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Accurate manipulation of anthropomorphic robotic arm based on 3D human eye gazing with posture error compensation

science China Technological sciences 2025年

作者： Quanlin LI Xianzong WANG Jiaji MA Qianjun HUANG Qizhi JIANG Wenbin CHEN Caihua XIONG State Key Laboratory of Intelligent Manufacturing Equipment and technology School of Mechanical Science and Engineering Huazhong University of Science and Technology Institute of Medical Equipment science and Engineering Huazhong University of Science and Technology

As humans and robots work closer together than ever, anthropomorphic robotic arms with intuitive human-robot interaction interfaces have drawn massive attention to improving the quality of robot-assisted manipulation. In pursuit of this,we designed a dedicated 7-degrees-of-freedom (DoF) anthropomorphic robotic arm having three compact differential joints and a head-mounted gaze tracker enabling head-pose-tracked 3D gaze estimation. Moreover, two key challenges were addressed to achieve accurate robot-assisted manipulation of the object indicated by the direction of human gaze. First, a novel predictive pupil feature was proposed for 3D gaze estimation. Differing from most existing features subjected to the common paraxial approximation assumption, the proposed novel predictive pupil feature considered the light refraction at two corneal surfaces with a more realistic eye model, significantly improving the 3D gaze estimation accuracy when the eyeball rotates at large angles. Second, a novel optimization-based approach was developed to efficiently compensate for the posture errors of the designed 7-DoF anthropomorphic robotic arm for accurate manipulation. Compared with the existing Jacobian-based or optimization-based approaches with nominal joint values as iteration initial, the proposed approach computed the optimal iteration initial and realized faster convergence for real-time posture error compensation. With the posture error compensation in real time and 3D gaze estimated accurately, the human can command accurate robot-assisted manipulation using his eyes intuitively. The proposed system was successfully tested on five healthy subjects.

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Calibration of the Solar X-ray Detector on-board the Macao science Satellite-1B for Soft X-ray Detection

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science China Earth sciences 2025年第1期68卷 11-26页

作者： Man-Hei NG Xiaoping ZHANG Jianwu CHEN Yongqiang SHI Fuchang ZUO Wenxi PENG Weichun FU Liansheng LI Pengwei LUO Chi-Long TANG Guozheng ZHANG Zhiwu MEI Li WANG Cunhui LI Jiaming OU Yanyan XU State Key Laboratory of Lunar and Planetary sciences Macau University of Science and Technology China National Space Administration (CNSA) Macau Center for Space Exploration and Science Space Optoelectronic Measurement and Perception Laboratory Beijing Institute of Control Engineering Institute of High Energy Physics Chinese Academy of Sciences science and technology on Vacuum technology and Physics Laboratory Lanzhou Institute of Physics

The Solar X-ray Detector(SXD) on-board the Macao science Satellite-1B(MSS-1B) was successfully launched via the Chinese Long March-2C rocket on 21 May 2023, and commenced operations in early June of the same year. The MSS-1B/Soft X-ray Detection Units(SXDUs) employ two silicon drift detectors(SDDs), providing a wide range of energy spectra spanning from 0.7 to 24 keV. Notably, the SXDUs deliver a high-resolution capability of 0.14 keV@5.9 keV and operate with a time cadence of 1 second. Here, we perform thorough calibrations of the MSS-1B/SXDUs, employing a combination of ground experiments and simulations. In addition, quantitative analysis comparing the flux measurements obtained by the MSS-1B/SXDUs to the data collected by the Geostationary Operational Environmental Satellite(GOES), provides compelling evidence of their consistency. Furthermore, the preliminary spectral analysis results showcase the robustness and expected performance of the MSS-1B/SXDUs, unlocking their potential for facilitating the study of dynamic evolution of solar flares. Moreover, the innovative MSS-1B/Solar X-ray Detector facilitates concurrent observations of solar soft and hard X-rays, thereby making valuable contributions to the advancements in solar research.

关键词： Macao science Satellite-1B (MSS-1B) Calibration Solar X-Ray Detector Spectrometer Soft X-rays Solar flares Solar abundances

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Synergistic promotion strategy of “dual-site” and “dual-path” to enhance the C–C coupling between CO2 and HCHO driven by photoelectrocatalysis

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Journal of Energy Chemistry 2025年第1期100卷 39-49页

作者： Hongqiang Yang Jianfeng Zheng Guoyu Wang Yifei Gao Yatao Yang Jia Li Xiaojin Han Yan Cui Zhanggen Huang National Key Laboratory of High Efficiency and Low Carbon Utilization of Coal Institute of Coal Chemistry Chinese Academy of Science university of Chinese Academy of science Shenyang university of Chemical technology

Photoelectrocatalytic coupling CO2and volatile organic compounds （VOCs） is a promising green strategy for the synergistic conversion of the two carbon-containing resources to *** catalytic efficiency is always at the mercy of chemical inertness of CO2and the competitive hydrogen evolution of ***,a modified g-C3N4/ZnAl-LDH Z-scheme heterojunction catalyst with dual reaction site was rationally designed and precisely *** Faraday efficiency of ethanol reached 68.67%with a corresponding formation rate of 227.3μmol *** revealed by in-situ characterizations and density functional theory calculations,CO2and HCHO were absorbed at Zn site and N site,***,*CO generated from CO2and HCHO was converted to*CH3O and*CHO on the dual-active-site *** detailed reaction mechanism experiments indicated that C–C coupling only occurred between*CO and*CH3O in electrocatalysis *** from the“*CO+*CH3O”path,another“*CO+*CHO”coupling path was also detected in photoelectrocatalytic *** selectivity of ethanol was significantly enhanced due to the synthesis of dual-site catalyst and the dual-path coupling path between CO2and HCHO simultaneously driven by light and electricity.

关键词： Ethanol

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Small modifications of endo-functionalized cavities lead to large changes in molecular interaction in water

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science China Chemistry 2025年第1期68卷 369-376页

作者： Song-Meng Wang Hao Nian Yan-Fang Wang Li-Shuo Zheng Yu-Tao Zheng Yi-Wei Dong Liping Huang Xiaoping Wang Wei Jiang Liu-Pan Yang Department of Chemistry Southern University of Science and Technology School of Chemistry and Pharmaceutical sciences State Key Laboratory for Chemistry and Molecular Engineering of Medicinal ResourcesGuangxi Normal University School of Pharmaceutical science Hengyang Medical School University of South China

Studying molecular recognition in aqueous environments is crucial for understanding biological processes. Herein, we present a series of N-doped endo-functionalized anthracene-based cavities by introducing inward-directed pyridine units. The subtle modifications can significantly affect the binding properties of these receptors, which is similar to the mutations in biological systems. Combining theoretical calculations and molecular recognition experiments demonstrated that these “mutations” have an impact on the hydrophobicity and charge distribution of the hosts, consequently significantly influencing molecular *** is crucial for understanding the intricate mechanisms of molecular-level interactions in biological receptors.

关键词： host-guest interaction hydrophobic effect endo-functionalized cavity mutation pyridine

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Efficient OpenMP Based Z-curve Encoding and Decoding Algorithms

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Computers, Materials & Continua 2025年第1期82卷 1313-1327页

作者： Zicheng Zhou Shaowen Sun Teng Liang Mengjuan Li Fengling Xia School of Electronic science and Engineering University of Electronic Science and Technology of ChinaChengdu611731China Faculty of Information Engineering and Automation Kunming University of Science and TechnologyKunming650500China School of Communications Information Engineering Yunnan Communications Vocational and Technical CollegeKunming650500China Library Yunnan Normal UniversityKunming650500China Faculty of Civil Aviation and Aeronautics Kunming University of Science and TechnologyKunming650500China

Z-curve’s encoding and decoding algorithms are primely important in many Z-curve-based *** bit interleaving algorithm is the current state-of-the-art algorithm for encoding and decoding *** simple,its efficiency is hindered by the step-by-step coordinate shifting and bitwise *** tackle this problem,we first propose the efficient encoding algorithm LTFe and the corresponding decoding algorithm LTFd,which adopt two optimization methods to boost the algorithm’s efficiency:1)we design efficient lookup tables(LT)that convert encoding and decoding operations into table-lookup operations;2)we design a bit detection mechanism that skips partial order of a coordinate or a Z-value with consecutive 0s in the front,avoiding unnecessary iterative *** propose order-parallel and point-parallel OpenMP-based algorithms to exploit the modern multi-core *** results on discrete,skewed,and real datasets indicate that our point-parallel algorithms can be up to 12.6×faster than the existing algorithms.

关键词： Z-curve lookup table OpenMP bit detection mechanism

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Numerical Simulation of Radiation Transport to Improve Microalgae Cultivation in an Air-Lift Photobioreactor

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Journal of Thermal science 2025年第1期34卷 62-76页

作者： ZHANG Xianbin LI Mingjia HUNG Tzuchen ZHANG Zixun Key Laboratory of Thermo-Fluid science and Engineering of Ministry of Education School of Energy and Power EngineeringXi'an Jiaotong University School of Mechanical Engineering Beijing Institute of Technology Department of Mechanical Engineering Taipei University of Technology

A comprehensive numerical model is developed to simulate the growth of microalgae under light/dark cycling *** purpose of this study is to predict the growth rate of Chlorella vulgaris cultivated in photobioreactors(PBRs) in order to improve the light conditions for microalgae and enhance the photosynthetic *** fluid dynamics(CFD) is used to simulate its internal hydrodynamic *** Lagrangian method is employed to track the movement of microalgae *** radiative transfer equation(RTE)is used to obtain light intensity *** combination of light radiation field and microalgae cell motions is used to construct the light history and they are integrated into the model of the photosynthetic units(PSU) to calculate the microalgae growth *** numerical results demonstrate that enhanced light/dark cycling frequency with ordered mixing can promote efficient microalgae *** effect of the vortex flow field generated by the baffles in an air-lift PBR is analyzed for increasing microalgae growth *** using the 1:1 baffle spacing,the biomass production of microalgae is increased by 41.8% compared to the original PBR.

关键词： light distribution particle tracking photobioreactor structure optimization

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Novel flexible and transparent microstrip low-pass filter design with Π-shaped DGS

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The Journal of China Universities of Posts and Telecommunications 2025年

作者： Liu Zhaohan Han Yunan Qiu Xianbo Li Xianli College of Information science and technology， Beijing university of Chemical technology

This paper proposes a new design for a transparent low-pass filter (LPF) using a flexible PTFE material and metallic copper. The transparent microstrip filter employs an asymmetric Π-shaped structure with dimensions of 260 mm × 13 mm × 0.148 mm， which owns a narrow transition band and achieves an insertion loss of less than 1.0 dB below 0.26 GHz. Furthermore， the insertion loss of the transparent microstrip filter can exceed 30 dB in the stopband of 1.02 GHz to 6.50 GHz. Square holes are added to the copper layer to improve the transparency of the LPF， and the filter performance can be adjusted by changing the square hole area and resolution. Additionally， multiple identical structures are cascaded to increase the insertion loss in the stopband while maintaining the passband. The transparent microstrip LPF has the characteristics of flexibility， high transparency， and significant insertion loss in the stopband， making it suitable for applications that require electromagnetic protection in a clear field of vision.

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A Latency-Aware and Fault-Tolerant Framework for Resource Scheduling and Data Management in Fog-Enabled Smart City Transportation Systems

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Computers, Materials & Continua 2025年第1期82卷 1377-1399页

作者： Ibrar Afzal Noor ul Amin Zulfiqar Ahmad Abdulmohsen Algarni Department of Computer science and Information technology Hazara UniversityMansehra21300Pakistan Department of Computer science King Khalid UniversityAbha61421Saudi Arabia

Thedeployment of the Internet of Things(IoT)with smart sensors has facilitated the emergence of fog computing as an important technology for delivering services to smart environments such as campuses,smart cities,and smart transportation *** computing tackles a range of challenges,including processing,storage,bandwidth,latency,and reliability,by locally distributing secure information through end *** of endpoints,fog nodes,and back-end cloud infrastructure,it provides advanced capabilities beyond traditional cloud *** smart environments,particularly within smart city transportation systems,the abundance of devices and nodes poses significant challenges related to power consumption and system *** address the challenges of latency,energy consumption,and fault tolerance in these environments,this paper proposes a latency-aware,faulttolerant framework for resource scheduling and data management,referred to as the FORD framework,for smart cities in fog *** framework is designed to meet the demands of time-sensitive applications,such as those in smart transportation *** FORD framework incorporates latency-aware resource scheduling to optimize task execution in smart city environments,leveraging resources from both fog and cloud *** simulation-based executions,tasks are allocated to the nearest available nodes with minimum *** the event of execution failure,a fault-tolerantmechanism is employed to ensure the successful completion of *** successful execution,data is efficiently stored in the cloud data center,ensuring data integrity and reliability within the smart city ecosystem.

关键词： Fog computing smart cities smart transportation data management fault tolerance resource scheduling

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Mechanistic insight into the synergy between nickel single atoms and nanoparticles on N-doped carbon for electroreduction of CO2

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Journal of Energy Chemistry 2025年第1期100卷 327-336页

作者： Mingdong Sun Wenwen Guan Cailing Chen Chao Wu Xiaoling Liu Biao Meng Tao Chen Yu Han Jun Wang Shibo Xi Yu Zhou State Key Laboratory of Materials-Oriented Chemical Engineering College of Chemical Engineering Nanjing Tech University Advanced Membranes and Porous Materials Center Physical Sciences and Engineering Division King Abdullah University of Science and Technology Institute of Sustainability for Chemicals Energy and Environment A*STAR (Agency for Science Technology and Research) College of Materials science and Engineering Sichuan University

The synergy of single atoms （SAs） and nanoparticles （NPs） has demonstrated great potential in promoting the electrocatalytic carbon dioxide reduction reaction （CO2RR）;however,the rationalization of the SAs/NPs proportion remains one challenge for the catalyst ***,a Ni2+-loaded porous poly（ionic liquids）(PIL) precursor synthesized through the free radical self-polymerization of the ionic liquid monomer,1-allyl-3-vinylimidazolium chloride,was pyrolyzed to prepare the Ni,N co-doped carbon materials,in which the proportion of Ni SAs and NPs could be facilely modulated by controlling the annealing *** catalyst Ni-NC-1000 with a moderate proportion of Ni SAs and NPs exhibited high efficiency in the electrocatalytic conversion of CO2into *** Ni K-edge X-ray absorption near-edge structure （XANES） spectra and theoretical calculations were conducted to gain insight into the synergy of Ni SAs and *** charge transfer from Ni NPs to the surrounding carbon layer and then to the Ni SAs resulted in the electron-enriched Ni SAs active *** the electroreduction of CO2,the coexistence of Ni SAs and NPs strengthened the CO2activation and the affinity towards the key intermediate of*COOH,lowering the free energy for the potential-determining*CO2→*COOH step,and therefore promoted the catalysis efficiency.

关键词： Activation energy

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Glucocorticoid receptor signaling in the brain and its involvement in cognitive function

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Neural Regeneration Research 2025年第9期20卷 2520-2537页

作者： Chonglin Su Taiqi Huang Meiyu Zhang Yanyu Zhang Yan Zeng Xingxing Chen Brain science and Advanced technology Institute Hubei Province Key Laboratory of Occupational Hazard Identification and ControlSchool of MedicineWuhan University of Science and TechnologyWuhanHubei ProvinceChina

The hypothalamic-pituitary-adrenal axis regulates the secretion of glucoco rticoids in response to environmental *** the brain,a nuclear receptor transcription fa ctor,the glucocorticoid recepto r,is an important component of the hypothalamicpituitary-a d renal axis's negative feedback loop and plays a key role in regulating cognitive equilibrium and *** glucoco rticoid receptor influences cognitive processes,including glutamate neurotransmission,calcium signaling,and the activation of brain-derived neurotrophic factor-mediated pathways,through a combination of genomic and non-genomic *** interactions within the central nervous system can alter the expression and activity of the glucocorticoid receptor,there by affecting the hypothalamic-pituitary-a d renal axis and stress-related cognitive *** appropriate level of glucocorticoid receptor expression can improve cognitive function,while excessive glucocorticoid receptors or long-term exposure to glucoco rticoids may lead to cognitive *** with cognitive impairment-associated diseases,such as Alzheimer's disease,aging,depression,Parkinson's disease,Huntington's disease,stroke,and addiction,often present with dysregulation of the hypothalamic-pituitary-adrenal axis and glucocorticoid receptor *** review provides a comprehensive overview of the functions of the glucoco rticoid receptor in the hypothalamic-pituitary-a d renal axis and cognitive *** emphasizes that appropriate glucocorticoid receptor signaling fa cilitates learning and memory,while its dysregulation can lead to cognitive *** provides clues about how glucocorticoid receptor signaling can be targeted to ove rcome cognitive disability-related disorders.

关键词： brain-derived neurotrophic factor calcium signaling glucocorticoid receptor glucocorticoid glutamate transmission hypothalamic-pituitary-adrenal axis long-term potentiation neurocognitive disorders neuroplasticity stress

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