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LLNS-Net: Lightweight Lung Nodule Segmentation Network With Multiscale Information Fusion and Complementarity. 基于多尺度信息融合和互补的轻量级肺结节分割网络。
IF 4.8 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2026-01-01 DOI: 10.1111/nyas.70193
Zhenhuan Liang, Xiaofen Jia, Mei Zhang, Baiting Zhao, Cong Wang

To address the challenge that existing lung nodule segmentation algorithms face in balancing high accuracy with a lightweight design, we propose LLNS-Net, a compact yet effective lung nodule segmentation network. In the feature-mining encoder, convolutional residual blocks operating at multiple scales extract both shallow and deep nodule information from CT images, while an efficient multiscale attention mechanism enriches semantic representations. A subsequent feature enhancement module explores and leverages correlations among the outputs of the encoder's submodules. Within this module, we introduce an enhanced mixed local channel attention (E-MLCA) mechanism and a reinforced multiscale feature module to further strengthen cross-scale feature learning. The decoder aggregates features from four decoding layers and applies subchannel enhancement to refine the segmentation map. This design improves boundary smoothness and more accurately preserves the true morphology of nodule regions. Experimental results demonstrate that, compared with mainstream methods such as HmsUnet, MSA-Unet, and H-vmunet, the intersection over union of LLNS-Net improves by 1.86%, 0.27%, and 7.62%, respectively. Additionally, the generated feature maps exhibit smoother boundaries and superior visual quality compared to those produced by leading medical image segmentation algorithms.

为了解决现有肺结节分割算法在平衡高精度和轻量级设计方面面临的挑战,我们提出了一种紧凑而有效的肺结节分割网络LLNS-Net。在特征挖掘编码器中,多尺度的卷积残差块同时提取CT图像的浅层和深层结节信息,高效的多尺度注意机制丰富了语义表征。随后的功能增强模块探索并利用编码器子模块输出之间的相关性。在该模块中,我们引入了增强的混合局部通道注意(E-MLCA)机制和增强的多尺度特征模块,以进一步加强跨尺度特征学习。该解码器聚合了四个解码层的特征,并应用子信道增强来细化分割图。这种设计提高了边界的平滑性,更准确地保留了结节区域的真实形态。实验结果表明,与HmsUnet、MSA-Unet和H-vmunet等主流方法相比,LLNS-Net的交集over union分别提高了1.86%、0.27%和7.62%。此外,与领先的医学图像分割算法产生的特征图相比,生成的特征图具有更平滑的边界和更好的视觉质量。
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引用次数: 0
Glymphatic Dysfunction Coupled with Altered Neural Activity in High Myopia: Multimodal Study of Brain-Eye Interactions. 高度近视伴神经活动改变的淋巴功能障碍:脑眼相互作用的多模式研究。
IF 4.8 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2026-01-01 DOI: 10.1111/nyas.70200
Xiaopan Zhang, Liang Liu, Shaoqiang Han, Xuemin Jin, Xingzheng Pan, Yong Zhang, Jingliang Cheng, Bin Zhang, Baohong Wen

High myopia is a serious global health issue, with particularly significant impacts on the central nervous system. However, the role of glymphatic system dysfunction and associated neural alterations in high myopia remains largely unexplored, and the underlying brain-eye pathological interactions are poorly understood. Our multimodal magnetic resonance imaging (MRI) study integrates diffusion tensor image analysis along the perivascular space (DTI-ALPS), choroid plexus volumetry, and regional homogeneity (ReHo) analyses to evaluate glymphatic function and neural activity changes in high myopia. Compared to controls, patients exhibited significantly reduced DTI-ALPS indices, enlarged choroid plexus volumes, and distinct ReHo alterations, including increased activity in the superior frontal gyrus, but decreased activity in the calcarine fissure and surrounding cortex, as well as the superior temporal gyrus. Notably, the DTI-ALPS index correlated positively with refractive error but negatively with axial length, whereas choroid plexus volume showed the opposite pattern. Furthermore, glymphatic dysfunction correlated with abnormal ReHo in key brain regions. These findings indicate a pathological cascade linking axial elongation, impaired glymphatic clearance, and disrupted neural synchronization-a pathophysiological state that may underlie the broader neurological risks associated with high myopia. This framework integrates multimodal evidence to elucidate brain-eye interactions, incorporating complementary insights derived from structural, diffusion, and functional MRI methodologies.

高度近视是一个严重的全球性健康问题,对中枢神经系统的影响尤为显著。然而,淋巴系统功能障碍和相关的神经改变在高度近视中的作用在很大程度上仍未被探索,潜在的脑-眼病理相互作用也知之甚少。我们的多模态磁共振成像(MRI)研究整合了沿血管周围空间的扩散张量图像分析(DTI-ALPS)、脉络膜丛体积测量和区域均匀性(ReHo)分析来评估高度近视的淋巴功能和神经活动变化。与对照组相比,患者的DTI-ALPS指数明显降低,脉络膜丛体积增大,ReHo明显改变,包括额上回活动增加,但钙状裂和周围皮层以及颞上回活动减少。DTI-ALPS指数与屈光不正正相关,与眼轴长度负相关,脉络膜丛容积相反。此外,淋巴功能障碍与大脑关键区域的ReHo异常相关。这些发现表明,轴向伸长、淋巴清除受损和神经同步中断之间存在病理级联,这种病理生理状态可能是与高度近视相关的更广泛的神经系统风险的基础。该框架整合了多模态证据来阐明脑眼相互作用,并结合了来自结构、扩散和功能MRI方法的互补见解。
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引用次数: 0
Periodic and Aperiodic Electroencephalographic Rhythms During Vigilance Transitions in Alzheimer's Disease Mild Cognitive Impairment. 阿尔茨海默病轻度认知障碍中警觉性转变期间的周期性和非周期性脑电图节律。
IF 4.8 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2026-01-01 DOI: 10.1111/nyas.70194
Matteo Carpi, Veronica Henao Isaza, Giuseppe Noce, Enrico Michele Salamone, Claudio Del Percio, Susanna Lopez, Filippo Carducci, Roberta Lizio, Mina De Bartolo, Dharmendra Jakhar, Antonio Pio Afragola, Chiara Rossi, Lorenc Barjami, Andrea Soricelli, Marco Salvatore, Franco Giubilei, Bahar Güntekin, Görsev Yener, Federico Massa, Dario Arnaldi, Francesco Famà, Matteo Pardini, Raffaele Ferri, Bartolo Lanuzza, Fabrizio Stocchi, Laura Vacca, Chiara Coletti, Moira Marizzoni, John-Paul Taylor, Lutfu Hanoğlu, Harun Yırıkoğulları, Giovanni B Frisoni, Sofia Cuoco, Arianna Cappiello, Paolo Barone, Laura Bonanni, Anita D'Anselmo, Roberta Biundo, Simone Cauzzo, Eleonora Fiorenzato, Angelo Antonini, Fabrizia D'Antonio, Giuseppe Bruno, Francesco Infarinato, Simone Marziali, Maria Francesca De Pandis, Claudio Babiloni

Alzheimer's disease (AD) dementia is associated with marked disruptions in resting-state eyes-closed electroencephalographic (rsEEG) rhythms, particularly in the periodic alpha band (8-12 Hz), suggesting impaired vigilance regulation. In contrast, the aperiodic rsEEG component, reflecting global cortical arousal, has been reported to remain unchanged. This exploratory study examined periodic and aperiodic EEG activity in patients with mild cognitive impairment due to AD (ADMCI) during transitions from quiet wakefulness to light sleep. EEG datasets (∼30 min) from 19 ADMCI patients and 18 matched cognitively unimpaired older adults (control) were analyzed. Vigilance stages were scored using a reduced version of Hori's system, distinguishing the alpha-dominant wakefulness stage and the theta-dominant light sleep (ripples) stage. EEG spectra were parameterized using the specparam algorithm. ADMCI participants showed reduced reactivity of individual alpha power between the wakefulness and ripples stages compared to the control group. Conversely, both groups exhibited comparable increases in fronto-central theta power and steepening of the aperiodic slope and offset. No group differences emerged in aperiodic exponent and offset, although statistical power was limited by modest sample size. Overall, EEG alpha rhythms reflecting vigilance regulation are disrupted in prodromal AD, while periodic and aperiodic signatures of sleep onset are relatively preserved, suggesting selective vulnerability of attentional thalamocortical systems.

阿尔茨海默病(AD)痴呆与静息状态闭眼脑电图(rsEEG)节律明显中断有关,特别是在周期性α带(8-12 Hz),提示警觉性调节受损。相比之下,非周期性的rsEEG成分,反映全局皮层觉醒,据报道保持不变。本探索性研究检查了AD (ADMCI)轻度认知障碍患者从安静清醒到浅睡眠过渡期间的周期性和非周期性脑电图活动。对19名ADMCI患者和18名匹配的认知功能正常的老年人(对照组)的EEG数据集(~ 30分钟)进行分析。使用Hori系统的简化版本对警觉性阶段进行评分,区分阿尔法主导的清醒阶段和θ主导的浅睡眠(涟漪)阶段。采用谱谱算法对脑电谱进行参数化。与对照组相比,ADMCI参与者在清醒和涟漪阶段之间的个体阿尔法能量反应性降低。相反,两组都表现出相当的额中央θ波功率增加和非周期斜率和偏移变陡。在非周期指数和偏移量方面没有组间差异,尽管统计能力受到适度样本量的限制。总的来说,反映警觉性调节的脑电图α节律在阿尔茨海默病前驱期被破坏,而睡眠发作的周期性和非周期性特征相对保留,表明注意丘脑皮质系统的选择性脆弱性。
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引用次数: 0
Using Rhythmic Notation and Musical Analysis on Animal Communication: A Case Study on Sperm Whales. 韵律符号与音乐分析在动物交流中的应用——以抹香鲸为例。
IF 4.8 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2026-01-01 DOI: 10.1111/nyas.70210
Mia Davitt, Macrae Eckelberry, Max Davitt, Lara S Burchardt

Western music notation, a language of symbols representing various parameters in music, can be used to describe and analyze existing musical performances. Rhythmic elements such as periodicity and categorical rhythm have been studied in sperm whale (Physeter macrocephalus) codas, which are short click sequences produced in social interaction. As a case study in the applicability of music notation for animal communication, we transcribed human music, randomly generated rhythms, and sperm whale codas in Western music notation. Music notation categorizes sound elements into a metric hierarchy based on the perception of an isochronous beat in nonisochronous rhythms, a difficult comparison when we cannot know the rhythm perception of nonhuman animals. In accuracy and complexity, the transcriptions of codas showed similar statistics to the human rhythm samples. We demonstrated two modes of musical analysis on the transcriptions of sperm whale codas: tempo variation and motivic variation, and explored how they could be applied in ways that mitigate the subjective nature of interpreting beats. Our sample size was small, and our tools were time-consuming, so a streamlined approach is needed to fully test the applicability of these tools on a large scale.

西方音乐记谱法是一种代表音乐中各种参数的符号语言,可以用来描述和分析现有的音乐表演。抹香鲸(Physeter macrocephalus)尾声是在社会交往中产生的短的咔哒声序列,其节奏元素如周期性和分类节奏已被研究。作为一个案例研究,音乐符号在动物交流中的适用性,我们转录了西方音乐符号中的人类音乐、随机生成的节奏和抹香鲸的尾声。音乐记谱法根据对非同步节奏中等时节拍的感知将声音元素分类为一个度量层次,当我们无法了解非人类动物的节奏感知时,这是一个困难的比较。在准确性和复杂性方面,尾韵的转录显示出与人类节奏样本相似的统计数据。我们展示了抹香鲸尾段转录的两种音乐分析模式:节奏变化和动机变化,并探索了如何将它们应用于减轻解释节奏的主观性质的方式。我们的样本量很小,而且我们的工具很耗时,因此需要一种简化的方法来全面测试这些工具在大规模上的适用性。
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引用次数: 0
Food Macronutrient Composition Influences Attentional Bias Toward Food Cues 食物宏量营养素组成影响对食物线索的注意偏向
IF 5.2 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2025-12-26 DOI: 10.1111/nyas.70181
Marc Ballestero‐Arnau, Borja Rodríguez‐Herreros, Manuel Moreno‐Sánchez, Toni Cunillera
Food cues that appear in the visual field capture our attention easily and can influence eating behavior. The current study investigated the influence of food‐related stimuli on visual attention, considering the macronutrient composition of food items. Images representing sweet and savory foods were employed, the latter consisting primarily of high‐protein foods. The participants were primed with these images prior to performing the attentional task. We found that both sets of food images elicited an emotional attentional blink (EAB), but a stronger EAB was observed for the high‐protein foods, and this observation was further supported by a negative correlation between the attentional bias (ABias) and the proportion of protein consumed by the participants before the experiment, with participants who consumed less protein exhibiting a stronger ABias toward high‐protein foods. These findings suggest that an ABias might also arise to facilitate the consumption of high‐protein foods when prior consumption of this macronutrient is low.
出现在视野中的食物线索很容易吸引我们的注意力,并影响我们的饮食行为。本研究考察了食物相关刺激对视觉注意的影响,并考虑了食物的常量营养成分。图像分别代表甜味和咸味食物,后者主要由高蛋白食物组成。在执行注意力任务之前,参与者被启动了这些图像。我们发现两组食物图像都引起情绪性注意瞬移(EAB),但高蛋白食物的EAB更强,这一观察结果进一步得到了注意偏差(ABias)与实验前参与者摄入的蛋白质比例负相关的支持,摄入较少蛋白质的参与者对高蛋白食物表现出更强的ABias。这些发现表明,当先前摄入的大量营养物质较低时,也可能出现abbias,以促进高蛋白食物的摄入。
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引用次数: 0
Global and Local Deviance Effects in the Processing of Temporal Patterns 时间模式加工中的全局和局部偏差效应
IF 5.2 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2025-12-24 DOI: 10.1111/nyas.70173
Dunia Giomo, Romain Brasselet, Gianfranco Fortunato, Domenica Bueti
Perceptual and sensorimotor events are often experienced as temporal patterns, that is, identified as sequences based on their temporal features. While current timing models propose separate mechanisms supporting the processing of single intervals and temporal patterns, they leave partially unclear whether the latter entails the processing of both individual intervals and the overall structure of a pattern, or only one of these features. Here, we narrowed this question down by investigating how violations of regularity within the individual intervals of a temporal sequence (i.e., local violations) and in its overall structure (i.e., global violations) differentially affect its reproduction. We tested these violation effects in three experiments in which the sequences were experienced either in the visual or auditory domain and had either simple or complex structures. Results showed that the precision in reproducing simple visual and auditory patterns was primarily affected by local violations, whereas global violations mostly impacted the reproduction of visual patterns with complex structures. These detrimental effects were partially explained by rescaling and bias effects in the reproduced patterns. Overall, our findings indicate that the processing and reproduction of temporal patterns differentially weigh individual intervals and global structure, depending on sensory modality and, for visual patterns, on structural complexity.
知觉和感觉运动事件通常被视为时间模式,也就是说,根据它们的时间特征识别为序列。虽然目前的时序模型提出了支持单个间隔和时间模式处理的不同机制,但它们在一定程度上不清楚后者是否需要处理单个间隔和模式的整体结构,还是只需要处理这些特征中的一个。在这里,我们通过调查在时间序列的单个间隔内(即局部违规)和其整体结构(即全球违规)如何不同地影响其繁殖来缩小这个问题。我们在三个实验中测试了这些违反效应,这些实验中,这些序列在视觉或听觉领域经历,具有简单或复杂的结构。结果表明,局部违规行为主要影响简单视觉和听觉模式的复制精度,而全局违规行为主要影响复杂结构视觉模式的复制精度。这些有害的影响可以部分地解释为重现模式中的重标度和偏置效应。总的来说,我们的研究结果表明,时间模式的处理和复制对个体间隔和整体结构的影响是不同的,这取决于感官模式,对于视觉模式,取决于结构复杂性。
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引用次数: 0
Isometric Exercise Combined With Transcranial Electrical Stimulation Improves Conditioned Pain Modulation 等长运动联合经颅电刺激改善条件疼痛调节
IF 5.2 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2025-12-24 DOI: 10.1111/nyas.70178
Yinglin Guan, Xinxin Lin, Weihong Chen, Xin Wang, Shengxiong Chen, Weiwei Peng
Exercise and primary motor cortex (M1) stimulation may alleviate pain by enhancing the endogenous pain‐inhibitory system, with its efficacy assessed through conditioned pain modulation (CPM). This study examined whether combining exercise with M1‐targeted transcranial electrical stimulation enhances CPM more effectively than either intervention alone. Two randomized, sham‐controlled experiments were conducted. In Experiment 1 ( N = 70), participants completed a 3‐min isometric handgrip exercise or quiet rest. In Experiment 2 ( N = 140), participants received 20 min of M1‐targeted transcranial random noise stimulation with direct current offset (tRNS + DC‐offset) or sham stimulation, followed by either exercise or rest. CPM was assessed at baseline, immediately after, and 30 min post‐intervention. Results showed that exercise alone did not significantly enhance CPM efficacy. In contrast, M1‐targeted tRNS + DC‐offset significantly enhanced CPM efficacy at both post‐intervention time points. Critically, individuals with low baseline CPM showed greater benefits from the combination of tRNS + DC‐offset and exercise compared to either exercise alone or tRNS + DC‐offset alone, particularly at 30 min post‐intervention. These results highlight the potential of combining motor cortex stimulation with exercise to optimize endogenous pain inhibition, particularly as a personalized, nonpharmacological intervention for individuals with impaired pain modulation.
运动和初级运动皮层(M1)刺激可能通过增强内源性疼痛抑制系统来减轻疼痛,其效果通过条件疼痛调节(CPM)来评估。这项研究考察了运动与M1靶向经颅电刺激相结合是否比单独干预更有效地增强CPM。进行了两个随机、假对照实验。在实验1 (N = 70)中,参与者完成了3分钟的等长握力训练或安静休息。在实验2 (N = 140)中,参与者接受20分钟的M1靶经颅随机噪声刺激,外加直流偏置(tRNS + DC偏置)或假刺激,然后进行运动或休息。在基线、干预后立即和干预后30分钟评估CPM。结果表明,单纯运动不能显著提高CPM的疗效。相比之下,M1靶向tRNS + DC - offset在干预后两个时间点显著提高了CPM疗效。关键的是,与单独运动或单独tRNS + DC - offset相比,低基线CPM的个体从tRNS + DC - offset和运动的组合中显示出更大的益处,特别是在干预后30分钟。这些结果强调了运动皮质刺激与运动相结合的潜力,以优化内源性疼痛抑制,特别是作为一种个性化的非药物干预,对疼痛调节受损的个体。
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引用次数: 0
Global Perspective on the Migration History and Current and Future Potential Distribution of Rattus tanezumi 全球视野下的黄胸鼠迁徙历史及当前和未来潜在分布
IF 5.2 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2025-12-23 DOI: 10.1111/nyas.70163
Zihang Wang, Bang Fu, Jiarong Ren, Shihao Li, Haoqiang Ji, Yue Wu, Xinyue Fang, Zhenxu Wang, Meng Shang, Yiguan Wang, Ying Liang, Xiaobo Liu, Liang Lu
Rattus tanezumi is a highly invasive rodent that has spread rapidly worldwide in recent decades, yet its historical dispersal routes and potential suitable habitats remain insufficiently systematically assessed. This study reconstructed the migration history and projected the future distribution of the species by integrating MaxEnt and Biomod2 models. It aimed to reveal the dynamics of its invasion process in relation to climatic drivers, compare model differences, and evaluate the reliability of the predictions. We found that R. tanezumi spread primarily through shipping and transportation networks, often initially establishing in climatically suitable ports, with expansion limited by climatic boundaries. Current highly suitable areas occur in Southeast Asia, Africa, and South America. Analysis identified key climatic thresholds, with survival probability significantly increasing where the mean annual temperature is >10°C and the warmest quarter precipitation is >900 mm. While temperature seasonality had no significant effect, diurnal temperature range exhibited a negative impact, though its strength varied regionally. Contrary to traditional understanding, reliability‐tested model projections suggest potential expansion into colder and higher‐altitude regions under climate change. This study elucidates the species’ invasion dynamics and provides a scientific basis for forecasting range shifts and guiding targeted control strategies.
tanezumi鼠是一种高度入侵的啮齿动物,近几十年来在世界范围内迅速传播,但其历史传播路线和潜在的适宜栖息地仍未得到充分的系统评估。利用MaxEnt模型和Biomod2模型,重建了该物种的迁移历史,并对其未来的分布进行了预测。旨在揭示其入侵过程与气候驱动因素的动态关系,比较模式差异,并评估预测的可靠性。我们发现,黄斑赤潮主要通过航运和运输网络传播,通常最初建立在气候适宜的港口,其扩张受到气候边界的限制。目前非常适合的地区是东南亚、非洲和南美洲。分析确定了关键的气候阈值,当年平均气温为10°C,最温暖的季度降水量为900毫米时,生存概率显著增加。温度季节性对气候变化的影响不显著,但日较差对气候变化的影响程度存在区域差异。与传统理解相反,经过可靠性测试的模式预估表明,在气候变化下,可能会向更冷和更高海拔地区扩张。该研究阐明了该物种的入侵动态,为预测范围变化和指导有针对性的控制策略提供了科学依据。
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引用次数: 0
Advanced Multivariate Catastrophe Model for Quantitative Analysis of Complex Systems With Case Studies and Validation 复杂系统定量分析的先进多元突变模型与案例研究和验证
IF 5.2 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2025-12-23 DOI: 10.1111/nyas.70177
Jiamin Niu, Jiu Hui Wu
Quantitative prediction of state transitions, particularly in complex multivariable‐coupled systems, represents a long‐standing scientific challenge. Classical catastrophe theory, while conceptually powerful, is severely constrained in practice by its inherently qualitative nature and by limits on dimensionality. To overcome this bottleneck, we introduce the multivariate quantitative catastrophe model (MQCM). This framework, while preserving the core topological architecture of catastrophe theory, incorporates a power‐law composite control function to integrate multiple physical parameters, enforcing dimensional homogeneity as a physical constraint. This approach elevates the theory from a paradigm of qualitative classification to one of robust quantitative prediction. The model's predictive capability is verified through two classical problems, blackbody radiation and the heat capacity of solids. In both cases, MQCM starts from a single unified parent formula and, using singularity analysis, independently derives the governing physical laws in the corresponding asymptotic limits. MQCM thus establishes a systematic, mathematically rigorous, and physically insightful framework for the quantitative application of catastrophe theory. The framework is particularly well‐suited to complex systems that display distinct scaling laws on opposite sides of a critical point. This work opens a new avenue for understanding critical phenomena and lays a foundation for interdisciplinary applications in materials science, engineering, and beyond.
状态转变的定量预测,特别是在复杂的多变量耦合系统中,是一个长期存在的科学挑战。经典突变理论虽然在概念上很强大,但在实践中却受到其固有的定性和维度限制的严重制约。为了克服这一瓶颈,我们引入了多变量定量突变模型(MQCM)。该框架在保留突变理论的核心拓扑结构的同时,结合了一个幂律复合控制函数来集成多个物理参数,强制维度同质性作为物理约束。这种方法将理论从定性分类范式提升到稳健的定量预测范式。通过黑体辐射和固体热容两个经典问题验证了该模型的预测能力。在这两种情况下,MQCM都从一个统一的父公式开始,并使用奇点分析,在相应的渐近极限中独立地推导出控制物理定律。MQCM因此为突变理论的定量应用建立了一个系统的、数学上严谨的、物理上有洞察力的框架。该框架特别适合于在临界点两侧显示不同标度定律的复杂系统。这项工作为理解关键现象开辟了新的途径,并为材料科学、工程等领域的跨学科应用奠定了基础。
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引用次数: 0
Investigation of Musculoskeletal‐Inspired Architecture and Honeycomb Lightweight Design for Electro‐Hydraulic Humanoid Robot Legs 电液仿人机器人腿肌肉骨骼启发结构及蜂窝状轻量化设计研究
IF 5.2 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES Pub Date : 2025-12-20 DOI: 10.1111/nyas.70175
Hao Zhu, Minzhou Luo, Zigui Lv, Yan Luo, Ju Li, Ruikai Liu, Pengfei Lv, Jinlin Xue
Humanoid robots operating in unstructured environments and under high‐load conditions commonly face challenges such as limited locomotion performance and the difficulty of balancing structural strength with weight reduction. This study proposes a novel bio‐inspired electro‐hydraulic humanoid robot that incorporates a parametric dynamic model based on the coupled muscle–tendon–bone characteristics of the human hip–knee–ankle complex. Leveraging a custom‐designed, reverse–inverse kinematics framework, the leg morphology and electro‐hydraulic actuator parameters are co‐optimized to enhance agility and obstacle‐crossing capabilities. To simultaneously ensure structural strength and mass control, honeycomb structures are designed for the leg components, achieving functional lightweighting while preserving balanced strength across different directions. Simulation analyses demonstrate that a 21.28% weight reduction is attainable while maintaining comparable out‐of‐plane equivalent elastic and shear moduli relative to the original structure, thus meeting the demands of complex loading and impact conditions. Experimental tests confirm that the robot exhibits robust environmental adaptability and stable locomotion during high‐speed running at 10 km/h and obstacle traversal over 300 mm. The findings validate the effectiveness of the proposed configuration and bio‐inspired strategy, providing theoretical support and an engineering paradigm for structural optimization and system integration in high‐performance humanoid robots under complex task scenarios.
在非结构化环境和高负载条件下工作的人形机器人通常面临着诸如有限的运动性能和平衡结构强度与减轻重量的困难等挑战。本研究提出了一种新型仿生电液类人机器人,该机器人结合了基于人体髋关节-膝关节-踝关节复合体肌肉-肌腱-骨耦合特性的参数化动力学模型。利用定制设计的逆运动学框架,腿形态和电液执行器参数共同优化,以提高敏捷性和越障能力。为了同时保证结构强度和质量控制,腿组件采用蜂窝结构设计,实现了功能轻量化,同时保持了不同方向的平衡强度。仿真分析表明,在保持相对于原结构的面外等效弹性模量和剪切模量的同时,可实现21.28%的减重,从而满足复杂载荷和冲击条件的要求。实验测试证实,该机器人在10公里/小时的高速行驶和超过300毫米的障碍物穿越中表现出强大的环境适应性和稳定的运动。研究结果验证了所提出的结构和生物激励策略的有效性,为复杂任务场景下高性能人形机器人的结构优化和系统集成提供了理论支持和工程范例。
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