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MODELING AND CONTROLLING OF PARALLEL MANIPULATOR JOINT DRIVEN BY PNEUMATIC MUSCLES

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Chinese Journal of Mechanical Engineering 2005年第4期18卷 537-541页

作者： Tao guoliang zhu Xiaocong Cao Jian State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 China

A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.

关键词： Pneumatic muscle Parallel manipulator joint Sliding-mode controller Posture control

Radiation Spectral Analysis of 3D Dust Molecular Clusters(PAHs)and Peptoids under Ionization and Electric Field in ISM

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Research in Astronomy and Astrophysics 2024年第1期24卷 70-77页

作者： Ruiqing Wu Chunhua zhu guoliang Lü Xiaojiao Zhang Xizhen Lu Jinlong Yu Wujin Chen Mengqiu Long School of Physics and Electronics Central South UniversityChangsha 410083China School of Physical Science and Technology Xinjiang UniversityUrumqi 830046China School of Microelectronics and Physics Hunan University of Technology and BusinessChangsha 410205China College of Mechanical and Electronic Engineering Tarim UniversityAlar 843300China School of Medicine Xinjiang Medical UniversityUrumqi 830011China

Polycyclic aromatic hydrocarbons(PAHs),PANHs,and peptoids dust spectral calculations from the interstellar medium(ISM)are important for dust observations and theory.Our goal is to calculate the radiation spectrum of spherical PAHs dust clusters in a vacuum containing ionized and applied in the presence of an electric field.We propose a new simple computational model to calculate the size of three-dimensional spherical dust clusters formed by different initial dust structures.By the Vienna Ab-initio Simulation Package code,the density functional theory with the generalized approximation was used to calculate the electron density gradient and obtain the radiation spectrum of dust.When the radius of spherical dust clusters is~[0.009-0.042]μm,the dust radiation spectrum agrees well with the Z=0.02 mMMP stellar spectra,and the PAHs radiation spectrum of NGC 4676 at wavelengths of(0-5]μm and(5-10]μm,respectively.In the ionized state,the N-PAH,C_(10)H_(9)N,2(C_(4)H_(4))^(1+),and peptoids 4(CHON),(C_(8)H_(10)N_(2)O_(5))^(1+)dust clusters at 3.3μm,while the 2(C_(22)H_(21)N_(3)O_(2))^(1+),4(CHON)dust clusters at 5.2μm have obvious peaks.There is a characteristic of part of PAHs and peptoids clusters radiation at the nearinfrared wavelength of 2μm.However,especially after applying an electric field to the dust,the emission spectrum of the dust increases significantly in the radiation wavelength range[3-10]μm.Consequently,the dust clusters of PAHs,PANHs,and peptoids of the radius size~[0.009-0.042]μm are likely to exist in the ISM.

关键词： ISM:structure ISM:molecules radiation mechanisms:general (ISM:)dust extinction

Dust Condensation of SiC, SiO in Asymptotic Giant Branch Stellar Winds-SiC Spectrum

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Research in Astronomy and Astrophysics 2024年第5期24卷 13-20页

作者： Ruiqing Wu Chunhua zhu guoliang Lu Shuming Yang Zhisen Meng Xiaojiao Zhang Xizhen Lu Jinlong Yu Wujin Chen Mengqiu Long School of Physics and Electronics Central South UniversityChangsha 410083China School of Physical Science and Technology Xinjiang UniversityUrumqi 830046China School of Chemistry and Chemical Engineering Guangxi UniversityNanning 530004China School of Microelectronics and Physics Hunan University of Technology and BusinessChangsha 410205China College of Mechanical and Electronic Engineering Tarim UniversityAlar 843300China School of Medicine Xinjiang Medical UniversityUrumqi 830011China

We have chosen the Large Scale Atomic/Molecular Massively Parallel Simulator (LAMMPS) code to calculate the coalescence of silicon carbide (SiC),silicon oxide dust (SiO) in the AGB stellar wind.LAMMPS is a classica molecular dynamics simulation code.At the same time,we consider the effect of temperature on the evolution of molecular dynamics.We also calculated the temperature change of non-spherical SiC,SiO dust coalescence.The condensation temperature range of SiC dust in the AGB stellar wind is[300–500]k and[900–1100]k for SiO Finally,the infrared spectrum of SiC was calculated using Gaussian 16 software.The 77SiC,70Si_3C_3,and121Si_3C_3models have clear characteristic peaks of infrared spectra responding at 5,8.6,11.3,15,19,and 37μm.

关键词： stars AGB and post-AGB infrared:ISM-(ISM:)dust-extinction

IKIP downregulates THBS1/FAK signaling to suppress migration and invasion by glioblastoma cells

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Oncology Research 2024年第7期32卷 1173-1184页

作者： ZHAOYING zhu YANJIA HU FENG YE HAIBO TENG guoliang YOU YUNHUI ZENG MENG TIAN JIANGUO XU JIN LI ZHIYONG LIU HAO LIU NIANDONG ZHENG Department of Neurosurgery The Affiliated Hospital of Southwestern Medical UniversityLuzhouChina Department of Neurosurgery Sichuan University West China HospitalChengduChina

Background:Inhibitor of NF-κB kinase-interacting protein(IKIP)is known to promote proliferation of glioblastoma(GBM)cells,but how it affects migration and invasion by those cells is unclear.Methods:We compared levels of IKIP between glioma tissues and normal brain tissue in clinical samples and public databases.We examined the effects of IKIP overexpression and knockdown on the migration and invasion of GBM using transwell and wound healing assays,and we compared the transcriptomes under these different conditions to identify the molecular mechanisms involved.Results:Based on data from our clinical samples and from public databases,IKIP was overexpressed in GBM tumors,and its expression level correlated inversely with survival.IKIP overexpression in GBM cells inhibited migration and invasion in transwell and wound healing assays,whereas IKIP knockdown exerted the opposite effects.IKIP overexpression in GBM cells that were injected into mouse brain promoted tumor growth but inhibited tumor invasion of surrounding tissue.The effects of IKIP were associated with downregulation of THBS1 mRNA and concomitant inhibition of THBS1/FAK signaling.Conclusions:IKIP inhibits THBS1/FAK signaling to suppress migration and invasion of GBM cells.

关键词： Inhibitor of NF-κB kinase-interacting protein(IKIP) Glioblastoma(GBM) Migration Thrombospondin 1(THBS1) FAK signaling

An Improved Acquisition Algorithm for GPS Signals

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通讯和计算机（中英文版） 2010年第1期7卷 69-73页

作者： guoliang zhu Xiaohui Chen College of Automation Nanjing University of Posts＆ Telecommunications Nanjing 210003 China

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沉箱式结构防水工程施工技术

中国建筑防水 2022年第3期 34-36页

作者：朱国梁江苏省华建建设股份有限公司深圳分公司广东深圳518034

沉箱式结构设计采用同层排水技术,能在不影响下层住户正常使用的条件下,进行再次装修、维修、维护等施工,但存在箱底渗漏水、平面窜水等质量通病。本文从沉箱式主体结构、箱底下层防水层、箱内同层排水管道、箱内填充层、沉箱上层防水... 详细信息

沉箱式结构设计采用同层排水技术,能在不影响下层住户正常使用的条件下,进行再次装修、维修、维护等施工,但存在箱底渗漏水、平面窜水等质量通病。本文从沉箱式主体结构、箱底下层防水层、箱内同层排水管道、箱内填充层、沉箱上层防水层、装饰面层等六个方面详细介绍了沉箱式结构的防水技术。

关键词：沉箱式结构同层排水防水层装饰面层

Microturbulence in HT-6M Tokamak

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Chinese Physics Letters 1993年第8期10卷 482-485页

作者： ZENG Lei YU Changxuan CAO Jinxiang zhu guoliang ZHANG Daqing LI Youyi Department of Modem Physics University of Science and Technology of Chin%Hefei230026 Institute of Plasma Physics Academia SinicaHefei 230031

The small scale density Buctuations in the interior of HT-6M Ohmic plasma have been studied by CO_(2) laser collective scattering system in deuterium discharges covering a range of neQa(chord-average density times safety factor at the limiter)and energy confinement time.Tlie relative density fluctuation level in the interior is inversely proportional to the toroidal magnetic field and average densityt and the energy con・fineineiit time te decreases with the Huctuation level increasing in the region where te linearly increases with neqa and satisfies the Goldston scaling law.It is suggested that the niicroturbulence in the interior zone is responsible for anomalous transport in tokamaks.

关键词： interior turbulence collective

大高径比K417镍基高温合金锭二次缩孔缺陷的数值模拟

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机械工程材料 2022年第9期46卷 64-69页

作者：谭庆彪王博董鸿志汪东红祝国梁上海交通大学材料科学与工程学院上海市先进高温材料及其精密成形重点实验室上海200240 江苏隆达超合金航材有限公司无锡214104

利用ProCAST有限元分析软件对大高径比K417镍基高温合金铸锭充型及凝固过程进行数值模拟,模拟研究了合金锭在凝固过程中其二次缩孔缺陷形成位置、数量和成因,及浇注温度和浇注速度对二次缩孔缺陷的影响,并进行了试验验证。结果表明:数... 详细信息

利用ProCAST有限元分析软件对大高径比K417镍基高温合金铸锭充型及凝固过程进行数值模拟,模拟研究了合金锭在凝固过程中其二次缩孔缺陷形成位置、数量和成因,及浇注温度和浇注速度对二次缩孔缺陷的影响,并进行了试验验证。结果表明:数值模拟得到的合金缩孔缺陷分布与实际生产的合金锭缺陷分布趋势一致,证明了数值模拟结果的准确性。提高浇注温度、降低浇注速度能在一定程度上抑制合金锭二次缩孔缺陷的形成,但无法完全消除缺陷,在1 530℃、浇注速度1.40 kg·s条件下,合金锭的缩孔缺陷最少。

关键词：铸造镍基高温合金浇注工艺大高径比二次缩孔缺陷数值模拟

选区激光熔化γ'相强化镍基高温合金裂纹形成机理与抗裂纹设计研究进展

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金属学报 2023年第1期59卷 16-30页

作者：祝国梁孔德成周文哲贺戬董安平疏达孙宝德上海交通大学材料科学与工程学院上海市先进高温材料及其精密成形重点实验室上海200240 上海交通大学金属基复合材料国家重点实验室上海200240

传统牌号高强镍基高温合金具有较宽的凝固温度区间、较高比例的低熔点共晶相,在增材制造快速非平衡凝固过程中易产生裂纹等缺陷;同时,热处理过程中残余应力释放和γ’相快速析出导致应变时效裂纹的形成,严重限制了其在激光增材制造领域... 详细信息

传统牌号高强镍基高温合金具有较宽的凝固温度区间、较高比例的低熔点共晶相,在增材制造快速非平衡凝固过程中易产生裂纹等缺陷;同时,热处理过程中残余应力释放和γ’相快速析出导致应变时效裂纹的形成,严重限制了其在激光增材制造领域的应用与推广。基于此,本文综述了近年来国内外研究组及作者团队在选区激光熔化高强镍基高温合金裂纹形成机理与抗裂纹设计(成形工艺参数优化、热处理制度调控以及合金成分设计)领域相关的研究进展,并对激光增材制造γ’相强化镍基高温合金裂纹调控的研究进行了展望。

关键词：选区激光熔化高强镍基高温合金裂纹抗裂纹设计