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Trajectory tracking control of the bionic joint of the musculoskeletal leg mechanism

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High Technology Letters 2017年第2期23卷 117-124页

作者：雷静桃 zhu jianmin Wu Jiandong School of Mechatronic Engineering and Automation Shanghai University College of Mechanical Engineering University of Shanghai for Science and Technology

Pneumatic artificial muscles(PAMs) have properties similar to biological muscles,which are widely used in robotics as *** is difficult to achieve high-precision position control for robotics system driven by PAMs.A 3-DOF musculoskeletal bionic leg mechanism is presented,which is driven by PAMs for quadruped *** is used to simulate the compliance of biological *** kinematics of the leg swing is derived,and the foot desired trajectory is planned as the sinusoidal *** swing experiments of the musculoskeletal leg mechanism are conducted to analyse the extension and flexion of joints.A proportional integral derivative(PID) algorithm is presented for controlling the flexion/extension of the *** trajectory tracking results of joints and the PAM gas pressure are *** results show that the developed leg mechanism exhibits good biological properties.

关键词： musculoskeletal leg mechanism swing bionic joint trajectory tracking proportional integral derivative(PID) control

Structural,spectroscopic,and dielectric characterizations of Mn-doped 0.67BiFeO_(3)-0.33BaTiO_(3)multiferroic ceramics

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Journal of Advanced Ceramics 2013年第3期2卷 252-259页

作者： Qiming HANG Wenke ZHOU Xinhua zhu jianmin zhu Zhiguo LIU Talaat AL-KASSAB National Laboratory of Solid State Microstructures School of PhysicsNanjing UniversityNanjing 210093China National Laboratory of Solid State Microstructures Department of Materials Science and EngineeringNanjing UniversityNanjing 210093China King Abdullah University of Science&Technology(KAUST) Physical Sci.and Eng.Thuwal 23955-6900Kingdom of Saudi Arabia

0.67BiFeO_(3)-0.33BaTiO_(3)multiferroic ceramics doped with x mol%MnO_(2)(x=2-10)were synthesized by solid-state *** formation of a perovskite phase with rhombohedral symmetry was confirmed by X-ray diffraction(XRD).The average grain sizes were reduced from 0.80mm to 0.50mm as increasing the Mn-doped *** crystalline nature of the grains was revealed by high-resolution transmission electron microscopy(HRTEM)images and electron diffraction *** nano-sized ferroelectric domains with an average size of 9 nm randomly distributed in the ceramic samples were revealed by TEM *** domain lamellae(71°ferroelectric domains)with an average width of 5 nm were also *** modes were examined by Raman spectra,where only four Raman peaks at 272 cm^(-1)(E-4 mode),496 cm^(-1)(A_(1)-4 mode),639 cm^(-1),and 1338 cm^(-1)were *** blue shifts in the E-4 and A_(1)-4 Raman mode frequencies were interpreted by a spring oscillator *** dieletric constants of the present ceramics as a function of the Mn-doped levels exhibited a V-typed *** were in the range of 350-700 measured at 10^(3)Hz,and the corresponding dielectric losses were in range of 0.43-0.96,approaching to 0.09 at 10^(6)Hz.

关键词： multiferroic ceramics dielectric properties Raman spectra microstructure

Hydroxyapatite Growth on Ti MAO Surface Assisted by the Addition of Calcium and Phosphate Ions in Hydrothermal Treatment Solution

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稀有金属材料与工程 2012年第S1期41卷 478-480页

作者： Ma Fengcang Liu Ping Li Wei Liu Xinkuan Chen Xiaohong Yang Lihong zhu jianmin Shanghai Univ Sci & Technol Sch Mat Sci & Engn Shanghai 200093 Peoples R China

Microarc oxidation was performed on Ti-6Al-4V in an electrolyte containing calcium and phosphate *** were hydrothermally treated in different solutions containing calcium and phosphate *** hydroxyapatite coatings were *** was found that hydroxyapatite coating is improved by the addition of calcium and phosphate ions in hydrothermal *** addition of phosphate ions promotes the nucleation and growth of *** the effect of single calcium ions is not *** addition of calcium and phosphate ions increases the nucleation and growth of hydroxyapatite,but decreases the preferred growth trend in some extent.

关键词： biomaterials surfaces hydroxyapatite crystal growth hydrothermal treatment thick film

Genetic Mechanism of the Dolomite in Dolomitic Glutenite of the Shahejie Formation—A Case Study of QHD 29-2 Oilfield in Bohai Bay Basin, China

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Open Journal of Geology 2019年第8期9卷 461-473页

作者： Liya Da Deying Wang Haibo Yu jianmin zhu Tianjin Branch CNOOC China Limited Tianjin China

The dolomite in dolomitic glutenite of the shahejie formation in the eastern steep slope of the Shijiutuo bulge in Bohai is a high-quality reservoir, and the content of dolomite is positively correlated with reservoir physical properties. In this paper, by using thin section, core, wall core, geochemical data and analyzing petrology and mineralogy characteristic, we systematically analyzed the paleogeographic environment and genetic mechanism of this kind of dolomite and established the genetic models. The dolomite in the glutenite body has many characteristics of development, which is formed by three kinds of genesis: quasi-synergy dolomitization, buried dolomitization and hydrothermal dolomitization. The dolomite in glutenite is produced in the form of matrix, grain (sandstone, oolith), biological skeleton (conch, ostracod), clastic shell and dolomite cement. The minor elements, carbon and oxygen isotopes, trace minerals and paleontological combinations reveal that the paleogeographic environment was closed continental salt-brackish water bay, the climate was arid and hot, and the evaporation was strong. It provides favorable conditions for the production of the dolomite in dolomitic glutenite. There are three genetic models of dolomite. The first model is penecontemporaneous dolomitization. The climate was arid and hot, the aragonite and high-magnesium calcite deposited with sand and gravel. Due to the effect of evaporation, dolomitization occurred. The second model is buried dolomitization. The water from dehydration of clay minerals causes the Mg2+ in the high-magnesium formation migrating into the rock, leading to the occurrence of dolomitization. The third model is hydrothermal dolomitization. Deep faults can bring geothermal fluids into the overlying reservoir and form the hydrothermal dolomite.

关键词： Genetic Mechanism of the Dolomite Dolomitic Glutenite Shahejie Formation Eastern Steep Slope of Shijiutuo Bulge Bohai Bay Basin

An Extension of the Poincar’e Lemma of Differential Forms

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Applied Mathematics 2013年第1期4卷 16-18页

作者： Zhaoyang Tang jianmin zhu Jianhua Huang Jin Li Department of Mathematics and System Science National University of Defense Technology Changsha China

This paper is to extend the Poincar’e Lemma for differential forms in a bounded, convex domain [1] in Rn to a more general domain that, we call, is deformable to every point in itself. Then we extend the homotopy ope... 详细信息

关键词： Differential Forms Poincar’e Lemma Domain Deformed to Every Point

Synthesis, Microstructure, and Dielectric Properties of Mn-doped 0.33BaTiO3-0.67BiFeO3 Multiferroic Solid Solutions

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Synthesis, Microstructure, and Dielectric Properties of Mn-d...

TPMT gene polymorphisms and activity in Chinese IBD patients with azathioprine treatment

中国材料大会2012

作者： Qiming Hang Feng Shan jianmin zhu Xinhua zhu National Laboratory of Solid State Microstructures School of Physics Nanjing University

ISBN: (纸本)9783037856079

In this work, 0.33BaTiO3-0.67BiFeO3 multiferroic ceramics doped with x mol% MnO2 （x= 0.1-1.0） were fabricated by solid-state reaction method, and their microstructure and dielectric property were also investigated. The perovskite phase structure of the solid solutions was confirmed by X-ray diffraction patterns, and the formation of minor impure phase of Bi2Fe4O9 was prevent effectively by Mn-doping. With increasing the Mn-doped concentration, the dielectric constants of Mn-doped 0.33BaTiO3-0.67BiFeO3 multiferroic ceramics first increased, and reached a maximum value of 340 （measured @1MHz） at the Mn-doped concentration of 0.60 mol%, and then decreased. On the other hand, the dielectric losses first decreased, and reached the minimum value at the Mn-doped concentration of 0.30 mol%, and then increased along with increasing the Mn-doped concentrations. The ferroelectric domain structures in the Mn-doped 0.33BaTiO3-0.67BiFeO3 multiferroic ceramics with rhombohedral symmetry were also revealed by TEM image and selected area electron diffraction patterns, and tweed-like domain structures were observed.

关键词： Mn-doping BaTiO3 BiFeO3 Multiferroic solid solution Microstructure character Dielectric property

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TPMT gene polymorphisms and activity in Chinese IBD patients...

Paleogeomorphic Influence on Facies Characteristics and Reservoir Prediction in Lacustrine Basin—By Taking Cretaceous Reservoirs in the Western Slope of SL Basin,China as an Example

第二届浙江省消化病学术大会

作者： Qian Cao Qin zhu jianmin Si

Aim The aim of this study was to investigate the association of thiopurine methyltransferase(TPMT) polymorphisms and activity with azathioprine(AZA) -related adverse events and clinical efficacy in Chinese Han patients with inflammatory bowel disease(IBD).Methods Fifty-two Han IBD patients treated with AZA were assessed for TPMT*2,*3A,*3B,and *3C,and for adverse ***,using reversephase high performance liquid chromatography,erythrocyte TPMT activity was measured in the 6 patients who experienced AZA-related toxicity and 7 without myelotoxicity or *** All 52 patients had active IBD at *** from one patient who suffered from severe myelotoxicity,51 received AZA therapy for more than 6 *** the end of the study,38 had gone into remission,8 still had active disease,while

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Open Journal of Yangtze Oil and Gas 2019年第2期4卷 113-124页

作者： Longtao Cui Qianping Zhang Xue Liu Ming Yang jianmin zhu Tianjin Branch of CNOOC Co.Ltd. TianjinChina

The West Slope of SL Basin,China,mainly targets on lithologic reservoirs for oil and *** paleogeomorphology and provenance direction analysis has great significance for predicting the type and distribution of sand *** to the analysis of well logging,core and seismic data,braided delta and gravity sediment mainly develop in the study area.A backs tripping method is used to reconstruct the topography of Qingshankou to Yaojia Formation,*** West Slope is mainly controlled by two slope belts in Qingshankou Formation,with the width of upper slope 12-18 km and the gradient 0.7-0.8 degrees,the width of lower slope 13-15 km and the gradient 1.0 *** West Slope is controlled by a single slope belt in Yaojia Formation,with the lower slope width of 13-16 km and the gradient 0.4 *** relationship between the slope belt,provenance direction and sand body distribution is analyzed,and result shows that the combination of upper and lower slope controls the distribution of reservoir types,and the provenance supply rate controls the scale of sand *** gravity flow develops when the provenance direction is parallel to slope direction,and the slope becomes transporting channel in vertical to provenance *** paleogeomorphology,lake level and provenance direction are the main control factors of sand body in West Slope.

关键词： SL Basin Paleogeomorphology Slope Belt Sedimentary Type

The Application of Pressure Coefficient in Judging Normal Pressure Reservoirs Connectivity—A Case Study of LD21-X and KL3-Xoilfield in Bohai Bay

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Open Journal of Geology 2019年第6期9卷 295-305页

作者： jianmin zhu Chunyuan Shi Xilin Liu Gen Qian Qianping Zhang CNOOC Tianjin Company Tianjin China

Reservoir connectivity is a critical issue in the process of oil-gas exploration and development. According to the theory of fluid mechanics and the achievements of many scholars, a connected reservoir coincides with a unified formation pressure system;there is a linear relationship between formation pressure and depth in normal pressure system reservoir. However, in high-permeability or multi-phase fluid reservoirs, this method has poor applicability and limitations. Through theoretical analysis and formula derivation, a new method for judging the connectivity of normal pressure reservoirs is found, that is, the inverse proportional function relationship between the pressure coefficient and the depth. In this paper, the relationship between the pressure system and the inverse proportional function has been verified. The function of the same pressure system is unique, monotonic, and has unified asymptote and symmetry axis and vice versa. Examples show that the inverse proportional function is more accurate and reliable for judging reservoir connectivity than the linear function.

关键词： Formation Pressure Data Inverse Proportional Function Reservoir Connectivity Bohai Oilfield