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Development of a 3D Printed Bipedal Robot:Towards Humanoid Research Platform to Study Human Musculoskeletal Biomechanics

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Journal of Bionic Engineering 2021年第1期18卷 150-170页

作者： Kunyang Wang lei ren Zhihui Qian Jing Liu Tao Geng Luquan ren Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityChangchtm 130022China School of Mechanical Aerospace and Civil EngineeringUniversity of ManchesterManchesterM139PLUnited Kingdom Department of Design Engineering Middlesex UniversityLondonNW44BTUnited Kingdom

The objective of this study is to develop a bio robot with a high degree of biomechanical fidelity to the human musculoskeletal system in order to investigate the biomechanical principles underlying human *** robot was designed to possess identical biomechanical characteristics to the human body in terms of body segment properties,joint configurations and 3D musculoskeletal *** design parameters were acquired based on the medical images,3D musculoskeletal model and gait measurements of a healthy human *** satistyall the design criteria sinultaneously,metal 3D printing was used to construct the whole-body humanoid *** artificial muscles were fabricated in accordance with the predefined 3D musculoskeletal geometries.A series of physical tests were con-ducted to demonstrate the capacity of the robot *** fabricated robot shows equivalent mechanical characteristics to the human body as originally *** results of the physical tests by systematically changing environmental conditions and body structures have successfully demonstrated the capability of the robot platform to investigate the structure-function interplay in the human musculoskeletal system and also its interaction with the environment during *** robot might provide a valuable and powerful physical platfornm towards studying hunan musculoskeletal biomechanics by generating new hypotheses and revealing new insights into human locomotion science.

关键词： musculoskeletal biomechanics humanoid robots biomchanical fidelity 3D printing human walking

Biomechanical Functions of the Canine Metacarpal and Metatarsal Pads during Locomotion:A Comparative Analysis

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Journal of Bionic Engineering 2020年第3期17卷 580-590页

作者： Huaibin Miao Zhuo Wang Jing Liu Zhihui Qian Luquan ren lei ren Key Laboratory of Bionic Engineerings Ministry of Education Jilin UniversityChangchun 130022China First Hospital of Jilin University Changchun 130021China School of Mechanical Aerospace and Civil EngineeringUniversity of ManchesterManchester M139PLUnited Kingdom

It is generally known that forelimbs and hindlimbs play different roles during locomotion,but the possible differences in the biomechanical functions of the metacarpal pad and metatarsal pad remain *** study combined kinematic and pressure data from dogs to investigate the key roles of the metacarpal and metatarsal *** peak vertical ground reaction force of the metacarpal pad was found to be larger than that of the metatarsal pad,whereas the peak vertical ground reaction force of the fore toes was equal to that of hind toes,and the vertical defonnations of the metacarpal and metatarsal pads were almost equal;moreover,the obtained stiffness of the metacarpal pad was several times greater than that of metatarsal pad based on in vivo measurement *** results showed that the metacarpal pad demonstrated the biomechanical characteristics of cushion and support;however,the support characteristics of the metatarsal pad were ***,magnetic resonance imaging was performed to gather evidence to interpret the various roles played by the metacarpal pad and the metatarsal *** was found that the morphology and volumes of internal adipose tissues were closely related to the functions played by the metapodial pad during movement.

关键词： biomechanical function canine metacarpal pad metatarsal pad internal adipose tissue

Porous garnet as filler of solid polymer electrolytes to enhance the performance of solid-state lithium batteries

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Nano Research 2024年第4期17卷 2663-2670页

作者： Yang Zhang lei Zhang Peng Guo Chaoyan Zhang Xiaochuan ren Zhen Jiang Jianjun Song Chuan Shi College of Physics Qingdao UniversityQingdao 266071China Industrial Research Institute of Nonwovens and Technical Textiles College of Textiles and ClothingQingdao UniversityQingdao 266071China Department of Chemistry University of PennsylvaniaPhiladelphiaPA 19104USA

In order to enhance the ionic conductivity of solid polymer electrolytes(SPEs)and their structural rigidity against lithium dendrite during lithium-ion battery(LIB)cycling,we propose porous garnet Li6.4La3Zr2Al0.2O12(LLZO),as the filler to *** porous LLZO with interlinked grains was synthesized via a resol-assisted cationic coordinative co-assembly *** porous structure of LLZO with high specific surface area facilitates the interaction between polymer and filler and provides sufficient entrance for Li^(+)migration into the LLZO ***,the interconnection of LLZO grains forms continuous inorganic pathways for fast Li^(+)migration,which avoid the multiple diffusion for Li^(+)in *** a result,the SPEs with porous LLZO(SPE-PL)show a high ionic conductive of 0.73 mS·cm^(-1) at 30℃ and lithium-ion transference number of *** porous LLZO with uniformly dispersed pores also acts as an ion distributor to regulate ionic *** lithium-symmetrical batteries assembled with SPE-PL show a highly stable Li plating/stripping cycling for nearly 3000 h at 0.1 mA·cm^(-2).The corresponding Li/LiFePO_(4) batteries also exhibit excellent cyclic performance with capacity retention of 75%after nearly 500 *** work brings new insights into the design of conductive fillers and the optimization of SPEs.

关键词： solid polymer electrolytes lithium metal battery porous conductive filler solid state battery

CAEFusion: A New Convolutional Autoencoder-Based Infrared and Visible Light Image Fusion Algorithm

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Computers, Materials & Continua 2024年第8期80卷 2857-2872页

作者： Chun-Ming Wu Mei-Ling ren Jin lei Zi-Mu Jiang Key Laboratory of Modern Power System Simulation and Control&renewable Energy Technology Ministry of EducationSchool of Electrical EngineeringNortheast Electric Power UniversityJilin132012China School of Electrical Engineering Northeast Electric Power UniversityJilin132012China School of Electronic Information Engineering Bozhou UniversityBozhou236800China

To address the issues of incomplete information,blurred details,loss of details,and insufficient contrast in infrared and visible image fusion,an image fusion algorithm based on a convolutional autoencoder is *** region attention module is meant to extract the background feature map based on the distinct properties of the background feature map and the detail feature map.A multi-scale convolution attention module is suggested to enhance the communication of feature *** the same time,the feature transformation module is introduced to learn more robust feature representations,aiming to preserve the integrity of image *** study uses three available datasets from TNO,FLIR,and NIR to perform thorough quantitative and qualitative trials with five additional *** methods are assessed based on four indicators:information entropy(EN),standard deviation(SD),spatial frequency(SF),and average gradient(AG).Object detection experiments were done on the M3FD dataset to further verify the algorithm’s performance in comparison with five other *** algorithm’s accuracy was evaluated using the mean average precision at a threshold of 0.5(mAP@0.5)*** experimental findings show that CAEFusion performs well in subjective visual and objective evaluation criteria and has promising potential in downstream object detection tasks.

关键词： Image fusion deep learning auto-encoder(AE) infrared visible light

Observation and modeling of tide- and wind-induced surface currents in Galway Bay

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Water Science and Engineering 2015年第4期8卷 345-352页

作者： lei ren Stephen Nash Michael Hartnett Department of Civil Engineering College of Engineering and Informatics National University of Ireland

A high-frequency radar system has been deployed in Galway Bay, a semi-enclosed bay on the west coast of Ireland. The system provides surface currents with fine spatial resolution every hour. Prior to its use for model validation, the accuracy of the radar data was verified through comparison with measurements from acoustic Doppler current profilers （ADCPs） and a good correlation between time series of surface current speeds and directions obtained from radar data and ADCP data. Since Galway Bay is located on the coast of the Atlantic Ocean, it is subject to relatively windy conditions, and surface currents are therefore strongly wind-driven. With a view to assimilating the radar data for forecasting purposes, a three-dimensional numerical model of Galway Bay, the Environmental Fluid Dynamics Code （EFDC）, was developed based on a terrain-following vertical （sigma） coordinate system. This study shows that the performance and accuracy of the numerical model, particularly with regard to tide- and wind-induced surface currents, are sensitive to the vertical layer structure. Results of five models with different layer structures are presented and compared with radar measurements. A variable vertical structure with thin layers at the bottom and the surface and thicker layers in the middle of the water column was found to be the optimal layer structure for reproduction of tideand wind-induced surface currents. This structure ensures that wind shear can properly propagate from the surface layer to the sub-surface layers, thereby ensuring that wind forcing is not overdamped by tidal forcing. The vertical layer structure affects not only the velocities at the surface layer but also the velocities further down in the water column.

关键词： Wind-induced surface current Vertical layer structure High-frequency radar Coastal ocean dynamics application radar Environmental fluid dynamicscode Galway Bay

A Phase-Dependent Hypothesis for Locomotor Functions of Human Foot Complex

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Journal of Bionic Engineering 2008年第3期5卷 175-180页

作者： lei ren David Howard Lu-quan ren Chris Nester Li-mei Tian School of Physical Science and Engineering King＇s College of London University of London London WC2R 2LS UK Centre for Rehabilitation and Human Performance Research University of Salford Salford M5 4 WT UK Key Laboratory for Terrain-Machine Bionics Engineering Jilin University Changchun 130022 P R. China

The human foot is a very complex structure comprising numerous bones, muscles, ligaments and synovial joints. As the only component in contact with the ground, the foot complex delivers a variety of biomechanical functions during human locomotion, e.g. body support and propulsion, stability maintenance and impact absorption. These need the human foot to be rigid and damped to transmit ground reaction forces to the upper body and maintain body stability, and also to be compliant and resilient to moderate risky impacts and save energy. How does the human foot achieve these apparent conflicting functions？ In this study, we propose a phase-dependent hypothesis for the overall locomotor functions of the human foot complex based on in-vivo measurements of human natural gait and simulation results of a mathematical foot model. We propse that foot functions are highly dependent on gait phase, which is a major characteristics of human locomotion. In early stance just after heel strike, the foot mainly works as a shock absorber by moderating high impacts using the viscouselastic heel pad in both vertical and horizontal directions. In mid-stance phase （-80% of stance phase）, the foot complex can be considered as a springy rocker, reserving external mechanical work using the foot arch whilst moving ground contact point forward along a curved path to maintain body stability. In late stance after heel off, the foot complex mainly serves as a force modulator like a gear box, modulating effective mechanical advantages of ankle plantiflexor muscles using metatarsal-phalangeal joints. A sound under- standing of how diverse functions are implemented in a simple foot segment during human locomotion might be useful to gain insight into the overall foot locomotor functions and hence to facilitate clinical diagnosis, rehabilitation product design and humanoid robot development.

关键词： biomechanics human foot locomotion rollover model shock absorber spring phase-dependent

Unmanned Ship Identification Based on Improved YOLOv8s Algorithm

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Computers, Materials & Continua 2024年第3期78卷 3071-3088页

作者： Chun-Ming Wu Jin lei Wu-Kai Liu Mei-Ling ren Ling-Li Ran Key Laboratory of Modern Power System Simulation and Control&renewable Energy Technology School of Electrical EngineeringNortheast Electric Power UniversityJilin132012China School of Biomedical Engineering Taiyuan University of TechnologyTaiyuan030600China

Aiming at defects such as low contrast in infrared ship images,uneven distribution of ship size,and lack of texture details,which will lead to unmanned ship leakage misdetection and slow detection,this paper proposes an infrared ship detection model based on the improved YOLOv8 algorithm(R_YOLO).The algorithm incorporates the Efficient Multi-Scale Attention mechanism(EMA),the efficient Reparameterized Generalized-feature extraction module(CSPStage),the small target detection header,the Repulsion Loss function,and the context aggregation block(CABlock),which are designed to improve the model’s ability to detect targets at multiple scales and the speed of model *** algorithm is validated in detail on two vessel *** comprehensive experimental results demonstrate that,in the infrared dataset,the YOLOv8s algorithm exhibits improvements in various performance ***,compared to the baseline algorithm,there is a 3.1%increase in mean average precision at a threshold of 0.5(mAP(0.5)),a 5.4%increase in recall rate,and a 2.2%increase in mAP(0.5:0.95).Simultaneously,while less than 5 times parameters,the mAP(0.5)and frames per second(FPS)exhibit an increase of 1.7%and more than 3 times,respectively,compared to the CAA_YOLO ***,the evaluation indexes on the visible light data set have shown an average improvement of 4.5%.

关键词： Unmanned ships R_YOLO EMA CSPStage YOLOv8s

Internal electric field modulation by copper vacancy concentration of cuprous sulfide nanosheets for enhanced selective CO_(2) photoreduction

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Journal of Energy Chemistry 2024年第4期91卷 324-330页

作者： Xian Shi Weidong Dai Xiaoqian Li Yang Bai Qin ren Yao lei Xing'an Dong School of Chemistry and Environmental Engineering Sichuan University of Science&EngineeringZigong 643000SichuanChina State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation School of Oil&Natural Gas EngineeringSouthwest Petroleum UniversityChengdu 610500SichuanChina Chongqing Key Laboratory of Photo-Electric Functional Materials College of Physics and Electronic EngineeringChongqing Normal UniversityChongqing 401331SichuanChina Research Center for Environmental and Energy Catalysis Institute of Fundamental and Frontier SciencesUniversity of Electronic Science and Technology of ChinaChengdu 611731SichuanChina

Although the internal electric field(IEF)of photocatalysts is acknowledged as a potent driving force for photocharge separation,modulating the IEF intensity to achieve enhanced photocatalytic performances remains a ***,cuprous sulfide nanosheets with different Cu vacancy concentration were employed to study IEF modulation and corresponding direct charge *** the samples,Cu_(1.8)S nanosheets possessed intensified IEF intensity compared with those of Cu_(2)S and Cu_(1.95)S nanosheets,suggesting that an enhanced IEF intensity could be achieved by introducing more Cu *** intensified IEF of Cu_(1.8)S nanosheets induced numerous photogenerated electrons to migrate to its surface,and the dissociative electrons were then captured by Cu vacancies,resulting in efficient charge separation *** addition,the Cu vacancies on Cu_(1.8)S nanosheets accumulated electrons as active sites to lower the energy barrier of rate-determining step of CO_(2)photoreduction,leading to the selective conversion of CO_(2)to ***,the manipulation of IEF intensity through Cu vacancy concentration regulation of cuprous sulfide photocatalysts for efficient charge separation has been discussed,providing a scientific strategy to rationally improve photocata lytic performances for solar energy conversion.

关键词： Internal electric field intensity Cuprous sulfide photocatalysts Cu vacancies Charge separation Selective CO_(2) photoreduction

C1QTNF5 is a novel attachment factor that facilitates the entry of influenza A virus

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Virologica Sinica 2024年第2期39卷 277-289页

作者： lei Yu Xinjin Liu Xiaoqin Wei Junrui ren Xueyun Wang Shuwen Wu Ke Lan State Key Laboratory of Virology Medical Research InstituteCollege of Life SciencesWuhan UniversityWuhan430072China Frontier Science Center for Immunology and Metabolism Wuhan UniversityWuhan430072China Taikang Center for Life and Medical Sciences Wuhan UniversityWuhan430072China

Influenza A virus(IAV)binds sialic acid receptors on the cell surface to enter the host cells,which is the key step in initiating infection,transmission and *** the factors that contribute to the highly efficient entry of IAV into human cells will help elucidate the mechanism of viral entry and pathogenicity,and provide new targets for *** the present study,we reported a novel membrane protein,C1QTNF5,which binds to the hemagglutinin protein of IAV and promotes IAV infection in vitro and in *** found that the HA1 region of IAV hemagglutinin is critical for the interaction with C1QTNF5 protein,and C1QTNF5 interacts with hemagglutinin mainly through its N-terminus(1–103 aa).In addition,we further demonstrated that overexpression of C1QTNF5 promotes IAV entry,while blocking the interaction between C1QTNF5 and IAV hemagglutinin greatly inhibits viral ***,C1QTNF5 does not function as a receptor to mediate IAV infection in sialic acid-deficient CHO-Lec2 cells,but promotes IAV to attach to these cells,suggesting that C1QTNF5 is an important attachment factor for *** work reveals C1QTNF5 as a novel IAV attachment factor and provides a new perspective for antiviral strategies.

关键词： C1QTNF5 Influenza A virus Viral entry Hemagglutinin Attachment factor