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Leader-follower: Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of Technology The Learning Algorithms and Systems Laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(SuperLimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–SuperLimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the SuperLimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between SuperLimb, humans, and the environment under human safety assurance. First, the human–SuperLimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–SuperLimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and SuperLimb could well understand the wearer's intentions to switch different SuperLimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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Three-dimensional fracture of UO2 ceramic pellets by phase field modeling

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Science China(Physics,Mechanics & Astronomy) 2025年第1期Mechanics & Astronomy) .卷 169-180页

作者： Wei Xiong Xuan Ye Hongzhang Cheng Xiaoming Liu institute of nuclear and New Energy technology Collaborative Innovation Center of Advanced Nuclear Energy Technology Key Laboratory of Advanced Reactor Engineering and Safety of Ministry of Education Tsinghua University State Key Laboratory of Nonlinear Mechanics Institute of Mechanics Chinese Academy of Sciences School of Engineering Science University of Chinese Academy of Sciences

Fracture is the primary failure type for the UO2ceramic pellets,which are operated under irradiation and thermal processes,and physically confined by the *** this work,by combining closely coupled physical processes of heat conduction,heat transfer,and mechanical deformation with the cohesive phase field framework,we proposed a high-precision modeling of quasistatic cracking of three-dimensional （3D） UO2ceramic fuel pellets under high temperature and *** simulation results agree well with the experimental results,indicating that the proposed method has the potential to capture 3D crack modes in the interested time ***,we studied the relation of the 3D fracture patterns of fuel pellets with the peak power *** was found that the power level plays a critical role in determining the competition between radial and circumferential cracks,as well as transverse penetrating cracks.

关键词： phase field method nuclear fuel pellet coupled thermo-mechanical model thermal fracture

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Targets capture by distributed active swarms via bio-inspired reinforcement learning

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Science China(Physics,Mechanics & Astronomy) 2025年第1期Mechanics & Astronomy) .卷 210-221页

作者： Kun Xu Yue Li Jun Sun Shuyuan Du Xinpeng Di Yuguang Yang Bo Li institute of Biomechanics and Medical Engineering Applied Mechanics Laboratory Department of Engineering MechanicsTsinghua University institute of nuclear and New Energy technology Tsinghua University Shanghai Aerospace Control technology institute Shanghai Key Laboratory of Aerospace Intelligent Control technology College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Natural swarms arranged from cells to herds are usually decentralized but display intriguing collective intelligence in coordinating individuals across large scales to efficiently achieve their common goals. Learning from nature may provide new strategies for controlling collective dynamics of synthetic swarms to accomplish specific functions. Here, we present a bioinspired computational framework that steers distributed active swarms to collectively capture and merge targets via reinforcement learning. We exploit collective milling structures of natural herds to cage the targets, and adopt a switching control policy inspired by sperms' chiral dynamics to optimize the trajectories of individuals, through which the active swarms can selforganize to enclose single or multiple distant targets in a dynamical, adaptive and scalable manner. There exists a critical swarm size, beyond which the excessive competition between agents would generate large mechanical forces, leading to capture instability but enabling the transition from short-distance to long-distance merging capture of multiple targets. This work provides physical insights into distributed active swarms and could offer a multilevel, decentralized strategy toward controlling swarm robotics in wide applications such as bio-medical devices, machine immunity, and target clearance.

关键词： swarm intelligence robotics multi-tasks artificial intelligence bionics

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Vector meson's spin alignments in high energy reactions

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Science China(Physics,Mechanics & Astronomy) 2025年第1期Mechanics & Astronomy) .卷 5-20页

作者： Jin-Hui Chen Zuo-Tang Liang Yu-Gang Ma Xin-Li Sheng Qun Wang Key Laboratory of nuclear Physics and Ion-beam Application (MoE) Institute of Modern PhysicsFudan University institute of Frontier and Interdisciplinary Science Key Laboratory of Particle Physics and Particle Irradiation (MOE)Shandong University INFN-Firenze Department of Modern Physics University of Science and Technology of China School of Mechanics and Physics Anhui University of Science and Technology

The global spin alignment of vector mesons has been observed by the STAR collaboration at the Relativistic Heavy Ion Collider （RHIC） at Brookhaven National Laboratory （BNL）.It provides a unique opportunity to probe the correlation between the polarized quark and antiquark in the strongly coupled quark-gluon plasma （sQGP） produced in relativistic heavy ion collisions,opening a new window to explore the properties of s *** addition,spin alignments of vector mesons have also been observed in other high-energy particle collisions such as e+e-annihilations at high energies where hadron production is dominated by quark fragmentation *** results obtained are quite different from those obtained in heavy ion collisions where quark coalescence/combination mechanism dominates suggesting strong dependence on hadronization *** comprehensive studies in different hadronization processes are *** this article,we present a brief review of theoretical and experimental advances in the study of vector meson’s spin alignments in a variety of high-energy particle collisions,with emphasis on hadronization mechanisms.

关键词： vector meson spin alignment global polarization relativistic heavy ion collisions fragmentation

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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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Solid electrolyte composite Li4P2O7-Li3PO4 for lithium ion battery

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Progress in Natural Science:Materials International 2020年第2期30卷 168-173页

作者： Evvy Kartini Valentina Yapriadi Heri Jodi Maykel Manawan Cipta Panghegar Wahyudianingsih Center for Science and technology of Advanced Materials National Nuclear Energy Agency Faculty of Engineering Leeds University Energy Engineering Jakarta State Polytechnic polytechnique institute of nuclear technology

The researches on solid electrolyte have been significantly increasing due to the safety problem in lithium ion *** lithium phosphates are chosen due to environmentally *** the present study Li4P2O7was synthesized by solid state reaction using NH4H2PO4and Li2CO3with the ratio 1:2 at various temperatures of600 ℃,800 ℃ and 900℃.The products were characterized by x-ray diffraction,scanning electron microscopy and impedance *** x-ray diffraction showed that all samples consisted of two *** was found that the products consisted of 52.44% Li4P2O7and 47.56% LiPO3;93.56% Li4P2O7and 6.44% Li3PO4;and46.27% Li4P2O7and 53.67% Li3PO4under the synthesizing temperature of 600 ℃,800℃ and 900 ℃,*** highest ionic conductivity of 3.85 ×10-5S/m was achieved for composite Li4P2O7-Li3PO4with the highest content of 93.56% *** conductivity is higher compared with single phase of LiPO3,Li3PO4and *** increase in ionic conductivity may be due to the mixed anion effects related to the phosphate networks,and it also corresponds to the existence of anorthic phase Li4P2O7with the space group P-1（2）.The crystal lattice analysis showed that the reactant Li4P2O7consisted of diphosphate groups *** lithium tetrahedral LiO4were linked to P2O7groups formed a continuous framework containing large voids,available for Li+ion transport,and thus it exhibited high conductivity.A composite Li4P2O7-Li3PO4is a promising solid electrolyte for solid state battery.

关键词： Solid electrolyte LiPO3 Li3PO4 Li4P2O7 Ionic conductivity Lithium ion battery

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Leakage of nuclear material powder from pressure container through a small orifice

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Particuology 2014年第3期12卷 117-123页

作者： Longbo Liu Yanmin Wu Yongyang Su Hanbing Tang Zhihong Zhang Ping Huang Lili Zhang Lixing Zhang Northwest institute of nuclear technology

Because of the radioactivity and toxic nature of nuclear materials, their containment within oxide matrices, encased in sealed containers, has been proposed as a suitable means for storage and transportation. However, container failures because of cracks or small orifices present a major leakage risk for nuclear materials, consequently posing a significant hazard to the environment and human beings. In this study, terbium oxide powder was used as a nuclear material representative to examine the leakage of nuclear material powder through orifices located at the base of a pressure container. The dependence of the orifice diameter, the powder layer thickness, and the internal pressure of the container on the leakage mechanism and amount was examined. A simplified model correlating the dependence of the above-mentioned parameters to determine the utmost leakage amount was also developed based on the present results. The leakage of the nuclear material powder was assessed by measuring its concentration using an optical particle counter. The diameter of the orifice determined the powder leakage mechanism, which in turn influenced the amount of leakage produced. Comparison studies showed that unlike the changes in the differential pressure, the volume of the container has little effect on the leakage amount. Under sufficiently high internal pressures, the oxide powder can be released as a fine aerosol. The work is not only crucial from the nuclear safety aspect, but is also beneficial for the safe application of powder and nanoparticles.

关键词： nuclear materials Powder Leakage Risk assessment

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A Numerical Model for Ion Charge Distribution of Plasmas in Collisional Radiative Steady State

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Plasma Science and technology 2009年第1期11卷 1-6页

作者：段耀勇郭永辉邱爱慈蒯斌 Northwest institute of nuclear technology

A numerical model for the charge state distribution of plasmas in a collisional radiative steady state （CRSS） is established by averaging over the atomic process rate coefficients in universal kinetic equations. It is used to calculate the mean ion charge and ion population for a given temperature and density of the plasmas, ranging from low Z to high Z elements. The comparisons of the calculated results with those of other non-local thermodynamic equilibrium kinetics codes show that this model possesses acceptable precision. Furthermore, the NLTE effects are investigated by virtue of the model, and the differences between CRSS and LTE models for low density plasmas are quite evident.

关键词： collisional radiative steady state ion population level kinetics

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Stage-efficiency of centrifugal extractor used in nuclear industry

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中国有色金属学会会刊：英文版 2003年第4期13卷 982-987页

作者：吴秋林景山王兴海宋崇立 institute of nuclear Energy technology

The stage efficiency of a single stage prototype ( d 70) centrifugal extractor and the cascade is tested by HNO 3 Nd 3+ and 30%TRPO kerosene system. The experimental results of the single stage centrifugal extractor show that the carryover of the two phases decreases with increasing ratio of the two flow rate and rotation rate and the stage efficiency increases with not only decreasing total flow rate but also increasing rotor speed. However, the experimental results of the cascade show that the average stage efficiency of the cascade increases with not only decreasing total flow rate but also increasing rotor speed in both three stage mode and two stage mode.

关键词：核工业离心分离器效率分离工艺

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XPZLIB:an HDF5-format multi-group cross-section library

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nuclear Science and Techniques 2024年第11期35卷 46-60页

作者： Bin Fu Le-Rui Zhang Ding She Chun-Lin Wei Alain Hébert institute of nuclear and New Energy technology Key Laboratory of Advanced Reactor Engineering and Safety of the Ministry of EducationTsinghua UniversityBeijing 100084China National Key Laboratory of nuclear Reactor technology Nuclear Power Institute of ChinaChengdu 610041China polytechnique Montreal MontrealCanada

A multi-group cross-section library is fundamental for deterministic lattice physics *** existing multi-group cross-section libraries are customized for particular computer codes,as well as for particular types of nuclear *** paper presents an HDF5-format multi-group cross-section library named *** was produced using a selfdeveloped XPZR module integrated into the NJOY2016 code,and an in-house PyNjoy2022 system was developed for *** contains detailed data content and well-organized data structures that are user-and *** typical XPZLIBs with different numbers of energy groups,nuclides,and depletion reaction types were released via the Tsinghua cloud ***,the applicability of the released XPZLIBs was investigated using HTGR and PWR lattice calculations,which can provide guidance for applying XPZLIB under different scenarios.

关键词： XPZLIB Multi-group library HDF5 format HTGR PWR

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