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In the domain of bionic walking control for biped robots, optimizing the parameters of the central pattern generator (CPG) presents a formidable challenge due to its high-dimensional and nonlinear characteristics. The traditional particle swarm optimization (PSO) algorithm often converges to local optima, particularly when addressing CPG parameter optimization issues. To address these challenges, one improved particle swarm optimization algorithm aimed at enhancing the stability of the walking control of biped robots was proposed in this paper. The improved PSO algorithm incorporates a spiral function to generate better particles, alongside optimized inertia weight factors and learning factors. Evaluation results between the proposed algorithm and comparative PSO algorithms were provided, focusing on fitness, computational dimensions, convergence rates, and other metrics. The biped robot walking validation simulations, based on CPG control, were implemented through the integration of the V-REP (V4.1.0) and MATLAB (R2022b) platforms. Results demonstrate that compared with the traditional PSO algorithm and chaotic PSO algorithms, the performance of the proposed algorithm is improved by about 45% (two-dimensional model) and 54% (four-dimensional model), particularly excelling in high-dimensional computations. The novel algorithm exhibits a reduced complexity and improved optimization efficiency, thereby offering an effective strategy to enhance the walking stability of biped robots. [ABSTRACT FROM AUTHOR]

In order to improve the walking stability of a biped robot in multiple scenarios and reduce the complexity of the Central Pattern Generator (CPG) model, a new CPG walking controller based on multivariate linear mapping was proposed. At first, in order to establish a dynamics model, the lower limb mechanical structure of the biped robot was designed. According to the Lagrange and angular momentum conservation method, the hybrid dynamic model of the biped robot was established. The initial value of the robot's passive walking was found by means of Poincaré mapping and cell mapping methods. Then, a multivariate linear mapping model was established to form a new lightweight CPG model based on a Hopf oscillator. According to the parameter distribution of the new CPG model, a preliminary parameter-tuning idea was proposed. At last, the joint simulation of MATLAB and V-REP shows that the biped robot based on the new CPG control has a stable periodic gait in flat and uphill scenes. The proposed method could improve the stability and versatility of bipedal walking in various environments and can provide general CPG generation and a tuning method reference for robotics scholars. [ABSTRACT FROM AUTHOR]

Two‐dimensional (2D) semiconductors, such as monolayer MoS2, has emerged as a profound material platform in the post‐Moore era due to their versatile applications for high‐performance transistors, memories, photodetectors, neuristors, and so on. Nevertheless, the inherent defects in these atomically thin materials have given rise to significant hysteresis in their field‐effect transistors (FETs), resulting in shifted threshold voltages and elevated power consumptions not only on single‐device levels but also at circuitry scales. We herein report that, by vertically integrating an in‐plane ferroelectric, NbOCl2, with monolayer MoS2 FETs, the hysteresis in both the output and transfer curves of the latter can be greatly suppressed, which we attribute to compensated electromigration currents by the polarization currents of the 2D ferroelectric. This work opens a new avenue to hysteresis‐free 2D transistors without necessitating defect‐free channels, thus allowing for their use in high driving‐voltage scenarios such as power electronics. [ABSTRACT FROM AUTHOR]

The high-efficiency preparation of large-area microstructures of optical materials and precision graphic etching technology is one of the most important application directions in the atomic and near-atomic-scale manufacturing industry. Traditional focused ion beam (FIB) and reactive ion etching (RIE) methods have limitations in precision and efficiency, hindering their application in automated mass production. The pulsed ion beam (PIB) method addresses these issues by enhancing ion beam deflection to achieve high-resolution material removal on a macro scale, which can reach the equivalent removal resolution of 6.4 × 10−4 nm. Experiments were conducted on a quartz sample (10 × 10 × 1 mm) with a specific pattern mask using the custom PIB processing device. The surface morphology, etching depth, and roughness were measured post-process. The results demonstrated that precise control over cumulative sputtering time yielded well-defined patterns with expected average etching depths and surface roughness. This confirms the PIB technique's potential for precise atomic depth image transfer and its suitability for industrial automation, offering a significant advancement in microfabrication technology. [ABSTRACT FROM AUTHOR]

Post-processing based on HF etching has become a highly preferred technique in the fabrication of fused silica optical elements in various high-power laser systems. Previous studies have thoroughly examined and confirmed the elimination of fragments and contamination. However, limited attention has been paid to nano-sized chemical structural defects and secondary precursors that arise during the etching process. Therefore, in this paper, a set of fused silica samples are prepared and undergo the etching process under different parameters. Subsequently, an atomic force microscope, scanning electron microscope and fluorescence spectrometer are applied to analyze sample surfaces, and then an LIDT test based on the R-on-1 method is applied. The findings revealed that appropriate etching configurations will lead to certain LIDT improvement (from initial 7.22 J/cm2 to 10.76 J/cm2), and HF-based etching effectively suppresses chemical structural defects, while additional processes are recommended for the elimination of micron- to nano-sized secondary deposition contamination. [ABSTRACT FROM AUTHOR]

Entomological sampling and storage conditions often prioritise efficiency, practicality and conservation of morphological characteristics, and may therefore be suboptimal for DNA preservation. This practice can impact downstream molecular applications, such as the generation of high-throughput genomic libraries, which often requires substantial DNA input amounts. Here, we use a practical Tn5 transposase tagmentation-based library preparation method optimised for 96-well plates and low yield DNA extracts from insect legs that were stored under sub-optimal conditions for DNA preservation. The samples were kept in field vehicles for extended periods of time, before long-term storage in ethanol in the freezer, or dry at room temperature. By reducing DNA input to 6ng, more samples with sub-optimal DNA yields could be processed. We matched this low DNA input with a 6-fold dilution of a commercially available tagmentation enzyme, significantly reducing library preparation costs. Costs and workload were further suppressed by direct post-amplification pooling of individual libraries. We generated medium coverage (>3-fold) genomes for 88 out of 90 specimens, with an average of approximately 10-fold coverage. While samples stored in ethanol yielded significantly less DNA compared to those which were stored dry, these samples had superior sequencing statistics, with longer sequencing reads and higher rates of endogenous DNA. Furthermore, we find that the efficiency of tagmentation-based library preparation can be improved by a thorough post-amplification bead clean-up which selects against both short and large DNA fragments. By opening opportunities for the use of sub-optimally preserved, low yield DNA extracts, we broaden the scope of whole genome studies of insect specimens. We therefore expect these results and this protocol to be valuable for a range of applications in the field of entomology. [ABSTRACT FROM AUTHOR]

Little is known about the repertoire dynamics and persistence of pathogenic T cells in HLA-associated disorders. In celiac disease, a disorder with a strong association with certain HLA-DQ allotypes, presumed pathogenic T cells can be visualized and isolated with HLA-DQ:gluten tetramers, thereby enabling further characterization. Single and bulk populations of HLADQ:gluten tetramer-sorted [CD4.sup.+] T cells were analyzed by high-throughput DNA sequencing of rearranged TCR-[alpha] and -[beta] genes. Blood and gut biopsy samples from 21 celiac disease patients, taken at various stages of disease and in intervals of weeks to decades apart, were examined. Persistence of the same clonotypes was seen in both compartments over decades, with up to 53% overlap between samples obtained 16 to 28 years apart. Further, we observed that the recall response following oral gluten challenge was dominated by preexisting [CD4.sup.+] T cell clonotypes. Public features were frequent among gluten-specific T cells, as 10% of TCR-[alpha], TCR-[beta], or paired TCR-[alpha][beta] amino acid sequences of total 1813 TCRs generated from 17 patients were observed in 2 or more patients. In established celiac disease, the T cell clonotypes that recognize gluten are persistent for decades, making up fixed repertoires that prevalently exhibit public features. These T cells represent an attractive therapeutic target., Introduction As T cells recognize peptide antigen with their TCRs in the context of MHC (HLA in humans) molecules, T cells very likely play a central role in HLA-associated disorders [...]