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SSRN 2024年

作者： Zhi, Tian Xu, Jie Ma, Yongxin Yu, Wenlu Liu, Shenglan Yuan, Shenghai College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing210016 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China School of Mechanical Engineering Shandong University Jinan250061 China

Addressing uncertainty errors, although crucial, may sometimes be deprioritized in the optimization process ofLiDAR-based SLAM systems due to the inherent complexity of the task. The practice of applying uniform weights, which simplifies the uncertainty management, when incorporating factors can inadvertently degrade the pose graph optimization, particularly within complex environments. In response to this, we propose anuncertainty-aware pose graph optimization technique, along with an innovative keyframe selection strategy. We develop a model for estimating the covariance of relative pose transformations, utilizing frontend odometry output and the Huber robust kernel function. This model assigns weights based on the uncertainty error of pose transformations. Upon detection of a loop closure, the system optimizes keyframe poses, effectively reducing cumulative error. Our keyframe selection strategy takes into account the maximum eigenvalue of the translational component of pose covariance as an uncertainty measure. If this value surpasses a certain threshold, the pose is selected as a keyframe, thereby enhancing data precision and computational efficiency, and subsequently improving the SLAM system’s ability to handle uncertainty. Ablation studies validate our approach, demonstrating its effectiveness in enhancing performance, especially in complex environments and conditions of data degradation. Wealso provide the associated open-source code for further research. © 2024, The Authors. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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In Situ Measurement of the Kinetic Friction of Si Nanowires on SiC Substrates in SEM with a Microprobe 11

In Situ Measurement of the Kinetic Friction of Si Nanowires ...

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11th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2021

作者： Gao, Peng Zhou, Jie Zou, Tao Rong, Weibin State Key Laboratory of Robotics and Systems Harbin Institute of Technology HarbinHeilongjiang150080 China School of Electrical and Control Engineering Heilongjiang University of Science and Technology HarbinHeilongjiang150022 China

ISBN: (纸本)9781665425278

This research introduces a kinetic friction modeling and measurement method for silicon nanowires (NWs) and silicon carbide substrates. The NW was pushed to slide by the micro-force probe at a constant speed. Under the conditions of kinetic friction and deformation of the nanowires, the silicon nanowires are in equilibrium during the measurement. Under this condition, the value measured by the micro-force probe is the total kinetic friction force. The thermal insulation connector is used to isolate the heat conduction to the micro-force probe to avoid the influence of temperature rise on the measurement result. The Faraday cup was used to measure the surface current in the scanning electron microscope (SEM). The appropriate parameters of SEM were chosen according to the surface current to reduce the influence of the charging effect on the measurement results. The high sensitivity of the micro-force probe is used to ensure that there is no contact between the probe and the substrate, thereby avoiding the interference of the pre-load force. The entire experiment process was monitored in real-time to improve the stability of the measurement. The study in this paper found that the shear stress of silicon nanowires is 1.05 \pm 0.32\text{MPa}. © 2021 IEEE.

关键词： Silicon carbide

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Continuity Scaling: A Rigorous Framework for Detecting and Quantifying Causality Accurately

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Research 2022年第4期2022卷 137-146页

作者： Xiong Ying Si-Yang Leng Huan-Fei MaD Qing Nie Ying-Cheng Lai Wei Lin School of Mathematical Sciences SCMSand SCAMFudan UniversityShanghai 200433China Research Institute for Inteligent Complex Systems CCSBand LCNBIFudan UniversityShanghai 200433China State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Institutes of Brain ScienceFudan UniversityShanghai 200032China Institute of AI and Robotics Academy for Engineering and TechnologyFudan UniversityShanghai 200433China School of Mathematical Sciences Soochow UniversitySuzhou 215006China Department of Mathematics Department of Developmental and Cll BiologyAnd NSF-Simons Center for Multiscale Cell Fate ResearchUniversity of CaliforniaIrvineCA 92697-3875USA School of Electrical ComputerAnd Energy EngineeringArizona State UniversityTempeArizona 85287-5706USA Shanghai Artificial Intelligence Laboratory Shanghai 200232China

Data-based detection and quantification of causation in complex,nonlinear dynamical systems is of paramount importance to science,engineering,and *** by the widely used methodology in recent years,the cross-map-based techniques,we develop a general framework to advance towards a comprehensive understanding of dynamical causal mechanisms,which is consistent with the natural interpretation of *** particular,instead of measuring the smoothness of the cross-map as conventionally implemented,we define causation through measuring the scaling law for the continuity of the investigated dynamical system *** uncovered scaling law enables accurate,reliable,and eficient detection of causation and assessment of its strength in general complex dynamical systems,outperforming those existing representative *** continuity scaling-based framework is rigorously established and demonstrated using datasets from model complex systems and the real world.

关键词： dynamical scaling continuity

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Model-Based Shape Estimation and Closed-Loop Control of Magnetic Continuum Robot Based on Monocular Vision

Model-Based Shape Estimation and Closed-Loop Control of Magn...

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IEEE International Conference on robotics and Biomimetics

作者： Junfeng Zhu Yuanrui Huang Jian Chen Hongbin Liu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences (CASIA) Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre of AI and Robotics Hong Kong Institute of Science Innovation Chinese Academy of Sciences School of Biomedical Engineering and Imaging Sciences King's College London UK

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Magnetic continuum robots (MCRs) show promising potential for applications in narrow lumens, such as vascular interventions. Accurate shape sensing of these robots is crucial for the success of interventional surgeries. However, the submillimeter dimensions of MCRs poses significant challenges for integrating additional sensors. An alternative approach is shape estimation from images, yet the lack of precise MCR kinematics can make this process time-consuming. In this work, we propose a novel MCR design featuring a rectangular tip capable of specific planar bending, along with a corresponding kinematic model and a mechanical model. Additionally, we introduce a model-based shape estimation method that enables the estimation of the MCR's shape from a single-view image without the need for external markers. Experimental results demonstrate that our method can estimate an MCR's shape with a mean absolute error (MAE) of $\mathbf{0.58}\pm \mathbf{0.41}\mathbf{mm}$ within 85ms, facilitating real-time application. Furthermore, closed-loop control based on this method has achieved an end position error below 11% of the tip's total length, highlighting the accuracy and practicality of our approach for surgical interventions.

关键词： Solid modeling Shape Computational modeling Magnetic resonance imaging Estimation Kinematics Robot sensing systems Real-time systems Continuum robots Magnetosphere

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A biomimetic,triggered-release micelle formulation of methotrexate and celastrol controls collagen-induced arthritis in mice

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BMEMat(biomedical engineering Materials) 2024年第4期2卷 130-141页

作者： He Ren Zewen Wu Jingxuan Li Nan Zhang Coo Yee Nah Jiexin Li Jingyu Zhang Jonathan F.Lovell Liyun Zhang Yumiao Zhang School of Chemical Engineering and Technology Key Laboratory of Systems Bioengineering(Ministry of Education)Tianjin UniversityTianjinChina Third Hospital of Shanxi Medical University Shanxi Bethune HospitalShanxi Academy of Medical SciencesTongji Shanxi HospitalTaiyuanChina Department of Biomedical Engineering The State University of New York at BuffaloBuffaloUSA

Rheumatoid arthritis(RA)is a systemic autoimmune disease that leads to the destruction of articular cartilage and *** is characterized by immune cell infiltration and abnormal proliferation of synoviocytes in the ***,we developed a biomimetic formulation via co-loading the anti-inflammatory agent Celastrol(Cel)along with the stabilizer Vitamin K(VK)in antirheumatic methotrexate(MTX)-conjugated Pluronic F127(F127)*** were then coated with B cell derived membrane,yielding MTX loaded Cel Micelle(CeViM)-micelle@B,which were investigated for RA ***,used at levels well within safety margins,was identified as a carrier compound that could stabilize Cel within micelles,increasing the encapsulation efficiency of *** addition,MTX,a front-line RA therapeutic,was chemically grafted to F127 via a responsive linker sensitive to the chemically reducing *** such,CeViM-micelle@B released pristine MTX in response to the intracellular reducing environments,which combined with Cel to suppress pro-inflammatory responses.B cell membrane coating enhanced accumulation of CeViM-micelle@B in joints,leading to a 75%decrease of inflammatory cytokine secretion in vitro,and significantly ameliorated cartilage and bone structures in the collagen-induced arthritis murine *** together,this biomimetic nanoparticle holds potential as a nextgeneration targeted RA treatment.

关键词： co-loading micelle microenvironment-responsive rheumatoid arthritis self-immolative

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HG-CBS Planner: Heuristic Group-based Motion Planning for Multi-robot

HG-CBS Planner: Heuristic Group-based Motion Planning for Mu...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Weilong Liu Jin Wang Kewen Zhang Huan Yu Zhi Zheng Guodong Lu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China Robotics Institute of Zhejiang University Hangzhou China College of Mechanical Engineering Zhejiang University of Technology Hangzhou China

Multi-Agent Path Finding (MAPF) has been widely studied in the field of artificial intelligence and multi-agent path search, and researchers have made improvements to make such algorithms applicable to actual nonholonomic constrained robots. In this paper, the collision detection is improved by body-occupied collision detection, which improves the efficiency of collision detection. In addition, to solve the problem of low efficiency in centralized search for multi-robot solutions, reasonable grouping is performed to reduce the number of collision nodes expanded in the centralized Conflict-based search(CBS), and feasible results are obtained faster. At the same time, the heuristic multi-robot search based on collision frequency is improved to reduce the search time. Finally, we constructed the trajectory smoothing problem based on the multi-robot path search results and applied the solution to real robot trajectory tracking. Our research provides valuable insights into solving trajectory planning problems for nonholonomic constrained mobile robots in practical scenarios.

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Corrections to “Intelligent Traffic Data Transmission and Sharing Based on Optimal Gradient Adaptive Optimization Algorithm”

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IEEE Transactions on Intelligent Transportation systems 2024年第3期25卷 3202-3204页

作者： Xing Li Haotian Zhang Yajing Shen Lina Hao Wanfeng Shang School of Electrical Engineering and Intelligentization Dongguan University of Technology Dongguan China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China College of Computer Science and Technology Jilin University Changchun China Department of Biomedical Engineering City University of Hong Kong Hong Kong China School of Mechanical and Engineering Northeastern University Shenyang China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

In [1] , inaccuracies in several critical equations along with their accompanying descriptions appear in the article. Furthermore, some references are missing, and certain analyses of experiments are flawed.

关键词： Adaptive systems Data communication Optimization Intelligent transportation systems

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Direct and quantitative assessments of near-infrared light attenuation and spectroscopic detection depth in biological tissues using surface-enhanced Raman scattering

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Med-X 2023年第1期1卷 62-78页

作者： Li Lin Haoqi He Ruiyang Xue Yumin Zhang Ziwen Wang Shuming Nie Jian Ye State Key Laboratory of Systems Medicine for Cancer School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiP.R.China Department of Bioengineering University of Illinois at Urbana-ChampaignIllinoisUSA Shanghai Key Laboratory of Gynecologic Oncology Ren Ji HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghaiP.R.China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghaiP.R.China

Optical imaging and spectroscopic modalities are of broad interest for in-vivo molecular imaging,fluorescence guided cancer surgery,minimally invasive diagnostic procedures,and wearable ***,considerable debate still exists as to how deeply visible and near-infrared(NIR)light could penetrate normal and diseased tissues under clinically relevant *** we report the use of surface-enhanced Raman scattering(SERS)nanotags embedded in ex-vivo animal tissues for direct and quantitative measurements of light attenuation and spectroscopic detection depth at both the NIR-I and NIR-II spectral *** nanotags are well suited for this purpose because of their sharp spectral features that can be accurately differentiated from fluorescence and background *** the first time,the spectroscopic detection depth is quantitatively defined and measured as the maximal thickness of tissues through which the embedded SERS nanotags are still detected at a signal-to-noise ratio(SNR)of three(99.7%confidence level).Based on data from six types of fresh ex-vivo tissues(brain,kidney,liver,muscle,fat,and skin),we find that the maximum detection depth values range from 1—3 mm in the NIR-I window,to 3—6 mm in the NIR-II *** depth values are largely determined by two factors-the intrinsic optical properties of the tissue,and the overall SNRs of the system without the tissue(system SNR,a result of nanotag brightness,instrument efficiency,and data acquisition parameters).In particular,there is an approximately linearlogarithmic relationship between the system SNR and maximum detection ***,the detection of hidden or occult lesions can be improved by three strategies-reducing tissue attenuation,minimizing background noise,and maximizing the system’s performance as judged by SNR.

关键词： Surface-enhanced Raman scattering Near-infrared window Biological detection Detection depth

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Multi-Quadrotor Cooperative Encirclement and Capture Approach in Obstacle Environments

Multi-Quadrotor Cooperative Encirclement and Capture Approac...

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International Conference on Mechatronics (ICM)

作者： Zhenyu Li Ruixin Wu Jin Wang Chuanqi Hu Zhi Zheng Jun Meng Guodong Lu School of Mechanical Engineering Zhejiang University Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China Polytechnic Institute Zhejiang University Hangzhou China College of Electrical Engineering Zhejiang University Hangzhou China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou China

ISBN: (数字)9798331533892

ISBN: (纸本)9798331533908

This article proposes an algorithm designed for autonomous quadrotors to capture target quadrotors in complex obstacle environments, enabling multiple pursuers to perform distributed capture while simultaneously avoiding obstacles and collisions. We first introduce a 3D obstacle space representation method based on safety-priority reachable region (SPRR) and implement real-time construction for general point cloud maps. Subsequently, leveraging SPRR, we employ an area minimization approach to ensure the effective capture of the evader within a limited time. The outcomes are then integrated into a MINCO-based trajectory planning framework to ensure their practical execution by real quadrotors. Relying on SPRR, the optimization problem is simplified and the solution efficiency is improved. In the scenario of simulating the dynamics of real quadrotors, we compare the proposed algorithm with state-of-the-art evasion and pursuit methods, validating its effectiveness and advancements. This work presents a practical solution for multi-quadrotor collaborative capture.

关键词： Point cloud compression Visualization Three-dimensional displays Trajectory planning Heuristic algorithms Collaboration Real-time systems Safety Optimization Quadrotors

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Structure of human RNA polymerase Ⅲ elongation complex

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细胞研究（英文版） 2021年第7期31卷 791-800页

作者： Liang Li Zishuo Yu Dan Zhao Yulei Ren Haifeng Hou Yanhui Xu Fudan University Shanghai Cancer Center Institutes of Biomedical SciencesState Key Laboratory of Genetic Engineering and Shanghai Key Laboratory of Medical EpigeneticsShanghai Medical College of Fudan UniversityShanghai 200032China Fudan University Shanghai Cancer Center Institutes of Biomedical SciencesState Key Laboratory of Genetic Engineering and Shanghai Key Laboratory of Medical EpigeneticsShanghai Medical College of Fudan UniversityShanghai 200032China The International Co-laboratory of Medical Epigenetics and Metabolism Ministry of Science and Technology of ChinaDepartment of Systems Biology for MedicineSchool of Basic Medical SciencesShanghai Medical College of Fudan UniversityShanghai 200032China Human Phenome Institute Collaborative Innovation Center of Genetics and DevelopmentSchool of Life SciencesFudan UniversityShanghai 200433China State Key Laboratory of Reproductive Regulation and Breeding of Grassland Livestock School of Life SciencesInner Mongolia UniversityHohhotInner Mongolia 010070China

RNA polymerase Ⅲ (Pol Ⅲ) transcribes essential structured small RNAs,such as tRNAs,5S rRNA and U6 *** transcriptional activity of Pol Ⅲ is tightly controlled and its dysregulation is associated with human diseases,such as *** Pol Ⅲ has two isoforms with difference only in one of its subunits RPC7 (α and β).Despite structural studies of yeast Pol Ⅲ,structure of human PolⅢ remains ***,we determined the structures of 17-subunit human Pol Ⅲα complex in the backtracked and post-translocation states,*** Pol Ⅲ contains a generally conserved catalytic core,similar to that of yeast counterpart,and structurally unique RPC3-RPC6-RPC7 heterotrimer and *** N-ribbon of TFIIS-like RPC10 docks on the RPC4-RPC5 heterodimer and the C-ribbon inserts into the funnel of Pol Ⅲ in the backtracked state but is more flexible in the post-translocation ***7 threads through the heterotrimer and bridges the stalk and Pol Ⅲ core *** winged helix 1 domain of RPC6 and the N-terminal region of RPC7cα stabilize each other and may prevent Maf1-mediated repression of Pol Ⅲ *** C-terminal FeS cluster of RPC6 coordinates a network of interactions that mediate core-heterotrimer contacts and stabilize Pol Ⅲ.Our structural analysis sheds new light on the molecular mechanism of human Pol Ⅲα-specific transcriptional regulation and provides explanations for upregulated Pol Ⅲ activity in RPC7α-dominant cancer cells.

关键词： Cryoelectron microscopy Transcriptional regulatory elements

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