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A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 661-672页

作者： Dan Zhang Jiabin Hu jun Cheng zheng-Guang Wu Huaicheng Yan IEEE Zhejiang University of Technology Guangxi Normal University Zhejiang University the East China University of Science and Technology

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic ***,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator *** an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not ***,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the *** on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed *** settling time is independent of the initial state of the *** addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov ***,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are *** comparative results confirm that the FTNFTSMC has superior control performance.

关键词： Disturbance observer(DO) fixed-time non-singular sliding mode control robotic manipulator trajectory tracking

Emerging delivery systems based on aqueous two-phase systems:A review

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Acta Pharmaceutica Sinica B 2024年第1期14卷 110-132页

作者： Yaowen Zhang Yankun Luo Jingqi Zhao Wenzhuo zheng jun Zhan Huaping zheng Feng Luo State Key Laboratory of Oral Diseases National Clinical Research Center for Oral DiseasesWest China School of StomatologySichuan UniversityChengdu 610041China Department of Obstetrics and Gynecology West China Second University HospitalSichuan UniversityChengdu 610041China Key Laboratory of Birth Defects and Related Diseases of Women and Children(Sichuan University) Ministry of EducationChengdu 610041China Department of Dermatology Rare Diseases CenterInstitutes for Systems GeneticsFrontiers Science Center for Disease-related Molecular NetworkWest China HospitalSichuan UniversityChengdu 610041China Department of Prosthodontics West China School of StomatologySichuan UniversityChengdu 610041China

The aqueous two-phase system(ATPS)is an all-aqueous system fabricated from two immiscible aqueous *** is spontaneously assembled through physical liquid-liquid phase separation(LLPS)and can create suitable templates like the multicompartment of the intracellular *** structures containing multiple compartments make it possible to endow materials with advanced *** to the properties of ATPSs,ATPS-based drug delivery systems exhibit excellent biocompatibility,extraordinary loading efficiency,and intelligently controlled content release,which are particularly advantageous for delivering drugs in ***,we will systematically review and evaluate ATPSs as an ideal drug delivery *** on the basic mechanisms and influencing factors in forming ATPSs,the transformation of ATPSs into valuable biomaterials is ***,we concentrate on the most recent cutting-edge research on ATPS-based delivery ***,the potential for further collaborations between ATPS-based drug-carrying biomaterials and disease diagnosis and treatment is also explored.

关键词： Aqueous two-phase systems Drug delivery systems Biomaterials Microcapsules Microparticles Cell therapy cancer treatment Organ regeneration

Evolution of In783 alloy in microstructure and properties enduring different service times

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Rare Metals 2024年第1期43卷 334-341页

作者： Zhong-Shuai Han Jin-Feng Du jun Liang zheng Zhang School of Material Science and Engineering Beihang UniversityBeijing 100191China Shenhua Guohua(Beijing)Electric Power Research Institute Co. Ltd.Beijing 100025China

Impact, tensile, and fatigue tests were performed in In783 alloy serving 4000, 23,000 and 48,000 h. The microstructure was then analysed by optical microscopy(OM), scanning electron microscopy(SEM), and transmission electron microscopy(TEM) to probe the relationship between microstructure and properties. The results show that a new Ni_(5)Al_(3) phase is found, which grows gradually in β phase with serving time increasing,destroying the martensitic structure of the β phase, and degenerating the toughness of the β phase(approximately13.88% reduction). Therefore, the degradation of the βphase results in a sharp dropping of the resistance to stress accelerated grain boundary oxygen(SAGBO) during serving;thus, the intergranular fracture morphology degree increases with duration of service(almost 40% increase from the fractured surface). In addition, the strength of alloy will be gradually enhanced when the γ'phase becomes relatively bulky with serving time increasing due to considerable distortion of the dislocations as a result of the spacing of individual particles, in which any movement of the dislocation will have to overcome a larger number of obstacles per unit length.

关键词： In783 Microstructure Properties βphase Ni_(5)Al_(3)phase

A Method for Evaluating the Maximum Bending Degree of Flexural Toppling Rock Masses Based on the Rock Tensile Strain-Softening Model

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Journal of Earth Science 2024年第4期35卷 1243-1253页

作者： Jiongchao Wang jun zheng Jichao Guo Qing Lü Jianhui Deng Department of Civil Engineering Zhejiang UniversityHangzhou310058China Center for Balance Architecture Zhejiang UniversityHangzhou310007China State Key Laboratory of Hydraulics and Mountain River Engineering College of Water Resource and HydropowerSichuan UniversityChengdu610065China

Flexural toppling occurs when a series of layered rock masses bend towards their free *** is important to evaluate the maximum bending degree and the requirement of supports of flexural toppling rock mass to prevent rock mass cracking and even failure leading to a *** on the rock tensile strain-softening model,this study proposes a method for calculating the maximum curvature(C_(ppmax))of flexural toppling rock *** applying this method to calculate Cppmax of 9 types of rock masses with different hardness and rock layer thickness,some conclusions are drawn:(1)the internal key factors affecting C_(ppmax)are E^(⋆)(E^(⋆)=E_(ss)/E_(0),where E_(0)and E_(ss)are the mean deformation moduli of the rock before and after reaching its peak tensile strength,respectively),the strainεt corresponding to the tensile strength of rock,and the thickness(h)of rock layers;(2)hard rock layers are more likely to develop into block toppling than soft rock layers;and(3)thin rock layers are more likely to remain in flexural toppling state than thick rock *** addition,it is found that C_(ppmax)for flexural toppling rock masses composed of bedded rocks such as gneiss is related to the tensile direction.

关键词： flexural toppling rock mass maximum bending degree strain-softening model curvature rock mechanics

Occurrence and vertical distribution of aluminum and rare earths in weathered crust elution-deposited rare earth ore:Effect of soil solution pH and clay minerals

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Journal of Rare Earths 2024年第7期42卷 1394-1402,I0007页

作者： Jiaxin Pan Longsheng Zhao zheng Li Xiaowei Huang Zongyu Feng jun Chen National Engineering Research Center for Rare Earth China GRINM Group Co.Ltd.Beijing100088China School of Metallurgical and Ecological Engineering University of Science and Technology Beijing(USTB)Beijing100083China GRIREM Hi–Tech Co. Ltd.Langfang065201China GRIREM Advanced Materials Co. Ltd.Beijing100088China GRIMAT Engineering Institute Co. Ltd.Beijing101407China

Weathered crust elution-deposited rare earth ore is crucial source of medium and heavy rare earths,with in-situ leaching being the most common mining *** high contents of impurity of aluminum in the leach solution are a significant challenge for the subsequent enrichment process of rare earths.A comprehensive understanding of the occurrences and vertical distribution of aluminum and rare earths within typical vertical profiles can provide valuable insights into entire design of the in-situ *** paper improves a five-step sequential extraction method to analyze the occurrence and vertical distribution of rare earths and aluminum in vertical profiles from Chongzuo and *** results demonstrate that soil solution pH is the main factor affecting the vertical distribution of ionexchangeable rare *** samples have distinct areas of enrichment for ion-exchangeable rare earths or ***-exchangeable rare earths are primary concentrated in the middle and lower parts of the ore layer(4-13 m in Chongzuo,14-22 m in Longyan),while the ion-exchangeable aluminum is mainly enriched in the upper part of the ore layer(1-5 m in Chongzuo,and 2-14 m in Longyan).The vertical distribution of inorganic hydroxy aluminum is likely influenced by the micromorphology and particle size of the clay *** inorganic hydroxy aluminum concentration in Chongzuo samples decreases continuously from 415.65 to 120.95 mg/kg with increasing sampling depth,whereas the concentration in Longyan samples(110.55-171.27 mg/kg)is almost independence with sampling *** results provide direct guidance for the entire design of the injection well depth and the leaching parameters,thereby inhibiting the leaching of impurity of aluminum and lower the consumption of leaching agent.

关键词： Weathered crust elution-deposited rare earth ore Sequential extraction Occurrence Aluminum Rare earth elements

Cholecystokinin and cholecystokinin-A receptor: An attractive treatment strategy for biliary dyskinesia?

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World Journal of Gastroenterology 2024年第3期30卷 283-285页

作者： jun Chang Yan Liu Ting-can Jiang Lan Zhao Jian-Wei Liu Tianjin Institute of Acupuncture and Moxibustion The First Teaching Hospital of Tianjin University of Traditional Chinese MedicineTianjin 300381China Department of Gastroenterology Tianjin Hospital of Integrated Traditional Chinese and Western Medicine Nankai HospitalTianjin 300100China State Key Laboratory of Component-Based Chinese Medicine Tianjin University of Traditional Chinese MedicineTianjin 301617China School of Integrative Medicine Tianjin University of Traditional Chinese MedicineTianjin 301617China

Biliary dyskinesia is a relatively common gastrointestinal disease that is increas-ing in incidence as living standards ***,its underlying pathogenesis remains unclear,hindering the development of therapeutic ***,“Expression and functional study of cholecystokinin-A receptors on the interstitial Cajal-like cells of the guinea pig common bile duct”demonstrated that cholecystokinin(CCK)regulates the contractile function of the common bile duct through interaction with the CCK-A receptor in interstitial Cajal-like cells,contributing to improving the academic understanding of biliary tract dynamics and providing emerging directions for the pathogenesis and clinical management of biliary *** letter provides a brief overview of the role of CCK and CCK-A receptors in biliary dyskinesia from the perspective of animal experiments and clinical studies,and discusses prospects and challenges for the clinical application of CCK and CCK-A receptors as potential therapeutic targets.

关键词： Cholecystokinin Cholecystokinin-A receptor Biliary dyskinesia Interstitial Cajal-like cell Therapeutic target

Spray pyrolysis-derived W-doped MoSe_(2)/rGO paper-like microspheres:optimization of microstructure and mesostructure for enhanced lithium storage

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Rare Metals 2024年第7期43卷 3019-3031页

作者： Wei Wang jun-Yu Chen Jie Ouyang Hong Yin Ao-Jie Li Liang Chen jun-Lin Huang Yu-can Zhu Gang-Yong Li Zhao-Hui Hou Key Laboratory of Hunan Province for Advanced Carbon-based Functional Materials Hunan Institute of Science and TechnologyYueyang 414006China School of Chemistry and Chemical Engineering Hunan Institute of Science and TechnologyYueyang414006China Hunan Province Key Laboratory of Materials Surface&Interface Science and Technology Material Science and Engineering SchoolCentral South University of Forestry and TechnologyChangsha 410004China International Iberian Nanotechnology Laboratory(INL) AvMestre Jose Veiga4715-330 BragaPortuga

Two-dimensional MoSe_(2) is a promising candidate for lithium-ion battery ***,its conductivity and lithium storage volumetric effect still need to be *** this work,W-doped MoSe_(2)/rGO paper-like microspheres are successfully prepared through ultrasonic spray pyrolysis,achieving optimization at both the microstructure and mesostructure to enhance the lithium storage performance of the ***,by utilizing the similar two-dimensional structure between MoSe_(2) and rGO,self-assembly is achieved through spray pyrolysis,resulting in a well-defined van der Waals heterostructure at the interface on the microscale,enhancing the electron and ion transfer capability of the ***,the mesoscale paper-like microsphere morphology provides additional volume expansion buffering ***,W-doping not only increases the interlayer spacing of MoSe_(2)(0.73 nm),thereby reducing the diffusion resistance of Li+,but also allow for the modulation of the energy band structure of the *** functional theory(DFT)calculations confirm that W-doped MoSe_(2)/rGO exhibits the narrowest bandgap(0.892 eV).Therefore,the composite demonstrates excellent lithium storage performance,maintaining a specific capacity of 732.9 mAh·g^(-1)after 300 cycles at a current density of 1 A·g^(-1).

关键词： Molybdenum selenide Heterostructure Microspheres Li-ion batteries Kinetics

Bi_(2)WO_(6)/AgInS_(2)S-scheme heterojunction:Efficient photodegradation of organic pollutant and toxicity evaluation

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Journal of Materials Science & Technology 2024年第3期170卷 200-211页

作者： Yanyan Zhao Xu Fan Hongxing zheng Enzhou Liu jun Fan Xuejun Wang College of Biology Pharmacy and Food Engineering Shangluo UniversityShangluo 726000China QinLing-Bashan Mountains Bioresources Comprehensive Development C.I.C. Shaanxi University of TechnologyHanzhong 723001China School of Chemical Engineering Northwest UniversityXi’an 710069China

Constructing of heterojunction was identified as a feasible way to improve photocatalytic activity of *** this work,a n-p type Bi_(2)WO_(6)/AgInS_(2)S-scheme heterojunction was successfully prepared for organic pollutants *** Bi_(2)WO_(6)/AgInS_(2)S-scheme heterojunction exhibited much higher pho-tocatalytic activity towards Rhodamine B(92.24%,expose to visible light for 60 min),norfloxacin(81.73%,expose to visible light for 90 min)and levofloxacin(87.46%,expose to visible light for 90 min)than pure Bi_(2)WO_(6)and pure AgInS_(2).Toxicity analysis indicated the low environmental toxicity of Rhodamine B degradation intermediates for Rye seeds and Sudangrass seeds germination and *** study displayed that AgInS_(2)and Bi_(2)WO_(6)work as the primary photocatalyst to form·O_(2)−and ·OH,*** improved photocatalytic activity of the Bi_(2)WO_(6)/AgInS_(2)S-scheme heterojunction was due to the im-proved light response range and intensified carrier separation ***,a S-scheme charge transfer mechanism including multiple charge transfer channels was *** work could provide an effective strategy for organic pollutants degradation in wastewater.

关键词： Photocatalysis S-scheme heterojunction AgInS_(2) Bi_(2)WO_(6) Toxicity experiments

Risk assessment of oil and gas investment environment in countries along the Belt and Road Initiative

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Petroleum Science 2024年第2期21卷 1429-1443页

作者： Bao-jun Tang Chang-Jing Ji Yu-Xian zheng Kang-Ning Liu Yi-Fei Ma jun-Yu Chen Center for Energy and Environmental Policy Research Beijing Institute of TechnologyBeijing100081China School of Management and Economics Beijing Institute of TechnologyBeijing100081China Collaborative Innovation Center of Electric Vehicles in Beijing BeijingChina Sustainable Development Research Institute for Economy and Society of Beijing BeijingChina Institute of Carbon Neutrality ShanghaiTech UniversityShanghai201210China

With the implementation of the Belt and Road Initiative, China is deepening its cooperation in oil and gas resources with countries along the Initiative. In order to better mitigate risks and enhance the safety of investments, it is of significant importance to research the oil and gas investment environment in these countries for China's overseas investment macro-layout. This paper proposes an indicator system including 27 indicators from 6 dimensions. On this basis, game theory models combined with global entropy method and analytic hierarchy process are applied to determine the combined weights, and the TOPSIS-GRA model is utilized to assess the risks of oil and gas investment in 76 countries along the Initiative from 2014 to 2021. Finally, the GM(1,1) model is employed to predict risk values for 2022-2025. In conclusion, oil and gas resources and political factors have the greatest impact on investment environment risk, and 12 countries with greater investment potential are selected through cluster analysis in conjunction with the predicted results. The research findings may provide scientific decisionmaking recommendations for the Chinese government and oil enterprises to strengthen oil and gas investment cooperation with countries along the Belt and Road Initiative.

关键词： Belt and Road Initiative Oil and Gas Investment Risk assessment