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arXiv 2025年

作者： Zhu, Fei Liu, Yujing Liu, Wenzhuo Zhang, Zhaoxiang Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation CAS Hong Kong Key Laboratory of Systems and Control Academy of Mathematics and Systems Science CAS China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation CAS China School of Artificial Intelligence University of Chinese Academy of Sciences China

Continual learning, which aims to learn multiple tasks sequentially, has gained extensive attention. However, most existing work focuses on empirical studies, and the theoretical aspect remains under-explored. Recently, a few investigations have considered the theory of continual learning only for linear regressions, establishes the results based on the strict independent and identically distributed (i.i.d.) assumption and the persistent excitation on the feature data that may be difficult to verify or guarantee in practice. To overcome this fundamental limitation, in this paper, we provide a general and comprehensive theoretical analysis for continual learning of regression models. By utilizing the stochastic Lyapunov function and martingale estimation techniques, we establish the almost sure convergence results of continual learning under a general data condition for the first time. Additionally, without any excitation condition imposed on the data, the convergence rates for the forgetting and regret metrics are provided. Copyright © 2025, The Authors. All rights reserved.

关键词： Federated learning

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A broadly neutralizing antibody against the SARS-CoV-2 Omicron sub-variants BA.1,BA.2,BA.2.12.1,BA.4,and BA.5

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Signal Transduction and Targeted Therapy 2025年第2期10卷 926-933页

作者： Zhe Chen Leilei Feng Lei Wang Li Zhang Binyang Zheng Hua Fu Fengdi Li Ligai Liu Qi Lv Ran Deng YanLi Xu Yongfeng Hu Jianhua Zheng Chuan Qin Linlin Bao Xiangxi Wang Qi Jin NHC Key Laboratory of Systems Biology of Pathogens State Key Laboratory of Respiratory Health and MultimorbidityNational Institute of Pathogen Biologyand Center for Tuberculosis ResearchChinese Academy of Medical Sciences&Peking Union Medical CollegeBeijing 100730China CAS Key Laboratory of Infection and Immunity National Laboratory of MacromoleculesInstitute of BiophysicsChinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China Department of Vaccine Clinical Evaluation Jiangsu Provincial Center for Disease Prevention and Control172 Jiangsu RoadGulou QuNanjing 210009China Institute of Laboratory Animal Sciences Chinese Academy of Medical Sciences(CAMS)and Comparative Medicine CenterPeking Union Medical Collage(PUMC)Key Laboratory of Human Disease Comparative MedicineMinistry of HealthBeijingChina Beijing Ditan Hospital Capital Medical UniversityBeijing 100015PR China Chronic Disease Management Center Beijing Ditan HospitalCapital Medical UniversityBeijing 100015PR China

The global spread of Severe Acute Respiratory Syndrome Coronavirus 2.(SARS-CoV-2)and its variant strains,including Alpha,Beta,Gamma,Delta,and now Omicron,pose a significant *** the constant evolution of the virus,Omicron and its subtypes BA.1,BA.2,BA.3,BA.4,and BA.5 have developed the capacity to evade neutralization induced by previous vaccination or *** evasion highlights the urgency in discovering new monoclonal antibodies(mAbs)with neutralizing activity,especially broadly neutralizing antibodies(bnAbs),to combat the *** the current study,we introduced a fully human neutralizing mAb,CR9,that targets Omicron *** demonstrated the mAb’s effectiveness in inhibiting Omicron replication both in vitro and in *** analysis using cryo-electron microscopy(cryo-EM)revealed that CR9 binds to an epitope formed by RBD residues,providing a molecular understanding of its neutralization *** its potency and specificity,CR9 holds promise as a potential adjunct therapy for treating Omicron *** findings highlight the importance of continuous mAb discovery and characterization in addressing the evolving threat of COVID-19.

关键词： monoclonal antibodies mabs severe acute respiratory syndrome coronavirus Omicron SARS CoV BA broadly neutralizin

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Multi-omics analysis provides new insights into the molecular mechanisms underlying colostral immunoglobulin G absorption in the gut of neonatal goat kids

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Animal Nutrition 2025年 21卷 166-178页

作者： Yang, Chao Cheng, Yan Zhang, Tianxi Gebeyew, Kefyalew Fischer-Tlustos, Amanda Guan, Leluo Steele, Michael Tan, Zhiliang He, Zhixiong National Engineering Laboratory for Pollution Control and Waste Utilization in Livestock and Poultry Production CAS Key Laboratory for Agro-Ecological Processes in Subtropical Region South-Central Experimental Station of Animal Nutrition and Feed Science in Ministry of Agriculture Hunan Provincial Engineering Research Center for Healthy Livestock and Poultry Production Institute of Subtropical Agriculture The Chinese Academy of Sciences Changsha 410125 China State Key Laboratory of Plateau Ecology and Agriculture Qinghai University Xining 810016 China University of Chinese Academy of Sciences Beijing 100049 China Department of Animal Biosciences University of Guelph Guelph N1G2W1 ON Canada Faculty of Land and Food Systems The University of British Columbia Vancouver V6T 1Z4 BC Canada Key Laboratory of Forage Breeding-by-Design and Utilization Chinese Academy of Sciences Beijing 100093 China

Early colostrum feeding facilitates the passive transfer of immunoglobulin G (IgG), which contributes to the defensive establishment of neonates;however, the molecular mechanisms of IgG absorption in the small intestine of neonatal mammals remain largely unknown. In this study, a total of 16 neonatal goat kids with similar body weight (2.05 ± 0.31 kg) were selected and randomly assigned to 1 of 2 feeding treatments: normal colostrum feeding (NCF, n = 8) or delayed colostrum feeding (DCF, n = 8). Multi-omics coupled with individual bioinformatics analyses were employed to obtain a comprehensive understanding of the molecular mechanisms of IgG absorption. Phenotypic analysis showed that the capacity of IgG absorption was largely affected (P < 0.05) by colostrum feeding time in neonatal goat kids. Weighted gene co-expression network analysis generated 23 gene modules (gene module defined M1 to M23) and the M12 module was highly correlated (|r| > 0.70 and adjusted P < 0.01) with IgG absorption. Genes in M12 were involved in the endocytosis pathway, especially related to clathrin-mediated endocytosis and macropinocytosis. The differentially expressed genes (DEGs) enriched in the above-mentioned pathways regulated the clathrin synthesis (CLTC), the formation of clathrin-coated vesicles (ARPC1A), and the sorting and recycling endosomes (CAPZA2, KIAA0196, RAB10, RAB11A and VPS35) as well as the formation of macropinosomes (FGFR4 and RhoA) in micropinocytosis, which induced differences in serum IgG concentrations. Additionally, 5 differentially expressed miRNAs (miR-2755-3p, miR-10400-5p, miR-71-5p, miR-2944-3p and miR-2411-3p) were predicted to regulate mRNA involved in clathrin-coated vesicles, Fc receptor for IgG (FcRn)-IgG sorting, and macropinosomes formation that may cause the difference in IgG absorption ability. This study provides new insights into the molecular mechanisms controlling IgG absorption of neonatal ruminants and reveals novel mRNA and miRNA markers invo

关键词： Clathrin-mediated endocytosis Colostrum Immunoglobulin G Macropinocytosis Neonatal goat kid

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Evaluation of indocyanine green inhalation to detect air leak sites during video-assisted thoracoscopic surgery: a prospective study

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BMC Surgery 2025年第1期25卷 1-9页

作者： Wang, Zhenfan Tian, Xue Wei, Zihan Xu, Hao He, Kunshan Chi, Chongwei Zhao, Songjing Jiang, Ruiheng Yang, Fan Li, Yun Zhou, Jian Department of Thoracic Surgery Peking University People’s Hospital Beijing 100044 China Department of Anaesthesia Peking University People’s Hospital Beijing China China-Japan Friendship Hospital Beijing China CAS Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Peking University Health Science Center Beijing China Department of Thoracic Surgery Beijing Aerospace General Hospital Beijing China

Background: This study aimed to investigate the feasibility and clinical benefits of indocyanine green (ICG) inhalation for detecting air leak sites during video-assisted thoracoscopic surgery (VATS). Methods: Between February 2023 and May 2023, a total of 288 patients underwent VATS were enrolled in this study. Among the population, 72 patients received ICG inhalation test following the traditional submersion sealing test. And 216 patients only underwent the submersion sealing test were matched using 1:3 propensity score matching analysis. The results of ICG inhalation test and the clinical outcomes were compared. Results: In the ICG group, 48 air leak sites were detected in 25 patients (25/72, 34.7%). The conventional submersion sealing test identified 30 air leak sites, while the ICG inhalation test detected 47 sites. Among these detected air leak sites, 34 sites were repaired by suturing or stapling. The postoperative air leak rate in the ICG group (20.8%) was significantly lower than the control group (37.0%, P = 0.011). ICG inhalation test was a favorable factor for reducing postoperative air leaks (OR: 0.40;95%CI: 0.20–0.78;P = 0.008). Conclusions: The ICG inhalation test facilitates the identification of air leak sites that may have been overlooked in the conventional submersion sealing test. This technique is useful to reduce postoperative air leaks for patients undergoing VATS. Trial registration : Chinese Clinical Trial Registry: ChiCTR2300067603 on January 13rd 2023. © The Author(s) 2025.

关键词： Air leaks Indocyanine green Inhalation Video-assisted thoracoscopic surgery

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Time-optimal control for hybrid systems based on the nitrogen-vacancy center

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control Theory and Technology 2017年第3期15卷 219-225页

作者： Shanping YU Na LI Peng WEI Zairong XI Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science CAS Beijing 100190 China

Fast and high fidelity quantum control is the key technology of quantum computing. The hybrid system composed of the nitrogen-vacancy center and nearby Carbon-13 nuclear spin is expected to solve this problem. The nitrogen-vacancy center electron spin enables fast operations for its strong coupling to the control field, whereas the nuclear spins preserve the coherence for their weak coupling to the environment. In this paper, we describe a strategy to achieve time-optimal control of the Carbon-13 nuclear spin qubit by alternating controlling the nitrogen-vacancy center electron spin as an actuator. We transform the qubit gate operation into a switched system. By using the maximum principle, we study the minimum time control of the switched system and obtain the time-optimal control of the qubit gate operation. We show that the X gate and Y gate operations are within 10μs while the fidelity reaches 0.995.

关键词： Time-optimal control nitrogen-vacancy center qubit gate operations switched system

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Parameter estimation survey for multi-joint robot dynamic calibration case study

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Science China(Information Sciences) 2019年第10期62卷 102-116页

作者： Shaolin ZHANG Shuo WANG Fengshui JING Min TAN The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Accurate model parameters are the basis of robot dynamics. Many linear and nonlinear models have been proposed to calibrate the inertial parameters and friction parameters of multi-joint ***, methods of choosing a model and calculating its parameters still have few summaries. This paper reviews typical linear/nonlinear models and different calculation methods for robot dynamic *** simulations, the features of different methods are analyzed, including torque error, parameter error, model adaptability, solution time, and anti-interference ability of the calibration results. Finally, an experiment performed on a six-degree-of-freedom industrial manipulator is used as an example to illustrate how to select the model for a specified robot. These comparisons and experiments provide references for the parameter calibration of multi-joint robots.

关键词： dynamic parameter calibration friction calibration robot dynamics industrial manipulator dynamic models

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Robot assisted rehabilitation of the arm after stroke:prototype design and clinical evaluation

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Science China(Information Sciences) 2017年第7期60卷 252-258页

作者： Liang PENG Zeng-Guang HOU Long PENG Lincong LUO Weiqun WANG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.

关键词： rehabilitation robot passive training active training force feedback impedance control

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Measurement feedback H control of uncertain nonlinear stochastic systems

Measurement feedback H control of uncertain nonlinear stocha...

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27th Chinese control Conference, CCC

作者： Ni, Yuanhua Fang, Haitao Key Laboratory of Systems and Control CAS Beijing 100080 China

This paper deals with the output feedback H control problem for a class of nonlinear stochastic systems with disturbance. Based on the theory of stochastic dissipative and the methodology of completion of square, seve... 详细信息

ISBN: (纸本)9787900719706

关键词： Stochastic systems

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A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery

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Science China(Information Sciences) 2018年第10期61卷 250-252页

作者： Xiaoran CHENG Xiaoliang XIE Guibin BIAN Zengguang HOU Shiqi LIU Zhanjie GAO State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Simulators play an important role in minimally invasive vascular surgery training. A challenging task for the simulator is to model an elastic guidewire and an elastic vascular system, both of which are important aspects for vascular ***, many simulators treat the virtual vascular system as a rigid object, which reduces the immersion of operators. In this study, a virtual guidewire is first modeled based on Cosserat rod

关键词： Pi Figure A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery

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Application of machine learning method in optical molecular imaging: a review

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Science China(Information Sciences) 2020年第1期63卷 5-20页

作者： Yu AN Hui MENG Yuan GAO Tong TONG Chong ZHANG Kun WANG Jie TIAN CAS Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular ImagingThe State Key Laboratory of Management and Control for Complex SystemsInstitute of Automation Chinese Academy of Sciences Beijing Advanced Innovation Center for Big Data-Based Precision Medicine School of MedicineBeihang University University of Chinese Academy of Sciences

Optical molecular imaging(OMI) is an imaging technology that uses an optical signal, such as near-infrared light, to detect biological tissue in organisms. Because of its specific and sensitive imaging performance, it is applied in both preclinical research and clinical surgery. However, it requires heavy data analysis and a complex mathematical model of tomographic imaging. In recent years, machine learning(ML)-based artificial intelligence has been used in different fields because of its ability to perform powerful data processing. Its analytical capability for processing complex and large data provides a feasible scheme for the requirement of OMI. In this paper, we review ML-based methods applied in different OMI modalities.

关键词： optical molecular imaging machine learning artificial intelligence

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