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Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

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Computer Modeling in Engineering & Sciences 2024年第7期140卷 305-323页

作者： Guogang Gao LeiXu Tianpeng huang Xuliang Zhao Lihua huang College of Engineering China University of Petroleum-Beijing at KaramayKaramay834000China School of Electrical Engineering and Information Southwest Petroleum UniversityChengdu610500China

The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant *** the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains *** methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable *** paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order ***,the RIP system is mathematically modeled using the Newton-Euler-Lagrange ***,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured *** approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown *** numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.

关键词： Rotary inverted pendulum(RIP) linear quadratic regulator(LQR) reduced-order observer states estimate

Hybrid HMX multi-level assembled under the constraint of 2D materials with efficiently reduced sensitivity and optimized thermal stability

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Defence Technology（防务技术） 2024年第9期39卷 123-132页

作者： Xiaomin Song Longjin huang Rufang Peng Qi huang Jinjiang Xu Jie Sun Institute of Chemical Materials China Academy of Engineering PhysicsMianyang621900China State Key Laboratory of Environment-friendly Energy Materials School of Materials Science and EngineeringSouthwest University of Science and TechnologyMianyang621010China

The interfacial interaction between HMX molecules and coating materials is the key to the safety performance of explosives and has received extensive ***,screening suitable coating agents to enhance the interfacial effect to obtain high-energy and low-sensitivity explosives has long been a major *** this work,HMX-PEI/rGO/g-C_(3)N_(4)(HPrGC)composites were innovatively prepared by a multi-level coating strategy of two-dimensional graphite rGO and g-C_(3)N_(4).The g-C_(3)N_(4) used for desensitization has a richπ-conjugated system and shows outstanding ability in reducing friction *** hierarchical structure of HPrGC formed by electrostatic self-assembly andπ-πstacking can effectively dissipate energy accumulation under heat and mechanical stimulation through structural evolution,thus exhibiting a prominent synergistic desensitization effect on *** results show that rGO/gC_(3)N_(4) coating has no effect on the crystal structure and chemical structure of *** importantly,the perfect combination of g-C_(3)N_(4) and rGO endows HPrGC with enhanced thermal stability and ideal mechanical sensitivity(IS:21 J,FS:216 N).Obviously,the new fabrication of HPrGC enriches the variety of desensitizer materials and helps to deepen the understanding of the interaction between explosives and coatings.

关键词： HMX-PEI/rGO/g-C_(3)N_(4) Electrostatic self-assembly π-πstacking Synergistic desensitization

Imprints of ultralight axions on the gravitational wave and pulsar timing measurement

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Science China(Physics,Mechanics & Astronomy) 2024年第1期67卷 23-29页

作者： Ning Xie Fa Peng huang MOE Key Laboratory of TianQin Mission TianQin Research Center for Gravitational Physics&School of Physics and AstronomyFrontiers Science Center for TianQinGravitational Wave Research Center of CNSASun Yat-sen University(Zhuhai Campus)Zhuhai 519082China

The axion or axion-like particle motivated from a natural solution of strong CP problem or string theory is a promising dark matter *** study the new observational effects of ultralight axion-like particles by the space-borne gravitational wave detector and the radio *** the neutron star-black hole binary as an example,we demonstrate that the gravitational waveform could be obviously modified by the slow depletion of the axion cloud around the black hole formed through the superradiance *** compare these new effects on the binary with the well-studied effects from dynamical friction with dark matter and dipole radiation in model-independent ***,we discuss the constraints from LIGO/Virgo and study the detectability of the ultralight axion particles at LISA and TianQin.

关键词： gravitational wave axion dark matter

Mechanical parameter evolutions and deterioration constitutive model for ductile-brittle failure of surrounding rock in high-stress underground engineering

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Underground Space 2024年第2期15卷 131-152页

作者： Zhi Zheng Ronghua Li Qiang Zhang Xiaohua huang Wei Wang Shuling huang State Key Laboratory of Featured Metal Materials and Life-cycle Safety for Composite Structures Key Laboratory of Disaster Prevention and Structural Safety of Ministry of EducationCollege of Civil Engineering and ArchitectureGuangxi UniversityNanning 530004China Key Laboratory of Ministry of Education on Safe Mining of Deep Metal Mines Northeastern UniversityShenyang 110819China State Key Laboratory of Simulation and Regulation of Water Cycle in River Basin China Institute of Water Resources and Hydropower ResearchBeijing 100038China Key Laboratory of Ministry of Education for Geomechanics and Embankment Engineering Hohai UniversityNanjing 210098China Key Laboratory of Geotechnical Mechanics and Engineering of Ministry of Water Resources Yangtze River Scientific Research InstituteWuhan 430010China

The deep surrounding rock is usually in the true triaxial stress state,and previous constitutive models based on the understanding of uniaxial and conventional triaxial test results have difficulty characterizing the degradation and fracture process of rock ductile–brittle failure under true triaxial stress ***,this study conducted a series of true triaxial tests to obtain the understanding of the ductile–brittle behaviour of rock,and then combined the test results and the Mogi–Coulomb strength criterion,and proposed calculation methods for the elastic modulus E,cohesion c and internal friction angle u and the evolution functions of E,c and u of rock under true triaxial *** the decreasing of the minimum principal stress r3 or increasing of the intermediate principal stress r2,the marble post-peak stress drop rate gradually increases,the ductility gradually weakens,and the brittleness significantly *** calculation method and evolution function of rock E,c and u under true triaxial stress were proposed.E decreased at first and then tended to remain stable with the increasing of equivalent plastic strain increment dep.c and u slowly increased at first and then rapidly *** a method of parameter degradation rate to realize post-peak stress drop rate to reflect the ductile–brittle characteristics,a new three-dimensional ductile–brittle deterioration mechanical model(3DBDM)was *** proposed model can accurately characterize the influence of r2 and r3 on mechanical parameters,the ductile–brittle behaviour of rock under true triaxial stresses,and the asymmetric failure characteristics of surrounding rock after excavation of deep underground *** proposed model can be reduced to elastic–perfectly plastic,elastic–brittle,cohesion weakening friction strengthening(CWFS),Mohr–Coulomb,and Drucker–Prager models.

关键词： True triaxial stress Post-peak characteristics 3D deterioration model Elastic modulus evolution Cohesion and friction angle evolution

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心力衰竭患者营养不良感知的质性研究

护理学杂志 2020年第3期35卷 87-89,105页

作者：洪勇汪小华鞠阳黄东琴顾兰苏州大学附属第一人民医院心内科江苏苏州231500 苏州大学附属第一人民医院静脉治疗门诊江苏苏州231500 苏州大学附属第一人民医院全科医学科江苏苏州231500 江苏省中医院溧阳分院

目的深入了解心力衰竭患者对自身营养不良的感知现况,为针对性干预提供参考。方法对16例能量、蛋白质摄入不足营养不良心力衰竭患者进行一对一深度访谈,采用内容分析法分析资料,提炼主题。结果提炼出忽视营养不良感知,病理生理因素局限... 详细信息

目的深入了解心力衰竭患者对自身营养不良的感知现况,为针对性干预提供参考。方法对16例能量、蛋白质摄入不足营养不良心力衰竭患者进行一对一深度访谈,采用内容分析法分析资料,提炼主题。结果提炼出忽视营养不良感知,病理生理因素局限进食,合理营养与心力衰竭关系认知不足,生活习惯改变及治疗影响进食,不知道如何改善营养,家庭支持不足6个主题。结论心力衰竭患者对自身营养状况感知不良,存在较多误区,医护人员应引起高度重视,加强针对性干预,以改善营养不良状况,从而改善心力衰竭预后。

关键词：心力衰竭住院患者营养不良感知能量蛋白质质性研究

Quantifying the Tension between Cosmological Models and JWST Red Candidate Massive Galaxies

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Research in Astronomy and Astrophysics 2024年第4期24卷 1-6页

作者： Jun-Chao Wang Zhi-Qi huang Lu huang Jianqi Liu School of Physics and Astronomy Sun Yat-sen UniversityZhuhai 519082China CSST Science Center for the Guangdong-Hong Kong-Macao Greater Bay Area Zhuhai519082China CAS Key Laboratory of Theoretical Physics Institute of Theoretical PhysicsChinese Academy of SciencesBeijing 100190China

We develop a Python tool to estimate the tail distribution of the number of dark matter halos beyond a mass threshold and in a given volume in a *** code is based on the extended Press-Schechter model and is computationally efficient,typically taking a few seconds on a personal laptop for a given set of cosmological *** high efficiency of the code allows a quick estimation of the tension between cosmological models and the red candidate massive galaxies released by the James Webb Space Telescope,as well as scanning the theory space with the Markov Chain Monte Carlo *** an example application,we use the tool to study the cosmological implication of the candidate galaxies presented in Labbéet *** standard Λcold dark matter(ΛCDM)model is well consistent with the data if the star formation efficiency can reach~0.3 at high *** a low star formation efficiency ε~0.1,theΛCDM model is disfavored at~2σ-3σconfidence level.

关键词： (cosmology:)cosmological parameters Galaxy:abundances Galaxy:formation

In situ direct reprogramming of astrocytes to neurons via polypyrimidine tract-binding protein 1 knockdown in a mouse model of ischemic stroke

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Neural Regeneration Research 2024年第10期19卷 2240-2248页

作者： Meng Yuan Yao Tang Tianwen huang Lining Ke En huang Key Laboratory of Brain Aging and Neurodegenerative Diseases of Fujian Province Fujian Medical UniversityFuzhouFujian ProvinceChina Department of Human Anatomy School of Basic Medical SciencesFujian Medical UniversityFuzhouFujian ProvinceChina Scientific Research Center School of Basic Medical SciencesFujian Medical UniversityFuzhouFujian ProvinceChina Department of Neurology Fujian Medical University Union HospitalFuzhouFujian ProvinceChina Fujian Key Laboratory of Vascular Aging Fujian Medical UniversityFuzhouFujian ProvinceChina

In situ direct reprogramming technology can directly convert endogenous glial cells into functional neurons in vivo for central nervous system repair. Polypyrimidine tract-binding protein 1(PTB) knockdown has been shown to reprogram astrocytes to functional neurons in situ. In this study, we used AAV-PHP.e B-GFAP-sh PTB to knockdown PTB in a mouse model of ischemic stroke induced by endothelin-1, and investigated the effects of GFAP-sh PTB-mediated direct reprogramming to neurons. Our results showed that in the mouse model of ischemic stroke, PTB knockdown effectively reprogrammed GFAP-positive cells to neurons in ischemic foci, restored neural tissue structure, reduced inflammatory response, and improved behavioral function. These findings validate the effectiveness of in situ transdifferentiation of astrocytes, and suggest that the approach may be a promising strategy for stroke treatment.

关键词： astrocyte in situ direct reprogramming ischemic stroke miR-30 based shRNA neuron polypyrimidine tract-binding protein 1 transdifferentiation

Quantum phase transition of the Jaynes-Cummings model

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Science China(Physics,Mechanics & Astronomy) 2024年第1期67卷 1-9页

作者： Cheng Liu Jin-Feng huang Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Key Laboratory for Matter Microstructure and Function of Hunan ProvinceDepartment of Physics and Synergetic Innovation Center for Quantum Effects and ApplicationsInstitute of Interdisciplinary StudiesHunan Normal UniversityChangsha 410081China

Herein,we propose an experimentally feasible scheme to show the quantum phase transition of the Jaynes-Cummings(JC)model by modulating the transition frequency of a two-level system in a quantum Rabi model with strong *** tuning the modulation frequency and amplitude,the ratio of the effective coupling strength of the rotating terms to the effective cavity(atomic transition)frequency can enter the deep-strong coupling regime,while the counter-rotating terms can be ***,a deep-strong JC model is *** ratio of the coupling strength to resonance frequencies in the deep-strong JC model is two orders of magnitude larger than the corresponding ratio in the original quantum Rabi *** scheme can be employed in atom-cavity resonance and off-resonance cases,and it is valid over a broad *** nonzero average cavity photons of the ground state indicate the emergence of a quantum phase ***,we demonstrate the dependence of the phase diagram on the atom-cavity detuning and modulation *** the parameters used in our scheme are within the reach of current experimental *** scheme provides a new mechanism for investigating the critical phenomena of finite-sized systems without requiring classical field limits,thereby opening a door for studying fundamental quantum phenomena occurring in the ultrastrong and even deep-strong coupling regimes.

关键词： Jaynes-Cummings model quantum phase transition frequency modulation

Associations of daily sedentary behavior,physical activity,and sleep with irritable bowel syndrome:A prospective analysis of 362,193 participants

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Journal of Sport and Health Science 2024年第1期13卷 72-80页

作者： Xu Gao Sifan Tian Ninghao huang Gang Sun Tao huang Department of Occupational and Environmental Health Sciences School of Public HealthPeking UniversityBeijing 100191China Department of Epidemiology and Biostatistics School of Public HealthPeking UniversityBeijing 100191China Department of Gastroenterology and Hepatology First Medical Center of People's Liberation Army General HospitalBeijing 100853China

Background:Irritable bowel syndrome(IBS)substantially affects quality of life and requires early *** study aimed to elucidate the relationships between IBS and daily behaviors,including sedentary behavior(SB),physical activity(PA),and *** particular,it seeks to identify healthy behaviors to reduce IBS risk,which previous studies have rarely ***:Daily behaviors were retrieved from self-reported data of 362,193 eligible UK Biobank *** cases were determined by self-report or health care data according to RomeⅣ***:A total of 345,388 participants were IBS-free at baseline,during a median follow-up of 8.45 years,19,885 incident IBS cases were *** examined individually,SB and shorter(≤7 h/day)or longer(>7 h/day)sleep duration were each positively associated with increased IBS risk,and PA was associated with lower IBS *** isotemporal substitution model suggested that replacing SB with other activities could provide further protective effects against IBS *** people sleeping≤7 h/day,replacing 1 h of SB with equivalent light PA,vigorous PA,or sleep was associated with 8.1%(95%confidence interval(95%CI):0.901-0.937),5.8%(95%CI:0.896-0.991),and 9.2%(95%CI:0.885-0.932)reduced IBS risk,*** people sleeping>7 h/day,light and vigorous PA were associated with a 4.8%(95%CI:0.926-0.978)and a 12.0%(95%CI:0.815-0.949)lower IBS risk,*** benefits were mostly independent of genetic risk for ***:SB and unhealthy sleep duration are risk factors for IBS.A promising way to mitigate IBS risk for individuals sleeping≤7 h/day and for those sleeping>7 h/day appears to be by replacing SB with adequate sleep or vigorous PA,respectively,regardless of the genetic predisposition of IBS.

关键词： Irritable bowel syndrome Isotemporal substitution model Physical activity Sedentary behavior Sleep