Robot-Oriented 6G Satellite-UAV Networks: Requirements, Paradigm Shifts, and Case Studies

Networked robots can perceive their surroundings, interact with each other or humans,and make decisions to accomplish specified tasks in remote/hazardous/complex environments. Satelliteunmanned aerial vehicle(UAV) networks can support such robots by providing on-demand communication services. However, under traditional open-loop communication paradigm, the network resources are usually divided into user-wise mostly-independent links,via ignoring the task-level dependency of robot collaboration. Thus, it is imperative to develop a new communication paradigm, taking into account the highlevel content and values behind, to facilitate multirobot operation. Inspired by Wiener’s Cybernetics theory, this article explores a closed-loop communication paradigm for the robot-oriented satellite-UAV network. This paradigm turns to handle group-wise structured links, so as to allocate resources in a taskoriented manner. It could also exploit the mobility of robots to liberate the network from full coverage,enabling new orchestration between network serving and positive mobility control of robots. Moreover,the integration of sensing, communications, computing and control would enlarge the benefit of this new paradigm. We present a case study for joint mobile edge computing(MEC) offloading and mobility control of robots, and finally outline potential challenges and open issues.

Estimation-free spatial-domain image reconstruction of structured illumination microscopy

Structured illumination microscopy(SIM)achieves super-resolution(SR)by modulating the high-frequency information of the sample into the passband of the optical system and subsequent image reconstruction.The traditional Wiener-filtering-based reconstruction algorithm operates in the Fourier domain,it requires prior knowledge of the sinusoidal illumination patterns which makes the time-consuming procedure of parameter estimation to raw datasets necessary,besides,the parameter estimation is sensitive to noise or aberration-induced pattern distortion which leads to reconstruction artifacts.Here,we propose a spatial-domain image reconstruction method that does not require parameter estimation but calculates patterns from raw datasets,and a reconstructed image can be obtained just by calculating the spatial covariance of differential calculated patterns and differential filtered datasets(the notch filtering operation is performed to the raw datasets for attenuating and compensating the optical transfer function(OTF)).Experiments on reconstructing raw datasets including nonbiological,biological,and simulated samples demonstrate that our method has SR capability,high reconstruction speed,and high robustness to aberration and noise.

Generation of structured light beams with polarization variation along arbitrary spatial trajectories using tri-layer metasurfaces

Conventionally,the spatially structured light beams produced by metasurfaces primarily highlight the polarization modulation of the beams propagating along the optical axis or the beams'spatial transmission trajectory.In particular,along the optical axis,the polarization state is either constant or varies continuously in each output plane.Here,we develop innovative spatially structured light beams with continually changing polarization along any arbitrary spatial transmission trajectories.With tri-layer metallic metasurfaces,the geometric characteristics of each layer structure can be adjusted to modulate the phase and polarization state of the incident terahertz(THz)wave.The beam will converge to the predefined trajectory along several paths to generate a Bessel-like beam with longitudinal polarization changes.We demonstrate the versatility of the approach by designing two THz-band structured light beams with varying polarization states along the spatial helical transmission trajectory.Continuous linear polarization changes and linear polarization to right circular polarization(RCP)and back to linear polarization changes are realized respectively.The experimental results are basically consistent with the simulated results.Our proposal for arbitrary trajectory structured light beams with longitudinally varying polarization offers a practical method for continuously regulating the characteristics of spatial structured light beams with non-axial transmission.This technique has potential uses in optical encryption,particle manipulation,and biomedical imaging.

Algorithms and statistical analysis for linear structured weighted total least squares problem

Weighted total least squares(WTLS)have been regarded as the standard tool for the errors-in-variables(EIV)model in which all the elements in the observation vector and the coefficient matrix are contaminated with random errors.However,in many geodetic applications,some elements are error-free and some random observations appear repeatedly in different positions in the augmented coefficient matrix.It is called the linear structured EIV(LSEIV)model.Two kinds of methods are proposed for the LSEIV model from functional and stochastic modifications.On the one hand,the functional part of the LSEIV model is modified into the errors-in-observations(EIO)model.On the other hand,the stochastic model is modified by applying the Moore-Penrose inverse of the cofactor matrix.The algorithms are derived through the Lagrange multipliers method and linear approximation.The estimation principles and iterative formula of the parameters are proven to be consistent.The first-order approximate variance-covariance matrix(VCM)of the parameters is also derived.A numerical example is given to compare the performances of our proposed three algorithms with the STLS approach.Afterwards,the least squares(LS),total least squares(TLS)and linear structured weighted total least squares(LSWTLS)solutions are compared and the accuracy evaluation formula is proven to be feasible and effective.Finally,the LSWTLS is applied to the field of deformation analysis,which yields a better result than the traditional LS and TLS estimations.

3D printing of poly(ethyleneimine)-functionalized Mg-Al mixed metal oxide monoliths for direct air capture of CO_(2)

Direct air capture(DAC)of CO_(2)plays an indispensable role in achieving carbon-neutral goals as one of the key negative emission technologies.Since large air flows are required to capture the ultradilute CO_(2)from the air,lab-synthesized adsorbents in powder form may cause unacceptable gas pressure drops and poor heat and mass transfer efficiencies.A structured adsorbent is essential for the implementation of gas-solid contactors for cost-and energy-efficient DAC systems.In this study,efficient adsorbent poly(ethyleneimine)(PEI)-functionalized Mg-Al-CO_(3)layered double hydroxide(LDH)-derived mixed metal oxides(MMOs)are three-dimensional(3D)printed into monoliths for the first time with more than 90%adsorbent loadings.The printing process has been optimized by initially printing the LDH powder into monoliths followed by calcination into MMO monoliths.This structure exhibits a 32.7%higher specific surface area and a 46.1%higher pore volume,as compared to the direct printing of the MMO powder into a monolith.After impregnation of PEI,the monolith demonstrates a large adsorption capacity(1.82 mmol/g)and fast kinetics(0.7 mmol/g/h)using a CO_(2)feed gas at 400 ppm at 25℃,one of the highest values among the shaped DAC adsorbents.Smearing of the amino-polymers during the post-printing process affects the diffusion of CO_(2),resulting in slower adsorption kinetics of pre-impregnation monoliths compared to post-impregnation monoliths.The optimal PEI/MeOH ratio for the post-impregnation solution prevents pores clogging that would affect both adsorption capacity and kinetics.

What aspects do we overlook in the rehabilitation of patients with inflammatory bowel disease?

In this editorial,we comment on the article by Stafie et al.Inflammatory bowel disease(IBD)constitutes a cluster of chronic and progressive inflammatory disorders affecting the digestive system.IBD can impede an individual’s capacity to perform daily activities,hinder work productivity,limit physical capabilities,and negatively impact medical outcomes.Although physical activity and structured exercise programs are becoming increasingly important in many chronic inflammatory diseases,they are not being sufficiently implemented in IBD patients.Effective prevention of future disability and drug dependence in IBD patients requires timely diagnosis and treatment of musculoskeletal problems,including sarcopenia,as well as decreased muscle strength,aerobic capacity,and bone mineral density.To improve treatment outcomes for IBD patients,it is crucial to develop individualized rehabilitation programs tailored to their unique needs.Equally critical is the active participation of pertinent departments in this process.It is imperative to highlight the significance of creating a personalized rehabilitation program with a multidisciplinary approach in IBD management.

Evolutionary game dynamics of combining two different aspiration-driven update rules in structured populations

In evolutionary games,most studies on finite populations have focused on a single updating mechanism.However,given the differences in individual cognition,individuals may change their strategies according to different updating mechanisms.For this reason,we consider two different aspiration-driven updating mechanisms in structured populations:satisfied-stay unsatisfied shift(SSUS)and satisfied-cooperate unsatisfied defect(SCUD).To simulate the game player’s learning process,this paper improves the particle swarm optimization algorithm,which will be used to simulate the game player’s strategy selection,i.e.,population particle swarm optimization(PPSO)algorithms.We find that in the prisoner’s dilemma,the conditions that SSUS facilitates the evolution of cooperation do not enable cooperation to emerge.In contrast,SCUD conditions that promote the evolution of cooperation enable cooperation to emerge.In addition,the invasion of SCUD individuals helps promote cooperation among SSUS individuals.Simulated by the PPSO algorithm,the theoretical approximation results are found to be consistent with the trend of change in the simulation results.

Design,preparation,application of advanced array structured materials and their action mechanism analyses for high performance lithium-sulfur batteries

Lithium-sulfur battery(LSB)has brought much attention and concern because of high theoretical specific capacity and energy density as one of main competitors for next-generation energy storage systems.The widely commercial application and development of LSB is mainly hindered by serious“shuttle effect”of lithium polysulfides(Li PSs),slow reaction kinetics,notorious lithium dendrites,etc.In various structures of LSB materials,array structured materials,possessing the composition of ordered micro units with the same or similar characteristics of each unit,present excellent application potential for various secondary cells due to some merits such as immobilization of active substances,high specific surface area,appropriate pore sizes,easy modification of functional material surface,accommodated huge volume change,enough facilitated transportation for electrons/lithium ions,and special functional groups strongly adsorbing Li PSs.Thus many novel array structured materials are applied to battery for tackling thorny problems mentioned above.In this review,recent progresses and developments on array structured materials applied in LSBs including preparation ways,collaborative structural designs based on array structures,and action mechanism analyses in improving electrochemical performance and safety are summarized.Meanwhile,we also have detailed discussion for array structured materials in LSBs and constructed the structure-function relationships between array structured materials and battery performances.Lastly,some directions and prospects about preparation ways,functional modifications,and practical applications of array structured materials in LSBs are generalized.We hope the review can attract more researchers'attention and bring more studying on array structured materials for other secondary batteries including LSB.

Structured Multi-Head Attention Stock Index Prediction Method Based Adaptive Public Opinion Sentiment Vector

The present study examines the impact of short-term public opinion sentiment on the secondary market,with a focus on the potential for such sentiment to cause dramatic stock price fluctuations and increase investment risk.The quantification of investment sentiment indicators and the persistent analysis of their impact has been a complex and significant area of research.In this paper,a structured multi-head attention stock index prediction method based adaptive public opinion sentiment vector is proposed.The proposedmethod utilizes an innovative approach to transform numerous investor comments on social platforms over time into public opinion sentiment vectors expressing complex sentiments.It then analyzes the continuous impact of these vectors on the market through the use of aggregating techniques and public opinion data via a structured multi-head attention mechanism.The experimental results demonstrate that the public opinion sentiment vector can provide more comprehensive feedback on market sentiment than traditional sentiment polarity analysis.Furthermore,the multi-head attention mechanism is shown to improve prediction accuracy through attention convergence on each type of input information separately.Themean absolute percentage error(MAPE)of the proposedmethod is 0.463%,a reduction of 0.294% compared to the benchmark attention algorithm.Additionally,the market backtesting results indicate that the return was 24.560%,an improvement of 8.202% compared to the benchmark algorithm.These results suggest that themarket trading strategy based on thismethod has the potential to improve trading profits.

Need for education of psychiatric evaluation of offenders with mental disorders:A questionnaire survey for Japanese designated psychiatrists

BACKGROUND The management of offenders with mental disorders has been a significant concern in forensic psychiatry.In Japan,the introduction of the Medical Treatment and Supervision Act in 2005 addressed the issue.However,numerous psychiatric patients at risk of violence still find themselves subject to the administrative involuntary hospitalization(AIH)scheme,which lacks clarity and updated standards.AIM To explore current as well as optimized learning strategies for risk assessment in AIH decision making.METHODS We conducted a questionnaire survey among designated psychiatrists to explore their experiences and expectations regarding training methods for psychiatric assessments of offenders with mental disorders.RESULTS The findings of this study’s survey suggest a prevalent reliance on traditional learning approaches such as oral education and on-the-job training.CONCLUSION This underscores the pressing need for structured training protocols in AIH consultations.Moreover,feedback derived from inpatient treatment experiences is identified as a crucial element for enhancing risk assessment skills.

Effectiveness of structured teaching program on knowledge and attitude toward foot care

Objective:The study was aimed to assess the knowledge and attitude toward foot care and evaluate the effectiveness of structured teaching program(STP)on the knowledge and attitude of patients with diabetes mellitus regarding foot care.Materials and Methods:A preexperimental research design was used in this study,which was conducted in medical-surgical wards of a secondary hospital in Northeast India,Nagaland.A total of 30 subjects were recruited by consecutive sampling technique.A closed-ended structured questionnaire and 5-point Likert scale was used to assess knowledge and attitude toward foot care.A STP was administered after which posttest was done after 24 h.Results:The majority(86.6%)of the participants in the pretest had inadequate knowledge and 80%had negative attitudes toward foot care.After STP,70%had moderately adequate knowledge and 53.3%had a positive attitude regarding foot care.The structured teaching program was effective in improving the knowledge and attitude at P<0.01 which is highly significant and there was a significant association between the pretest level knowledge and duration of diabetes at P<0.01.Conclusion:STP was effective in enhancing the level of knowledge and attitude toward foot care among diabetic inpatients.This type of interaction can be organized at regular intervals to reinforce knowledge and attitude toward foot care among inpatients.

Systematic Review of Community Type 2 Diabetes Structured Health Education (CT2DSHE)

Aim: This paper aims to evaluate disparities of type 2 diabetes structured health education programmes that is utilised within the communities. Design: systematic review, (a type of secondary research design) aiming to summarize the results of prior primary research studies on available evidence Community type 2 diabetes structured education (CT2DSHE). Methods: Research question: Type 2 diabetic structured health education within a community how effective is it? Qualitative Systematic review, defined as a way to get reliable and objective picture of current available evidence on the specific topic—(CT2DSHE), (Denscombe, 2021) through reflexivity synthesis of available data as an example. This is valuable in time constraints such as project assignments that must be met within specific time and also to bring together available evidence together [1]. Results: This review has shown that CT2DSHE is effective with seven out of the eleven authors supporting, three authors against and one was neutral, further showed that knowledge and skills acquired can last longer with patient activation improved among T2DM patients ideal for sustaining their self-management of T2DM. Conclusion: This research provides suggestive answers to the research question: “Type 2 diabetic structured health education within a community how effective is it?”, This has demonstrated CT2DSHE effectiveness in knowledge acquisition and improving T2DM awareness among T2DM patients, whilst evidencing long effects beyond the study times of 3 - 9 months period in relation to patient activation. Also Identified diabetes education self-management on newly diagnosed (DESMOND) patient as CT2DSHE program for recommendation. Patient or Public Contribution: This work aspires to contribute to CT2DSHE in these areas;Influencing policy decision-making for community diabetes care within the UK and world at large., Contributing to already vast knowledge on diabetes self-management and reasons why?, Influencing educators on how CT2DSHEP are designed, delivered by putting the patient at the Centre and bringing different perspectives on CT2DSHEP in one place that is serving users time of having to consult several resources especially busy clinicians [2] [3].

Application of Structured Health Education and Combined 5A Nursing Model in Self-control of Vulnerable Chronic Diseases: Take Coronary Heart Disease as an Example

Objective:To explore the intervention effect of the Structured Health Education course and 5A nursing model for self-control of elderly patients with coronary heart disease.Methods:Using the random sampling method,124 elderly CAD patients admitted to the First Affiliated Hospital of Bengbu Medical University were randomly divided into an experimental group and a control group.The control group line routine health education,experimental group take structured health education combined with 5A nursing before and after the intervention using a coronary heart disease assessment questionnaire,coronary heart disease self-control scale evaluation of two groups of intervention,compare two groups before and after intervention blood pressure,blood sugar,body mass index,lipid index level and complications within 8 months after discharge.Results:After the course intervention,the disease cognition and self-behavior of the experimental group were higher than that of the control group,and the differences were statistically significant(all P<0.1).Conclusion:This course is suitable for elderly patients with coronary heart disease.The 5A model improves the cognitive and management ability of elderly patients to a certain extent,which is worthy of clinical application.

Numerical Simulation of Super-Resolution Structured Illumination Microscopy (SIM) Using Heintzmann-Cremer Algorithm with Non-Continuous Spatial Frequency Support

We report a comprehensive numerical study of super resolution (SR) structured illumination microscopy (SIM) utilizing the classic Heintzmann-Cremer SIM process and algorithm. In particular, we investigated the impact of the diffraction limit of the underlying imaging system on the optimal SIM grating frequency that can be used to obtain the highest SR enhancement with non-continuous spatial frequency support. Besides confirming the previous theoretical and experimental work that SR-SIM can achieve an enhancement close to 3 times the diffraction limit with grating pattern illuminations, we also observe and report a series of more subtle effects of SR-SIM with non-continuous spatial frequency support. Our simulations show that when the SIM grating frequency exceeds twice that of the diffraction limit, the higher SIM grating frequency can help achieve a higher SR enhancement for the underlying imaging systems whose diffraction limit is low, though this enhancement is obtained at the cost of losing resolution at some lower resolution targets. Our simulations also show that, for underlying imaging systems with high diffraction limits, however, SR-SIM grating frequencies above twice the diffraction limits tend to bring no significant extra enhancement. Furthermore, we observed that there exists a limit grating frequency above which the SR enhancement effect is lost, and the reconstructed images essentially have the same resolution as the one obtained directly from the underlying imaging system without using the SIM process.

Analysis of the Application Effect of Structured Healthcare Education in Brittle Diabetic Patients

Objective:To explore the application effect of structured healthcare education in patients with brittle diabetes mellitus.Methods:188 brittle diabetic patients admitted to our hospital from May 2021 to December 2023 were selected as the study subjects,and were divided into the control group(n=94)and the observation group(n=94)according to the random number table method.The control group used conventional nursing intervention and the observation group used structured healthcare education.The general information,glycemic indexes,self-efficacy,compliance,and nursing satisfaction of patients in the two groups were observed.Results:There was no statistical significance in the basic information of the two groups of patients(P>0.05);after the intervention,the fasting plasma glucose,2-hour postprandial blood glucose,and HbA1c of the patients in the observation group were lower than those of the control group(P<0.001);after the intervention,the self-efficacy scores of the patients in the two groups increased,and the scores of the observation group were significantly higher than those of the control group(P<0.001);the total adherence rate of the patients in the observation group(90/95.75%)was significantly higher than that of the control group(80/90.10%)(χ^(2)=6.144,P<0.05);and the total satisfaction rate of patients in the observation group(92/97.87%)was significantly higher than that of the control group(78/82.98%)(χ^(2)=12.042,P<0.05).Conclusion:In patients with brittle diabetes mellitus,structured healthcare education can effectively control patients’blood glucose levels,improve patients’self-efficacy and adherence,and enhance patient satisfaction.

Application Strategies of Modular Design in Assembled Teaching Buildings

As an efficient,environmentally friendly,energy-saving construction method,assembled buildings are now widely used in campus building construction.Modular design thinking is system-based design thinking,and its application to the design of an assembled teaching building project will comprehensively improve the rationality of the teaching building and component design.The paper focuses on the application of modular design thinking in assembled teaching building design,aiming to provide references for China’s architectural design units,giving full play to the advantages of modular design thinking in future teaching building design projects,and enhancing the level of design,for the construction of the teaching building and the basis of the technical guarantee.

Research on the Application of the OSCE Model in Vocational Nursing Comprehensive Practical Training

The objective of this study is to examine the application effect of the Objective Structured Clinical Examination(OSCE)model in the comprehensive practical training course for higher vocational nursing.Based on the evaluation dimensions of core nursing competencies,the OSCE framework was constructed with the clinical nursing work process as the main focus and supported by a nursing case database.A questionnaire survey revealed that over 80%of students in the experimental group were satisfied with the application of OSCE in the nursing comprehensive practical training course,and more than 90%believed that OSCE assessment enhanced their theoretical knowledge and practical skills.The OSCE was also considered helpful in transforming learned knowledge and skills into professional competencies.

地球化学样品分析质量控制系统设计与实现

为提高地球化学样品分析质量控制的效率、准确度及精确度,采用VB(visual basic)+ASP(active server page)+SQL(structured query language)的集成开发模式,开发了具有友好人机接口,能为样品分析单位和质量管理部门提供质量控制和管理的地球化学样品分析质量控制系统。系统包括WEB服务管理子系统(客户端)、样品管理控制主系统(管理端)和网络数据库服务(服务器端)三个子系统。系统不仅可以同时管理多个批次样品的数据,也可以自动实现样品编码、内检样按指定比例随机生成、地调局监控样和国家标准样插入、内检合格率和报出率计算、标准样质量实时监控图绘制以及对送样单和分析结果等进行自动导入和导出,还可以根据用户的需要输出美观的分析报表。

A New Approach for Aeroelastic Robust Stability Analysis

Air vehicles undergo variations in structural mass and stiffness because of fuel consumption and the failure of structural components, which might lead to serious influences on the aeroelastic characteristics. An approach for aeroelastic robust stability analysis taking into account the perturbations of structural mass and stiffness is developed. Applying the perturbation method and harmonic unsteady aerodynamic forces, the frequency-domain linear fractal transformation （LFT） representation of perturbed aeroelastic system is modeled. Then, the robust stability is analyzed by using the structured singular value ,u-method. The numerical results of a bi-spar wing show its effectiveness and low computational time in dealing with the robust problems with mass and stiffness perturbations. In engineering analysis for solving aeroelastic problems, the robust approach can be applied to flutter analysis for airplane with the fuel load variation and taking the damage conditions into consideration.

基于线性函数型权重的RBF-ARX模型的磁悬浮球系统预测控制

为了充分描述磁悬浮球系统具有非线性、开环不稳定性及响应快速性等特性,建立一个带线性函数权重的RBF-ARX(linear functional weight RBF networks-based ARX model,LFWRBF-ARX)模型。与一般的RBF-ARX模型不同之处在于,它引入1个与工作点状态相关的局部线性结构作为RBF网络输出层的权值。该模型随系统工作点的变化而变化,固定工作点时为局部线性ARX模型,当工作点变化时为全局非线性ARX模型。根据该模型的结构特点,采用结构化非线性参数优化方法(structured nonlinear parameter optimization method,SNPOM)来辨识模型的结构及线性、非线性参数。然后,以辨识的模型为基础,根据模型的局部线性及全局非线性特征设计预测控制器。仿真结果表明:以该建模方法建立的模型能很好地局部和全局描述磁悬浮球系统的动态特性,并能实现小球的稳定悬浮控制,比以一般ARX模型、RBF-ARX模型为基础的控制效果更好。