Imitative Collaboration: A mirror-neuron inspired mixed reality collaboration method with remote hands and local replicas

Mixed reality can overlay and display 3D digital content in the real world, convey abstract concepts to users, and promote the understanding of complex tasks. However, the abstract graphics overlaid on the physical space may cause a certain cognitive load for local users and reduce the efficiency of collaboration. To improve the efficiency of remote collaboration, we conducted an elicitation study on assembly tasks, explored the user needs for collaboration, and defined the design goals of our remote collaboration method. Inspired by the mirror-neuron mechanism, we present an imitative collaboration method that allows local users to imitate the interaction behavior of remote users to complete tasks. We also propose a series of interaction methods for remote users to select, copy, and interact with the local point clouds to facilitate the expression of collaboration intentions. Finally, the results of a user study evaluating our imitative collaboration method on assembly tasks are reported, confirming that our method improves collaboration efficiency while reducing the cognitive load of local users.     

Optimal design and operation of integrated microgrids under intermittent renewable energy sources coupled with green hydrogen and demand scenarios

Renewable energy integration into existing or new energy hubs together with Green technologies such as Power to Gas and Green Hydrogen has become essential because of the aim of keeping the average global temperature rise within 2 ^°C with regard to the Paris Agreement. Hence, all energy markets are expected to face substantial transitions worldwide. On the other hand, investigation of renewable energy systems integrated with green chemical conversion, and in particular combination of green hydrogen and synthetic methanation, is still a scarce subject in the literature in terms of optimal and simultaneous design and operation for integrated energy grids under weather intermittency and demand uncertainty. In fact, the integration of such promising new technologies has been studied mainly in the operational phase, without considering design and management simultaneously. Thus, in this work, a multi-period mixed-integer linear programming (MILP) model is formulated to deal with the aforementioned challenges. Under current carbon dioxide limitations dictated by the Paris Agreement, this model computes the best configuration of the renewable and non-renewable-based generators, their optimal rated powers, capacities and scheduling sequences from a large candidate pool containing thirty-nine different equipment simultaneously. Moreover, the effect of the intermittent nature of renewable resources is analyzed comprehensively under three different scenarios for a specific location. Accordingly, a practical scenario generation method is proposed in this work. It is observed that photovoltaic, oil co-generator, reciprocating ICE, micro turbine, and bio-gasifier are the equipment that is commonly chosen under the three different scenarios. Results also show that concepts such as green hydrogen and power-to-gas are currently not preferable for the investigated location. On the other hand, analysis shows that if the emission limits are getting tightened, it is expected that constructing renewable resource-based grids will be economically more feasible.     

Methods and mechanisms for uniformly refining deformed mixed and coarse grains inside a solution-treated Ni-based superalloy by two-stage heat treatment

The uniform refinement mechanisms and methods of deformed mixed and coarse grains inside a solution-treatment Ni-based superalloy during two-stage annealing treatment have been investigated.The two-stage heat treatment experiments include an aging annealing treatment(AT)and a subsequent recrystallization annealing treatment(RT).The object of AT is to precipitate some δ phases and consume part of storage energy to inhibit the grain growth during RT,while the RT is to refine mixed and coarse grains by recrystallization.It can be found that the recrystallization grains will quickly grow up to a large size when the AT time is too low or the RT temperature is too high,while the deformed coarse grains cannot be eliminated when the AT time is too long or the RT temperature is too low.In addition,the mixed microstructure composed of some abnormal coarse recrystallization grains(ACRGs)and a large number of fine grains can be observed in the annealed specimen when the AT time is 3 h and RT tem-perature is 980℃.The phenomenon attributes to the uneven distribution of δ phase resulted from the heterogeneous deformation energy when the AT time is too short.In the regions with a large number of δ phases,the recrystallization nucleation rate is promoted and the growth of grains is limited,which results in fine grains.However,in the regions with few δ phases,the recrystallization grains around grain boundaries can easily grow up,and the new recrystallization nucleus is difficult to form inside grain,which leads to ACRGs.Thus,in order to obtain uniform and fine annealed microstructure,it is a prereq-uisite to precipitate even-distributed δ phase by choosing a suitable AT time,such as 12 h.Moreover,a relative high RT temperature is also needed to promote the recrystallization nucleation around δ phase.The optimal annealing parameters range for uniformly refining mixed crystal can be summarized as:900℃×12 h+990℃×(40-60 min)and 900℃×12 h+1000℃×(10-15 min).     

Evaluation of Non-Ambiguous Critical Micelle Concentration of Surfactants in Relation to Solution Behaviors of Pure and Mixed Surfactant Systems: A Physicochemical Documentary and Analysis

Critical micelle concentration (CMC) is a fundamental physical parameter of surfactant aggregation in solution. The CMC is determined by different methods, tensiometry, conductometry, microcalorimetry, fluorimetry, and so on. However, it is known that though CMC is reported as a single value, in reality, micelle formation occurs over a narrow range of concentration for different experimental procedures produce different results. We shall discuss about a unique procedure of measuring correct CMC applicable to all potential methods used in practice. This is essential for the evaluation of thermodynamic properties of the micelle forming process in pure and mixed states in terms of solution theories. As we in this short documentary want to deal with various aspects of Milton Rosen's research—wherein we have also worked—a few other facets of surfactant chemistry research, besides the micelle formation, are also briefly discussed. In mixed surfactant systems, synergistic effects in various surfactant properties like detergency, foaming, solubilization, and so on are found whereas in some others non-synergistic effects are observed. Dehydration of micelles with an increase in temperature or by the addition of hydrophilic substances may cause clouding to the system. Soluble amphiphilic systems produce Gibbs monolayer at the air/water interface; insoluble amphiphiles form Langmuir monolayers. A documentary of the above aspects will be herein presented and discussed. We mention that this article is neither an original research article nor a review article. This is a mixture of the two: a documentary of both original research and some review of our works presented in memory of Prof. Milton Rosen.     

Mechanisms of Reciprocal Regulation of Gonadotropin-Releasing Hormone (GnRH)-Producing and Immune Systems: The Role of GnRH,Cytokines and Their Receptors in Early Ontogenesis in Normal and Pathological Conditions

Different aspects of the reciprocal regulatory influence on the development of gonadotropin-releasing hormone (GnRH)-producing- and immune systems in the perinatal ontogenesis and their functioning in adults in normal and pathological conditions are discussed. The influence of GnRH on the development of the immune system, on the one hand, and the influence of proinflammatory cytokines on the development of the hypothalamic-pituitary-gonadal system, on the other hand, and their functioning in adult offspring are analyzed. We have focused on the effects of GnRH on the formation and functional activity of the thymus, as the central organ of the immune system, in the perinatal period. The main mechanisms of reciprocal regulation of these systems are discussed. The reproductive health of an individual is programmed by the establishment and development of physiological systems during critical periods. Regulatory epigenetic mechanisms of development are not strictly genetically controlled. These processes are characterized by a high sensitivity to various regulatory factors, which provides possible corrections for disorders.     

基于K-means和SOM的水下传感器数据采集方法

随着海洋资源勘探和海洋污染物监控工作的开展，水文数据的监测和采集等已经成为重要的研究方向。其中，水下无线传感器网络在水文数据采集过程中起着举足轻重的作用。本文研究的是水下无线传感器二维监测网络模型中，传感器节点数据采集的问题，其设计方法是通过自组织映射（Self-organizing mapping，SOM）对传感器节点进行路径最优化处理，结合优化的路径图形和K-means算法找到路径内部聚合点，利用聚合点和传感器的节点得到传感器通信半径内的数据采集点，最后通过SOM得到水下机器人（Autonomous underwater vehicle，AUV）到各个数据采集点采集数据的最优路径。经过实验验证，在水下1 200 m×1 750 m范围内布置52个传感器节点的情景下，数据采集点相比于传感器节点路径规划采用相同的采集顺序得到的路径优化了6.7%；对数据采集点重新进行自组织路径规划得到的路径比传感器结点路径的最优解提高了12.2%。增加传感器节点的数量，其结果也大致相同，因此采用该方法可以提高水下机器人采集数据的效率。     

Cracking behavior and delamination mechanism of lamellar structured TBC with localized mixed oxides

Mixed oxide (MO) with localized growth feature and high growth rate remarkably affects the lifetime of thermal barrier coatings (TBCs), which indicates that clarifying the ceramic cracking mechanism induced by MO is critical for developing new coatings with high durability. Two kinds of TBC models involving spherical and layered mixed oxides are created to explore the influence of MO growth on the local stress state and crack evolution during thermal cycle. The growth of α-Al₂O₃ is also included in the model. The undulating interface between ceramic coat and bond coat is approximated using a cosine curve. Dynamic ceramic cracking is realized by a surface-based cohesive interaction. The ceramic delamination by simulation agrees with the experimental observation. The effects of MO coverage ratio and growth rate on the TBC failure are also discussed. The results show that the MO growth causes the local ceramic coat to bear the normal tensile stress. The failure mode of coating is turned from α-Al₂O₃ thickness control to MO growth control. Once the mixed oxide appears, local ceramic cracking is easy to occur. When multiple cracks connect, ceramic delamination happens. Suppressing MO formation or decreasing MO growth can evidently improve the coating durability. These results in this work can provide important theoretical guidance for the development of anti-cracking TBCs.     

Comparative study of LuxY1-xAG (x=0..1) laser ceramics doped with 5% Yb3+

Materials with high thermo mechanical properties are required as laser media for high-powered lasers. One of such materials is lutetium-aluminum garnet (LuAG) doped with ytterbium. In the present work, we discuss for the first time a full comparative study of 5% Yb-doped LuYAG ceramics with variation Lu/Y ratio. Samples were prepared with addition of B₂O₃, MgO and SiO₂ which were used as sintering aids. Grain sizes, shrinkage curves, lattice constants and transmission spectra were measured for all samples. Thermal conductivity was measured in a wide temperature range for all studied samples. Output power of 12 W and 60% slope efficiency were obtained on the 5% Yb:LuAG disk laser.     

Effect of annealing atmosphere on the structure and dielectric properties of unfilled tungsten bronze ceramics Ba4PrFe0.5Nb9.5O30

Unfilled tungsten bronze ceramics with the nominal formula Ba₄PrFe_0.5Nb_9.5O₃₀ were synthesized via the standard solid-state sintering route, and the effects of oxygen vacancies on the dielectric and electrical properties were investigated in addition to the structure. Room-temperature X-ray diffraction showed that the N₂-annealed sample had the largest cell volume. Low-temperature spectrum showed that N₂ annealing rendered the dielectric constant and dielectric loss more frequency dispersive, whereas O₂ annealing inhibited the frequency dispersion. The dc conductivity of all the samples originated from the electrons produced in the second ionization of oxygen vacancies and was most likely controlled by a mixed conduction mechanism of the electron and oxygen-vacancy ions. The N₂-annealed sample has the highest dc conductivity owing to its high concentration of oxygen vacancies. The broadening of the Raman lines and the decrease of Raman intensity for the N₂-annealed sample originated from a significant structural disorder. X-ray photoelectron spectra demonstrated that the increased oxygen vacancies caused by the change of valences of Fe and Pr ions contributed to the structural disorder.     

多机器人体间动态碰撞检测方法仿真研究

当前多结合包围求碰撞检测法、Average-Case法、K-DOPs法等实现多机器人体间动态碰撞的检测,均存在寻优性能较差、检测效率较低的问题。为此提出一种基于动态粒子群的多机器人体间动态碰撞检测方法。采用OBB层次包围盒方法,缩小多机器人之间需要动态碰撞检测的区域,同时把动态碰撞检测问题转换为物体特征对间距离机制的非线性优化问题,进而构建层次拓扑框架进行局部碰撞检测,将机器人体引入到粒子群算法中建立混合进化算法,找到动态碰撞检测的最优解,实现多机器人体间动态碰撞检测。仿真结果证明,所提方法的检测效率高达96%,且具有较高的寻优性能。