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Interaction model estimation-based robotic force-position coordinated optimization for rigid-soft heterogeneous contact tasks

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Biomimetic Intelligence & Robotics 2025年第1期5卷 77-86页

作者： Haochen Zheng Xueqian Zhai Hongmin Wu Jia Pan Zhihao Xu Xuefeng Zhou Institute of Intelligent Manufacturing Guangdong Academy of SciencesGuangdong Key Laboratory of Modern Control TechnologyGuangzhou 510070China School of Rail Transportation Wuyi UniversityJiangmen 529020China Department of Computer Science The University of Hong KongHong Kong 999077China

Inspired by Model Predictive Interaction control(MPIC),this paper proposes differential models for estimating contact geometric parameters and normal-friction forces and formulates an optimal control problem with multiple constraints to allow robots to perform rigid-soft heterogeneous contact *** the MPIC,robot dynamics are linearized,and Extended Kalman Filters are used for the online estimation of geometry-aware ***,a geometry-aware Hertz contact model is introduced for the online estimation of contact *** then implement the force-position coordinate optimization by incorporating the contact parameters and interaction force constraints into a gradient-based optimization *** validations were designed for two contact modes:“single-point contact”and“continuous contact”,involving materials with four different Young’s moduli and tested in human arm“relaxation-contraction”*** indicate that our framework ensures consistent geometry-aware parameter estimation and maintains reliable force interaction to guarantee *** method reduces the maximum impact force by 50%and decreases the average force error by 42%.The proposed framework has potential applications in medical and industrial tasks involving the manipulation of rigid,soft,and deformable objects.

关键词： Heterogeneous contact Interaction model estimation Coordination optimization Model Predictive control

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Significant changes in the physicochemical properties of BC-containing particles during the cold season in Beijing

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Journal of Environmental sciences 2025年第5期151卷 667-676页

作者： Shuya Hu Linghan Zeng Gang Zhao Shiyi Chen Chunsheng Zhao Weilun Zhao Min Hu State Key Joint Laboratory of Environmental Simulation and Pollution Control International Joint Research Center for Atmospheric Research(IJRC)College of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China Department of Atmospheric and Oceanic Sciences School of PhysicsPeking UniversityBeijing 100871China Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Nanjing University of Information Science and TechnologyNanjing 210044China

The ambient air quality has improved significantly under strict emission controls in Beijing,China over the last *** carbon(BC),as a short-lived climate forcer in ambient aerosols,profoundly impacts the air quality and *** studies have demonstrated a decline in the mass concentration of *** this study,we characterized the chemical compositions and size distributions of BC-containing particles during the cold season of 2022 in Beijing using state-of-the-art instruments capable of exclusively measuring BCcontaining *** optical properties of BC-containing particles were further calculated based on the Mie ***,we compared the properties of BC-containing particles in 2022 with the results of previous *** results showed that the diameters of BC cores became larger while the coating thickness of BC-containing particles became thinner in *** the coating materials,the mass fraction of nitrate increased obviously,and even replaced organic matter as the dominant component during the peak of the pollution *** in chemical compositions and size distributions resulted in lower mass absorption cross-sections(MAC)of BC-containing particles from 10.5±1.1 m^(2)/g in 2016 to 7.3±0.8 m^(2)/g in 2022,reduced by 30.5%.Our results demonstrate the synergistic benefits of air pollution control in improving air quality and mitigating climate ***,the MAC of BC adopted in climate models should vary with the changing air pollution *** study emphasizes that it is imperative to conduct long-term observations of BC-containing particles to better estimate BC’s climate effects.

关键词： Black carbon Chemical composition Size distribution Light absorption ability

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A Multiplex Hypergraph Attribute-based Graph Collaborative Filtering for Cold-start POI Recommendation

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IEEE Transactions on Big Data 2025年

作者： Anijri, Simon Nandwa Ding, Derui Song, Yan Sun, Ying University of Shanghai for Science and Technology Department of Control Science and Engineering Shanghai20093 China University of Shanghai for Science and Technology Business School Shanghai20093 China

Within the scope of location-based services and personalized recommendations, the challenges of recommending new and unvisited points of interest (POIs) to mobile users are compounded by the sparsity of check-in data. Traditional recommendation models often overlook user and POI attributes, which exacerbates data sparsity and cold-start problems. To address this issue, a novel multiplex hypergraph attribute-based graph collaborative filtering is proposed for POI recommendation to create a robust recommendation system capable of handling sparse data and cold-start scenarios. Specifically, a multiplex network hypergraph is first constructed to capture complex relationships between users, POIs, and attributes based on the similarities of attributes, visit frequencies, and preferences. Then, an adaptive variational graph auto-encoder adversarial network is developed to accurately infer the users'/POIs' preference embeddings from their attribute distributions, which reflect complex attribute dependencies and latent structures within the data. Moreover, a dual graph neural network variant based on both Graphsage K-nearest neighbor networks and gated recurrent units are created to effectively capture various attributes of different modalities in a neighborhood, including temporal dependencies in user preferences and spatial attributes of POIs. Finally, experiments conducted on Foursquare and Yelp datasets reveal the superiority and robustness of the developed model compared to some typical state-of-the-art approaches and adequately illustrate the effectiveness of the issues with cold-start users and POIs. © 2015 IEEE.

关键词： Generative adversarial networks

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Stability and bifurcation analysis of delayed tri-trophic food chain model in poisoned environment with fear effect and additional food

Stability and bifurcation analysis of delayed tri-trophic fo...

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作者： Ramasamy, Sivasamy Banjerdpongchai, David Park, PooGyeon Center of Excellence in Intelligent Control Automation of Process Systems Department of Electrical Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Department of Electrical Engineering Pohang University of Science and Technology Pohang Korea Republic of

One of the most important goals of theoretical ecologists is to find a strategy for controlling the chaos in ecological models to maintain healthy ecosystems. We investigate the influence of fear and the supply of additional food to predators in a delayed tri-trophic food chain model, where interference among the species is determined by Holling type-II functional response. The proposed model incorporates the fact that the growth rates of prey and middle predators are decreased due to the fear of middle and special predators, respectively. The additional food is supplied to both predators by either nature or external agencies. Furthermore, the poisoned prey in the predator's environment is taken into account. In the proposed model, we use two time delays: one for the growth term of the middle predator and another for the gestation delay of the special predator. We determine the conditions for the existence of ecologically feasible equilibrium points and their local and global stability. In addition, we establish the conditions for the existence of Hopf bifurcation around interior equilibrium to seek periodic behavior in nondelayed and delayed models. Numerical investigations are performed to justify the proposed theoretical findings through phase portraits, time series of solutions, and bifurcation diagrams. We observe that the chaotic dynamics of a tri-trophic food chain model can be controlled by the proper choice of the fear effect and by supplying additional food parameters. As a result, our findings provide more ecological insights into the dynamics of the delayed tri-trophic food chain model with the fear effect and additional food supply. © 2023 John Wiley & Sons, Ltd.

关键词： Hopf bifurcation

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Tissue P Systems with Look-Ahead Mode

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Chinese Journal of Electronics 2025年第1期23卷 81-86页

作者： Yun Jiang Tao Song Zheng Zhang School of Computer Science and Information Engineering Chongqing Technology and Business University Chongqing China Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan China

Tissue P systems are a class of distributed and parallel computing models inspired from inter-cellular communication and cooperation between cells. In this work, a variant of tissue P system, named tissue P system with look-ahead mode, is discussed for decreasing the inherent non-determinism of tissue P systems and helping implementing tissue P systems on computers. Such systems are proved to be universal by simulating register machine, and they are also proved to be able to efficiently solve computationally hard problems by means of a space-time tradeoff, which is illustrated with a polynomial solution to 3-coloring problem.

关键词： Computers Computational modeling Medical services Parallel processing Polynomials Computational efficiency Registers Business

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MBMRNet: Point Cloud Semantic Segmentation Based on Multi-branch Attention and Multi-resolution Feature Fusion

MBMRNet: Point Cloud Semantic Segmentation Based on Multi-br...

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Consumer Electronics and Computer Engineering (ICCECE), 2021 IEEE International Conference on

作者： Chunjie Mei Department of Control Science and Engineering Shanghai Institute of Technology Shanghai China

ISBN: (数字)9798331533113

ISBN: (纸本)9798331533120

In the existing point cloud semantic segmentation methods, the study of local feature learning plays a dominant role. However, due to the absence of context information, the accuracy of semantic segmentation is seriously affected. In this study, we propose a novel network MBMRNet based on attention mechanisms. Firstly, we introduce the gradient information of point cloud and use relative position encoding to obtain spatial information. Then, we adjust the attention weight of different features by learning the point neighborhood and the relationship between different channels through a multi-branch attention (MBA) module. Finally, considering the differences between different resolution features at different stages, we design a multi-resolution feature fusion (MRFF) module to make full use of low resolution and high resolution features for dynamic point-level feature fusion. The experimental results on several public benchmarks demonstrate that MBMRNet outperforms existing methods, achieving 73.2% and 83.2% on the S3DIS Area 5 and NPM3D datasets, respectively.

关键词： Point cloud compression Representation learning Visualization Attention mechanisms Semantic segmentation Benchmark testing Encoding Spatial resolution Consumer electronics Context modeling

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Scalable and Low-Cost Remote Lab Platforms: Teaching Industrial Robotics Using Open-Source Tools and Understanding Its Social Implications 16th

Scalable and Low-Cost Remote Lab Platforms: Teaching Indust...

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16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

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Synchronous Estimation Scheme of PMSM Mechanical Parameters: A Decoupled Extended Sliding Mode Observer

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IEEE Transactions on Power Electronics 2025年第8期40卷 10877-10888页

作者： Chang, He Wang, Zuo Yang, Jun Li, Shihua Lu, Shaowu Southeast University School of Automatin Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of CSE Nanjing210096 China Loughborough University Department of Aeronautical and Automotive Engineering LoughboroughLE11 3TU United Kingdom Wuhan University of Science and Technology School of Information Science and Engineering Wuhan430081 China

In the permanent magnet synchronous motor drives (PMSM), high-quality controller optimization and condition monitoring rely heavily on accurate knowledge of mechanical parameters. To address this need, this study presents a novel decoupled extended sliding mode observer (DESMO) capable of achieving high-quality synchronous estimation of the moment of inertia and the load disturbance. An extended state-space equation is, firstly, constructed by extending the mechanical equations. Subsequently, the novel DESMO is designed by introducing two new recursive equations. On this basis, the excitation weight on the moment of inertia is analyzed, resulting in the derivation of Lyapunov-mechanism-based decoupling updating conditions (DOCs) to further exploit the DESMO's estimation potential. Furthermore, when the DOCs are not all satisfied, the second observation equation is derived with the reaching law of the moment of inertia set to zero to achieve state decoupling during estimation process. With the switching excitation of DOCs, notably, the DESMO is capable of serving as a more competitive candidate for observing multi-mechanical parameters, as demonstrated through simulation and experimental results. © 1986-2012 IEEE.

关键词： Permanent magnets

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Bioaccessibility and health risk assessment of hydrophobic organic pollutants in soils from four typical industrial contaminated sites in China

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Journal of Environmental sciences 2025年第1期147卷 282-293页

作者： Shi-Ping Ou Xiao-Liang Liao Zi-Tao Huang Yan-Cong Hu Zongwei Cai Zhi-Feng Chen Guangdong Key Laboratory of Environmental Catalysis and Health Risk Control Guangdong-Hong Kong-Macao Joint Laboratory for Contaminants Exposure and HealthSchool of Environmental Science and EngineeringGuangdong University of TechnologyGuangzhou 510006China State Key Laboratory of Environmental and Biological Analysis Department of ChemistryHong Kong Baptist UniversityHong Kong 999077China

There have been reports of potential health risks for people from hydrophobic organic pollutants,such as polycyclic aromatic hydrocarbons(PAHs),polychlorinated hydrocarbons(PCHs),and organophosphate flame retardants(OPFRs).When a contaminated site is used for residential housing or public utility and recreation areas,the soil-bound organic pollutantsmight pose a threat to human *** this study,we investigated the contamination profiles and potential risks to human health of 15 PAHs,6 PCHs,and 12 OPFRs in soils from four contaminated sites in *** used an in vitro method to determine the oral bioaccessibility of soil *** PAHswere found at concentrations ranging from26.4 ng/g to 987 ng/***(0.27-14.3 ng/g)and OPFRs(6.30-310 ng/g)were detected,but at low levels compared to earlier *** levels of PAHs,PCHs,and OPFRs released from contaminated soils into simulated gastrointestinal fluids ranged from 1.74%to 91.0%,2.51%to 39.6%,and 1.37%to 96.9%,*** on both spiked and unspiked samples,we found that the oral bioaccessibility of pollutantswas correlated with their logKow andmolecularweight,and the total organic carbon content and pH of *** in 13 out of 38 contaminated soil samples posed potential high risks to *** considering oral bioaccessibility,nine soils still posed potential risks,while the risks in the remaining soils became *** contribution of this paper is that it corrects the health risk of soil-bound organic pollutants by detecting bioaccessibility in actual soils from different contaminated sites.

关键词： Contaminated soil Hydrophobic organic pollutant Polycyclic aromatic hydrocarbon Oral bioaccessibility Risk assessment

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Targeting vulnerable microcircuits in the ventral hippocampus of male transgenic mice to rescue Alzheimer‑like social memory loss

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Military Medical Research 2025年第1期12卷 48-71页

作者： Hui-Yang Lei Gui-Lin Pi Ting He Rui Xiong Jing-Ru Lv Jia-Le Liu Dong-Qin Wu Meng-Zhu Li Kun Shi Shi-Hong Li Na-Na Yu Yang Gao Hui-Ling Yu Lin-Yu Wei Xin Wang Qiu-Zhi Zhou Pei-Lin Zou Jia-Yang Zhou Ying-Zhou Liu Nai-Ting Shen Jie Yang Dan Ke Qun Wang Gong-Ping Liu Xi-Fei Yang Jian-Zhi Wang Ying Yang Department of Pathophysiology School of Basic MedicineKey Laboratory of Education Ministry of China/Hubei Province for Neurological DisordersTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430030China Department of Traditional Chinese Medicine the Central Hospital of WuhanTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430014China Key Laboratory of Modern Toxicology of Shenzhen Shenzhen Center for Disease Control and PreventionShenzhen 518055GuangdongChina Co‑Innovation Center of Neuroregeneration Nantong UniversityNantong 226000JiangsuChina

Background:Episodic memory loss is a prominent clinical manifestation of Alzheimer’s disease(AD),which is closely related to tau pathology and hippocampal *** to the heterogeneity of brain neurons,the specific roles of different brain neurons in terms of their sensitivity to tau accumulation and their contribution to AD-like social memory loss remain ***,further investigation is ***:We investigated the effects of AD-like tau pathology by Tandem mass tag proteomic and phosphoproteomic analysis,social behavioural tests,hippocampal electrophysiology,immunofluorescence staining and in vivo optical fibre recording of GCaMP6f and ***,we utilized optogenetics and administered ursolic acid(UA)via oral gavage to examine the effects of these agents on social memory in ***:The results of proteomic and phosphoproteomic analyses revealed the characteristics of ventral hippocampal CA1(vCA1)under both physiological conditions and AD-like tau *** tau progressively accumulated,vCA1,especially its excitatory and parvalbumin(PV)neurons,were fully filled with mislocated and phosphorylated tau(p-Tau).This finding was not observed for dorsal hippocampal CA1(dCA1).The overexpression of human tau(hTau)in excitatory and PV neurons mimicked AD-like tau accumulation,significantly inhibited neuronal excitability and suppressed distinct discrimination-associated firings of these neurons within *** excitatory and PV neurons in vCA1 at specific rhythms and time windows efficiently ameliorated tau-impaired social ***,1 month of UA administration efficiently decreased tau accumulation via autophagy in a transcription factor EB(TFEB)-dependent manner and restored the vCA1 microcircuit to ameliorate tau-impaired social ***:This study elucidated distinct protein and phosphoprotein networks between dCA1 and vCA1 and highlighted the susceptibility of the vCA1 microcircuit to AD-like tau

关键词： Alzheimer’s disease Tau protein Ventral hippocampus Social memory Ursolic acid Transcription factor EB(TFEB)

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