Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

Functions of ULK1 in autophagy and non-autophagy pathways and its implications in human physiology and disease

ULK1 (unc-51 like autophagy activating kinase 1), a mammalian serine/threonine kinase, is a key component of autophagy initiation complex and helps to induce all types of autophagy. Canonical autophagy is a process in which, through the interactions of a series of autophagy-related proteins, damaged organelles or misfolded proteins are engulfed by autophagosomes and then merged with lysosomes to be degraded. Thus, canonical autophagy is an important constituent part of the cellular “quality control.” Besides, accumulating evidence indicates that ULK1 exerts autophagy-independent effects in a cell-specific manner. For example, ULK1 facilitates neurite elongation through the regulation of endoplasmic reticulum (ER)–Golgi trafficking in neurons, stimulates phosphopentose pathway to help NADPH (nicotinamide adenine dinucleotide phosphate hydrogen) production, and acts as a duplex regulator in type I IFN (type I interferon) induced innate immune response. Considering the importance and diversity of ULK1 in various biological processes, this review aims to present a comprehensive overview of autophagy and non-autophagy related functions of ULK1 in a variety of human physiological, pathological, and disease processes.     

The potential of energy flexibility of space heating and cooling in Portugal

This study assesses the potential of energy flexibility of space heating and cooling for a typical household under different geographical conditions in Portugal. The proposed approach modifies the demand through the optimization of the thermostat settings using a genetic algorithm to reduce either operational costs or interaction with the grid. The results show that the used energy flexibility indicator expresses the available potential and that flexibility depends on several factors, namely: i) thermal inertia of the archetypical household; ii) the time of use electricity tariffs; iii) users’ comfort boundaries; and iv) the geographical location of the houses.     

Experimental research on dynamic response of PZT-5H under impact load

In order to improve the stability of PZT-based sensors, the mechanical, dielectric, ferroelectric and piezoelectric properties of PZT-5H under impact load were studied experimentally by using the separated Hopkinson pressure bar (SHPB) with an electrical output measurement device. At the same time, the experimental study on the material properties of PZT-5H before and after the impact was carried out. The effect of impact cracks on the output voltage of PZT-5H was also analyzed. The results show that the dynamic piezoelectric constants of PZT-5H under low stress impact (10–50 MPa) are different from those under quasi-static state, and the empirical relationship between them and the peak stress is obtained through experiments. The dielectric properties of PZT-5H did not change under low stress impact, but micro-cracks occurred in the material and dielectric loss increased at high frequencies. Under short circuit, the residual polarization intensity of PZT-5H decreases sharply due to impact load. While the impact load causes the secondary polarization and the increase of the residual polarization intensity of PZT under open circuit. When the stress is over 45 MPa, the PZT-5H breaks. The formation of cracks causes abnormal discharge voltage and gap discharge.     

地层测试的压力"下滑恢复"响应分析

在油气井的试油测试资料中，压力恢复曲线有时会出现下滑现象，常被认为是施工失误所致。本文以实际资料为例，分析了“下滑恢复”的压力响应特征和影响因素，认为只在低渗透地层有可能产生“下滑恢复”现象，并提出了避免“下滑恢复”的施工建议。     

地震属性解释技术的研究及确定性分析

随着油气勘探开发的不断发展，储层预测、属性分析等技术得到了广泛的应用，在生产中取得了较好的效果。但地震属性的概念，分类方法，地震属性之间、地震属性与储层参数之间的相互关系仍较模糊，各种地震属性解释方法虽然种类繁多，但缺乏系统的研究，这使得地震属性在应用中存在较大的不确定性。文章通过系统研究地震属性的概念、储层地震响应的基本特征，提出了地震响应的核心是反映地震波在介质传播过程中的能量变化，所有能引起地震能量发生变化的介质的不均质性均可导致地震属性的变化，由此提出了一种新的地震属性分类方法，并认为大部分地震属性只是基本属性在不同域中的不同表现形式。在分析现有地震解释技术的基础上，提出了对地震属性解释的新认识，强调了地震属性对地层岩性油气藏勘探的重要性，对属性间的关系及地震属性解释技术的确定性进行了研究，提出了岩性油气藏地震解释的工作流程及对地震资料采集和处理的要求。     

声波测井换能器激发响应实验研究

声波测井换能器的激发响应由换能器振动时所表现出来的动态阻抗和激发电路参数决定。而换能器的动态（阻抗）参数随压电晶体及其装配方式（力学边界条件）改变。为了测量换能器动态参数的影响，采用声波测井仪器常用的压电晶体和升压变压器，通过改变激发脉冲宽度和直流电压进行了实验，结果发现：在换能器两端的瞬态响应中，一共有三个二阶网络响应，分别对应于不同的频率。最低的一个影响声波测井波形的基线、与换能器主频接近的一个决定激发效率以及电路与压电晶体之间的匹配关系，是激发电路设计中比较关键的，其参数可以通过导纳圆测量仪器得到。     

Fast Positive Feedback Between the Adrenocortical Stress Response and a Brain Mechanism Involved in Aggressive Behavior.

Aggressive behavior induces an adrenocortical stress response, and sudden stressors often precipitate violent behavior. Experiments in rats revealed a fast, mutual, positive feedback between the adrenocortical stress response and a brain mechanism controlling aggression. Stimulation of the aggressive area in the hypothalamus rapidly activated the adrenocortical response, even in the absence of an opponent and fighting. Hypothalamic aggression, in turn, was rapidly facilitated by a corticosterone injection in rats in which the natural adrenocortical stress response was prevented by adrenalectomy. The rapidity of both effects points to a fast, mutual, positive feedback of the controlling mechanisms within the time frame of a single conflict. Such a mutual facilitation may contribute to the precipitation and escalation of violent behavior under stressful conditions. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

快速纳秒响应二代近贴聚焦像增强器的批量生产

叙述了二代近贴聚焦像增强器批量生产所用真空设备性能及特点，同时给出了管子工艺考核结果及管子纳秒时间响应特性。工艺考核结果表明，制管工艺可靠、性能稳定，管子批量生产合格率大于70％。     

Fe3O4/PSt/TiO2多层包覆电磁响应微球的制备

首先采用分散聚合法将自制的Fe3O4磁流体和苯乙烯反应合成有磁核的Fe3O4/PSt磁性聚合物微球，然后，用非均匀成核水解反应在Fe3O4/PSt微球外包覆无定形二氧化钛，获得Fe3O4/PSt/TiO2复合微粒。用红外光谱、扫描电镜和热分析对粒子的形貌和结构进行了表征。并测试了微粒的介电性能和磁性，结果表明，所制得复合微粒有良好的电、磁响应性。