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Processable Conjugated Microporous Polymer Gels and Monoliths: Fundamentals and Versatile Applications

ACS applied materials & interfaces 2022年第35期14卷 39701-39726页

作者： Songhao Luo Eydhah Almatrafi Lin Tang Biao Song Chengyun Zhou Yuxi Zeng Guangming Zeng Zhifeng Liu College of Environmental Science and Engineering Hunan University and Key Laboratory of Environmental Biology and Pollution Control (Ministry of Education) Hunan University Changsha 410082 P.R. China. Center of Research Excellence in Renewable Energy and Power Systems Center of Excellence in Desalination Technology Department of Mechanical Engineering Faculty of Engineering-Rabigh King Abdulaziz University Jeddah 21589 Saudi Arabia.

Conjugated microporous polymers (CMPs) as a new type of conjugated polymers have attracted extensive attention in academia and industry because of the combination of microporous structure and π-electron conjugated structure. The construction and application of gels and monoliths based on CMPs constitute a fertile area of research, promising to provide solutions to complex environmental and energy issues. This review summarizes and objectively analyzes the latest advances in the construction and application of processable CMP gels and monoliths, linking the basic and enhanced properties to widespread applications. In this review, we open with a summary of the construction methods used to build CMP gels and monoliths and assess the feasibility of different preparation techniques and the advantages of the products. The CMP gels and monoliths with enhanced properties involving various special applications are then deliberated by highlighting relevant scientific literature and discussions. Finally, we present the issues and future of openness in the field, as well as come up with the major challenges hindering further development, to guide researchers in this field.

关键词： advanced applications conjugated microporous polymers gels hierarchical porous processability supercritical drying

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Sliding Mode control of the PUMA 560 Robot

Sliding Mode Control of the PUMA 560 Robot

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International Conference on control, Automation and Diagnosis (ICCAD)

作者： Arezki Fekik Ahmad Taher Azar Mohamed Lamine Hamida Hakim Denoun Dyhia Kais Sabrina Mohand Saidi Amar Bousbaine Nashwa Ahmad Kamal Ammar K. Al Mhdawi Chakib Ben Njima Department of Electrical Engineering University Akli Mohand Oulhadj-Bouria Bouira Algeria Electrical Engineering Advanced Technology Laboratory (LATAGE) Algeria Automated Systems & Soft Computing Lab (ASSCL) Prince Sultan University Riyadh Saudi Arabia College of Computer & Information Sciences Prince Sultan University Riyadh Saudi Arabia Faculty of Computers and Artificial Intelligence Benha University Egypt Department of Electrical Engineering L2CSP Laboratory Mouloud Mammeri University Algeria University of Derby College of Science and Engineering UK Faculty of Engineering Cairo University Giza Egypt Edge Hill University U.K University of Sousse Tunisia

The purpose of this article is to present the application of the sliding mode control and investigate its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the sliding mode control law for the PUMA 560 model, three degrees of freedom, through the development of a dynamic simulation model. The simulation results show the effectiveness of this proposed method for the automation of industrial applications, such as assembly, machining (deburring, trimming), and surface tracking (polishing). This technique provides a useful insight into the advantages of using sliding mode control laws in robotics applications.

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Discrete Communication and control Updating in Event-Triggered Consensus

arXiv

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arXiv 2022年

作者： Cheng, Bin Lv, Yuezu Li, Zhongkui Duan, Zhisheng Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai200120 China Advanced Research Institute of Multidisciplinary Sciences Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing314000 China State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China

This paper studies the consensus control problem faced with three essential demands, namely, discrete control updating for each agent, discrete-time communications among neighboring agents, and the fully distributed fashion of the controller implementation without requiring any global information of the whole network topology. Noting that the existing related results only meeting one or two demands at most are essentially not applicable, in this paper we establish a novel framework to solve the problem of fully distributed consensus with discrete communication and control. The first key point in this framework is the design of controllers that are only updated at discrete event instants and do not depend on global information by introducing time-varying gains inspired by the adaptive control technique. Another key point is the invention of novel dynamic triggering functions that are independent of relative information among neighboring agents. Under the established framework, we propose fully distributed state-feedback event-triggered protocols for undirected graphs and also further study the more complexed cases of output-feedback control and directed graphs. Finally, numerical examples are provided to verify the effectiveness of the proposed event-triggered protocols. Copyright © 2022, The Authors. All rights reserved.

关键词： Directed graphs

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China CDC weekly 2022年第40期4卷 885-889,I0002-I0005页

作者： Yuan Bai Mingda Xu Caifen Liu Mingwang Shen Lin Wang Linwei Tian Suoyi Tan Lei Zhang Petter Holme Xin Lu Eric H.Y.Lau Benjamin J.Cowling Zhanwei Du WHO Collaborating Centre for Infectious Disease Epidemiology and Control School of Public HealthLi Ka Shing Faculty of MedicineThe University of Hong KongHong Kong Special Administrative RegionChina Laboratory of Data Discovery for Health Limited(D24H) Hong Kong Science ParkHong Kong Special Administrative RegionChina China-Australia Joint Research Center for Infectious Diseases School of Public HealthXi’an Jiaotong University Health Science CenterXi’an CityShaanxi ProvinceChina Department of Genetics University of CambridgeCambridge CB23EHUK College of Systems Engineering National University of Defense TechnologyChangsha CityHunan ProvinceChina Department of Computer Science Aalto UniversityEspooFinland Center for Computational Social Science Kobe UniversityKobeJapan

Introduction:Minimizing the importation and exportation risks of coronavirus disease 2019(COVID-19)is a primary concern for sustaining the“Dynamic COVID-zero”strategy in *** estimation is essential for cities to conduct before relaxing border control ***:Informed by the daily number of passengers traveling between 367 prefectures(cities)in China,this study used a stochastic metapopulation model parameterized with COVID-19 epidemic characteristics to estimate the importation and exportation ***:Under the transmission scenario(R0=5.49),this study estimated the cumulative case incidence of Changchun City,Jilin Province as 3,233(95%confidence interval:1,480,4,986)before a lockdown on March 14,2022,which is close to the 3,168 cases reported in real life by March 16,*** a total of 367 prefectures(cities),127(35%)had high exportation risks according to the simulation and could transmit the disease to 50%of all other regions within a period from 17 to 94 *** average time until a new infection arrives in a location in 1 of the 367 prefectures(cities)ranged from 26 to 101 ***:Estimating COVID-19 importation and exportation risks is necessary for preparedness,prevention,and control measures of COVID-19—especially when new variants emerge.

关键词： Export Changchun prevention

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Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions

arXiv

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arXiv 2025年

作者： Yao, Tianliang Lu, Bo Kowarschik, Markus Yuan, Yixuan Zhao, Hubin Ourselin, Sebastien Althoefer, Kaspar Ge, Junbo Qi, Peng Department of Control Science and Engineering College of Electronic and Information Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Department of Electronic Engineering Faculty of Engineering The Chinese University of Hong Kong 999077 Hong Kong Robotics and Microsystems Center School of Mechanical and Electrical Engineering Soochow University Suzhou215131 China Bavaria Forchheim91301 Germany CREATe Division of Surgery & Interventional Science UCL LondonHA7 4LP United Kingdom School of Biomedical Engineering & Imaging Sciences King’s College London LondonSE1 7EH United Kingdom Centre for Advanced Robotics @ Queen Mary School of Engineering and Materials Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Cardiology Zhongshan Hospital Fudan University Shanghai Institute of Cardiovascular Diseases Shanghai200032 China State Key Laboratory of Cardiovascular Diseases Medical Innovation Center Shanghai East Hospital School of Medicine Tongji University Shanghai200092 China

Endovascular procedures have revolutionized the treatment of vascular diseases thanks to minimally invasive solutions that significantly reduce patient recovery time and enhance clinical outcomes. However, the precision and dexterity required during these procedures poses considerable challenges for interventionists. Robotic systems have emerged offering transformative solutions, addressing issues such as operator fatigue, radiation exposure, and the inherent limitations of human precision. The integration of Embodied Intelligence (EI) into these systems signifies a paradigm shift, enabling robots to navigate complex vascular networks and adapt to dynamic physiological conditions. Data-driven approaches, advanced computer vision, medical image analysis, and machine learning techniques, are at the forefront of this evolution. These methods augment procedural intelligence by facilitating real-time vessel segmentation, device tracking, and anatomical landmark detection. Reinforcement learning and imitation learning further refine navigation strategies and replicate experts’ techniques. This review systematically examines the integration of EI principles into robotic technologies, in relation to endovascular procedures. We discuss recent advancements in intelligent perception and data-driven control, and their practical applications in robot-assisted endovascular procedures. By critically evaluating current limitations and emerging opportunities, this review establishes a framework for future developments, emphasizing the potential for greater autonomy and improved clinical outcomes. Emerging trends and specific areas of research, such as federated learning for medical data sharing, explainable AI for clinical decision support, and advanced human-robot collaboration paradigms, are also explored, offering insights into the future direction of this rapidly evolving field. © 2025, CC BY.

关键词： Medical robotics

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Optimization of Robot End-Effector Load Gravity Compensation for Unmanned Live Work in Electric Power Distribution Networks Based on Improved PSO Algorithm

Optimization of Robot End-Effector Load Gravity Compensation...

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2023 China Automation Congress, CAC 2023

作者： Chen, Jinge Chen, Xin Hu, Chenyu Huang, Guangxian Sun, Shu Jian, Xu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering-Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China State Grid Hubei Electric Power Co. Ltd. Xianning Power Supply Company Distribution Department Xianning437000 China State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Equipment Technology Center Wuhan430077 China

ISBN: (纸本)9798350303759

In the field of electric power distribution network operation, most tasks involve contact operations. A key technology to enable the flexible operation of robots in live distribution network tasks is the installation of six-dimensional force sensors on the robot's end flange. These sensors allow the robot to perceive external environmental contact forces. However, the presence of the end load interferes with the accurate perception of external forces. Aiming at the gravity compensation of robot end load, an optimization algorithm of gravity compensation based on particle swarm optimization is proposed. In this method, the optimal solution model is established with the objective of minimum sum of squared errors, and the particle swarm optimization algorithm is used to estimate the mounting declination angle of the force sensor and improve the precision of gravity compensation. The experiments show that the proposed method can effectively reduce the maximum gravity compensation error and the average gravity compensation error in each direction after optimization, in which the maximum gravity compensation error of the resultant force is reduced by 9.11% and the average gravity compensation error of the resultant force is reduced by 12.34%. © 2023 IEEE.

关键词： Error compensation

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Sound Field control by Using Equivalent Input Disturbance method

Sound Field Control by Using Equivalent Input Disturbance me...

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Industrial Cyber-Physical systems (ICPS)

作者： Toshiki Watanabe Jinhua She Zewen Wang Department of Sustainable Engineering Tokyo university of technology Japan School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Laboratory for Future Interdisciplinary Research of Science and Technology (FIRST) Tokyo Institute of Technology Yokohama Kanagawa Japan

Low-frequency noise, such as road noise from automobiles and interior noise from bullet train cars, is detrimental to passenger comfort. Active noise control provides us with a way of suppressing low-frequency noise. It generates a sound of the same amplitude and opposite phase as noise and uses it to cancel the noise. Conventional active noise control is complicated to apply. Thus, the objective of this study is to establish a sound field control system by using the equivalent-input-disturbance method. System identification was performed to obtain an ideal plant of a duct. The control system is constructed based on the equivalent-input-disturbance approach with a low-order controller. The experimental results showed a suppression effect of about 50% of the sound field.

关键词： Roads Noise reduction Ducts Channel estimation Auditory system Cyber-physical systems control systems

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The application of proximal visible and near-infrared spectroscopy to estimate soil organic matter on the Triffa Plain of Morocco

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International Soil and Water Conservation Research 2020年第2期8卷 195-204页

作者： Ayoub Lazaar Abdul Mounem Mouazen Kamal EL Hammouti Michael Fullen Biswajeet Pradhan Muhammad Sohail Memon Karim Andich Abdelilah Monir Laboratory of Applied Geosciences Department of GeologyFaculty of ScienceMohammed First UniversityOujdaMorocco Division of Mechatronics Biostatistics and Sensors(MeBioS)Faculty of Bioscience EngineeringKasteelpark Arenberg 30B-3001 HeverleeBelgium Faculty of Science and Engineering University of WolverhamptonWolverhamptonWV11LYUnited Kingdom Center for Advanced Modelling and Geospatial Information Systems(CAMGIS) Faculty of Engineering and Information TechnologyUniversity of Technology SydneySydney2007NSWAustralia Faculty of Agricultural Engineering Sindh Agriculture UniversityTandojam70060Pakistan Laboratory of Applied Geomatics and Soil Science National Institute of Agronomic Research(INRA)OujdaMorocco Department of Mathematics EDP and Scientific Computing TeamMoulay Ismail UniversityMéknesMorocco

Soil organic matter (SOM) is a fundamental soil constituent. The estimation of this parameter in the laboratory using the classical method is complex time-consuming and requires the use of chemical re-agents. The objectives of this study were to assess the accuracy of two laboratory measurement setups of the VIS-NIR spectroscopy in estimating SOM content and determine the important spectral bands in the SOM estimation model. A total of 115 soil samples were collected from the non-root zone (0-20 cm) of soil in the study area of the Triffa Plain and then analysed for SOM in the laboratory by the Walkley-Black method. The reflectance spectra of soil samples were measured by two protocols, Contact Probe (CP) and Pistol Grip (PG)) of the ASD spectroradiometer (350-2500 nm) in the laboratory. Partial least squares regression (PLSR) was used to develop the prediction models. The results of coefficient of determination (R2) and the root mean square error (RMSE) showed that the pistol grip offers reasonable accuracy with an R2=0.93 and RMSE=0.13 compared to the contact probe protocol with an R2=0.85 and RMSE = 0.19. The near-Infrared range were more accurate than those in the visible range for pre-dicting SOM using the both setups (CP and PG). The significant wavelengths contributing to the pre-diction of SOM for (PG) setup were at:424, 597, 1432, 1484, 1830,1920, 2200, 2357 and 2430 nm, while were at 433, 587, 1380, 1431, 1929, 2200 and 2345 nm for (CP) setup.

关键词： Soil organic matter VIS-NIR spectroscopy Reflectance spectra SOM estimation SOM analysis

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Decentralized online learning for noncooperative games in dynamic environments

arXiv

引用

arXiv 2021年

作者： Meng, Min Li, Xiuxian Hong, Yiguang Chen, Jie Wang, Long Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China Institute for Advanced Study Tongji University Shanghai China Center for Systems and Control College of Engineering Peking University Beijing China

—Decentralized online learning for seeking generalized Nash equilibrium (GNE) of noncooperative games in dynamic environments is studied in this paper. Each player aims at selfishly minimizing its own time-varying cost function subject to time-varying coupled constraints and local feasible set constraints. Only local cost functions and local constraints are available to individual players, who can receive their neighbors’ information through a fixed and connected graph. In addition, players have no prior knowledge of cost functions and local constraint functions in the future time. In this setting, a novel distributed online learning algorithm for seeking GNE of the studied game is devised based on mirror descent and a primal-dual strategy. It is shown that the presented algorithm can achieve sublinearly bounded dynamic regrets and constraint violation by appropriately choosing decreasing stepsizes. Finally, the obtained theoretical result is corroborated by a numerical simulation. Copyright © 2021, The Authors. All rights reserved.

关键词： Mirrors

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Impact of COVID-19-related nonpharmaceutical interventions on diarrheal diseases and zoonotic Salmonella

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hLife 2024年第5期2卷 246-256页

作者： Linlin Huang Haiyang Zhou Jiaqi Chen Chenghao Jia Abubakar Siddique Beibei Wu Haoqiu Wang Biao Tang Fang He Guoping Zhao Min Yue Department of Veterinary Medicine Zhejiang University College of Animal SciencesZhejiangChina Hainan Institute of Zhejiang University HainanChina Zhejiang Provincial Center for Disease Control and Prevention ZhejiangChina Hangzhou Center for Disease Control and Prevention ZhejiangChina Key Laboratory of Systems Health Science of Zhejiang Province School of Life ScienceHangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesZhejiangChina ZJU-Xinchang Joint Innovation Centre(TianMu Laboratory) Gaochuang Hi-Tech ParkZhejiangChina CAS Key Laboratory of Synthetic Biology Institute of Plant Physiology and EcologyShanghai Institutes for Biological SciencesChinese Academy of SciencesShanghaiChina Department of Microbiology and Microbial Engineering School of Life SciencesFudan UniversityShanghaiChina State Key Laboratory for Diagnosis and Treatment of Infectious Diseases National Clinical Research Center for Infectious DiseasesNational Medical Center for Infectious DiseasesThe First Affiliated HospitalCollege of MedicineZhejiang UniversityZhejiangChina

Non-pharmaceutical interventions(NPIs)have been proven effective in reducing the spread of the coronavirus disease 2019(COVID-19),but their broader impact on gastrointestinal disorders remains poorly ***,we report an observational analysis and retrospective study that compares the incidence of acute diarrheal diseases in Hangzhou,Zhejiang,China,between 2019 and 2020,with an examination of the antimicrobial resistance and genetic spectrum of non-typhoidal Salmonella(NTS)from 2015 to 2022,before and during the COVID-19 *** findings underscore that NPIs related to COVID-19 effectively reduced the incidence of acute diarrhea,with a substantial decrease in most enteric ***,NTS exhibited an unexpected *** genomic investigations of NTS isolates revealed an overall reduction in antimicrobial-resistant(AMR),disinfection-tolerant,and virulent capabilities,but with marked variations detected between human and animal *** genome-based analysis confirmed a decrease in the scale of zoonotic transmission in response to NPIs,suggesting particular NTS types may contribute to human infections via alternative *** collective findings manifested that COVID-19-related NPIs had a mixed impact on NTS infections,which may inform AMR NTS mitigation policy.

关键词： coronavirus disease 2019(COVID-19) non-pharmaceutical interventions(NPIs) non-typhoidal Salmonella(NTS) zoonotic transmission

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