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High active amorphous Co(OH)_(2) nanocages as peroxymonosulfate activator for boosting acetaminophen degradation and DFT calculation

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Chinese Chemical Letters 2021年第5期32卷 1814-1818页

作者： Juanjuan Qi Juzhe Liu Fengbin Sun Taobo Huang Jun Duan Wen Liu The Key Laboratory of Resources and Environmental Systems Optimization Ministry of EducationCollege of Environmental Science and EngineeringNorth China Electric Power UniversityBeijing 102206China The Key Laboratory of Water and Sediment Sciences Ministry of EducationCollege of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China School of Chemistry and Beijing Advanced Innovation Center for Biomedical Engineering Beihang UniversityBeijing 100191China State Environmental Protection Key Laboratory of All Material Fluxes in River Ecosystems Peking UniversityBeijing 100871China

Acetaminophen(ACE)is commonly used in analgesic and antipyretic drug,which is hardly removed by traditional wastewater treatment ***,amorphous Co(OH)_(2)nanocages were explored as peroxymonosulfate(PMS)activator for efficient degradation of *** the presence of amorphous Co(OH)_(2)nanocages,100%of ACE removal was reached within 2 min with a reaction rate constant k_(1)=3.68 min 1 at optimum pH 5,which was much better than that of crystallineβ-Co(OH)_(2)and Co_(3)O_(4).Amorphous materials(disorder atom arrangement)with hollow structures possess large specific surface area,more reactive sites,and abundant vacancies structures,which could efficiently facilitate the catalytic redox *** radicals quenching experiment demonstrated that SO_(4)^(·-)radicals dominated the ACE degradation rather than^(·)OH *** mechanism of ACE degradation was elucidated by the an alysis of degradation in termediates and theoretical calculation,indicating that the electrophilic SO_(4)^(·-)and^(·)OH tend to attack the atoms of ACE with high Fukui index(f).Our finding highlights the remarkable advantages of amorphous materials as heterogeneous catalysts in sulfate radicals-based AOPs and sheds new lights on water treatment for the degradation of emerging organic contaminants.

关键词： Amorphous Co(OH)_(2) Peroxymonosulfate(PMS) Acetaminophen(ACE) Intermediates DFT calculation

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ICMO-AFS: Robotic Comprehensive Motion Optimization Based on Incremental Accelerated Gradient Descent and Adaptive Fine-Tuning Strategy

SSRN

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SSRN 2023年

作者： Li, Shengjie Wang, Jin Zhang, Haiyun Feng, Yichang Lu, Guodong Zhai, Anbang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China The Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering Zhejiang University Hangzhou310027 China School of Robotics Ningbo University of Technology Ningbo315211 China

In the robot intelligent manufacturing scenario, working efficiency, energy consumption and motion stability are the important factors to evaluate the robotic working performance. In this study, the problem of collision-free comprehensive motion optimization for serial robots is discussed. Aiming at the Time, Energy consumption, and Impact (T-E-I) of the manipulator during movement, an incremental comprehensive motion optimization algorithm with adaptive fine-tuning strategy (iCMO-AFS) is proposed. Firstly, the objective function is constructed for the comprehensive performance optimization problem, and the constraints are converted into penalty functions to facilitate the solution. In particular, for the modeling problem of robot energy consumption, the static power regression model is constructed to improve the evaluation accuracy. Secondly, based on the optimization framework of adaptive sampling and accelerated gradient descent, the incremental trajectory optimization of the T-E-I performance is carried out. In addition, the above method is extended to the velocity optimization problem, which further improves the comprehensive motion performance of the robot. Thirdly, an adaptive fine-tuning strategy is proposed to modify the sampling method and collision model, which improves the solution performance. Simulation and experimental tests in several scenarios show that the proposed method can achieve satisfactory results in both planning efficiency and working performance. © 2023, The Authors. All rights reserved.

关键词： Energy utilization

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Ultrafast ultrasound coded vector Doppler imaging of blood flow velocity and resistivity

arXiv

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arXiv 2025年

作者： Yan, Shaoyuan Ding, Yiming Ma, Guoao Fu, Yapeng Xu, Kailiang Ta, Dean Department of Biomedical Engineering School of Information Science and Technology Fudan University Shanghai200438 China State Key Laboratory of Integrated Chips and Systems Fudan University Shanghai201203 China Poda Medical Technology Co. Ltd. Shanghai200438 China

Dynamic and precise measurement of cerebral blood flow velocity is crucial in neuroscience and the diagnosis of cerebrovascular diseases. Traditional color Doppler ultrasound can only measure the velocity component along the ultrasound beam, which restricts its ability to accurately capture the complete blood flow vector in complex environments. To overcome these limitations, we propose an ultrafast pulse-coded vector Doppler (PC-UVD) imaging method, utilizing Hadamard matrix-based pulse encoding to improve velocity estimation accuracy under low signal-to-noise ratio (SNR) conditions. Our study encompasses spiral flow simulations and in vivo rat brain experiments, showing significantly enhanced measurement precision compared to conventional ultrafast vector Doppler (UVD). This innovative approach enables the measurement of dynamic cerebral blood flow velocity within a single cardiac cycle, offering insights into the characteristics of cerebrovascular resistivity. The proposed PC-UVD method employs Hadamard matrix encoding of plane waves, boosting SNR without compromising temporal or spatial resolution. Velocity vectors are subsequently estimated using a weighted least squares (WLS) approach, with iterative residual-based weight optimization improving robustness to noise and minimizing the impact of outliers. The effectiveness of this technique is confirmed through simulations with a spiral blood flow phantom, demonstrating a marked improvement in velocity estimation accuracy, particularly in deep imaging regions with significant signal attenuation. In vivo experiments on rat brains further confirm that the proposed method offers greater accuracy than existing UVD approaches, particularly for small vessels. Notably, our method can precisely differentiate arterial from venous flow by analyzing pulsatility and resistivity within the cerebral vascular network. This work highlights the potential of PC-UVD for complex vascular imaging, delivering high SNR, high temporal a

关键词： Pulse modulation

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The Stiffness of 3-PRS PM Across Parasitic and Orientational Workspace

The Stiffness of 3-PRS PM Across Parasitic and Orientational...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Hassen Nigatu Li Jihao Keqi Zhu Junhan Zhang Haotian Guo Guodong Lu Doik Kim Robot Perception and Grasp Lab School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Research Center of Yuyao Yuyao Technology Innovation Center Robotics Institute of Zhejiang University Ningbo Shi Zhejiang Province China The State Key Laboratory of Fluid Power and Mechatronic Systems and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering School of Mechanical Engineering Zhejiang University Hangzhou China xR Lab Center for Intelligent and Interactive Robotics Artificial Intelligence and Robot Institute Korea Institute of Science and Technology (KIST) South Korea

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3- PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining applications. Despite the wealth of research on these robotic manipulators, no previous work has demonstrated their stiffness performance within the parasitic motion space. Such an undesired motion influences their stiffness properties, as stiffness is configuration-dependent. Addressing this gap, this paper develops a stiffness model that accounts for both the velocity-level parasitic motion space and the regular workspace. Numerical simulations are provided to illustrate the stiffness characteristics of the manipulator across all considered spaces. The results indicate that the stiffness profile within the parasitic motion space is both shallower and the values are smaller when compared to the stiffness distribution across the orientation workspace. This implies that evaluating a manipulator's performance adequately requires assessing its ability to resist external loads during parasitic motion. Therefore, comprehending this aspect is crucial for redesigning components to enhance overall stiffness.

关键词： Simulation Resists Machining Kinematics Manipulators Numerical simulation Magnetic heads

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Trajectory Planning Towards Water-Air Trans-Media Motion for Robotic Dolphin

Trajectory Planning Towards Water-Air Trans-Media Motion for...

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Chinese Automation Congress (CAC)

作者： Yan Xiong Pengfei Zhang Di Chen Junzhi Yu Department of Advanced Manufacturing and Robotics State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China Shandong Nuclear Power Company LTD. Yantai China School of Intelligence Science and Technology University of Science and Technology Beijing Beijing China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Water-air trans-media navigators have multi-media motion modes, breaking through the limitation that traditional robots can only operate in a single medium. Autonomous navigation is an indispensable component of the process of transmedia motion. Most of the current work has only completed the development and testing of prototypes, and the problem of task-oriented motion planning and control needs to be solved. In this paper, a safe and efficient hierarchical approach is proposed. First, a novel rapidly exploring random tree-based algorithm is proposed to search for a suitable path. Then, by fixing bound waypoints, the time-optimization trajectory is planned. Finally, the trajectory tracker is designed based on nonlinear model predictive control (NMPC). Simulation experiments numerically validate the proposed method, offering some new insights for further trans-media motions.

关键词： Tracking Trajectory planning Navigation Prototypes Prediction algorithms Trajectory Planning Testing Predictive control Dolphins

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An Acoustic Activated Nozzle for Microdroplet Generation and Dispensing

SSRN

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SSRN 2023年

作者： Yin, Qiu Li, Xiuyuan Ma, Zhichao Zhang, Wenming State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University No.800 Dongchuan Road Shanghai200240 China

Droplet-based microfluidic has emerged as a versatile tool for widespread applications such as biochemical analysis and synthesis, for which the generation and manipulation of the microdroplets are the fundamental. Acoustic based droplet control has shown its advantages of good biocompatibility and widescale tunability. Here, we demonstrate an acoustic controlled nozzle that is integrated with both generation and directed dispensing of microdroplets. The system can generate monodisperse microdroplets with tunable sizes (50 μm – 641 μm) at a highest throughput of 2000 droplets per second. Besides, by tuning the acoustic frequency, the droplets can be steered to different directions after their formation, realizing on-demand dispensing of the microdroplets. The controlled microdroplet generation and dispensing are both attributed to the acoustic streaming effect induced by the nozzle vibration. Two basic mechanisms for the droplet control were studied: (1) the correlation between the droplet size and the acoustic actuation time, (2) the dependence of the droplet dispensing direction on the acoustic frequency. This work paves the way towards programmable control over acoustic generation and dispensing of microdroplets, which has great potential in the applications of bio-chemical analysis and synthesis. © 2023, The Authors. All rights reserved.

关键词： Biocompatibility

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MTPA-based Haptic Feedback Controller for Master Manipulator in Minimally Invasive Surgery

MTPA-based Haptic Feedback Controller for Master Manipulator...

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IEEE International Conference on robotics and Biomimetics

作者： Wenda Zhao Jian Chen Yilun Hong Hongbin Liu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Hong Kong China School of Biomedical Engineering and Imaging Sciences King's College London London UK

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation efficiency and resolution, surpassing traditional motor control frameworks. We propose a Maximum Torque Per Ampere (MTPA)-based Field-Oriented Control (FoC) strategy for haptic kinesthetic feedback controller, optimizing the performance of a master manipulator's joint with a brushless DC (BLDC) motor under stalled and ultra-slow conditions. This approach enables a master manipulator with three degrees of freedom (DoF) for force feedback. Its effectiveness is validated through simulator and surgical trials, demonstrating improved haptic feedback in surgical applications.

关键词： Motor drives Torque Minimally invasive surgery Medical robotics Force feedback Orifices Manipulators Motors Haptic interfaces Adaptive control

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CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face Anti-Spoofing

CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face A...

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IEEE International Joint Conference on Biometrics (IJCB)

作者： Ying Zhang Xiangyu Zhu Ajian Liu Xun Lin Jun Wan Jing Zhang Zhen Lei State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences School of Computer Science and Engineering Beihang University School of Computer Science and Engineering Macau University of Science and Technology Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences

ISBN: (数字)9798350364132

ISBN: (纸本)9798350364149

Face anti-spoofing (FAS) is pivotal in safeguarding the integrity of face recognition systems. Flexible-modal FAS utilizes multi-modal data and trains a unified model adaptable to any single-modal testing scenario. This innovation addresses the shortcomings of conventional multi-modal FAS approaches, which typically demand separate model training and deployment for each modality. However, existing flexible-modal FAS approaches activate specific network branches based on the modality of the tested sample. This not only increases the model’s parameters but also necessitates the provision of the image’s modality for testing, thereby constraining deployment flexibility. To address the issue, we present Compound Prompt Learning CLIP (CPL-CLIP), a novel method for flexible-modal FAS. This approach capitalizes on a learned textual prompt that is nearly independent of modality, thus bolstering class-based classification across arbitrary modalities. Specifically, our CPL-CLIP introduces a Dual-Branch Prompt (DBP), consisting of class and modal prompts that describe and guide classification, where each prompt is composed of learnable vectors and fixed templates. To further render the class prompt as modality-agnostic as possible, a Cosine Similarity Loss (CSL) is proposed to facilitate the maximal separation of the class prompt from the modality prompt. With only the class prompt utilized during testing, CPL-CLIP enables deployment in diverse modal testing scenarios without the necessity of the test image’s modality to be known. Extensive experiments demonstrate CPL-CLIP’s superiority over existing methods on several flexible-modal FAS benchmarks.

关键词： Training Adaptation models Technological innovation Accuracy Face recognition Benchmark testing Vectors Robustness Data models Compounds

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Next-Generation Prosthetic Hand:from Biomimetic to Biorealistic

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Research 2021年第1期2021卷 222-225页

作者： Ning Lan Manzhao Hao Chuanxin MNiu He Cui Yu Wang Ting Zhang Peng Fang Chih-hong Chou Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghaiChina Laboratory of Neurorehabilitation Engineering School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiChina Department of Rehabilitation Medicine Ruijin HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghaiChina Center for Excellence in Brain Science and Intelligent Technology Chinese Academy of SciencesShanghaiChina School of Biological Science and Medical Engineering Beihang UniversityBeijingChina Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science and Medical EngineeringBeihang UniversityBeijingChina i-lab Key Laboratory of Multifunctional Nanomaterials and Smart SystemsSuzhou Institute of Nano-Tech and Nano-BionicsChinese Academy of SciencesSuzhouChina Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhenChina

Integrating a prosthetic hand to amputees with seamless neural compatibility presents a grand challenge to neuroscientists and neural engineers for more than half *** anatomical structure or appearance of human hand does not lead to improved neural connectivity to the sensorimotor system of *** functions of modern prosthetic hands do not match the dexterity of human hand due primarily to lack of sensory awareness and compliant ***,progress in restoring sensory feedback has marked a significant step forward in improving neural continuity of sensory information from prosthetic hands to ***,little effort has been made to replicate the compliant property of biological muscle when actuating prosthetic ***,a full-fledged biorealistic approach to designing prosthetic hands has not been contemplated in neuroprosthetic *** this perspective article,we advance a novel view that a prosthetic hand can be integrated harmoniously with amputees only if neural compatibility to the sensorimotor system is *** ongoing research supports that the next-generation prosthetic hand must incorporate biologically realistic actuation,sensing,and reflex functions in order to fully attain neural compatibility.

关键词： neural compatibility primarily

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Collision-Aware MPCC Integrated with Neural Augmentation for Quadrotor Trajectory Tracking

Collision-Aware MPCC Integrated with Neural Augmentation for...

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International Conference on Mechatronics (ICM)

作者： Chuanqi Hu Jin Wang Yikai Chen Yonghang Chen Zhi Zheng Jun Meng Guodong Lu Polytechnic Institute 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 School of Mechanical Engineering Zhejiang University Hangzhou China National Elite Institute of Engineering Chongqing University Chongqing 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 paper presents a trajectory tracking algorithm designed for autonomous quadrotors to navigate complex dy-namic environments that is resilient to collision disturbances. Since it combines Model Predictive Contouring Control (MPCC) with the capabilities of neural networks, our method is named MPCC Integrated with Neural Augmentation (MINA). By equip-ping the quadrotor with PVDF piezoelectric sensors, we achieve real-time perception of collision forces and utilize S4D-Conv Adaptive Net Architecture (SANA) for state computation, a network that integrates the advantages of S4D and convolutional kernels to enhance the accuracy of state predictions. We incorporate the predicted results into the MPCC framework to optimize the thrust output of the quadrotor for the next time step, ensuring precise trajectory tracking. Experimental validation demonstrates the reliability and effectiveness of our algorithm, providing an innovative solution for autonomous flight and trajectory tracking of quadrotors in complex dynamic environments.

关键词： Trajectory tracking Navigation Heuristic algorithms Neural networks Reliability theory Predictive models Prediction algorithms Real-time systems Sensors Quadrotors

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