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Path planning of hyper‐redundant manipulators for narrow spaces

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IET Cyber-Systems and Robotics 2022年第3期4卷 251-263页

作者： Haoxiang Su Manlu liu hongwei liu Jianwen Huo Songlin Gou Qing Su School of Information Engineering Southwest University of Science and TechnologyMian YangChina Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mian YangChina School of Manufacturing Science and Engineering Southwest University of Science and TechnologyMian YangChina

Compared with the traditional manipulator,the hyper‐redundant manipulator has the advantage of high flexibility,which is particularly suitable for all kinds of complex working environments.However,the complex space environment requires the hyper‐redundant manipulator to have stronger obstacle avoidance ability and adaptability.In order to solve the problems of a large amount of calculation and poor obstacle avoidance effects in the path planning of the hyper‐redundant manipulator,this paper introduces the‘backbone curve’approach,which transforms the problem of solving joint path points into the behaviour of determining the backbone curve.After the backbone curve approach is used to design the curve that meets the requirements of obstacle avoidance and the end pose,the least squares fitting and the improved space joint fitting are used to match the plane curve and the space curve respectively,and the angle value of each joint of the manipulator is limited by the algorithm.Furthermore,a fusion obstacle avoidance algorithm is proposed to obtain the joint path points of the hyper‐redundant manipulator.Compared with the classic Jacobian iteration method,this method can avoid obstacles better,has the advantages of simple calculation,high efficiency,and can fully reflect the geometric characteristics of the manipulator.Simulation experiments have proven the feasibility of the algorithm.

关键词： convergence dexterous manipulators geometric algebra motion planning

Immunogenic molecules associated with gut bacterial cell walls:chemical structures,immune-modulating functions,and mechanisms

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Protein & Cell 2023年第10期14卷 776-785页

作者： Ruopeng Yin Tao Wang Huanqin Dai Junjie Han Jingzu Sun Ningning liu Wang Dong Jin Zhong hongwei liu State Key Laboratory of Mycology Institute of MicrobiologyChinese Academy of SciencesBeijing 100101China Savaid Medical School University of Chinese Academy of SciencesBeijing 100049China CAS Key Laboratory of Pathogenic Microbiology and Immunology Institute of MicrobiologyChinese Academy of SciencesBeijing 100101China State Key Laboratory of Microbial Resources Institute of MicrobiologyChinese Academy of Sciences100101 BeijingChina

Interactions between gut microbiome and host immune system are fundamental to maintaining the intestinal mucosal barrier and homeostasis.At the host-gut microbiome interface,cell wall-derived molecules from gut commensal bacteria have been reported to play a pivotal role in training and remodeling host immune responses.In this article,we review gut bacterial cell wall-derived molecules with characterized chemical structures,including peptidoglycan and lipid-related molecules that impact host health and disease processes via regulating innate and adaptive immunity.Also,we aim to discuss the structures,immune responses,and underlying mechanisms of these immunogenic molecules.Based on current advances,we propose cell wall-derived components as important sources of medicinal agents for the treatment of infection and immune diseases.

关键词： gut commensal bacteria peptidoglycan lipid-related molecules immune responses

Near-microscopic grain boundary facilitates fatigue crack propagation in a polycrystalline Al–Zn–Mg–Cu alloy

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Progress in Natural Science:Materials International 2023年第1期33卷 120-125页

作者： Kai Wen Xiwu Li Baiqing Xiong Haitao Lin Qinghong Wen Yanan Li hongwei Yan Lizhen Yan Yongan Zhang Zhihui Li hongwei liu State Key Laboratory of Nonferrous Metals and Processes China GRINM Group Co. LTD. GRIMAT Engineering Institute Co. LTD. General Research Institute for Nonferrous Metals Southwest Aluminum(Group) Co. Ltd.

In present study, grain characteristics with sizes within 10–30 μm were fabricated from a same Al–Zn–Mg–Cu alloy, FCP behaviors of the alloys with small grain(SG alloy), medium grain(MG alloy) and large grain(LG alloy)were investigated and related fatigue fracture morphology was analyzed. With the enhancement of stress intensity factor range(ΔK), the alloy with larger grains possessed faster FCP rate, which were successively arranged as SG alloy > MG alloy > LG alloy at initial stage while turned to LG alloy > MG alloy > SG alloy at final stage for the stable expanding region. Except for conventional characteristics of striations, tearing ridges, secondary cracks,second phases, voids and dimples, more prominent grain boundary features appeared on fracture surface, especially for MG and LG alloy. The calculation of cyclic plastic zone(CPZ) sizes proved that grain boundary participated and promoted FCP behavior when CPZ covered grain and grain boundary together.

关键词： Fatigue crack propagation Grain size Grain boundary Cyclic plastic zone Al–Zn–Mg–Cu alloy

Indoor air particles in research vessel from Shanghai to Antarctic: Characteristics, influencing factors, and potential controlling pathway

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Journal of Environmental Sciences 2023年第4期126卷 784-793页

作者： Xudong Wu Fange Yue Jiancheng Wang Xiawei Yu hongwei liu Weihua Gu Mingming Han Juan Li Zhouqing Xie Anhui Key Laboratory of Polar Environment and Global Change Department of Environmental Science and EngineeringUniversity of Science and Technology of ChinaHefei 230026China Department of Anesthesiology the First Affiliated Hospital of University of Science and Technology of ChinaHefei 230001China Center for Excellence in Urban Atmospheric Environment Institute of Urban EnvironmentChinese Academy of SciencesXiamen 361021China

Despite millions of seafarers and passengers staying on ships each year, few studies have been conducted on the indoor air quality inside ship hulls. In this study, we investigated the levels and size distribution of indoor particulate matter during two cruises of the research vessel “Xuelong” from Shanghai to Antarctica. The results showed that the particle size less than 2.5 μm(PM_(2.5)), and particle size less than 10 μm(PM_(10)) concentrations in different rooms of the ship widely varied. We observed high particulate matter(PM) levels in some of the rooms. The mass concentration distribution was dominated by 1–4 μm particles, which may have been caused by the hygroscopic growth of fine particles. The dominant factors influencing PM concentrations were indoor temperature, relative humidity, and human activity. We quantified contributions of these factors to the levels of indoor particles using a generalized additive model. In clean rooms, the levels of indoor particles were controlled by temperature and relative humidity, whereas in polluted rooms, the levels of indoor particles were mainly influenced by temperature and human activity, which implied that controlling temperature and human activity would efficiently reduce the levels of indoor particles.

关键词： Indoor air Ship Influencing factor Generalized additive model(GAM) Quantification Controlling pathway

Inertial Subgradient Extragradient Algorithm for Solving Variational Inequality Problems with Pseudomonotonicity

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哈尔滨工业大学学报:英文版 2023年第5期30卷 65-75页

作者： Yuwan Ding hongwei liu Xiaojun Ma School of Mathematics and Statistics Xidian UniversityXi’an710126China

In order to solve variational inequality problems of pseudomonotonicity and Lipschitz continuity in Hilbert spaces, an inertial subgradient extragradient algorithm is proposed by virtue of non-monotone stepsizes. Moreover, weak convergence and R-linear convergence analyses of the algorithm are constructed under appropriate assumptions. Finally, the efficiency of the proposed algorithm is demonstrated through numerical implementations.

关键词： variational inequality extragradient method pseudomonotonicity Lipschitz continuity weak and linear convergence

The enriched gut commensal Faeciroseburia intestinalis contributes to the anti-metabolic disorders effects of the Ganoderma meroterpene derivative

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Food Science and Human Wellness 2022年第1期11卷 85-96页

作者： Shanshan Qiao Kai Wang Chang liu Nan Zhou Li Bao Jun Wang Shuangjiang liu hongwei liu State Key Laboratory of Mycology Institute of MicrobiologyChinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Microbial Technology Shandong UniversityTsingdao 266237ShandongChina State Key Laboratory of Microbial Resources Institute of MicrobiologyChinese Academy of SciencesBeijing 100101China Beijing Shijitan Hospital Capital Medicinal UniversityBeijing 100038China CAS Key Laboratory of Pathogenic Microbiology and Immunology Institute qf MicrobiologyChinese Academy of SciencesBeijing 100101China

Previous study demonstrated that Ganoderma meroterpene derivative(GMD)increased the abundance of butyrate-producing bacteria in gut and subsequently delivered anti-metabolic disorder effect of host.To specify the key commensal bacteria associating with the beneficial effects,we tried to isolate and compare the microbiota from the cecal samples of GMD-and vehicle-treated ob/ob mice,and further identified butyrate-producing bacterial strains.It was found that Faeciroseburia intestinalis was enriched and 11 strains affiliated to F.intestinalis were cultivated from the gut of GMD-treated mice.In vitro assay attested butyrate production by representative strain of F.intestinalis.Oral administration with F.intestinalis further demonstrated its benefits on regulating hyperglycemia and hyperlipidemia,on decreasing plasma lipopolysaccharide(LPS)and inflammation,and on improving hepatic injuries.Treatment with F.intestinalis effectively enhanced the level of gut butyrate,which subsequently ameliorated the intestinal barrier function and activated epithelial PPAR-γ signaling pathway to regulate microbiome homeostasis in gut.Our study demonstrated that the causal relationship between the butyrate-producing bacteria and the GMD's therapeutic effects and confirmed the important function of the butyrate-producing F.intestinalis in maintaining host metabolism homeostasis.

关键词： Faeciroseburia intestinalis Ganoderma meroditerpene derivative Gut microbiome Butyrate Hypoglycemia Hypolipidemia

Direct writing-in and visualizing reading-out data storage with high capacity in low-cost plastics

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Journal of Semiconductors 2022年第6期43卷 23-28页

作者： Xin Wei Weiwei Zhao Jintao Yang Yong Zhang Junming Song Zhenhua Ni Junpeng Lu hongwei liu School of Physics and Key Laboratory of MEMS of the Ministry of Education Southeast UniversityNanjing 211189China Jiangsu Key Lab on Opto-Electronic Technology School of Physics and TechnologyNanjing Normal UniversityNanjing 210023China

The explosive growth of the global data volume demands new and advanced data storage methods.Here,we report that data storage with ultrahigh capacity(~1 TB per disc)can be realized in low-cost plastics,including polycarbonate(PC),precipitated calcium carbonate(PCC),polystyrene(PS),and polymethyl methacrylate(PMMA),via direct fs laser writing.The focused fs laser can modify the fluorescence of written regions on the surface and in the interior of PMMA,enabling threedimensional(3D)information storage.Through the 3D laser processing platform,a 50-layer data record with low bit error(0.96%)is archived.Visual reading of data is empowered by the fluorescence contrast.The broad variation of fluorescence intensity assigns 8 gray levels,corresponding to 3 bits on each spot.The gray levels of each layer present high stability after longterm aging cycles,confirming the robustness of data storage.Upon single pulse control via a high-frequency electro-optic modulator(EOM),a fast writing speed(~1 kB/s)is achieved,which is limited by the repetition frequency of the fs laser.

关键词： laser modification fluorescence micro-nano fabrication

Effects of Primary Carbide Size and Type on the Sliding Wear and Rolling Contact Fatigue Properties of M50 Bearing Steel

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金属学报:英文版 2023年第8期36卷 1336-1352页

作者： Liqi Yang Weihai Xue Siyang Gao Yanfei Cao hongwei liu Deli Duan Dianzhong Li Shu Li Shi-Changxu Innovation Center for Advanced Materials Institute of Metal ResearchChinese Academy of SciencesShenyang110016China School of Materials Science and Engineering University of Science and Technology of ChinaShenyang110016China

The influences of primary carbide size and type on the sliding wear behavior and rolling contact fatigue (RCF) properties of M50 bearing steel were systematically investigated under oil lubrication condition. A major breakthrough was achieved in the influence of primary carbide on tribological behavior. The opposite effect brought by primary carbide size on the sliding wear resistance and RCF life of M50 bearing steel was determined. Wear resistance increased with an increase in the studied primary carbide size, whereas RCF life decreased significantly. Compared with the 0 R and R positions with a relatively small carbide size, the wear volume of the 1/2 R position with a large carbide size was the smallest. Compared with the 0 R and R positions, the L10 life of the 1/2 R position decreased by 82.7% and 84.8%, respectively. On the basis of the statistical correlation between primary carbide size and the two tribological properties, a critical maximum carbide size of 5-10 μm was proposed to achieve optimal tribological performance. This research suggests that the equivalent diameter of the primary carbide should be controlled to be smaller than 10 μm, but further decreasing primary carbide size to less than 5 μm is unnecessary. The influence of primary carbide type in M50 bearing steel on sliding wear resistance was also discussed. Results indicate that the MC-type carbides with higher elastic modulus and microhardness exhibit better wear resistance than the M2C-type carbides.

关键词： Carbide size Carbide type Sliding wear Rolling contact fatigue M50 bearing steel

Modified Subgradient Extragradient Method for Variational Inequality Problems and Fixed Point Problems

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Journal of Harbin Institute of Technology(New Series) 2022年第5期29卷 11-19页

作者： Xiaoyin Li hongwei liu Jiangli Cheng Dongyao Zhang School of Mathematics and Statistics Xidian UniversityXi’an 710126China

Many approaches inquiring into variational inequality problems have been put forward,among which subgradient extragradient method is of great significance.A novel algorithm is presented in this article for resolving quasi-nonexpansive fixed point problem and pseudomonotone variational inequality problem in a real Hilbert interspace.In order to decrease the execution time and quicken the velocity of convergence,the proposed algorithm adopts an inertial technology.Moreover,the algorithm is by virtue of a non-monotonic step size rule to acquire strong convergence theorem without estimating the value of Lipschitz constant.Finally,numerical results on some problems authenticate that the algorithm has preferable efficiency than other algorithms.

关键词： inertial method fixed point variational inequality strong convergence subgradient extragradient method