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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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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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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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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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Research status and prospects of the fractal analysis of metal material surfaces and interfaces

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International Journal of Minerals,Metallurgy and Materials 2025年第1期32卷 20-38页

作者： Qinjin Dai Xuefeng Liu Xin Ma Shaojie Tian Qinghe Cui Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology BeijingBeijing 100083China Beijing Laboratory of Metallic Materials and Processing for Modern Transportation University of Science and Technology BeijingBeijing 100083China Laboratory for Advanced Materials Processing of Ministry of Education University of Science and Technology BeijingBeijing 100083China School of Mechanical and Electrical Engineering Xinjiang Institute of EngineeringUrumqi 830023China

As a mathematical analysis method,fractal analysis can be used to quantitatively describe irregular shapes with self-similar or self-affine *** analysis has been used to characterize the shapes of metal materials at various scales and *** methods make it difficult to quantitatively describe the relationship between the regular characteristics and properties of metal material surfaces and ***,fractal analysis can be used to quantitatively describe the shape characteristics of metal materials and to establish the quantitative relationships between the shape characteristics and various properties of metal *** the perspective of two-dimensional planes and three-dimensional curved surfaces,this paper reviews the current research status of the fractal analysis of metal precipitate interfaces,metal grain boundary interfaces,metal-deposited film surfaces,metal fracture surfaces,metal machined surfaces,and metal wear *** relationship between the fractal dimensions and properties of metal material surfaces and interfaces is *** from three perspectives of fractal analysis,namely,research scope,image acquisition methods,and calculation methods,this paper identifies the direction of research on fractal analysis of metal material surfaces and interfaces that need to be *** is believed that revealing the deep influence mechanism between the fractal dimensions and properties of metal material surfaces and interfaces will be the key research direction of the fractal analysis of metal materials in the future.

关键词： metal material surfaces and interfaces fractal analysis fractal dimension homogeneity

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Scalable Ir‑Doped NiFe_(2)O_(4)/TiO_(2)Heterojunction Anode for Decentralized Saline Wastewater Treatment and H_(2)Production

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Nano-Micro Letters 2025年第3期17卷 1-18页

作者： Sukhwa hong Jiseon Kim Jaebeom Park Sunmi Im Michael R.Hoffmann Kangwoo Cho Division of Environmental science and Engineering Pohang University of Science and Technology(POSTECH)Pohang 790−784Korea Linde Laboratory California Institute of TechnologyPasadenaCA 91125USA Institute for Convergence Research and Education in Advanced technology(I‑CREATE) Yonsei University International CampusIncheon 21983Republic of Korea

Wastewater electrolysis cells(WECs)for decentralized wastewater treatment/reuse coupled with H_(2)production can reduce the carbon footprint associated with transportation of water,waste,and energy *** study reports Ir-doped NiFe_(2)O_(4)(NFI,~5 at%Ir)spinel layer with TiO_(2)overlayer(NFI/TiO_(2)),as a scalable heterojunction anode for direct electrolysis of wastewater with circumneutral pH in a single-compartment *** dilute(0.1 M)NaCl solutions,the NFI/TiO_(2)marks superior activity and selectivity for chlorine evolution reaction,outperforming the benchmark IrO_(2).Robust operation in near-neutral pH was *** including operando X-ray absorption spectroscopy unveiled crucial roles of TiO_(2) which serves both as the primary site for Cl−chemisorption and a protective layer for NFI as an ohmic *** electrolysis of NH4+-laden synthetic wastewater demonstrated that NFI/TiO_(2)not only achieves quasi-stoichiometric NH_(4)^(+)-to-N_(2)conversion,but also enhances H_(2)generation efficiency with minimal competing reactions such as reduction of dissolved oxygen and reactive *** scaled-up WEC with NFI/TiO_(2)was demonstrated for electrolysis of toilet wastewater.

关键词： Wastewater electrolysis cell Ir-doped NiFe_(2)O_(4) Reactive chlorine species Decentralized H_(2)production On-site wastewater treatment

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A bio-inspired optical imaging method for robotic perception in turbid water

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science China Technological sciences 2025年第1期 79-81页

作者： Xudong SUN Yafeng LI Peng LIN Xiaodi SHANG Xianping FU School of Information science and technology Dalian Maritime University College of Computer science and technology Qingdao University

In the realm of underwater robotics, optical imaging plays a pivotal role in many scientific researches. Due to the effects of absorption and scattering,images captured in turbid water are severely degraded. Therefore, enhancing the quality of underwater optical images stands paramount in ensuring the continued advancement and efficacy of underwater robots across its multifarious applications.

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Stochastic Augmented-Based Dual-Teaching for Semi-Supervised Medical Image Segmentation

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Computers, Materials & Continua 2025年第1期82卷 543-560页

作者： Hengyang Liu Yang Yuan Pengcheng Ren Chengyun Song Fen Luo School of Computer science and Engineering Chongqing University of TechnologyChongqing400054China College of Artificial Intelligence Chongqing Technology and Business UniversityChongqing400067China

Existing semi-supervisedmedical image segmentation algorithms use copy-paste data augmentation to correct the labeled-unlabeled data distribution ***,current copy-paste methods have three limitations:(1)training the model solely with copy-paste mixed pictures from labeled and unlabeled input loses a lot of labeled information;(2)low-quality pseudo-labels can cause confirmation bias in pseudo-supervised learning on unlabeled data;(3)the segmentation performance in low-contrast and local regions is less than *** design a Stochastic Augmentation-Based Dual-Teaching Auxiliary Training Strategy(SADT),which enhances feature diversity and learns high-quality features to overcome these *** be more precise,SADT trains the Student Network by using pseudo-label-based training from Teacher Network 1 and supervised learning with labeled data,which prevents the loss of rare labeled *** introduce a bi-directional copy-pastemask with progressive high-entropy filtering to reduce data distribution disparities and mitigate confirmation bias in *** the mixed images,Deep-Shallow Spatial Contrastive Learning(DSSCL)is proposed in the feature spaces of Teacher Network 2 and the Student Network to improve the segmentation capabilities in low-contrast and local *** this procedure,the features retrieved by the Student Network are subjected to a random feature perturbation *** two openly available datasets,extensive trials show that our proposed SADT performs much better than the state-ofthe-art semi-supervised medical segmentation *** only 10%of the labeled data for training,SADT was able to acquire a Dice score of 90.10%on the ACDC(Automatic Cardiac Diagnosis Challenge)dataset.

关键词： Semi-supervised medical image segmentation contrastive learning stochastic augmented

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