Droplet-based microfluidics have drawn much attention in recent years and have been successfully applied in biochemical analysis,material synthesis,and biomedical engineering.Precise and flexible manipulations of drop...Droplet-based microfluidics have drawn much attention in recent years and have been successfully applied in biochemical analysis,material synthesis,and biomedical engineering.Precise and flexible manipulations of droplets are the basis of various applications.Numerous techniques have been introduced to achieve on-demand control of droplets,including electric,magnetic,acoustic,optical,and thermal methods.Among these,the combination of acoustics and microfluidics(termed acoustofluidics)has shown great potential and advantages in droplet manipulation as it is non-invasive,high-precision,low-cost,easily integrated,and biocompatible.Here,we summarize recent works on acoustofluidic manipulations of droplet-based microfluidics.This paper is structured into three main sections.First,the commonly used acoustic devices in acoustofluidics and their working principles are introduced.Such acoustic devices include interdigital transducers,Lamb wave resonators,and bulk acoustic resonators,and generate acoustic waves with frequencies ranging from kilohertz to gigahertz.Second,the forces and effects involved in droplet manipulations using acoustofluidics are analyzed.Third,the manipulation processes of droplet microfluidics using various acoustofluidic techniques are summarized and compared with other methods,including droplet generation,mixing,splitting,fusion,sorting,transportation,and internal particle patterning.Finally,current challenges and future prospects for acoustofluidic manipulation techniques for droplet-based microfluidics are discussed.展开更多
Dual-arm robots operating in dynamic,human-centered environments must be reactive,dexterous,and safe while intelligently coordinating both arms to perform task-space-constrained manipulations.To address this challenge...Dual-arm robots operating in dynamic,human-centered environments must be reactive,dexterous,and safe while intelligently coordinating both arms to perform task-space-constrained manipulations.To address this challenge,we propose a general framework comprising three interrelated modules for dual-arm robots,which integrates tightly coupled coordinated bimanual manipulation with reactive collision-free motion:i)The multiple task-priority joint control module achieves tightly coupled bimanual coordination by taking advantage of the cooperative dual task space,including the fixed relative pose of the dual-arm end-effectors,the flexible absolute pose control of the end-effectors,and satisfying joint limits.ii)The nominal trajectory module,based on the vector field that combines the target attraction force and the manipulability force,dynamically generates nominal reference trajectory for the end-effectors.ii)The safety filter module,based on control barrier function,locally reshapes the nominal reference trajectory in real time to generate collision-free reference trajectory.Various planning methods are thoroughly validated in cluttered and dynamic simulation scenarios.The proposed method is able to reliably accomplish constrained tasks while existing solutions perform poorly.In real-world experiments,a 14-degree-of-freedom dual-arm robot transports multiple cups by grasping a tray in an environment with random disturbances.Experimental results demonstrate that the robot prevents the cups from sliding off by adaptively adjusting the tray's tilt angle.Simultaneously,bimanual reactive motion enables the robot to successfully avoid dynamic obstacles while maintaining task execution.展开更多
The safe driving and operation of trains is a necessary condition for ensuring the safe operation of trains.In particular,heavy-haul trains are characterized by the difficulty in driving and operation.Considering the ...The safe driving and operation of trains is a necessary condition for ensuring the safe operation of trains.In particular,heavy-haul trains are characterized by the difficulty in driving and operation.Considering the uncertainties in train driving and operation,this paper analyzes the relationship between the safety of heavy-haul electric locomotive hauled trains and driving and operation.It studies the auxiliary intelligent driving safety operation control methods.Through K-means to identify the characteristics of drivers'driving manipulation,the hidden Markov model adaptively adjusts the train driving and operation sequence,and conducts auxiliary driving reconstruction for heavy-haul locomotive driving and operation.Based on the train running curve and the locomotive traction/braking characteristics,it smoothly controls the exertion of the traction/braking force of heavy-haul locomotives,thereby optimizing the driving safety control of heavy-haul trains in the vehicle-environment-track system.Finally,the train operation simulation and optimized driving verification are carried out by simulating some track sections.The results show that the proposed method can correct and pre-optimize driving operations,improving the smoothness of heavy-haul trains by approximately 10%.It verifies the effectiveness of the proposed train assisted driving control reconstruction method,facilitating the smooth and safe operation of heavy-haul trains.展开更多
Accurate grasp detection is fundamental to successful robotic manipulation.Existing methods achieve reliable performance under good light conditions.However,their performance in low-light environments suffers from sev...Accurate grasp detection is fundamental to successful robotic manipulation.Existing methods achieve reliable performance under good light conditions.However,their performance in low-light environments suffers from severe degradation due to the diminishing discriminative ability of visual features.In this paper,a novel low-light aware hybrid network LAH-Net is proposed.It comprises an alternating transformer-CNN module(ATCM)between the encoder and decoder,and a knowledge distillation-guided low-light enhancement module(KDLEM)before the encoder,which is activated by an illumination gate under low-light conditions.To generate highly robust and synergistic features,the ATCM module facilitates the iterative exchange between the local representations from CNNs and the global contexts modeled by transformers.Additionally,a transformer-to-CNN adapter and a CNN-to-transformer adapter are designed for bidirectional feature alignment.Meanwhile,the KDLEM module employs a teacher-student framework where the simplified student network distills knowledge from the powerful teacher to enhance low-light adaptability and maintain computational efficiency.Moreover,we introduce a real-world low-light grasp detection dataset(RLGD)for algorithm evaluation,which contains over 70 objects captured under four distinct low-light conditions.Our method achieves 99.4%and 98.8%accuracy on the Cornell dataset and 96.05%accuracy on the Jacquard V2 dataset.It also attains an accuracy of 96.5%on the RLGD dataset and demonstrates strong generalization across various low-light intensity levels.The real-world experiments in low-light scenarios validate the effectiveness of the proposed method.展开更多
The erf beam is a type of“perfect self-similar beam”characterized by a scaling transverse profile and constant intensity during free-space propagation.We demonstrate its natural emergence in the second-order nonline...The erf beam is a type of“perfect self-similar beam”characterized by a scaling transverse profile and constant intensity during free-space propagation.We demonstrate its natural emergence in the second-order nonlinear process in domain engineering materials,where the phase discontinuity at the domain wall directly gives rise to an erf beam under Fresnel diffraction.More importantly,domain walls can be regarded as fundamental excitation units phenomenologically,enabling the construction of complex harmonic fields through the superposition of individual erf beams.This provides a foundational framework for analyzing harmonic fields from complex structures and a design strategy for domain engineering materials.We experimentally verify the nonlinear method for generating erf beams using a poled LiTaO3crystal,and the results agree well with the predicted self-similar properties.The simplicity of this approach may facilitate its potential for practical applications.展开更多
With the rapid development of mega-constellations,orbital gaming,on-orbit servicing and theadvent of the AI era,space intelligent sensing and manipulation has become a cutting-edge researchhotspot in the space domain,...With the rapid development of mega-constellations,orbital gaming,on-orbit servicing and theadvent of the AI era,space intelligent sensing and manipulation has become a cutting-edge researchhotspot in the space domain,attracting growing attention from scholars worldwide.展开更多
With the rapid development of mega-constellations,orbital gaming,on-orbit servicing and the advent of the AI era,space intelligent sensing and manipulation has become a cutting-edge research hotspot in the space domai...With the rapid development of mega-constellations,orbital gaming,on-orbit servicing and the advent of the AI era,space intelligent sensing and manipulation has become a cutting-edge research hotspot in the space domain,attracting growing attention from scholars worldwide.展开更多
Journal of Systems Engineering and Electronics (Indexed by Science Citation Index,Engineering Index) With the rapid development of mega-constellations,orbital gaming,on-orbit servicing and the advent of the AI era,spa...Journal of Systems Engineering and Electronics (Indexed by Science Citation Index,Engineering Index) With the rapid development of mega-constellations,orbital gaming,on-orbit servicing and the advent of the AI era,space intelligent sensing and manipulation has become a cutting-edge research hotspot in the space domain,attracting growing attention from scholars worldwide.展开更多
Flexoelectricity,an electromechanical coupling between strain gradient and electrical polarization in dielectrics or semiconductors,has attracted significant scientific interest.It is reported that large flexoelectric...Flexoelectricity,an electromechanical coupling between strain gradient and electrical polarization in dielectrics or semiconductors,has attracted significant scientific interest.It is reported that large flexoelectric behaviors can be obtained at the nanoscale because of the size effect.However,the flexoelectric responses of centrosymmetric semiconductors(CSs)are extremely weak under a conventional beam-bending approach,owing to weak flexoelectric coefficients and small strain gradients.The flexoelectric-like effect is an enhanced electromechanical effect coupling the flexoelectricity and piezoelectricity.In this paper,a composite structure consisting of piezoelectric dielectric layers and a CS layer is proposed.The electromechanical response of the CS is significantly enhanced via antisymmetric piezoelectric polarization.Consequently,the cross-scale mechanically tuned carrier distribution in the semiconductor is realized.Meanwhile,the significant size dependence of the electromechanical fields in the semiconductor is demonstrated.The flexoelectronics suppression is found when the semiconductor thickness reaches a critical size(0.8μm).In addition,the first-order carrier density of the composite structure under local loads is illustrated.Our results can suggest the structural design for flexoelectric semiconductor devices.展开更多
We present a vectorial optical field(VOF) framework that surpasses the diffraction limit in both long-range imaging and energy delivery. By jointly engineering spatial and temporal dimensions, reflective Fourier ptych...We present a vectorial optical field(VOF) framework that surpasses the diffraction limit in both long-range imaging and energy delivery. By jointly engineering spatial and temporal dimensions, reflective Fourier ptychography is extended to 3.2 km with 0.37× the classical diffraction limit, while a single-photon Li DAR tomography system achieves centimeter-scale, sub-diffraction imaging at 3.3 km using superconducting nanowire single-photon detectors. These advances demonstrate super-resolution, turbulence-resilient imaging over kilometer-range distances. Beyond super-resolution optical, high power VOFs are able to counteract thermal blooming during atmospheric laser propagation, enhancing on-target power density by a factor larger than 2. Together, these results may outline a cross-scale paradigm that links highpower vector-field structuring, single-photon detection, and adaptive control-offering a pathway toward next-generation optical systems that integrate imaging, sensing, communication and directed energy within a common physical framework.展开更多
Transient negative capacitance(NC),as an available dynamic charge effect achieved in resistor-ferroelectric capacitor(R-FEC)circuits,has triggered a series of theoretical and experimental works focusing on its physica...Transient negative capacitance(NC),as an available dynamic charge effect achieved in resistor-ferroelectric capacitor(R-FEC)circuits,has triggered a series of theoretical and experimental works focusing on its physical mechanism and device application.Here,we analytically derived the effects of different mechanical conditions on the transient NC behaviors in the R-FEC circuit based on the phenomenological model.It shows that the ferroelectric capacitor can exhibit either NC(i.e.,“single NC”and“double NC”)or positive capacitance,depending on the mechanical condition and temperature.Further numerical calculations show that the voltage drop caused by NC can be effectively controlled by temperature,applied stress,or strain.The relationship between NC voltage drop and system configurations including external resistance,dynamical coefficient of polarization,and input voltage are presented,showing diverse strategies to manipulate the NC effect.These results provide theoretical guidelines for rational design and efficient control of NC-related electronic devices.展开更多
The complexity and intricacy of the brain,which is composed of billions of neurons,pose significant challenges to its study.Understanding neural connections and communication at the single-cell level is crucial for un...The complexity and intricacy of the brain,which is composed of billions of neurons,pose significant challenges to its study.Understanding neural connections and communication at the single-cell level is crucial for unraveling the brain’s functions.This study presents a novel strategy that utilizes magnetic nanoparticles(MNPs)and magnetic fields to manipulate neurons,thereby creating customized small-scale neural circuits for studying neural connections.To establish the feasibility of this approach,the effects of MNPs on neurons were initially investigated,demonstrating their low toxicity.Subsequently,a micromagnet array(MMA)chip was employed to manipulate the neurons,facilitating their precise arrangement on the electrodes.Over several days,the neurons extended their axons and established connections with neighboring cells,forming small-scale circular neural circuits.These artificially engineered circuits offer a simplified and controlled environment for studying neural networks in contrast to naturally occurring biological networks.Furthermore,electrophysiological recordings were conducted to investigate the connections between the manipulated neurons.This study introduces a customized small-scale neural circuit platform with electrode-specific recording and stimulating capabilities,enabling the study of neuron-to-neuron interactions at the single-cell level.By leveraging MNPs and an MMA chip,this research offers a powerful tool for studying neural connections and advancing our understanding of the brain’s intricate workings.展开更多
OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patient...OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patients with KOA(Kellgren-Lawrence gradeⅡ-Ⅲ)were recruited from the Acupuncture-Moxibustion Rehabilitation Department,Anhui University of Chinese Medicine between October 2024 and May 2025.Participants were randomized into a TBHM group(n=30)or a transcutaneous electrical neuromuscular stimulation(TENS)group(n=30).Using two-way repeated measures ANOVA,biomechanical indicators,including rectus femoris tension,vastus medialis tension,vastus lateralis tension,patellar ligament tension,lateral patellar displacement(LPD),medial patellar displacement(MPD),normalized patellar mobility(LPD/patellar width[PW],MPD/PW),knee flexion range of motion,and functional indicators,including KOOS subscales,time up and go test(TUGT),were compared between groups at baseline and after 6 weeks of intervention.RESULTS After intervention,all biomechanical and knee joint function indicators in the TBHM group were significantly improved(P<0.05,P<0.01),while only the vastus medialis tension,TUGT and KOOS Pain,ADL and QoL scores in the control group were significantly improved(P<0.01).The improvement amplitudes of biomechanical indicators in the TBHM group,including rectus femoris tension,vastus lateralis tension,patellar ligament tension,MPD/PW,LPD/PW and knee flexion range of motion were better than those in the control group(P<0.05,P<0.01).In the functional evaluation,the interaction effects of the TBHM group in all dimensions of the KOOS score and TUGT were statistically significant(P<0.05,P<0.01).Post-hoc simple effect analysis confirmed that there were significant differences in the above indicators between the two groups after intervention(P<0.05),and all indicators showed a significant main effect of time(P<0.01),suggesting that the intervention measures had continuous and cumulative curative effects.CONCLUSION TBHM effectively improves joint function and quality of life in KOA patients by restoring dynamic equilibrium in soft tissue tension and patellar mobility,ultimately achieving the therapeutic goal of concurrent tissue-bone management.展开更多
The original intention of the algorithmic recommender system is to grapple with the negative impacts caused by information overload,but the system also can be used as"hypernudge",a new form of online manipul...The original intention of the algorithmic recommender system is to grapple with the negative impacts caused by information overload,but the system also can be used as"hypernudge",a new form of online manipulation,to inten⁃tionally exploit people's cognitive and decision-making gaps to influence their decisions in practice,which is particu⁃larly detrimental to the sustainable development of the digital market.Limiting harmful algorithmic online manipula⁃tion in digital markets has become a challenging task.Globally,both the EU and China have responded to this issue,and the differences between them are so evident that their governance measures can serve as the typical case.The EU focuses on improving citizens'digital literacy and their ability to integrate into digital social life to independently ad⁃dress this issue,and expects to address harmful manipulation behavior through binding and applicable hard law,which is part of the digital strategy.By comparison,although there exist certain legal norms that have made relevant stipula⁃tions on manipulation issues,China continues to issue specific departmental regulations to regulate algorithmic recom⁃mender services,and pays more attention to addressing collective harm caused by algorithmic online manipulation through a multiple co-governance approach led by the government or industry associations to implement supervision.展开更多
Optical field manipulation,an emerging frontier in photonics,demonstrates significant potential in biomedical microscopy,quantum state engineering,and micro-nano fabrication.To address the critical limitations of curr...Optical field manipulation,an emerging frontier in photonics,demonstrates significant potential in biomedical microscopy,quantum state engineering,and micro-nano fabrication.To address the critical limitations of current optical modulation technologies in achieving full-parameter precision control,we proposed a novel approach for dynamic azimuthal optical field modulation based on dual-spiral arrays.By designing spatially interleaved spiral structures with different initial radii while maintaining identical periodic parameters,we achieved continuous optical modulation spanning the full 0-2πrange in azimuthal field distribution.Through rigorous numerical simulations,we systematically established a quantitative correlation between the structural parameters and azimuthal optical field patterns,revealing,for the first time,a quasi-linear relationship between the radius difference and the resultant optical distribution.This theoretical framework advances our fundamental understanding of structured optical field manipulation as well as provides a new paradigm for programmable photonic device design,with distinct technical advantages in super-resolution imaging and optical tweezer systems.展开更多
On-demand droplet manipulation plays a critical role in microfluidics,bio/chemical detection and microreactions.Acoustic droplet manipulation has emerged as a promising technique due to its non-contact nature,biocompa...On-demand droplet manipulation plays a critical role in microfluidics,bio/chemical detection and microreactions.Acoustic droplet manipulation has emerged as a promising technique due to its non-contact nature,biocompatibility and precision,circumventing the complexities associated with other methods requiring surface or droplet pretreatment.Despite their promise,existing methods for acoustic droplet manipulation often involve complex hardware setups and difficulty for controlling individual droplet amidst multiple ones.Here we fabricate simple yet effective acoustic tweezers for in-surface and out-of-surface droplet manipulation.It is found that droplets can be transported on the superhydrophobic surfaces when the acoustic radiation force surpasses the friction force.Using a two-axis acoustic tweezer,droplets can be maneuvered along arbitrarily programmed paths on the surfaces.By introducing multiple labyrinthine structures on the superhydrophobic surface,individual droplet manipulation is realized by constraining the unselected droplets in the labyrinthine structures.In addition,a three-axis acoustic tweezer is developed for manipulating droplets in three-dimensional space.Potential applications of the acoustic tweezers for micro-reaction,bio-assay and chemical analysis are also demonstrated.展开更多
The design and manufacturing of microchannels are crucial aspects of modern microanomanufacturing processes,offering a versatile platform for manipulating and driving microanoparticles or cells.In this study,we propos...The design and manufacturing of microchannels are crucial aspects of modern microanomanufacturing processes,offering a versatile platform for manipulating and driving microanoparticles or cells.In this study,we propose a method for manufacturing microchannels using optically induced dielectrophoresis technology to induce the polymerization of polyethylene glycol diacrylate solution.To overcome limitations related to the light intensity energy and the size of intact microchannels,we design and manufacture microstructures of various shapes with a height of 4µm.Additionally,we simulate and analyze the movement of and forces acting on polystyrene(PS)microspheres at different spatial positions within the microchannels.Finally,we successfully demonstrate applications involving the transport of PS microspheres in custom-fabricated microchannels.This novel biocompatible microchannel manufacturing method is simple and non-biotoxic.It provides a new approach for simulating physiological environments in vitro and cultivating and manipulating cells.展开更多
Smart windows that can repel diverse liquids are highly attractive for the development of self-cleaning building system.Despite immense achievements having been made in drophobic smart windows,unfortunately,the limita...Smart windows that can repel diverse liquids are highly attractive for the development of self-cleaning building system.Despite immense achievements having been made in drophobic smart windows,unfortunately,the limitations of inferior transparency,unsatisfactory flexibility,and scarce functionality greatly hinder their practical applications.Here,a multifunctional,all-flexible and slef-cleaning electrothermal-actuated(SETA)module with superior transparency is developed by sandwiching the hydrophobic SiO2 nanoparticles decorated silver nanowires thin-film heater and the thermo-responsive hydrogel.Through loading/discharging an electric stimulus of 5 V,the optical visibility of SETA could be in situ switched between an opaque state(T550=11.0%)and a transparent state(T550=84.9%)relying on the dynamically collapsed and swollen transition of hydrogel on planar and three-dimensional curved surfaces.Moreover,SETA chipset is able to repel diverse liquids,including organic and inorganic species,showcasing an excellent self-cleaning capability.Lastly,all-in-one multifunctionalities,including pixelated display,thermal regulation,defogging,and self-cleaning on a single SETA chipset,are successfully deployed.Compared to the previous windows,the current SETA chipset is more competent for optical switching in reality,owing to its portable,energy-efficient,flexible,highly-transparent,and on-demand manipulating advantages.This work provides inspirations for self-cleaning greenhouse,tunable optics,intelligent vehicles,and so on.展开更多
Controllable liquid manipulation is of paramount scientific and technological importance in various fields,such as the chemical industry,biomedicine,and agricultural production.Magnetic actuation,characterized by rapi...Controllable liquid manipulation is of paramount scientific and technological importance in various fields,such as the chemical industry,biomedicine,and agricultural production.Magnetic actuation,characterized by rapid,contactless,and environmentally benign operation,has emerged as a promising approach for precise liquid control.However,conventional magnetic strategies typically govern droplet movement on open surfaces,facing limitations such as restricted liquid volumes,uncertain flow paths,and inevitable evaporation,thereby constraining their broader practical applications.Recently,a variety of magneticdriven strategies have been developed to dynamically regulate liquids within enclosed spaces,especially through physicochemical mechanisms.These approaches provide efficient control over liquid behavior by leveraging magnetically induced chemical changes,structural deformations,and dragging motions,opening new opportunities for flexible and versatile fluid management.This review explores the design and mechanisms of magneto-responsive confined interfaces for the manipulation of nonmagnetic liquids,highlighting key advancements and potential applications including liquid valves,liquid mixing,liquid flow regulation,and liquid pumping.Finally,the existing challenges and future prospects in this field are presented.展开更多
Manipulating and braiding Majorana zero modes(MZM)are a critical step toward realizing topological quantum computing.The primary challenge is controlling the vortex,which hosts the MZM,within a superconducting film in...Manipulating and braiding Majorana zero modes(MZM)are a critical step toward realizing topological quantum computing.The primary challenge is controlling the vortex,which hosts the MZM,within a superconducting film in a spatially precise manner.To address this,we developed a magnetic force-based vortex control technology using the STM system with a self-designed four-electrode piezo-scanner tube and investigated vortex manipulation on the NbSe2 superconducting film.We employed ferromagnetic tips to control the movement of vortex array induced by the tip's remanent magnetism.A magnetic core solenoid device was integrated into the STM system and a strong magnetic tip demagnetization technique was developed,providing a viable technical solution for further enabling single vortex manipulation.展开更多
基金financial support from the National Natural Science Foundation of China(NSFC):Grant Nos.22427807 and 62174119Tianjin National Key Laboratory Major Project No.24ZXZSSS00290.
摘要Droplet-based microfluidics have drawn much attention in recent years and have been successfully applied in biochemical analysis,material synthesis,and biomedical engineering.Precise and flexible manipulations of droplets are the basis of various applications.Numerous techniques have been introduced to achieve on-demand control of droplets,including electric,magnetic,acoustic,optical,and thermal methods.Among these,the combination of acoustics and microfluidics(termed acoustofluidics)has shown great potential and advantages in droplet manipulation as it is non-invasive,high-precision,low-cost,easily integrated,and biocompatible.Here,we summarize recent works on acoustofluidic manipulations of droplet-based microfluidics.This paper is structured into three main sections.First,the commonly used acoustic devices in acoustofluidics and their working principles are introduced.Such acoustic devices include interdigital transducers,Lamb wave resonators,and bulk acoustic resonators,and generate acoustic waves with frequencies ranging from kilohertz to gigahertz.Second,the forces and effects involved in droplet manipulations using acoustofluidics are analyzed.Third,the manipulation processes of droplet microfluidics using various acoustofluidic techniques are summarized and compared with other methods,including droplet generation,mixing,splitting,fusion,sorting,transportation,and internal particle patterning.Finally,current challenges and future prospects for acoustofluidic manipulation techniques for droplet-based microfluidics are discussed.
基金supported in part by the National Natural Science Foundation of China under the Basic Science Center Program for Space Robot Intelligent Manipulation(T2388101)in part by the Fundamental Research Funds for the Central Universities(HIT-XTCX-4)+1 种基金in part by the National Natural Science Foundation of China(51875114)in part by the Self-Planned Task(SKLRS202204B)of State Key Laboratory of Robotics and System,Harbin Institute of Technology,China。
摘要Dual-arm robots operating in dynamic,human-centered environments must be reactive,dexterous,and safe while intelligently coordinating both arms to perform task-space-constrained manipulations.To address this challenge,we propose a general framework comprising three interrelated modules for dual-arm robots,which integrates tightly coupled coordinated bimanual manipulation with reactive collision-free motion:i)The multiple task-priority joint control module achieves tightly coupled bimanual coordination by taking advantage of the cooperative dual task space,including the fixed relative pose of the dual-arm end-effectors,the flexible absolute pose control of the end-effectors,and satisfying joint limits.ii)The nominal trajectory module,based on the vector field that combines the target attraction force and the manipulability force,dynamically generates nominal reference trajectory for the end-effectors.ii)The safety filter module,based on control barrier function,locally reshapes the nominal reference trajectory in real time to generate collision-free reference trajectory.Various planning methods are thoroughly validated in cluttered and dynamic simulation scenarios.The proposed method is able to reliably accomplish constrained tasks while existing solutions perform poorly.In real-world experiments,a 14-degree-of-freedom dual-arm robot transports multiple cups by grasping a tray in an environment with random disturbances.Experimental results demonstrate that the robot prevents the cups from sliding off by adaptively adjusting the tray's tilt angle.Simultaneously,bimanual reactive motion enables the robot to successfully avoid dynamic obstacles while maintaining task execution.
基金Project(U2034211)supported by the National Natural Science Foundation of ChinaProject(20232ACE01013)supported by the Major Scientific and Technological Research and Development Special Project of Jiangxi Province,China。
摘要The safe driving and operation of trains is a necessary condition for ensuring the safe operation of trains.In particular,heavy-haul trains are characterized by the difficulty in driving and operation.Considering the uncertainties in train driving and operation,this paper analyzes the relationship between the safety of heavy-haul electric locomotive hauled trains and driving and operation.It studies the auxiliary intelligent driving safety operation control methods.Through K-means to identify the characteristics of drivers'driving manipulation,the hidden Markov model adaptively adjusts the train driving and operation sequence,and conducts auxiliary driving reconstruction for heavy-haul locomotive driving and operation.Based on the train running curve and the locomotive traction/braking characteristics,it smoothly controls the exertion of the traction/braking force of heavy-haul locomotives,thereby optimizing the driving safety control of heavy-haul trains in the vehicle-environment-track system.Finally,the train operation simulation and optimized driving verification are carried out by simulating some track sections.The results show that the proposed method can correct and pre-optimize driving operations,improving the smoothness of heavy-haul trains by approximately 10%.It verifies the effectiveness of the proposed train assisted driving control reconstruction method,facilitating the smooth and safe operation of heavy-haul trains.
基金supported in part by the Financial Programof BJAST under Grants 26CE-BGS-19,26CB012-03in part by the National Natural Science Foundation of China under Grants 62536001.
摘要Accurate grasp detection is fundamental to successful robotic manipulation.Existing methods achieve reliable performance under good light conditions.However,their performance in low-light environments suffers from severe degradation due to the diminishing discriminative ability of visual features.In this paper,a novel low-light aware hybrid network LAH-Net is proposed.It comprises an alternating transformer-CNN module(ATCM)between the encoder and decoder,and a knowledge distillation-guided low-light enhancement module(KDLEM)before the encoder,which is activated by an illumination gate under low-light conditions.To generate highly robust and synergistic features,the ATCM module facilitates the iterative exchange between the local representations from CNNs and the global contexts modeled by transformers.Additionally,a transformer-to-CNN adapter and a CNN-to-transformer adapter are designed for bidirectional feature alignment.Meanwhile,the KDLEM module employs a teacher-student framework where the simplified student network distills knowledge from the powerful teacher to enhance low-light adaptability and maintain computational efficiency.Moreover,we introduce a real-world low-light grasp detection dataset(RLGD)for algorithm evaluation,which contains over 70 objects captured under four distinct low-light conditions.Our method achieves 99.4%and 98.8%accuracy on the Cornell dataset and 96.05%accuracy on the Jacquard V2 dataset.It also attains an accuracy of 96.5%on the RLGD dataset and demonstrates strong generalization across various low-light intensity levels.The real-world experiments in low-light scenarios validate the effectiveness of the proposed method.
基金National Key Research and Development Program of China (2022YFA1405000, 2022YFA1205100)National Natural Science Foundation of China (12274214,12474327, 92463304)。
摘要The erf beam is a type of“perfect self-similar beam”characterized by a scaling transverse profile and constant intensity during free-space propagation.We demonstrate its natural emergence in the second-order nonlinear process in domain engineering materials,where the phase discontinuity at the domain wall directly gives rise to an erf beam under Fresnel diffraction.More importantly,domain walls can be regarded as fundamental excitation units phenomenologically,enabling the construction of complex harmonic fields through the superposition of individual erf beams.This provides a foundational framework for analyzing harmonic fields from complex structures and a design strategy for domain engineering materials.We experimentally verify the nonlinear method for generating erf beams using a poled LiTaO3crystal,and the results agree well with the predicted self-similar properties.The simplicity of this approach may facilitate its potential for practical applications.
摘要With the rapid development of mega-constellations,orbital gaming,on-orbit servicing and theadvent of the AI era,space intelligent sensing and manipulation has become a cutting-edge researchhotspot in the space domain,attracting growing attention from scholars worldwide.
摘要With the rapid development of mega-constellations,orbital gaming,on-orbit servicing and the advent of the AI era,space intelligent sensing and manipulation has become a cutting-edge research hotspot in the space domain,attracting growing attention from scholars worldwide.
摘要Journal of Systems Engineering and Electronics (Indexed by Science Citation Index,Engineering Index) With the rapid development of mega-constellations,orbital gaming,on-orbit servicing and the advent of the AI era,space intelligent sensing and manipulation has become a cutting-edge research hotspot in the space domain,attracting growing attention from scholars worldwide.
基金supported by the National Key Research and Development Program of China(Grant No.2021YFB2011400)the National Natural Science Foundation of China(Grant No.52375081).
摘要Flexoelectricity,an electromechanical coupling between strain gradient and electrical polarization in dielectrics or semiconductors,has attracted significant scientific interest.It is reported that large flexoelectric behaviors can be obtained at the nanoscale because of the size effect.However,the flexoelectric responses of centrosymmetric semiconductors(CSs)are extremely weak under a conventional beam-bending approach,owing to weak flexoelectric coefficients and small strain gradients.The flexoelectric-like effect is an enhanced electromechanical effect coupling the flexoelectricity and piezoelectricity.In this paper,a composite structure consisting of piezoelectric dielectric layers and a CS layer is proposed.The electromechanical response of the CS is significantly enhanced via antisymmetric piezoelectric polarization.Consequently,the cross-scale mechanically tuned carrier distribution in the semiconductor is realized.Meanwhile,the significant size dependence of the electromechanical fields in the semiconductor is demonstrated.The flexoelectronics suppression is found when the semiconductor thickness reaches a critical size(0.8μm).In addition,the first-order carrier density of the composite structure under local loads is illustrated.Our results can suggest the structural design for flexoelectric semiconductor devices.
基金supported by Temporal-spatial manipulation Infrastructure for vector Fields in Optics-Test Facility(TIFO-TF)the National Natural Science Foundation of China(U24A6010,62222513)。
摘要We present a vectorial optical field(VOF) framework that surpasses the diffraction limit in both long-range imaging and energy delivery. By jointly engineering spatial and temporal dimensions, reflective Fourier ptychography is extended to 3.2 km with 0.37× the classical diffraction limit, while a single-photon Li DAR tomography system achieves centimeter-scale, sub-diffraction imaging at 3.3 km using superconducting nanowire single-photon detectors. These advances demonstrate super-resolution, turbulence-resilient imaging over kilometer-range distances. Beyond super-resolution optical, high power VOFs are able to counteract thermal blooming during atmospheric laser propagation, enhancing on-target power density by a factor larger than 2. Together, these results may outline a cross-scale paradigm that links highpower vector-field structuring, single-photon detection, and adaptive control-offering a pathway toward next-generation optical systems that integrate imaging, sensing, communication and directed energy within a common physical framework.
基金This work was supported by the National Natural Science Foundation of China(Grants Nos.12222214,12132020,12002400,and 12172386)by Guangdong Provincial Key Laboratory of Magnetoelectric Physics and Devices(Grant No.2022B1212010008)+1 种基金by the National Natural Science Foundation of Guangdong Province(Grant No.2021B1515020021)by the Shenzhen Science and Techonlogy Program(Grant Nos.202206193000001 and 20220818181805001).
摘要Transient negative capacitance(NC),as an available dynamic charge effect achieved in resistor-ferroelectric capacitor(R-FEC)circuits,has triggered a series of theoretical and experimental works focusing on its physical mechanism and device application.Here,we analytically derived the effects of different mechanical conditions on the transient NC behaviors in the R-FEC circuit based on the phenomenological model.It shows that the ferroelectric capacitor can exhibit either NC(i.e.,“single NC”and“double NC”)or positive capacitance,depending on the mechanical condition and temperature.Further numerical calculations show that the voltage drop caused by NC can be effectively controlled by temperature,applied stress,or strain.The relationship between NC voltage drop and system configurations including external resistance,dynamical coefficient of polarization,and input voltage are presented,showing diverse strategies to manipulate the NC effect.These results provide theoretical guidelines for rational design and efficient control of NC-related electronic devices.
基金supported by Westlake Universitythe Research Center for Industries of the Future of Westlake University (No. WU2022C040).
摘要The complexity and intricacy of the brain,which is composed of billions of neurons,pose significant challenges to its study.Understanding neural connections and communication at the single-cell level is crucial for unraveling the brain’s functions.This study presents a novel strategy that utilizes magnetic nanoparticles(MNPs)and magnetic fields to manipulate neurons,thereby creating customized small-scale neural circuits for studying neural connections.To establish the feasibility of this approach,the effects of MNPs on neurons were initially investigated,demonstrating their low toxicity.Subsequently,a micromagnet array(MMA)chip was employed to manipulate the neurons,facilitating their precise arrangement on the electrodes.Over several days,the neurons extended their axons and established connections with neighboring cells,forming small-scale circular neural circuits.These artificially engineered circuits offer a simplified and controlled environment for studying neural networks in contrast to naturally occurring biological networks.Furthermore,electrophysiological recordings were conducted to investigate the connections between the manipulated neurons.This study introduces a customized small-scale neural circuit platform with electrode-specific recording and stimulating capabilities,enabling the study of neuron-to-neuron interactions at the single-cell level.By leveraging MNPs and an MMA chip,this research offers a powerful tool for studying neural connections and advancing our understanding of the brain’s intricate workings.
摘要OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patients with KOA(Kellgren-Lawrence gradeⅡ-Ⅲ)were recruited from the Acupuncture-Moxibustion Rehabilitation Department,Anhui University of Chinese Medicine between October 2024 and May 2025.Participants were randomized into a TBHM group(n=30)or a transcutaneous electrical neuromuscular stimulation(TENS)group(n=30).Using two-way repeated measures ANOVA,biomechanical indicators,including rectus femoris tension,vastus medialis tension,vastus lateralis tension,patellar ligament tension,lateral patellar displacement(LPD),medial patellar displacement(MPD),normalized patellar mobility(LPD/patellar width[PW],MPD/PW),knee flexion range of motion,and functional indicators,including KOOS subscales,time up and go test(TUGT),were compared between groups at baseline and after 6 weeks of intervention.RESULTS After intervention,all biomechanical and knee joint function indicators in the TBHM group were significantly improved(P<0.05,P<0.01),while only the vastus medialis tension,TUGT and KOOS Pain,ADL and QoL scores in the control group were significantly improved(P<0.01).The improvement amplitudes of biomechanical indicators in the TBHM group,including rectus femoris tension,vastus lateralis tension,patellar ligament tension,MPD/PW,LPD/PW and knee flexion range of motion were better than those in the control group(P<0.05,P<0.01).In the functional evaluation,the interaction effects of the TBHM group in all dimensions of the KOOS score and TUGT were statistically significant(P<0.05,P<0.01).Post-hoc simple effect analysis confirmed that there were significant differences in the above indicators between the two groups after intervention(P<0.05),and all indicators showed a significant main effect of time(P<0.01),suggesting that the intervention measures had continuous and cumulative curative effects.CONCLUSION TBHM effectively improves joint function and quality of life in KOA patients by restoring dynamic equilibrium in soft tissue tension and patellar mobility,ultimately achieving the therapeutic goal of concurrent tissue-bone management.
摘要The original intention of the algorithmic recommender system is to grapple with the negative impacts caused by information overload,but the system also can be used as"hypernudge",a new form of online manipulation,to inten⁃tionally exploit people's cognitive and decision-making gaps to influence their decisions in practice,which is particu⁃larly detrimental to the sustainable development of the digital market.Limiting harmful algorithmic online manipula⁃tion in digital markets has become a challenging task.Globally,both the EU and China have responded to this issue,and the differences between them are so evident that their governance measures can serve as the typical case.The EU focuses on improving citizens'digital literacy and their ability to integrate into digital social life to independently ad⁃dress this issue,and expects to address harmful manipulation behavior through binding and applicable hard law,which is part of the digital strategy.By comparison,although there exist certain legal norms that have made relevant stipula⁃tions on manipulation issues,China continues to issue specific departmental regulations to regulate algorithmic recom⁃mender services,and pays more attention to addressing collective harm caused by algorithmic online manipulation through a multiple co-governance approach led by the government or industry associations to implement supervision.
摘要Optical field manipulation,an emerging frontier in photonics,demonstrates significant potential in biomedical microscopy,quantum state engineering,and micro-nano fabrication.To address the critical limitations of current optical modulation technologies in achieving full-parameter precision control,we proposed a novel approach for dynamic azimuthal optical field modulation based on dual-spiral arrays.By designing spatially interleaved spiral structures with different initial radii while maintaining identical periodic parameters,we achieved continuous optical modulation spanning the full 0-2πrange in azimuthal field distribution.Through rigorous numerical simulations,we systematically established a quantitative correlation between the structural parameters and azimuthal optical field patterns,revealing,for the first time,a quasi-linear relationship between the radius difference and the resultant optical distribution.This theoretical framework advances our fundamental understanding of structured optical field manipulation as well as provides a new paradigm for programmable photonic device design,with distinct technical advantages in super-resolution imaging and optical tweezer systems.
基金supported by National Natural Science Foundation of China(Nos.12072381,22072185,21805315)Guangdong Basic and Applied Basic Research Foundation(No.2024A1515011812)Science and Technology Innovation Project of Guangzhou(No.202102020263).
摘要On-demand droplet manipulation plays a critical role in microfluidics,bio/chemical detection and microreactions.Acoustic droplet manipulation has emerged as a promising technique due to its non-contact nature,biocompatibility and precision,circumventing the complexities associated with other methods requiring surface or droplet pretreatment.Despite their promise,existing methods for acoustic droplet manipulation often involve complex hardware setups and difficulty for controlling individual droplet amidst multiple ones.Here we fabricate simple yet effective acoustic tweezers for in-surface and out-of-surface droplet manipulation.It is found that droplets can be transported on the superhydrophobic surfaces when the acoustic radiation force surpasses the friction force.Using a two-axis acoustic tweezer,droplets can be maneuvered along arbitrarily programmed paths on the surfaces.By introducing multiple labyrinthine structures on the superhydrophobic surface,individual droplet manipulation is realized by constraining the unselected droplets in the labyrinthine structures.In addition,a three-axis acoustic tweezer is developed for manipulating droplets in three-dimensional space.Potential applications of the acoustic tweezers for micro-reaction,bio-assay and chemical analysis are also demonstrated.
基金funded by the National Natural Science Foundation of China(Project No.62273289)The Youth Innovation Science and Technology Support Program of Shandong Province(Project No.2022KJ274)+1 种基金Natural Science Foundation of Shandong Province(Grant No.ZR2024MF007)Graduate Innovation Foundation of Yantai University,GIFYTU.
摘要The design and manufacturing of microchannels are crucial aspects of modern microanomanufacturing processes,offering a versatile platform for manipulating and driving microanoparticles or cells.In this study,we propose a method for manufacturing microchannels using optically induced dielectrophoresis technology to induce the polymerization of polyethylene glycol diacrylate solution.To overcome limitations related to the light intensity energy and the size of intact microchannels,we design and manufacture microstructures of various shapes with a height of 4µm.Additionally,we simulate and analyze the movement of and forces acting on polystyrene(PS)microspheres at different spatial positions within the microchannels.Finally,we successfully demonstrate applications involving the transport of PS microspheres in custom-fabricated microchannels.This novel biocompatible microchannel manufacturing method is simple and non-biotoxic.It provides a new approach for simulating physiological environments in vitro and cultivating and manipulating cells.
基金supported by the National Key Research and Development Program of China(Grant No.2024YFB4610700)the Fundamental Research Funds for the Central Universities(Grant No.JZ2025HGTG0269)+4 种基金the National Natural Science Foundation of China(Grant Nos.52005475,62305321)the Natural Science Foundation of Anhui Province(Grant Nos.JZ2024AKZR0561,2308085QE167)Major Scientific and Technological Projects in Anhui Province(Grant No.202203a05020014)Opening Project of the Key Laboratory of Bionic Engineering(Ministry of Education)Jilin University(Grant No.K202204)。
摘要Smart windows that can repel diverse liquids are highly attractive for the development of self-cleaning building system.Despite immense achievements having been made in drophobic smart windows,unfortunately,the limitations of inferior transparency,unsatisfactory flexibility,and scarce functionality greatly hinder their practical applications.Here,a multifunctional,all-flexible and slef-cleaning electrothermal-actuated(SETA)module with superior transparency is developed by sandwiching the hydrophobic SiO2 nanoparticles decorated silver nanowires thin-film heater and the thermo-responsive hydrogel.Through loading/discharging an electric stimulus of 5 V,the optical visibility of SETA could be in situ switched between an opaque state(T550=11.0%)and a transparent state(T550=84.9%)relying on the dynamically collapsed and swollen transition of hydrogel on planar and three-dimensional curved surfaces.Moreover,SETA chipset is able to repel diverse liquids,including organic and inorganic species,showcasing an excellent self-cleaning capability.Lastly,all-in-one multifunctionalities,including pixelated display,thermal regulation,defogging,and self-cleaning on a single SETA chipset,are successfully deployed.Compared to the previous windows,the current SETA chipset is more competent for optical switching in reality,owing to its portable,energy-efficient,flexible,highly-transparent,and on-demand manipulating advantages.This work provides inspirations for self-cleaning greenhouse,tunable optics,intelligent vehicles,and so on.
基金supported by the National Natural Science Foundation of China(Nos.52025132,U24A20205,52303373,21621091,22021001,and 22121001)the China Postdoctoral Science Foundation(No.2024M763174)+2 种基金the 111 Project(Nos.B17027,B16029)the Natural Science Foundation of Fujian Province of China(No.2022J02059)the New Cornerstone Science Foundation through the Xplorer Prize。
摘要Controllable liquid manipulation is of paramount scientific and technological importance in various fields,such as the chemical industry,biomedicine,and agricultural production.Magnetic actuation,characterized by rapid,contactless,and environmentally benign operation,has emerged as a promising approach for precise liquid control.However,conventional magnetic strategies typically govern droplet movement on open surfaces,facing limitations such as restricted liquid volumes,uncertain flow paths,and inevitable evaporation,thereby constraining their broader practical applications.Recently,a variety of magneticdriven strategies have been developed to dynamically regulate liquids within enclosed spaces,especially through physicochemical mechanisms.These approaches provide efficient control over liquid behavior by leveraging magnetically induced chemical changes,structural deformations,and dragging motions,opening new opportunities for flexible and versatile fluid management.This review explores the design and mechanisms of magneto-responsive confined interfaces for the manipulation of nonmagnetic liquids,highlighting key advancements and potential applications including liquid valves,liquid mixing,liquid flow regulation,and liquid pumping.Finally,the existing challenges and future prospects in this field are presented.
基金Project supported by the National Key Research&Development Program of China(Grant Nos.2019YFA0308600 and 2020YFA0309000)the National Natural Science Foundation of China(Grant Nos.92365302,92065201,22325203,92265105,12074247,12174252,52102336)+2 种基金the Strategic Priority Research Program of Chinese Academy of Sciences(Grant No.XDB28000000)the Science and Technology Commission of Shanghai Municipality(Grant Nos.2019SHZDZX01,19JC1412701,20QA1405100,24LZ1401000,LZPY2024-04)financial support from the Innovation Program for Quantum Science and Technology(Grant No.2021ZD0302500)。
摘要Manipulating and braiding Majorana zero modes(MZM)are a critical step toward realizing topological quantum computing.The primary challenge is controlling the vortex,which hosts the MZM,within a superconducting film in a spatially precise manner.To address this,we developed a magnetic force-based vortex control technology using the STM system with a self-designed four-electrode piezo-scanner tube and investigated vortex manipulation on the NbSe2 superconducting film.We employed ferromagnetic tips to control the movement of vortex array induced by the tip's remanent magnetism.A magnetic core solenoid device was integrated into the STM system and a strong magnetic tip demagnetization technique was developed,providing a viable technical solution for further enabling single vortex manipulation.