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Adaptive admittance tracking control for interactive robot with prescribed performance

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Journal of Systems Engineering and Electronics 2024年第2期35卷 444-450页

作者： MENG Qingrui lin yan school of Automation Science and Electrical Engineering Beihang UniversityBeijing 100190China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

关键词： prescribed performance admittance control adaptive control robots

Flexible Crystal Heterojunctions of Low-Dimensional Organic Metal Halides Enabling Color-Tunable Space-Resolved Optical Waveguides

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Research 2024年第3期6卷 293-304页

作者： Yuhang lin Shuya Liu Dongpeng yan beijing Key Laboratory of Energy Conversion and Storage Materials and Key Laboratory of RadiopharmaceuticalsMinistry of EducationCollege of ChemistryBeijing Normal UniversityBeijing 100875China.

Molecular luminescent materials with optical waveguide have wide application prospects in light-emitting diodes, sensors, and logic gates. However, the majority of traditional optical waveguide systems are based on brittle molecular crystals, which limited the fabrication, transportation, storage, and adaptation of flexible devices under diverse application situations. To date, the design and synthesis of photofunctional materials with high flexibility, novel optical waveguide, and multi-port color-tunable emission in the same solid-state system remain an open challenge. Here, we have constructed new types of zero-dimensional organic metal halides (Au-4-dimethylaminopyridine [DMAP] and In-DMAP) with a rarely high elasticity and rather low loss coefficients for optical waveguide. Theoretical calculations on the intermolecular interactions showed that the high elasticity of 2.molecular crystalline materials was original from their herringbone structure and slip plane. Based on one-dimensional flexible microrods of 2.crystals and the 2.dimensional microplate of the Mn-DMAP, heterojunctions with multi-color and space-resolved optical waveguides have been fabricated. The formation mechanism of heterojunctions is based on the surface selective growth on account of the low lattice mismatch ratio between contacting crystal planes. Therefore, this work describes the first attempt to the design of metal-halide-based crystal heterojunctions with high flexibility and optical waveguide, expanding the prospects of traditional luminescent materials for smart optical devices, such as logic gates and multiplexers.

关键词： waveguide Crystal elasticity

Two-dimensional and absolutely entanglement-breaking subspaces

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Communications in Theoretical Physics 2024年第9期76卷 21-26页

作者： Jian yan lin Chen LMIB(Beihang University) Ministry of Educationand School of Mathematical SciencesBeihang UniversityBeijing 100191China International Research Institute for Multidisciplinary Science Beihang UniversityBeijing 100191China

Entanglement-breaking(EB)subspaces determine the additivity of entanglement of formation(EOF),which is a long-standing issue in quantum *** explicitly construct the twodimensional EB subspaces of any bipartite system,when system dimensions are equal,and we apply the subspaces to construct EB spaces of arbitrary *** also present partial construction when system dimensions are ***,we present the notion and properties of EB subspaces for some systems,and in particular the absolute EB *** construct some examples of absolute EB subspaces,as well as EB subspaces for some systems by using multiqubit Dicke states.

关键词： entanglement-breaking subspaces entanglement of formation absolutely EB subspaces entanglement cost additivity

Development and application of ergodicity model with FRCM and FLAR for hydrological process

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Science china(Technological sciences) 2009年第2期52卷 379-386页

作者： WANG HongRui1, FENG QiLei2. lin Xin3 & ZENG WenYi4 1 College of Water Science, Key Laboratory for Water and Sediment sciences of the Ministry of Education, {2. Normal University,{2., china 2.school of Science, {2. Institute of Education, {2. 100011, china 3 school of mathematical sciences, {2. Normal University,{2., china 4 College of Information Science and Technology, {2. Normal University,{2., china 1. College of Water Science Key Laboratory for Water and Sediment Sciences of the Ministry of Education Beijing Normal University Beijing 100875 China 2. school of Science Beijing Institute of Education Beijing 100011 China 3. school of mathematical {2. Beijing Normal University Beijing 100875 China 4. College of Information Science and Technology Beijing Normal University Beijing 100875 China

In this paper, a new ergodic property analysis model of hydrological process is proposed based on fuzzy-rough c-means clustering (FRCM), autocorrelogram, and fuzzy least absolute regression (FLAR). A precipitation time series (1951―2.04) from Shanghai Hydrology Station is then analyzed with the model. The results show that the precipitation time series of April, May, June, and September has er-godic property. We conclude that in the long run, the precipitation of April, May, June, and September will not keep decreasing; it will converge to its mean value in some period.

关键词： hydrological process ergodic autocorrelogram fuzzy-rough c-means clustering fuzzy least absolute regression

Implications of the Stellar Mass Density of High-z Massive Galaxies from JWST on Warm Dark Matter

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Research in Astronomy and Astrophysics 2024年第1期24卷 128-134页

作者： Hengjie lin yan Gong Bin Yue Xuelei Chen National Astronomical Observatories Chinese Academy of SciencesBeijing 100101China University of Chinese Academy of sciences Beijing 100049China Science Center for china Space Station Telescope National Astronomical ObservatoriesChinese Academy of SciencesBeijing 100101China Department of Physics College of SciencesNortheastern UniversityShenyang 110819China Center for High Energy Physics Peking UniversityBeijing 100871China

A significant excess of the stellar mass density at high redshift has been discovered from the early data release of James Webb Space Telescope(JWST),and it may require a high star formation ***,this will lead to large number density of ionizing photons in the epoch of reionization(EoR),so that the reionization history will be changed,which can arise tension with the current EoR *** dark matter(WDM),via the free streaming effect,can suppress the formation of small-scale structure as well as low-mass *** provides an effective way to decrease the ionizing photons when considering a large star formation efficiency in high-z massive galaxies without altering the cosmic reionization *** the other hand,the constraints on the properties of WDM can be derived from the JWST *** this work,we study WDM as a possible solution to reconcile the JWST stellar mass density of high-z massive galaxies and reionization *** find that,the JWST high-z comoving cumulative stellar mass density alone has no significant preference for either CDM or WDM *** using the observational data of other stellar mass density measurements and reionization history,we obtain that the WDM particle mass with mw=0.51_(-0.12.^(+0.2.) keV and star formation efficiency parameter f_(*)^(0)> 0.39 in 2. confidence level can match both the JWST high-z comoving cumulative stellar mass density and the reionization history.

关键词： Cosmology (cosmology:)dark matter (cosmology:)large-scale structure of universe

Hydrothermal hydrogenation/deoxygenation of palmitic acid to alkanes over Ni/activated carbon catalyst

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Chinese Journal of Chemical Engineering 2024年第2期66卷 8-18页

作者： Min lin Yuhao yan Xiaoxian Li Rui Li Yulong Wu MOE Engineering Center of Forestry Biomass Materials and Bioenergy Beijing Forestry UniversityBeijing 100083China Institute of Nuclear and New Energy Technology Tsinghua UniversityBeijing 100084China Key Laboratory of Advanced Reactor Engineering and Safety of Ministry of Education Tsinghua UniversityBeijing 100084China

To produce paraffin from hydrogenation/deoxygenation of palmitic acid,model compound of bio-oil obtained by hydrothermal liquefaction(HTL)of microalgae has been an attractive focus in recent *** order to avoid energy-intensive separation process of water and bio-oil,it is of importance that deoxygenation upgrading of fatty acids under hydrothermal conditions similar to HTL ***,it is the first time to explore the application of activated carbon(AC)-supported non-noble-metal catalysts,such as Ni,Co,and Mo,and so on,in the hydrothermal hydrogenation/deoxygenation of long-chain fatty acids,and the obtained Ni/AC-H(the Ni/AC was further H_(2.pre-reduced)is one of the best *** addition,it is found that the catalytic activity can be further improved by H_(2.pre-reduction of *** results that are more low valences of nickel and oxygen vacancy can be obtained after H_(2.pre-reduction,thus significant promoting the deoxygenation especially the decarbonylation pathway of fatty *** total alkanes yield can reaches 95.9%at optimal conditions(2.0℃,360 min).This work confirmed that the low-priced AC-supported non-noble-metal catalysts have great potential compared with the noble-metal catalyst,in hydrothermal upgrading of bio-oil.

关键词： Bio-oil Fatty acids Deoxygenation Hydrothermal upgrading

Precontrol of short-period motion for a Tension Leg Platform

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Journal of Ocean Engineering and Science 2024年第3期9卷 264-277页

作者： Hao Wu yan lin Yongxi Wu school of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444China Department of Naval Architecture Dalian University of TechnologyDalian 116023China State Key Laboratory of Structural Analysis for Industrial Equipment Dalian University of TechnologyDalian 116023China school of Mechanics and Engineering Science Shanghai UniversityShanghai 200444China

The Tension Leg Platform(TLP)is a hybrid,compliant platform designed to sustain springing and ringing responses that are correlated to short-period *** the period of short-period motion is within the wave energy concentration region,TLPs may experience sensitive short-period motion,such as resonance and green water,that usually cause serious damage to *** this study,a precontrol methodology is presented as a solution to prevent TLP-sensitive short-period *** applying the precontrol methodology,the parameters of TLP can be predetermined,allowing TLP motion performance to meet the requirements of short-period motion before sensitive motions actually *** example,the damping coefficient should be less than 4.3,the tendons’stiffness should be larger than 0.91×10^(8),and the dimensionless draft should be less than *** development of a precontrol methodology is based on a solid theoretical ***,a series of simple and high-fidelity numerical models are proposed to simulate the natural period of roll,natural period of heave,and green water ***,a constraint regime is generated based on the numerical models and the sensitive motion range of short-period *** constraint regime is divided into two parts:the control range(corresponding to sensitive shortperiod motion)and the feasible range(the complementary set of control ranges in the whole parameter constraint domain).Finally,TLP parameters are derived from the calculated feasible *** precontrol methodology goes beyond the conventional approach of real-time control by changing the control from a remedial action to a preventive action.

关键词： Precontrol Constraint regime Short-period motion TLP

Activation of leukotriene B_(4)receptor 1 is a prerequisite for complement receptor 3-mediated antifungal responses of neutrophils

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Cellular & Molecular Immunology 2024年第3期21卷 245-259页

作者： yan Xin Sihan Xiong linghong Zhou Xin lin Institute for Immunology and school of Medicine Tsinghua University100084BeijingChina Tsinghua University-Peking University Center for Life sciences 100084BeijingChina Department of Infectious Diseases Shanghai Key Laboratory of Infectious Diseases and Biosafety Emergency ResponseNational Medical Center for Infectious DiseasesHuashan HospitalFudan UniversityShanghai200040China

Invasive fungal infections are life-threatening,and neutrophils are vital cells of the innate immune system that defend against *** role of LTA4H-LTB_(4)-BLT1 axis in regulation of neutrophil responses to fungal infection remains poorly ***,we demonstrated that the LTA4H-LTB_(4)-BLT1 axis protects the host against Candida albicans and Aspergillus fumigatus,but not Cryptococcus neoformans infection,by regulating the antifungal activity of *** results show that deleting Lta4h or Blt1 substantially impairs the fungal-specific phagocytic capacity of ***,defective activation of the spleen tyrosine kinase(Syk)and extracellular signal-related kinase(ERK1/2.pathways in neutrophils accompanies this ***,BLT1 regulates CR3-mediated,β-1,3-glucan-induced neutrophil phagocytosis,while a physical interaction with CR3 with slight influence on its dynamics is *** findings thus demonstrate that the LTA4H-LTB_(4)-BLT1 axis is essential for the phagocytic function of neutrophils in host antifungal immune response against Candida albicans and Aspergillus fumigatus.

关键词： LTA4H BLT1 Phagocytosis Complement receptor 3 Fungi

Switched-capacitor Based Seven-level Boost Inverter with a Reduced Number of Devices

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 381-391页

作者： Weijie lin Jun Zeng Bo Fu Zhixing yan Junfeng Liu school of Electric Power Engineering South China University of TechnologyGuangzhou 510641China WISDRI Engineering&Research Incorporation Limited Wuhan 430074China Department of Energy Aalborg UniversityAalborg 9220Denmark school of Automation Science and Engineering South China University of TechnologyGuangzhou 510641China

The conventional multilevel inverters(MLIs)have the disadvantages of numerous devices,incapacity of boost,unbalance for capacitor’s voltage,high complexity for control,and *** by this issue,a seven-level boost inverter(7LBI)based on a switched capacitor is presented for singlephase applications in this *** proposed 7LBI using only seven transistors can achieve seven output levels,1.5 voltage gain,and natural balance of capacitors’voltages without sensors or other auxiliary methods,which illustrates its suitability for the applications of renewable energy *** configuration of topology and operating principles are illustrated in *** natural balance of capacitors and capacitance calculations are deduced as ***,the comparative study is conducted for different types of *** results illustrate the merits of the proposed 7LBI with respect to reduced devices,lower voltage stress,and less power ***,a simulation for the proposed 7LBI with PWM modulation is realized based on the theoretical analysis;an experimental prototype is also implemented,verifying multilevel output,boost ability,natural balance for switched capacitors,and performance of transient response.

关键词： Multilevel inverters voltage gain natural balance renewable energy generation reduced number of elements