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IEEE Transactions on Intelligent Vehicles 2024年 1-11页

作者： Ma, Yongxin Xu, Jie Yuan, Shenghai Zhi, Tian Yu, Wenlu Zhou, Jun Xie, Lihua school of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China

SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic bags that can temporarily blind sensors, and addressing reduced LiDAR density caused by cooking smoke. Such scenarios can result in over-degeneracy, causing the map to drift. To address this issue, this paper presents a multi-map LiDAR-inertial system (MM-LINS) for the first time. The front-end employs an iterated error state Kalman filter for state estimation and introduces a reliable evaluation strategy for degeneracy detection. If over-degeneracy is detected, the active map will be stored into sleeping maps. Subsequently, the system continuously attempts to construct new maps using a dynamic initialization method to ensure successful initialization upon leaving the over-degeneracy. Regarding the back-end, the Scan Context descriptor is utilized to detect inter-map similarity. Upon successful recognition of a sleeping map that shares a common region with the active map, the overlapping trajectory region is utilized to constrain the positional transformation near the edge of the prior map. In response to this, a constraint-enhanced map fusion strategy is proposed to achieve high-precision positional and mapping results. Experiments have been conducted separately on both public datasets that exhibited over-degenerate conditions and in real-world environments. These tests demonstrated the effectiveness of MM-LINS in over-degeneracy environment. Our codes are open-sourced on Github. IEEE

关键词： Optical radar

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IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using Wheel-Encoder and Inertial-RGB-Depth Measurements

IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using ...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Yuanhao Liu Wei Liang Chu Wang Xin Zhang Huanbing Gao Yinlong Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University Shandong Key Laboratory of Intelligent Buildings Technology Jinan China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

Safe & smart move (SSM) aims to help industrial vehicular robot (IVR), such as warehousing robots, running safely and smartly by detecting the obstacles in front and maintaining a safe distance & attitude. However, the traditional SSM methods suffer the drawbacks of limited ranges, inaccurate regression of safety distance & orientation between the robot and the forward unexpected obstacles, and the inappropriate IVR control strategies. To solve these issues, this paper designs an innovative real-time safety-aware framework using the complementary Wheel-Encoder and Inertial-RGB-Depth measurements to ensure the IVR running safely, reasonably and reliably. To estimate the robot running states, we take advantages of the complementary wheel encoder, monocular RGB images and inertial measurements to obtain the robot positions, orientations, angular and linear velocities in a tightly-coupled manner. To improve the safety relative distance & attitude estimation accuracy, we exploit the RGB and depth measurements in a task-oriented fashion. The forward obstacles with the specific contours are detected using the Mask-RCNN model, followed by the Gaussian Mixture Model to obtain the forward obstacle depth. Eventually, an IVR control strategy is designed to maintain the robot safety distance and orientation, and to keep the minimum damage to the robot mechanical system. The presented method has been evaluated on the developed industrial vehicular robot safety perception platform. The experimental results prove the competitiveness against the state-of-the-art methods.

关键词： Service robots Warehousing Robot vision systems Wheels Reliability engineering Safety Mobile robots Mechanical systems Velocity measurement Gaussian mixture model

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Microwave characterization of exotic resonant states in dielectric resonators 4

Microwave characterization of exotic resonant states in diel...

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4th IEEE International Conference on Electronic Technology, Communication and Information, ICETCI 2024

作者： Wu, Tong Evlyukhin, Andrey B. Tuz, Vladimir R. Leibniz University Cluster of Excellence PhoenixD Institute of Quantum Optics Hannover Germany Jilin University State Key Laboratory on Integrated Optoelectronics College of Electronic Science and Engineering International Center of Future Science Changchun China V. N. Karazin Kharkiv National University School of Radiophysics Biomedical Electronics and Computer Systems Kharkiv Ukraine

ISBN: (纸本)9798350361643

In this study, we design a structure consisting of the radial arrangement of several vertically standing dielectric disks (resonators) so that such a ring cluster supports exotic toroidal dipole mode excitation. Subsequently, the characteristics of a system composed of two identical rings with a change in the distance are studied to reveal how to affect the peculiarities of the coupling between two toroidal dipole modes. The manifestation of toroidal dipole coupling is confirmed by checking the extinction cross-section, near-field distributions, and induced toroidal moments obtained from both full-wave numerical simulation and microwave experiments. To experiment, particles are made from commercially available ceramics. During the measurements, standard microwave equipment is used to characterize the toroidal dipole coupling within the frequency band of 1-10 GHz. Since the structure comprises simple dielectric disks without any metallic elements, the proposed designs are hopefully scalable down to the micrometer or nanometer scale considering their practical applications as building blocks in metamaterials operated on the radiation-less exotic toroidal and anapole states. © 2024 IEEE.

关键词： Microwave resonators

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A novel robotic visual perception framework for underwater operation

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Frontiers of Information Technology & Electronic engineering 2022年第11期23卷 1602-1619页

作者： Yue LU Xingyu CHEN Zhengxing WU Junzhi YU Li WEN State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Ytech Kuaishou TechnologyBeijing 100085China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Underwater robotic operation usually requires visual perception(e.g.,object detection and tracking),but underwater scenes have poor visual quality and represent a special domain which can affect the accuracy of visual *** addition,detection continuity and stability are important for robotic perception,but the commonly used static accuracy based evaluation(i.e.,average precision)is insufficient to reflect detector performance across *** response to these two problems,we present a design for a novel robotic visual perception ***,we generally investigate the relationship between a quality-diverse data domain and visual restoration in detection *** a result,although domain quality has an ignorable effect on within-domain detection accuracy,visual restoration is beneficial to detection in real sea scenarios by reducing the domain ***,non-reference assessments are proposed for detection continuity and stability based on object ***,online tracklet refinement is developed to improve the temporal performance of ***,combined with visual restoration,an accurate and stable underwater robotic visual perception framework is ***-overlap suppression is proposed to extend video object detection(VID)methods to a single-object tracking task,leading to the flexibility to switch between detection and *** experiments were conducted on the ImageNet VID dataset and real-world robotic tasks to verify the correctness of our analysis and the superiority of our proposed *** codes are available at https://***/yrqs/VisPerception.

关键词： Underwater operation Robotic perception Visual restoration Video object detection

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Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality

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Journal of Shanghai Jiaotong university(Science) 2021年第3期26卷 290-297页

作者： JING Mengjie CUI Zhixin FU Hang CHEN Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai200240China

Virtual reality-based surgery simulation is becoming popular with the development of minimally invasive abdominal surgery,where deformable soft tissue is modelled and *** mass-spring model(MSM)and finite element method(FEM)are common methods used in the simulation of soft tissue ***,MSM has an issue concerning accuracy,while FEM has a problem with *** achieve higher accuracy and efficiency at the same time,we applied a co-rotational FEM in the simulation of a kidney with a tumour inside,achieving a real-time and accurate deformation *** addition,we set a multi-model representation for mechanical simulation and visual *** implicit Euler method and conjugate gradient method were adopted for setting and solving the linear *** a realistic simulation of surgery,constraints outside the kidney and between the kidney and tumour were set with two series of mechanical properties for the two *** were conducted to validate the accuracy and real-time performance.

关键词： computer-assisted surgery virtual reality real-time simulation finite element method(FEM) corotation FEM

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Convergent effects of peptides on the initiation of feeding motor programs in the mollusk Aplysia

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Journal of Neurophysiology 2025年第5期133卷 1368-1379页

作者： Evans, Colin G. Barry, Michael A. Reaver, Carrie N. Patel, Paras R. Chestek, Cynthia A. Perkins, Matthew H. Jing, Jian Cropper, Elizabeth C. Department of Neuroscience Friedman Brain Institute Icahn School of Medicine at Mount Sinai New York NY United States Department of Biomedical Engineering Biointerfaces Institute University of Michigan Ann Arbor MI United States Department of Electrical Engineering and Computer Science Neurosciences Program Robotics Program University of Michigan Ann Arbor MI United States State Key Laboratory of Pharmaceutical Biotechnology Institute for Brain Sciences Chemistry and Biomedicine Innovation Center Jiangsu Engineering Research Center for MicroRNA Biology and Biotechnology Advanced Institute for Life Sciences School of Life Sciences Nanjing University Nanjing China

Neuropeptides configure the feeding network of Aplysia. For example, egestive activity is promoted by small cardioactive peptide (SCP), and ingestive activity is promoted by a combination of feeding circuit activating peptide (FCAP) and cerebral peptide 2 (CP-2). In addition, SCP and FCAP/CP-2 have a common network effect that does not contribute to motor program specification. They increase the excitability of an interneuron, B63. In this report, we further characterized the effects of peptides on B63. We performed voltage-clamp experiments and used a step protocol to look at steady-state currents. We found that SCP and FCAP/CP-2 both induced an inward current that was virtually absent in low-sodium saline. Previous work has established that B63 is unusual in the feeding circuit in that subthreshold depolarizations are autonomously generated that can trigger motor programs. Here, we show that this autonomous activity is more frequent in the presence of peptides. Previous studies have also shown that activity of the feeding central pattern generator (CPG) can be initiated by neurons that excite B63, e.g., by cerebral buccal interneuron 2 (CBI-2), a projection neuron that triggers biting-like motor programs. Here, we show that the latency of CBI-2-induced activity is decreased by stimulation of the esophageal nerve (EN) (which releases endogenous SCP). These results, taken together with previous results, indicate that peptides that act divergently to configure network activity additionally act convergently to promote motor program induction. We present data that suggest that this arrangement facilitates brief switches between ingestive and egestive motor activity. © 2025 The Authors.

关键词： central pattern generator invertebrate modulation motor program neuropeptide

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Homozygous deleterious variants in MYCBPAP induce asthenoteratozoospermia involving abnormal acrosome biogenesis, manchette structure and sperm tail assembly in humans and mice

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Science China(Life Sciences) 2025年第3期68卷 777-792页

作者： Yiling Zhou Chaofeng Tu Charles Coutton Jianan Tang Shixiong Tian Shuyan Tang Guillaume Martinez Dapeng Zhou Célia Tebbakh Jiaxiong Wang Raoudha Zouari Xuehai Zhou Selima Fourati Ben Mustapha Xuemei Wang Bangguo Wu Xinyan Geng Shuang Liu Li Jin Huijuan Shi Yue-Qiu Tan Pierre FRay Lingbo Wang Xiaoyu Yang Feng Zhang Chunyu Liu Obstetrics and Gynecology Hospital State Key Laboratory of Genetic EngineeringInstitute of Medical Genetics and GenomicsFudan UniversityShanghai 200011China Institute of Reproductive and Stem Cell Engineering NHC Key Laboratory of Human Stem Cell and Reproductive EngineeringSchool of Basic Medical ScienceCentral South UniversityChangsha 410008China Clinical Research Center for Reproduction and Genetics in Hunan Province Reproductive and Genetic Hospital of CITIC-XIANGYAChangsha 410008China UniversitéGrenoble Alpes CNRS UMR 5309INSERM U1209Institute for Advanced Biosciences(IAB)Site Santé-Allée des AlpesLa Tronche 38700France CHU Grenoble Alpes Hôpital Couple-EnfantUM de Génétique ChromosomiqueGrenoble 38000France Shanghai-MOST Key Laboratory of Health and Disease Genomics NHC Key Labof Reproduction RegulationShanghai Institute for Biomedical andPharmaceutical TechnologiesSchool of PharmacyFudan UniversityShanghai 200237China Shanghai Key Laboratory of Metabolic Remodeling and Health Institute of Metabolism and Integrative BiologyFudan UniversityShanghai 200438China State Key Laboratory of Reproductive Medicine The Affiliated Suzhou Hospital of Nanjing Medical UniversitySuzhou 215002China Suzhou Municipal Hospital Suzhou 215002China Polyclinique les Jasmins Centre d’Aide Médicaleàla ProcréationCentre Urbain NordTunis 1003Tunisia Key Laboratory of Systems Health Science of Zhejiang Province School of Life ScienceHangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesHangzhou 310024China Soong Ching Ling Institute of Maternity and Child Health International Peace Maternity and Child Health HospitalShanghai Jiao Tong University School of MedicineShanghai 200030China CHU Grenoble Alpes UM GI-DPIGrenoble 38000France State Key Laboratory of Reproductive Medicine and offspring health Clinical Center for Reproductive MedicineThe First Affiliated Hospital of Nanjing Medical UniversityNanjing 211166China Shanghai Key Laboratory of Embryo Original Diseases Sh

Asthenoteratozoospermia is a common cause of male *** further define the genetic causes underlying asthenoteratozoospermia,we performed whole-exome sequencing in a cohort of Han Chinese men with *** deleterious variants of MYCBPAP were first identified in two unrelated Chinese *** analyses in a French cohort revealed an additional asthenoteratozoospermia-affected case harboring a homozygous nonsense variant in *** of the identified MYCBPAP variants were absent or extremely rare in the public human genome *** functional assays indicated remarkably reduced abundance of MYCBPAP in the spermatozoa from MYCBPAP-associated ***,we generated a Mycbpap knockout(Mycbpap^(−/−))mouse model,which also exhibited male infertility with reduced sperm motility and abnormal morphologies in sperm heads and *** investigations demonstrated that Mycbpap^(−/−)male mice presented disrupted acrosome biogenesis and abnormally elongated manchette during ***,proteomic analyses indicated that the proteins related to spermatogenesis,acrosomal and flagellar functions were significantly down-regulated in the testes from Mycbpap^(−/−)male *** immunoprecipitation combined with mass spectrometry revealed interactions of MYCBPAP with a ribosome elimination related protein ARMC3 and central apparatus proteins including CFAP65 and ***,MYCBPAP-associated male infertility in humans and mice could be partially overcome by using intracytoplasmic sperm ***,these findings illustrate the essential role of MYCBPAP in normal spermatogenesis and homozygous deleterious variants in MYCBPAP can be considered as a genetic diagnostic indicator for infertile men with *** study will provide effective guidance for genetic counseling,clinical diagnosis and assisted reproduction treatments of MYCBPAP-associated male infertilit

关键词： male infertility asthenoteratozoospermia MYCBPAP acrosome biogenesis manchette axoneme

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Non-proteolytic ubiquitination of HBx controls HBV replication

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Virologica Sinica 2024年第2期39卷 338-342页

作者： Xiangpeng Sheng Yi Yang Min Zhu Linlin Zhou Fang Zhu Yuanfei Zhu Siying Dong Hui Kong Honghua Wang Ji Jiang Mingyue Wan Mingyang Feng Qiang Deng Yumin Xu Qing You Ronggui Hu State Key Laboratory for Animal Disease Control and Prevention Harbin Veterinary Research InstituteChinese Academy of Agricultural SciencesHarbin 150069China State Key Laboratory of Molecular Biology Shanghai Institute of Biochemistry and Cell BiologyCenter for Excellence in Molecular Cell ScienceChinese Academy of SciencesShanghai 200031China Key Laboratory of Systems Health Science of Zhejiang Province School of Life ScienceHangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesHangzhou 310024China Department of Thoracic Surgery Ruijin HospitalShanghai Jiaotong University School of MedicineShanghai 200025China Shanghai Key Laboratory of Plant Molecular Sciences College of Life SciencesShanghai Normal UniversityShanghai 200234China Department of Pathogenic Biology West China School of Basic Medical Sciences&Forensic MedicineSichuan UniversityChengdu 610041China School of Medicine Guizhou UniversityGuiyang 550025China Key Laboratory of Medical Molecular Virology(MOE&MOH) School of Basic Medical SciencesFudan UniversityShanghai 200032China Department of Hospital Infection Management Department of Infectious DiseasesRuijin HospitalShanghai Jiao Tong University School of MedicineShanghai 200025China School of Biomedical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

Dear Editor,Although effective vaccines and antiviral therapies are available,hepatitis B virus(HBV)infection is still a serious global health *** HBV infection remains the principal cause of liver cirrhosis and hepatocellular carcinoma(HCC).HBV is a small DNA virus,owning a~3.2 kb genome that encodes several proteins:viral DNA polymerase,core antigen(HBcAg),E antigen(HBeAg),three surface antigens(PreS1/PreS2/HBsAg),and a regulatory X protein(HBx)(Lamontagne et al.,2016).X protein,named for its lack of homology with any known proteins,is a 154 aa protein that plays an essential role in HBV biology and regulates the development of HCC(Yang et al.,2022).Although previous studies have strongly expanded our understanding of HBx,the regulation of HBx is not completely elucidated.

关键词： infection cirrhosis

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Dispersion and Attenuation Estimation of Ultrasonic Guided Waves using Multi-Subarrays Matrix Pencil Method

Dispersion and Attenuation Estimation of Ultrasonic Guided W...

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2023 International Congress on Ultrasonics, ICU Beijing 2023

作者： Zheng, Shuhang Xu, Kailiang Tran, Tho N.H.T. Minonzio, Jean-Gabriel Center for Biomedical Engineering School of Information Science and Technology Fudan University Shanghai200438 China State Key Laboratory of Integrated Chips and Systems Fudan University Shanghai201203 China Escuela de Ingenierıa Informatica Universidad de Valparaiso Chile Centro de Investigacion y Desarrollo en Ingenierıa en Salud Universidad de Valparaiso Chile Institute of Biomedical Engineering and Technology Academy for Engineering and Technology Fudan University Shanghai China Yiwu Research Institute Fudan University Zhejiang China

Dispersion and attenuation estimation of ultrasonic guided waves is important for waveguide characterization. Matrix pencil (MP) method has been proposed for multimode complex wavenumber estimation, but its performance highly depends on the signal to noise ratio (SNR), which still brings challenges for high attenuation waveguide evaluation. In addition, the model order, i.e., matrix size in MP method, significantly impacts the dispersion curve extraction. In this study, to avoid the model order interference and compensate the SNR sensitivity of the classical MP algorithm, a multi-subarrays MP method is proposed for accurate dispersion and attenuation estimation. Considering with different Hankel matrix sizes, the multi-subarrays MP method estimates the complex wavenumbers from each pair of submatrices to filter uncertain results. A soft threshold strategy is applied to compensate the noise sensitivity of the estimation. Simulated results prove the proposed method can improve the dispersion and attenuation curve estimation. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Guided electromagnetic wave propagation

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The PIWI-specific insertion module helps load longer piRNAs for translational activation essential for male fertility

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Science China(Life Sciences) 2023年第7期66卷 1459-1481页

作者： Xin Wang Di-Hang Lin Yue Yan An-Hui Wang Jiaoyang Liao Qian Meng Wen-Qing Yang Heng Zuo Min-Min Hua Fengjuan Zhang Hongwen Zhu Hu Zhou Tian-Yu Huang Rui He Guangyong Li Yue-Qiu Tan Hui-Juan Shi Lan-Tao Gou Dangsheng Li Ligang Wu Yonggang Zheng Xiang-Dong Fu Jinsong Li Rujuan Liu Guo-Hui Li Mo-Fang Liu Key Laboratory of Systems Health Science of Zhejiang Province School of Life ScienceHangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesHangzhou310024China State Key Laboratory of Molecular Biology State Key Laboratory of Cell BiologyShanghai Key Laboratory of Molecular AndrologyShanghai Institute of Biochemistry and Cell BiologyCenter for Excellence in Molecular Cell ScienceChinese Academy of SciencesUniversity of Chinese Academy of SciencesShanghai200031China Laboratory of Molecular Modeling and Design State Key Laboratory of Molecular Reaction DynamicsDalian Institute of Chemical PhysicsChinese Academy of SciencesDalian116023China Department of Analytical Chemistry and CAS Key Laboratory of Receptor Research Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai201203China School of Life Science and Technology ShanghaiTech UniversityShanghai201210China NHC Key Lab of Reproduction Regulation(Shanghai Institute for Biomedical and Pharmaceutical Technologies) Fudan UniversityShanghai200032China Key Laboratory of Fertility Preservation and Maintenance of Ministry of Education School of Basic Medical SciencesNingxia Medical UniversityYinchuan750004China Department of Urology General Hospital of Ningxia Medical UniversityNingxia Medical UniversityYinchuan750004China Institute of Reproductive and Stem Cell Engineering College of Basic of MedicineCentral South UniversityChangsha410000China Department of Physiology Howard Hughes Medical InstituteUniversity of Texas Southwestern Medical CenterDallasTX75390USA Westlake Laboratory of Life Sciences and Biomedicine School of Life SciencesWestlake UniversityHangzhou310024China

PIWI-clade proteins harness pi RNAs of 24–33 nt in *** great puzzles are how PIWI-clade proteins incorporate pi RNAs of different sizes and whether the size matters to PIWI/pi RNA *** we report that a PIWI-Ins module unique in PIWIclade proteins helps define the length of pi *** of PIWI-Ins in Miwi shifts MIWI to load with shorter pi RNAs and causes spermiogenic failure in mice,demonstrating the functional importance of this regulatory ***,we show that longer pi RNAs provide additional complementarity to target m RNAs,thereby enhancing the assembly of the MIWI/e IF3f/Hu R super-complex for translational ***,we identify a c.1108C>T(p.R370W)mutation of HIWI(human PIWIL1)in infertile men and demonstrate in Miwi knock-in mice that this genetic mutation impairs male fertility by altering the property of PIWI-Ins in selecting longer pi *** findings reveal a critical role of PIWI-Ins-ensured longer pi RNAs in fine-tuning MIWI/pi RNA targeting capacity,proven essential for spermatid development and male fertility.

关键词： PIWI piRNAs PIWI-Ins translational activation spermatid development male fertility

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