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Journal of Bionic Engineering 2010年第4期7卷 364-374页

作者： Zhenlong wang,Jian Li,Guanrong Hang,Yangwei wang state key laboratory of robotics and system,Harbin Institute of Technology,Harbin 150001,P.R.china state key laboratory of robotics and system Harbin Institute of Technology Harbin P. R. China

A flexible hingeless control surface model was proposed for motion control of Underwater Vehicles (UVs),which is inspiredby the flexible bending control surfaces of underwater creatures,such as fish and *** Fluid Dynamics(CFD) simulation demonstrates that,in comparison with the hinged or rigid control surface,the proposed flexible bendingcontrol surface can suppress the flow separation so as to improve the turning performance.A prototype of the flexible controlsurface was fabricated,in which Shape Memory Alloy (SMA) wires were selected as the *** elastic energy storageand exchange mechanism was incorporated into the actuation of the control surface to improve the *** analysisof SMA wires was performed to find proper actuating ***-loop bending experiments were carried *** resultsshow that the proposed control surface can achieve the maximum bending angle of 104°.Moreover,the power and energyconsumption under different pulse conditions were compared.

关键词： bio-inspired flexible hingeless control surface CFD shape memory alloy wire underwater vehicle

Sedimentary characteristics and lithofacies paleogeography of the Cambrian in Sichuan basin,Southwest china

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Petroleum 2024年第2期10卷 224-242页

作者： Lin Xie xuefei Yang Yanhong Zhang Yan Xu Deming Zeng Ruifeng Tang Yao Du Xingzhi wang state key laboratory of Oil and Gas Reservoir Geology and Exploitation Southwest Petroleum UniversityChengdu610500China School of Geoscience and Technology Southwest Petroleum UniversityChengdu610500China Schlumberger china S.A. Beijing100016China Research Institute of Exploration and Development PetroChina Southwest Oil&Gas Field CompanySichuan Chengdu610041China

Cambrian in Sichuan basin developed thick black shale,varies carbonate and clastic rock,which deposited in different sedimentary *** basin in the upper Yangtze platform contained a record of environment during the *** facies analyses of Cambrian enable us to discuss the sedimentary environment and palaeogeographic *** commenced in the Early Cambrian with the deposition of shelf facies(Qiongzhusi Formation and Canglangpu Formation).At this stage,thick shale and clastic rock deposited in Sichuan *** the end of the Early Cambrian,a carbonate platform developed in upper Yangtze platform,and Sichuan basin was located in restricted platform(Longwangmiao Formation).In the Middle Cambrian,tidal flat and restricted platform developed in Sichuan basin(Douposi Formation),because of continuous *** the Late Cambrian,Sichuan basin was located in carbonate platform again(Xixiangchi Formation).There are three types of sedimentary system in the Cambrian of Sichuan basin:clastic sedimentary system,clastics-carbonate mixed sedimentary system and carbonate sedimentary ***,the basin shows the evolutionary character of clastic-carbonate sedimentary *** three sedimentary systems correspond to three“transgression-regression”cycles of the *** transgression in the initial period of the Early Cambrian led to the formation of clastic sedimentary system in the Qiongzhusi Formation of Lower *** transgression in the later period of the Early Cambrian led to the formation of clasticcarbonate mixed sedimentary system in the Middle-Lower *** transgression in the initial period of the Late Cambrian led to the formation of carbonate sedimentary system in the Xixiangchi Formation of Upper *** the end of Late Sinian continental rifting ended,Sichuan basin entered a stable evolutionary stage of the craton basin,while the paleo-land developed in the north and *** Qiongzhusi-

关键词： Sichuan basin Cambrian Sedimentary characteristics Lithofacies paleogeography

Metagenomic Insight Reveals the Microbial Structure and Function of the Full-Scale Coking Wastewater Treatment system:Gene-Based Nitrogen Removal

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Engineering 2024年第5期36卷 76-89页

作者： Jiaying Ma Fan wang Haifeng Fan Enchao Li Huaqiang Chu xuefei Zhou Yalei Zhang state key laboratory of Pollution Control and Resource Reuse College of Environmental Science and EngineeringTongji UniversityShanghai 200092China Shanghai Institute of Pollution Control and Ecological Security Tongji UniversityShanghai 200092China Baowu Water Technology Co. Ltd.Shanghai 201999China

Microbial communities play crucial roles in pollutant removal and system stability in biological systems for coking wastewater(CWW)treatment,but a comprehensive understanding of their structure and functions is still lacking.A five month survey of four sequential bioreactors,anoxic 1/oxic 1/anoxic 2/oxic 2(A1/O1/A2/O2),was carried out in a full-scale CWW treatment system in china to elucidate operational performance and microbial *** results showed that A1/O1/A2/O2 had excellent and stable performance for nitrogen *** total nitrogen(TN;(17.38±6.89)mgL1)and ammonium-nitrogen(NH4 t-N;(2.10±1.34)mg·L^(-1))in the final biological effluent satisfied the Chinese national standards for *** analysis of 16S ribosome RNA(rRNA)sequencing and metagenomic sequencing showed that the bacterial communities and metagenomic function profiles of A1 and O1 shared similar functional structures,while those of A2 significantly varied from those of other bioreactors(psystem for CWW *** study prov

关键词： Coking wastewater Full-scale Microbial community Metagenomic sequencing Nitrogen-cycling genes Environmental factor

An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals

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Journal of Bionic Engineering 2009年第3期6卷 255-263页

作者： Da-peng Yang~1 Jing-dong Zhao~1 Yi-kun Gu~1 Xin-qing wang~1 Nan Li~1 Li Jiang~1Hong Liu~(1,2) Hai Huang~3 Da-wei Zhao~41.state key laboratory of robotics and system,Harbin Institute of Technology,Harbin 150001,P.R.china2.Institute of robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany3.College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,P.R.china4.College of Automation,Harbin Engineering University,Harbin 150001,P.R.china state key laboratory of robotics and system Harbin Institute of Technology Harbin P. R. China Institute of robotics and Mechatronics German Aerospace Center Munich Germany College of Shipbuilding Engineering Harbin Engineering University Harbin P. R. China College of Automation Harbin Engineering University Harbin P. R. China

When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplish the actuation *** paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac- tuated mechanism and a forearm myocontrol EMG *** AR hand Ⅲ has five fingers and 15 joints,and actuated by three embedded *** can be found within each finger and between the rest three fingers (the middle finger,the ring finger and the little finger) when the hand is grasping *** the EMG control,two specific methods are proposed:the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef- fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established based on two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog- nition of the active *** a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.

关键词： humanoid hand underactuated mechanism EMG control suppon vector machine

基于区间概率不确定集的微电网两阶段自适应鲁棒优化调度

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中国电机工程学报 2024年第5期44卷 1750-1763,I0007页

作者：王灿张雪菲凌凯席磊陈然王傲奇褚四虎田福银李欣然三峡大学电气与新能源学院湖北省宜昌市443002 梯级水电站运行与控制湖北省重点实验室(三峡大学) 湖北省宜昌市443002 国网衢州供电公司浙江省衢州市324000 国网湖北省电力有限公司经济技术研究院湖北省武汉市430077

光伏出力的随机性和负荷用电的波动性对微电网的优化调度影响显著,为此提出了预测-调节-决策一体化的策略框架。基于高斯过程回归(Gaussian process regression,GPR)将光伏出力和负荷用电典型日历史数据自适应生成的置信区间与鲁棒优化... 详细信息

光伏出力的随机性和负荷用电的波动性对微电网的优化调度影响显著,为此提出了预测-调节-决策一体化的策略框架。基于高斯过程回归(Gaussian process regression,GPR)将光伏出力和负荷用电典型日历史数据自适应生成的置信区间与鲁棒优化中不确定集的构建相结合,建立了基于区间概率不确定集的自适应鲁棒优化调度模型。首先,通过GPR生成自适应鲁棒优化调度模型中不确定集的固定项,然后调节决策环节所考虑的风险水平以确定不确定集中的波动项,进而确定衡量不同调度保守度下的不确定集边界;接着采用预测区间质量评测指标来考核各个不确定集所对应的区间优劣。最后,通过改进的IEEE-37节点微电网系统验证了所提模型在有效抵御光伏出力和负荷用电波动的同时保持较低的运行成本。

关键词：微电网风险水平置信区间不确定集鲁棒优化

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Artificial Intelligence Meets Flexible Sensors:Emerging Smart Flexible Sensing systems Driven by Machine Learning and Artificial Synapses

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Nano-Micro Letters 2024年第1期16卷 235-273页

作者： Tianming Sun Bin Feng Jinpeng Huo Yu Xiao Wengan wang Jin Peng Zehua Li Chengjie Du Wenxian wang Guisheng Zou Lei Liu Department of Mechanical Engineering State Key Laboratory of Tribology in Advanced EquipmentKey Laboratory for Advanced Manufacturing by Materials Processing TechnologyMinistry of Education of PR ChinaTsinghua UniversityBeijing 100084People’s Republic of China College of Materials Science and Engineering Shanxi ProvinceTaiyuan University of TechnologyTaiyuan 030024People’s Republic of China

The recent wave of the artificial intelligence(AI)revolution has aroused unprecedented interest in the intelligentialize of human *** an essential component that bridges the physical world and digital signals,flexible sensors are evolving from a single sensing element to a smarter system,which is capable of highly efficient acquisition,analysis,and even perception of vast,multifaceted *** challenging from a manual perspective,the development of intelligent flexible sensing has been remarkably facilitated owing to the rapid advances of brain-inspired AI innovations from both the algorithm(machine learning)and the framework(artificial synapses)*** review presents the recent progress of the emerging AI-driven,intelligent flexible sensing *** basic concept of machine learning and artificial synapses are *** new enabling features induced by the fusion of AI and flexible sensing are comprehensively reviewed,which significantly advances the applications such as flexible sensory systems,soft/humanoid robotics,and human activity *** two of the most profound innovations in the twenty-first century,the deep incorporation of flexible sensing and AI technology holds tremendous potential for creating a smarter world for human beings.

关键词： Flexible electronics Wearable electronics Neuromorphic Memristor Deep learning

Nonlinear dynamics of a circular curved cantilevered pipe conveying pulsating fluid based on the geometrically exact model

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Applied Mathematics and Mechanics(English Edition) 2024年第2期45卷 261-276页

作者： Runqing CAO Zilong GUO Wei CHEN Huliang DAI Lin wang Department of Engineering Mechanics School of Aerospace EngineeringHuazhong University of Science and TechnologyWuhan 430074China Hubei key laboratory for Engineering Structural Analysis and Safety Assessment Wuhan 430074China state key laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Due to the novel applications of flexible pipes conveying fluid in the field of soft robotics and biomedicine,the investigations on the mechanical responses of the pipes have attracted considerable *** fluid-structure interaction(FSI)between the pipe with a curved shape and the time-varying internal fluid flow brings a great challenge to the revelation of the dynamical behaviors of flexible pipes,especially when the pipe is highly flexible and usually undergoes large *** this work,the geometrically exact model(GEM)for a curved cantilevered pipe conveying pulsating fluid is developed based on the extended Hamilton's *** stability of the curved pipe with three different subtended angles is examined with the consideration of steady fluid *** attention is concentrated on the large-deformation resonance of circular pipes conveying pulsating fluid,which is often encountered in practical *** constructing bifurcation diagrams,oscillating shapes,phase portraits,time traces,and Poincarémaps,the dynamic responses of the curved pipe under various system parameters are *** mean flow velocity of the pulsating fluid is chosen to be either subcritical or *** numerical results show that the curved pipe conveying pulsating fluid can exhibit rich dynamical behaviors,including periodic and quasi-periodic *** is also found that the preferred instability type of a cantilevered curved pipe conveying steady fluid is mainly in the flutter of the second *** a moderate value of the mass ratio,however,a third-mode flutter may occur,which is quite different from that of a straight pipe system.

关键词： curved pipe conveying fluid pulsating fluid geometrically exact model(GEM) nonlinear dynamics parametric vibration flutter

Characterizing permeability-porosity relationships of porous rocks using a stress sensitivity model in consideration of elastic-structural deformation and tortuosity sensitivity

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第9期16卷 3437-3451页

作者： Ronghe Xu Liqin wang Xiaoli Zhao Yuze Mao MIIT key laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin150001China state key laboratory of robotics and system Harbin Institute of TechnologyHarbin150001China Shanghai Aerospace Control Technology Institute Shanghai201100China

Clarifying the relationship between stress sensitivities of permeability and porosity is of great significance in guiding underground resource *** and more studies focus on how to construct stress sensitivity models to describe the relationship and obtain a comprehensive stress sensitivity of porous ***,the limitations of elastic deformation calculation and incompleteness of considered tortuosity sensitivity lead to the fact that the existing stress sensitivity models are still unsatisfactory in terms of accuracy and ***,a more accurate and generic stress sensitivity model considering elastic-structural deformation of capillary cross-section and tortuosity sensitivity is proposed in this *** elastic deformation is derived from the fractal scaling model and Hooke's *** the effects of elastic-structural deformation on tortuosity sensitivity,an empirical formula is proposed,and the conditions for its applicability are *** predictive performance of the proposed model for the permeability-porosity relationships is validated in several sets of publicly available experimental *** experimental data are from different rocks under different pressure *** mean and standard deviation of relative errors of predicted stress sensitivity with respect to experimental data are 2.63%and 1.91%.Compared with other models,the proposed model has higher accuracy and better predictive generalization *** is also found that the porosity sensitivity exponent a,which can describe permeability-porosity relationships,is 2 when only elastic deformation is considered.a decreases from 2 when structural deformation is also *** addition,a may be greater than 3 due to the increase in tortuosity sensitivity when tortuosity sensitivity is considered even if the rock is not fractured.

关键词： Stress sensitivity model Permeability-porosity relationships Elastic-structural deformation Tortuosity stress sensitivity

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长江口北支上段滩槽演变过程研究

海洋科学进展 2024年第4期42卷 663-676页

作者：王凌霄戴志军梅雪菲王杰楼亚颖乔红杰华东师范大学河口海岸学国家重点实验室上海200241 长江水利委员会水文局长江口水文水资源勘测局上海200136

滩槽系统是河口普遍存在的地貌单元,其演变过程直接关乎航槽稳定与滩涂资源利用。利用1992年—2022年长江口北支上段实测地形资料、Landsat遥感影像及长江入海水沙、南北支分流比等数据,分析北支上段滩槽演变过程及可能的影响因素。结... 详细信息

滩槽系统是河口普遍存在的地貌单元,其演变过程直接关乎航槽稳定与滩涂资源利用。利用1992年—2022年长江口北支上段实测地形资料、Landsat遥感影像及长江入海水沙、南北支分流比等数据,分析北支上段滩槽演变过程及可能的影响因素。结果表明,崇头边滩淤涨速率为0.32 km^(2)/a,新跃沙为0.25 km^(2)/a,其中超过50%的研究区边滩淤涨发生在2000年—2003年。同时,崇头河槽在2000年—2008年发生明显侵蚀,容积扩大超过50%。崇头边滩与新跃沙淤涨泥沙来源主要由潮流带入,受上游来沙影响较小。由于北支青龙港河道弯曲及涌潮现象,引起新跃沙快速淤涨。崇头边滩在洪季受径潮流顶托造成泥沙落淤;在枯季因科氏力与淤涨滩涂扩展,形成涨潮冲刷槽,构成北支“槽冲滩淤”的特点。

关键词：滩槽系统动力地貌演变潮汐不对称长江口北支

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