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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object

Frontiers of Mechanical Engineering 2024年第1期19卷 35-52页

作者： Bolin SUN min cheng Ruqi DING Bing XU State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China Key Laboratory of Conveyance and Equipment(ministry of Education) East China Jiaotong UniversityNanchang 330013China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Given the limited operating ability of a single robotic arm,dual-arm collaborative operations have become increasingly *** with the electrically driven dual-arm manipulator,due to the unknown heavy load,difficulty in measuring contact forces,and control complexity during the closed-chain object transportation task,the hydraulic dual-arm manipulator(HDM)faces more difficulty in accurately tracking the desired motion trajectory,which may cause object deformation or even *** overcome this problem,a compliance motion control method is proposed in this paper for the *** mass parameter of the unknown object is obtained by using an adaptive method based on velocity *** to the difficulty in obtaining the actual internal force of the object,the pressure signal from the pressure sensor of the hydraulic system is used to estimate the contact force at the end-effector(EE)of two hydraulic manipulators(HMs).Further,the estimated contact force is used to calculate the actual internal force on the ***,a compliance motion controller is designed for HDM closed-chain *** position and internal force errors of the object are reduced by the feedback of the position,velocity,and internal force errors of the object to achieve the effect of the compliance motion of the HDM,i.e.,to reduce the motion error and internal force of the *** required velocity and force at the EE of the two HMs,including the position and internal force errors of the object,are inputted into separate position *** addition,the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control ***,comparative experiments are carried out on a hydraulic dual-arm test *** proposed method is validated by the experimental results,which demonstrate improved object position accuracy and reduced internal force.

关键词： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control

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Intramolecular Hydrogen Bond Improved Durability and Kinetics for Zinc‑Organic Batteries

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Nano-Micro Letters 2024年第3期16卷 138-148页

作者： Tianjiang Sun Jun Pan Weijia Zhang Xiaodi Jiang min cheng Zhengtai Zha Hong Jin Fan Zhanliang Tao Key Laboratory of Advanced Energy Materials Chemistry(ministry of Education) Renewable Energy Conversion and Storage CenterCollege of ChemistryNankai UniversityHaihe Laboratory of Sustainable Chemical TransformationsTianjin 300071People’s Republic of China School of Physical and Mathematical Sciences Nanyang Technological UniversitySingapore 637371Singapore Shanghai Key Laboratory of Special Artificial Microstructure Materials and Technology School of Physics Science and EngineeringTongji UniversityShanghai 200092People’s Republic of China

Organic compounds have the advantages of green sustainability and high designability,but their high solubility leads to poor durability of zinc-organic ***,a high-performance quinone-based polymer(H-PNADBQ)material is designed by introducing an intramolecular hydrogen bonding(HB)*** intramolecular HB(C=O⋯N-H)is formed in the reaction of 1,4-benzoquinone and 1,5-naphthalene diamine,which efficiently reduces the H-PNADBQ solubility and enhances its charge transfer in *** situ ultraviolet-visible analysis further reveals the insolubility of H-PNADBQ during the electrochemical cycles,enabling high durability at different current ***,the H-PNADBQ electrode with high loading(10 mg cm^(-2))performs a long cycling life at 125 mA g^(-1)(>290 cycles).The H-PNADBQ also shows high rate capability(137.1 mAh g^(−1)at 25 A g^(−1))due to significantly improved kinetics inducted by intramolecular *** work provides an efficient approach toward insoluble organic electrode materials.

关键词： Zn-organic batteries H-PNADBQ polymer Intramolecular hydrogen bond Reduced solubility Improvedπ-conjugated level

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A solubility limited pyrene-4,5,9,10-tetraone-based covalent organic framework for high-performance aqueous zinc-organic batteries

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Nano Research 2024年第6期17卷 5095-5103页

作者： min cheng Shibing Zheng Tianjiang Sun Diantao Li Weijia Zhang Zhengtai Zha Qiong Sun Jing Tian Kai Zhang Zhanliang Tao Frontiers Science Center for New Organic Matter State Key Laboratory of Advanced Chemical Power SourcesKey Laboratory of Advanced Energy Materials Chemistry(Ministry of Education)Collaborative Innovation Center of Chemical Science and Engineering(Tianjin)Renewable Energy Conversion and Storage CentreNankai UniversityTianjin 300071China Haihe Laboratory of Sustainable Chemical Transformations Tianjin 300192China

Pyrene-4,5,9,10-tetraone(PTO),with a high theoretical capacity of 408 mAh·g^(−1),is a promising candidate for rechargeable aqueous zinc-ion batteries(RAZIBs),but its zincated products during discharge process suffer from high solubility in ***,aβ-ketoenamine-linked two-dimensional(2D)covalent organic framework(COF)based on a 2,7-diaminopyrene-4,5,9,10-tetraone(4KT-BD)monomer and a 2,4,6-trihydroxy-benzene-1,3,5-tricarbaldehyde(Tp)node(4KT-Tp-COF)is synthesized to address the above *** well-designed 4KT-Tp-COF displays low solubility in 3 M Zn(CF3SO3)2 owing to the favorableπ-πstacking as well as extended ***,the ingenious structural design of the active molecule and the long-range ordered nano-channels alter the intramolecular electron distribution,which facilitates the ionic ***,the 4KT-Tp-COF cathode exhibits a stable capacity of 181 mAh·g^(−1)at 0.2 A·g^(−1),superior rate capability of 139 mAh·g^(−1)at 20 A·g^(−1),and a long lifetime of 1000 cycles without capacity loss at 30 A·g^(−1).Even at a low temperature of−20°C,the electrode also performs an ultralong cycling life of 9000 cycles with a capacity of 106 mAh·g^(−1)at 5 A·g^(−1).The comprehensive characterizations of ex-situ analyses together with the theoretical calculations validate that the groups of C=O can contribute highly accessible redox-active sites for Zn^(2+)*** ultra-stable 4KT-Tp-COF cathode provides important insights for designing robust organic electrodes for sustainable and large-scale electrochemical energy storage.

关键词： pyrene-4,5,9,10-tetraone solubility limited covalent organic framework zinc batteries

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Correlation between cerebral neurotransmitters levels by proton magnetic resonance spectroscopy and HbA1c in patients with type 2 diabetes

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World Journal of Diabetes 2024年第6期15卷 1263-1271页

作者： Xiang-Yu Gao Chen-Xia Zhou Hong-Mei Li min cheng Da Chen Zi-Yi Li Bo Feng Jun Song Department of Endocrinology East HospitalTongji University School of MedicineShanghai 200120China Department of Endocrinology Qilu Hospital(Qingdao)Cheeloo College of MedicineShandong UniversityQingdao 266000Shandong ProvinceChina Department of Immunization Program Huangdao District Center for Disease Prevention and ControlQingdao 266400Shandong ProvinceChina

BACKGROUND Cognitive dysfunction is the main manifestation of central *** cognitive impairments tend to be overlooked in patients with diabetes mellitus(DM),there is a growing body of evidence linking DM to cognitive *** is closely related to neurological abnormalities,while often disregarded in clinical *** in cerebral neurotransmitter levels are associated with a variety of neurological abnormalities and may be closely related to blood glucose control in patients with type 2 DM(T2DM).AIM To evaluate the concentrations of cerebral neurotransmitters in T2DM patients exhibiting different hemoglobin A1c(HbA1c)*** A total of 130 T2DM patients were enrolled at the Department of Endocrinology of Shanghai East *** participants were divided into four groups according to their HbA1c levels using the interquartile method,namely Q1(min(mALB),triglyceride,low-density lipoprotein cholesterol(LDL-C),homeostasis model assessment of insulin resistance(HOMA-IR),and beta cell function(HOMA-β),N-acetylaspartate/creatine(NAA/Cr),and NAA/choline(NAA/Cho).Spearman correlation analysis showed that mALB,LDL-C,HOMA-IR and NAA/Cr in the left brainstem area were positively correlated with the level of HbA1c(P<0.05),whereas HOMA-βwas negatively correlated with the HbA1c level(P<0.05).Ordered multiple logistic regression analysis showed that NAA/Cho[Odds ratio(OR):1.608,95%confidence interval(95%CI):1.004-2.578,P<0.05],LDL-C(OR:1.627,95%CI:1.119-2.370,P<0.05),and HOMA-IR(OR:1.107,95%CI:1.031-

关键词： Type 2 diabetes mellitus Hemoglobin A1c Proton magnetic resonance spectroscopy Neurotransmitters Central neuropathy

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Intervention control of aerobic exercise in maintaining quality of life and pulmonary hypertension in hemodialysis patients

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World Journal of Clinical Cases 2024年第20期12卷 4217-4229页

作者： Dan-Dan Wang min cheng Chun-Ying Chen Department of Rehabilitation Medicine Zhejiang HospitalHangzhou 310012Zhejiang ProvinceChina Blood Purification Center Zhejiang HospitalHangzhou 310012Zhejiang ProvinceChina

BACKGROUND Pulmonary hypertension is a serious complication in the treatment of maintenance hemodialysis patients,which seriously affects the quality of life of patients and threatens their life ***,treatment and improvement of pulmonary hypertension are of great significance to improve the quality of life of *** To investigate the intervention and control of pedal-powered bicycle in maintaining quality of life and pulmonary hypertension in hemodialysis *** 73 patients with maintenance hemadialysis combined with pulmonary arterial hypertension at a hemodialysis center in a certain hospital from May 2021 to May 2022 are *** are divided into two groups,37 cases in the control group(group C)and 36 cases in the intervention group(group I).Patients are divided into two groups,group C is treated with oral administration of betaglandin sodium combined with routine nursing *** on group C,group I conducts power cycling *** After treatment,group I patients had higher muscle strength,36-Item Short Form Health Survey scores,and Kidney Disease Targets Areas scores;The 6-minute walk distance test index level was higher and the Borg score was lower;The group I had lower systolic blood pressure,greater vital capacity,higher positive emotion,lower systolic pulmonary artery pressure index level,higher arterial partial oxygen pressure level,lower pulmonary vascular resistance index level,and higher blood oxygen saturation level[158.91±11.89 vs 152.56±12.81,1795.01±603.18 vs 1907.20±574.15,24.00(22.00,29.00)vs 24.00(22.00,28.00),P<0.001].CONCLUSION Aerobic exercise combined with Western medicine treatment can effectively improve patients'pulmonary hypertension,alleviate their negative emotions,and enable them to achieve a higher level of quality of life.

关键词： Aerobic exercise Hemodialysis Pulmonary arterial hypertension Cycle ergometer Quality of life

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Is tumor necrosis factor-α monoclonal therapy with proactive therapeutic drug monitoring optimized for inflammatory bowel disease? Network meta-analysis

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World Journal of Gastrointestinal Surgery 2024年第2期16卷 571-584页

作者： Fang-Yuan Zheng Kai-Si Yang Wen-cheng min Xin-Zhu Li Yu Xing Shuai Wang Ying-Shi Zhang Qing-Chun Zhao Teaching Hospital of Shenyang Pharmaceutical University General Hospital of Northern Theater CommandShenyang 110016Liaoning ProvinceChina

BACKGROUND The efficacy and safety of anti-tumor necrosis factor-α(TNF-α)monoclonal antibody therapy[adalimumab(ADA)and infliximab(IFX)]with therapeutic drug monitoring(TDM),which has been proposed for inflammatory bowel disease(IBD)patients,are still *** To determine the efficacy and safety of anti-TNF-αmonoclonal antibody therapy with proactive TDM in patients with IBD and to determine which subtype of IBD patients is most suitable for proactive TDM *** As of July 2023,we searched for randomized controlled trials(RCTs)and observa-tional studies in PubMed,Embase,and the Cochrane Library to compare anti-TNF-αmonoclonal antibody therapy with proactive TDM with therapy with reactive TDM or empiric *** and network meta-analyses were used to determine the IBD patient subtype that achieved clinical remission and to determine the need for *** This systematic review and meta-analysis yielded 13 studies after exclusion,and the baseline indicators were *** found a significant increase in the number of patients who achieved clinical remission in the ADA[odds ratio(OR)=1.416,95%confidence interval(CI):1.196-1.676]and RCT(OR=1.393,95%CI:1.182-1.641)subgroups and a significant decrease in the number of patients who needed surgery in the proactive vs reactive(OR=0.237,95%CI:0.101-0.558)and IFX+ADA(OR=0.137,95%CI:0.032-0.588)subgroups,and the overall risk of adverse events was reduced(OR=0.579,95%CI:0.391-0.858)according to the pairwise ***,the network meta-analysis results suggested that patients with IBD treated with ADA(OR=1.39,95%CI:1.19-1.63)were more likely to undergo TDM,especially in comparison with patients with reactive TDM(OR=1.38,95%CI:1.07-1.77).CONCLUSION Proactive TDM is more suitable for IBD patients treated with ADA and has obvious advantages over reactive *** recommend proactive TDM in IBD patients who are treated with ADA.

关键词： Inflammatory bowel disease Therapeutic drug monitoring Adalimumab Infliximab Network meta-analysis

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负载口独立控制系统非线性滤波振动抑制方法

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西安交通大学学报 2024年第4期58卷 200-210页

作者：程敏侯严迪丁孺琦重庆大学高端装备机械传动全国重点实验室重庆400044 华东交通大学载运工具与装备教育部重点实验室南昌330013

针对负载口独立控制系统在作业过程中时常因控制信号突变而造成执行器速度振荡及液压缸两腔压力波动,从而导致操作舒适性和机器可靠性降低甚至引发安全事故的问题,首先,分析了负载口独立控制系统压力流量复合控制策略以及传统阻尼补偿... 详细信息

针对负载口独立控制系统在作业过程中时常因控制信号突变而造成执行器速度振荡及液压缸两腔压力波动,从而导致操作舒适性和机器可靠性降低甚至引发安全事故的问题,首先,分析了负载口独立控制系统压力流量复合控制策略以及传统阻尼补偿方法抑振的局限性,阐明了引发速度振荡与压力波动的原因;然后,基于该控制系统,提出了采用非线性滤波器修改突变控制信号的抑振方法,并给出了非线性滤波器的边界选取原则;最后,设计了负载口独立控制系统的进出口阀控制器,通过修改参考流量信号,降低了不同突变信号对执行器速度带来的影响。基于20 t挖掘机负载口独立控制系统开展数值仿真,结果表明:相较于传统阻尼补偿方法,采用所提方法能够有效降低阶跃、斜坡信号引起的执行器速度振荡与压力波动,且在动臂液压缸全伸、全缩典型工况下压力波动较小,并使速度振荡降低了32.5%~64.7%,从而有效改善了系统的动态特性。

关键词：负载口独立压力流量复合控制非线性滤波突变信号振动抑制

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磷转运蛋白StPHO1.2提高马铃薯耐热性

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作物学报 2024年第2期50卷 394-402页

作者：李万李成程敏吴芳商洛学院生物医药与食品工程学院陕西商洛726000 西安润壮稼农业科技有限公司陕西西安710003 商洛学院科技处陕西商洛726000 商洛学院国内合作与校友工作处陕西商洛726000

植物通过磷转运蛋白吸收和转运磷元素,充足的磷元素能够提高作物产量、品质和抗逆性。高温是影响马铃薯生长发育的重要环境因子,严重时会造成减产甚至绝收。本研究利用农杆菌介导,在马铃薯(Solanum tuberosum L.)中过表达磷转运蛋白基因... 详细信息

植物通过磷转运蛋白吸收和转运磷元素,充足的磷元素能够提高作物产量、品质和抗逆性。高温是影响马铃薯生长发育的重要环境因子,严重时会造成减产甚至绝收。本研究利用农杆菌介导,在马铃薯(Solanum tuberosum L.)中过表达磷转运蛋白基因StPHO1.2,比较转基因株系和野生型株系在高温(35℃)和常温(22℃±1℃)环境下的生长状况。结果表明,过表达StPHO1.2能够提高马铃薯耐热性,促进其生长,且磷元素浓度越高,抗性越强,长势越好。本氏烟草中的亚细胞定位结果显示,StPHO1.2在细胞膜上表达,因此,选择膜系统文库质粒筛选StPHO1.2的互作蛋白。通过酵母双杂交试验和BiFC试验,本研究证明磷转运蛋白StPHO1.2与钙离子转运相关蛋白(StCAX1)和光系统Ⅱ蛋白亚基(StPsbR)均有相互作用。综上所述,过表达StPHO1.2可能通过影响光合作用和信号转导,从而提高马铃薯耐热性,促进马铃薯生长。这些结果为深入理解磷转运蛋白的功能提供了理论依据和参考,对马铃薯新品种的选育具有促进作用。

关键词：马铃薯磷转运蛋白高温胁迫酵母双杂交双分子荧光互补

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Sorbitol-Electrolyte-Additive Based Reversible Zinc Electrochemistry

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电化学（中英文） 2024年第7期30卷 28-37页

作者： Qiong Sun Hai-Hui Du Tian-Jjiang Sun Dian-Tao Li min cheng Jing Liang Hai-Xia Li Zhan-Liang Tao Key Laboratory of Advanced Energy Materials Chemistry(ministry of Education) Collaborative Innovation Center of Chemical Science and Engineering(Tianjin)Renewable Energy Conversion and Storage Center(RECAST)College of ChemistryNankai UniversityTianjin300071China Key Laboratory of Advanced Electrode Materials for Novel Solar Cells for Petroleum and Chemical Industry of China School of Chemistry and Life SciencesSuzhou University of Science and TechnologySuzhou 215009JiangsuChina

The unstable zinc(Zn)/electrolyte interfaces formed by undesired dendrites and parasitic side reactions greatly hinder the development of aqueous zinc ion ***,the hydroxy-rich sorbitol was used as an additive to reshape the solvation structure and modulate the interface *** strong interactions among sorbitol and both water molecules and Zn electrode can reduce the free water activity,optimize the solvation shell of water and Zn^(2+)ions,and regulate the formation of local water(H_(2)O)-poor environment on the surface of Zn electrode,which effectively inhibit the decomposition of water molecules,and thus,achieve the thermodynamically stable and highly reversible Zn *** a result,the assembled Zn/Zn symmetric cells with the sorbitol additive realized an excellent cycling life of 2000 h at 1 mA·cm^(-2)and 1 mAh·cm^(-2),and over 250 h at 5 ***^(-2)and 5 ***^(-2).Moreover,the Zn/Cu asymmetric cells with the sorbitol additive achieved a high Coulombic efficiency of 99.6%,obtaining a better performance than that with a pure 2 mol-L^(-1)ZnSO_(4)*** the constructed Zn/poly1,5-naphthalenediamine(PNDA)batteries could be stably discharged for 2300 cycles at 1 A g^(-1)with an excellent capacity retention *** result indicates that the addition of 1 mol-L^(-1)non-toxic sorbitol into a conventional ZnSO_(4)electrolyte can successfully protect the Zn anode interface by improving the electrochemical properties of Zn reversible deposition/decomposition,which greatly promotes its cycle performance,providing a new approach in future development of high performance aqueous Zn ion batteries.

关键词： Aqueous zinc ion batteries Dendrite Sorbitol additive Solvation regulation Interface modulation

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“义”在宋代的应用与价值

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河北学刊 2024年第4期44卷 92-102页

作者：程民生河南大学历史文化学院

宋代是义观念实践的一个历史高潮。宋代之义具有崇高神圣的精神地位,受到上至皇帝、下及盗贼的追捧。宋代强调君臣以义立,皇帝以义结天下人心,以义对内理政、对外交好。士大夫之公义指正义、刚正的气概,是高尚情操,其小义主要体现在对... 详细信息

宋代是义观念实践的一个历史高潮。宋代之义具有崇高神圣的精神地位,受到上至皇帝、下及盗贼的追捧。宋代强调君臣以义立,皇帝以义结天下人心,以义对内理政、对外交好。士大夫之公义指正义、刚正的气概,是高尚情操,其小义主要体现在对社会、朋友的责任担当与无私帮助,个人之间也多称兄道弟以及结拜兄弟。武人之公义通常都是忠于朝廷,慷慨赴义,其私义多表现于结拜兄弟。民间之义除公益之义外,还有更多样的表现形式,如互济互助、扶正驱邪,包括义居、复仇杀人,结义现象更为普遍,既有义兄弟,也有义父子,均受到法律的承认。义观念的强化和实践,体现着宋人的奉献精神、自律精神、契约精神。从开国皇帝赵匡胤传下来的以义治国策略,是宋代政治文明的重要组成部分。

关键词：义义举结义宋代

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