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Optimal Variable Stiffness Control and Its Applications in Bionic Robotic Joints:A Review

Journal of Bionic Engineering 2023年第2期20卷 417-435页

作者： Yuanxi Sun yuntao Tang Jia Zheng Dianbiao dong Long Bai State Key Laboratory of Mechanical Transmission Chongqing UniversityChongqing400044China School of Advanced Manufacturing Engineering Chongqing University of Posts and TelecommunicationsChongqing400065China School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an710072China

Variable Stiffness Actuation(VSA)is an efficient,safe,and robust actuation technology for bionic robotic joints that have emerged in recent *** introducing a variable stiffness elastomer in the actuation system,the mechanical-electric energy conversion between the motor and the load could be adjusted on-demand,thereby improving the performance of the actuator,such as the peak power reduction,energy saving,bionic actuation,*** present,the VSA technology has achieved fruitful research results in designing the actuator mechanism and the stiffness adjustment servo,which has been widely applied in articulated robots,exoskeletons,prostheses,***,how to optimally control the stiffness of VSAs in different application scenarios for better actuator performance is still challenging,where there is still a lack of unified cognition and ***,from the perspective of optimal VSA performance,this paper first introduces some typical structural design and servo control techniques of common VSAs and then explains the methods and applications of the Optimal Variable Stiffness Control(OVSC)approaches by theoretically introducing different types of OVSC mathematical models and summarizing OVSC methods with varying optimization goals and application scenarios or *** addition,the current research challenges of OVSC methods and possible innovative insights are also presented and discussed in-depth to facilitate the future development of VSA control.

关键词： Bionic robotic joint Variable stiffness actuator Optimal control Robotics Controller design

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大倾角斜反井导孔定向钻进应用研究

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隧道建设（中英文） 2018年第11期38卷 1853-1859页

作者：费万堂马雨峰刘志强刘书杰刘双华龙小刚董云涛河北丰宁抽水蓄能有限公司河北丰宁068350 煤炭科学研究总院建井研究分院北京100013 北京中煤矿山工程有限公司北京100013

为解决中粗粒花岗岩地层中反井法施工大倾角斜井时偏斜精度低的技术难题,采用高精度斜导孔轨迹控制技术、定向钻具组合技术以及钻孔孔壁泥浆保护技术,研制出新型TDX-1500斜导孔专用钻机,研发出一套大倾角反井法斜导孔的快速、高效、精... 详细信息

为解决中粗粒花岗岩地层中反井法施工大倾角斜井时偏斜精度低的技术难题,采用高精度斜导孔轨迹控制技术、定向钻具组合技术以及钻孔孔壁泥浆保护技术,研制出新型TDX-1500斜导孔专用钻机,研发出一套大倾角反井法斜导孔的快速、高效、精确地钻孔定向控制技术。以河北丰宁抽水蓄能电站1#引水系统高压管道下斜段为工业性试验工程,使用TDX-1500斜导孔专用钻机、新型7LZ120短螺杆钻具以及SMWD-76无线随钻测斜仪等新型钻孔施工设备,利用钻孔泥浆进行护壁钻进,施工一条斜长302 m、倾角53°、偏斜率为0. 42%的导孔,钻孔实际轨迹与设计轨迹高度拟合,斜导孔轨迹平缓圆滑,并精确进入靶域,技术参数上完全满足反井法施工的技术要求。

关键词：抽水蓄能电站反井法大倾角斜井斜导孔定向钻孔

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Potassium ions and cyano group modified g-C3N4 for effective generation of H2O2 through two-electron oxygen reduction

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Science China Chemistry 2025年第01期 192-200页

作者： dongying Wang Shulan Pu Yongmin Chen Ke Lei Yujie Duan Linjiao Mao Xuhui Zeng Xi Luo yuntao Zhang Yuqin dong Jin Zhong Zhang Yan Sun School of Mechanical Engineering Chengdu University Department of Chemistry and Biochemistry University of California

Potassium ions （K+） doped graphitic carbon nitride （g-C3N4） was prepared by a thermal etching method using potassium hydroxide （KOH） as an ion *** transform infrared spectroscopy （FTIR） and X-ray photoelectron spectroscopy （XPS）results showed that the generation of the cyano group was detected while introducing K+.Under simulated sunlight irradiation,the sample with a K+doping amount of 10%showed the highest hydrogen peroxide （H2O2） generation rate of2,140.2μmol *** apparent quantum yield （AQY） at 400 nm and the solar-to-chemical conversion （SCC） are 4.35%and1.23%,respectively.K+acted as a bridge between g-C3N4layers,which enhanced charge transfer ***,the cyano group enhanced the adsorption capacity of protons （H+） and promoted the yield of *** catalyst exhibited excellent photocatalytic stability based on four-cycle *** addition,a mechanism study showed that superoxide radicals （·O2-）were the most important active species in the reaction *** production of H2O2was achieved through consecutive single-electron *** study deepens the understanding of the oxygen reduction reaction process and opens up a new venue for improving H2O2generation.

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云南省金平县长安金矿床地质特征新认识及找矿潜力

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黄金 2021年第9期42卷 31-38页

作者：周癸武秦正举李其在董云涛唐贯宗云南黄金矿业集团股份有限公司 650200

长安金矿床位于哀牢山断裂南段,同时受甘河断裂与藤条河断裂、三家断裂与甘河断裂挟持。矿区内矿体受地层及岩性、构造、岩浆岩控制。F6断裂是矿区目前发现最重要的控矿构造,沿F6断裂及其上盘附近共发育3组不同产状矿体,分别为产于F6断... 详细信息

长安金矿床位于哀牢山断裂南段,同时受甘河断裂与藤条河断裂、三家断裂与甘河断裂挟持。矿区内矿体受地层及岩性、构造、岩浆岩控制。F6断裂是矿区目前发现最重要的控矿构造,沿F6断裂及其上盘附近共发育3组不同产状矿体,分别为产于F6断裂破碎带中矿体、产于F6断裂上盘附近向东陡倾斜矿体、产于F6断裂上盘向东缓倾斜矿体;3组矿体均具有尖灭再现、雁列式排列特征,在空间上具有较大找矿潜力。北西向、北北西向、近南北向断裂与成矿关系密切,同样具有较大找矿潜力;岩浆岩与成矿关系密切,深部及外围具有寻找矽卡岩型矿体的潜力。

关键词： F6断裂控矿构造矽卡岩型矿体找矿潜力长安金矿床

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Two-stage aging treatment to accelerate aging kinetics without impairing strength in B_4C/7A04Al composite

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Science China(Technological Sciences) 2024年第8期67卷 2485-2492页

作者： CHEN yuntao MA GuoNan ZHU ShiZe WANG dong XIAO BoLv MA ZongYi Shi-Changxu Innovation Center for Advanced Materials Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China School of Materials Science and Engineering University of Science and Technology of ChinaShenyang 110016China Centre of Excellence for Advanced Materials Dongguan 523808China

Aging treatments are the key process to obtain satisfactory strength for 7xxxAl alloys and their composites. However, traditional single-stage(SS) aging is time-consuming to reach a peak strength condition. In this study, an efficient 120℃ + 160℃ two-stage(TS) aging treatment was proposed on a B_4C/7A04Al composite fabricated via powder metallurgy(PM) technology, which could acquire similar peak-aging strength but only took about 15% of the time compared to traditional 120℃ SS aging. The evolution of precipitation during the TS aging was investigated, as well as those of the 7A04Al alloys for comparison. In the second stage aging process, the higher aging temperature accelerated the nucleation of η′ phases inside the grains and thus increased the density of precipitates. Moreover, the short aging time limited the coarsening of precipitates and the broadening of precipitatefree zones. The above factors were beneficial for quickly obtaining satisfactory precipitation strengthening effects. The B_4C/7A04Al composite exhibited slower aging kinetics than the 7A04Al alloy in the TS aging. Mg elements consumption by the chemical reaction between B impurities introduced by B_4C particles and the Al matrix was considered to potentially retard the aging kinetics of the B_4C/7A04Al composite. Nevertheless, the precipitation sequence was not affected.

关键词： aluminum matrix composites aging treatment powder metallurgy mechanical properties precipitation

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Force and impulse multi-sensor based on flexible gate dielectric field effect transistor

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International Journal of Minerals,Metallurgy and Materials 2025年第1期32卷 214-220页

作者： Chao Tan Junling Lü Chunchi Zhang dong Liang Lei Yang Zegao Wang College of Materials Science and Engineering Sichuan UniversityChengdu 610065China The 54th Research Institute of China Electronics Technology Group Corporation Shijiazhuang 050081China

Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other ***-dimensional material-based filed effect transistor(2D-FET)sensors are competitive with nano-level size,lower power consumption,and accurate ***,few of them has the capability of impulse detection which is a path function,expressing the cumulative effect of the force on the particle over a period of *** we fabricated the flexible polymethyl methacrylate(PMMA)gate dielectric MoS_(2)-FET for force and impulse sensor *** systematically investigated the responses of the sensor to constant force and varying forces,and achieved the conversion factors of the drain current signals(I_(ds))to the detected impulse(I).The applied force was detected and recorded by I_(ds)with a low power consumption of~30 *** sensitivity of the device can reach~8000%and the 4×1 sensor array is able to detect and locate the normal force applied on ***,there was almost no performance loss for the device as left in the air for two months.

关键词： flexible gate dielectric transistor force sensor impulse sensor force sensor array

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Interaction of major facilitator superfamily domain containing 2A with the blood-brain barrier

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Neural Regeneration Research 2025年第8期20卷 2133-2152页

作者： Yilun Ma Taiwei dong Fei Luan Juanjuan Yang Feng Miao Peifeng Wei College of Pharmacy and First Clinical Medical College Shaanxi University of Chinese MedicineXianyangShaanxi ProvinceChina National Drug Clinical Trial Agency The Second Affiliated Hospital of Shaanxi University of Chinese Medicine/Xixian New District Central HospitalXi′anShaanxi ProvinceChina

The functional and structural integrity of the blood-brain barrier is crucial in maintaining homeostasis in the brain microenvironment;however,the molecular mechanisms underlying the formation and function of the blood-brain barrier remain poorly *** major facilitator superfamily domain containing 2A has been identified as a key regulator of blood-brain barrier *** plays a critical role in promoting and maintaining the formation and functional stability of the blood-brain barrier,in addition to the transport of lipids,such as docosahexaenoic acid,across the blood-brain ***,an increasing number of studies have suggested that major facilitator superfamily domain containing 2A is involved in the molecular mechanisms of blood-brain barrier dysfunction in a variety of neurological diseases;however,little is known regarding the mechanisms by which major facilitator superfamily domain containing 2A affects the blood-brain *** paper provides a comprehensive and systematic review of the close relationship between major facilitator superfamily domain containing 2A proteins and the blood-brain barrier,including their basic structures and functions,cross-linking between major facilitator superfamily domain containing 2A and the blood-brain barrier,and the in-depth studies on lipid transport and the regulation of blood-brain barrier *** comprehensive systematic review contributes to an in-depth understanding of the important role of major facilitator superfamily domain containing 2A proteins in maintaining the structure and function of the blood-brain barrier and the research progress to *** will not only help to elucidate the pathogenesis of neurological diseases,improve the accuracy of laboratory diagnosis,and optimize clinical treatment strategies,but it may also play an important role in prognostic *** addition,the effects of major facilitator superfamily domain containing 2A on blood-brain barrier lea

关键词： blood-brain barrier(BBB) caveolin-1 central nervous system docosahexaenoic acid endothelial cells lysophosphatidylcholine major facilitator superfamily domain containing 2A(MFSD2A) transcytosis

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Induced neural stem cells regulate microglial activation through Akt-mediated upregulation of CXCR4 and Crry in a mouse model of closed head injury

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Neural Regeneration Research 2025年第5期20卷 1416-1430页

作者： Mou Gao Qin dong Dan Zou Zhijun Yang Lili Guo Ruxiang Xu Department of Neurosurgery Sichuan Academy of Medical Sciences and Sichuan Provincial People’s HospitalSchool of MedicineUniversity of Electronic Science and Technology of ChinaChengduSichuan ProvinceChina Department of Neurosurgery Chinese PLA General HospitalBeijingChina Department of Neurology Fu Xing HospitalCapital Medical UniversityBeijingChina

Microglial activation that occurs rapidly after closed head injury may play important and complex roles in neuroinflammation-associated neuronal damage and *** previously reported that induced neural stem cells can modulate the behavior of activated microglia via CXCL12/CXCR4 signaling,influencing their activation such that they can promote neurological ***,the mechanism of CXCR4 upregulation in induced neural stem cells remains *** this study,we found that nuclear factor-κB activation induced by closed head injury mouse serum in microglia promoted CXCL12 and tumor necrosis factor-αexpression but suppressed insulin-like growth factor-1 ***,recombinant complement receptor 2-conjugated Crry(CR2-Crry)reduced the effects of closed head injury mouse serum-induced nuclear factor-κB activation in microglia and the levels of activated microglia,CXCL12,and tumor necrosis factor-α.Additionally,we observed that,in response to stimulation(including stimulation by CXCL12 secreted by activated microglia),CXCR4 and Crry levels can be upregulated in induced neural stem cells via the interplay among CXCL12/CXCR4,Crry,and Akt signaling to modulate microglial *** agreement with these in vitro experimental results,we found that Akt activation enhanced the immunoregulatory effects of induced neural stem cell grafts on microglial activation,leading to the promotion of neurological recovery via insulin-like growth factor-1 secretion and the neuroprotective effects of induced neural stem cell grafts through CXCR4 and Crry upregulation in the injured cortices of closed head injury ***,these beneficial effects of Akt activation in induced neural stem cells were positively correlated with the therapeutic effects of induced neural stem cells on neuronal injury,cerebral edema,and neurological disorders post–closed head *** conclusion,our findings reveal that Akt activation may enhance the immunoregulatory effects of induced neura

关键词： Akt signaling cerebral edema closed head injury Crry CXCR4 induced neural stem cell microglia neuroinflammation

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智能三维技术在抽水蓄能电站测量中的应用

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水电与抽水蓄能 2019年第5期5卷 22-26,35页

作者：董云涛李敏李宗华陈雨生郭巧张晓朋保定易县抽水蓄能有限公司河北省保定市074200 广州南方测绘科技股份有限公司广东省广州市510000

针对抽水蓄能电站建设的新需求和传统测量作业困难,本文提出了智能三维技术解决方案.阐述了机载激光雷达测量,无人机倾斜摄影测量和三维可视化成果共享三大关键技术;结合某抽水蓄能电站项目的生产实践,该方案克服了传统生产的痛点,实现... 详细信息

针对抽水蓄能电站建设的新需求和传统测量作业困难,本文提出了智能三维技术解决方案.阐述了机载激光雷达测量,无人机倾斜摄影测量和三维可视化成果共享三大关键技术;结合某抽水蓄能电站项目的生产实践,该方案克服了传统生产的痛点,实现了空间信息应用从二维到三维的转变,为辅助决策建设提供了丰富的信息.从作业效率,数据精度和数据可视化证明了该方案可行性和实用价值.

关键词：机载激光雷达技术倾斜摄影技术三维实景模型三维可视化共享平台抽水蓄能电站

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Exploring the performance of large language models on hepatitis B infection-related questions:A comparative study

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World Journal of Gastroenterology 2025年第3期31卷 103-112页

作者： Yu Li Chen-Kai Huang Yi Hu Xiao-dong Zhou Cong He Jia-Wei Zhong Department of Gastroenterology Jiangxi Provincial Key Laboratory of Digestive DiseasesJiangxi Clinical Research Center for GastroenterologyDigestive Disease HospitalThe First Affiliated HospitalJiangxi Medical CollegeNanchang UniversityNanchang 330006Jiangxi ProvinceChina HuanKui Academy Nanchang UniversityNanchang 330006Jiangxi ProvinceChina

BACKGROUND Patients with hepatitis B virus(HBV)infection require chronic and personalized care to improve *** language models(LLMs)can potentially provide medical information for *** To examine the performance of three LLMs,ChatGPT-3.5,ChatGPT-4.0,and Google Gemini,in answering HBV-related *** LLMs’responses to HBV-related questions were independently graded by two medical professionals using a four-point accuracy scale,and disagreements were resolved by a third *** question was run three times using three *** was assessed via the Gunning Fog index and Flesch-Kincaid grade *** Overall,all three LLM chatbots achieved high average accuracy scores for subjective questions(ChatGPT-3.5:3.50;ChatGPT-4.0:3.69;Google Gemini:3.53,out of a maximum score of 4).With respect to objective questions,ChatGPT-4.0 achieved an 80.8%accuracy rate,compared with 62.9%for ChatGPT-3.5 and 73.1%for Google *** the six domains,ChatGPT-4.0 performed better in terms of diagnosis,whereas Google Gemini demonstrated excellent clinical ***,in the readability analysis,the mean Gunning Fog index and Flesch-Kincaid grade level scores of the three LLM chatbots were significantly higher than the standard level eight,far exceeding the reading level of the normal *** Our results highlight the potential of LLMs,especially ChatGPT-4.0,for delivering responses to HBV-related *** may be an adjunctive informational tool for patients and physicians to improve ***,current LLMs should not replace personalized treatment recommendations from physicians in the management of HBV infection.

关键词： ChatGPT-3.5 ChatGPT-4.0 Google Gemini Hepatitis B infection Accuracy

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