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Force Compensation Control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC

Chinese Journal of Mechanical Engineering 2024年第2期37卷 228-246页

作者： Kaixian ba Yuan Wang Xiaolong He Chunyu Wang Bin Yu Yaliang Liu Xiangdong Kong Hebei Provincial Key Laboratory of Heavy machinery Fluid Power Transmission and Control Qinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China National Engineering Research Center for Local Joint of Advanced manufacturing Technology and Equipment Yanshan UniversityQinhuangdao 066004China

Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ***,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy *** contrast,pump control systems offer a high ***,their response ability is *** fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of ***,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first *** addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC *** method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the ***,experimental verification is performed using the PCDS performance test *** experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the *** relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

关键词： Legged robot Pump-valve compound drive system(PCDS) Force compensation control Quantitative feedback theory(QFT) Disturbance torque observer(DTO)

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Bio-based Waterborne Poly(Vanillin-Butyl Acrylate)/MXene Coatings for Leather with desired Warmth Retention and Antibacterial Properties

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Engineering 2024年第5期36卷 250-263页

作者： Jianzhong ma Li ma Lei Zhang Wenbo Zhang Qianqian Fan Buxing Han College of Bioresources Chemical and materials Engineering Shaanxi University of Science and TechnologyXi’an 710021China Xi’an Key Laboratory of Green Chemicals and Functional materials Xi’an 710021China College of Chemistry and Chemical Engineering Shaanxi University of Science and TechnologyXi’an 710021China Shaanxi Collaborative Innovation Center of Industrial Auxiliary Chemistry and Technology Shaanxi University of Science and TechnologyXi’an 710021China Institute of Chemistry Chinese Academy of SciencesBeijing 100190China

This study presents a solvent-free,facile synthesis of a bio-based green antibacterial agent and aromatic monomer methacrylated vanillin(MV)using *** resulting MV not only imparted antibacterial properties to coatings layered on leather,but could also be employed as a green alternative to petroleum-based carcinogen styrene(St).Herein,MV was copolymerized with butyl acrylate(ba)to obtain waterborne bio-based P(MV-ba)miniemulsion via miniemulsion ***,MXene nanosheets with excellent photothermal conversion performance and antibacterial properties,were introduced into the P(MV-ba)miniemulsion by ultrasonic *** the gradual solidification of P(MV-ba)/MXene nanocomposite miniemulsion on the leather surface,MXene gradually migrated to the surface of leather coatings due to the cavitation effect of ultrasonication and amphiphilicity of MXene,which prompted its full exposure to light and bacteria,exerting the maximum photothermal conversion efficiency and significant antibacterial *** particular,when the dosage of MXene nanosheets was 1.4 wt%,the surface temperature of P(MV-ba)/MXene nanocomposite miniemulsioncoated leather(PML)increased by about 15℃ in an outdoor environment during winter,and the antibacterial rate against Escherichia coli and Staphylococcus aureus was nearly 100%under the simulated sunlight treatment for 30 ***,the introduction of MXene nanosheets increased the air permeability,water vapor permeability,and thermal stability of these *** study provides a new insight into the preparation of novel,green,and waterborne bio-based nanocomposite coatings for leather,with desired warmth retention and antibacterial *** can not only realize zerocarbon heating based on sunlight in winter,reducing the use of fossil fuels and greenhouse gas emissions,but also improve ability to fight off invasion by harmful bacteria,viruses,and other microorganisms.

关键词： MXene nanosheets Vanillin Styrene substitute Leather coating Photothermal conversion Warmth retention Antibacterial properties

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The value of toxicological analysis in acute poisoning patients with uncertain exposure histories:a retrospective and descriptive study from an institute of poisoning

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World Journal of Emergency Medicine 2024年第2期15卷 98-104页

作者： Qifang Shi Gen ba Zhenyu Xia Zhengsheng mao Hao Sun Jinsong Zhang Institute of Poisoning Nanjing Medical UniversityNanjing 211100China department of Emergency Medicine the First Affiliated Hospital of Nanjing Medical UniversityNanjing 210029China department of Forensic Medicine Nanjing Medical UniversityNanjing 211166China The Key Laboratory of Modern Toxicology of Ministry of Education Nanjing Medical UniversityNanjing 211166China

baCKGROUND:In clinical practice,some patients might not be able or unwilling to provide a thorough history of medication and poison *** aim of this study was to use toxicological analysis to examine the clinical characteristics of patients with acute poisoning whose exposure history was uncertain from a toxicological analysis ***:This was a retrospective and descriptive study from an institute of *** registration information and test reports spanning the period from April 1,2020 to march 31,2022,were *** with uncertain exposure histories and who underwent toxicological analysis were *** manifestations and categories of toxics were ***:Among the 195 patients with positive toxicological analysis results,the main causes of uncertain exposure history was disturbance of consciousness(62.6%),unawareness(23.6%)and unwillingness or lack of cooperation(13.8%).The predominant clinical manifestations were disturbed consciousness(62.6%),followed by vomiting and nausea(14.4%)and liver function abnormalities(8.7%).A comparison of clinical manifestations between patients with positive and negative(n=99)toxicological analyses results revealed significantly different proportions of disturbances in consciousness(63%vs.21%),dizziness(1.5%vs.5.1%),multi-organ failure(1.5%vs.7.1%),and local pain(0 vs 4%).The main categories of substances involved were psychiatric medications(23.1%),sedatives(20.5%),insecticides(13.8%),and herbicides(12.8%).CONCLUSION:The clinical manifestations of acute poisoning in patients with an uncertain exposure history are diverse and nonspecific,and toxicological analysis plays a pivotal role in the diagnosis and differential diagnosis of such patients.

关键词： Acute poisoning Toxic exposure Toxicological analysis Clinical manifestation

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Nuclear phylogenomics of angiosperms and insights into their relationships and evolution

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Journal of Integrative Plant Biology 2024年第3期66卷 546-578页

作者： Guojin Zhang Hong ma College of Life Sciences Hunan Normal UniversityChangsha 410081China department of Biology 510 Mueller LaboratoryHuck Institutes of the Life SciencesThe Pennsylvania State UniversityUniversity ParkPA 16802USA

Angiosperms(flowering plants) are by far the most diverse land plant group with over 300,000 species. The sudden appearance of diverse angiosperms in the fossil record was referred to by Darwin as the “abominable mystery,”hence contributing to the heightened interest in angiosperm evolution. Angiosperms display wide ranges of morphological, physiological,and ecological characters, some of which have probably influenced their species richness. The evolutionary analyses of these characteristics help to address questions of angiosperm diversification and require well resolved phylogeny. Following the great successes of phylogenetic analyses using plastid sequences,dozens to thousands of nuclear genes from next-generation sequencing have been used in angiosperm phylogenomic analyses, providing well resolved phylogenies and new insights into the evolution of angiosperms. In this review we focus on recent nuclear phylogenomic analyses of large angiosperm clades, orders, families,and subdivisions of some families and provide a summarized Nuclear Phylogenetic Tree of Angiosperm Families. The newly established nuclear phylogenetic relationships are highlighted and compared with previous phylogenetic results. The sequenced genomes of Amborella,Nymphaea, Chloranthus, Ceratophyllum, and species of monocots, magnoliids, and basal eudicots, have facilitated the phylogenomics of relationships among five major angiosperms clades. All but one of the 64 angiosperm orders were included in nuclear phylogenomics with well resolved relationships except the placements of several orders. Most families have been included with robust and highly supported placements, especially for relationships within several large and important orders and ***, we examine the divergence time estimation and biogeographic analyses of angiosperm on the basis of the nuclear phylogenomic frameworks and discuss the differences compared with previous analyses. Furthermore,we discuss the implicatio

关键词： angiosperms evolution flowering plants nuclear gene phylogenomics phylogeny

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In silico optimization of actuation performance in dielectric elastomercomposites via integrated finite element modeling and deep learning

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Theoretical & Applied Mechanics Letters 2024年第1期14卷 48-56页

作者： Jiaxuan ma Sheng Sun materials Genome Institute Shanghai UniversityShanghai 200444China Zhejiang Laboratory Hangzhou 311100China Shanghai Frontier Science Center of Mechanoinformatics Shanghai UniversityShanghai 200444China

Dielectric elastomers(des)require balanced electric actuation performance and mechanical integrity under applied *** high dielectric particles as fillers provides extensive design space to optimize concentration,morphology,and distribution for improved actuation performance and material *** study presents an integrated framework combining finite element modeling(FEM)and deep learning to optimize the microstructure of de *** first calculates actuation performance and the effective modulus across varied filler combinations,with these data used to train a convolutional neural network(CNN).Integrating the CNN into a multi-objective genetic algorithm generates designs with enhanced actuation performance and material modulus compared to the conventional optimization approach based on FEM approach within the same *** framework harnesses artificial intelligence to navigate vast design possibilities,enabling optimized microstructures for high-performance de composites.

关键词： Dielectric elastomer composites Multi-objective optimization Finite element modeling Convolutional neural network

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Codetect: cooperative anomaly detection with privacy protection towards UAV swarm

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Science China(Information Sciences) 2024年第5期67卷 325-326页

作者： Teng LI Weiguo LIN Ruichen ma Zhuo ma Yulong SHEN Jianfeng ma School of Cyber Engineering Xidian University School of Computer Science and Technology Xidian University

As mission scenarios grow more complex, the role of a single unmanned aerial vehicle(UAV) is limited. The UAV swarm,surpassing the single UAV, dynamically establishes temporary communication networks, ensuring high transmission rates and expansive communication coverage [1]. Unlike a single UAV, a swarm faces increased security risks, requiring specific capabilities.(1) Anomalies detection.

关键词： Unmanned aerial vehicles (UAV)

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Catalysis by subsurface metal atoms in Al(001) through electron transfer

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National Science Review 2024年第4期11卷 12-13页

作者： Bo Sun Ding ma Beijing National Laboratory for Molecular Science New Cornerstone Science Laboratory College of Chemistry and Molecular Engineering Peking University

Heterogeneous catalysis plays a crucial role in the chemical industry, which has evolved from the investigation of chemisorption to an electronic structure[1]. Diverse strategies, such as alloying,doping, and confining, have been applied to enhance the catalytic properties of active sites through electronic modulation. The electron transfer between active sites and substrates profoundly influences catalytic activity [2].

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Clinical applications of metagenomics next-generation sequencing in infectious diseases

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2024年第6期25卷 471-484页

作者： Ying LIU Yongjun ma department of Clinical Laboratory Affiliated Jinhua HospitalZhejiang University School of MedicineJinhua 321000China

Infectious diseases are a great threat to human *** and accurate detection of pathogens is important in the diagnosis and treatment of infectious *** next-generation sequencing(mNGS)is an unbiased and comprehensive approach for detecting all RNA and DNA in a *** the development of sequencing and bioinformatics technologies,mNGS is moving from research to clinical application,which opens a new avenue for pathogen *** studies have revealed good potential for the clinical application of mNGS in infectious diseases,especially in difficult-to-detect,rare,and novel ***,there are several hurdles in the clinical application of mNGS,such as:(1)lack of universal workflow validation and quality assurance;(2)insensitivity to high-host background and low-biomass samples;and(3)lack of standardized instructions for mass data analysis and report ***,a complete understanding of this new technology will help promote the clinical application of mNGS to infectious *** review briefly introduces the history of next-generation sequencing,mainstream sequencing platforms,and mNGS workflow,and discusses the clinical applications of mNGS to infectious diseases and its advantages and disadvantages.

关键词： Metagenomics next-generation sequencing(mNGS) Infectious disease Cerebrospinal fluid(CSF) Oxford Nanopore Technologies(ONT) Microbiome

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Spatial Distribution Pattern and Influencing Factors of Bed-and-breakfasts(B&Bs)from the Perspective of Urban-rural Differences:A Case Study of Jiaodong Peninsula,China

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Chinese Geographical Science 2024年第4期34卷 752-763页

作者： WANG Xinyue ma Qian management College Ocean University of ChinaQingdao 266100China

There are significant differences between urban and rural bed-and-breakfasts(B&Bs)in terms of customer positioning,economic strength and spatial *** identifying the differences in spatial characteristics and influencing factors of each type,is essential for creating urban and rural B&B agglomeration *** study used density-based spatial clustering of applications with noise(DBSCAN)and the multi-scale geographically weighted regression(MGWR)model to explore similarities and differences in the spatial distribution patterns and influencing factors for urban and rural B&Bs on the Jiaodong Peninsula of China from 2010 to *** results showed that:1)both urban and rural B&Bs in Jiaodong Peninsula went through three stages:a slow start from 2010 to 2015,rapid development from 2015 to 2019,and hindered development from 2019 to ***,urban B&Bs demonstrated a higher development speed and agglomeration intensity,leading to an increasingly evident trend of uneven development between the two sectors.2)The clustering scale of both urban and rural B&Bs continued to expand in terms of quantity and *** B&B clusters characterized by a limited number,but a higher likelihood of transitioning from low-level to high-level *** the number of rural B&B clusters steadily increased over time,their clustering scale was comparatively lower than that of urban B&Bs,and they lacked the presence of high-level clustering.3)In terms of development direction,urban B&B clusters exhibited a relatively stable pattern and evolved into high-level clustering centers within the main urban ***,rural B&Bs exhibited a more pronounced spatial diffusion effect,with clusters showing a trend of multi-center development along the coastline.4)Transport emerged as a common influencing factor for both urban and rural B&Bs,with the density of road network having the strongest explanatory power for their spatial *** terms of differences,populati

关键词： urban-rural bed-and-breakfasts(B&Bs) spatiotemporal evolution density-based spatial clustering of applications with noise(DBSCAN)model multi-scale geographically weighted regression(MGWR) Jiaodong Peninsula China

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Quantifying Contribution of Recycled Moisture to Precipitation in Temperate Glacier Region,Southeastern Tibetan Plateau,China

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Chinese Geographical Science 2024年第4期34卷 764-776页

作者： ma Yanwei PU Tao SHI Xiaoyi ma Xinggang YU Hongmei College of Geography and Environmental Sciences Zhejiang Normal UniversityJinhua 321004China National Field Science Observation and Research Station of Yulong Snow Mountain Cryosphere and Sustainable development Northwest Institute of Eco-Environment and ResourcesChinese Academy of SciencesLanzhou 730000China State Key Laboratory of Cryospheric Sciences Northwest Institute of Eco-environment and ResourcesChinese Academy of SciencesLanzhou 730000China

Recycled moisture is an important indicator of the renewal capacity of regional water *** to the existence of Yulong Snow Mountain,Lijiang in Yunnan Province,southeast of the Qinghai-Tibet Plateau,China,is the closest ocean glacier area to the equator in *** precipitation samples were collected from 2017 to 2018 in Lijiang to quantify the effect of sub-cloud evaporation and recycled moisture on precipitation combined with the d-excess model during monsoon and non-monsoon *** results indicated that the d-excess values of precipitation fluctuated between–35.6‰and 16.0‰,with an arithmetic mean of 3.5‰.The local meteoric water line(LMWL)wasδD=7.91δ^(18)O+2.50,with a slope slightly lower than the global meteoric water line(GMWL).Subcloud evaporation was higher during the non-monsoon season than during the monsoon *** tended to peak in march and was primarily influenced by the relative *** source of the water vapour affected the proportion of recycled *** to the results of the Hybrid Single-Particle Lagrangian Integrated Trajectory(HYSPLIT)model,the main sources of water vapour in Lijiang area during the monsoon period were the southwest and southeast *** the non-monsoon period,water vapour was transported by a southwesterly *** recycled moisture in Lijiang area between march and October 2017 was 10.62%.Large variations were observed between the monsoon and non-monsoon seasons,with values of 5.48%and 25.65%,*** differences were primarily attributed to variations in the advection of water *** recycled moisture has played a supplementary role in the precipitation of Lijiang area.

关键词： recycled moisture stable isotope precipitation d-excess Hybrid Single-Particle Lagrangian Integrated Trajectory(HYSPLIT)model southeastern Tibetan Plateau China

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