Transfer from higher engineering education research
Li Deyi
Honorary chairman of CAAI
Academician of Chinese academy of engineering
Academician of Eurasian Academy of Sciences
Personal profile:
Researcher, Institute of Systems Engineering, Academy of Military Sciences, honorary chairman of China Command and Control Society. Since the reform and opening up in China, he has won the first doctor’s degree in artificial intelligence, and is an expert in command automation and artificial intelligence. Long-term commitment to information and intelligence, a major pioneer in the field of uncertain artificial intelligence, an active leader of unmanned driving in China, an important promoter of the development of artificial intelligence in Industry-University-Research, and a winner of the highest achievement award of artificial intelligence in Wu Wenjun.
Johnny Ma
Deputy Secretary-General CAAI
Beijing University of Technology
Intelligent perception and autonomous control Ministry of Education
Deputy Director and Professor of Engineering Research Center
Personal profile:
Beijing Jieqing winner. His main research fields include artificial intelligence, smart medical care, virtual/augmented reality, etc. Won 3 provincial and ministerial technical invention awards. Siggraph, Pacific Graphics and other members of the international conference procedures committee, CAAI Transactions on Intelligent Technology Youth Editorial Board.
Human intelligence begins with language, and artificial intelligence begins with words. The greatest wisdom of human beings is the invention of education, and intelligence is rooted in education. Education has changed the development of human intelligence from "present continuous tense" to "present perfect tense". Matter and energy in intelligent machines are real things in the physical level, while structure and time are abstract thinking in the cognitive level. Structure and time are parasitic on matter and energy, forming a hard structure; The information in the machine is a large number of soft structures, which shows that the spiritual world can be parasitic on hard structures or other soft structures, with virtual reality, virtual reality and self-reuse, and there is always at least the next time period, so that the machine can "think" again, and its order shows the ability to maintain its own thinking and produce orderly events. Human thinking and machine thinking are isomorphic in mathematics and homologous in physics, supported by energy and dependent on negative entropy for a living. The birth of intelligent machines has impacted all aspects and elements of education, from teaching "books" to teaching "learning" and then further to teaching "education", from how to possess knowledge, to how to use knowledge and then to how to create knowledge. The essence of education in the intelligent age is to cultivate the imagination and creativity of thinking. The core of human thinking is abstraction, association and interaction, and so is the machine. Machines use soft structures to extend and expand people’s thinking. More importantly, machines can think violently, and people and machines can learn from each other and complement each other, forming iterative intelligence. The problem of educational reform in the intelligent age has been urgently placed in front of all mankind. Reading changes one person and education changes all mankind.Let’s meet this learning revolution!
In recent years, many educators have embraced artificial intelligence with great enthusiasm and discussed how artificial intelligence can empower education, especially using the achievements of machine learning to improve teaching methods, improve learning efficiency and reduce teachers’ burden. As a long-term worker in the field of artificial intelligence, the author wants to look at education from another angle, from the angle of artificial intelligence, and explain why machines can think and how to think, and how to promote education to keep pace with the times after human beings have intelligent machines (people).
1. Natural evolution has laid the biological foundation of education.
Natural evolution does not care too much about human beings, so how did human beings suddenly stand in the global hegemony in such a short period of time [1]? Look at how osprey catches fish, how bees build nests, how ants dig holes, how spiders weave webs, how tigers move and catch, and how chimpanzees create and use tools. Their intelligence is amazing to human beings. Compared with other biological intelligence, the human eye can only see visible light, but the human ear can’t hear ultrasonic waves. The ability of pets to identify their owners is also better than that of their owners. The essence of natural evolution is the diversity of species, and the evolutionary law of survival of the fittest does not care too much about human beings. So, what is special about human evolution?
After millions of years, the uniqueness of human evolution is reflected in three aspects: first, in the process of human evolution from early reptiles to upright apes, human beings liberated their hands, learned to make tools and work, and compared with other creatures, human beings have a pair of dexterous hands; Secondly, human vocal cord pronunciation and cochlear hearing are exquisite and magical, and their language ability is strong. They can also distinguish who is speaking with complex and exquisite pronunciation. Third, human beings have a complex brain, first of all, the brain stem, which is the core of the whole body regulation and conscious. By the time it evolved into mammals, higher organisms had emotions. On the basis of the conscious and emotional areas, the outer cortex of the brain exploded, with a volume of about 300cm3 and a surface area of 2,200-2,850 cm2, containing nearly 100 billion active nerve cells and 900 billion colloidal cells, which became a unique human cognitive trait, as shown in Figure 1. Natural evolution has given the biological basis of education. There are only 3 billion base pairs in human genes, and genes determine the connection rules or patterns of neurons, but do not specify the connection strength of neurons. However, there are about 86 billion neurons in the human brain, with an average of about 1,000 connections per neuron, so genes cannot completely specify the connection mode and strength of each neuron, which leaves room for remodeling the day after tomorrow. Education, especially early education, shapes a person’s cognition. Compared with other creatures, natural selection, natural selection and survival of the fittest [2] have formed a complex and exquisite human brain, at the cost of taking a long time to evolve.It is to replace the generations of life and death for thousands of years, to preserve any individual who has favorable variation, and to destroy any individual who has any inappropriate deviation in structure.
Figure 1 Biological basis of education: three special features of human evolution
2. Human intelligence begins with language, and words extend outside the body to become artificial intelligence.
The history of human learning is almost as long as the history of life. It has experienced tens of millions of years of evolution from the monkey family to the Terran, and the organizational structure of the human brain has constantly adapted to human language ability. Human intelligence, knowledge, culture and civilization are acquired, supported by cerebral cortex, and the evolution of human brain organizational structure and acquired learning have made human intelligence, as shown in Figure 2. AI in the modern sense began with the attempt of classical philosophers to explain the human thinking process with the view of mechanical symbol processing. After the Dartmouth conference in 1956, AI was officially launched, and the research field of artificial intelligence was established at the conference [3]. In fact, the origin of artificial intelligence can be traced back to a long time ago. Before computers, there were abacus, slide rule, etc., which allowed thoughts, thinking and intelligence to exist independently from life. It began when humans invented languages and characters, which carried people’s thinking and intelligence. In turn, artificial intelligence promoted the evolution of human brain’s cognitive ability as a living thing, and machines could be used to simulate people’s intelligence.
Figure 2 The formation of human intelligence
Human intelligence begins with language, and language cannot be separated from context, pragmatics, semantics and grammar. The process of the invention of characters further gave birth to more human imagination, especially abstraction, association and interaction. Homo erectus, an animal hominid, created a stone culture 2 million years ago. After the long evolution of Homo sapiens 300,000 years ago and modern human characters 30,000 years ago, human communication changed from imitation, posture, gestures, spoken language, pictures to characters. The earliest cuneiform characters appeared in West Asia [4], and the earliest characters in ancient Egypt were hieroglyphics, which appeared about 6000 years ago. The hieroglyphics were ideographic and later evolved into pictographic hieroglyphics. Ancient Chinese originated 3,000 years ago, and Oracle Bone Inscriptions, which was found in the Yin Ruins of Shang Dynasty in China, has a rich pronunciation system, which distinguishes consonants from vowels.
The most essential difference between humans and animals is that humans invented writing.All species on the earth rely on the biological instinct of natural evolution, plus limited practical experience in their own life [5]. Only human beings are different in expanding intelligence. After a person has given birth, his or her biological contribution to the intelligence of human species is completed. However, in fact, if his or her intelligence is extended to form artificial intelligence in vitro, its contribution to the development of human intelligence still exists, and human beings pass on knowledge through language. Linguists estimate that there are more than 6,900 languages on the earth. The evolution of characters has a similar source, and later forms different branches. Pictures, cuneiform characters, hieroglyphs, pinyin characters, oracle-bone inscriptions, etc., are constantly evolving until the symbols of various disciplines (such as mathematics, physics, chemistry and music) and even the language symbols of computer programming are developed. Various abstract concepts are expressed in words, and human thoughts, thoughts, opinions, skills, decisions, problem solving, etc. are expressed in words, engraved on media and printed in books. Life has stopped, words still exist, the intelligence of a specific person still exists, and the intelligence of a group still exists, becoming artificial intelligence and human civilization. Artificial intelligence is an extension of human intelligence in vitro, starting with words. Characters are the discrete carriers of continuous language, and words are wordless, but they are not far away, and they are not long. The most basic feature that distinguishes human beings from other creatures is to express people’s thoughts, thoughts, emotions and intelligence in words, and to become the interpreter of our souls. Words can exist for a long time without life and become a part of the environment.It has become the ecology of human cultural civilization and the basis of digitalization of cognitive space.
Man is the most learning species among thousands of species on the earth.
Education began in prehistoric times, and the earliest schools in the world appeared in the ancient Babylonian civilization in the two river basins. In 3500 BC, there were a large number of textbooks and homework for clay tablet students at the ancient city site of Sulupo in Babylon Sumer, Cuba, which proved that there was a "clay tablet bookstore" for basic training such as reading, writing and arithmetic in the two river basins. In 2100 BC, there was a corridor and two rooms in the ruins of Mali City in the two river basins (20 people and 40 rooms respectively) The earliest schools appeared in four ancient civilizations (ancient Egypt, ancient Babylon, ancient India and China). There were court schools in ancient Egypt in 2500 BC. In China, there were special public schools such as preface, school and school in Xia Dynasty more than 2000 BC, as well as private schools of Confucius in the Spring and Autumn Period. The development of a person’s cognitive ability, especially his or her learning ability, can’t be separated from his or her educational environment. The communication and inheritance of education can spread human intelligence rapidly in time and space, which makes people’s cognition and intelligence leap into the fast lane. For the first time in the history of life on earth, the only species that can use swarm intelligence and social civilization to spread and inherit the existing artificial intelligence to future generations through language, writing and education has emerged.
Humans can not only talk about concrete and real things in words and characters, but also create abstract concepts in cognitive space that physical space does not really exist. The remodeling ability of the complex nerve tissue in the outer cortex of the human brain forms memory, which lays the foundation for the second cognitive expansion on the basis of instinct. It is full of imagination and creativity, and has the instinct of learning, and knowledge is acquired by the day after tomorrow. Therefore, human beings are the most learning species among thousands of species on earth.
4. Education makes people’s intelligence develop from "present continuous tense" to "present perfect tense"
Science and technology formed by human intelligence has become the main content of school inheritance learning, not only supervised learning, but also guided learning and collective learning of students, as well as intensive learning. Knowledge is the food of cognition, and learning cultivates human inheritance, cognition and creativity. No species can spend a quarter of its life in classroom education like human beings. The advantage of education is that any new knowledge and intelligence acquired by any place, any nation or any country can quickly become the common cognition of all mankind, and the dissemination, exchange and instillation of knowledge are efficient, without personal practice, and they can be used and shared quickly. This knowledge is a social civilization formed by more than 100 billion people who have lived on the earth in tens of thousands of years. Through education, the accumulated knowledge and spiritual wealth created by human beings are passed down from generation to generation, getting rid of the single channel that intelligence evolves from generation to generation simply through genes. The "present continuous tense" that originally relied on biological evolution intelligence has been added with a new and dominant cognitive channel, that is, the "present perfect tense" that relies on education to develop intelligence.
Reading can change a person, while education can change all mankind, and intelligence is rooted in education. The starting point of human cognitive revolution is the invention of language, characters and symbols, which creates culture and civilization. These cognitions are "imaginary realities", which enable intelligence to exist independently from life, thus inventing education. The second cognitive revolution of mankind is to explore the objective world, explore matter and energy, and invent various power tools, sensing tools and intellectual tools. At present, human beings are entering the era of artificial intelligence, that is, the third cognitive revolution. By the middle of the 21st century, we have developed unconscious brain-like intelligence by using the research results of brain science, and formed a new generation of artificial intelligence that can interact, learn and evolve. According to the intention given by human beings, we have consistently served human beings, and human beings have invented thinking machines, which can be educated and expanded intelligence. In the future, the iterative development of intelligent human beings and intelligent machines will change the environment and transform themselves. There may be a fourth cognitive revolution in the future, which will be cognitive life, involving bioethics, reacting artificial intelligence to all kinds of living things in nature, and then reshaping life, including human beings themselves.
1. Education reform that keeps pace with the times: training and nurturing the endogenous motivation of students’ innovation.
Why is human being human? It should be said that the biggest difference from other species is that human beings conform to the evolution of natural human brain, form the greatest invention-education, and reform education with the times [6]. Words are the carrier of thinking activities, knowledge is the crystallization of group intelligence, and education is the means of inheritance and learning. Individual intelligence obtains group intelligence through education, and it is accumulated through repeated iterations of individual and group intelligence through inheritance and autonomous learning, which makes human beings enter the era of rapid development of intelligence. Education includes inheritance learning and autonomous learning, and cultivates the ability to think in natural language and various professional languages. Inheritance learning is to cultivate the ability to accept and use knowledge, to use explicit knowledge, to adapt to ecological civilization, and to apply internal effects from the outside to the inside, which is mandatory and guiding; Autonomous learning is the ability to generate experience, skills and knowledge through one’s own practice, to use tacit knowledge and practice repeatedly, to become instinct, to be born from the inside out, to form memories, and to have strong subjectivity [6]. In education, inheritance learning plus autonomous learning, supervised learning plus unsupervised learning, and individual learning plus collective learning can cultivate individual general intelligence, with the methods and abilities to think, analyze, explain and solve general problems, and cultivate human inheritance, imagination and creativity. Teaching is to make students have knowledge, teaching is to use knowledge, and education is to create knowledge.
Human intelligence is constantly improved through education, learning new knowledge and forming new cognition. Schools and teachers should focus on inheriting learning and imparting knowledge, and expand to cultivate the cognitive ability of human brain. It is better to teach people to fish than to teach people to fish. Education in the intelligent age is to cultivate students’ learning ability in school and even lifelong learning, improve human cognitive level and control the robot "new human". In this process, teachers are also practicing lifelong learning. From teaching "books" to teaching "learning" and then to teaching "education", it is actually a process from possessing knowledge to using knowledge and then creating knowledge, which is the reform requirement of the times for education. In addition, in the intelligent age, lifelong learning will also be given as a feature to machines made by human beings, which will continue to learn and serve human beings like human beings, which is the core of the new generation of artificial intelligence. The form of learning is interaction; The core of learning is understanding, which can be explained and proved; The result of learning is memory, consolidating or micro-reconstructing the existing memory network; Learning has become the basis for a new generation of artificial intelligence to explain and solve practical problems. When virtual teacher robots and coach robots participate in educational activities, the coordinated development of human and machines will effectively promote the progress of social civilization.
2. The core of thinking is abstraction, association and interaction.
Education has cultivated our thinking, the core of which is abstraction, association and interaction. In people’s cognitive space, cultivating cognitive thinking ability through computational intelligence and memory intelligence is also what we often call "spirit"; In the physical space, through perceptual intelligence and behavioral intelligence, the ability of body interaction is realized. There is a continuous cycle between physical space and cognitive space, as shown in Figure 3. There are two important perceptions in physical space, namely, spatio-temporal recognition and target (pattern) recognition, and spatio-temporal recognition represents position, navigation and time synchronization; Target (pattern) recognition includes target recognition, face recognition and so on, which is direct perception. Learning is the ability to explain and solve preset problems. The presupposition problem is a subset of the real problem, which is recognized. When the problem is solved, knowledge is formed and passed on to the next generation in school. Machines can accept guided learning and learn independently at the same time, which is the basis of explaining and solving new problems, while explaining and solving real problems is the purpose of learning, and the two promote each other. Only after explaining and solving the preset problems will the ability to solve and explain the real problems be enhanced. Therefore, to solve the four problems of where, how, why and what, cognitive space is not only a warehouse for memorizing knowledge, but also a sky for flying imagination.
Fig. 3 Relationship diagram between cognitive space and physical space
3. Machines can be used as the carrier of thinking, which can enhance the imagination of human thinking and cognition.
Schrodinger put forward the physical view of living cells [7], so if the machine is life, there is the life view of the machine, which we call cognitive physics. Correspondingly, the physical layer of life corresponds to the material of the machine; The biochemical layer of life corresponds to the energy and clock of the machine; The physiological layer of life corresponds to the electronic circuit and machine instructions of the machine; The psychological layer of life corresponds to the operating system and middleware of the machine; The cognitive layer of life corresponds to the high-level software and data of the machine. Life depends on negative entropy. There are matter, energy, structure and time in the machine. Clock depends on energy, time depends on clock, and order depends on time. Time is the cornerstone of machine cognition. Structure and time are parasitic on matter and energy, forming a hard structure, filling the gap between matter, energy and information (structure and time), making information and matter inseparable; Structure and time are virtual beings in cognitive space, which we call soft structures. Soft structures are the elements of thinking, supporting image thinking, logical (linguistic) thinking and intuitive thinking, and reflecting people’s imagination and creativity. Machine bootstrap realizes thinking automation, self-reuse realizes cognitive self-growth, machine operation depends on program, program depends on time sequence, software depends on interaction, and time sequence and interaction produce negative entropy. The clock keeps on, interacting with the outside world, thinking and cognition. Human thinking and machine thinking are isomorphic in mathematics and homologous in physics, supported by energy and dependent on negative entropy for a living. Therefore, the machine can be used as the carrier of thinking.
One of the most important strengths of intelligent machines is violent thinking. To give a simple example, in 200 BC, Archimedes raised the precision of pi 1,700 years ago from 3.1 to 3.14, and in 500 AD, Zu Chongzhi got the pi value of 3.141,592, which took a total of 2,400 years. It took only 70 years to calculate it with a computer designed by Turing computable model, and raised pi to 1012 decimal places, as shown in Figure 4. Machine violence replaces infinity with large enough, and infinitesimal with small enough. Picosecond (10-12 seconds) can be used as time precision to control the time sequence period and execute recursively. As a biological human brain, its physiological response precision is only milliseconds (10-3 seconds), and it is beyond its power to solve the complex problem of exponential explosion. If a piece of paper can write 60 lines, and each line can write 17 digits, it will take 1 billion pieces of paper to finish. When the papers are stacked together, the stacking height will be 100,000 meters! Therefore, it is normal for machines to have more computing power than human beings. There is no need to make a fuss, whether it is protein’s folding prediction, AlphaGo’s program competition, or ChatGPT’s superior language understanding ability. From this point of view, machine violent thinking can complement human beings and greatly help human beings to improve their thinking and cognitive imagination.
Figure 4 Machine violent thinking helps human beings to improve their thinking and cognitive imagination.
The impact of artificial intelligence on society is all-round, but the impact on the industry should be educated first [8]. Artificial intelligence impacts prenatal education and preschool education, primary and secondary education and vocational education, general education of all kinds of majors [9], re-education after work, and all-round education, which is everywhere and ever-present.
Artificial intelligence also impacts all elements of education, including teachers, teaching environment and means, and teaching objects. In the era of intelligence, great changes have taken place in education. For teachers, we can replace teachers with virtual famous robots, and teachers no longer need to go back and forth for classes. For the teaching environment and means, textbooks and classrooms can be turned into virtual classrooms and personalized teaching platforms, where everyone can do different things; As for the object of teaching, it has also changed. Students can be robots, adding robot students-virtual digital people and physical robots. How to train robots to keep pace with the times? Should we train a machine teller in a bank or a person in a certain position in the customs in our education work? If 50 years later, 50% of the courses are taught by virtual masters, 50% of the students and 50% of the robots are listening, and the remaining 50% of the students are listening online, what is the scene? Therefore, the impact of artificial intelligence on education is all-factor.
The history of human cognition does not develop in a straight line, but is an evolutionary process of spiral cycle. Human cognition and artificial intelligence advance iteratively, develop together, learn how to learn and learn how to think [10], and human society has been cast into what it is today. Education is changing the fate of all mankind, and science and technology are the first driving force of human activities. With the iterative development of human intelligence and artificial intelligence, education has a new connotation.
Chinese literacy is thinking literacy, which is beyond discipline.Human beings bear the brunt of language intelligence. Humans use soft structures such as language, characters and symbols as carriers of thinking, so that thinking can be separated from living things and implanted into machines, simulating simple but cumbersome recursive calculation of living things, forming history, spirit, science and technology, culture and civilization; Under the hammer of words, philosophy, religion, law and human rights, state and politics have also been forged. Science and technology and humanities are of the same origin, so it is a misunderstanding to put Chinese teaching in liberal arts. Chinese carries thinking, and Chinese progressive thinking can be promoted. Everyone, especially intellectuals, will study for life, learn Chinese for life, expand their thinking and let their imagination fly.
Digital teachers teach by robots, and teachers become coaches and counselors.Some disciplines have made little progress in cognition for decades and tend to be mature and stable; In some disciplines, the cognition of several outstanding figures has greatly activated the frontier and development of the discipline. Therefore, the form of school classroom education with fixed time, place and personnel has been impacted for hundreds of years. The knowledge points of teaching materials of various disciplines can be flexibly loaded into machines, and classroom lectures are standardized and modularized. Virtual robot teachers are divided into famous teachers, which weakens the time and space walls of schools and disciplines, emerges "golden lessons", popularizes "micro lessons" and eliminates "water lessons". The scale of virtual classrooms and virtual simulation experiments can be too large or too small, and the lectures of virtual famous teachers will be rapidly popularized.
Teach machine learning and train machine successors to work.Take our research on unmanned driving as an example [11,12], there are three steps as follows, as shown in Figure 5. The first is driver operation and robot learning, which is guided learning; Then robot operation and driver intervention, which is semi/weak guided learning; Then there is robot operation and robot self-learning, which is autonomous learning, and the feedback from back to front is repeated many times, and the conversion is uncertain, sometimes it returns to supervised learning, and sometimes it returns to semi-/weakly supervised learning. Guided learning includes preconceptions, tasks, guidance, doubts, doubts, mutual cognition, supervision, etc. Autonomous learning is an important link to turn the results of guided learning into long-term memory. It can be seen that it is not an easy task to train machine successors. A few years ago, unmanned driving was paid too much attention to the automation level from L0 to L5, and automatic driving was regarded as an automation project, but the self-learning and self-growth of the robot driving brain were ignored. Only by continuous learning and iteration can it become a good machine driver.
Fig. 5 The learning process of training machine to replace people’s jobs-taking unmanned driving as an example.
Turing test of examination, assessment and evaluation [13] is normalized and personalized.Artificial intelligence has promoted the transformation of the traditional examination, assessment and evaluation mode. Taking Shang Tang "Yuanluobo" robot as an example, Turing test has built-in 26-level difficulty chess game, more than 100 pieces to deal with, independent observation of chess game changes, calculation of chess moves, taking chess moves, millimeter-level operation accuracy, second-level time response, "hand-eye" coordination, clean movement and compact rhythm. It has the authority certification of chinese xiangqi association of the State Sports General Administration, and supports the evaluation of chess grades of 16-13. In the future, all kinds of professional qualification examinations in the society will be changed, including the national college entrance examination.
Man and machine learn from each other and innovate together.The core of thinking is abstraction, association and interaction, and more is the creation and connection of soft structures. Machines are increasingly replacing many intellectual and technical jobs that human beings used to do. Teaching machine learning and homework, and studying and homework with machines will become the normal state of people’s life and work. The result of learning is to fine-tune the long-term memory in the machine, that is, to fine-tune the network topology of artificial intelligence trace cells. Autonomous learning is an important link to transform working memory into long-term memory. Fortunately, the machine can be copied in large quantities, and the machine itself can continue to learn. Interact with machines, people teach machines, machines teach people, and cooperate with innovation. One day, there will be a large number of famous machine teachers, digital people and human teachers, machine engineers create new material formulas, and machine scientists put forward new assumptions, which will drive new scientific discoveries.
Reading changes one person and education changes all mankind. We have developed "abstraction" from the symbolism school of artificial intelligence [14], "association" from the connectionism school, and "interaction" from the behaviorism school to create thinking machines. Therefore, intelligent machines are to human intelligence, just as books were to thinkers, telescopes to astronomers and microscopes to biologists. Machines use soft structures to extend and expand people’s thinking (memory intelligence and computational intelligence), which not only frees people from heavy repetitive work, but also better meets the standardization requirements of corresponding jobs (embodied intelligence). More importantly, they can think violently, teach and learn from each other between people and machines, and interact with each other to innovate. The problem of educational reform in the intelligent age has been urgently placed in front of all mankind. Let’s meet this learning revolution!
(Acknowledgement: In the process of writing this article, I received the support and help from Academician Chen Jie, Vice Minister of Education, Academician Dai Qionghai, Chairman of China Artificial Intelligence Society, Professor Qiao Junfei, Vice President of Beijing University of Technology, Professor Bao Hong, former Vice President of Beijing United University, Professor Zhang Dianen, Director of Foreign Languages Department of Beijing United University, Professor Zhou Jianshe, former Vice President of Capital Normal University, and Yuan Zhongguo, Secretary General of Primary and Secondary School Working Committee of China Artificial Intelligence Society. I would like to express my sincere gratitude here. Wang Cheng and Wu Zhixuan of Beijing Union University and Xu Genbao of Beijing University of Technology participated in the collation of papers and materials, so I would like to thank them all. )
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