摘要：为解决气动肌肉驱动的脚踝康复机器人实际控制中,无模型自适应迭代学习控制在系统噪声干扰下或初始拟伪偏导选择不当会导致算法收敛速度过慢、控制效果差的问题,提出一种基于高阶拟伪偏导整定的无模型迭代学习控制方法,并设计基于零化神经网络误差递归的迭代学习控制律.通过引入系统观测数据对初始拟伪偏导进行修正,减少拟伪偏导初始值的选取对于算法收敛速度的影响;通过设计抗噪声零化神经网络控制律,减小系统噪声对控制性能的影响,进而实现噪声环境下柔性康复机器人的高性能轨迹跟踪.仿真实验结果表明在噪声环境下能够利用较少的迭代轮次降低最大跟踪误差.机器人实际控制实验结果表明:该方法能够在7次迭代后使气动肌肉平均跟踪误差控制在2%以内,并且在不同初始拟伪偏导条件下均能获得较好的收敛性和轨迹跟踪性能.

摘要：As surgical procedures transition from conventional resection to advanced tissue-regeneration technologies,human disease therapy has witnessed a great leap *** particular,three-dimensional(3D)bioprinting stands as a landmark in this setting,by promising the precise integration of biomaterials,cells,and bioactive molecules,thus opening up a novel avenue for tissue/organ *** by the editorial board of Bio-Design and Manufacturing,this review brings together a cohort of leading young scientists in China to dissect the core functionalities and evolutionary trajectory of 3D bioprinting,by elucidating the intricate challenges encountered in the manufacturing of transplantable *** further delve into the translational pathway from scientific research to clinical application,emphasizing the imperativeness of establishing a regulatory framework and rigorously enforcing quality-control ***,this review outlines the strategic landscape and innovative achievements of China in this field and provides a comprehensive roadmap for researchers worldwide to propel this field collectively to even greater heights.

摘要：逆向选择是指在市场信息不对称和不完全的条件下,买卖双方博弈过程会导致市场资源配置的无效率。而在金融市场,特别是证券市场,逆向选择的情况非常普遍,这种行为会降低证券市场资本配置的效率,造成资本市场的流动不畅。本文通过分析我国证券市场逆向选择行为,提出了解决逆向市场的机制设计策略,以减少逆向选择给证券市场带来的效率损失。