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Tracked robot with underactuated tension-driven RRP transformable mechanism:ideas and design

Frontiers of Mechanical Engineering 2024年第1期19卷 85-104页

作者： Ran XU chao LIU School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control Technology(Ministry of Education)Beijing Jiaotong UniversityBeijing 100044China

Robots with transformable tracked mechanisms are widely used in complex terrains because of their high adaptability,and many studies on novel locomotion mechanisms have been conducted to make them able to climb higher *** underactuated transformable mechanisms for tracked robots could decrease the number of actuators used while maintaining the flexibility and obstacle-crossing capability of these robots,and increasing their cost ***,the underactuated tracked robots have appreciable research *** this paper,a novel tracked robot with a newly proposed underactuated revolute‒revolute‒prismatic(RRP)transformable mechanism,which is inspired by the sit-up actions of humans,was *** newly proposed tracked robot has only two actuators installed on the track pulleys for moving and does not need extra actuators for ***,it could concentrate the track belt’s tension toward one side,and the unbalanced tension would drive the linkage mechanisms to change its *** this method,the proposed underactuated design could change its external shape to create support points with the terrain and move its center of mass actively at the same time while climbing obstacles or crossing other kinds of terrains,thus greatly improving the climbing capability of the *** geometry and kinematic relationships of the robot and the crossing strategies for three kinds of typical obstacles are *** the basis of such crossing motions,the parameters of links in the robot are designed to make sure the robot has sufficient stability while climbing ***-crossing dynamic simulations were run and analyzed to prove the feasibility of the robot.A prototype was built and *** show that the proposed robot could climb platforms with heights up to 33.3%of the robot’s length or cross gaps with widths up to 43.5%of the robot’s length.

关键词： mechanical design tracked robot underactuated mechanisms RRP mechanism obstacle crossing strategy

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Sequential Propagation of chaos for Mean-Field BSDE Systems

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Chinese Annals of Mathematics,Series B 2024年第1期45卷 11-40页

作者： Xiaochen LI Kai du Shanghai Center for Mathematical Sciences Fudan UniversityShanghai 200433China. Shanghai Artificial Intelligence Laboratory 701 Yunjin RoadShanghai 200433China

A new class of backward particle systems with sequential interaction is proposed to approximate the mean-field backward stochastic differential *** is proven that the weighted empirical measure of this particle system converges to the law of the McKean-Vlasov system as the number of particles *** on the Wasserstein met-ric,quantitative propagation of chaos results are obtained for both linear and quadratic growth ***,numerical experiments are conducted to validate our theoretical results.

关键词： Backward propagation of chaos Particle system Sequential interaction McKean-Vlasov BSDE Convergence rate

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Designing gradient nanograined dual-phase structure in duplex stainless steel for superior strength-ductility synergy

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Journal of Materials Science & Technology 2024年第3期170卷 122-128页

作者： Songsong Xu Ying Han Jiapeng Sun Guoqing zu Mingkun Jiang Weiwei Zhu Xu Ran Key Laboratory of Advanced Structural Materials Ministry of EducationChangchun University of TechnologyChangchun 130012China School of Materials Science and Engineering Changchun University of TechnologyChangchun 130012China Provincial Key Laboratory of Advanced Materials Processing and Application for Rail Transit Changchun University of TechnologyChangchun 130012China College of Mechanics and Materials Hohai UniversityNanjing 211100China

Similar to other metallic materials,duplex stainless steel dramatically loses its advantage of high ductility as they are ***,we produce a gradient nanograined dual-phase structure in the 2101 duplex stainless steel,thus facilitating a superior strength-ductility synergy:a yield strength of 1009.5 MPa being two times higher than that of the as-received sample,a total elongation of 23.4%and a uniform elongation of 5.9%.This novel structure is produced through a processing route of ultrasonic severe surface rolling and annealing,which realizes a superposition of gradient nanostructure and lamellar dual-phase structure with austenite and *** the tension deformation of gradi-ent nanograined dual-phase structured duplex stainless steel,a significant accumulation of geometrically necessary dislocations *** dislocations are formed to accommodate the deformation incompat-ibility caused by the layer-by-layer difference in strength and hardness of individual phase domains,as well as the inherent difference in properties between the austenite and ferrite *** results in a stronger hetero-deformation induced strengthening and hardening significantly contributing to superior mechanical *** study provides a new avenue to develop advanced steels with high strength and ductility.

关键词： Gradient structure duplex stainless steel Synergetic strengthening Strength ductility

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Constructing the Impossible Differential of Type-II GFN with Boolean Function and Its Application to WARP

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Chinese Journal of Electronics 2024年第1期33卷 80-89页

作者： Jiali SHI Guoqiang LIU chao LI College of Liberal Arts and Sciences National University of Defense Technology Hunan Engineering Research Center of Commercial Cryptography Theory and Technology Innovation State Key Laboratory of Information Security Institute of Information Engineering

Type-Ⅱ generalized Feist el network(GFN) has attracted a lot of attention for its simplicity and high *** differential attack is one of the powerful cryptanalytic approaches for word-oriented block ciphers such as Feistel-like *** deduce the impossible differential of Type-Ⅱ GFN by analyzing the Boolean function in the middle *** main idea is to investigate the expression with the variable representing the plaintext(ciphertext) difference words for the internal state *** adopting the miss-in-the-middle approach,we can construct the impossible differential of Type-Ⅱ *** an illustration,we apply this approach to WARP,a lightweight 128-bit block cipher with a 128-bit key which was presented by Banik et *** SAC *** structure of WARP is a 32-branch Type-Ⅱ ***,we find two 21-round truncated impossible differentials and implement a 32-round key recovery attack on *** the 32-round key recovery attack on WARP,some observations are used to mount an effective *** the advantage of the early abort technique,the data,time,and memory complexities are 2125.69chosen plaintexts,2126.6832-round encryptions,and 2100-bit,*** the best of our knowledge,this is the best attack on WARP in the single-key scenario.

关键词： Ciphers Boolean functions Parallel processing Complexity theory

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Seasonal variation of mesoscale eddy intensity in the global ocean

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Acta Oceanologica Sinica 2024年第1期43卷 48-58页

作者： Yongcan zu Yue Fang Shuangwen Sun Libao Gao Yang Yang Guijun Guo First Institute of Oceanography/Key Laboratory of Marine Science and Numerical Modeling Ministry of Natural ResourcesQingdao 266061China Laboratory for Regional Oceanography and Numerical Modeling Laoshan LaboratoryQingdao 266237China Shandong Key Laboratory of Marine Science and Numerical Modeling Qingdao 266061China

Mesoscale eddies are a prominent oceanic phenomenon that plays an important role in oceanic mass transport and energy *** by rotational speed,the eddy intensity is one of the most fundamental properties of an ***,the seasonal spatiotemporal variation in eddy intensity has not been examined from a global ocean *** this study,we unveil the seasonal spatiotemporal characteristics of eddy intensity in the global ocean by using the latest satellite-altimetry-derived eddy trajectory data *** results suggest that the eddy intensity has a distinct seasonal variation,reaching a peak in spring while attaining a minimum in autumn in the Northern Hemisphere and the opposite in the Southern *** seasonal variation of eddy intensity is more intense in the tropical-subtropical transition zones within latitudinal bands between 15°and 30°in the western Pacific Ocean,the northwestern Atlantic Ocean,and the eastern Indian Ocean because baroclinic instability in these areas changes *** analysis found that the seasonal variation of baroclinic instability precedes the eddy intensity by a phase of 2–3 months due to the initial perturbations needing time to grow into mesoscale eddies.

关键词： seasonal variation mesoscale eddy intensity baroclinic instability global ocean

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Active flutter suppression of nonlinear fin-actuator system via inverse system and immersion and invariance method

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Chinese Journal of Aeronautics 2024年第4期37卷 343-362页

作者： Jin LU Zhigang WU chao YANG Chinese Aeronautical Establishment Beijing 100029China School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China

Structural nonlinearities such as freeplay will affect the stability and even flight safety of the fin-actuator *** is a lack of a practical method for designing Active Flutter Suppression (AFS) control laws for nonlinear fin-actuator systems.A design method for the AFS controller of the nonlinear all-movable fin-electromechanical actuator system is established by combining the inverse system and the Immersion and Invariance (I&I) ***,the composite control law combining the inverse system principle and internal model control is used to offset the nonlinearity and dynamics of the actuator,so that its driving torque can follow the ideal ***,the ideal torque of the actuator is designed employing the I&I *** unfavorable oscillation of the fin is suppressed by making the output torque of the actuator track the ideal *** simulation results reveal that the proposed AFS method can increase the flutter speed of the nonlinear finactuator system with freeplay,and a set of controller parameters is also applicable for wider freeplay within a certain *** power required for the actuator does not exceed the power that can be provided by the commonly used aviation *** method can also resist a certain level of noise and external disturbance.

关键词： Aeroelasticity Active flutter suppression Fin-actuator system Freeplay Inverse system Immersion and invariance

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Amorphous hybrid tungsten oxide–nickel hydroxide nanosheets used as a highly efficient electrocatalyst for hydrogen evolution reaction

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Nano Research 2024年第4期17卷 2499-2508页

作者： chao Lyu Chenghai Dai Yiwei Tan State Key Laboratory of Materials-Oriented Chemical Engineering School of Chemistry and Chemical EngineeringNanjing Tech UniversityNanjing 211816China

There are more challenges for alkaline hydrogen evolution reaction(HER)via simultaneously expediting the electron-coupled water dissociation process(Volmer step)and the following electrochemical H_(2) desorption(Heyrovsky step).Hybrid amorphous electrocatalysts are highly desirable for efficient hydrogen evolution from water-alkali electrolyzers due to the bifunctionality for the different elementary steps of HER and optimal interactions with water molecules and the reactive hydrogen intermediates(Had).Herein,the synthesis of amorphous hybrid ultrathin(tungsten oxide/nickel hydroxide)hydrate(a-[WO_(3)/Ni(OH)_(2)]·0.2H_(2)O)nanosheets on nickel foam(NF)for efficient alkaline HER is *** structural and composition features of a-[WO_(3)/Ni(OH)_(2)]·0.2H_(2)O are characterized in *** resulting a-[WO_(3)/Ni(OH)_(2)]·0.2H_(2)O/NF electrocatalyst with the synergistic effect of both hybrid components for the HER elementary steps shows greatly improved the activity and durability for the HER with a low overpotential of-41 and-163 mV at-10 and-500 mA·cm^(-2),respectively,a Tafel slope as low as-72.9 mV·dec^(-1),and long-term stability of continuous electrolysis for at least 150 h accompanying by inappreciable overpotential change in 1 M *** the hybrid a-[WO_(3)/Ni(OH)_(2)]·0.2H_(2)O,Ni(OH)_(2) and WO_(3) moieties are separately responsible for accelerating dissociative adsorption of water and weakening Had adsorption strength,which is beneficial to the improvement of the alkaline HER activity.

关键词： amorphous nanomaterial bimetallic electrocatalyst tungsten oxide ultrathin nanosheet hydrogen evolution reaction

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Set-Membership Filtering Approach to Dynamic Event-Triggered Fault Estimation for a Class of Nonlinear Time-Varying Complex Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 638-648页

作者： Xiaoting du Lei Zou Maiying Zhong the College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China IEEE the College of Information Science and Technology Donghua UniversityShanghai 201620 the Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of EducationShanghai 201620China

The present study addresses the problem of fault estimation for a specific class of nonlinear time-varying complex networks,utilizing an unknown-input-observer approach within the framework of dynamic event-triggered mechanism(DETM).In order to optimize communication resource utilization,the DETM is employed to determine whether the current measurement data should be transmitted to the estimator or *** guarantee a satisfactory estimation performance for the fault signal,an unknown-input-observer-based estimator is constructed to decouple the estimation error dynamics from the influence of fault *** aim of this paper is to find the suitable estimator parameters under the effects of DETM such that both the state estimates and fault estimates are confined within two sets of closed ellipsoid *** techniques of recursive matrix inequality are applied to derive sufficient conditions for the existence of the desired estimator,ensuring that the specified performance requirements are met under certain ***,the estimator gains are derived by minimizing the ellipsoid domain in the sense of trace and a recursive estimator parameter design algorithm is then ***,a numerical example is conducted to demonstrate the effectiveness of the designed estimator.

关键词： Dynamic event-triggered mechanism(DETM) fault estimation nonlinear time-varying complex networks set-member-ship filtering unknown input observer

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Recent advances in small-scale hydrogel-based robots for adaptive biomedical applications

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Nano Research 2024年第2期17卷 649-662页

作者： Mingzhe Nie Qilong Zhao Xuemin du Institute of Biomedical&Health Engineering Shenzhen Institute of Advanced Technology(SIAT)Chinese Academy of Sciences(CAS)Shenzhen 518055China

Small-scale robots,ranging in size from micrometers to centimeters,have gained significant attention in the biomedical ***,conventional small-scale robots made of rigid materials encounter challenges in adapting themselves to the soft tissues and complicated environments of human *** to the rigid counterpart,small-scale hydrogel-based robots hold great promises due to their tissue-like low modulus,outstanding biocompatibility and accessible stimuli-responsive *** attributes offer small-scale hydrogel-based robots with multimodal locomotion and reinforced functions,further enhancing the adaptability in manipulation and tasks execution for various biomedical *** this review,we present recent advances in small-scale hydrogel-based *** first summarize the design principles of small-scale hydrogel-based robots including materials,fabrication techniques and manipulation strategies,then highlighting their upgraded functions and adaptive biomedical ***,we discuss existing challenges and future perspectives for small-scale hydrogel-based robots.

关键词： small-scale robot hydrogel locomotion multi-function adaptability

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Intelligent feedforward gust alleviation based on neural network

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Chinese Journal of Aeronautics 2024年第3期37卷 116-132页

作者： Yitao ZHOU Zhigang WU chao YANG School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China

This paper proposes a neural network-based intelligent feedforward gust alleviation framework,which includes a neural network identification model and a neural network controller.A neural network training dataset is formed by collecting flight data and the gust data encountered during the aircraft flight.A neural network identification model is first trained to accurately predict the aircraft’s ***,based on the output of the identification model and the collected flight data,the parameters of the time-delay neural network controller are obtained through a learning *** simulation results show that the designed intelligent controller has good gust alleviation effects for both continuous turbulence excitation and discrete gust *** example,when the aircraft is 40000 kg and the flight speed is 0.81Ma,the controller achieves a 67.82%reduction in wingtip acceleration and a 35.90%reduction in center of mass acceleration under continuous turbulence *** considering the measurement uncertainties,such as noise existing in the collected data,the trained controller can still achieve an acceptable gust alleviation ***,considering a flight in which the aircraft mass is constantly changing,the intelligent controller,which continuously learns from new flight data,maintains a good gust alleviation effect throughout the flight.

关键词： Gust alleviation Intelligent control Feedforward control Neural networks Time-varying aircraft

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