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基于软电磁驱动的仿乌贼喷射推进机器鱼

中国科学：物理学、力学、天文学 2024年第6期54卷 136-150页

作者：张兵建杜荣华李汶柏杜凯文贺嘉怡陈泽文邹鸿翔长沙理工大学汽车与机械工程学院长沙410114 湖南工程学院机械工程学院湘潭411104 同济大学航空航天与力学学院上海200092

脉冲喷射推进是海洋生物中普遍存在的一种游动方式,从乌贼喷射推进的游动方式中受到启发,基于电磁动态驱动原理,设计了一种仿乌贼喷射推进的软电磁机器鱼.其由柔软的机体外壳、软电磁线圈和软电磁驱动薄膜组成,能够在动态电磁力的作用... 详细信息

脉冲喷射推进是海洋生物中普遍存在的一种游动方式,从乌贼喷射推进的游动方式中受到启发,基于电磁动态驱动原理,设计了一种仿乌贼喷射推进的软电磁机器鱼.其由柔软的机体外壳、软电磁线圈和软电磁驱动薄膜组成,能够在动态电磁力的作用下改变内部腔体体积而实现循环反复的喷射推进.本文研究了不同设计参数和激励电流对软电磁驱动薄膜的振动特性的影响,并通过实验测试了在不同控制电流的幅值和频率下机器鱼的水下推进力和游动速度.研究结果表明,机器鱼的最大平均推力为0.0784 N,机器鱼在动态电磁激励作用下能够达到37.3 mm/s (约0.62身长/s)的最大游动速度,具有优越的游动性能.

关键词：水下仿生机器人脉冲喷射推进软电磁驱动液态金属软体机器人

基于自增强注意力机制的室内单图像分段平面三维重建

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图学学报 2024年第3期45卷 464-471页

作者：朱光辉缪君胡宏利申基杜荣华南昌航空大学航空制造工程学院江西南昌330063

基于卷积神经网络(CNN)的分段平面三维重建已然成为室内场景建模研究的焦点之一。针对室内场景中,平面和非平面元素常常交织在一起,导致网络提取的平面特征中掺杂了非平面信息,从而影响了最终分割的精度;且室内场景中的平面存在尺度差... 详细信息

基于卷积神经网络(CNN)的分段平面三维重建已然成为室内场景建模研究的焦点之一。针对室内场景中,平面和非平面元素常常交织在一起,导致网络提取的平面特征中掺杂了非平面信息,从而影响了最终分割的精度;且室内场景中的平面存在尺度差异巨大的情况,带来了明显的类别不平衡,小尺度平面实例往往会失真的问题。提出了一种自增强注意力的多尺度特征融合三维分段平面重建网络,该网络能够自动学习场景中的平面特征,并有效地将不同尺度的特征信息融合,从而提升了平面实例分割的精度。同时,通过为平面实例中的每个像素分配不同的权重,特别是增加了对小尺度平面边缘像素的权重值,进一步增强了小尺度平面分割对象的通道表达。最终,采用平衡交叉熵损失和骰子损失构建了一种新的损失函数来训练模型,进一步提升了平面分割的精度。实验证明,该算法在平面召回率和分割准确度方面均取得了显著地提升,能够产生更为准确的室内三维分段平面重建模型。

关键词：深度学习分段平面重建多尺度融合增强注意力自注意力

Feasibility analysis of angles-only navigation algorithm with multisensor data fusion for spacecraft noncooperative rendezvous

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Astrodynamics 2023年第2期7卷 179-196页

作者： ronghua du Wenhe Liao Xiang Zhang Micro/Nano Satellite Research Center Nanjing University of Science and TechnologyNanjing 210094China

Relative navigation is crucial for spacecraft noncooperative rendezvous,and angles-only navigation using visible and infrared cameras provides a feasible ***,an angles-only navigation algorithm with multisensor data fusion is proposed to derive the relative motion states between two noncooperative ***,the design model of the proposed algorithm is introduced,including the derivation of the state propagation and measurement ***,models for the sensor and actuator are introduced,and the effects of various factors on the sensors and actuators are *** square-root unscented Kalman filter is used to design the angles-only navigation filtering ***,the Clohessy-Wiltshire terminal guidance algorithm is introducedto obtain the theoretical relative motion trajectories during the rendezvous operations of two noncooperative ***,the effectiveness of the proposed angles-only navigation algorithm is verified using a semi-physical simulation *** results prove that an optical navigation camera combined with average accelerometers and occasional orbital maneuvers is feasible for spacecraft noncooperative rendezvous using angles-only navigation.

关键词： angles-only navigation feasibility analysis multisensor data fusion spacecraft noncooperative rendezvous

分布式驱动电动汽车横向稳定性抗饱和滑模控制

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长沙理工大学学报（自然科学版） 2024年第3期21卷 134-142页

作者：张志勇俞佳栋杜荣华长沙理工大学汽车与机械工程学院湖南长沙410114

【目的】探讨轮毂电机输出转矩的幅值和响应速度饱和的问题。【方法】以分布式电动驱动汽车为研究对象,结合二阶嵌套饱和函数对滑模控制进行抗饱和设计,并基于轮毂电机的峰值转矩及其在台架试验中的实际响应设计抗饱和滑模控制器的上下... 详细信息

【目的】探讨轮毂电机输出转矩的幅值和响应速度饱和的问题。【方法】以分布式电动驱动汽车为研究对象,结合二阶嵌套饱和函数对滑模控制进行抗饱和设计,并基于轮毂电机的峰值转矩及其在台架试验中的实际响应设计抗饱和滑模控制器的上下限参数。【结果】抗饱和滑模控制器能严格限制直接横摆力矩的幅值和变化速率,能极大地提高极限工况下车辆的横向稳定性。【结论】本文提出的方法有效解决了极限工况下轮毂电机易陷入饱和的问题,避免了因车轮滑移导致车辆失稳。

关键词：横向稳定性控制抗饱和滑模控制分布式驱动电动汽车转矩分配轮毂电机

Upcycling the spent graphite/LiCoO_(2) batteries for high-voltage graphite/LiCoPO_(4)-co-workable dual-ion batteries

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International Journal of Minerals,Metallurgy and Materials 2024年第7期31卷 1745-1751页

作者： Miao du Hongyan Lü Kaidi du Shuohang Zheng Xiaotong Wang Xiaotong Deng ronghua Zeng Xinglong Wu Key Laboratory for UV Light-Emitting Materials and Technology of Ministry of Education Northeast Normal UniversityChangchun 130024China Faculty of Chemistry Northeast Normal UniversityChangchun 130024China School of Chemistry South China Normal UniversityGuangzhou 510006China

The worldwide proliferation of portable electronics has resulted in a dramatic increase in the number of spent lithium-ion batteries(LIBs).However,traditional recycling methods still have limitations because of such huge amounts of spent ***,we proposed an ecofriendly and sustainable double recycling strategy to concurrently reuse the cathode(LiCoO_(2))and anode(graphite)materials of spent LIBs and recycled LiCoPO_(4)/graphite(RLCPG)in Li^(+)/PF^(-)_(6) co-de/intercalation dual-ion *** recycle-derived dualion batteries of Li/RLCPG show impressive electrochemical performance,with an appropriate discharge capacity of 86.2 mAh·g^(-1) at25 mA·g^(-1) and 69%capacity retention after 400 *** recycling of the cathode and anode from spent LIBs avoids wastage of resources and yields cathode materials with excellent performance,thereby offering an ecofriendly and sustainable way to design novel secondary batteries.

关键词： recycle lithium cobalt oxide lithium cobalt phosphate graphite dual-ion batteries spent lithium-ion batteries

Non-linear Dynamics Method to Angles-Only Navigation for Non-cooperative Rendezvous of Spacecraft

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Transactions of Nanjing University of Aeronautics and Astronautics 2022年第4期39卷 400-414页

作者： du ronghua LIAO Wenhe ZHANG Xiang College of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094P.R.China

Aiming at the problem of relative navigation for non-cooperative rendezvous of spacecraft,this paper proposes a new angles-only navigation architecture using non-linear dynamics method. This method does not solve the problem of poor observability of angles-only navigation through orbital or attitude maneuvering,but improves the observability of angles-only navigation through capturing the non-linearity of the system in the evolution of relative motion. First,three relative dynamics models and their corresponding line-of-sight(LoS)measurement equations are introduced,including the rectilinear state relative dynamics model,the curvilinear state relative dynamics model,and the relative orbital elements(ROE)state relative dynamics model. Then,an observability analysis theory based on the Gramian matrix is introduced to determine which relative dynamics model could maximize the observability of angles-only navigation. Next,an adaptive extended Kalman filtering scheme is proposed to solve the problem that the angles-only navigation filter using the non-linear dynamics method is sensitive to measurement noises. Finally,the performances of the proposed angles-only navigation architecture are tested by means of numerical simulations,which demonstrates that the angles-only navigation filtering scheme without orbital or attitude maneuvering is completely feasible through improving the modeling of the relative dynamics and LoS measurement equations.

关键词： angles-only navigation non-linear dynamics observability analysis non-cooperative rendezvous adaptive Kalman filter

A Vector Control System of PMSM with the Assistance of Fuzzy PID Controller

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A Vector Control System of PMSM with the Assistance of Fuzzy...

基于层次分析法AHP和TOPSIS的储能参与新能源一次调频选型方案

第三十九届中国控制会议

作者： Wanwan Ren You Wu ronghua du School of Automotive and Mechanical Engineering Changsha University of Science and Technology

In this paper, the speed loop and current loop controllers in vector control system are improved by using fuzzy control theory with parameter self-tuning function. The vector control system model of permanent magnet synchronous motor（PMSM） is established in MATLAB/Simulink environment. The speed control of PMSM under starting and sudden load is simulated. Comparing the performance of traditional PID control and fuzzy PID control, the results show that fuzzy PID control perfectly combines the accuracy of PID control with the dynamic characteristics of fuzzy control.

关键词： PMSM MTPA vector control fuzzy PID control

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现代电力 2024年第1期41卷 134-143页

作者：赵松张谦霍红岩党少佳杜荣华赵炜周磊辛晓钢张国斌郭瑞君于海存殷建华李旭李荣丽内蒙古电力(集团)有限责任公司内蒙古电力科学研究院分公司内蒙古自治区呼和浩特市010020

储能选型是储能参与新能源一次调频规划和设计的关键内容,涉及到安全性、一次调频适应性、经济性和环保性等多方面指标,是一个复杂的多目标决策问题。提出基于层次分析法(analytic hierarchy process,AHP)和逼近理想解排序方法(techniqu... 详细信息

储能选型是储能参与新能源一次调频规划和设计的关键内容,涉及到安全性、一次调频适应性、经济性和环保性等多方面指标,是一个复杂的多目标决策问题。提出基于层次分析法(analytic hierarchy process,AHP)和逼近理想解排序方法(technique for order preference by similarity to an ideal solution,TOPSIS)相结合的储能参与新能源一次调频选型方案。分析各个指标特征,构建两层决策体系。根据专家打分和实际应用需求,采用AHP法得到各个决策指标的权重,进一步采用TOPSIS法根据各指标的权重和相关参数对储能进行选型。最后,选取压缩空气、飞轮储能、磷酸铁锂电池和超级电容器等12种储能类型为案例进行分析,结果表明,磷酸铁锂电池在参与新能源一次调频应用场景中占有优势。该选型方案可以为储能参与新能源一次调频规划和设计提供一定的理论支撑。

关键词：储能选型新能源一次调频层次分析法 TOPSIS法

Split crRNA-motivated amplification-free RNA testing with CRISPR–Cas12a

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Science China Chemistry 2024年

作者： Jiayu Zeng Pengfei Liu Jinlian du Sheng Li Erhu Xiong ronghua Yang Key Laboratory of Chemical Biology & Traditional Chinese Medicine Research Ministry of Education College of Chemistry and Chemical Engineering Hunan Normal University

The CRISPR RNA(crRNA) consists of a conserved repeat RNA(r RNA) and an alterable spacer RNA(sRNA), which can guide the Cas12a effector to recognize and target DNA molecules of interest in both full-length and split fashion. We herein demonstrated the split crRNA can be repurposed for RNA detection through serving the sRNA as an RNA target. Inspired by this phenomenon, we developed a Cas12a-based direct RNA detection method, known as split crRNA-motivated amplification-free RNA testing(SMART). We adopted SMART to detect both short-stranded and long-stranded RNA target using two Cas12a orthologs(LbCas12a and FnCas12a), and it showed more prominent ability in detecting short-stranded RNA than long-stranded RNA. The potential mechanism revealed that RNA overhangs impede the RNA strand and dsDNA activator from accessing the catalytic site in the RuvC domain of the Cas12a effector, compromising the stability of the quaternary complex, and thus reducing the efficiency of SMART. Surprisingly, by simply introducing a short DNA activator, SMART could detect attomolar miRNA targets and femtomolar long-stranded RNA target without the need for additional preamplification or reverse transcription procedures. In addition, SMART showed wonderful discrimination ability toward single-nucleotide ***, the collaboration of SMART with the CRISPR–Cas13a system enabled simultaneous detection of multiplex ***, SMART is a simple, yet potent tool that can be flexibly applied to various short-stranded RNA detection, and holds great potential to be extended to other Cas12 orthologs.

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