Social robot accounts controlled by artificial intelligence or humans are active in social networks,bringing negative impacts to network security and social life.Existing social robot detection methods based on graph ...Social robot accounts controlled by artificial intelligence or humans are active in social networks,bringing negative impacts to network security and social life.Existing social robot detection methods based on graph neural networks suffer from the problem of many social network nodes and complex relationships,which makes it difficult to accurately describe the difference between the topological relations of nodes,resulting in low detection accuracy of social robots.This paper proposes a social robot detection method with the use of an improved neural network.First,social relationship subgraphs are constructed by leveraging the user’s social network to disentangle intricate social relationships effectively.Then,a linear modulated graph attention residual network model is devised to extract the node and network topology features of the social relation subgraph,thereby generating comprehensive social relation subgraph features,and the feature-wise linear modulation module of the model can better learn the differences between the nodes.Next,user text content and behavioral gene sequences are extracted to construct social behavioral features combined with the social relationship subgraph features.Finally,social robots can be more accurately identified by combining user behavioral and relationship features.By carrying out experimental studies based on the publicly available datasets TwiBot-20 and Cresci-15,the suggested method’s detection accuracies can achieve 86.73%and 97.86%,respectively.Compared with the existing mainstream approaches,the accuracy of the proposed method is 2.2%and 1.35%higher on the two datasets.The results show that the method proposed in this paper can effectively detect social robots and maintain a healthy ecological environment of social networks.展开更多
A growing number of studies have demonstrated that repeated exposure to sevoflurane during development results in persistent social abnormalities and cognitive impairment.Davunetide,an active fragment of the activity-...A growing number of studies have demonstrated that repeated exposure to sevoflurane during development results in persistent social abnormalities and cognitive impairment.Davunetide,an active fragment of the activity-dependent neuroprotective protein(ADNP),has been implicated in social and cognitive protection.However,the potential of davunetide to attenuate social deficits following sevoflurane exposure and the underlying developmental mechanisms remain poorly understood.In this study,ribosome and proteome profiles were analyzed to investigate the molecular basis of sevoflurane-induced social deficits in neonatal mice.The neuropathological basis was also explored using Golgi staining,morphological analysis,western blotting,electrophysiological analysis,and behavioral analysis.Results indicated that ADNP was significantly down-regulated following developmental exposure to sevoflurane.In adulthood,anterior cingulate cortex(ACC)neurons exposed to sevoflurane exhibited a decrease in dendrite number,total dendrite length,and spine density.Furthermore,the expression levels of Homer,PSD95,synaptophysin,and vglut2 were significantly reduced in the sevoflurane group.Patch-clamp recordings indicated reductions in both the frequency and amplitude of miniature excitatory postsynaptic currents(mEPSCs).Notably,davunetide significantly ameliorated the synaptic defects,social behavior deficits,and cognitive impairments induced by sevoflurane.Mechanistic analysis revealed that loss of ADNP led to dysregulation of Ca^(2+)activity via the Wnt/β-catenin signaling,resulting in decreased expression of synaptic proteins.Suppression of Wnt signaling was restored in the davunetide-treated group.Thus,ADNP was identified as a promising therapeutic target for the prevention and treatment of neurodevelopmental toxicity caused by general anesthetics.This study provides important insights into the mechanisms underlying social and cognitive disturbances caused by sevoflurane exposure in neonatal mice and elucidates the regulatory pathways involved.展开更多
As highly social animals,Indo-Pacific humpback dolphins(Sousa chinensis)exhibit community differentiation.Nevertheless,our understanding of the external and internal factors influencing these dynamics,as well as their...As highly social animals,Indo-Pacific humpback dolphins(Sousa chinensis)exhibit community differentiation.Nevertheless,our understanding of the external and internal factors influencing these dynamics,as well as their spatiotemporal variations,is still limited.In the present study,variations in the social structure of an endangered Indo-Pacific humpback dolphin population in Xiamen Bay,China,were monitored over two distinct periods(2007–2010 and 2017–2019)to analyze the effects of habitat utilization and the composition of individuals within the population.In both periods,the population demonstrated a strikingly similar pattern of social differentiation,characterized by the division of individuals into two main clusters and one small cluster.Spatially,the two primary clusters occupied the eastern and western waters,respectively,although the core distribution area of the eastern cluster shifted further eastward between the two periods.Despite this distribution shift,the temporal stability of the social structure and inter-associations within the eastern cluster remained unaffected.A subset of 16individuals observed in both periods,comprising 51.6%and 43.2%of the population in each respective period,emerged as a foundational element of the social structure and may be responsible for sustaining social structure stability,especially during the 2007–2010 period.These observations suggest that the composition of dominant individuals,an internal factor,had a more substantial influence on the formation of the social network than changes in habitat use,an external factor.Consequently,the study proposes distinct conservation measures tailored to each of the two main clusters.展开更多
Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest benef...Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest beneficiaries of these advances,through the design of a facile four-dimensional(4D)FGAM process that can grant an intelligent stimuli-responsive mechanical functionality to the printed objects.Herein,we present a simple binder jetting approach for the 4D printing of functionally graded porous multi-materials(FGMM)by introducing rationally designed graded multiphase feeder beds.Compositionally graded cross-linking agents gradually form stable porous network structures within aqueous polymer particles,enabling programmable hygroscopic deformation without complex mechanical designs.Furthermore,a systematic bed design incorporating additional functional agents enables a multi-stimuli-responsive and untethered soft robot with stark stimulus selectivity.The biodegradability of the proposed 4D-printed soft robot further ensures the sustainability of our approach,with immediate degradation rates of 96.6%within 72 h.The proposed 4D printing concept for FGMMs can create new opportunities for intelligent and sustainable additive manufacturing in soft robotics.展开更多
The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural mammals.This paper proposes a gait optimization framework for hexapod robots call...The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural mammals.This paper proposes a gait optimization framework for hexapod robots called Smart Gait.Smart Gait contains three modules:swing leg trajectory optimization,gait period&duty optimization,and gait sequence optimization.The full dynamics of a single leg,and the centroid dynamics of the overall robot are considered in the respective modules.The Smart Gait not only helps the robot to decrease the energy consumption when in locomotion,mostly,it enables the hexapod robot to determine its gait pattern transitions based on its current state,instead of repeating the formalistic clock-set step cycles.Our Smart Gait framework allows the hexapod robot to behave nimbly as a living animal when in 3D movements for the first time.The Smart Gait framework combines offline and online optimizations without any fussy data-driven training procedures,and it can run efficiently on board in real-time after deployment.Various experiments are carried out on the hexapod robot LittleStrong.The results show that the energy consumption is reduced by 15.9%when in locomotion.Adaptive gait patterns can be generated spontaneously both in regular and challenge environments,and when facing external interferences.展开更多
Effective data communication is a crucial aspect of the Social Internet of Things(SIoT)and continues to be a significant research focus.This paper proposes a data forwarding algorithm based on Multidimensional Social ...Effective data communication is a crucial aspect of the Social Internet of Things(SIoT)and continues to be a significant research focus.This paper proposes a data forwarding algorithm based on Multidimensional Social Relations(MSRR)in SIoT to solve this problem.The proposed algorithm separates message forwarding into intra-and cross-community forwarding by analyzing interest traits and social connections among nodes.Three new metrics are defined:the intensity of node social relationships,node activity,and community connectivity.Within the community,messages are sent by determining which node is most similar to the sender by weighing the strength of social connections and node activity.When a node performs cross-community forwarding,the message is forwarded to the most reasonable relay community by measuring the node activity and the connection between communities.The proposed algorithm was compared to three existing routing algorithms in simulation experiments.Results indicate that the proposed algorithmsubstantially improves message delivery efficiency while lessening network overhead and enhancing connectivity and coordination in the SIoT context.展开更多
A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive interaction.However,it still has a gap between scientific research and real-life applications.Prev...A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive interaction.However,it still has a gap between scientific research and real-life applications.Previous studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly concerned.To fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)systems.The general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are introduced.EMG-based intention decoding is treated as a module of the proposed paradigms.Five key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are discussed.Several important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future research.To the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is summarized.It provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.展开更多
To the Editor:We read with great interest the article by Schulze et al.entitled“Robotic surgery and liver transplantation:A single-center experience of 501 robotic donor hepatectomies”[1].It is the first single-cent...To the Editor:We read with great interest the article by Schulze et al.entitled“Robotic surgery and liver transplantation:A single-center experience of 501 robotic donor hepatectomies”[1].It is the first single-center report including over 500 fully robotic donor hepatectomies.For the donors,the overall complication rate was 6.4%(n=32).Postoperative self-limiting bleeding(0.4%)and bile leakage from the resection plane(1.8%)were rare.展开更多
Traditional proportional-integral-derivative(PID)controllers have achieved widespread success in industrial applications.However,the nonlinearity and uncertainty of practical systems cannot be ignored,even though most...Traditional proportional-integral-derivative(PID)controllers have achieved widespread success in industrial applications.However,the nonlinearity and uncertainty of practical systems cannot be ignored,even though most of the existing research on PID controllers is focused on linear systems.Therefore,developing a PID controller with learning ability is of great significance for complex nonlinear systems.This article proposes a deterministic learning-based advanced PID controller for robot manipulator systems with uncertainties.The introduction of neural networks(NNs)overcomes the upper limit of the traditional PID feedback mechanism’s capability.The proposed control scheme not only guarantees system stability and tracking error convergence but also provides a simple way to choose the three parameters of PID by setting the proportional coefficients.Under the partial persistent excitation(PE)condition,the closed-loop system unknown dynamics of robot manipulator systems are accurately approximated by NNs.Based on the acquired knowledge from the stable control process,a learning PID controller is developed to further improve overall control performance,while overcoming the problem of repeated online weight updates.Simulation studies and physical experiments demonstrate the validity and practicality of the proposed strategy discussed in this article.展开更多
Humanoid robots have attracted much attention by virtue of their compatibility with human environments.However,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in...Humanoid robots have attracted much attention by virtue of their compatibility with human environments.However,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current state.Hence,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse scenarios.Here,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is presented.Versatile humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble interfaces.Additionally,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered environments.Overall,this article elaborates on the reasoning behind the design choices,and outlines each subsystem.Lastly,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.展开更多
Suicide has become a critical concern,necessitating the development of effective preventative strategies.Social media platforms offer a valuable resource for identifying signs of suicidal ideation.Despite progress in ...Suicide has become a critical concern,necessitating the development of effective preventative strategies.Social media platforms offer a valuable resource for identifying signs of suicidal ideation.Despite progress in detecting suicidal ideation on social media,accurately identifying individuals who express suicidal thoughts less openly or infrequently poses a significant challenge.To tackle this,we have developed a dataset focused on Chinese suicide narratives from Weibo’s Tree Hole feature and introduced an ensemble model named Text Convolutional Neural Network based on Social Network relationships(TCNN-SN).This model enhances predictive performance by leveraging social network relationship features and applying correction factors within a weighted linear fusion framework.It is specifically designed to identify key individuals who can help uncover hidden suicidal users and clusters.Our model,assessed using the bespoke dataset and benchmarked against alternative classification approaches,demonstrates superior accuracy,F1-score and AUC metrics,achieving 88.57%,88.75%and 94.25%,respectively,outperforming traditional TextCNN models by 12.18%,10.84%and 10.85%.We assert that our methodology offers a significant advancement in the predictive identification of individuals at risk,thereby contributing to the prevention and reduction of suicide incidences.展开更多
Dear Editor,This letter addresses long duration coverage problem of multiple robotic surface vehicles(RSVs) subject to battery energy constraints,in addition to uncertainties and disturbances. An anti-disturbance ener...Dear Editor,This letter addresses long duration coverage problem of multiple robotic surface vehicles(RSVs) subject to battery energy constraints,in addition to uncertainties and disturbances. An anti-disturbance energy-aware control method is proposed for performing coverage task of RSVs. Firstly, a centroidal Voronoi tessellation(CVT) is used to optimize the partition of the given coverage area.展开更多
Dear Editor,This letter presents a biocompatible cross-shaped magnetic soft robot and investigates its deformation mode control strategy through COMSOL modeling and simulation.Magnetic soft robots offer novel avenues ...Dear Editor,This letter presents a biocompatible cross-shaped magnetic soft robot and investigates its deformation mode control strategy through COMSOL modeling and simulation.Magnetic soft robots offer novel avenues for precise treatment within intricate regions of the human body.展开更多
The advent of immersive technologies such as the metaverse,extended reality,artificial intelligence,and blockchain offers novel possibilities to transform healthcare services.These innovations coincide with clinicians...The advent of immersive technologies such as the metaverse,extended reality,artificial intelligence,and blockchain offers novel possibilities to transform healthcare services.These innovations coincide with clinicians'aspirations to deliver more comprehensive,patient-centered care tailored to individuals singular needs and preferences.Integration of these emerging tools may confer opportunities for providers to engage patients through new modalities and expand their role.However,responsible implementation necessitates deliberation of ethical implications and steadfast adherence to foundational principles of compassion and interpersonal connection underpinning the profession.While the metaverse introduces new channels for social prescribing,this perspective advocates that its ultimate purpose should be strengthening,not supplanting,human relationships.We propose an ethical framework centered on respect for patients'dignity to guide integration of metaverse platforms into medical practice.This framework serves both to harness their potential benefits and mitigate risks of dehumanization or uncompassionate care.Our analysis maps the developing topology of metaverse-enabled care while upholding moral imperatives for medicine to promote healing relationships and human flourishing.展开更多
Background:Minimally invasive surgery is the optimal treatment for insulinoma.The present study aimed to compare short-and long-term outcomes of laparoscopic and robotic surgery for sporadic benign insulinoma.Methods:...Background:Minimally invasive surgery is the optimal treatment for insulinoma.The present study aimed to compare short-and long-term outcomes of laparoscopic and robotic surgery for sporadic benign insulinoma.Methods:A retrospective analysis of patients who underwent laparoscopic or robotic surgery for insulinoma at our center between September 2007 and December 2019 was conducted.The demographic,perioperative and postoperative follow-up results were compared between the laparoscopic and robotic groups.Results:A total of 85 patients were enrolled,including 36 with laparoscopic approach and 49 with robotic approach.Enucleation was the preferred surgical procedure.Fifty-nine patients(69.4%)underwent enucleation;among them,26 and 33 patients underwent laparoscopic and robotic surgery,respectively.Robotic enucleation had a lower conversion rate to laparotomy(0 vs.19.2%,P=0.013),shorter operative time(102.0 vs.145.5 min,P=0.008)and shorter postoperative hospital stay(6.0 vs.8.5 d,P=0.002)than laparoscopic enucleation.There were no differences between the groups in terms of intraoperative blood loss,the rates of postoperative pancreatic fistula and complications.After a median follow-up of 65 months,two patients in the laparoscopic group developed a functional recurrence and none of the patients in the robotic group had a recurrence.Conclusions:Robotic enucleation can reduce the conversion rate to laparotomy and shorten operative time,which might lead to a reduction in postoperative hospital stay.展开更多
Brain-derived neurotrophic factor is a key factor in stress adaptation and avoidance of a social stress behavioral response.Recent studies have shown that brain-derived neurotrophic factor expression in stressed mice ...Brain-derived neurotrophic factor is a key factor in stress adaptation and avoidance of a social stress behavioral response.Recent studies have shown that brain-derived neurotrophic factor expression in stressed mice is brain region–specific,particularly involving the corticolimbic system,including the ventral tegmental area,nucleus accumbens,prefrontal cortex,amygdala,and hippocampus.Determining how brain-derived neurotrophic factor participates in stress processing in different brain regions will deepen our understanding of social stress psychopathology.In this review,we discuss the expression and regulation of brain-derived neurotrophic factor in stress-sensitive brain regions closely related to the pathophysiology of depression.We focused on associated molecular pathways and neural circuits,with special attention to the brain-derived neurotrophic factor–tropomyosin receptor kinase B signaling pathway and the ventral tegmental area–nucleus accumbens dopamine circuit.We determined that stress-induced alterations in brain-derived neurotrophic factor levels are likely related to the nature,severity,and duration of stress,especially in the above-mentioned brain regions of the corticolimbic system.Therefore,BDNF might be a biological indicator regulating stress-related processes in various brain regions.展开更多
‘Selfie’taking was introduced to the common people by smartphones and has become a common practice across the globe in no time.With technological advancement and the popularity of smartphones,selfie-taking has grown...‘Selfie’taking was introduced to the common people by smartphones and has become a common practice across the globe in no time.With technological advancement and the popularity of smartphones,selfie-taking has grown rapidly within a short time.In light of the new trend set by the generation,this study aimed to explore reasons for selfie-taking and selfie-posting on social media and their effects on the social and psychological lives of young adults.A purposive sampling method was adopted to select 20 Indian citizens,between 18 and 24 years.The data were collected through semi-structured interviews and analysed using thematic analysis.Selfie-taking and posting on social media give positive feelings,and it acts as a mood modifier dependent mostly on the favourability and feedback about the post which in turn affects emotions and self-satisfaction.展开更多
基金This work was supported in part by the National Natural Science Foundation of China under Grants 62273272,62303375 and 61873277in part by the Key Research and Development Program of Shaanxi Province under Grant 2023-YBGY-243+2 种基金in part by the Natural Science Foundation of Shaanxi Province under Grants 2022JQ-606 and 2020-JQ758in part by the Research Plan of Department of Education of Shaanxi Province under Grant 21JK0752in part by the Youth Innovation Team of Shaanxi Universities.
文摘Social robot accounts controlled by artificial intelligence or humans are active in social networks,bringing negative impacts to network security and social life.Existing social robot detection methods based on graph neural networks suffer from the problem of many social network nodes and complex relationships,which makes it difficult to accurately describe the difference between the topological relations of nodes,resulting in low detection accuracy of social robots.This paper proposes a social robot detection method with the use of an improved neural network.First,social relationship subgraphs are constructed by leveraging the user’s social network to disentangle intricate social relationships effectively.Then,a linear modulated graph attention residual network model is devised to extract the node and network topology features of the social relation subgraph,thereby generating comprehensive social relation subgraph features,and the feature-wise linear modulation module of the model can better learn the differences between the nodes.Next,user text content and behavioral gene sequences are extracted to construct social behavioral features combined with the social relationship subgraph features.Finally,social robots can be more accurately identified by combining user behavioral and relationship features.By carrying out experimental studies based on the publicly available datasets TwiBot-20 and Cresci-15,the suggested method’s detection accuracies can achieve 86.73%and 97.86%,respectively.Compared with the existing mainstream approaches,the accuracy of the proposed method is 2.2%and 1.35%higher on the two datasets.The results show that the method proposed in this paper can effectively detect social robots and maintain a healthy ecological environment of social networks.
基金supported by the National Natural Science Foundation of China(82171170,81971076,82371277 to H.Z.,82101345 to L.R.L.)。
文摘A growing number of studies have demonstrated that repeated exposure to sevoflurane during development results in persistent social abnormalities and cognitive impairment.Davunetide,an active fragment of the activity-dependent neuroprotective protein(ADNP),has been implicated in social and cognitive protection.However,the potential of davunetide to attenuate social deficits following sevoflurane exposure and the underlying developmental mechanisms remain poorly understood.In this study,ribosome and proteome profiles were analyzed to investigate the molecular basis of sevoflurane-induced social deficits in neonatal mice.The neuropathological basis was also explored using Golgi staining,morphological analysis,western blotting,electrophysiological analysis,and behavioral analysis.Results indicated that ADNP was significantly down-regulated following developmental exposure to sevoflurane.In adulthood,anterior cingulate cortex(ACC)neurons exposed to sevoflurane exhibited a decrease in dendrite number,total dendrite length,and spine density.Furthermore,the expression levels of Homer,PSD95,synaptophysin,and vglut2 were significantly reduced in the sevoflurane group.Patch-clamp recordings indicated reductions in both the frequency and amplitude of miniature excitatory postsynaptic currents(mEPSCs).Notably,davunetide significantly ameliorated the synaptic defects,social behavior deficits,and cognitive impairments induced by sevoflurane.Mechanistic analysis revealed that loss of ADNP led to dysregulation of Ca^(2+)activity via the Wnt/β-catenin signaling,resulting in decreased expression of synaptic proteins.Suppression of Wnt signaling was restored in the davunetide-treated group.Thus,ADNP was identified as a promising therapeutic target for the prevention and treatment of neurodevelopmental toxicity caused by general anesthetics.This study provides important insights into the mechanisms underlying social and cognitive disturbances caused by sevoflurane exposure in neonatal mice and elucidates the regulatory pathways involved.
基金supported by the National Natural Science Foundation of China (32030011,31630071)National Key Research and Development Program of China (2022YFF1301600)Priority Academic Program Development of Jiangsu Higher Education Institutions。
文摘As highly social animals,Indo-Pacific humpback dolphins(Sousa chinensis)exhibit community differentiation.Nevertheless,our understanding of the external and internal factors influencing these dynamics,as well as their spatiotemporal variations,is still limited.In the present study,variations in the social structure of an endangered Indo-Pacific humpback dolphin population in Xiamen Bay,China,were monitored over two distinct periods(2007–2010 and 2017–2019)to analyze the effects of habitat utilization and the composition of individuals within the population.In both periods,the population demonstrated a strikingly similar pattern of social differentiation,characterized by the division of individuals into two main clusters and one small cluster.Spatially,the two primary clusters occupied the eastern and western waters,respectively,although the core distribution area of the eastern cluster shifted further eastward between the two periods.Despite this distribution shift,the temporal stability of the social structure and inter-associations within the eastern cluster remained unaffected.A subset of 16individuals observed in both periods,comprising 51.6%and 43.2%of the population in each respective period,emerged as a foundational element of the social structure and may be responsible for sustaining social structure stability,especially during the 2007–2010 period.These observations suggest that the composition of dominant individuals,an internal factor,had a more substantial influence on the formation of the social network than changes in habitat use,an external factor.Consequently,the study proposes distinct conservation measures tailored to each of the two main clusters.
基金supported by National R&D Program through the NRF funded by Ministry of Science and ICT(2021M3D1A2049315)and the Technology Innovation Program(20021909,Development of H2 gas detection films(?0.1%)and process technologies)funded by the Ministry of Trade,Industry&Energy(MOTIE,Korea)supported by the Basic Science Program through the NRF of Korea,funded by the Ministry of Science and ICT,Korea.(Project Number:NRF-2022R1C1C1008845)supported by Basic Science Research Program through the NRF funded by the Ministry of Education(Project Number:NRF-2022R1A6A3A13073158)。
文摘Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest beneficiaries of these advances,through the design of a facile four-dimensional(4D)FGAM process that can grant an intelligent stimuli-responsive mechanical functionality to the printed objects.Herein,we present a simple binder jetting approach for the 4D printing of functionally graded porous multi-materials(FGMM)by introducing rationally designed graded multiphase feeder beds.Compositionally graded cross-linking agents gradually form stable porous network structures within aqueous polymer particles,enabling programmable hygroscopic deformation without complex mechanical designs.Furthermore,a systematic bed design incorporating additional functional agents enables a multi-stimuli-responsive and untethered soft robot with stark stimulus selectivity.The biodegradability of the proposed 4D-printed soft robot further ensures the sustainability of our approach,with immediate degradation rates of 96.6%within 72 h.The proposed 4D printing concept for FGMMs can create new opportunities for intelligent and sustainable additive manufacturing in soft robotics.
基金Supported by National Key Research and Development Program of China(Grant No.2021YFF0306202).
文摘The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural mammals.This paper proposes a gait optimization framework for hexapod robots called Smart Gait.Smart Gait contains three modules:swing leg trajectory optimization,gait period&duty optimization,and gait sequence optimization.The full dynamics of a single leg,and the centroid dynamics of the overall robot are considered in the respective modules.The Smart Gait not only helps the robot to decrease the energy consumption when in locomotion,mostly,it enables the hexapod robot to determine its gait pattern transitions based on its current state,instead of repeating the formalistic clock-set step cycles.Our Smart Gait framework allows the hexapod robot to behave nimbly as a living animal when in 3D movements for the first time.The Smart Gait framework combines offline and online optimizations without any fussy data-driven training procedures,and it can run efficiently on board in real-time after deployment.Various experiments are carried out on the hexapod robot LittleStrong.The results show that the energy consumption is reduced by 15.9%when in locomotion.Adaptive gait patterns can be generated spontaneously both in regular and challenge environments,and when facing external interferences.
基金supported by the NationalNatural Science Foundation of China(61972136)the Hubei Provincial Department of Education Outstanding Youth Scientific Innovation Team Support Foundation(T201410,T2020017)+1 种基金the Natural Science Foundation of Xiaogan City(XGKJ2022010095,XGKJ2022010094)the Science and Technology Research Project of Education Department of Hubei Province(No.Q20222704).
文摘Effective data communication is a crucial aspect of the Social Internet of Things(SIoT)and continues to be a significant research focus.This paper proposes a data forwarding algorithm based on Multidimensional Social Relations(MSRR)in SIoT to solve this problem.The proposed algorithm separates message forwarding into intra-and cross-community forwarding by analyzing interest traits and social connections among nodes.Three new metrics are defined:the intensity of node social relationships,node activity,and community connectivity.Within the community,messages are sent by determining which node is most similar to the sender by weighing the strength of social connections and node activity.When a node performs cross-community forwarding,the message is forwarded to the most reasonable relay community by measuring the node activity and the connection between communities.The proposed algorithm was compared to three existing routing algorithms in simulation experiments.Results indicate that the proposed algorithmsubstantially improves message delivery efficiency while lessening network overhead and enhancing connectivity and coordination in the SIoT context.
基金supported by the National Key Research and Development Program of China(2022YFF1202500,2022YFF1202502,2022YFB4703200,2023YFB4704700,2023YFB4704702)the National Natural Science Foundation of China(U22A2067,U20A20197,61773369,61903360,92048302,62203430)+1 种基金the Self-Planned Project of the State Key Laboratory of Robotics(2023-Z05)China Postdoctoral Science Foundation funded project(2022M723312)。
文摘A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive interaction.However,it still has a gap between scientific research and real-life applications.Previous studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly concerned.To fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)systems.The general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are introduced.EMG-based intention decoding is treated as a module of the proposed paradigms.Five key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are discussed.Several important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future research.To the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is summarized.It provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.
文摘To the Editor:We read with great interest the article by Schulze et al.entitled“Robotic surgery and liver transplantation:A single-center experience of 501 robotic donor hepatectomies”[1].It is the first single-center report including over 500 fully robotic donor hepatectomies.For the donors,the overall complication rate was 6.4%(n=32).Postoperative self-limiting bleeding(0.4%)and bile leakage from the resection plane(1.8%)were rare.
基金supported by the National Natural Science Foundation of China(62203262,62350083)Natural Science Foundation of Shandong Province(ZR2020ZD40,ZR2022QF124)。
文摘Traditional proportional-integral-derivative(PID)controllers have achieved widespread success in industrial applications.However,the nonlinearity and uncertainty of practical systems cannot be ignored,even though most of the existing research on PID controllers is focused on linear systems.Therefore,developing a PID controller with learning ability is of great significance for complex nonlinear systems.This article proposes a deterministic learning-based advanced PID controller for robot manipulator systems with uncertainties.The introduction of neural networks(NNs)overcomes the upper limit of the traditional PID feedback mechanism’s capability.The proposed control scheme not only guarantees system stability and tracking error convergence but also provides a simple way to choose the three parameters of PID by setting the proportional coefficients.Under the partial persistent excitation(PE)condition,the closed-loop system unknown dynamics of robot manipulator systems are accurately approximated by NNs.Based on the acquired knowledge from the stable control process,a learning PID controller is developed to further improve overall control performance,while overcoming the problem of repeated online weight updates.Simulation studies and physical experiments demonstrate the validity and practicality of the proposed strategy discussed in this article.
基金National Natural Science Foundation of China,Grant/Award Number:51875114Self-Planned Task of the State Key Laboratory of Robotics and System,Grant/Award Number:SKLRS202204B。
文摘Humanoid robots have attracted much attention by virtue of their compatibility with human environments.However,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current state.Hence,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse scenarios.Here,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is presented.Versatile humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble interfaces.Additionally,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered environments.Overall,this article elaborates on the reasoning behind the design choices,and outlines each subsystem.Lastly,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.
基金funded by Outstanding Youth Team Project of Central Universities(QNTD202308).
文摘Suicide has become a critical concern,necessitating the development of effective preventative strategies.Social media platforms offer a valuable resource for identifying signs of suicidal ideation.Despite progress in detecting suicidal ideation on social media,accurately identifying individuals who express suicidal thoughts less openly or infrequently poses a significant challenge.To tackle this,we have developed a dataset focused on Chinese suicide narratives from Weibo’s Tree Hole feature and introduced an ensemble model named Text Convolutional Neural Network based on Social Network relationships(TCNN-SN).This model enhances predictive performance by leveraging social network relationship features and applying correction factors within a weighted linear fusion framework.It is specifically designed to identify key individuals who can help uncover hidden suicidal users and clusters.Our model,assessed using the bespoke dataset and benchmarked against alternative classification approaches,demonstrates superior accuracy,F1-score and AUC metrics,achieving 88.57%,88.75%and 94.25%,respectively,outperforming traditional TextCNN models by 12.18%,10.84%and 10.85%.We assert that our methodology offers a significant advancement in the predictive identification of individuals at risk,thereby contributing to the prevention and reduction of suicide incidences.
基金supported in part by the National Natural Science Foundation of China (51939001,52301408)the National Science and Technology Major Project (2022ZD0119 902)+2 种基金the Key Basic Research of Dalian (2023JJ11CG008)the Dalian Science and Technology Innovation Fund (2022JJ12GX034)the Dalian Outstanding Young Scientific and Technological Talents Project (2022RY07)。
文摘Dear Editor,This letter addresses long duration coverage problem of multiple robotic surface vehicles(RSVs) subject to battery energy constraints,in addition to uncertainties and disturbances. An anti-disturbance energy-aware control method is proposed for performing coverage task of RSVs. Firstly, a centroidal Voronoi tessellation(CVT) is used to optimize the partition of the given coverage area.
基金supported by NSFC(62273019,52072015,12332019,U20A20390)the 111 Project(B13003)。
文摘Dear Editor,This letter presents a biocompatible cross-shaped magnetic soft robot and investigates its deformation mode control strategy through COMSOL modeling and simulation.Magnetic soft robots offer novel avenues for precise treatment within intricate regions of the human body.
文摘The advent of immersive technologies such as the metaverse,extended reality,artificial intelligence,and blockchain offers novel possibilities to transform healthcare services.These innovations coincide with clinicians'aspirations to deliver more comprehensive,patient-centered care tailored to individuals singular needs and preferences.Integration of these emerging tools may confer opportunities for providers to engage patients through new modalities and expand their role.However,responsible implementation necessitates deliberation of ethical implications and steadfast adherence to foundational principles of compassion and interpersonal connection underpinning the profession.While the metaverse introduces new channels for social prescribing,this perspective advocates that its ultimate purpose should be strengthening,not supplanting,human relationships.We propose an ethical framework centered on respect for patients'dignity to guide integration of metaverse platforms into medical practice.This framework serves both to harness their potential benefits and mitigate risks of dehumanization or uncompassionate care.Our analysis maps the developing topology of metaverse-enabled care while upholding moral imperatives for medicine to promote healing relationships and human flourishing.
文摘Background:Minimally invasive surgery is the optimal treatment for insulinoma.The present study aimed to compare short-and long-term outcomes of laparoscopic and robotic surgery for sporadic benign insulinoma.Methods:A retrospective analysis of patients who underwent laparoscopic or robotic surgery for insulinoma at our center between September 2007 and December 2019 was conducted.The demographic,perioperative and postoperative follow-up results were compared between the laparoscopic and robotic groups.Results:A total of 85 patients were enrolled,including 36 with laparoscopic approach and 49 with robotic approach.Enucleation was the preferred surgical procedure.Fifty-nine patients(69.4%)underwent enucleation;among them,26 and 33 patients underwent laparoscopic and robotic surgery,respectively.Robotic enucleation had a lower conversion rate to laparotomy(0 vs.19.2%,P=0.013),shorter operative time(102.0 vs.145.5 min,P=0.008)and shorter postoperative hospital stay(6.0 vs.8.5 d,P=0.002)than laparoscopic enucleation.There were no differences between the groups in terms of intraoperative blood loss,the rates of postoperative pancreatic fistula and complications.After a median follow-up of 65 months,two patients in the laparoscopic group developed a functional recurrence and none of the patients in the robotic group had a recurrence.Conclusions:Robotic enucleation can reduce the conversion rate to laparotomy and shorten operative time,which might lead to a reduction in postoperative hospital stay.
基金supported financially by the National Natural Science Foundation of China,No.82071272(to YZ).
文摘Brain-derived neurotrophic factor is a key factor in stress adaptation and avoidance of a social stress behavioral response.Recent studies have shown that brain-derived neurotrophic factor expression in stressed mice is brain region–specific,particularly involving the corticolimbic system,including the ventral tegmental area,nucleus accumbens,prefrontal cortex,amygdala,and hippocampus.Determining how brain-derived neurotrophic factor participates in stress processing in different brain regions will deepen our understanding of social stress psychopathology.In this review,we discuss the expression and regulation of brain-derived neurotrophic factor in stress-sensitive brain regions closely related to the pathophysiology of depression.We focused on associated molecular pathways and neural circuits,with special attention to the brain-derived neurotrophic factor–tropomyosin receptor kinase B signaling pathway and the ventral tegmental area–nucleus accumbens dopamine circuit.We determined that stress-induced alterations in brain-derived neurotrophic factor levels are likely related to the nature,severity,and duration of stress,especially in the above-mentioned brain regions of the corticolimbic system.Therefore,BDNF might be a biological indicator regulating stress-related processes in various brain regions.
文摘‘Selfie’taking was introduced to the common people by smartphones and has become a common practice across the globe in no time.With technological advancement and the popularity of smartphones,selfie-taking has grown rapidly within a short time.In light of the new trend set by the generation,this study aimed to explore reasons for selfie-taking and selfie-posting on social media and their effects on the social and psychological lives of young adults.A purposive sampling method was adopted to select 20 Indian citizens,between 18 and 24 years.The data were collected through semi-structured interviews and analysed using thematic analysis.Selfie-taking and posting on social media give positive feelings,and it acts as a mood modifier dependent mostly on the favourability and feedback about the post which in turn affects emotions and self-satisfaction.