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Bio-inspired Design and Inverse Kinematics Solution of an Omnidirectional Humanoid Robotic Arm with Geometric and Load Capacity Constraints

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Journal of Bionic Engineering 2024年第2期21卷 778-802页

作者： Zhichao Zhu Zirong luo Yiming Zhu Tao Jiang Minghai Xia Shanjun Chen boyu Jin College of Intelligence Science and Technology National University of Defense TechnologyChangshaChina

Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar *** four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,*** the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity *** method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm ***,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution *** simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,*** experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity *** proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.

关键词： Humanoid robotic arm Bio-inspired design Inverse kinematics solution Load capacity constraint Geometric constraint

Low-temperature-pyrolysis preparation of nanostructured graphite towards rapid potassium storage with high initial Coulombic efficiency

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Nano Research 2024年第6期17卷 5138-5147页

作者： Jingke Ren boyu Xing Wen luo Binyang luo Xinfei Wu Xin Yan Wencong Feng Feiyue Wang Chaojie Cheng Liqiang Mai State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China Department of Physics School of ScienceWuhan University of TechnologyWuhan 430070China

Industrially prepared artificial graphite(AG)is attractive for potassium-ion batteries(PIBs),but its rate performance is poor and the production process is energy intensive,so developing an efficient strategy to produce novel graphite with low energy consumption and high performance is economically ***,a nanostructured graphite composed of multi-walled carbon nanotubes(MWCNTs)and graphite shells was prepared by one-pot method through low-temperature pyrolysis of iron-based metal-organic framework(MOF)and carbon *** high graphitization degree of nanostructured graphite makes the initial Coulombic efficiency(ICE)exceed 80%,and the three-dimensional(3D)conductive network ensures a specific capacity of 234 mAh·g^(−1)after 1000 cycles at a high current density of 500 mA·g^(−1).In addition,the typical graphite potassium storage mechanism is also demonstrated by in situ X-ray diffraction(XRD)and in situ Raman spectroscopy,and its practicality is also proved by the voltage of the full *** work provides a feasible way to optimize the practical production process of AG and expand its application in energy storage.

关键词： graphite anode potassium-ion batteries high graphitization degree low-temperature pyrolysis initial Coulombic efficiency

The on-chip thermoelectric cooler:advances,applications and challenges

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Chip 2024年第2期3卷 96-108页

作者： Chengjun Li Yubo luo Wang Li boyu Yang Chengwei Sun Wenyuan Ma Zheng Ma Yingchao Wei Xin Li Junyou Yang State Key Laboratory of Materials Processing and Die&Mould Technology School of Materials Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

With the development of 5G technology and increasing chip integration,traditional active cooling methods struggle to meet the growing thermal demands of *** coolers(TECs)have garnered great attention due to their rapid response,significant cooling differentials,strong compatibility,high stability and controllable device *** this review,starting from the fundamental principles of thermoelectric cooling and device design,high-performance thermoelectric cooling materials are summarized,and the progress of advanced on-chip TECs is comprehensively ***,the paper outlines the challenges and opportunities in TEC design,performance and applications,laying great emphasis on the critical role of thermoelectric cooling in addressing the evolving thermal management requirements in the era of emerging chip technologies.

关键词： Chip Thermal management Thermoelectric materials Thermoelectric cooler Cooling performance

Photonics-assisted THz wireless communication enabled by wide-bandwidth packaged backilluminated modified uni-traveling-carrier photodiode

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Opto-Electronic Science 2024年第7期3卷 20-29页

作者： Yuxin Tian boyu Dong Yaxuan Li Bing Xiong Junwen Zhang Changzheng Sun Zhibiao Hao Jian Wang Lai Wang Yanjun Han Hongtao Li Lin Gan Nan Chi Yi luo Beijing National Research Center for Information Science and Technology(BNRist) Department of Electronic EngineeringTsinghua UniversityBeijing 100084China Key Laboratory of Information Science of Electromagnetic Waves(MoE) Department of Communication Science and EngineeringFudan UniversityShanghai 200433China Flexible Intelligent Optoelectronic Device and Technology Center Institute of Flexible Electronics Technology of THUJiaxing 314000China

This paper presents a wide-bandwidth back-illuminated modified uni-traveling-carrier photodiode(MUTC-PD)packaged with standard WR-5 rectangular waveguide for high-speed wireless *** optimized epitaxy structure and coplanar waveguide electrodes,the fabricated 4-μm-diameter PD exhibits ultra-flat frequency response and high saturation *** passive circuits including low-loss bias-tee and E-plane probe are designed to package the PD into a compact module with waveguide *** packaged PD module has demonstrated a flat frequency response with fluctuations within±2.75 d B over a broadband of 140–220 GHz and a high saturated output power of-7.8 d Bm(166μW)at 140 *** wireless communication applications,the packaged PD is used to implement 1-m free space transmission at carrier frequencies of 150.5 and 210.5 GHz,with transmission rates of 75 and 90 Gbps,respectively.

关键词： modified uni-traveling-carrier photodiode integrated bias-tee E-plane probe flat frequency response high saturation power WR-5 output THz wireless communications

DDAH1 promotes neurogenesis and neural repair in cerebral ischemia

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Acta Pharmaceutica Sinica B 2024年第5期14卷 2097-2118页

作者： Qiming Gao Pinfei Ni Yilin Wang Peiyun Huo Xiaojie Zhang Sihan Wang Fuyao Xiao Yixuan Li Wei Feng Juntao Yuan Teng Zhang Qiang Li boyu Fan Yuhao Kan Zhirui Li Yimiao Qi Junfei Xing Zhenghong Yang Haixiao Cheng Xinran Gao Xiaoyan Feng Ming Xue Yang Liu Yumin luo Zhongbing Lu Yuming Zhao Department of Pharmacology School of Basic Medical SciencesCapital Medical UniversityBeijing 100069China Cerebrovascular Diseases Research Institute and Department of Neurology Xuanwu Hospital of Capital Medical UniversityBeijing 100053China State Key Laboratory for Structural Chemistry of Unstable and Stable Species Institute of ChemistryChinese Academy of SciencesBeijing 100190China College of Life Science University of Chinese Academy of SciencesBeijing 100049China Department of Laboratory Animal School of Basic Medical SciencesCapital Medical UniversityBeijing 100069China Department of Physiology and Pathophysiology School of Basic Medical SciencesCapital Medical UniversityBeijing 100069China

Choline acetyltransferase(ChAT)-positive neurons in neural stem cell(NSC)niches can evoke adult neurogenesis(AN)and restore impaired brain function after injury,such as acute ischemic stroke(AIS).However,the relevant mechanism by which ChAT+neurons develop in NSC niches is poorly *** RNA-seq analysis revealed that dimethylarginine dimethylaminohydrolase 1(DDAH1),a hydrolase for asymmetric NG,NG-dimethylarginine(ADMA),regulated genes responsible for the synthesis and transportation of acetylcholine(ACh)(Chat,Slc5a7 and Slc18a3)after stroke *** dual-luciferase reporter assay further suggested that DDAH1 controlled the activity of ChAT,possibly through hypoxia-inducible factor 1α(HIF-1α).KC7F2,an inhibitor of HIF-1α,abolished DDAH1-induced ChAT expression and suppressed *** expected,DDAH1 was clinically elevated in the blood of AIS patients and was positively correlated with AIS *** comparing the results among Ddah1 general knockout(KO)mice,transgenic(TG)mice and wild-type(WT)mice,we discovered that DDAH1 upregulated the proliferation and neural differentiation of NSCs in the subgranular zone(SGZ)under ischemic *** a result,DDAH1 may promote cognitive and motor function recovery against stroke impairment,while these neuroprotective effects are dramatically suppressed by NSC conditional knockout of Ddah1 in mice.

关键词： DDAH1 Neurogenesis Neural repair ChAT HIF-1α ACh Stroke ADMA

离心机技术在岩土工程领域应用的研究进展综述

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人民珠江 2016年第12期37卷 57-60页

作者：罗博宇朱玉婷成都理工大学地质灾害防治与地质环境保护国家重点实验室四川成都610059 成都理工大学旅游与城乡规划学院四川成都610059

当前土工离心机技术已经成为国内外研究的热点,为了促进我国离心机技术的发展,对近年来国外土工离心机模型技术在岩土工程领域的研究现状进行分析和总结显得尤为重要。首先介绍了近年来国外土工离心机的发展现状,然后主要总结了近年来... 详细信息

当前土工离心机技术已经成为国内外研究的热点,为了促进我国离心机技术的发展,对近年来国外土工离心机模型技术在岩土工程领域的研究现状进行分析和总结显得尤为重要。首先介绍了近年来国外土工离心机的发展现状,然后主要总结了近年来土工离心机在土质边坡稳定性、土工织物加固边坡、以及地震作用对岩土体及结构物影响这3个方面的研究进展,最后探讨了目前国外土工离心机技术应用方面值得我国学习和借鉴之处,展望了土工离心机技术未来研究的方向。

关键词：离心机边坡稳定性土工织物地震研究进展

基于时序生成对抗网络的居民用户非侵入式负荷分解

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电力系统自动化 2024年第2期48卷 71-81页

作者：罗平朱振宇樊星驰孙博宇张帆吕强杭州电子科技大学自动化学院浙江省杭州市310018 杭州电子科技大学圣光机联合学院浙江省杭州市310018 杭州电子科技大学信息工程学院浙江省杭州市310018

现有的非侵入式负荷分解算法往往需要大量电器设备级的负荷数据才能保证分解精度,但由于用户对隐私性的考虑以及安装成本过高等问题,很难获取这些数据。因此,构建一种能深度挖掘电力负荷数据时序特性和电器相关性的时序生成对抗网络。... 详细信息

现有的非侵入式负荷分解算法往往需要大量电器设备级的负荷数据才能保证分解精度,但由于用户对隐私性的考虑以及安装成本过高等问题,很难获取这些数据。因此,构建一种能深度挖掘电力负荷数据时序特性和电器相关性的时序生成对抗网络。利用降维网络对所有电器有功功率序列组成的高维向量进行降维以降低计算的复杂度,通过复原网络将结果还原为高维向量。基于电器运行状态和深度学习的非侵入式分解方法,运用卷积神经网络-双向门控循环单元构建状态复杂电器的负荷分解回归模型,对状态简单电器利用深度神经网络构建负荷识别分类模型。通过对比其他数据生成方法,以及改变典型公开数据集中生成数据比例所得的负荷分解结果验证了所提方法的有效性。

关键词：非侵入式负荷分解对抗生成网络降维网络卷积神经网络-双向门控循环单元深度神经网络

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论分析美学的“关于性”之争

天津美术学院学报 2024年第4期 104-108页

作者：罗伯中李帛雨湘潭大学哲学系

面对20世纪中期流行的艺术定义的不可知论的挑战,本质主义者试图通过提出艺术本质的具体条件维护艺术本质论的有效性。其中,“人造性”与“关于性”最受到关注,尤其后者引起了较大争议。丹托、古德曼等人主张艺术具有与语言类似的“意... 详细信息

面对20世纪中期流行的艺术定义的不可知论的挑战,本质主义者试图通过提出艺术本质的具体条件维护艺术本质论的有效性。其中,“人造性”与“关于性”最受到关注,尤其后者引起了较大争议。丹托、古德曼等人主张艺术具有与语言类似的“意义与呈现”的结构,即便作品无关于物质对象,也会与观念内容相关。迪基、卡罗尔试图从归谬法的角度反驳这一立场,他们指出,许多艺术作品既无关于物质对象也无关于观念内容,这些作品是“无所关于”的。在上述争论中,丹托、迪基等人均对“关于性”作了以“物质-观念”为核心的狭窄化理解,事实上,“关于性”的真正内涵在于其语义学属性,即非作品自身的他者构成了作品的主题。就此而言,尽管迪基与卡罗尔正确地指出了“艺术世界”中存在着许多无关于物质与观念对象的艺术作品,从而指出了丹托观点的错误,这些作品仍具有其他意义上的“关于性”。欣赏者对此类作品的自明性评论“这是一件被创作出的作品”表明,在这些作品中,创作行为作为非作品自身的他者构成了此类作品的主题。这一事实也表明了“关于性”与“人造性”之间的密切关联,“人造性”构成了一切“关于性”的基础,并且,在作品剥离了与物质与观念对象的一切联结的情况下,“关于性”回归于“人造性”。

关键词：艺术本质论关于性人造性语义学艺术观

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基于分形理论的南江县滑坡敏感性分析与易发性评价

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水文地质工程地质 2017年第3期44卷 119-126页

作者：王森许强罗博宇王一超刘文德严越成都理工大学地质灾害防治与地质环境保护国家重点实验室四川成都610059

定量分析滑坡发生的敏感性,能为易发性区划、危险性评价、风险性评估等提供定量依据,对研究滑坡的成灾背景、发育规律具有重要意义。文章基于Arc GIS技术应用"累计和分形理论"对滑坡的敏感性进行了分析,得到各致灾因子的累计和分维值及... 详细信息

定量分析滑坡发生的敏感性,能为易发性区划、危险性评价、风险性评估等提供定量依据,对研究滑坡的成灾背景、发育规律具有重要意义。文章基于Arc GIS技术应用"累计和分形理论"对滑坡的敏感性进行了分析,得到各致灾因子的累计和分维值及滑坡发生对各致灾因子的敏感性;基于滑坡对致灾因子的敏感性绘制南江县易发性区划图,将南江县滑坡易发性等级分为极高易发区、高易发区、中易发区、较低易发区、极低易发区五个等级。

关键词：滑坡空间分布滑坡敏感性分形变维分形易发性评价