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IEEE/CAA Journal of Automatica Sinica 2019年第6期6卷 1397-1403页

作者： Changan Jiang Satoshi Ueno Department of Mechanical Engineering Ritsumeikan University1-1-1 Noji-higashiKusatsuShiga 525-8577Japan

In this paper, a method to posture maintenance control of 2-link object by nonprehensile two-cooperative-arm robot without compensating friction is proposed. In details, a mathematical model of the 2-link object is firstly built. Based on the model, stable regions for holding motion of nonprehensile two-cooperative-arm robot are obtained while the 2-link object is kept stable on the robot arms with static friction. Among the obtained stable regions, the robust pairs of orientation angles of the 2-link object are found. Under the robust orientation angles, a feedback control system is designed to control the arms to maintain the 2-link object's posture while it is being held or lifted up. Finally, experimental results are shown to verify the effectiveness of the proposed method.

关键词： Nursing care nonprehensile robot posture maintenance static friction two-cooperative-arm robot

Passive robust control for uncertain Hamiltonian systems by using operator theory

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CAAI Transactions on Intelligence Technology 2022年第4期7卷 594-605页

作者： Ni Bu Yuyi Zhang Xiaoyong Li Wei Chen Changan Jiang College of Automation and Electronic Engineering Qingdao University of Science and TechnologyQingdaoChina Department of Robotics Osaka Institute of TechnologyOsakaJapan

In this study,the passivity-based robust control and tracking for Hamiltonian systems with unknown perturbations by using the operator-based robust right coprime factorisation method is concerned.For the system with unknown perturbations,a design scheme is proposed to guarantee the uncertain non-linear systems to be robustly stable while the equivalent non-linear systems is passive,meanwhile the asymptotic tracking property of the plant output is discussed.Moreover,the design scheme can be also used into the general Hamiltonian systems while the simulation is used to further demonstrate the effectiveness of the proposed method.

关键词： Hamiltonian systems robust right coprime factorisation storage function

Fast Scan mode of scanning electrochemical microscopy:In-situ characterization of phase transition and mapping the hydrogen evolution activity for MoS_(2)

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Nano Research 2023年第7期16卷 10011-10017页

作者： Zhenyu Wang Tong Sun changan HuangFu Sisi jiang Chaoqun Gu Liying Jiao Zonghua Wang College of Chemistry and Chemical Engineering College of Materials Science and EngineeringShandong Sino-Japanese Center for Collaborative Research of Carbon NanomaterialsInstrumental Analysis Center of Qingdao UniversityQingdao UniversityQingdao 266071China Key Laboratory of Organic Optoelectronics and Molecular Engineering of the Ministry of Education Department of ChemistryTsinghua UniversityBeijing 100084China

Scanning electrochemical microscopy(SECM)is an attractive technology to in-situ characterize the structural evolution and catalytic performance for various electrocatalysts.However,spatial and temporal resolution coupling are still the obstacles that limit its wide applications.Herein,a new operation mode,Fast Scan mode,was developed by improving the dual-pass scan mode,designing novel hardware structure,and employing thermal drift calibration software to achieve a high spatial and temporal resolution simultaneously.The temporal speed can achieve 4 Hz for a high spatial resolution(less than 30 nm)image.This operation mode was employed to dynamically track the phase transition process of molybdenum disulfide(MoS_(2))over time and characterize the hydrogen evolution reaction(HER)catalytic activity on the edge of semiconducting MoS_(2)quantitatively while minimizing the diffusional broadening effect and total amount of catalytic products generated above the surface.This new approach should be useful for in-situ tracking dynamic electrochemical processes,establishing the structure-activity relationship for structural complex electrocatalysts,and offering a strategy for high-speed scanning with other electrochemical imaging techniques.

关键词： high-speed scanning scanning electrochemical microscopy molybdenum disulfide phase transition hydrogen evolution reaction

A Pull-Out Test Study on the Working State of Fully Grouted Bolts

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Fluid Dynamics & Materials Processing 2021年第2期17卷 441-453页

作者： Ruixin Zhao Zhongju Feng Guan jiang Fuchun Wang Yidong Zhang changan Zhang Zhenbing Wang School of Highway Chang’an UniversityXi’an710064China Shandong Hi-speed Group Co. Ltd.Jinan250098China Shandong Provincial Communications Planning and Design Co. Ltd.Jinan250031China

The present study examines the working conditions of fully grouted bolts used for the construction and expansion of high slopes.On the basis of a pull out destructive test,the work load and the ultimate load are obtained on site,and the Flac3d numerical simulation method is employed to determine the axial force distribution and the effective anchor length.The test results show that(1)the Q-S(load-displacement)curve of the bolt displays a certain degree of deformation coupled with the creep of the surrounding rock;(2)the working load of the bolt is closely related to the sliding deformation trend of the slope,while the ultimate load depends on the design parameters of the bolt and the lithology of the slope;(3)the distribution of bolt axial force is characterized by a single peak along the bolt length and the effective anchorage length of the bolt is 3 m;(4)after 20 years,the bolt’s ultimate load has a maximum loss of 31.94%.

关键词： Geotechnical engineering highway slope full length grouted anchor destructive test stress loss

Intermediate phase assisted sequential deposition of reverse-graded quasi-2D alternating cation perovskites for MA-free perovskite solar cells

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Intermediate phase assisted sequential deposition of reverse...

第十届新型太阳能材料科学与技术学术研讨会

作者： Shaofu Wang Yumin Liu Yun jiang Tao Zeng Wenyan Zhao Zhipeng Xie changan Wang School of Materials Science and Engineering

One-step deposition approaches have been widely applied and developed in the fabrication of quasi-2D perovskites.However,the regulation of quantum wells(QWs) and crystalline orientation is difficult and complicated when using this methodology.Sequential deposition is another widespread synthetic approach for preparing perovskite films and perovskite dimension engineering.In this article,δ-CsPbI intermediate phase assisted sequential(IPAS) deposition is successfully carried out to fabricate MA-free quasi-2D ACI perovskites.The amount of the δ-CsPbI intermediate phase in the PbI layer and the concentration of GAI molecule in the IPA solution both play important roles in the production of MA-free quasi-2D ACI perovskite films.The n value of the MA-free quasi-2D ACI perovskites can be adjusted,which affects the photovoltaic performance and device stability.Compared with one-step deposition,the MA-free quasi-2D ACI perovskites prepared via IPAS deposition have opposite reverse-graded QW distribution and improved vertical orientation,leading to a remarkable PEC of up to 18.86% and allowing the preparation of unpackaged devices with prominent working stability(80%,～400 h).The underlying mechanism and crystallization pathway of IPAS deposition confirm that sequential deposition has unique superiority in regulating the QW distribution and crystalline orientation of quasi-2D perovskites.

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CK2β促进PINK1S自我磷酸化

生物医学工程学杂志 2015年第5期32卷 1056-1060页

作者：秦思月姜长安四川大学华西第二医院出生缺陷与相关妇儿疾病教育部重点实验室成都610041

本研究旨在探究PTEN诱导激酶1短亚型(PINK1S)在细胞质中激酶活性调节机制。首先,通过免疫共沉淀筛选的方法证明PINK1S能够和酪蛋白激酶2(CK2)蛋白复合体中的β亚基(CK2β)相互结合,但不与其他两个催化亚基α1(CK2α1)和α2(CK2α2)结合... 详细信息

本研究旨在探究PTEN诱导激酶1短亚型(PINK1S)在细胞质中激酶活性调节机制。首先,通过免疫共沉淀筛选的方法证明PINK1S能够和酪蛋白激酶2(CK2)蛋白复合体中的β亚基(CK2β)相互结合,但不与其他两个催化亚基α1(CK2α1)和α2(CK2α2)结合。其次,同时过表达CK2β和PINK1S,利用免疫共沉淀的方法纯化PINK1S,将得到的PINK1S用生物素标记的磷酸化蛋白检测标签(Phos-tagTM Biotin)检测其磷酸化水平,发现CK2β能够促进PINK1S的自我磷酸化。最后,利用RNA干扰技术,建立干扰CK2β的细胞株;在对照组和干扰CK2β的实验组细胞内表达PINK1S,发现缺少CK2β表达导致PINK1S的磷酸化水平降低。本文研究表明:CK2β作为胞质PINK1S自我磷酸化的辅助亚基,对其活性起到正调节作用。

关键词：帕金森氏病 PTEN诱导激酶1短亚型酪蛋白激酶2 β亚基自我磷酸化

嘉陵江曲流型叠置河谷成因对区域地质环境的响应

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地球科学（中国地质大学学报） 2014年第11期39卷 1566-1574页

作者：江华军李长安张玉芬姜端午中国地质大学地球科学学院湖北武汉430074 中国地质大学生物地质与环境地质国家重点实验室湖北武汉430074 中国地质大学地球物理与空间信息学院湖北武汉430074 湖南省遥感中心湖南长沙410007

为了明确嘉陵江曲流型叠置河谷形成原因及其对区域地质环境演化的响应,在综合分析区域地质地貌背景、水系演化模式等基础上,认为嘉陵江曲流型叠置河谷的成因可能是三峡贯通这一重大地质事件作用的结果.三峡贯通前,古分水岭两侧的四川盆... 详细信息

为了明确嘉陵江曲流型叠置河谷形成原因及其对区域地质环境演化的响应,在综合分析区域地质地貌背景、水系演化模式等基础上,认为嘉陵江曲流型叠置河谷的成因可能是三峡贯通这一重大地质事件作用的结果.三峡贯通前,古分水岭两侧的四川盆地和江汉盆地水系相互独立发育;由于江汉盆地水系溯源侵蚀速率快,切穿其与四川盆地的古分水岭,分水岭西侧水系被袭夺后东流,两大水系完成统一;在三峡贯通事件作用下,嘉陵江古自由河曲快速下切嵌入基岩,形成了曲流型叠置河谷的壮观地貌景观.基于砾石层中冲积物的电子自旋共振(electron spin resonance dating,ESR)测年结果,表明三峡贯通的时间大致在早-中更新世之交.第四纪地壳活跃,三峡的贯通可能与该时期内的"昆仑-黄河运动"密切相关.

关键词：嘉陵江曲流型叠置河谷成因环境地质地貌环境事件三峡贯通

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开发老年劳动力市场的必要性与路径研究

中国劳动关系学院学报 2020年第2期34卷 37-42,67页

作者：李长安蒋余丽对外经济贸易大学公共管理学院北京100029

在平均预期寿命增加和低生育率的双重作用下,中国快速进入老龄化社会,给劳动力市场和经济持续发展带来了诸多挑战。中国老年劳动力市场具有巨大的潜力,充分利用51-64岁年龄人口将会有效增加我国劳动力供给,实现二次人口红利。在分析当... 详细信息

在平均预期寿命增加和低生育率的双重作用下,中国快速进入老龄化社会,给劳动力市场和经济持续发展带来了诸多挑战。中国老年劳动力市场具有巨大的潜力,充分利用51-64岁年龄人口将会有效增加我国劳动力供给,实现二次人口红利。在分析当前中国老年劳动力市场潜力及充分借鉴国外经验的基础上,提出了推行延迟退休政策、鼓励老年人灵活就业、加强老年劳动力培训和完善社会服务体系等开发老年劳动力市场的路径。

关键词：老年劳动力市场二次人口红利延迟退休人口老龄化

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长江中游武汉-湖口段鹅头洲演化动力学分析

人民长江 2015年第22期46卷 21-24页

作者：黄蔚江俊杰李长安中国地质大学(武汉)地质调查研究院湖北武汉430074 江西省地质调查研究院江西南昌330000 中国地质大学(武汉)地球科学学院湖北武汉430074

为了探讨长江中游武汉-湖口河段鹅头洲河道的形成及演化规律,运用地球动力学方法进行了河演分析。结果表明,鹅头洲河道弯头上游段微元体所受的弯道离心力与掀斜抬升力和科氏力作用方向相反,相互消减,减弱了河流向左岸的侵蚀作用强度;在... 详细信息

为了探讨长江中游武汉-湖口河段鹅头洲河道的形成及演化规律,运用地球动力学方法进行了河演分析。结果表明,鹅头洲河道弯头上游段微元体所受的弯道离心力与掀斜抬升力和科氏力作用方向相反,相互消减,减弱了河流向左岸的侵蚀作用强度;在弯头下游段,3种力相互叠加,加强了向右岸的侵蚀作用,使鹅头洲河道上游弯道长且宽,下游弯道短,且呈窄的鹅头形状,鹅头顶端始终指向抬升作用一侧。

关键词：河道演化科氏力鹅头洲河道长江

基于微分进化的信息物理融合系统网关优化部署方法

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电子与信息学报 2016年第1期38卷 195-201页

作者：杨京礼许永辉魏长安姜守达哈尔滨工业大学自动化测试与控制研究所哈尔滨150080

为解决信息物理融合系统下无线传感器网络接入互联网的问题,该文提出一种基于微分进化的网关优化部署方法。该方法以最小化网关覆盖半径和负载平衡水平为优化目标,利用微分进化算法寻找网关优化部署方案,通过自适应反向搜索、动态参数... 详细信息

为解决信息物理融合系统下无线传感器网络接入互联网的问题,该文提出一种基于微分进化的网关优化部署方法。该方法以最小化网关覆盖半径和负载平衡水平为优化目标,利用微分进化算法寻找网关优化部署方案,通过自适应反向搜索、动态参数调整等方法保障寻优过程的种群多样性,解决几何K中心下的网关部署问题。仿真实验结果表明,该方法具备良好的全局寻优能力和收敛速度,能够在缩小网关集覆盖半径的前提下,进一步平衡各网关之间的负载水平,提高信息物理融合系统的网络QoS水平。

关键词：信息物理融合系统微分进化网关部署覆盖半径负载平衡