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Acta Mechanica Sinica 2014年第1期30卷 112-124页

作者： ying-hong jia Quan Hu Shi-Jie Xu School of Astronautics Beihang University

A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.

关键词： Space robot Dynamics. Adaptive control Closed-loop constraint Parameter uncertainty - Kane's equation

Dynamics of a spacecraft with large flexible appendage constrained by multi-strut passive damper

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Acta Mechanica Sinica 2013年第2期29卷 294-308页

作者： ying-hong jia Shi-Jie Xu Quan Hu School of Astronautics Beihang University

This paper is concerned with the dynamics of a spacecraft with multi-strut passive damper for large flexible *** damper platform is connected to the spacecraft by a spheric hinge,multiple damping struts and a rigid *** damping struts provide damping forces while the rigid strut produces a motion constraint of the multibody *** exact nonlinear dynamical equations in reducedorder form are firstly derived by using Kane＇s equation in matrix *** on the assumptions of small velocity and small displacement,the nonlinear equations are reduced to a set of linear second-order differential equations in terms of independent generalized displacements with constant stiffness matrix and damping matrix related to the damping strut *** simulation results demonstrate the damping effectiveness of the damper for both the motion of the spacecraft and the vibration of the flexible appendage,and verify the accuracy of the linear equations against the exact nonlinear ones.

关键词： Dynamics·Motion constraints·Multi-strut passive damper·Kane's equation

The J_2 invariant relative configuration of spaceborne SAR interferometer for digital elevation measurement

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Acta Mechanica Sinica 2010年第4期26卷 643-651页

作者： Ming Xu ying-hong jia Shi-Jie Xu Department of System Engineering DFH Satellite Co. Ltd. EO. Box 5616 Beijing 100094 China

A 3-craft formation configuration is proposed to perform the digital elevation model （DEM） for the distributed spacebome interferometric synthetic aperture radar （InSAR）, and it is optimized by the modified ant colony algorithm to have the best compatibility with J2 invariant orbits created by differential correction algorithm. The configuration has succeeded in assigning the across-track baseline to vary periodically and with its mean value equal to the optimal baseline determined by the relative height measurement accuracy. The required relationship between crafts＇ magnitudes and phases is formulated for the general case of interferometry measure from non-orthographic and non-lateral view. The J2 invariant configurations created by differential correction algorithm are employed to investigate their compatibility with the required configuration. The colony algorithm is applied to search the optimal configuration holding the near-constant across-track baseline under the J2 perturbation, and the absolute height measurement accuracy is preferable as expected.

关键词： InSAR Digital elevation model (DEM) J2 invariant orbit Differential correction algorithm Formation flying

Controllability of an underactuated spacecraft with one thruster under disturbance

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Acta Mechanica Sinica 2012年第3期28卷 838-847页

作者： Dong-Xia Wang ying-hong jia Lei Jin Hai-Chao Gui Shi-Jie Xu Department of Guidance Navigation and ControlSchool of AstronauticsBeihang University100191 BeijingChina

For an underactuated spacecraft using only one thruster, the attitude controllability with respect to the or- bit frame is studied in the presence of periodical oscillation disturbance, which provides a preconditional guide on de- signing control law for underactuated attitude control sys- tem. Firstly, attitude dynamic model was established for an underactuated spacecraft, and attitude motion was described using the special orthogonal group （SO （3））. Secondly, Liou- ville theorem was used to confirm that the flow generated by the drift vector of the underactuated attitude control system is volume-preserving. Furthermore, according to Poincar6＇s re- currence theorem, we draw conclusions that this drift field is weakly positively poisson stable （WPPS）. Thirdly, the suffi- cient and necessary condition of controllability was obtained on the basis of lie algebra rank condition （LARC）. Finally, the controllable conditions were analyzed and simulated in different cases of inertia matrix with the installed position of thruster.

关键词： Underactuated spacecraft Periodical oscilla-tion disturbance. Controllability. Weakly positively poissonstable ~ Lie algebra

Cloning and Expression of One Fibrinolytic Enzyme from Bacillus sp. zlw-2

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Agricultural Sciences in China 2009年第5期8卷 591-596页

作者： HAN Xin-mian GUO Run-fang YU hong-wei jia ying-min Department of Biology Engineering Agricultural University of Hebei Baoding 071000 P.R.China

The gene encoding fibrinolytic enzyme from Bacillus sp. zlw-2 was cloned and sequenced （accession no. EU734749）, which was 1146 bp, encoded 381 amino acids and had 99% homology with Nattokinase YF308 and NAT. The genes encoding pre-pro-fibrinolytic enzyme （including signal peptide, propeptide, and mature peptide） and fibrinolytic enzyme （including mature peptide） were cloned into pET28a vector respectively and then transformed into Escherichia coli BL21 （DE3）. The recombinant ofpre-pro-fibrinolytic enzyme showed enzyme activity of 183 U mL^-1, while no detectable enzyme activity could be found from the recombinant of the mature peptide.

关键词： fibrinolytic enzyme Nattokinase clone recombinant expression

Cloning and Sequence Analysis of a Novel Cold-Adapted Lipase Gene from Strain lip35 (Pseudomonas sp.)

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Agricultural Sciences in China 2008年第10期7卷 1216-1221页

作者： WANG Cai-hong GUO Run-fang YU hong-wei jia ying-min Department of Biology Engineering Agricultural University of Hebei Baoding 071000 P.R.China

A combination method of the usual-PCR and reverse-PCR for the cloning of a novel lipase gene directly from the total genomic DNA of strain lip35 （Pseudomonas sp.） is described, whereby a lipase gene （lip） was cloned directly from genomic DNA. The sequence data have been deposited in the GenBank and EMBL data bank with the accession number EU414288. The nucleotide sequence showed a major open reading frame encoding a 59-kDa protein of 566 amino acid residues, which contained a lipase consensus sequence GXSXG. The lipase lip had 74 and 70% homologies with the lipases of an uncultured bacterium and P. fluorescens PfO-1, respectively, but it did not show any overall homology with lipases from other origins. The functional lipase was obtained when the lip gene was expressed in Pichia pastoris GS115.

关键词： PCR reverse-PCR lipase gene clone sequence analysis

Three-dimensional topological insulators:case of quaternary Heusler compounds

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Rare Metals 2021年第5期40卷 1219-1223页

作者： Xiao-Tian Wang Xue-Fang Dai hong-ying jia Li-ying Wang Guo-Dong Liu Xi-Feng Liu Wen Yuan Yu-Ting Cui School of Material Sciences and Engineering Hebei University of TechnologyTianjin 300130China College of Chemistry and Chemical Engineering Hunan UniversityChangsha 410082China Department of Chemistry Michigan State UniversityEast LansingMichigan 48824USA School of Physics and Electronic Engineering Chongqing Normal UniversityChongqing 400044China

The feasibility of converting quaternary Heusler compounds XX’MZ(X=Sc,La;X’=Sc,Y;M=Ru,Fe;Z=Pb)into three-dimensional topological insulators was investigated by first-principle *** is found that the topological insulating state can be achieved in these quaternary Heusler compounds by the proper strain engineering or the substitution of *** of these compounds investigated in this paper have a negative formation energy,which implies that they are possible to be synthesized in reality.

关键词： Topological insulator Heusler compound Electronic structure

A Weakly-Supervised Crowd Density Estimation Method Based on Two-Stage Linear Feature Calibration

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 965-981页

作者： Yong-Chao Li Rui-Sheng jia ying-Xiang Hu hong-Mei Sun the College of Computer Science and Engineering Shandong University of Science and TechnologyQingdao 266590 the Faculty of Information Science and Engineering Ocean University of ChinaQingdao 266000China the College of Computer Science and Engineering Shandong University of Science and TechnologyQingdao 266590China the College of Computer Science and Engineering Nanjing University of Science and TechnologyNanjing 210000China

In a crowd density estimation dataset,the annotation of crowd locations is an extremely laborious task,and they are not taken into the evaluation *** this paper,we aim to reduce the annotation cost of crowd datasets,and propose a crowd density estimation method based on weakly-supervised learning,in the absence of crowd position supervision information,which directly reduces the number of crowds by using the number of pedestrians in the image as the supervised *** this purpose,we design a new training method,which exploits the correlation between global and local image features by incremental learning to train the ***,we design a parent-child network(PC-Net)focusing on the global and local image respectively,and propose a linear feature calibration structure to train the PC-Net simultaneously,and the child network learns feature transfer factors and feature bias weights,and uses the transfer factors and bias weights to linearly feature calibrate the features extracted from the Parent network,to improve the convergence of the network by using local features hidden in the crowd *** addition,we use the pyramid vision transformer as the backbone of the PC-Net to extract crowd features at different levels,and design a global-local feature loss function(L2).We combine it with a crowd counting loss(LC)to enhance the sensitivity of the network to crowd features during the training process,which effectively improves the accuracy of crowd density *** experimental results show that the PC-Net significantly reduces the gap between fullysupervised and weakly-supervised crowd density estimation,and outperforms the comparison methods on five datasets of Shanghai Tech Part A,ShanghaiTech Part B,UCF_CC_50,UCF_QNRF and JHU-CROWD++.

关键词： Crowd density estimation linear feature calibration vision transformer weakly-supervision learning

Surface-induced Microstructure and Performance Changes in P3HT Ultrathin Films

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Chinese Journal of Polymer Science 2024年第6期42卷 805-814页

作者： hong-Tao Shan jia-Xin He Bing-Yan Zhu Xue-Ting Cao ying-ying Yan jian-Jun Zhou hong Huo Beijing Key Laboratory of Energy Conversion and Storage Materials College of ChemistryBeijing Normal UniversityBeijing100875China

In this work,poly(3-hexylthiophene)(P3HT)ultrathin films(P3HT-T)were prepared by spin-coating a dilute P3HT solution(in a toluene:o-dichlorobenzene(Tol:ODCB)blend with a volume ratio of 80:20)with ultrasonication and the addition of the nucleating agent bicycle[2.2.1]heptane-2,3-dicarboxylic acid disodium salt(HPN-68L)on glass,Si wafers and indium tin oxide(ITO)*** electrical and mechanical properties of the P3HT-T ultrathin films were investigated,and it was found that the conductivity and crack onset strain(COS)were simultaneously improved in comparison with those of the corresponding pristine P3HT film(P3HT-0,without ultrasonication and nucleating agent)on the same substrate,regardless of what substrate was ***,the conductivity of P3HT-T ultrathin films on different substrates was similar(varying from 3.7 S·cm^(-1)to 4.4 S·cm^(-1)),yet the COS increased from 97%to 138%by varying the substrate from a Si wafer to *** grazing-incidence wide-angle X-ray diffraction(GIXRD),UV-visible(UV-Vis)spectroscopy and atomic force microscopy(AFM),we found that the solid order and crystallinity of the P3HT-T ultrathin film on the Si wafer are highest,followed by those on glass,and much lower on ***,the surface energy and roughness of three substrates were investigated,and it was found that the polar component of the surface energyγp plays a critical role in determining the crystalline microstructures of P3HT ultrathin films on different *** work indicates that the P3HT ultrathin film can obviously improve the stretchability and simultaneously retain similar electrical performance when a suitable substrate is *** findings offer a new direction for research on stretchable CP ultrathin films to facilitate future practical applications.

关键词： P3HT ultrathin film Substrate Crystalline microstructures Polar component of the surface energy Electrical and stretchable performances

Micro-aluminum powder with bi-or tri-component alloy coating as a promising catalyst:Boosting pyrolysis and combustion of ammonium perchlorate

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Defence Technology（防务技术） 2024年第3期33卷 100-113页

作者： Chao Wang ying Liu Mingze Wu jia Li ying Feng Xianjin Ning hong Li Ningfei Wang Baolu Shi School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China School of Materials Science and Engineering Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing 100081China

A novel design of micro-aluminum(μAl)powder coated with bi-/tri-component alloy layer,such as:Ni-P and Ni-P-Cu(namely,Al@Ni-P,Al@Ni-P-Cu,respectively),as combustion catalysts,were introduced to release its huge energy inside Al-core and promote rapid pyrolysis of ammonium perchlorate(AP)at a lower temperature in aluminized *** microstructure of Al@Ni-P-Cu demonstrates that a three-layer Ni-P-Cu shell,with the thickness of~100 nm,is uniformly supported byμAl carrier(fuel unit),which has an amorphous surface with a thickness of~2.3 nm(catalytic unit).The peak temperature of AP with the addition of Al@Ni-P-Cu(3.5%)could significantly drop to 316.2℃ at high-temperature thermal decomposition,reduced by 124.3℃,in comparison to that of pure AP with 440.5℃.It illustrated that the introduction of Al@Ni-P-Cu could weaken or even eliminate the obstacle of AP pyrolysis due to its reduction of activation energy with 118.28 kJ/*** laser ignition results showed that the ignition delay time of Al@Ni-P-Cu/AP mixture with 78 ms in air is shorter than that of Al@Ni-P/AP(118 ms),decreased by 33.90%.Those astonishing breakthroughs were attributed to the synergistic effects of adequate active sites on amorphous surface and oxidation exothermic reactions(7597.7 J/g)of Al@Ni-P-Cu,resulting in accelerated mass and/or heat transfer rate to catalyze AP pyrolysis and ***,it is believed to provide an alternative Al-based combustion catalyst for propellant designer,to promote the development the propellants toward a higher energy.

关键词： Micro-aluminum powder(μAl) Nano-sized alloy coating Combustion catalyst Ammonium perchlorate Pyrolysis behavior Ignition and combustion