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A Reverse Path Planning Approach for Enhanced Performance of Multi-Degree-of-Freedom Industrial Manipulators

Computer Modeling in Engineering & Sciences 2024年第5期139卷 1357-1379页

作者： Zhiwei Lin Hui Wang Tianding Chen Yingtao jiang Jianmei jiang Yingpin Chen Key Laboratory of Light Field Manipulation and System Integration Applications in Fujian Province School of Physics and Information EngineeringMinnan Normal UniversityZhangzhou363000China Department of Electrical and Computer Engineering University of NevadaLas Vegas89154USA College of Material Engineering Fujian Agriculture and Forestry UniversityFuzhou350000China

In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and *** Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion *** satisfactory results in practical scenarios remains *** response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial *** approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free *** enhance convergence speed,the Q-learning algorithm in RL is augmented with ***,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection ***,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power *** efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target *** results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target ***,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.

关键词： Reverse path planning Dyna-Q bidirectional search posture angle joint motion

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Synergistic promotion of particulate matter reduction and production performance via adjusting electrochemical reactions in the zinc electrolysis industry

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Frontiers of Environmental Science & Engineering 2024年第1期18卷 23-33页

作者： Zizhen Ma Jingkun jiang Lei Duan jianguo Deng Fuyuan Xu Zehui Li Linhua jiang Ning Duan School of Environmental and Municipal Engineering Qingdao University of TechnologyQingdao 266520China State Key Joint Laboratory of Environmental Simulation and Pollution Control School of the EnvironmentTsinghua UniversityBeijing 100084China State Key Laboratory of Pollution Control and Resources Reuse College of Environmental Science and EngineeringTongji UniversityShanghai 200092China School of Physics Peking UniversityBeijing 100871China

Heavy particulate matter (PM) pollution and high energy consumption are the bottlenecks of hydrometallurgy, especially in the electrolysis process. Therefore, an urgent need is to explore PM reduction methods with production performance co-benefits. This study presents three PM reduction methods based on controlling operating parameters, i.e., lowering electrolyte temperature, H2SO4 concentration, and current density of the cathode. The optimized conditions were also investigated using the response surface methodology to balance the PM reduction effect and Zn production. The results showed that lowering electrolyte temperature is the most efficient, with an 89.0% reduction in the PM generation flux (GFPM). Reducing H2SO4 concentration led to the minimum side effects on the current efficiency of Zn deposition (CEZn) or power consumption (PC). With the premise of non-deteriorating CEZn and PC, GFPM can be reduced by 86.3% at the optimal condition (electrolyte temperature = 295 K, H2SO4 = 110 g/L, current density = 373 A/m^(2)). In addition, the reduction mechanism was elucidated by comprehensively analyzing bubble characteristics, electrochemical reactions, and surface tension. Results showed that lower electrolyte temperature inhibited the oxygen evolution reaction (OER) and compressed gas volume. Lower H2SO4 concentration inhibited the hydrogen evolution reaction (HER) and reduced electrolyte surface tension. Lower current density inhibited both OER and HER by decreasing the reaction current. The inhibited gas evolutions reduced the microbubbles’ number and size, thereby reducing GFPM. These results may provide energy-efficient PM reduction methods and theoretical hints of exploring cleaner PM reduction approaches for industrial electrolysis.

关键词： Zinc electrolysis Particulate matter Energy consumption Operating parameters Bubble characteristic Electrochemical reaction

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Do nocturnal birds use acoustic and visual cues to avoid predation by bats?

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Integrative Zoology 2024年第3期19卷 524-537页

作者： Lixin GONG Huan WU Zhiqiang WANG Hui WU jiang FENG Tinglei jiang Jilin Provincial Key Laboratory of Animal Resource Conservation and Utilization Northeast Normal UniversityChangchunChina Key Laboratory of Vegetation Ecology of Education Ministry Institute of Grassland ScienceNortheast Normal UniversityChangchunChina College of Life Science Jilin Agricultural UniversityChangchunChina

Anti-predation strategies are critical to animal survival and are fundamental to deciphering predator–prey *** an important defense strategy,sensory predator detection(such as through acoustic and visual cues)enables animals to assess predation risk and execute predator-avoidance behavior;however,there are limited studies on the anti-predation behavior of nocturnal *** prey of bats provides an excellent representative system for examining the anti-predation behavior of nocturnal ***,we broadcasted different types of echolocation calls of the bird-eating bat Ia io to two wild passerine birds,namely,Zosterops japonicus and Sinosuthora webbiana,that are preyed upon by ***,and presented the birds with individual bats under different light *** results showed that both bird species were able to perceive the low-frequency audible portion of the bats’echolocation calls;however,they did not exhibit escape responses to the acoustic *** the dark and under moonlit conditions,both bird species were unable to respond to active bats at close range and the birds only exhibited evasive flight behavior when bats approached or touched *** results suggest that nocturnal passerine birds may not be able to use acoustic or visual cues to detect bats and adopt evasive maneuvers to avoid *** work suggests that bat predation pressure may not elicit primary predator-avoidance responses in nocturnal passerine *** results provide new insights into the anti-predation behavior of nocturnal animals.

关键词： anti-predation behavior nocturnal animals sensory cues sensory defenses

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Role of Multi-scale Hierarchical Structures in Regulating Wetting State and Wetting Properties of Structured Surfaces

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Journal of Bionic Engineering 2024年第3期21卷 1347-1359页

作者： Yue jiang Xinyi Li Zhichao Ma Zhihui Zhang Cuie Wen Zhonghao jiang Nan Lin Luquan Ren Key Laboratory of Bionic Engineering of Ministry of Education College of Biological and Agricultural EngineeringJilin UniversityChangchun130022China Hubei Provincial Engineering Technology Research Center for Microgrid College of Electrical Engineering and New EnergyChina Three Gorges UniversityYichang443002China School of Mechanical and Aerospace Engineering Jilin UniversityChangchun130025China Centre for Additive Manufacturing School of EngineeringRMIT UniversityMelbourneVictoria3001Australia Key Laboratory of Automobile Materials of Ministry of Education College of Materials Science and EngineeringJilin UniversityChangchun130025China State Key Laboratory of Inorganic Synthesis and Preparative Chemistry Jilin UniversityChangchun130012China

Amplifying the intrinsic wettability of substrate material by changing the solid/liquid contact area is considered to be the main mechanism for controlling the wettability of rough or structured *** theoretical analysis and experimental exploration,we have found that in addition to this wettability structure amplification effect,the surface structure also simultaneously controls surface wettability by regulating the wetting state via changing the threshold Young angles of the Cassie-Baxter and Wenzel wetting *** wetting state regulation effect provides us with an alternative strategy to overcome the inherent limitation in surface chemistry by tailoring surface *** wetting state regulation effect created by multi-scale hierarchical structures is quite significant and plays is a crucial role in promoting the superhydrophobicity,superhydrophilicity and the transition between these two extreme wetting properties,as well as stabilizing the Cassie-Baxter superhydrophobic state on the fabricated lotus-like hierarchically structured Cu surface and the natural lotus leaf.

关键词： Hierarchical structure Wetting state regulation Wetting transition Superhydrophobicity Superhydrophilicity

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Prediction of chemical short-range order in high-/medium-entropy alloys

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Journal of Materials Science & Technology 2024年第2期169卷 115-123页

作者： Pei-Yu Cao Jing Wang Ping jiang Yun-jiang Wang Fu-Ping Yuan Xiao-Lei Wu State Key Laboratory of Nonlinear Mechanics Institute of MechanicsChinese Academy of ScienceBeijing 100190China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049China

Chemical short-range orders(CSROs),as the built-in sub-nanoscale entities in a high-/medium-entropy alloy(H/MEA),have aroused an ever-increasing *** multi-principal elements in an H/MEA to form a complex concentrated solution,a variety of sub-systems of species exist to induce the metastable ordered compounds as candidates for ultimate *** issues remain pending on the origin of CSROs as to how to judge if CSRO will form in an H/MEA and particularly,what kind of CSROs would be stably produced if there were multiple ***,the first-principles method,along with the proposed local formation energy calculation in allusion to the atomic-scale chemical heterogeneities,is used to predict the CSRO formation based on the mechanical stability,thermodynamic formation energy,and electronic *** simulations are detailed in an equiatomic ternary VCoNi MEA with three kinds of potential compounds,i.e.,L1_(1),L1_(2),and B2,in the face-centered cubic *** turns out that L1_(1)is stable but hard to grow up so as to become the final CSRO.L1_(1)is further predicted as CSROs in CrCoNi,but unable to form in FeCoNi and CrMnFeCoNi *** predictions are consistent with the experimental *** findings shed light on understanding the formation of *** method is applicable to other H/MEAs to design and tailor CSROs by tuning chemical species/contents and thermal processing for high performance.

关键词： Short-range order High-entropy alloy Microstructure First-principles calculation Gibbs free energy Local electronic density of states

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Exploration of Strong Metal-Support Interaction in Heterogeneous Catalysts by in situ Transmission Electron Microscopy

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Chinese Journal of Chemistry 2024年第9期42卷 1004-1008页

作者： Yongjun jiang Sheng Dai Key Laboratoryfor Advanced Materials and Feringa Nobel Prize Scientist Joint Research Center Institute of Fine ChemicalsSchool of Chemistry&Molecular EngineeringEast China Universityof Science and TechnologyShanghai 200237China

The phenomenon of strong metal-support interaction(SMSI)observed in supported metal catalysts,usually accompanied by the formation of the encapsulation layer on metal nanoparticles,has attracted extensive research attention due to its significance in heterogeneous ***,great progress has been made in recent years in investigating SMSI by in situ transmission electron microscopy(TEM),along with an enhanced comprehension of the underlying mechanisms governing SMSI *** emerging topic summarizes recent progress utilizing in situ TEM to study the interaction between metal and support and the relationship between the structure and performance of the supported catalyst under reaction conditions.A brief perspective about the use of in situ TEM for further study of SMSI is also presented,showing prospects in this field that will stimulate further upsurging research in promoting the catalytic efficiency of supported catalysts.

关键词： Heterogeneous catalysis In situ TEM Strong metal-support interaction Structure changes Interfaces Structural evolution

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EXPERIMENTAL TEST FOR JUPITER'S SATELLITES TO THE NAKED EYE

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Chinese Science Bulletin 1983年第7期28卷 927-929页

作者：杨正宗蒋世仰郝象棵 Beijing Observatory Academia Sinica Beijing Observatory Academia Sinicaeople always think that the first man who discovered the Jovian satellites was G. Galileo. Last year the Chinese historian of astronomy Xi Zezong pointed out that the first discovery of the Jovian satellites was made by Gan De one of the earliest astronomers of China in the summer of 364 B.C.-almost 2000 years before Galileo's discovery. At first glance it seems easy to tell the true from the false. In fact many people lost their confidence when observing with the naked eye. The reason is very simple: The most elementary conditions for astronomical observation have been severely

People always think that the first man who discovered the Jovian satellites was G. Galileo. Last year, the Chinese historian of astronomy Xi Zezong pointed out that the first discovery of the Jovian satellites was made by Gan De, one of the earliest astronomers of China in the summer of 364 B.C.—almost 2,000 years before Galileo’s discovery. At first glance, it seems easy to tell the true from the false. In fact, many people lost their confidence when observing with the naked eye. The reason is very simple: The most elementary conditions for astronomical observation have been

关键词： Galileo naked earliest think observing Jupiter confidence false elementary pointed

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On the Strong Approximation for a Simple Reentrant Line in Light Traffic Under First-buffer First-served Service Discipline

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Acta Mathematicae Applicatae Sinica 2024年第3期40卷 823-839页

作者： Kai-ming YANG Yong-jiang GUO School of Science Beijing University of Posts and TelecommunicationsBeijing 100876China

For a 2-station and 3-class reentrant line under first-buffer first-served(FBFS)service discipline in light traffic,we firstly construct the strong approximations for performance measures including the queue length,workload,busy time and idle time *** on the obtained strong approximations,we use a strong approximation method to find all the law of the iterated logarithms(LILs)for the above four performance measures,which are expressed as some functions of system parameters:means and variances of interarrival and service times,and characterize the fluctuations around their fluid approximations.

关键词： reentrant line queueing network FBFS service discipline strong approximation LIL Brownian motion

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Intermediate-mass black holes in Green pea galaxies(IMBH-GP)I:A candidate sample from LAMOST and SDSS

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Science China(Physics,Mechanics & Astronomy) 2024年第10期67卷 147-161页

作者： Ruqiu Lin Zhen-Ya Zheng Fang-Ting Yuan Jun-Xian Wang Chunyan jiang Ning jiang Lingzhi Wang Linhua jiang Xiang Ji Shuairu Zhu Xiaodan Fu Key Laboratory for Research in Galaxies and Cosmology Shanghai Astronomical ObservatoryChinese Academy of SciencesShanghai 200030China School of Astronomy and Space Sciences University of Chinese Academy of SciencesBeijing 100049China CAS Key Laboratory for Research in Galaxies and Cosmology Department of AstronomyUniversity of Science and Technology of ChinaHefei 230026China Chinese Academy of Sciences South America Center for Astronomy(CASSACA) National Astronomical ObservatoriesChinese Academy of SciencesBeijing 100101China CAS Key Laboratory of Optical Astronomy National Astronomical ObservatoriesChinese Academy of SciencesBeijing 100101China Kavli Institute for Astronomy and Astrophysics Peking UniversityBeijing 100871China Department of Astronomy School of PhysicsPeking UniversityBeijing 100871China

The scaling relation of central massive black holes(M_(BH)s)and their host galaxies is well-studied for supermassive BHs(SM_(BH)s,M_(BH)≥10^(6)M_(⊙)).However,this relation has large uncertainties in the mass range of the intermediate-mass BHs(IM_(BH)s,M_(BH)~10^(3)-10^(6)M_(⊙)).Since Green pea(GP)galaxies are luminous compact dwarf galaxies,which may be likely to host less massive SM_(BH)s or even IM_(BH)s,we systematically search for M_(BH)s in a large sample of 2190 GP galaxies at z<0.4,selected from LAMOST and SDSS spectroscopic ***,we report a newly discovered sample of 59 M_(BH) candidates with broad Hα*** sample has a median stellar mass of 108.83±0.11M_(⊙)and hosts M_(BH)s with single-epoch virial masses ranging from M_(BH)~10^(4.7)to 10^(8.5)M_(⊙)(median 105.85±0.64M_(⊙)).Among the 59 M_(BH) candidates,36 have black hole masses M_(BH)≤10^(6)M_(⊙)(IM_(BH) candidates),one of which even has M_(BH)■10^(5)M_(⊙).We find that the M_(BH)-M_(*)relation of our M_(BH) sample is consistent with the M_(BH)-M_(bulge)relation for SM_(BH)s,while is above the M_(BH)-M_(*)relation for M_(BH)s in dwarf galaxies in the same mass ***,we show that 25 M_(BH) candidates,including 4 IM_(BH) candidates,have additional evidence of black hole activities,assessed through various methods such as the broad-line width,BPT diagram,mid-infrared color,X-ray luminosity,and radio *** studies show that it is very promising to find IM_(BH)s in GP galaxies,and the BH sample so obtained enables us to probe the connection between the M_(BH)s and compact dwarf galaxies in the low-redshift Universe.

关键词： SMBHs IMBHs Green pea galaxies compact dwarf galaxies

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Novel Sum-of-Sinusoids Simulation Channel Modeling for 6G Multiple-Input Multiple-Output Vehicle-to-Everything Communications

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China Communications 2024年第1期21卷 242-259页

作者： Hao jiang Hongming Zhang Ting Liu College of Artificial Intelligence Nanjing University of Information Science and Technology210044China National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China School of Information and Communication Engineering Beijing University of Posts and TelecommunicationsChina

In this paper,a statistical cluster-based simulation channel model with a finite number of sinusoids is proposed for depicting the multiple-input multiple-output(MIMO)communications in vehicleto-everything(V2X)*** the proposed sum-of-sinusoids(SoS)channel model,the waves that emerge from the transmitter undergo line-of-sight(LoS)and non-line-of-sight(NLoS)propagation to the receiver,which makes the model suitable for describing numerous V2X wireless communication scenarios for sixth-generation(6G).We derive expressions for the real and imaginary parts of the complex channel impulse response(CIR),which characterize the physical propagation characteristics of V2X wireless *** statistical properties of the real and imaginary parts of the complex CIRs,i.e.,autocorrelation functions(ACFs),Doppler power spectral densities(PSDs),cross-correlation functions(CCFs),and variances of ACFs and CCFs,are derived and *** results are generated and match those predicted by the underlying theory,demonstrating the accuracy of our derivation and *** proposed framework and underlying theory arise as an efficient tool to investigate the statistical properties of 6G MIMO V2X communication systems.

关键词： complex CIRs LoS and NLoS propagation components MIMO V2X communication environments SoS simulation channel model statistical properties

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