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Motion Planning for Minimizing Base Disturbance of Space Manipulators

Journal of Donghua University(English Edition) 2015年第2期32卷 252-256页

作者：纪路周东生张强 Key Laboratory of Advanced Design and Intelligent Computing(Dalian University) Ministry of Education

A simulated annealing particle swarm optimization(PSO)algorithm is utilized in this paper to plan the motion of space manipulators with minimized base disturbance,not only its attitude but also its *** space manipulators must meet the Law of Momentum Conservation,any motion of manipulators will disturb the spacecraft which is free-float in the space *** paper tries to limit this effect to the ***,this paper establishes the mathematical model for space manipulators by generalized Jacobian matrix(GJM) and analyzes its inverse kinematics by Theory of ***,a polynomial function of seventh degree is used to parameterize the joint motion and quaternion representation is also used to represent attitude of ***,this paper designs a proper objective function and depicts this algorithm detailedly and ***,the results of numerical simulation are verified by the proposed algorithm.

关键词： utilized kinematics verified disturbance inverse annealing attitude polynomial effector spacecraft

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Single-cell technologies: current and near future

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Science China(Life Sciences) 2025年第1期68卷 1-4页

作者： Chenfei Wang Qi Liu Xiaohui Fan Tieliu Shi KeyLaboratory of Spine and Spinal CordInjury Repairand Regeneration Ministry of EducationOrthopedics DepartmentTongji HospitalBioinformatics DepartmentSchoolofLifeSciencesandTechnologyTongji UniversityShanghai 200082China Frontier Science Center for Stem Cells School of Life Sciences and TechnologyTongji UniversityShanghai 200092China Translational Medical Center for Stem Cell Therapy and Institute for Regenerative Medicine Shanghai East HospitalBioinformatics DepartmentSchool of Life Sciences and TechnologyTongji UniversityShanghai 200082China Research Institute of Intelligent Computing Zhejiang LabHangzhou 311121China Pharmaceutical Informatics Institute College of Pharmaceutical SciencesZhejiang UniversityHangzhou 310058China National Key Laboratory of Chinese Medicine Modernization Innovation Center of Yangtze River DeltaZhejiang UniversityJiaxing 314103China Center for Bioinformatics and Computational Biology Shanghai Key Laboratory of Regulatory Biologythe Institute of Biomedical Sciences and School of Life SciencesEast China Normal UniversityShanghai 200241China Key Laboratory of Advanced Theory and Application in Statistics and Data Science(MOE) School of StatisticsEast China Normal UniversityShanghai 200062China

Single-cell technologies enable the indepth exploration of multiple biological hierarchies at the scale of individual cells,which have deepened our knowledge of cellular diversity,tissue organization,and overall organism function(Sun et al.,2024).In 2009,single-cell RNA sequencing(scRNA-seq)was first developed as a powerful tool to dissect gene expression and uncover transcriptional *** the rapid advancement of technology,single-cell approaches have expanded to encompass other omics,such as genomics,epigenomics,proteomics,and ***,multimodal technologies including spatially resolved transcriptomics and clustered regularly interspaced short palindromic repeats(CRISPR)screening at the single-cell level further advanced our ability to comprehensively understand cellular ***-cell methods provide deeper insights into disease mechanisms across various conditions,including cancer,developmental disorders,and aging-associated *** this issue,we focus on topics related to single-cell methods,covering the following four aspects:(i)single-cell multi-omic sequencing technology;(ii)single-cell spatial technology;(iii)singlecell CRISPR screening technology;(iv)applications of single-cell technology.

关键词： expanded enable insight

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Single-cell omics: experimental workflow, data analyses and applications

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Science China(Life Sciences) 2025年第1期68卷 5-102页

作者： Fengying Sun Haoyan Li Dongqing Sun Shaliu Fu Lei Gu Xin Shao Qinqin Wang Xin Dong Bin Duan Feiyang Xing Jun Wu Minmin Xiao Fangqing Zhao Jing-Dong J.Han Qi Liu Xiaohui Fan Chen Li Chenfei Wang Tieliu Shi Department of Clinical Laboratory the Affiliated Wuhu Hospital of East China Normal University(The Second People’s Hospital of Wuhu City)Wuhu 241000China Pharmaceutical Informatics Institute College of Pharmaceutical SciencesZhejiang UniversityHangzhou 310058China Key Laboratory of Spine and Spinal Cord Injury Repair and Regeneration(Tongji University) Ministry of EducationOrthopaedic DepartmentTongji HospitalBioinformatics DepartmentSchool of Life Sciences and TechnologyTongji UniversityShanghai 200082China Frontier Science Center for Stem Cells School of Life Sciences and TechnologyTongji UniversityShanghai 200092China Translational Medical Center for Stem Cell Therapy and Institute for Regenerative Medicine Shanghai East HospitalBioinformatics DepartmentSchool of Life Sciences and TechnologyTongji UniversityShanghai 200082China Research Institute of Intelligent Computing Zhejiang LabHangzhou 311121China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai 201210China Center for Single-cell Omics School of Public HealthShanghai Jiao Tong University School of MedicineShanghai 200025China National Key Laboratory of Chinese Medicine Modernization Innovation Center of Yangtze River DeltaZhejiang UniversityJiaxing 314103China Center for Bioinformatics and Computational Biology Shanghai Key Laboratory of Regulatory Biologythe Institute of Biomedical Sciences and School of Life SciencesEast China Normal UniversityShanghai 200241China Beijing Institutes of Life Science Chinese Academy of SciencesBeijing 100101China Peking-Tsinghua Center for Life Sciences Academy for Advanced Interdisciplinary StudiesCenter for Quantitative Biology(CQB)Peking UniversityBeijing 100871China Zhejiang Key Laboratory of Precision Diagnosis and Therapy for Major Gynecological Diseases Women’s HospitalZhejiang University School of MedicineHangzhou 310006China Key Laboratory of Advanced Theory and Application in Statistics and Data Science-MOE School of StatisticsEast China Normal U

Cells are the fundamental units of biological systems and exhibit unique development trajectories and molecular *** exploration of how the genomes orchestrate the formation and maintenance of each cell,and control the cellular phenotypes of various organismsis,is both captivating and *** the inception of the first single-cell RNA technology,technologies related to single-cell sequencing have experienced rapid advancements in recent *** technologies have expanded horizontally to include single-cell genome,epigenome,proteome,and metabolome,while vertically,they have progressed to integrate multiple omics data and incorporate additional information such as spatial scRNA-seq and CRISPR ***-cell omics represent a groundbreaking advancement in the biomedical field,offering profound insights into the understanding of complex diseases,including ***,we comprehensively summarize recent advances in single-cell omics technologies,with a specific focus on the methodology *** overview aims to guide researchers in selecting appropriate methods for single-cell sequencing and related data analysis.

关键词： single-cell sequencing genome epigenome proteomics metabolomics multimodal spatial transcriptomics CRISPR screening

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On the simulation of expressional animation based on facial MoCap

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Science China(Information Sciences) 2013年第10期56卷 265-276页

作者： FANG XiaoYong WEI XiaoPeng ZHANG Qiang ZHOU ChangJun Key Laboratory of Advanced Design and Intelligent Computing (Dalian University) Ministry of Education School of Management Dalian University of Technology

MoCap(motion capture)-based animation is a hot issue in computer animation research *** on the optical MoCap system,this paper proposes a novel cross-mapping based facial expression simulating *** overcome the problem of the false upper and lower jaw correlation derived from the facial global RBFbased cross-mapping method,we construct a functional partition based RBF cross-mapping *** model animating,enhanced markers are added and animated by our proposed skin motion *** addition,based on the enhanced markers,an improved RBF-based animating approach is raised to derive realistic facial *** more,a pre-computing algorithm is presented to reduce computational cost for real-time *** experiments proved that the method can not only map the MoCap data of one subject to diferent personalized faces but generate realistic facial animation.

关键词： facial animation cross-mapping functional partition motion mechanism RBF

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Comparison study of Gauss, MQ and TPS for interpolation application

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International Journal of Industrial and Systems Engineering 2014年第2期18卷 185-198页

作者： Zhang, Qiang Zheng, Guangguo Zhou, Dongsheng Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education Dalian University Dalian 116622 China

There are mainly two parts in this paper. In the first part, we briefly introduce the basic theory of the radial basis function (RBF) and its application in scattered data interpolation, and investigate the difference among three kernel functions: multi-quadric, Gauss and thin plate spline, in detail. According to the multiple examples, we make a lot of experiments, and develop a system in the C++ programme language and the OpenGL open graphics library to make simulation experiments. Finally, we analyse and summarise the different characteristics of the each kernel function in the process of interpolation. In addition, on the basis of the well-known interpolation theory and the analysis of the experimental data, we list several examples for interpolation comparisons. In the second part, the distance of the current marked points down to its most neighbouring marked points is used as shape parameter. Combining with other shape parameter for analysis and comparisons, the results represent the different influences of RBF shape parameter on the curve and surface construction. Our experiment results obtained in this article have theoretical guide values in graphic interpolation modelling. Copyright © 2014 Inderscience Enterprises Ltd.

关键词： Interpolation

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Time-varying stiffness analysis on rotating shaft with elliptical-front crack

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International Journal of Industrial and Systems Engineering 2014年第3期17卷 302-314页

作者： Wei, Xiaopeng Liu, Dajun Zhao, Lasheng Zhang, Qiang Key Laboratory of Advanced Design and Intelligent Computing Dalian University Ministry of Education Dalian 116622 China

The aim of this paper is to investigate the difference of time-varying stiffness characteristics between a semi-elliptical front crack and a straight front crack of shaft-element in order to obtain a more accurate and realistic cracked-rotor model for rotating machinery system. By calculating the correct time-varying area moments of inertia for the cross-section of cracked element and taking account the neutral axis position changes, the switching function is obtained, meanwhile the stiffness of shaft in a steady rotating cycle is determined. The result shows that a significant difference of stiffness appears as crack depth deepens. Especially, the difference between elliptical-front (EF) and straight-front (SF) cracked element is more obvious in the early crack propagation. © 2014 Inderscience Enterprises Ltd.

关键词： Cracks

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Scattered data processing approach based on optical facial motion capture

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Applied Bionics and Biomechanics 2013年第2-3期10卷 75-87页

作者： Zhang, Qiang Liang, Xiaoying Wei, Xiaopeng Key Laboratory of Advanced Design and Intelligent Computing Dalian University Ministry of Education Dalian 116622 China

In recent years, animation reconstruction of facial expressions has become a popular research field in computer science and motion capture-based facial expression reconstruction is now emerging in this field. Based on the facial motion data obtained using a passive optical motion capture system, we propose a scattered data processing approach, which aims to solve the common problems of missing data and noise. To recover missing data, given the nonlinear relationships among neighbors with the current missing marker, we propose an improved version of a previous method, where we use the motion of three muscles rather than one to recover the missing data. To reduce the noise, we initially apply preprocessing to eliminate impulsive noise, before our proposed three-order quasi-uniform B-spline-based fitting method is used to reduce the remaining noise. Our experiments showed that the principles that underlie this method are simple and straightforward, and it delivered acceptable precision during reconstruction. © 2013 - IOS Press and the authors. All rights reserved.

关键词： Noise abatement

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LarTap: A Luminance-aware Framework with Text-correlation Priors for Multi-Exposure Image Fusion

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IEEE Transactions on Circuits and Systems for Video Technology 2025年

作者： Wang, Enlong Li, Jiawei Yan, Tiantian Lei, Jia Zhou, Shihua Wang, Bin Liu, Jinyuan Kasabov, Nikola K. Dalian University Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education School of Software Engineering Dalian116622 China University of the Science and Technology Beijing School of Computer and Communication Engineering Beijing100083 China Xi’an Jiaotong University School of Software Engineering Shaanxi Xi’an710049 China Dalian Univer sity of Technology School of Mechanical Engineering Dalian116024 China Auckland University of Technology Knowledge Engineering and Discovery Research Institute Auckland1061 New Zealand

Conventional imaging devices often struggle to produce high-dynamic-range (HDR) images that accurately represent natural scenes. To overcome this limitation, multi-exposure image fusion (MEF) techniques have been introduced as a viable solution. Existing MEF approaches aim to enhance performance by optimizing or searching architectures. However, they face challenges in precise feature extraction and scene reconstruction, leading to distortion in the fused images. Additionally, most methods do not adequately address luminance variations across different image regions, which may result in the loss of essential details. To address these challenges, we present a novel luminance-aware MEF framework that integrates text-correlation priors (LarTap). By embedding textual information into fusion process, the proposed framework enhances content extraction and comprehension. Specifically, it consist of two key components: the text-image correlation network (N1) and the multi-exposure fusion network (N2). First, N1 performs correlation training to achieve a holistic alignment between text and image pairs. Its iterative vision encoders (VEs) generate text-correlated prior knowledge to facilitate the fusion process in N2. Second, N2 leverages these priors for scene reconstruction and dynamically adjusts luminance based on comparative perception. Extensive experiments on multiple datasets demonstrate that LarTap outperforms state-of-the-art methods. © 1991-2012 IEEE.

关键词： Image correlation

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Safe Reinforcement Learning for Social Motor Coordination in Two Dimensional Space

Safe Reinforcement Learning for Social Motor Coordination in...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Fan Yang Yuening Huang Chao Zhai Hehong Zhang China University of Geosciences Wuhan Campus School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Rice University George R. Brown School of Engineering and Computing Houston Texas United States Fuzhou University School of Computer and Data Science Fuzhou China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

This paper presents an interactive motion control method based on reinforcement learning, designed to assist children with autism who have social motor impairments through a mirror game intervention. The virtual teacher uses the Deep Deterministic Policy Gradient (DDPG) algorithm to optimize its actions, guiding the participant to follow a Lissajous trajectory. To ensure safety, a motion-correction mechanism was developed, which automatically adjusts actions when the predicted trajectory surpasses predefined safety boundaries. The reward function considers both the distance between the virtual teacher and the target trajectory, as well as the distance between the virtual teacher and the participant, with dynamic adjustments applied by the motion-correction mechanism. Experimental results demonstrate that the virtual teacher effectively guides the participant towards the target trajectory while adhering to safety constraints.

关键词： Autism Filters Reinforcement learning Games Variable speed drives Motors Trajectory Safety Mirrors Motion control

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Deployment strategies of on-orbit service vehicles for multi-objective group and multiple spacecraft

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International Journal of Engineering Systems Modelling and Simulation 2017年第2期9卷 96-102页

作者： Zhang, Jianxin Zhang, Qiang Wei, Xiaopeng Key Lab of Advanced Design and Intelligent Computing Ministry of Education Dalian University Dalian116622 China

A novel deployment method of on-orbit service vehicles (OSVs) design for multiple-objective and multiple-orbit missions is evaluated in this paper. The given deployment method mainly includes four steps, and respectively are: 1) dividing the predetermined region into unequal and independent servicing spaces;2) calculating parking-orbit for different target areas;3) computing the minimum number of OSVs;4) calculating the position elements of each parking-orbit. The proposed method can cover the service areas by using the fewest OSVs, which can improve the efficiency of the OSV program. Although the present exploration of deployment strategy is based on circular orbital models, this method can be directly extended to other orbital models. The calculation examples based on Glonass and GPS constellation orbits shows the proposed method is effective. © 2017 Inderscience Enterprises Ltd.

关键词： Orbits

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