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Leader-follower: Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua zhang Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of Technology The Learning Algorithms and Systems Laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(SuperLimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–SuperLimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the SuperLimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between SuperLimb, humans, and the environment under human safety assurance. First, the human–SuperLimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–SuperLimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and SuperLimb could well understand the wearer's intentions to switch different SuperLimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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High-temperature oxidation behavior and degradation mechanism of chromium-coated zirconium alloy cladding: a review

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Tungsten 2025年第1期 50-70页

作者： Yi Li Bei-Qi Wang Xin-Yin zhang Shi-jie Wang Cong-Yi Li Hui-long Yang Ran-Ran Su Tong Liu School of Mechanical Engineering Shanghai Jiao Tong University College and Graduate School of Arts and Sciences University of Virginia Global Institute of Future Technology Shanghai Jiao Tong University

Accident-tolerant fuels(ATF) have been extensively studied to reduce the production rate and total amount of heat and hydrogen generated from high-temperature steam oxidation during severe ***-coated zirconium alloy cladding has become one of the most promising candidates for ATF because of its excellent corrosion and oxidation *** paper provides a comprehensive overview of the research progress on oxidation behaviors and degradation mechanisms in chromium-coated zirconium alloy cladding under high-temperature *** techniques to strengthen the oxidation resistance are highlighted and ***,challenges and opportunities for various future directions are addressed.

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Rotor airfoil aerodynamic design method and wind tunnel test verification

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Chinese Journal of Aeronautics 2020年第8期33卷 2123-2132页

作者： Weiguo zhang Junfeng SUN Liangquan WANG jie WU long HE School of Aeronautics Northwestern Polytechnical UniversityXi'an 710000China Computational Aerodynamics Institute China Aerodynamics Research and Development CenterMianyang 621000China Low Speed Aerodynamics Institute China Aerodynamics Research and Development CenterMianyang 621000China

Well-designed airfoil is very important for high-performance *** paper developed an efficient multi-objective and multi-constraint optimization design system for rotor airfoils based on RANS analysis,and verified the performance of the optimized *** CRA09-A as the baseline rotor airfoil,the CRA09-B optimized rotor airfoil was designed *** with the foundation of high-precision rotor airfoil stationary test technology,the CRA09-B and CRA09-A rotor airfoils were tested in the S3 MA high-speed wind tunnel of *** order to correct the aerodynamic data,a single parameter linear wall pressure method is used to consider the tunnel *** results indicate that multi-objective and multi-constraint optimization design method developed in this study is reliable,and that CRA09-B optimized airfoil provides better stationary performance than CRA09-A airfoil in terms of maximum lift coefficient and lift-to-drag ratio.

关键词： Airfoil design CRA09 airfoil Optimization method Rotor Wind tunnel test

A class of transient acceleration models consistent with Big Bang cosmology

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Research in Astronomy and Astrophysics 2014年第2期14卷 129-138页

作者： Tian-long Zu jie-Wen Chen Yang zhang Key Laboratory for Researches in Galaxies and Cosmology Department of AstronomyUniversity of Science and Technology of China

Is it possible that the current cosmic accelerating expansion will turn into a decelerating one？ Can this transition be realized by some viable theoretical model that is consistent with the standard Big Bang cosmology？ We study a class of phenomeno- logical models with a transient acceleration, based on a dynamical dark energy with a very general form of equation of state Pde = αPde -- βpdem. It mimics the cosmolog- ical constant αde → const for a small scale factor a, and behaves as a barotropic gas with pde → α-3（α＋1） with α 〉 0 for large a. The cosmic evolution of four models in the class has been examined in detail, and all yield a smooth transient acceleration. Depending on the specific model, the future universe may be dominated by either dark energy or by matter. In two models, the dynamical dark energy can be explicitly real- ized by a scalar field with an analytical potential V（O）. Moreover, a statistical analysis shows that the models can be as robust as ACDM in confronting the observational data of Type Ia supernovae, cosmic microwave background （CMB） and baryon acoustic os- cillation. As improvements over previous studies, our models overcome the problem of over-abundance of dark energy during early eras, and satisfy the constraints on dark energy from WMAP observations of CMB.

关键词： cosmology: theory -- methods: analytical

Review of nanostructured current collectors in lithium-sulfur batteries

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Nano Research 2017年第12期10卷 4027-4054页

作者： long Kong Hong-jie Peng Jia-Qi Huang Qiang zhang Beijing Key Laboratory of Green Chemical Reaction Engineering and Technology Department of Chemical Engineering Tsinghua University Beijing 100084 China

Lithium-sulfur （Li-S） batteries are receiving increasing attention because of their high theoretical energy density and the natural abundance of S. However, their practical applications are impeded by the low areal S loading in the cathode and the fatal Li dendrites in the anode of the Li-S cells, which yield an inferior practical energy density and introduce safety concerns, respectively. In this review, we focus on an emerging approach--the nanostructured current collector--to overcome these two critical challenges for Li-S batteries. We describe the general attributes of nanostructured current collectors and examine how these attributes enhance the S utilization with a high S loading and suppress the Li dendrites by regulating the Li-deposition behavior. We present various assembly blocks that have been used for the construction of advanced nanostructured current collectors to build better S cathodes and Li anodes. Finally, we investigate the current challenges and possible solutions regarding the practical applications of nanostructured current collectors in Li-S batteries.

关键词： Li-S batteries nanostructured currentcollectors Li metal anode graphene C nanotubes composite cathode

Micro shape of coal particle and crushing energy

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International Journal of Mining Science and Technology 2018年第6期28卷 1009-1014页

作者： Jiayuan Luo Gun Huang long zhang Fei Huang jie Zheng State Key Laboratory of Coal Mine Disaster Dynamics and Control Chongqing UniversityChongqing 400030China College of Resource and Environmental Science Chongqing UniversityChongqing 400030China Liu Panshui Administration of Work Safety of Gui Zhou Province Liu Panshui 553001China

A large amount of energy is consumed in a coal and gas outburst since a mass of coal is pulverized and ejected, accompanying a great quantity of gas emitted, resulting in a major mining hazard in underground coal mining around the world. Understanding how potential energy stored in gassy coal seams dissipates in the process of outbursting may possibly be a key to clarify the mechanisms responsible for coal and gas outburst. The present study was aimed to evaluate energy for crushing coal to various size fractions in coal and gas outbursts through theoretical and experimental investigation into the shape of fine coal particles and their equivalent diameter. Theoretical analysis indicates that the shape of a particle has a significant impact both on its equivalent diameter and hence on its outer surface *** observations demonstrate the particle fraction with diameters less than 0.075 mm, produced from crushing coal samples, mostly takes on a spherical or ellipsoidal shape, and experimental data also show this part of particles consists of 30%–50% surface area newly generated from crushing operation,though these fine coal accounts for only less than ten percentages by weight. Further, analysis of experimental data indicates that the total surface area of this particle size fraction varies exponentially with input crushing energy, and the specific area energy is not a constant but probably in association with physical properties and textures of material.

关键词： Coal and gas outburst Coal breakage New surface area Shape of a fine particle Crushing energy

The Effect of Blending Ratio on the Structure and Properties of the PPR/PS In situ Fiber Reinforced System Prepared by Multi-Flow Vibration Injection Molding

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Chinese Journal of Polymer Science 2024年第6期42卷 851-863页

作者： Yan-Jiang Li Meng-long Hu Jun-Wen zhang Qiang Fu jie zhang College of Polymer Science and Engineering State Key Laboratory of Polymer Materials EngineeringSichuan UniversityChengdu610065China

To enhance the mechanical properties of polypropylene random copolymer(PPR),polystyrene(PS)with four different contents were added to the PPR matrix through melt ***,using the Multi-Flow Vibration Injection Molding(MFVIM)technology,PPR/PS in situ microfiber composites(MFC)with different blending ratios were *** results indicated that blending ratio had a great impact on the phase morphology and crystal structure of MFVIM samples,which was different from those of conventional injection molding(CIM)*** ultrafine fibers could be formed under the shear field and could absorb the PPR molecular chains to form hybrid shish-kebab ***,the PPR matrix could also form shish-kebab structures under the effect of strong *** the PS content reached 20%,under the combined action of PS in situ microfibers and highly oriented crystal structure,the tensile strength and Young’s modulus of the sample were obviously improved and the impact strength remained at a relatively high *** a strong and tough balanced PPR based material was *** results provide valuable insights for expanding the industrial and daily-life applications of PPR and show promising development prospects.

关键词： PPR MFVIM In situ microfibers Shearfield Hybrid shish-kebab structures

Non-extensive statistical distributions of charmed meson production in Pb-Pb and pp(p)collisions

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Nuclear Science and Techniques 2021年第10期32卷 79-87页

作者： Yuan Su Yong-jie Sun Yi-Fei zhang Xiao-long Chen State Key Laboratory of Particle Detection and Electronics University of Science and Technology of ChinaHefei 230026China Department of Modern Physics University of Science and Technology of ChinaHefei 230026China

The mid-rapidity transverse momentum spectra of charmed mesons in Pb–Pb and pp(p)collisions are analyzed using the Tsallis–Pareto distribution derived from non-extensive *** provide uniform descriptions of both small and large systems over a wide range of collision energies and hadron transverse *** establishing the relationship between the event multiplicity and Tsallis parameters,we observe that there is a signifi-cant linear relationship between the thermal temperature and Tsallis q parameter in Pb–Pb collisions at √sNN=2.76 TeV and 5.02 ***,the slope of the T–(q-1)parameter plot is positively correlated with the hadron *** addition,charmed mesons have a higher thermal temperature than light hadrons at the same q-1,indicat-ing that the charm flavor requires a higher temperature to reach the same degree of non-extensivity as light flavors in heavy-ion *** same fit is applied to the trans-verse momentum spectra of charmed mesons in pp(p)collisions over a large energy range using the Tsallis–Pareto *** is found that the thermal temperature increases with system energy,whereas the q parameter becomes saturated at the pp(p)limit,q-1=0.142±*** addition,the results of most peripheral Pb–Pb collisions are found to approach the pp(p)limit,which suggests that more peripheral heavy-ion collisions are less affected by the medium and more similar to pp(p)collisions.

关键词： Charmed meson Non-extensive statistics Tsallis-Pareto distribution QGP Heavy-ion collision

Dielectric-ion-conductive ZnNb2O6 layer enabling rapid desolvation and diffusion for dendrite-free Zn metal batteries

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Journal of Energy Chemistry 2025年第1期100卷 693-701页

作者： Haifeng Yang Jian Wang Panpan zhang Xiaomin Cheng Qinghua Guan Jing Dong Bixian Chen Lujie Jia Jing zhang Yongzheng zhang Yunjian Liu Hongzhen Lin School of Materials Science and Engineering Jiangsu University i-Lab & CAS Key Laboratory of Nanophotonic Materials and Devices Suzhou Institute of Nano-Tech and Nano-Bionics Chinese Academy of Sciences Helmholtz Institute Ulm (HIU) Karlsruhe Institute of Technology (KIT) School of Materials Science and Engineering Xi'an University of Technology State Key Laboratory of Chemical Engineering East China University of Science and Technology

Rechargeable aqueous zinc-metal batteries （AZMBs） are promising candidates for large-scale energy storage systems due to their low cost and high ***,their performance and sustainability are significantly hindered by the sluggish desolvation kinetics at the electrode/electrolyte interface and the corresponding hydrogen evolution reaction where active water molecules tightly participate in the Zn（H2O）62+solvation ***,learnt from self-generated solid electrolyte interphase （SEI） in anodes,the dielectric but ion-conductive zinc niobate nanoparticles artificial layer is constructed on metallic Zn surface （ZNB@Zn）,acting as a rapid desolvation *** zincophilic and dielectric-conductive properties of ZNB layer accelerate interfacial desolvation/diffusion and suppress surface corrosion or dendrite formation,achieving uniform Zn plating/stripping behavior,as confirmed by electronic/optical microscopies and interface spectroscopical measurements together with theoretical ***,the as-prepared ZNB@Zn electrode exhibits excellent cycling stability of over 2000 h and robust reversibility （99.54%） even under high current density and depth of discharge ***,the assembled ZNB@Zn-based full cell displays high capacity-retention rate of 80.21%after 3000 cycles at 5 A g-1and outstanding rate performance up to 10 A *** large-areal pouch cell is stabilized for hundreds of cycles,highlighting the bright prospects of the dielectric but ion-conductive layer in further application of AZMBs.

关键词： Zn metal battery Dielectric artificial layer Rapid ion diffusion Zincophilic diffusion Active water inhibition