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6th Experiment at International Conference, exp.at 2023

作者： Lagos, Beatriz Menezes, Paulo University of Coimbra Institute of Systems and Robotics Electrical and Computer Engineering Department Coimbra Portugal

ISBN: (纸本)9798350314403

This article explores the topic involving children with autism, referencing what this condition is about, as well as the hypotheses for approaching the problem based on the literature reviewed. The proposed approach involves the creation of an adequate space with an immersive interactive system based on musical stimuli, and physical exercise to improve their communication, memory, visual and motor capabilities, and eventually potentiate the development of artistic skills. The development of this interactive system includes the development of an avatar that will be animated using Motion Capture technology, so it can interact with the child and accompany him/her while doing the exercises with fluid movements. © 2023 IEEE.

关键词： Music

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Origin of superlubricity of diamond-like carbon(DLC)

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Friction 2025年第1期13卷 85-99页

作者： Seokhoon Jang Zhe Chen Seong H.Kim Department of Chemical Engineering and Materials Research Institute Pennsylvania State UniversityUniversity ParkPA 16802USA State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Hydrogenated diamond-like carbon(H-DLC)is typically produced as a coating or thin film through plasma-enhanced chemical vapor deposition(PE-CVD).H-DLC is relatively hard and well known to exhibit *** superlubricity an intrinsic property of H-DLC?This paper argues that H-DLC is not intrinsically superlubricious,but it has an ideal structure that allows transition of the interface region to a superlubricious structure upon frictional shear in proper ***,its superlubricity is an extrinsic *** argument is made by comparing frictional behaviors of three allotropes of carbon materials—graphite,amorphous carbon(a-C),and diamond,and carefully scrutinizing the run-in behavior as well as environment sensitivity of H-DLC *** superlubricious structure is generally known to be graphitic,but its exact structure remains elusive and is subject to further ***,accurate knowledge of how superlubricity is induced for H-DLC can guide engineering design to achieve superlubricious behaviors with other carbon materials produced via different synthetic routes.

关键词： superlubricity diamond-like carbon(DLC) run-in environmental sensitivity

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All-Fabric Bi-directional Actuators for Multi-joint Assistance of Upper Limb

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Journal of Bionic engineering 2023年第6期20卷 2661-2669页

作者： Junlin Ma Diansheng Chen Zhe Liu Jie Wei Xianglin Zhang Zihan Zeng Yongkang Jiang Institute of Robotics Beihang UniversityBeijing100191China Department of Control Science and Engineering Tongji UniversityShanghai201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai201210China

According to clinical studies,upper limb robotic suits are vital to reduce therapist fatigue and accelerate patient *** pneumatic actuators have drawn increasing attention for the development of wearable robots due to their low weight,flexibility,and high power-to-weight ***,most of current actuators were designed for the flexion assistance of a specific joint,and that for joint extension requires further ***,designing an actuator for diverse working scenarios remains a *** this paper,we propose an all-fabric bi-directional actuator to assist the flexion and extension of the elbow,wrist,and fingers.A mathematical model is presented that predicts the deformation and guides the design of the proposed bi-directional *** further validate the applicability and adaptability of the proposed actuator for different joints,we developed a 3-DOF soft robotic *** results show that the robotic suit can assist the motion of the elbow,wrist,and finger of the subject.

关键词： Soft robotic suits Fabric-based actuators Multi-DOF motion Upper limb rehabilitation

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MATD3-Based End-Edge Collaborative Resource Optimization for NOMA-Assisted Industrial Wireless Networks

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Computers, Materials & Continua 2025年第2期82卷 3203-3222页

作者： Ru Hao Chi Xu Jing Liu College of Information Engineering Shenyang University of Chemical TechnologyShenyang110142China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China

Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resources. This paper minimizes the system overhead regarding task processing delay and energy consumption for the IWN with hybrid NOMA and orthogonal multiple access (OMA) schemes. Specifically, we formulate the system overhead minimization (SOM) problem by considering the limited computation and communication resources and NOMA efficiency. To solve the complex mixed-integer nonconvex problem, we combine the multi-agent twin delayed deep deterministic policy gradient (MATD3) and convex optimization, namely MATD3-CO, for iterative optimization. Specifically, we first decouple SOM into two sub-problems, i.e., joint sub-channel allocation and task offloading sub-problem, and computation resource allocation sub-problem. Then, we propose MATD3 to optimize the sub-channel allocation and task offloading ratio, and employ the convex optimization to allocate the computation resource with a closed-form expression derived by the Karush-Kuhn-Tucker (KKT) conditions. The solution is obtained by iteratively solving these two sub-problems. The experimental results indicate that the MATD3-CO scheme, when compared to the benchmark schemes, significantly decreases system overhead with respect to both delay and energy consumption.

关键词： Industrial wireless networks(IWNs) multi-access edge computing(MEC) non-orthogonal multiple access(NOMA) task offloading resource allocation

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Considering solid shear stress in MP-PIC simulation of a CFB riser

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Particuology 2024年第6期89卷 79-87页

作者： Tagir Kadyrov Fei Li Atta Ullah Nature-inspired Engineering Center University of TyumenTyumen 625003Russia Laboratory of Theory and Optimization of Chemical and Technological Processes University of TyumenTyumen625003Russia State Key Laboratory of Multi-phase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China Department of Chemical Engineering Pakistan Institute of Engineering&Applied SciencesIslamabad 45650Pakistan

To enable successful multi-phase particle-in-cell(MP-PIC)simulations of circulating fluidized beds(CFBs),both the interphase drag force and interparticle collisions need to be carefully *** collisions are usually represented by the solid stress consisting of the normal and shear components,in which the normal stress was found to have a leading role in the numerical stability of MP-PIC simulations,whereas the impact of the shear stress has seldom been *** this work,the effects of the solid shear stress are investigated by using two-dimensional simulations of the moderately dense laboratory-scale CFB riser with in-house MP-PIC code implemented on MFIX open-source *** including only normal solid stress and those considering both normal and shear solid stresses are *** results of solids flux,axial and radial solids profiles are compared with available experimental *** results show that the solid shear stress plays a minor role on the accuracy of simulation,and the increase of PPP(number particles per parcel)leads to a lower accuracy of simulation.

关键词： Simulation Fluidization Multiphase particle-in-cell(MP-PIC) Solid shear stress

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Uncover rock-climbing fish's secret of balancing tight adhesion and fast sliding for bioinspired robots

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National Science Review 2023年第8期10卷 222-231页

作者： Wenjun Tan Chuang Zhang Ruiqian Wang Yuanyuan Fu Qin Chen Yongliang Yang Wenxue Wang Mingjun Zhang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Histology and Embryology Basic Medical CollegeChina Medical University Chengdu Institute of Biology Chinese Academy of Sciences Department of Biomedical Engineering School of Medicine Tsinghua University Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong Kong

The underlying principle of the unique dynamic adaptive adhesion capability of a rock-climbing fish（Beaufortia kweichowensis） that can resist a pull-off force of 1000 times its weight while achieving simultaneous fast sliding(7.83 body lengths per second（BL/S）) remains a mystery in the literature. This adhesion-sliding ability has long been sought for underwater robots. However, strong surface adhesion and fast sliding appear to contradict each other due to the need for high surface contact stress. The skillfully balanced mechanism of the tight surface adhesion and fast sliding of the rock-climbing fish is disclosed in this work. The Stefan force（0.1 mN/mm2） generated by micro-setae on pectoral fins and ventral fins leads to a 70 N/m2adhesion force by conforming the overall body of the fish to a surface to form a sealing chamber. The pull-off force is neutralized simultaneously due to the negative pressure caused by the volumetric change of the chamber. The rock-climbing fish's micro-setae hydrodynamic interaction and sealing suction cup work cohesively to contribute to low friction and high pull-off-force resistance and can therefore slide rapidly while clinging to the surface. Inspired by this unique mechanism, an underwater robot is developed with incorporated structures that mimic the functionality of the rock-climbing fish via a micro-setae array attached to a soft self-adaptive chamber, a setup which demonstrates superiority over conventional structures in terms of balancing tight underwater adhesion and fast sliding.

关键词： bioinspired underwater adhesion crawling robots rock-climbing fish Stefan adhesion underwater robots

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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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Data Entry Errors Detection for Industrial Quality Control Variables Using Data-Driven Models 16th

Data Entry Errors Detection for Industrial Quality Control ...

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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Salles, Rodrigo Leiria, Joana Mendes, Jérôme Institute of Systems and Robotics ARISE University of Coimbra Coimbra Portugal CEMMPRE ARISE Department of Mechanical Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)9783031817236

In modern industrial environments, quality control is imperative for ensuring product reliability and operational efficiency. Despite advancements in automatic data collection and data-driven models for quality processes, certain critical variables still require manual entry due to the branch of activity from which they originate, leading to potential errors from human involvement. This paper focuses on developing and applying two methodologies, Soft Sensors (SS) and Principal Component Analysis (PCA), to detect data entry errors in quality control variables. The developed methodologies were tested across three industrial datasets and the following error types were studied: blank spaces, duplicates, measurement errors, order errors, and extra number errors. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Model predictive control

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TECMH:Transformer-Based Cross-Modal Hashing For Fine-Grained Image-Text Retrieval

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Computers, Materials & Continua 2023年第5期75卷 3713-3728页

作者： Qiqi Li Longfei Ma Zheng Jiang Mingyong Li Bo Jin College of Computer and Information Science Chongqing Normal UniversityChongqing401331China Institute of Systems and Robotics(ISR) Department of Electrical and Computer Engineering(DEEC)University of CoimbraCoimbraPortugal

In recent years,cross-modal hash retrieval has become a popular research field because of its advantages of high efficiency and low ***-modal retrieval technology can be applied to search engines,crossmodalmedical processing,*** existing main method is to use amulti-label matching paradigm to finish the retrieval ***,such methods do not use fine-grained information in the multi-modal data,which may lead to suboptimal *** avoid cross-modal matching turning into label matching,this paper proposes an end-to-end fine-grained cross-modal hash retrieval method,which can focus more on the fine-grained semantic information of multi-modal ***,the method refines the image features and no longer uses multiple labels to represent text features but uses BERT for ***,this method uses the inference capabilities of the transformer encoder to generate global fine-grained ***,in order to better judge the effect of the fine-grained model,this paper uses the datasets in the image text matching field instead of the traditional label-matching *** article experiment on Microsoft COCO(MS-COCO)and Flickr30K datasets and compare it with the previous *** experimental results show that this method can obtain more advanced results in the cross-modal hash retrieval field.

关键词： Deep learning cross-modal retrieval hash learning transformer

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Achieving high titer and yield in the bioconversion of l-threonine to 2-hydroxybutyric acid with Escherichia coli BL21

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systems Microbiology and Biomanufacturing 2024年第2期4卷 708-715页

作者： Thai Le Bassey Friday Bassey Thuan Phu Nguyen-Vo Sunghoon Park School of Energy and Chemical Engineering Ulsan National Institute of Science and TechnologyUlsan 44919Republic of Korea Department of Chemical and Biochemical Engineering North Carolina State UniversityRaleighNC 27606USA Institute of Systems Biotechnology Saarland UniversitySaarbrückenGermany

The study investigated the enhanced production of 2-hydroxybutyric acid(2-HBA)from threonine using a two-step whole-cell bioconversion by recombinant Escherichia coli BL21(DE3)overexpressing threonine dehydratase and *** address the rate-limiting step posed by NADH regeneration for the keto-reductase reaction converting 2-ketobutyric acid(2-KBA)to 2-HBA,formate dehydrogenase from Candida boidinii was overexpressed under the T7 promoter,resulting in a high titer of 1015 mM and a yield of 0.70 mol/***,the yield was improved by disrupting three enzymes responsible for the degradation of the intermediate(2-KBA),pyruvate-formate lyase(PflB),pyruvate oxidase(PoxB),and pyruvate dehydrogenase complex(PDHc),leading to an impressive yield of 0.99 mol/mol,closely approaching the theo-retical maximum of 1.00 mol/*** triple mutant,designed to prevent 2-KBA degradation,achieved a remarkable titer of 1,400 mM and volumetric productivity of 58 mmol/L/*** the best of our knowledge,this achievement represents the highest reported titer and yield for 2-HBA production to date.

关键词： 2-hydroxybutyric acid(2-HBA) Whole-cell bioconversion Threonine Degradation pathway High titer

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