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Force-position collaborative optimization of rope-driven snake manipulator for capturing non-cooperative space targets

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Chinese Journal of Aeronautics 2024年第9期37卷 369-384页

作者： Xiaofeng LI jian TIAN Cheng WEI Xibin cao School of Astronautics Harbin Institute of TechnologyHarbin 150001China Beijing Instiuteof Spacecraft System Engineering China Academy of Space TechnolgyBeijing 100094Chia

With the rapid development of space activities,non-cooperative space targets increase swiftly,such as failed satellites and upper stages,threating normal spacecrafts *** there are some problems in the capture process,such as excessive collision and fast tumbling of targets,manipulator with redundant Degrees of Freedom(DOFs)can be used to improve the compliance and therefore solve these *** Rope-Driven Snake Manipulator(RDSM)is a combina-tion of hyper-redundant DOFs and better compliance,and therefore it is suitable for capturing *** this paper,a snake manipulator mechanism is designed,and the complete kinematic model and system dynamic model considering RDSM,target and contact is ***,to obtain the configuration of joint with hyper-redundant DOFs,an improved motion dexterity index is pro-posed as the joint motion optimization ***,the force-position collaborative optimization index is designed to adjust active stiffness,and the impedance control method based on the modified index is used to capture the space ***,the proposed force-position collaborative opti-mization method is verified by virtual prototype *** results demonstrate that based on the proposed method,the collision force is reduced by about 25%compared to normal impe-dance control,showing higher safety.

关键词： Capturing non-cooperative spacetargets Rope-driven snakemanipu-lator Force-position collaborative optimization Redundant degrees of free-dom Active stiffness adjustment

Effect of K-doping on the Electrochemical Performance of Ca_3Co_4O_9 Anode for Li-ion Batteries

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Journal of Materials Science & Technology 2010年第7期26卷 669-672页

作者： Jina cao Hongquan Liu jian Xie caoshao cao Xinbing Zhao Department of Materials Science and Engineering Zhejiang University Hangzhou 310027 China

Ca3CO4O9 （CCO） and Ca2.95K0.05Co4O9 （CKCO） powders have been prepared by the polyacrylamide gel method. CKCO shows increased capacity and better cycling stability compared with CCO. After cycled for 50 cycles at 0.5 C, CKCO retains a capacity of 223 mAh.g-1, almost twice than CCO. The electrochemical impedance spectroscopy （EIS） tests shows the CKCO sample has a lower initial charge transfer resistance （Rot） and undergoes smaller Rot change during cycling than the CCO sample, indicating improved electrochemical performance by K-doping.

关键词： Lithium-ion battery Anode Ca3Co4O9 K-doping

Predictions of nuclear charge radii based on the convolutional neural network

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Nuclear Science and Techniques 2023年第10期34卷 83-90页

作者： Ying-Yu cao jian-You Guo Bo Zhou Key Laboratory of Nuclear Physics and Ion‑beam Application(MOE) Institute of Modern PhysicsFudan UniversityShanghai 200433China School of Physics and Optoelectronics Engineering Anhui UniversityHefei 230601China Shanghai Research Center for Theoretical Nuclear Physics NSFC and Fudan UniversityShanghai 200438China

In this study, we developed a neural network that incorporates a fully connected layer with a convolutional layer to predict the nuclear charge radii based on the relationships between four local nuclear charge radii. The convolutional neural network(CNN) combines the isospin and pairing effects to describe the charge radii of nuclei with A ≥ 39 and Z ≥ 20. The developed neural network achieved a root mean square(RMS) deviation of 0.0195 fm for a dataset with 928 nuclei. Specifically, the CNN reproduced the trend of the inverted parabolic behavior and odd–even staggering observed in the calcium isotopic chain, demonstrating reliable predictive capability.

关键词： Nuclear charge radii Machine learning Neural network

Prediction of the Charpy V-notch impact energy of low carbon steel using a shallow neural network and deep learning

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International Journal of Minerals,Metallurgy and Materials 2021年第8期28卷 1309-1320页

作者： Si-wei Wu jian Yang Guang-ming cao State Key Laboratory of Advanced Special Steel School of Materials Science and EngineeringShanghai UniversityShanghai 200444China State Key Laboratory of Rolling and Automation Northeastern UniversityShenyang 110819China

The impact energy prediction model of low carbon steel was investigated based on industrial data. A three-layer neural network, extreme learning machine, and deep neural network were compared with different activation functions, structure parameters, and training functions. Bayesian optimization was used to determine the optimal hyper-parameters of the deep neural network. The model with the best performance was applied to investigate the importance of process parameter variables on the impact energy of low carbon steel. The results show that the deep neural network obtains better prediction results than those of a shallow neural network because of the multiple hidden layers improving the learning ability of the model. Among the models, the Bayesian optimization deep neural network achieves the highest correlation coefficient of 0.9536, the lowest mean absolute relative error of 0.0843, and the lowest root mean square error of 17.34 J for predicting the impact energy of low carbon steel. Among the variables, the main factors affecting the impact energy of low carbon steel with a final thickness of7.5 mm are the thickness of the original slab, the thickness of intermediate slab, and the rough rolling exit temperature from the specific hot rolling production line.

关键词： prediction shallow neural network deep neural network impact energy low carbon steel

Synthesis and luminescence properties of the europium quaternary complexes nanoparticles

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Science China Chemistry 2014年第6期57卷 791-796页

作者： WANG DongMei cao WenBo FAN jian College of Chemical and Environmental Engineering Shandong University of Science and Technology Key Laboratory of Supramolecular Structure & Materials College of ChemistryJilin University

In this paper,the nanometer-sized(200 nm)quaternary rare-earth complex Eu(BA)(TTA)2phen was successfully prepared by using the method of optimizing chemical *** characterizations of these nanoparticles were performed by using elemental analysis,thermogravimetric analysis,infrared spectroscopy,fluorescence spectroscopy,transmission electron microscopy and luminescence *** results indicate that they are better than common ternary complexes at light-emitting performance,luminescence properties,thermal stability,uniformity and particle size;they can also be further mixed with a suitable polymer to form functional rare earth *** to the common solid materials,the quaternary complex has better and unique characteristics such as nanoparticle size effect and surface effect.A foundation had been laid for the further expansion of its application in the field of light-emitting and magnetic materials.

关键词： luminescence properties europium nanoparticles

Cretaceous source rocks and associated oil and gas resources in the world and China: A review

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Petroleum Science 2014年第3期11卷 331-345页

作者： Yang Ruofei Wang Yuce cao jian State Key Laboratory for Mineral Deposits Research Department of Earth Sciences Nanjing University School of Petroleum Engineering China University of Petroleum Qingdao

The Cretaceous is one of the most important stratigraphic intervals for hydrocarbon source rocks. This article summarizes the distribution, formation, and development characteristics of Cretaceous source rocks and associated oil and gas resources in the world and China, aiming at improving the understanding of this hydrocarbon enrichment and at broadening domestic exploration. Outside China, these rocks are generally formed in marine or transgressive environments during both the Upper and Lower Cretaceous. The majority of Cretaceous source rocks are located in the Persian Gulf, Mediterranean, and Gulf Coast of the USA. Kerogen types within these source rocks have distinct spatial distribution characteristics, with high-latitude Boreal Realm, Tethyan Realm and South Gondwana Realm source rocks containing type III, II, II-III kerogens, respectively. Cretaceous source rocks in China can be mainly divided into four zones： Eastern, Central, Northwest, and Qinghai-Tibet Plateau zones. The majority of Chinese source rocks formed in the Early Cretaceous, whereas the most productive source rocks are developed in the Upper Cretaceous, such as those within the Songliao Basin. Most of these basins are formed in lacustrine environments, although some may have been influenced by transgressive events： Cretaceous source rocks are formed in four distinctive ways： 1） during Oceanic Anoxic Events and associated global sea-level rises, 2） in Black Sea-type retention basins, 3） during transgression and 4） during periods of significant terrestrial input. Formation of these source rocks is controlled by four factors： paleoclimate, paleotopography, transgression, and Oceanic Anoxic Events. These four major controlling factors indicate that China＇s hydrocarbon exploration within the Cretaceous should focus on two key areas with extremely low exploration levels, the Qinghai-Tibet Plateau and the southeastern coast of China.

关键词： Cretaceous source rock organic matter Tethys transgression

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杀菌条件对蓝点马鲛鱼脂质及风味品质的影响

渔业科学进展 2025年第1期46卷 222-230页

作者：王善宇简冲薛勇赵玲孙慧慧曹荣中国水产科学研究院黄海水产研究所山东青岛266071 青岛海洋科技中心海洋药物与生物制品功能实验室山东青岛266237 中国海洋大学食品科学与工程学院山东青岛266003

为探究不同杀菌条件对蓝点马鲛鱼(Scomberomorus niphonius)品质的影响,本文研究了110℃、46.4 min(A组),115℃、14.7 min(B组)和121℃、3.7 min(C组)3种杀菌条件对鱼肉感官品质、脂质组成及风味的影响。结果显示,杀菌后蓝点马鲛鱼的质... 详细信息

为探究不同杀菌条件对蓝点马鲛鱼(Scomberomorus niphonius)品质的影响,本文研究了110℃、46.4 min(A组),115℃、14.7 min(B组)和121℃、3.7 min(C组)3种杀菌条件对鱼肉感官品质、脂质组成及风味的影响。结果显示,杀菌后蓝点马鲛鱼的质地、滋味和气味的感官评分变化明显。样品中的总脂、甘油三酯和磷脂含量在杀菌后均显著降低(P<0.05),游离脂肪酸含量显著升高(P<0.05)。不同杀菌组间脂质组成存在差异,C组样品的脂质损失程度最高。脂质氧化程度受杀菌条件的影响显著(P<0.05),过氧化值(POV)含量均显著升高、硫代巴比妥酸反应值(TBARS)含量显著降低(P<0.05)。电子鼻分析结果表明,不同杀菌条件处理后鱼肉的气味特征明显不同。借助气相色谱-离子迁移谱从4组样品中鉴别出22种挥发性化合物,各组间的挥发性物质存在明显差异,其中,己醛、戊醛、异戊醛、3-戊酮、环己酮、3-羟基丁-2-酮和乙酸乙酯等是鱼肉中的主要风味物质,在B组样品中含量最高。综上,采用115℃、14.7 min(B组)杀菌的样品,其感官和风味品质明显优于其他组,且脂质氧化程度更低。研究结果可为蓝点马鲛鱼罐头产品加工提供参考。

关键词：蓝点马鲛鱼杀菌条件感官品质脂质挥发性物质风味

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Effects of Xinfeng capsule on the Fas/FasL-mediated apoptotic pathway in patients with rheumatoid arthritis

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Journal of Traditional Chinese Medicine 2018年第4期38卷 601-609页

作者： Sun Yue Liu jian cao Yonghe Department of Rheumatism Immunity The First Affiliated HospitalAnhui University of Chinese Medicine Department of Traditional Chinese Medicine The First Affiliated HospitalXinxiang Medical University

OBJECTIVE:To observe the effects of Xinfeng capsule on the apoptosis of peripheral blood CD4+ T lymphocytes and changes in the Fas/Fas L-mediated apoptotic pathway in patients with rheumatoid arthritis(RA).METHODS:A total of 28 RA patients were included in the study;they were randomly divided into the Xinfeng capsule(XFC) group(3 capsules,3 per day)and the leflunomide(LEF) group(1 pellet,once per night).The treatment course in each groups was 12 *** normal control(NC) group consisted of10 healthy *** apoptotic rate was examined using flow ***,Fas L,caspase 8,caspase 3,bcl-2,and bax m RNA were examined using q *** proteins Fas,Fas L,caspase8,and caspase 3 were examined using western ***:After treatment,patients in the two groups all showed some trend of *** activity indexes,joint morning stiffness time,joint swelling/tenderness number,health assessment questionnaire(HAQ) score,RA quality of life(RAQOL) questionnaire,and self-rating anxiety scale(SAS),as well as all apoptotic related indicators were reduced in both groups after treatment with no significant difference between *** the improvement in terms of the self-rating depression scale(SDS) in the XFC group was better than in the LEF *** patients showed lower apoptotic rates in CD4+ T cells,lower bax,Fas,caspase 8,and caspase 3 m RNA,and less protein expression of Fas,caspase 8,and caspase3 than in the NC *** indicators increased after ***,the level of Bcl-2 m RNA was higher in the XFC group than in the NC group before treatment,and it subsequently *** XFC group expressed lower Bcl-2 m RNA than the LEF *** correlations were found between ESR and the apoptotic rate in CD4 + T cells,Fas,and caspase 3;CRP and Fas;and,swollen joint count and Bax,while positive correlations were found between ESR and ***:XFC can regulate the Fas/Fas L system and promote CD4+ T cell apoptosis and thus redu

关键词： Arthritis rheumatoid Fas ligand protein CD4 lymphocyte count Apoptosis Xinfengcapsule

Perturbation of the Moore–Penrose Metric Generalized Inverse in Reflexive Strictly Convex Banach Spaces

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Acta Mathematica Sinica,English Series 2016年第6期32卷 725-735页

作者： jian Bing cao Wan Qin ZHANG Postdoctoral Research Base He'nan Institute of Science and Technology Postdoctoral Research Station of Physics He'nan Normal University Department of Mathematics He'nan Institute of Science and Technology

Let X, Y be reflexive strictly convex Banach spaces, let T, δT ： X → Y be bounded linear operators with closed range R（T）. Put T= T ＋ δT. In this paper, by using the concept of quasiadditivity and the so called generalized Neumman lemma, we will give some error estimates of the bounds of ｜｜T^M｜｜. By using a relation between the concepts of the reduced minimum module and the gap of two subspaces, some new existence characterization of the Moore-Penrose metric generalized inverse T^M of the perturbed operator T will be also given.

关键词： Metric generalized inverse perturbation reflexive strictly convex Banach space