Untethered Micro/Nanorobots for Remote Sensing:Toward Intelligent Platform

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities.Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to achieve.Over the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing approaches.This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment interactions.Providing recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.

Protected simultaneous quantum remote state preparation scheme by weak and reversal measurements in noisy environments

We discuss a quantum remote state preparation protocol by which two parties, Alice and Candy, prepare a single-qubit and a two-qubit state, respectively, at the site of the receiver Bob. The single-qubit state is known to Alice while the two-qubit state which is a non-maximally entangled Bell state is known to Candy. The three parties are connected through a single entangled state which acts as a quantum channel. We first describe the protocol in the ideal case when the entangled channel under use is in a pure state. After that, we consider the effect of amplitude damping(AD) noise on the quantum channel and describe the protocol executed through the noisy channel. The decrement of the fidelity is shown to occur with the increment in the noise parameter. This is shown by numerical computation in specific examples of the states to be created. Finally, we show that it is possible to maintain the label of fidelity to some extent and hence to decrease the effect of noise by the application of weak and reversal measurements. We also present a scheme for the generation of the five-qubit entangled resource which we require as a quantum channel. The generation scheme is run on the IBMQ platform.

Remote Control of Bovine Catalase Activity with Specific Frequencies of Human and Bovine Catalase with and without Bound NADP+

Remote control enzyme technology is widely used today through resonance. In this study, we showed that the use of frequencies of the catalase enzyme itself to increase enzymatic rate is successful not only in test tubes but also remotely. The present study also suggests that, under optimal temperature, the use of bovine catalase frequency (the specific frequency of that enzyme) has a superior rate promoting vibration than the human catalase frequency, and so increases very significantly the chemical rate of bovine catalase (about 120% at 40˚C). It also suggests that bovine catalase subjected to bovine and human frequencies with catalase bound NADP+ experienced more resonance weight towards NADP+ and so were more slowly reduced back to catalase bound NADPH, increasing compound II formation rate, and slowing down the catalase activity rate.

远隔缺血后适应治疗对急性缺血性卒中超时间窗患者临床预后的影响:一项随机对照试验

背景急性缺血性卒中(AIS)高发,及时恢复脑血流是治疗的关键,超时间窗就诊患者无更多促进脑血流恢复的治疗手段。研究远隔缺血后适应(RIPostC)治疗对AIS超时间窗就诊患者的临床疗效、并发症和预后,具有重要的临床意义。目的探究RIPostC治疗对AIS超时间窗患者干预的影响,为超时间窗就诊的AIS患者寻求安全、有效的脑血流恢复治疗方式。方法本研究采用随机、分组、安慰剂对照法进行试验。选取2021-09-02—2022-08-31于北京航天总医院神经内科病房住院治疗的超溶栓时间窗(发病时间>6 h)的AIS患者为研究对象。依据随机数字表法将患者分为对照组和试验组。试验期+随访期共90 d,均使用同等的一般治疗、脑血管病常规治疗,试验组在此基础上给予RIPostC治疗14 d(28次),对照组给予模拟的RIPostC治疗14 d(28次)。在干预前和干预后30 d、干预后90 d,采用改良Rankin量表(mRS)、美国国立卫生研究院卒中量表(NIHSS)评估两组患者神经功能,简易精神状态检查量表(MMSE)、蒙特利尔认知评估量表(MoCA)评估患者认知功能,工具性日常生活能力量表(IADL)评估日常生活能力,焦虑自评量表(SAS)、抑郁自评量表(SDS)评估精神状态,经颅多普勒超声(TCD)评估脑血流速度,以白介素(IL)-6反映炎症情况。结果122例患者中,最终完成试验及随访99例,其中试验组49例,对照组50例。两组患者性别、年龄、基础疾病(高血压、糖尿病、冠心病)及基线NIHSS评分比较,差异无统计学意义(P>0.05)。重复测量方差分析结果示,时间与组别对MMSE、MoCA、mRS、NIHSS、脑血流速度、IL-6存在交互作用(P<0.05),时间和组别对MMSE、MoCA、NIHSS、脑血流速度、IL-6主效应显著(P<0.05),时间对mRS、SAS、SDS、IADL主效应显著(P<0.05)。试验组干预后30、90 d MMSE、MoCA评分及脑血流速度均高于对照组,mRS、NIHSS评分均低于对照组(P<0.05);试验组干预后30、90 d SDS、IADL评分低于对照组(P<0.05);试验组干预后30 d SAS评分高于对照组,IL-6低于对照组(P<0.05)。99例患者中共有23例患者发生不良反应,其中试验组17例,对照组6例,两组皮肤瘀点、头晕、心慌、胸闷发生率比较,差异无统计学意义(P>0.05);对照组患者皮肤瘀斑发生率[4.00%(2/50)与12.24%(6/49)]、总不良反应发生率[12.00%(6/50)与34.69%(17/49)]低于试验组(P<0.05)。结论RIPostC治疗可降低AIS患者的炎症反应,对神经功能、认知功能抑郁情绪及颅内血流速度可起到积极的改善效果。

基于动力性模糊控制拖拉机遥控换挡设计研究

为实现拖拉机遥控换挡,基于动力性模糊控制换挡设计了电控液压换挡系统,并在AMEsim中搭建仿真模型。根据发动机的调速特性,以油门开度、当前的车速和挡位为输入参数建立动力性换挡模型,并根据驾驶员意图和拖拉机状态建立二级模糊控制器对动力性换挡策略进行修正。同时,设置工况,在MatLab/Simulink中建立拖拉机传动系统模型,利用AMEsim-Simulink进行联合仿真,得到液压缸活塞杆位移曲线,对可行性进行了验证。对比传统换挡与动力性模糊控制换挡,以离合器冲击度、滑摩功等为控制目标进行仿真分析。结果表明:与传统换挡系统相比所设计的系统控制效果较优,满足拖拉机动力性适应性要求。

花卉大棚喷药机器人远程控制系统设计——基于互联网

针对花卉薄膜大棚传统人工施药效率低、喷洒不均匀且漂浮药物对人体健康造成伤害等问题,设计了一种可实现远程手机控制的悬挂式喷药机器人系统。首先,根据花卉的生长特点和大棚空间结构,在不改变现有大棚结构的前提下,通过增设导轨的方式引入喷药机器人,并依据花卉精准施药的基本要求,在SolidWorks中建模并优化喷药机器人的机械结构;其次,以MCU esp8266模块作为核心控制单元,对继电器、电机、电磁阀和药液泵等硬件进行控制,采用PWM方式调节继电器的导通时间,进而实现喷药机器人根据不同行进速度作业;最后,通过WiFi无线通信模块结合物联网平台设计远程控制APP端,实现喷药机器人启停和环境数据采集等功能。系统测试表明:在无遮挡和有遮挡物环境中,数据传输的成功率分别约为98%和93%,丢包率分别约为1.98%和7%,且喷药机器人在不同的速度下运行稳定。测试结果能够为喷药机器人在大棚内行走稳定性和对花卉自动施药提供技术参考。

Remote Control of Unitary Air Conditioner Based on Manufacturing Message Specification

Traditional air conditioner used to be in local control mode. However, with the development of modern information technology, the control of air conditioner will have to support many more functions. As a first step in such a development, we have implemented a remote monitoring system of unitary air conditioners, using the manufacturing message specification (MMS). MMS is an OSI application protocol designed for the remote control and monitoring of real devices. The functions supported are those that an operator would do normally at the console of the unitary air conditioner. Due to the accomplishment of UMCS (Unitary air conditioner MMS Control System), there will be a leap of the application of MMS and the control technology of unitary air conditioner.

基于LabVIEW^(TM)7 Express的Remote Panels技术在化工虚拟仪器中的应用

构建了基于LabVIEWTM7 Express的燃烧热测定的化工虚拟仪器系统,用LabVIEW的Remote Panels技术的三种不同B/S方式均实现了远程测试,文中报道了将网页浏览器中操作Remote Panels方法具体应用于实例中,实现了远程实时监控及分析处理现场测试数据,结果良好。

猴痘临床特征的早期识别及其对疫情防控的意义

近日,猴痘病毒(MPXV)新出现的亚分支Ⅰb引发了新一轮猴痘(Mpox)疫情。2024-08-14,Mpox再次被WHO列为国际关注的突发公共卫生事件(PHEIC)。Mpox病例的早发现、早诊断是阻断其在医院内传播的关键。本文将从Mpox的病原学特征、流行病学特征、临床特征、诊断标准、防控措施等方面进行综述,以期为Mpox的早期识别和科学防控提供参考。

肥胖与普通男性跨越不同高度障碍动态稳定性的差异

背景:肥胖对步行时的动态平衡产生负面影响,而跨越障碍是较为日常的功能活动,对控制身体姿势的稳定性要求更高。目的:探讨肥胖男性与普通男性动态稳定性的差异,采用相对更具挑战性的跨越障碍对肥胖男性的平衡能力进行评估。方法:招募24名男性青年,肥胖组与普通组(非肥胖组)各12名,分别以随机顺序完成平地行走和不同高度(4,11,15 cm)障碍物的跨越测试。使用Qualisys运动捕捉系统与Kistler测力台采集运动学与动力学数据。采用双因素(2组别*4动作类型)重复测量方差分析,对各指标进行统计分析。结果与结论:①肥胖组比普通组步速更低(P<0.05),跨越11 cm与15 cm障碍时第一单支撑期占比减小,第二双支撑期占比增加(P<0.05);②在平地行走时,普通组的内外方向动态稳度大于肥胖组(P<0.05);③在跨越4 cm障碍时,肥胖组前后方向动态稳度低于普通组(P<0.05);④在跨越11 cm障碍时,两组前后方向动态稳度无显著性差异(P>0.05),而内外方向差异有显著性意义(P<0.05);⑤在跨越15 cm障碍时,肥胖组动态稳度低于普通组(P<0.05);⑥提示肥胖使人体在跨越障碍过程中对身体的控制能力下降,动态稳定性降低,发生跌倒的风险较普通人群更高;此外,相较于平地行走,跨越障碍时肥胖组稳定性下降较普通人群更为显著。

基于LoRa的果园管道自动顺序喷雾系统研究

我国南方果园多处于山地,大型喷雾器械无法进入,为实现山地果园自动顺序喷药,设计了一种基于LoRa无线通信技术的管道自动顺序喷雾系统。系统以Stm32单片机为核心,在管网上部署了6个电磁阀控制节点,采用LoRa无线收发模块进行节点之间的通信,设计程序控制6个电磁阀依次按顺序打开,并可以通过手机APP远程开启系统。试验结果表明:当节点之间距离为250 m时,数据接收率为95%;系统通信距离远,数据接收率高,具有较高的可靠性,适合于山地果园中使用。

A remote control training system for rat navigation in complicated environment

A remote control system has been developed to deliver stimuli into the rat brain through a wireless micro-stimulator for animal behavior training. The system consists of the following main components： an integrated PC control program, a transmitter and a receiver based on Bluetooth （BT） modules, a stimulator controlled by C8051 microprocessor, as well as an operant chamber and an eight-arm radial maze. The micro-stimulator is featured with its changeable amplitude of pulse output for both constant-voltage and constant-current mode, which provides an easy way to set the proper suitable stimulation intensity for different training. The system has been used in behavior experiments for monitoring and recording bar-pressing in the operant chamber, controlling rat roaming in the eight-arm maze, as well as navigating rats through a 3D obstacle route. The results indicated that the system worked stably and that the stimulation was effective for different types of rat behavior controls. In addition, the results showed that stimulation in the whisker barrel region of rat primary somatosensory cortex （SI） acted like a cue. The animals can be trained to take different desired turns upon the association between the SI cue stimulation and the reward stimulation in the medial forehrain bundle （MFB）.

Error analysis for remote nonlinear iterative learning control system with wireless channel noise

In this paper, the iterative learning control problem is considered for a class of remote control system over wireless network communication channel. The control performance of remote iterative learning control （R-ILC） system is analyzed and an error boundary of the stable output of the R-ILC system is obtained for the boundary stochastic noise channel. Finally, we obtain some rules to reduce the fluctuation caused by wireless channel noise through the analysis results for fluctuation boundary. The simulation results prove the proposed rule is correct.

用Remote Panels实现远程故障诊断

介绍了Remote Panels的应用原理,并详细描述了该技术和LabVIEW图形编程语言开发的故障诊断实例。故障现场的计算机实现远程控制面板功能,而远程用户可以通过局域网或广域网登录到故障现场的计算机,控制这台计算机进行故障特征值的提取,并能够将采集到的数据通过网络传到其它用户做进一步的分析处理。

物探技术在特长隧道工程勘察中的应用

特长隧道常常穿过复杂地质环境,采用传统钻探法进行勘察时难以获得全面的地质信息,应用物探技术加以补充能够更好地指导后续工程建设。介绍了可控源音频大地电磁法(CSAMT)的基本原理及标量测量法的使用步骤,结合工程实例,论述了该方法的实际应用过程。表明应用该方法可以降低隧道施工中可能遇到的风险,更好地保障工程安全。

Modelling and Remote Control of an Excavator

This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for our next research step. In addition, extensive simulation results for trajectory tracking of the excavator base and robust control of the excavator arm are given. Finally, conclusions and further work have been identified.

Controlled remote preparation of an arbitrary four-qubit cluster-type state

Two schemes are proposed to realize the controlled remote preparation of an arbitrary four-qubit cluster-type state via a partially entangled channel. We construct ingenious measurement bases at the sender’s and the controller’s locations, which play a decisive role in the proposed schemes. The success probabilities can reach 50% and 100%, respectively. Compared with the previous proposals, the success probabilities are independent of the coefficients of the entangled channel.

An operational satellite remote sensing system for ocean fishery

Ocean environmental information is very important to supporting the fishermen in fishing and satellite remote sensing technology can provide it in large scale and in near real-time. Ocean fishery locations are always far away beyond the coverage of the satellite data received by a land-based satellite receiving station. A nice idea is to install the satellite ground station on a fishing boat. When the boat moves to a fishery location, the station can receive the satellite data to cover the fishery areas. One satellite remote sensing system was once installed in a fishing boat and served fishing in the North Pacific fishery areas when the boat stayed there. The system can provide some oceanic environmental charts such as sea surface temperature (SST) and relevant derived products which are in most popular use in fishery industry. The accuracy of SST is the most important and affects the performance of the operational system, which is found to be dissatisfactory. Many factors affect the accuracy of SST and it is difficult to increase the accuracy by SST retrieval algorithms and clouds detection technology. A new technology of temperature error control is developed to detect the abnormity of satellite-measured SST. The performance of the technology is evaluated to change the temperature bias from -3.04 to 0.05 ℃ and the root mean square (RMS) from 5.71 to 1.75℃. It is suitable for employing in an operational satellite-measured SST system and improves the performance of the system in fishery applications. The system has been running for 3 a and proved to be very useful in fishing. It can help to locate the candidates of the fishery areas and monitor the typhoon which is very dangerous to the safety of fishing boats.

Retrieval algorithm of quantitative analysis of passive Fourier transform infrared (FTRD) remote sensing measurements of chemical gas cloud from measuring the transmissivity by passive remote Fourier transform infrared

Passive Fourier transform infrared （FTIR） remote sensing measurement of chemical gas cloud is a vital technology. It takes an important part in many fields for the detection of released gases. The principle of concentration measurement is based on the Beer-Lambert law. Unlike the active measurement, for the passive remote sensing, in most cases, the difference between the temperature of the gas cloud and the brightness temperature of the background is usually a few kelvins. The gas cloud emission is almost equal to the background emission, thereby the emission of the gas cloud cannot be ignored. The concentration retrieval algorithm is quite different from the active measurement. In this paper, the concentration retrieval algorithm for the passive FTIR remote measurement of gas cloud is presented in detail, which involves radiative transfer model, radiometric calibration, absorption coefficient calculation, et al. The background spectrum has a broad feature, which is a slowly varying function of frequency. In this paper, the background spectrum is fitted with a polynomial by using the Levenberg-Marquardt method which is a kind of nonlinear least squares fitting algorithm. No background spectra are required. Thus, this method allows mobile, real-time and fast measurements of gas clouds.

Efficient remote preparation of arbitrary twoand three-qubit states via the χ state

The application of χ state are investigated in remote state preparation （RSP）. By constructing useful measurement bases with the aid of Hurwitz matrix equation, we propose several RSP schemes of arbitrary two- and three-qubit states via the χ state as the entangled resource. It is shown that the original state can be successfully prepared with the probability 100% and 50% for real coefficients and complex coefficients, respectively. For the latter case, the special ensembles with unit success probability are discussed by the permutation group. It is worth mentioning that the novel measurement bases have no restrictions on the coefficients of the prepared state, which means that the proposed schemes are more applicable.