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Tracked robot with underactuated tension-driven RRP transformable mechanism:ideas and design

Frontiers of Mechanical Engineering 2024年第1期19卷 85-104页

作者： Ran XU chao LIU School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control Technology(Ministry of Education)Beijing Jiaotong UniversityBeijing 100044China

Robots with transformable tracked mechanisms are widely used in complex terrains because of their high adaptability,and many studies on novel locomotion mechanisms have been conducted to make them able to climb higher *** underactuated transformable mechanisms for tracked robots could decrease the number of actuators used while maintaining the flexibility and obstacle-crossing capability of these robots,and increasing their cost ***,the underactuated tracked robots have appreciable research *** this paper,a novel tracked robot with a newly proposed underactuated revolute‒revolute‒prismatic(RRP)transformable mechanism,which is inspired by the sit-up actions of humans,was *** newly proposed tracked robot has only two actuators installed on the track pulleys for moving and does not need extra actuators for ***,it could concentrate the track belt’s tension toward one side,and the unbalanced tension would drive the linkage mechanisms to change its *** this method,the proposed underactuated design could change its external shape to create support points with the terrain and move its center of mass actively at the same time while climbing obstacles or crossing other kinds of terrains,thus greatly improving the climbing capability of the *** geometry and kinematic relationships of the robot and the crossing strategies for three kinds of typical obstacles are *** the basis of such crossing motions,the parameters of links in the robot are designed to make sure the robot has sufficient stability while climbing ***-crossing dynamic simulations were run and analyzed to prove the feasibility of the robot.A prototype was built and *** show that the proposed robot could climb platforms with heights up to 33.3%of the robot’s length or cross gaps with widths up to 43.5%of the robot’s length.

关键词： mechanical design tracked robot underactuated mechanisms RRP mechanism obstacle crossing strategy

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Enhancing the vertical resolution of lunar penetrating radar data using predictive deconvolution

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Earth and Planetary Physics 2024年第4期8卷 570-578页

作者： chao Li jinHai Zhang CAS Engineering Laboratory for Deep Resources Equipment and Technology Institute of Geology and GeophysicsChinese Academy of SciencesBeijing 100029China

The Yutu-2.rover onboard the Chang’E-4 mission performed the first lunar penetrating radar detection on the farside of the *** high-frequency channel presented us with many unprecedented details of the subsurface structures within a depth of approximately 50 ***,it was still difficult to identify finer layers from the cluttered reflections and scattering *** applied deconvolution to improve the vertical resolution of the radar profile by extending the limited bandwidth associated with the emissive radar *** overcome the challenges arising from the mixed-phase wavelets and the problematic amplification of noise,we performed predictive deconvolution to remove the minimum-phase components from the Chang’E-4 dataset,followed by a comprehensive phase rotation to rectify phase anomalies in the radar ***,we implemented irreversible migration filtering to mitigate the noise and diminutive clutter echoes amplified by *** processed data showed evident enhancement of the vertical resolution with a widened bandwidth in the frequency domain and better signal clarity in the time domain,providing us with more undisputed details of subsurface structures near the Chang’E-4 landing site.

关键词： Chang’E-4 lunar penetrating radar data processing predictive deconvolution irreversible migration filtering

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2.-electrons redox-active polyoxovanadate clusters for aqueous zincion batteries

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Nano Research 2024年第5期17卷 4047-4054页

作者： Yimin Xing Wen Yan Haiyang Wu Peng Huang chao Wang chao Lai School of Chemistry and Materials Science Jiangsu Normal UniversityXuzhou 221116China

Aqueous zinc-ion batteries(ZIBs)are attaining increasing attention for their high safety and low *** significant progresses in realizing high-performance cathode material for ZIBs,simultaneously endowing them with high capacity and fast-charging capability,the long-term cycling stability remains a major unsolved *** this work,a polyoxovanadate cluster of(NH_(4))_(8)[V_(19)O_(41)(OH)_(9)]·11H_(2.O(NOV)is defined as a cathode material for ZIBs that contains mixed-valence vanadium sites(V^(4+)and V^(5+)).A maximum of 2. electrons can be accommodated in one[V_(19)O_(41)(OH)_(9)]^(8-){V_(19)O_(50)}cluster,contributing to the high theoretical specific capacity of 32. mA·h·g^(-1).The Ti_(3)C_(2.T_(x) MXene nanosheets are incorporated into NOV with the help of ionic liquid(IL)linkers to restrain the dissolution of vanadium species and facilitate electron transport across the *** interfacial bonding,anion exchange,and electrostatic interactions among NOV and MXene are provided by IL *** nanohybrid of NOV-IL-MXene endows excellent contact between MXene and NOV,thereby enhanced charge transfer is observed at ***,the as-synthesized NOV-IL-MXene cathodes exhibit high discharge capacity of 413 mA·h·g^(-1) at 0.2.A·g^(-1) even at high mass loading of 5.2.mg·cm^(-2.,remarkable rate performance of 182.mA·h·g^(-1) at 10 A·g^(-1),and impressive cycling stability of 94%capacity retention after 2.00 *** work opens up new opportunities to develop advanced polyoxovanadate hybrid cathodes for low-cost and high-performance aqueous ZIBs.

关键词： polyoxovanadate MXene composite materials cathodes zinc-ion batteries

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The expanded application of CAR-T cell therapy for the treatment of multiple non-tumoral diseases

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Protein & Cell 2024年第9期15卷 633-641页

作者： Zhuoqun Liu Yuchen Xiao Jianjun Lyu Duohui jing Liu Liu Yanbin Fu Wenxin Niu Lingjing jin chao Zhang Fundamental Research Center Shanghai Yangzhi Rehabilitation Hospital(Shanghai Sunshine Rehabilitation Center)School of MedicineTongji UniversityShanghai 201619China Hubei Topgene Research Institute of Hubei Topgene Biotechnology Co. Ltd.East Lake High-Tech Development ZoneWuhan 430205China Shanghai Institute of Hematology State Key Laboratory of Medical GenomicsNational Research Center for Translational Medicine at ShanghaiRuijin Hospital Affiliated to Shanghai Jiao Tong University School of MedicineShanghai 200025China Shanghai Yuhui Pharmaceutical Technology(Group)Co. Ltd.and Shanghai Ruishen Technology Development Co.Ltd.Shanghai 201203China Shanghai Cancer Institute Department of Biliary-Pancreatic SurgeryRenji Hospital Affiliated to Shanghai Jiao Tong University School of MedicineShanghai 200127China

As a powerful cell-based therapeutic approach,CAR-T therapy was originally designed for treating acquired immunodeficiency syndrome(AIDS)(Baker et al.,2.2.),but had been strikingly successful in curing hematologic malignancies and multiple solid *** evidence has expanded the medical application of CAR-T therapy for the treatment of many other human diseases beyond *** this article,we discuss the principle of CAR-T and enumerate the current application and limitation in ***,we provide a comprehensive perspective of current advance and future directions of CAR-T in treating multiple non-tumoral diseases.

关键词： diseases expanded treatment

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Constructing the Impossible Differential of Type-II GFN with Boolean Function and Its Application to WARP

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Chinese Journal of Electronics 2024年第1期33卷 80-89页

作者： Jiali SHI Guoqiang LIU chao LI College of Liberal Arts and Sciences National University of Defense Technology Hunan Engineering Research Center of Commercial Cryptography Theory and Technology Innovation State Key Laboratory of Information Security Institute of Information Engineering

Type-Ⅱ generalized Feist el network(GFN) has attracted a lot of attention for its simplicity and high *** differential attack is one of the powerful cryptanalytic approaches for word-oriented block ciphers such as Feistel-like *** deduce the impossible differential of Type-Ⅱ GFN by analyzing the Boolean function in the middle *** main idea is to investigate the expression with the variable representing the plaintext(ciphertext) difference words for the internal state *** adopting the miss-in-the-middle approach,we can construct the impossible differential of Type-Ⅱ *** an illustration,we apply this approach to WARP,a lightweight 12.-bit block cipher with a 12.-bit key which was presented by Banik et *** SAC *** structure of WARP is a 32.branch Type-Ⅱ ***,we find two 2.-round truncated impossible differentials and implement a 32.round key recovery attack on *** the 32.round key recovery attack on WARP,some observations are used to mount an effective *** the advantage of the early abort technique,the data,time,and memory complexities are 2.2..69chosen plaintexts,2.2..6832.round encryptions,and 2.00-bit,*** the best of our knowledge,this is the best attack on WARP in the single-key scenario.

关键词： Ciphers Boolean functions Parallel processing Complexity theory

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Amorphous hybrid tungsten oxide–nickel hydroxide nanosheets used as a highly efficient electrocatalyst for hydrogen evolution reaction

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Nano Research 2024年第4期17卷 2499-2508页

作者： chao Lyu Chenghai Dai Yiwei Tan State Key Laboratory of Materials-Oriented Chemical Engineering School of Chemistry and Chemical EngineeringNanjing Tech UniversityNanjing 211816China

There are more challenges for alkaline hydrogen evolution reaction(HER)via simultaneously expediting the electron-coupled water dissociation process(Volmer step)and the following electrochemical H_(2. desorption(Heyrovsky step).Hybrid amorphous electrocatalysts are highly desirable for efficient hydrogen evolution from water-alkali electrolyzers due to the bifunctionality for the different elementary steps of HER and optimal interactions with water molecules and the reactive hydrogen intermediates(Had).Herein,the synthesis of amorphous hybrid ultrathin(tungsten oxide/nickel hydroxide)hydrate(a-[WO_(3)/Ni(OH)_(2.]·0.2._(2.O)nanosheets on nickel foam(NF)for efficient alkaline HER is *** structural and composition features of a-[WO_(3)/Ni(OH)_(2.]·0.2._(2.O are characterized in *** resulting a-[WO_(3)/Ni(OH)_(2.]·0.2._(2.O/NF electrocatalyst with the synergistic effect of both hybrid components for the HER elementary steps shows greatly improved the activity and durability for the HER with a low overpotential of-41 and-163 mV at-10 and-500 mA·cm^(-2.,respectively,a Tafel slope as low as-72.9 mV·dec^(-1),and long-term stability of continuous electrolysis for at least 150 h accompanying by inappreciable overpotential change in 1 M *** the hybrid a-[WO_(3)/Ni(OH)_(2.]·0.2._(2.O,Ni(OH)_(2. and WO_(3) moieties are separately responsible for accelerating dissociative adsorption of water and weakening Had adsorption strength,which is beneficial to the improvement of the alkaline HER activity.

关键词： amorphous nanomaterial bimetallic electrocatalyst tungsten oxide ultrathin nanosheet hydrogen evolution reaction

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Intelligent feedforward gust alleviation based on neural network

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Chinese Journal of Aeronautics 2024年第3期37卷 116-132页

作者： Yitao ZHOU Zhigang WU chao YANG School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China

This paper proposes a neural network-based intelligent feedforward gust alleviation framework,which includes a neural network identification model and a neural network controller.A neural network training dataset is formed by collecting flight data and the gust data encountered during the aircraft flight.A neural network identification model is first trained to accurately predict the aircraft’s ***,based on the output of the identification model and the collected flight data,the parameters of the time-delay neural network controller are obtained through a learning *** simulation results show that the designed intelligent controller has good gust alleviation effects for both continuous turbulence excitation and discrete gust *** example,when the aircraft is 40000 kg and the flight speed is 0.81Ma,the controller achieves a 67.82.reduction in wingtip acceleration and a 35.90%reduction in center of mass acceleration under continuous turbulence *** considering the measurement uncertainties,such as noise existing in the collected data,the trained controller can still achieve an acceptable gust alleviation ***,considering a flight in which the aircraft mass is constantly changing,the intelligent controller,which continuously learns from new flight data,maintains a good gust alleviation effect throughout the flight.

关键词： Gust alleviation Intelligent control Feedforward control Neural networks Time-varying aircraft

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Single-celled metasurface for labeled vortex beam generator

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Journal of Materiomics 2024年第4期10卷 811-818页

作者： Congling Liang Qi Dai Tian Huang Hong-chao Liu Zhiqiang Guan Rao Fu jin Tao Zile Li Shaohua Yu Guoxing Zheng Electronic Information School and School of MicroelectronicsWuhan UniversityWuhan430072China Wuhan Institute of Quantum Technology Wuhan430206China Peng Cheng Laboratory Shenzhen518055China Suzhou Institute of Wuhan University Suzhou215123China Institute of Applied Physics and Materials Engineering University of MacaoAvenida da UniversidadeTaipaMacao SARMacao999078China State Key Laboratory of Optical Communication Technologies and Networks China Information Communication Technologies Group Corporation(CICT)Wuhan430074China

Vortex light is a unique beam characterized by a spiral phase as it propagates. A fundamental parameter of vortex light is the topological charge, which determines the amount of angular momentum and plays a crucial role in tailoring its behavior. However, conventional measurement methods for determining the topological charge, such as those based on interference and phase modulation, tend to be intricate and complex. In this regard, a labeled vortex beam generator is proposed, composed of a metasurface with a single-celled configuration. When the metasurface is illuminated by light of the designed wavelength, the outgoing light exhibits a vortex structure. Furthermore, the topological charge numbers can be directly observed with distinct labeled patterns when the metasurface is placed in an orthogonal-polarized optical path. With advantages such as ultra-compactness, high robustness, and exceptional precision, the proposed metasurface exhibits significant potential for applications in optical communication, light manipulation, optical sensing, etc.

关键词： Metasurface Vortex beam generator Topological charge

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Two Nonmonotone Proximal Gradient Methods for Nonsmooth Optimization over the Stiefel Manifold

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Acta Mathematicae Applicatae Sinica 2024年

作者： jin-chao ZHANG Juan GAO Ya-kui HUANG Xin-wei LIU School of Artificial Intelligence Hebei University of Technology Institute of Mathematics Hebei University of Technology

We propose two nonmonotone retraction-based proximal gradient methods for solving a class of nonconvex nonsmooth optimization problems over the Stiefel manifold. The proposed methods are equipped with the descent direction obtained by a proximal mapping restricted in tangent space of the manifold and the BarzilaiBorwein stepsizes determined by two recent iteration points and the corresponding descent directions. By employing, respectively, the Grippo-Lampariello-Lucidi nonmonotone line search strategy and the Dai-Fletcher nonmonotone line search strategy, our proposed methods are proved to be globally convergent. Analysis on the iteration complexity of NPGL for obtaining an?-stationary solution is provided. Numerical results on the sparse principle component analysis problems demonstrate the efficiency of our methods.

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Transient Response and Ionic Dynamics in Organic Electrochemical Transistors

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Nano-Micro Letters 2024年第11期16卷 191-223页

作者： chao Zhao jintao Yang Wei Ma State Key Laboratory for Mechanical Behavior of Materials Xi’an Jiaotong UniversityXi′an 710049People’s Republic of China

The rapid development of organic electrochemical transistors(OECTs)has ushered in a new era in organic electronics,distinguishing itself through its application in a variety of domains,from high-speed logic circuits to sensitive biosensors,and neuromorphic devices like artificial synapses and organic electrochemical random-access *** recent strides in enhancing OECT performance,driven by the demand for superior transient response capabilities,a comprehensive understanding of the complex interplay between charge and ion transport,alongside electron–ion interactions,as well as the optimization strategies,remains *** review aims to bridge this gap by providing a systematic overview on the fundamental working principles of OECT transient responses,emphasizing advancements in device physics and optimization *** review the critical aspect of transient ion dynamics in both volatile and non-volatile applications,as well as the impact of materials,morphology,device structure strategies on optimizing transient *** paper not only offers a detailed overview of the current state of the art,but also identifies promising avenues for future research,aiming to drive future performance advancements in diversified applications.

关键词： Organic electrochemical transistors Transient response Ion dynamics Electronic dynamics Volatility and non-volatility

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