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Finite-time composite learning control for nonlinear teleoperation systems under networked time-varying delays

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Science China(Information sciences) 2024年第6期67卷 279-296页

作者： Yana YANG Huixin JIANG changchun HUA Junpeng LI institute of Electrical Engineering Yanshan University

The robust finite-time synchronization control problem is investigated for master-slave networked nonlinear telerobotics systems(NNTSs) in this article. Although there have been some research achievements on finite-time control for the NNTSs, these studies are based on the strong assumptions of communication time delays or can only achieve finite-time bounded convergence even when the external forces are *** and in view of the importance of these issues, a novel robust composite learning adaptive control scheme rendering the finite-time master-slave synchronization is proposed in this paper. In particular, the influence of time delays on finite-time convergence of the system is analyzed by employing the multi-dimension finite-time small-gain framework. Meanwhile, in order to achieve accurate and fast estimation of uncertain parameters of the system, both the online historical and the instantaneous data of the estimation data are explored to derive the new parameter adaptive law under a more realizable interval-excitation(IE) ***, the convergence of the position/force synchronization errors and the adaptive parameter estimation errors is obtained in finite time, and enhanced robustness of the closed-loop system will also be ***, the superior performance of the proposed control algorithms is validated by numerical simulations and hardware experiments.

关键词： networked teleoperation systems finite-time control exact parameter estimation small-gain theorem unknown communication delays

Synthesis,characterization,properties and crystal structure of heterometallic 1. coordination polymers {[CuLZn·CuLZn(H_2.)]·H_2.}_n

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Science China chemistry 2006年第4期49卷 338-344页

作者： TAO Ruojie1. LI Fu’an1. ZANG Shuangquan1. CHENG Yanxiang2.& NIU Jingyang1.1. {1. and Chemical Engineering College of Henan University, Kaifeng 475001. China 2. changchun institute of applied chemistry, {2. Academy of sciences, changchun 1.002., China 1. chemistry and Chemical Engineering College of Henan University Kaifeng 475001 China 2. changchun institute of applied chemistry Chinese Academy of Sciences Changchun 130022 China

Copper-zinc heterometallic 1. chain coordination polymer has been synthesized and characterized by elemental analysis, and IR spectra etc. The crystal structure was determined by single-crystal X-ray diffraction analyses. The title complex is 1. chain coordination polymer with the chemical formula {[CuLZn·CuLZn(H2.)]·H2.}n, where H4L=N-(2.hydroxybenzamido)-N’-(3-carboxy- lsalicylidene)ethylenediamine. Its structural unit is comprosed of two tetranuclear cycles formed by two dissymmetrical tetranuclear units. These units polymerized each other to form 1. chain coordi- nation polymer.

关键词： copper, zinc, heterometallic coordination polymer, crystal structure.

Characterizing structural variants based on graph-genotyping provides insights into pig domestication and local adaption

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Journal of Genetics and Genomics 2024年第4期51卷 394-406页

作者： Xin Li Quan Liu Chong Fu Mengxun Li changchun Li Xinyun Li Shuhong Zhao Zhuqing Zheng Key Lab of Agricultural Animal Genetics Breeding and Reproduction of Ministry of Education and Key Laboratory of Swine Genetics and Breeding of Ministry of AgricultureCollege of Animal Science and TechnologyHuazhong Agricultural UniversityWuhanHubei 430070China institute of Agricultural Biotechnology Jingchu University of TechnologyJingmenHubei 448000China The Cooperative Innovation Center for Sustainable Pig Production WuhanHubei 430070China Hubei Hongshan Laboratory WuhanHubei 430070China

Structural variants(SVs),such as deletions(DELs)and insertions(INSs),contribute substantially to pig genetic diversity and phenotypic *** a library of SVs discovered from long-read primary assemblies and short-read sequenced genomes,we map pig genomic SVs with a graph-based method for re-genotyping SVs in 402.*** results demonstrate that those SVs harboring specific trait-associated genes may greatly shape pig domestication and local *** characterization of SVs reveals that some population-stratified SVs may alter the transcription of genes by affecting regulatory *** identify that the genotypes of two DELs(2.6-bp DEL,chr7:52.1.2.1.1.52.1.2.397;2.8-bp DEL,chr1.:2.,840,1.3 e2.,840,42.)located in muscle-specific enhancers are associated with the expression of target genes related to meat quality(FSD2.and muscle fiber hypertrophy(LMOD2.and WASL)in *** results highlight the role of SVs in domestic porcine evolution,and the identified candidate functional genes and SVs are valuable resources for future genomic research and breeding programs in pigs.

关键词： Pigs Structural variation Selection signatures Regulatory elements

Study on green power supply modes for heavy load in Remote Areas

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Global Energy Interconnection 2024年第4期7卷 475-485页

作者： Yu Li Yixi Cuomu Yiming Gao Guoqin Lv Weiwei Lin Sirui Li changchun Zhou State Grid Xizang Electric Power Co. Ltd.Lhasa 850010Tibet Autonomous RegionP.R.China Global Energy Interconnection Development and Cooperation Organization Beijing 100031P.R.China State Grid Fujian Power Economic Research institute Fuzhou 350012P.R.China Eindhoven University of Technology Eindhoven.5621 AENetherlands

In this study,the present situation and characteristics of power supply in remote areas are *** studying the cases of power supply projects in remote areas,the experience is analyzed and described,and the applicability of related technologies,such as grid-forming storage and power load management,is studied,including grid-connection technologies,such as grid-forming converters and power load *** this basis,three power-supply modes were *** application scenarios and advantages of the three modes were compared and *** on the local development situation,the temporal sequences of the three schemes are described,and a case study was *** study of the heavy-load power supply mode in remote areas contributes to solving the problem of heavy-load green power consumption in remote areas and promoting the further development of renewable energy.

关键词： Remote area Renewable energy Grid-forming storage Power load management Power supply mode

Portable fluorescence instrument for detecting membrane integrity in membrane bioreactor (MBR)

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Frontiers of Environmental Science & Engineering 2024年第2期18卷 121-131页

作者： Yang Yu changchun Xin Yuxiang Liu Fei Gao Lei Zhang Hui Jia Jie Wang State Key Laboratory of Separation Membranes and Membrane Processes Tiangong UniversityTianjin 300387China School of Environmental Science and Engineering Tiangong UniversityTianjin 300387China School of Environmental Science and Engineering Tianjin UniversityTianjin 300072China Shenyang Academy of Environmental sciences Shenyang 110167China Cangzhou institute of Tiangong University Tiangong UniversityCangzhou 061000China

This study proposed the design, fabrication, and assembly of membrane integrity detection instruments in membrane bioreactors (MBR) based on fluorescence spectroscopy. Based on the PARAFAC model, we found that the peak at 2.0/335 nm strengthened after membrane breakage. The peak at 340/430 nm reflected the sludge concentration in the MBR and reduced the influence of internal filtration effects on detection. Therefore, we determined that the dual-LED light source excitation detection system can detect tryptophan-like substances at 2.0 nm (T-peak) and humic acid at 340 nm (C-peak). T-peak was identified as the core index indicating membrane integrity. Moreover, the C-peak is the reference indicator factor for a sensitive response to changes in the sludge concentration. The portable fluorescence instrument exhibited high sensitivity and good feedback accuracy compared to particle counting and turbidity detection, where the log reduction value was greater than 3.5. This overcomes the disadvantage of false alarms in particle counters and is not affected by the position of the pump system. This portable instrument provides a flexible and highly sensitive method for the assessment of industrial membrane integrity.

关键词： Membrane integrity Fluorescence spectrum Portable instrument Membrane bioreactor

Analysis of Low-polar Ginsenosides in Steamed Panax Ginseng at High-temperature by HPLC-ESI-MS/MS

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Chemical Research in chinese Universities 2012年第1期28卷 31-36页

作者： ZHANG Yu-chi1.2. PI Zi-feng1. LIU Chun-ming2. SONG Feng-rui1. LIU Zhi-qiang1.and LIU Shu-ying1.1. changchun Center of Mass Spectrometry, changchun {2. of applied chemistry, chinese Academy of sciences, changchun 1.002., P. R. China 2. Central Laboratory, changchun Normal University, changchun 1.0032. P. R. China chinese Acad Sci Changchun Inst Appl Chem Changchun Ctr Mass Spectrometry Changchun 130022 Peoples R China changchun Normal Univ Cent Lab Changchun 130032 Peoples R China

A high performance liquid chromatography coupled with electrospray ionization-tandem mass spectrome try（HPLC-ESI-MS/MS） method was developed for the analysis and identification of ginsenosides in the extracts of raw Panax ginseng（RPG） and steamed Panax ginseng at high temperatures（SPGHT）. A total of 2. ginsenosides were extracted include of which 1. low-polar ginsenosides, such as ginsenosides F4, Rk3, Rh4, 2.S-Rg3, 2.R-Rg3 and so on, were identified according to their HPLC retention time and MS/MS data. The results indicated that the low polar ginsenosides were seldom found in RPG. For the exploration of the transformation pattern of the ginsenosides in steam processing, the standards of ginsenosides Re, Rg1. Rb1. Rc, Rb2. Rb3 and Rd were selected and hydrolyzed at a temperature of 1.0} oC. The results show that these polar ginsenosides can be converted to low-polar ginsenosides such as Rg2. Rg6, F4, Rk3 and Rg5 by hydrolyzing the sugar chains.

关键词： Ginsenoside Hydrolysis Steamed Panax ginseng High performance liquid chromatography coupled withelectrospray ionization-tandem mass spectrometry(HPLC-ESI-MS/MS)

Effects of MoO_3 Amounts on Sintering and Electrical Properties of Ce_(0.8)Nd_(0.2.O_(1.9)

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Chemical Research in chinese Universities 2012年第1期28卷 9-13页

作者： ZHOU De-feng1, ZHAO Gui-chun1, YANG Mei1, XIA Yan-jie2.and MENG Jian2.1. School of chemistry and Life Science, {1. University of Technology, {1. 130012. P. R. China 2. State Key Laboratory of Rare Earth Resources Utilization, {1. institute of applied chemistry, chinese Academy of sciences, changchun 1.002., P. R. China School of chemistry and Life Science Changchun University of Technology Changchun 130012 changchun{1. of {2. chemistry Chinese Academy of Sciences State Key Laboratory of Rare Earth Resources Utilization Changchun 130022

The high purity （Ce0.8Nd0.2.1.9）1.x（MoO3）x（x=0, 0.005, 0.01., 0.02.; Ce0.8Nd0.2.1.9=NDC） solid solutions were prepared by modified sol-gel method. The structures and electric conductivities were characterized by X-ray diffraction（XRD）, field-emission scanning electron microscopy（FESEM） and electrochemical impedance spectros copy（EIS）. The XRD results show that the materials were pure phase with a cubic fluorite structure. Compared to the undoped-NDC samples, MoO3 doped-NDC showed higher sintered density（over 96%） at reduced sintering tempera ture. The electric conductivity（σt） of （Ce0.8Nd0.2.1.9）1.x（MoO3）x at 400 °C was 9.58×1.-4 S/cm when x=0.01., which was higher than that of undoped-NDC samples（σt=3.2.×1.-4 S/cm）. The obtained optimal amount of the MoO3 was x=0.01. in this system.

关键词： Neodymium-doped ceria Molybdenum oxide Sol-gel method Grain boundary conductivity

Effects of annealing on structural, optical and electrical properties of Al-doped ZnO thin films

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Science China(Physics,Mechanics & Astronomy) 2004年第5期47卷 588-596页

作者： CHEN Yanwei1.2. YU Wenhua1.& LIU Yichun1.2.1. Centre for Advanced Optoelectronic Functional Material Research, Northeast Normal University, changchun 1.002., China 2. Key Laboratory of Excited State Processes, {1. {2. of Optics, Fine Mechanics and Physics, chinese Academy of sciences, changchun 1.002., China 1. Centre for Advanced Optoelectronic Functional Material Research Northeast Normal University 130024 Changchun China 2. Key Laboratory of Excited State Processes Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences 130021 Changchun China

In this paper, the structural, electrical and optical properties of Al-doped zinc oxide (ZnO: Al) thin films onto quartz substrates prepared by electron beam evaporation technique were studied. All samples are polycrystal with a hexagonal structure andc-axis preferred orientation. The intense UV emissions and weak deep-level green emissions were observed. The films show high transparency, conductivity and high carrier concentration. Van der Pauw measurements show that the films are n-type degenerate semiconductor. The lowest resistivity is 6.7×1.?4 Ω⊙cm at room temperature. These films exhibit a carrier density above 1.2. cm?3. The conduction mechanism was discussed. The behavior of metallic conduction can be observed in the high temperature range.

关键词： ZnO: Al thin film, photoluminescence, electrical properties, structural properties, Van der Pauw measurement.

Kumada chain-growth polycondensation as a universal method for synthesis of well-defined conjugated polymers

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Science China chemistry 2010年第8期53卷 1620-1633页

作者： GENG YanHou1,HUANG Li1,2.WU ShuPeng1,2.& WANG FoSong1 1State Key Laboratory of Polymer Physics and chemistry changchun {2. of applied chemistry,chinese Academy of sciences,changchun 1.002.,China 2.raduate University of chinese Academy of sciences,Beijing 100049,China 1. State Key Laboratory of Polymer Physics and chemistry changchun{1. of {2. chemistry Chinese Academy of Sciences Changchun 130022 China2. Graduate University of Chinese Academy of Sciences Beijing 100049 China

Kumada chain-growth polycondensation (KCGP) is a novel method for the synthesis of well-defined conjugated *** the Ni-catalyst can transfer in an intramolecular process to the propagating chain end,the polymerization follows chain-growth *** this newly developed method,various conjugated polymers,such as polythiophenes,poly(p-phenylene) (PPP),polypyrrole (PPy),and polyfluorene with controlled molecular weights and relatively narrow polydispersities (PDIs),have been ***,the polymerizations for poly(3-alkylthiophene)s (P3ATs),PPP,and PPy exhibited quasi-living characteristics,which allows preparing polymer brushes,fully-conjugated block copolymers,and macroinitiators and macro-reactants for the synthesis of rod-coil block *** the current review,the progress in this new area is summarized.

关键词： chain growth polycondensation conjugated polymers Kumada reaction block copolymers polymer brush