Non-Standard Semantics for Program Slicing

In this paper we generalize the notion of compositional semantics to cope with transfinite reductions of a transition system. Standard denotational and predicate transformer semantics, even though compositional, provide inadequate models for some known program manipulation techniques. We are interested in the systematic design of extended compositional semantics, observing possible transfinite computations, i.e. computations that may occur after a given number of infinite loops. This generalization is necessary to deal with program manipulation techniques modifying the termination status of programs, such as program slicing. We include the transfinite generalization of semantics in the hierarchy developed in 1997 by P. Cousot, where semantics at different levels of abstraction are related with each other by abstract interpretation. We prove that a specular hierarchy of non-standard semantics modeling transfinite computations of programs can be specifiedin such a way that the standard hierarchy can be derived by abstract interpretation. We prove that non-standard transfinite denotational and predicate transformer semantics can be both systematically derived as solutions of simple abstract domain equations involving the basic operation of reduced power of abstract domains. This allows us to prove the optimality of these semantics, i.e. they are the most abstract semantics in the hierarchy which are compositional and observe respectively the terminating and initial states of transfinite computations, providing an adequate mathematical model for program manipulation.     

Lysin Motif (LysM) Proteins: Interlinking Manipulation of Plant Immunity and Fungi

The proteins with lysin motif (LysM) are carbohydrate-binding protein modules that play a critical role in the host-pathogen interactions. The plant LysM proteins mostly function as pattern recognition receptors (PRRs) that sense chitin to induce the plant’s immunity. In contrast, fungal LysM blocks chitin sensing or signaling to inhibit chitin-induced host immunity. In this review, we provide historical perspectives on plant and fungal LysMs to demonstrate how these proteins are involved in the regulation of plant’s immune response by microbes. Plants employ LysM proteins to recognize fungal chitins that are then degraded by plant chitinases to induce immunity. In contrast, fungal pathogens recruit LysM proteins to protect their cell wall from hydrolysis by plant chitinase to prevent activation of chitin-induced immunity. Uncovering this coevolutionary arms race in which LysM plays a pivotal role in manipulating facilitates a greater understanding of the mechanisms governing plant-fungus interactions.     

Matrix Manipulation of Directly-Synthesized PbS Quantum Dot Inks Enabled by Coordination Engineering

The direct-synthesis of conductive PbS quantum dot (QD) ink is facile, scalable, and low-cost, boosting the future commercialization of optoelectronics based on colloidal QDs. However, manipulating the QD matrix structures still is a challenge, which limits the corresponding QD solar cell performance. Here, for the first time a coordination-engineering strategy to finely adjust the matrix thickness around the QDs is presented, in which halogen salts are introduced into the reaction to convert the excessive insulating lead iodide into soluble iodoplumbate species. As a result, the obtained QD film exhibits shrunk insulating shells, leading to higher charge carrier transport and superior surface passivation compared to the control devices. A significantly improved power-conversion efficiency from 10.52% to 12.12% can be achieved after the matrix engineering. Therefore, the work shows high significance in promoting the practical application of directly synthesized PbS QD inks in large-area low-cost optoelectronic devices.     

Asymmetric Soft-Structure Functional Surface for Intelligent Liquids’ Distinction,Transportation, and Reaction Mixer

Structured surfaces have attracted wide attention because of their great potential in directional transport, liquid collection or separation, microfluidics, etc. However, it remains a big challenge to design a surface that can distinguish various liquids, utilize their inherent properties to control their transportation, and realize functional applications. Herein, it is presented an asymmetric soft-structure functional surface (ASFS) with arrayed curvature units that can make the Laplace pressure as a driving force to determine the preferential spreading direction and show abundant transport behaviors for liquids with different surface tensions. With good deformability, the proposed ASFS can directionally transport liquids along complex terrains, e.g., 1D-tilted, 2D-curved, and 3D-helical trajectories. It is also demonstrated that the ASFS can achieve synchronous or asynchronous liquid mixing by choosing appropriate liquids. Moreover, the intelligent response ability allows the ASFS to be a portable contact angle discriminator. This study proposes a new strategy to manipulate liquids via their intrinsic properties and opens new avenues for application-oriented liquid operation surfaces.     

Modeling,analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated complementarity Lagrangian systems, with a specific structure: an “object” and a “robot”. Only the robot is actuated. The object dynamics can thus be controlled only through the action of the contact Lagrange multipliers, which represent the interaction forces between the robot and the object. Juggling, walking, running, hopping machines, robotic systems that manipulate objects, tapping, pushing systems, kinematic chains with joint clearance, crawling, climbing robots, some cable-driven manipulators, and some circuits with set-valued nonsmooth components, belong this class. This article aims at presenting their main features, then many application examples which belong to the robot–object class, then reviewing the main tools and control strategies which have been proposed in the Automatic Control and in the Robotics literature. Some comments and open issues conclude the article.     

面向微粒操纵的介电泳芯片系统研究

针对目前在纳米器件及传感器的制造中尚无对大量粒子进行有效操纵的方法,我们利用介电泳方法对大量微粒进行定位和传输操纵,介绍了利用MEMS工艺进行介电泳芯片加工的过程以及整个观测与实验系统的建立,通过有限元软件对传统介电泳和行波介电泳中电极阵列的电场分布进行求解,并在该实验系统下实现了对微通道中的悬浮高度和微粒的运动速度的测量.该实验系统的研究为液体环境下微纳颗粒的装配和分离提供了一条有效的技术路径.     

HIT/DLR多指手抓取操作研究

研究了HIT／DLR多指手在抓取操作过程中,其手指关节与被抓物体间的位姿对应关系,并基于多指平面抓取建立了HIT／DLR多指手完整的运动学方程．该算法通过自上而下的层次化结构算法简化了多指运动学的求解过程,避免了传统算法中抓取矩阵和手雅克比矩阵的高维矩阵计算．HIT／DLR多指手的抓取实验表明,该运动学算法能够满足抓取操作中的位置控制要求．     

High-Performance Unidirectional Manipulation of Microdroplets by Horizontal Vibration on Femtosecond Laser-Induced Slant Microwall Arrays

The high-performance unidirectional manipulation of microdroplets is crucial for many vital applications including water collection and bioanalysis. Among several actuation methods (e.g., electric, magnetic, light, and thermal actuation), mechanical vibration is pollution-free and biocompatible. However, it suffers from limited droplet movement mode, small volume range (V_Max/V_Min < 3), and low transport velocity (≤11.5 mm s⁻¹) because the droplet motion is a sliding state caused by the vertical vibration on the asymmetric hydrophobic microstructures. Here, an alternative strategy is proposed—horizontal vibration for multimode (rolling, bouncing/reverse bouncing, converging/diffusing, climbing, 90^o turning, and sequential transport), large-volume-range (V_Max/V_Min ≈ 100), and high-speed (≈22.86 mm s⁻¹) unidirectional microdroplet manipulation, which is ascribed to the rolling state on superhydrophobic slant microwall arrays (SMWAs) fabricated by the one-step femtosecond laser oblique ablation. The unidirectional transport mechanism relies on the variance of viscous resistance induced by the difference of contact area between the microdroplet and the slant microwalls. Furthermore, a circular, curved, and “L”-shaped SMWA is designed and fabricated for droplet motion with particular paths. Finally, sequential transport of large-volume-range droplets and chemical mixing microreaction of water-based droplets are demonstrated on the SMWA, which demonstrates the great potential in the field of microdroplet manipulation.