A 1-bit electronically controlled metasurface reflectarray is presented to achieve beam steering with multiple polarization manipulations. A metsurface unit cell loaded by two PIN diodes is designed. By switching the ...A 1-bit electronically controlled metasurface reflectarray is presented to achieve beam steering with multiple polarization manipulations. A metsurface unit cell loaded by two PIN diodes is designed. By switching the two PIN diodes between ON and OFF states, the isotropic and anisotropic reflections can be flexibly achieved. For either the isotropic reflection or the anisotropic reflection, the two operation states achieve the reflection coefficients with approximately equal magnitude and 180°out of phase, thus giving rise to the isotropic/anisotropic 1-bit metasurface unit cells. With the 1-bit unit cells, a 12-by-12 metasurface reflectarray is optimally designed and fabricated. Under either y-or x-polarized incident wave illumination, the reflectarray can achieve the co-polarized and cross-polarized beam scanning, respectively, with the peak gains of 20.08 d Bi and 17.26 d Bi within the scan range of about ±50°. With the right-handed circular polarization(RHCP) excitation, the left-handed circular polarization(LHCP) radiation with the peak gain of 16.98 d Bic can be achieved within the scan range of ±50°. Good agreement between the experimental results and the simulation results are observed for 2D beam steering and polarization manipulation capabilities.展开更多
This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with th...This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.展开更多
The perfect hybrid vector vortex beam(PHVVB)with helical phase wavefront structure has aroused significant concern in recent years,as its beam waist does not expand with the topological charge(TC).In this work,we inve...The perfect hybrid vector vortex beam(PHVVB)with helical phase wavefront structure has aroused significant concern in recent years,as its beam waist does not expand with the topological charge(TC).In this work,we investigate the spatial quantum coherent modulation effect with PHVVB based on the atomic medium,and we observe the absorption characteristic of the PHVVB with different TCs under variant magnetic fields.We find that the transmission spectrum linewidth of PHVVB can be effectively maintained regardless of the TC.Still,the width of transmission peaks increases slightly as the beam size expands in hot atomic vapor.This distinctive quantum coherence phenomenon,demonstrated by the interaction of an atomic medium with a hybrid vector-structured beam,might be anticipated to open up new opportunities for quantum coherence modulation and accurate magnetic field measurement.展开更多
Acoustic radiation force(ARF), as an important particle manipulation method, has been extensively studied in recent years. With the introduction of the concept of “acoustic tweezers”, negative acoustic radiation has...Acoustic radiation force(ARF), as an important particle manipulation method, has been extensively studied in recent years. With the introduction of the concept of “acoustic tweezers”, negative acoustic radiation has become a research hotspot. In this paper, a scheme of realizing negative ARF based on the multiple-layered spherical structure design is proposed. The specific structure and design idea are presented. Detailed theoretical calculation analysis is carried out.Numerical simulations have been performed to verify the correctness of this prediction. The conjecture that the suppression of backscattering can achieve negative ARF is verified concretely, which greatly expands the application prospect and design ideas of the ARF. This work has laid a theoretical foundation for realizing precise control of the structure.展开更多
Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator ...Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator control are studied,and a complete manipulator vision tracking system is designed.Firstly,Denavit-Hartenberg(D-H)parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the manipulator.At the same time,a binocular camera is used to obtain the threedimensional position of the target.Secondly,in order to make the manipulator track the target more accurately,the fuzzy adaptive square root unscented Kalman filter(FSRUKF)is proposed to estimate the target state.Finally,the manipulator tracking system is built by using the position-based visual servo.The simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter(SRUKF),which meets the application requirements of the manipulator tracking system,and basically meets the application requirements of the manipulator tracking system in the practical experiments.展开更多
Transition metal dichalcogenides(TMDs)show great advantages in electromagnetic wave(EMW)absorption due to their unique structure and electrical properties.Tremendous research works on TMD-based EMW absorbers have been...Transition metal dichalcogenides(TMDs)show great advantages in electromagnetic wave(EMW)absorption due to their unique structure and electrical properties.Tremendous research works on TMD-based EMW absorbers have been conducted in the last three years,and the comprehensive and systematical summary is still a rarity.Therefore,it is of great significance to elaborate on the interaction among the morphologies,structures,phases,components,and EMW absorption performances of TMD-based absorbers.This review is devoted to analyzing TMD-based absorbers from the following perspectives:the EMW absorption regulation strategies of TMDs and the latest progress of TMD-based hybrids as EMW absorbers.The absorption mechanisms and component-performance dependency of these achievements are also summarized.Finally,a straightforward insight into industrial revolution upgrading in this promising field is proposed.展开更多
BACKGROUND Breast abscess during lactation is a severe complication of acute mastitis,which can lead to discomfort,high fever,breast fistula,sepsis,septic shock,breast damage,disease persistence and frequent hospitali...BACKGROUND Breast abscess during lactation is a severe complication of acute mastitis,which can lead to discomfort,high fever,breast fistula,sepsis,septic shock,breast damage,disease persistence and frequent hospitalization.Breast abscesses may also lead the mother to discontinue breastfeeding,thereby harming the infant’s health.The predominant pathogenic bacteria are Staphylococcus aureus,Staphylococcus epidermidis and Streptococcus.The incidence of breastfeeding abscesses in breastfeeding women ranges between 4.0%and 11.0%.In cases of breast abscess,the rate of cessation of lactation is 41.0%.In instances of breast fistula,the rate of cessation of lactation is very high(66.7%).Furthermore,50.0%of women with breast abscesses must be hospitalized and treated with intravenous antibiotics.Treatment includes antibiotics,abscess puncture and surgical incision and drainage.The patients suffer from stress,pain and easily induced breast scarring;the disease’s progression is prolonged and recurrent,interfering with infant feeding.Consequently,it is crucial to discover an adequate cure.CASE SUMMARY A 28-year-old woman with a breast abscess was treated with Gualou Xiaoyong decoction and painless breast opening manipulation 24 d after cesarean delivery.On the 2nd d of treatment,the patient’s breast mass was significantly reduced,the pain was significantly reduced,and the general asthenia was improved.All conscious symptoms disappeared after 3 d,breast abscesses faded after 12 d of treatment,inflammation images disappeared after 27 d,and normal lactation images were restored.CONCLUSION In treating breast abscesses during breastfeeding,the combination of Gualou Xiaoyong decoction and painless lactation provides a positive therapeutic impact.This disease’s treatment offers the advantages of a short course of treatment,no need to discontinue breastfeeding and the ability to rapidly mitigate symptoms,which can be used as a reference in clinical practice.展开更多
Tea(Camellia sinensis)is a well-known beverage crop rich in polyphenols with health benefits for humans.Understanding how tea polyphenols participate in plant resistance is beneficial to breeding resistant varieties a...Tea(Camellia sinensis)is a well-known beverage crop rich in polyphenols with health benefits for humans.Understanding how tea polyphenols participate in plant resistance is beneficial to breeding resistant varieties and uncovering the resistance mechanisms.Here,we report that a Colletotrichum infection-induced‘pink ring’symptom appeared outside the lesion,which is highly likely to occur in resistant cultivars.By identifying morphological feature-specific metabolites in the pink ring and their association with disease resistance,and analysis of the association between metabolite and gene expression,the study revealed that the accumulation of anthocyanin-3-O-galactosides,red phytotoxin compounds resistant to anthracnose,plays a pivotal role in the hypersensitive response surrounding infection sites in tea plants.The results of genetic manipulation showed that the expression of CsF3Ha,CsANSa,CsUGT78A15,CsUGT75L43,and CsMYB113,which are involved in anthocyanin biosynthesis,is positively correlated with anthracnose-resistance and the formation of the pink ring.Further phosphorus quantification and fertilization experiments confirmed that phosphate deficiency caused by anthracnose is involved in the occurrence of the pink ring.Genetic manipulation studies indicated that altering the expression levels of Pi transporter proteins(CsPHT2-1,CsPHT4;4)and phosphate deprivation response transcription factors(CsWRKY75-1,CsWRKY75-2,CsMYB62-1)enhances resistance to anthracnose and the formation of the pink ring symptom in tea plants.This article provides the first evidence that anthocyanin-3-O-galactosides are the anthracnose-resistant phytoalexins among various polyphenols in tea plants,and this presents an approach for identifying resistance genes in tea plants,where genetic transformation is challenging.展开更多
Rice is an important dietary source of the toxic mineral cadmium(Cd) for populations in which rice is the main staple food.When grown in agricultural soils that are contaminated with Cd,rice often accumulates excessiv...Rice is an important dietary source of the toxic mineral cadmium(Cd) for populations in which rice is the main staple food.When grown in agricultural soils that are contaminated with Cd,rice often accumulates excessive Cd into the grains,which is a serious threat to agricultural sustainability and human health.To limit Cd accumulation in rice grains,studies on the genetic basis of Cd accumulation in rice have been carried out extensively,and some low-Cd rice varieties have also been developed in recent years.However,the challenges in low-Cd rice breeding still exist because the outcomes of the current genetic improvements for low-Cd rice cannot fully meet the requirements for the development of Cd-safe rice at present.In this review,we outline the progress in understanding the physiological mechanisms and the genetic nature of Cd accumulation in rice and summarize the strategies and outcomes of low-Cd rice breeding over the past decade.By graphing the physiological mechanism of Cd transport in the rice plant,three key steps and some underlying genes are summarized and discussed.Also,two genetic features of the natural variation in rice grain-Cd accumulation,the phenotypic plasticity and subspecies divergence,and the potential genetic explanations for these features are also discussed.Finally,we summarize and discuss current progress and the potential issues in low-Cd rice breeding using different breeding strategies.We hope to propose strategies for future success in the breeding of low-Cd rice varieties over the next decade.展开更多
The pose accuracy of parallel manipulators(PMs)is a key index to measure their performance.Establishing the grav-ity-based kinetostatic model of a parallel robot provides an important basis for its error composition a...The pose accuracy of parallel manipulators(PMs)is a key index to measure their performance.Establishing the grav-ity-based kinetostatic model of a parallel robot provides an important basis for its error composition and accuracy improvement.In this paper,a kinetostatic modeling approach that takes real gravity distribution into consideration is proposed to analyze the influence of gravity on the infinitesimal twist and actuator forces of PMs.First,the duality of the twist screw and constraint wrenches are used to derive the gravity-attached constraint wrenches independent of the external load and the limb stiffness matrix corresponding to the kinematics-based constraint wrenches.Sec-ond,the gravity model of the mechanism is established based on the screw theory and the principle of virtual work.Finally,the analytical formulas of the infinitesimal twist and the actuator force of PMs are obtained,and the influences of the external load,platform gravity,and rod gravity on the stiffness of the mechanism are decoupled.The non-overconstrained 3RPS and overconstrained 2PRU-UPR PMs are taken as examples to verify the proposed method.This research proposes a methodology to analyze the infinitesimal deformation of the mechanism under the influence of gravity.展开更多
The traditionally articulated manipulator had a single control method,and the limited motion trajectory space was unsuitable for working in an unstructured environment.This paper introduces a control method and optimi...The traditionally articulated manipulator had a single control method,and the limited motion trajectory space was unsuitable for working in an unstructured environment.This paper introduces a control method and optimization for a multijoint manipulator Inspired by snakes'curling and stretching motions.First,we analyze the manipulator’s connection mode and motion planning and propose a new motion method.In addition,we calculated the relevant positions and angles and subdivided the motion of some joints based on the principle of the meta-heuristic algorithm.Ultimately,the manipulator in this mode has a larger workspace and more flexible motion trajectories.The experimental results are consistent with the theoretical analysis,which further proves the feasibility and scalability of the scheme.展开更多
The characteristics of traditional acoustic vortices(AVs) were verified by the cross-sectional axisymmetric pressure distributions with perfect phase spirals around the center pressure null. In order to generate a non...The characteristics of traditional acoustic vortices(AVs) were verified by the cross-sectional axisymmetric pressure distributions with perfect phase spirals around the center pressure null. In order to generate a non-axisymmetric pressure distribution, the concept of power-exponent-phase was first introduced into the formation of AV beams, named “powerexponent-phase acoustic vortices(PAVs)” in this paper. Based on a ring-array of sector transducers, the helical distribution of the low-pressure valley in cross-sections of PAVs, which enables particles to move from a distant position to the center low-potential well along a certain spiral passageway, was proved theoretically. The particle manipulation behavior for PAVs with a power order of 2 is numerically modeled and experimentally confirmed. The results show that PAVs with a nonaxisymmetric spiral pressure distribution can be used to realize the directional transport of particles in an enlarged scope,suggesting prospective application potential in biomedical engineering.展开更多
The discovery and manipulation of topological Hall effect(THE),an abnormal magnetoelectric response mostly related to the Dzyaloshinskii–Moriya interaction(DMI),are promising for next-generation spintronic devices ba...The discovery and manipulation of topological Hall effect(THE),an abnormal magnetoelectric response mostly related to the Dzyaloshinskii–Moriya interaction(DMI),are promising for next-generation spintronic devices based on topological spin textures such as magnetic skyrmions.However,most skyrmions and THE are stabilized in a narrow temperature window either below or over room temperature with high critical current manipulation.It is still elusive and challenging to achieve large THE with both wide temperature window till room temperature and low critical current manipulation.Here,using controllable,naturally oxidized sub-20 and sub-10 nm 2D van der Waals room-temperature ferromagnetic Fe_(3)GaTe_(2-x)crystals,we report robust 2D skyrmion THE with ultrawide temperature window ranging in three orders of magnitude from 2 to 300 K,in combination with giant THE of~5.4μΩ·cm at 10 K and~0.15μΩ·cm at 300 K,which is 1–3 orders of magnitude larger than that of all known room-temperature 2D skyrmion systems.Moreover,room-temperature current-controlled THE is also realized with a low critical current density of~6.2×10^(5)A·cm^(-2).First-principles calculations unveil natural oxidation-induced highly enhanced 2D interfacial DMI reasonable for robust giant THE.This work paves the way to room-temperature electrically controlled 2D THE-based practical spintronic devices.展开更多
In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is addressed.The purpose of...In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is addressed.The purpose of this study is to develop distributed controllers utilizing local interactive protocols that not only suppress the vibration of each flexible manipulator but also achieve consensus on joint angle position between actual followers and the virtual leader.Following the accomplishment of the reconstruction of the fault terms and parameter uncertainties,the adaptive neural network method and parameter estimation technique are employed to compensate for unknown items and bounded disturbances.Furthermore,the Lyapunov stability theory is used to demonstrate that followers’angle consensus errors and vibration deflections in closed-loop systems are uniformly ultimately bounded.Finally,the numerical simulation results confirm the efficacy of the proposed controllers.展开更多
Nonlinear phononic crystals have attracted great interest because of their unique properties absent in linear phononic crystals.However,few researches have considered the bilinear nonlinearity as well as its consequen...Nonlinear phononic crystals have attracted great interest because of their unique properties absent in linear phononic crystals.However,few researches have considered the bilinear nonlinearity as well as its consequences in acoustic metamaterials.Hence,we introduce bilinear nonlinearity into acoustic metamaterials,and investigate the propagation behaviors of the fundamental and the second harmonic waves in the nonlinear acoustic metamaterials by discretization method,revealing the influence of the system parameters.Furthermore,we investigate the influence of partially periodic nonlinear acoustic metamaterials on the second harmonic wave propagation,and the results suggest that pass-band and band-gap can be transformed into each other under certain conditions.Our findings could be beneficial to the band gap control in nonlinear acoustic metamaterials.展开更多
Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a c...Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.展开更多
The ability to manipulate microlaser is highly desirable towards high-performance optoelectronic devices.Here we demonstrate feasible mode manipulation of Fabry-Perot type microlasers of a perovskite nanowire via inco...The ability to manipulate microlaser is highly desirable towards high-performance optoelectronic devices.Here we demonstrate feasible mode manipulation of Fabry-Perot type microlasers of a perovskite nanowire via incorporation of single gold nanoparticles.The influences of resonant wavelength,quality factor and emission directions are successively investigated using a two-dimensional finite-difference time-domain method.It is found that blueshift of resonant wavelength could be achieved together with either promoted or degraded quality factor of the microlaser via single Au NPs with varied sizes.Unidirectional emission could also be realized which is favorable for on-chip integration.Our results provide useful reference for feasible manipulation of light-matter interactions and mode selection.展开更多
With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits ...With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.展开更多
Multifunctional photodetectors boost the development of traditional optical communication technology and emerging artificial intelligence fields, such as robotics and autonomous driving. However, the current implement...Multifunctional photodetectors boost the development of traditional optical communication technology and emerging artificial intelligence fields, such as robotics and autonomous driving. However, the current implementation of multifunctional detectors is based on the physical combination of optical lenses, gratings, and multiple photodetectors, the large size and its complex structure hinder the miniaturization, lightweight, and integration of devices. In contrast, perovskite materials have achieved remarkable progress in the field of multifunctional photodetectors due to their diverse crystal structures, simple morphology manipulation, and excellent optoelectronic properties. In this review, we first overview the crystal structures and morphology manipulation techniques of perovskite materials and then summarize the working mechanism and performance parameters of multifunctional photodetectors. Furthermore, the fabrication strategies of multifunctional perovskite photodetectors and their advancements are highlighted, including polarized light detection, spectral detection, angle-sensing detection, and selfpowered detection. Finally, the existing problems of multifunctional detectors and the perspectives of their future development are presented.展开更多
基金Project supported by the National Key Research and Development Program of China (Grant No.2021YFA1401001)the National Natural Science Foundation of China (Grant No.62371355)。
文摘A 1-bit electronically controlled metasurface reflectarray is presented to achieve beam steering with multiple polarization manipulations. A metsurface unit cell loaded by two PIN diodes is designed. By switching the two PIN diodes between ON and OFF states, the isotropic and anisotropic reflections can be flexibly achieved. For either the isotropic reflection or the anisotropic reflection, the two operation states achieve the reflection coefficients with approximately equal magnitude and 180°out of phase, thus giving rise to the isotropic/anisotropic 1-bit metasurface unit cells. With the 1-bit unit cells, a 12-by-12 metasurface reflectarray is optimally designed and fabricated. Under either y-or x-polarized incident wave illumination, the reflectarray can achieve the co-polarized and cross-polarized beam scanning, respectively, with the peak gains of 20.08 d Bi and 17.26 d Bi within the scan range of about ±50°. With the right-handed circular polarization(RHCP) excitation, the left-handed circular polarization(LHCP) radiation with the peak gain of 16.98 d Bic can be achieved within the scan range of ±50°. Good agreement between the experimental results and the simulation results are observed for 2D beam steering and polarization manipulation capabilities.
基金partially supported by the National Natural Science Foundation of China (62322315,61873237)Zhejiang Provincial Natural Science Foundation of China for Distinguished Young Scholars(LR22F030003)+2 种基金the National Key Rearch and Development Funding(2018YFB1403702)the Key Rearch and Development Programs of Zhejiang Province (2023C01224)Major Project of Science and Technology Innovation in Ningbo City (2019B1003)。
文摘This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.
基金Project supported by the Youth Innovation Promotion Association CASState Key Laboratory of Transient Optics and Photonics Open Topics (Grant No. SKLST202222)
文摘The perfect hybrid vector vortex beam(PHVVB)with helical phase wavefront structure has aroused significant concern in recent years,as its beam waist does not expand with the topological charge(TC).In this work,we investigate the spatial quantum coherent modulation effect with PHVVB based on the atomic medium,and we observe the absorption characteristic of the PHVVB with different TCs under variant magnetic fields.We find that the transmission spectrum linewidth of PHVVB can be effectively maintained regardless of the TC.Still,the width of transmission peaks increases slightly as the beam size expands in hot atomic vapor.This distinctive quantum coherence phenomenon,demonstrated by the interaction of an atomic medium with a hybrid vector-structured beam,might be anticipated to open up new opportunities for quantum coherence modulation and accurate magnetic field measurement.
基金Project supported by the National Key Research and Development Program of China (Grant No.2020YFA0211400)the State Key Program of the National Natural Science Foundation of China (Grant No.11834008)+3 种基金the National Natural Science Foundation of China (Grant Nos.12174192 and 12204119)the Fund from the State Key Laboratory of Acoustics,Chinese Academy of Sciences (Grant No.SKLA202210)the Fund from the Key Laboratory of Underwater Acoustic Environment,Chinese Academy of Sciences (Grant No.SSHJ-KFKT-1701)the Science and Technology Foundation of Guizhou Province,China (Grant No.ZK[2023]249)。
文摘Acoustic radiation force(ARF), as an important particle manipulation method, has been extensively studied in recent years. With the introduction of the concept of “acoustic tweezers”, negative acoustic radiation has become a research hotspot. In this paper, a scheme of realizing negative ARF based on the multiple-layered spherical structure design is proposed. The specific structure and design idea are presented. Detailed theoretical calculation analysis is carried out.Numerical simulations have been performed to verify the correctness of this prediction. The conjecture that the suppression of backscattering can achieve negative ARF is verified concretely, which greatly expands the application prospect and design ideas of the ARF. This work has laid a theoretical foundation for realizing precise control of the structure.
基金supported by Natural Science Basic Research Program of Shaanxi(2022JQ-593)Key Research and Development Program of Shaanxi(2022GY-089)。
文摘Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator control are studied,and a complete manipulator vision tracking system is designed.Firstly,Denavit-Hartenberg(D-H)parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the manipulator.At the same time,a binocular camera is used to obtain the threedimensional position of the target.Secondly,in order to make the manipulator track the target more accurately,the fuzzy adaptive square root unscented Kalman filter(FSRUKF)is proposed to estimate the target state.Finally,the manipulator tracking system is built by using the position-based visual servo.The simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter(SRUKF),which meets the application requirements of the manipulator tracking system,and basically meets the application requirements of the manipulator tracking system in the practical experiments.
基金financially supported by the Doctoral Foundation of Henan University of Technology(No.2021BS030)Natural Science Foundation of Shandong Province(No.ZR2019YQ24)+1 种基金Taishan Scholars and Young Experts Program of Shandong Province(No.tsqn202103057)Qingchuang Talents Induction Program of Shandong Higher Education Institution(Research and Innovation Team of Structural-Functional Polymer Composites)。
文摘Transition metal dichalcogenides(TMDs)show great advantages in electromagnetic wave(EMW)absorption due to their unique structure and electrical properties.Tremendous research works on TMD-based EMW absorbers have been conducted in the last three years,and the comprehensive and systematical summary is still a rarity.Therefore,it is of great significance to elaborate on the interaction among the morphologies,structures,phases,components,and EMW absorption performances of TMD-based absorbers.This review is devoted to analyzing TMD-based absorbers from the following perspectives:the EMW absorption regulation strategies of TMDs and the latest progress of TMD-based hybrids as EMW absorbers.The absorption mechanisms and component-performance dependency of these achievements are also summarized.Finally,a straightforward insight into industrial revolution upgrading in this promising field is proposed.
基金Supported by Zhejiang Traditional Chinese Medicine Science and Technology Plan,No.2023ZL449.
文摘BACKGROUND Breast abscess during lactation is a severe complication of acute mastitis,which can lead to discomfort,high fever,breast fistula,sepsis,septic shock,breast damage,disease persistence and frequent hospitalization.Breast abscesses may also lead the mother to discontinue breastfeeding,thereby harming the infant’s health.The predominant pathogenic bacteria are Staphylococcus aureus,Staphylococcus epidermidis and Streptococcus.The incidence of breastfeeding abscesses in breastfeeding women ranges between 4.0%and 11.0%.In cases of breast abscess,the rate of cessation of lactation is 41.0%.In instances of breast fistula,the rate of cessation of lactation is very high(66.7%).Furthermore,50.0%of women with breast abscesses must be hospitalized and treated with intravenous antibiotics.Treatment includes antibiotics,abscess puncture and surgical incision and drainage.The patients suffer from stress,pain and easily induced breast scarring;the disease’s progression is prolonged and recurrent,interfering with infant feeding.Consequently,it is crucial to discover an adequate cure.CASE SUMMARY A 28-year-old woman with a breast abscess was treated with Gualou Xiaoyong decoction and painless breast opening manipulation 24 d after cesarean delivery.On the 2nd d of treatment,the patient’s breast mass was significantly reduced,the pain was significantly reduced,and the general asthenia was improved.All conscious symptoms disappeared after 3 d,breast abscesses faded after 12 d of treatment,inflammation images disappeared after 27 d,and normal lactation images were restored.CONCLUSION In treating breast abscesses during breastfeeding,the combination of Gualou Xiaoyong decoction and painless lactation provides a positive therapeutic impact.This disease’s treatment offers the advantages of a short course of treatment,no need to discontinue breastfeeding and the ability to rapidly mitigate symptoms,which can be used as a reference in clinical practice.
基金We thank the Natural Science Foundation of China(U21A20232,32372756,32072621)the Anhui Provincial Natural Science Foundation(2308085MC94)+1 种基金the National Key Research and Development Program of China(2022YFF1003103)the Anhui Key Research and Development Program of China(202204c06020035).We are grateful to Professor Yeyun Li for providing the cultivar‘Zhongcha108’cuttings for 2 years with different N:P:K ratios.
文摘Tea(Camellia sinensis)is a well-known beverage crop rich in polyphenols with health benefits for humans.Understanding how tea polyphenols participate in plant resistance is beneficial to breeding resistant varieties and uncovering the resistance mechanisms.Here,we report that a Colletotrichum infection-induced‘pink ring’symptom appeared outside the lesion,which is highly likely to occur in resistant cultivars.By identifying morphological feature-specific metabolites in the pink ring and their association with disease resistance,and analysis of the association between metabolite and gene expression,the study revealed that the accumulation of anthocyanin-3-O-galactosides,red phytotoxin compounds resistant to anthracnose,plays a pivotal role in the hypersensitive response surrounding infection sites in tea plants.The results of genetic manipulation showed that the expression of CsF3Ha,CsANSa,CsUGT78A15,CsUGT75L43,and CsMYB113,which are involved in anthocyanin biosynthesis,is positively correlated with anthracnose-resistance and the formation of the pink ring.Further phosphorus quantification and fertilization experiments confirmed that phosphate deficiency caused by anthracnose is involved in the occurrence of the pink ring.Genetic manipulation studies indicated that altering the expression levels of Pi transporter proteins(CsPHT2-1,CsPHT4;4)and phosphate deprivation response transcription factors(CsWRKY75-1,CsWRKY75-2,CsMYB62-1)enhances resistance to anthracnose and the formation of the pink ring symptom in tea plants.This article provides the first evidence that anthocyanin-3-O-galactosides are the anthracnose-resistant phytoalexins among various polyphenols in tea plants,and this presents an approach for identifying resistance genes in tea plants,where genetic transformation is challenging.
基金supported by the National Natural Science Foundation of China (U19A2026 and 31972490)。
文摘Rice is an important dietary source of the toxic mineral cadmium(Cd) for populations in which rice is the main staple food.When grown in agricultural soils that are contaminated with Cd,rice often accumulates excessive Cd into the grains,which is a serious threat to agricultural sustainability and human health.To limit Cd accumulation in rice grains,studies on the genetic basis of Cd accumulation in rice have been carried out extensively,and some low-Cd rice varieties have also been developed in recent years.However,the challenges in low-Cd rice breeding still exist because the outcomes of the current genetic improvements for low-Cd rice cannot fully meet the requirements for the development of Cd-safe rice at present.In this review,we outline the progress in understanding the physiological mechanisms and the genetic nature of Cd accumulation in rice and summarize the strategies and outcomes of low-Cd rice breeding over the past decade.By graphing the physiological mechanism of Cd transport in the rice plant,three key steps and some underlying genes are summarized and discussed.Also,two genetic features of the natural variation in rice grain-Cd accumulation,the phenotypic plasticity and subspecies divergence,and the potential genetic explanations for these features are also discussed.Finally,we summarize and discuss current progress and the potential issues in low-Cd rice breeding using different breeding strategies.We hope to propose strategies for future success in the breeding of low-Cd rice varieties over the next decade.
基金Supported by National Natural Science Foundation of China(Grant No.52275036)Key Research and Development Project of Jiaxing Science and Technology Bureau of China(Grant No.2022BZ10004).
文摘The pose accuracy of parallel manipulators(PMs)is a key index to measure their performance.Establishing the grav-ity-based kinetostatic model of a parallel robot provides an important basis for its error composition and accuracy improvement.In this paper,a kinetostatic modeling approach that takes real gravity distribution into consideration is proposed to analyze the influence of gravity on the infinitesimal twist and actuator forces of PMs.First,the duality of the twist screw and constraint wrenches are used to derive the gravity-attached constraint wrenches independent of the external load and the limb stiffness matrix corresponding to the kinematics-based constraint wrenches.Sec-ond,the gravity model of the mechanism is established based on the screw theory and the principle of virtual work.Finally,the analytical formulas of the infinitesimal twist and the actuator force of PMs are obtained,and the influences of the external load,platform gravity,and rod gravity on the stiffness of the mechanism are decoupled.The non-overconstrained 3RPS and overconstrained 2PRU-UPR PMs are taken as examples to verify the proposed method.This research proposes a methodology to analyze the infinitesimal deformation of the mechanism under the influence of gravity.
基金funded by the National Natural Science Foundation of China under Grant 51875531“Pioneer”and“Leading Goose”R&D Program of Zhejiang under Grant 2022C02057.
文摘The traditionally articulated manipulator had a single control method,and the limited motion trajectory space was unsuitable for working in an unstructured environment.This paper introduces a control method and optimization for a multijoint manipulator Inspired by snakes'curling and stretching motions.First,we analyze the manipulator’s connection mode and motion planning and propose a new motion method.In addition,we calculated the relevant positions and angles and subdivided the motion of some joints based on the principle of the meta-heuristic algorithm.Ultimately,the manipulator in this mode has a larger workspace and more flexible motion trajectories.The experimental results are consistent with the theoretical analysis,which further proves the feasibility and scalability of the scheme.
基金Project supported by the Natural Science Foundation of Shandong Province, China (Grant Nos. ZR2022MF336 and ZR2022MD036)。
文摘The characteristics of traditional acoustic vortices(AVs) were verified by the cross-sectional axisymmetric pressure distributions with perfect phase spirals around the center pressure null. In order to generate a non-axisymmetric pressure distribution, the concept of power-exponent-phase was first introduced into the formation of AV beams, named “powerexponent-phase acoustic vortices(PAVs)” in this paper. Based on a ring-array of sector transducers, the helical distribution of the low-pressure valley in cross-sections of PAVs, which enables particles to move from a distant position to the center low-potential well along a certain spiral passageway, was proved theoretically. The particle manipulation behavior for PAVs with a power order of 2 is numerically modeled and experimentally confirmed. The results show that PAVs with a nonaxisymmetric spiral pressure distribution can be used to realize the directional transport of particles in an enlarged scope,suggesting prospective application potential in biomedical engineering.
基金the National Key Research and Development Program of China(2017YFA0700201,2017YFA0700203,and 2016YFC0800401)the National Natural Science Foundation of China(61890544)+1 种基金the Fundamental Research Funds for the Central Universities(2242021k30040)the 111 Project(111-2-05).
基金supported by the National Key Research and Development Program of China(Grant No.2022YFE0134600)the National Natural Science Foundation of China(Grant Nos.52272152,61674063,and 62074061)+2 种基金Shenzhen Science and Technology Innovation Committee(Grant No.JCYJ20210324142010030)the Natural Science Foundation of Hubei Province(Grant No.2022CFA031)Interdisciplinary Research Program of Huazhong University of Science and Technology(Grant No.5003110122)。
文摘The discovery and manipulation of topological Hall effect(THE),an abnormal magnetoelectric response mostly related to the Dzyaloshinskii–Moriya interaction(DMI),are promising for next-generation spintronic devices based on topological spin textures such as magnetic skyrmions.However,most skyrmions and THE are stabilized in a narrow temperature window either below or over room temperature with high critical current manipulation.It is still elusive and challenging to achieve large THE with both wide temperature window till room temperature and low critical current manipulation.Here,using controllable,naturally oxidized sub-20 and sub-10 nm 2D van der Waals room-temperature ferromagnetic Fe_(3)GaTe_(2-x)crystals,we report robust 2D skyrmion THE with ultrawide temperature window ranging in three orders of magnitude from 2 to 300 K,in combination with giant THE of~5.4μΩ·cm at 10 K and~0.15μΩ·cm at 300 K,which is 1–3 orders of magnitude larger than that of all known room-temperature 2D skyrmion systems.Moreover,room-temperature current-controlled THE is also realized with a low critical current density of~6.2×10^(5)A·cm^(-2).First-principles calculations unveil natural oxidation-induced highly enhanced 2D interfacial DMI reasonable for robust giant THE.This work paves the way to room-temperature electrically controlled 2D THE-based practical spintronic devices.
基金This work was supported in part by the National Key Research and Development Program of China(2021YFB3202200)Guangdong Basic and Applied Basic Research Foundation(2020B1515120071,2021B1515120017).
文摘In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is addressed.The purpose of this study is to develop distributed controllers utilizing local interactive protocols that not only suppress the vibration of each flexible manipulator but also achieve consensus on joint angle position between actual followers and the virtual leader.Following the accomplishment of the reconstruction of the fault terms and parameter uncertainties,the adaptive neural network method and parameter estimation technique are employed to compensate for unknown items and bounded disturbances.Furthermore,the Lyapunov stability theory is used to demonstrate that followers’angle consensus errors and vibration deflections in closed-loop systems are uniformly ultimately bounded.Finally,the numerical simulation results confirm the efficacy of the proposed controllers.
基金Project supported by the National Key Research and Development program of China(Grant No.2020YFA0211400)the State Key Program of the National Natural Science of China(Grant No.11834008)+2 种基金the National Natural Science Foundation of China(Grant No.12174192)the Fund fromthe State Key Laboratory of Acoustics,Chinese Academy of Sciences(Grant No.SKLA202008)the Fund from the Key Laboratory of Underwater Acoustic Environment,Chinese Academy of Sciences(Grant No.SSHJ-KFKT-1701)。
文摘Nonlinear phononic crystals have attracted great interest because of their unique properties absent in linear phononic crystals.However,few researches have considered the bilinear nonlinearity as well as its consequences in acoustic metamaterials.Hence,we introduce bilinear nonlinearity into acoustic metamaterials,and investigate the propagation behaviors of the fundamental and the second harmonic waves in the nonlinear acoustic metamaterials by discretization method,revealing the influence of the system parameters.Furthermore,we investigate the influence of partially periodic nonlinear acoustic metamaterials on the second harmonic wave propagation,and the results suggest that pass-band and band-gap can be transformed into each other under certain conditions.Our findings could be beneficial to the band gap control in nonlinear acoustic metamaterials.
基金Supported by National Key Research and Development Program of China(Grant No.2019YFA0709001)National Natural Science Foundation of China(Grant Nos.52022056,51875334,52205031 and 52205034)National Key Research and Development Program of China(Grant No.2017YFE0111300).
文摘Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.12174116 and 91850107)the National Key Research and Development Program of China(Grant No.2018YFA0306200)+1 种基金Guangdong Innovative and Entrepreneurial Research Team Program(Grant No.2016ZT06C594)Science and Technology Project of Guangdong(Grant No.2020B010190001)。
文摘The ability to manipulate microlaser is highly desirable towards high-performance optoelectronic devices.Here we demonstrate feasible mode manipulation of Fabry-Perot type microlasers of a perovskite nanowire via incorporation of single gold nanoparticles.The influences of resonant wavelength,quality factor and emission directions are successively investigated using a two-dimensional finite-difference time-domain method.It is found that blueshift of resonant wavelength could be achieved together with either promoted or degraded quality factor of the microlaser via single Au NPs with varied sizes.Unidirectional emission could also be realized which is favorable for on-chip integration.Our results provide useful reference for feasible manipulation of light-matter interactions and mode selection.
基金This work was supported in part by the National Natural Science Foundation of China(62206109)the Fundamental Research Funds for the Central Universities(21620346)。
文摘With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.
基金supported financially by the National Key R&D Program of China (Nos. 2018YFA0208501 and 2018YFA0703200)the National Natural Science Foundation of China (NSFC, Nos. 52103236, 91963212, 21875260)Beijing National Laboratory for Molecular Sciences (No. BNLMSCXXM-202005)。
文摘Multifunctional photodetectors boost the development of traditional optical communication technology and emerging artificial intelligence fields, such as robotics and autonomous driving. However, the current implementation of multifunctional detectors is based on the physical combination of optical lenses, gratings, and multiple photodetectors, the large size and its complex structure hinder the miniaturization, lightweight, and integration of devices. In contrast, perovskite materials have achieved remarkable progress in the field of multifunctional photodetectors due to their diverse crystal structures, simple morphology manipulation, and excellent optoelectronic properties. In this review, we first overview the crystal structures and morphology manipulation techniques of perovskite materials and then summarize the working mechanism and performance parameters of multifunctional photodetectors. Furthermore, the fabrication strategies of multifunctional perovskite photodetectors and their advancements are highlighted, including polarized light detection, spectral detection, angle-sensing detection, and selfpowered detection. Finally, the existing problems of multifunctional detectors and the perspectives of their future development are presented.
