,intelligent prostheses,and precise human–computer interaction.

关键词： Tactile recognition Conformal ionic gel coating Flexible sensors Dual-branch convolutional neural network

Efficient electroreduction of nitrate via enriched active phases on copper-cobalt oxides

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Chinese Chemical Letters 2024年第4期35卷 204-209页

作者： Ling Fang Sha Wang Shun Lu Fengjun Yin Yujie Dai Lin Chang Hong Liu chongqing institute of green and intelligent technology Chinese Academy of SciencesChongqing 400714China University of Chinese Academy of Sciences Beijing 100049China

Electrochemical conversion of nitrate(NO_(3)~-) to ammonia(NH_(3)) can target two birds with one stone well, in NO_(3)^(-)-containing sewage remediation and sustainable NH_(3) production. However, single metalbased catalysts are difficult to drive high-efficient NO_(3)~- removal due to the multi-electron transfer ***, we present a tandem catalyst with simple structure, Cu-Co binary metal oxides(Cu-Co-O), by engineering intermediate phases as catalytic active species for NO_(3)~- conversion. Electrochemical evaluation,X-ray photoelectron spectroscopy, and in situ Raman spectra together suggest that the newly-generated Cu-based phases was prone to NO_(3)~- to NO_(2)~- conversion, then NO_(2)~- was reduced to NH_(3) on Co-based species. At an applied potential of -1.1 V vs. saturated calomel electrode, the Cu-Co-O catalyst achieved NO_(3)~- -N removal of 90% and NH_(3) faradaic efficiency of 81% for 120 min in 100 m L of 50 mg/L NO_(3)~- -N,consuming only 0.69 k Wh/mol in a two-electrode system. This study provides a facile and efficient engineering strategy for developing high-performance catalysts for electrocatalytic nitrate conversion.

关键词： NO_(3)^(-)-containing sewage remediation Electrocatalytic reduction Copper-cobalt oxides Tandem reactivity Enriched active phases

SDGNN: Symmetry-Preserving Dual-Stream Graph Neural Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1717-1719页

作者： Jiufang Chen Ye Yuan Xin Luo the College of Computer Science and technology Chongqing University of Posts and TelecommunicationsChongqing 400065 the chongqing Key Laboratory of Big Data and intelligent Computing Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714China the College of Computer and Information Science Southwest UniversityChongqing 400715China IEEE

Dear Editor,This letter proposes a symmetry-preserving dual-stream graph neural network(SDGNN) for precise representation learning to an undirected weighted graph(UWG). Although existing graph neural networks(GNNs) are influential instruments for representation learning to a UWG, they invariably adopt a unique node feature matrix for illustrating the sole node set of a UWG.

关键词： representation preserving undirected

Schottky infrared detectors with optically tunable barriers beyond the internal photoemission limit

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The Innovation 2024年第3期5卷 69-76页

作者： Jintao Fu Zhongmin Guo Changbin Nie Feiying Sun Genglin Li Shuanglong Feng Xingzhan Wei chongqing institute of green and intelligent technology Chinese Academy of SciencesChongqing 400714China University of Chinese Academy of Sciences Beijing 100049China chongqing School University of Chinese Academy of SciencesChongqing 400714China

Internal photoemission is a prominent branch of the photoelectric effect and has emerged as a viable method for detecting photons with energies below the semiconductor *** breakthrough has played a significant role in accelerating the development of infrared imaging in one chip with state-of-the-art silicon ***,the performance of these Schottky infrared detectors is currently hindered by the limit of internal photoemission;specifically,a low Schottky barrier height is inevitable for the detection of low-energy infrared ***,a distinct paradigm of Schottky infrared detectors is proposed to overcome the internal photoemission limit by introducing an optically tunable *** device uses an infrared absorbing material-sensitized Schottky diode,assisted by the highly adjustable Fermi level of graphene,which subtly decouples the photon energy from the Schottky barrier ***,a broadband photoresponse spanning from ultraviolet to mid-wave infrared is achieved,with a high specific detectivity of 9.83×1010 cm Hz1/2 W−1 at 2,700 nm and an excellent specific detectivity of 7.2×109 cm Hz1/2 W−1 at room temperature under blackbody *** results address a key challenge in internal photoemission and hold great promise for the development of the Schottky infrared detector with high sensitivity and room temperature operation.

关键词： Schottky tunable beyond

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

Biogenic volatile organic compounds dominated the near-surface ozone generation in Sichuan Basin,China,during fall and wintertime

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Journal of Environmental Sciences 2024年第7期141卷 215-224页

作者： Dasheng Huang Qing Li Yan Han Shi-Yong Xia Jiawei Zhou Hanxiong Che Keding Lu Fumo Yang Xin Long Yang Chen Research Center for Atmospheric Environment Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714China chongqing institute of green and intelligent technology Chinese Academy of SciencesChongqing 400714China College of Resources and Environment Chongqing SchoolUniversity of the Chinese Academy of Sciences(UCAS Chongqing)Chongqing 400714China College of Environmental and Chemical Engineering Chongqing Three Gorges UniversityChongqing 404199China Key Laboratory for Urban Habitat Environmental Science and technology School of Environment and EnergyPeking University Shenzhen Graduate SchoolLishui RoadNanshan DistrictShenzhen 518055China SKL-ESPC and BIC-ESAT College of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China College of Architecture&Environment Sichuan UniversityChengdu 610065China

The complex air pollution driven by both Ozone(O_(3))and fine particulate matter(PM2.5)sig nificantly influences the air quality in the Sichuan Basin(SCB).Understanding the O_(3)for mation during autumn and winter is necessary to understand the atmospheric oxidative ***,continuous in-site field observations were carried out during the late summer,early autumn and winter of 2020 in a rural area of *** total volatile organic compounds(VOCs)concentration reported by a Proton-Transfer-Reaction Time-of Flight Mass Spectrometry(PTR-ToF-MS)were 13.66±9.75 ppb,5.50±2.64 ppb,and 9.41±5.11 ppb in late summer,early autumn and winter,*** anthropogenic VOCs(AVOCs)and biogenic VOCs(BVOCs)were 8.48±7.92 ppb and 5.18±2.99 ppb in late sum mer,3.31±1.89 ppb and 2.19±0.93 ppb in autumn,and 6.22±3.99 ppb and 3.20±1.27ppb in winter.A zero-dimensional atmospheric box model was employed to investigate the sensitivity of O_(3)-precursors by relative incremental reactivity(RIR).The RIR values of AV OCs,BVOCs,carbon monoxide(CO),and nitrogen oxides(NOx)were 0.31,0.71,0.09,and-0.36 for late summer,0.24,0.59,0.22,and-0.38 for early autumn,and 0.30,0.64,0.33 and-0.70 for winter,and the results showed that the O_(3)formation of sampling area was in the VOC-limited region,and O_(3)was most sensitive to BVOCs(with highest RIR values,>0.6)This study can be helpful in understanding O_(3)formation and interpreting the secondary formation of aerosols in the winter.

关键词： VOCs PTR-MS Model Ozone

Data Driven Vibration Control:A Review

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1898-1917页

作者： Weiyi Yang Shuai Li Xin Luo chongqing institute of green and intelligent technology Chinese Academy of SciencesChongqing 400714 chongqing School University of Chinese Academy of SciencesChongqing 400714China Faculty of Information technology and Electrical Engineering University of OuluOulu 90570 VTT-technology Research Center of Finland Oulu 90570Finlan College of Computer and Information Science Southwest UniversityChongqing 400715China

With the ongoing advancements in sensor networks and data acquisition technologies across various systems like manufacturing,aviation,and healthcare,the data driven vibration control(DDVC)has attracted broad interests from both the industrial and academic *** shaping(IS),as a simple and effective feedforward method,is greatly demanded in DDVC *** convolves the desired input command with impulse sequence without requiring parametric dynamics and the closed-loop system structure,thereby suppressing the residual vibration *** on a thorough investigation into the state-of-the-art DDVC methods,this survey has made the following efforts:1)Introducing the IS theory and typical input shapers;2)Categorizing recent progress of DDVC methods;3)Summarizing commonly adopted metrics for DDVC;and 4)Discussing the engineering applications and future trends of *** doing so,this study provides a systematic and comprehensive overview of existing DDVC methods from designing to optimizing perspectives,aiming at promoting future research regarding this emerging and vital issue.

关键词： Data driven vibration control(DDVC) data science designing method feedforward control industrial robot input shaping optimizing method residual vibration

Continuous advantage learning for minimum-time trajectory planning of autonomous vehicles

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Science China(Information Sciences) 2024年第7期67卷 285-294页

作者： Zhuo LI Weiran WU Jialin WANG Gang WANG Jian SUN School of Automation Beijing Institute of Technology Beijing institute of technology chongqing Innovation Center China Academy of Launch Vehicle technology Intelligent Game and Decision Laboratory

This paper investigates the minimum-time trajectory planning problem of an autonomous vehicle. To deal with unknown and uncertain dynamics of the vehicle, the trajectory planning problem is modeled as a Markov decision process with a continuous action space. To solve it, we propose a continuous advantage learning(CAL) algorithm based on the advantage-value equation, and adopt a stochastic policy in the form of multivariate Gaussian distribution to encourage exploration. A shared actor-critic architecture is designed to simultaneously approximate the stochastic policy and the value function, which greatly reduces the computation burden compared to general actor-critic methods. Moreover, the shared actor-critic is updated with a loss function built as mean square consistency error of the advantage-value equation, and the update step is performed several times at each time step to improve data efficiency. Simulations validate the effectiveness of the proposed CAL algorithm and its better performance than the soft actor-critic algorithm.

关键词： trajectory planning continuous advantage learning stochastic policy shared actor-critic

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On the Probability of Generating a Primitive Matrix

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Journal of Systems Science & Complexity 2024年第4期37卷 1755-1771页

作者： CHEN Jingwei FENG Yong LIU Yang WU Wenyuan chongqing Key Laboratory of Automated Reasoning and Cognition Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714China chongqing College University of Chinese Academy of SciencesChongqing 400714China Key Laboratory of Advanced Manufacturing technology of Ministry of Education Guizhou UniversityyGuiyang 550025China Information Science and Engineering Chongqing Jiaotong UniversityChongqing 400074China

Given a k×n integer primitive matrix A(i.e.,a matrix can be extended to an n×n unimodular matrix over the integers)with the maximal absolute value of entries‖A‖bounded by an integer λ from above,the authors study the probability that the m×n matrix extended from A by appending other m-k row vectors of dimension n with entries chosen randomly and independently from the uniform distribution over{0,1,…,λ-1}is still *** authors present a complete and rigorous proof of a lower bound on the probability,which is at least a constant for fixed m in the range[k+1,n-4].As an application,the authors prove that there exists a fast Las Vegas algorithm that completes a k×n primitive matrix A to an n×n unimodular matrix within expected O(n^(ω)log‖A‖)bit operations,where O is big-O but without log factors,ω is the exponent on the arithmetic operations of matrix multiplication.

关键词： Integer matrix matrix completion probabilistic algorithm unimodular matrix

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