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Dynamic motion of quadrupedal robots on challenging terrain:a kinodynamic optimization approach

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Frontiers of Mechanical Engineering 2024年第3期19卷 23-40页

作者： Qi li Lei ding Xin LUO Engineering Research Center of Hubei Province for Clothing Information Wuhan 430200China School of Computer Science and Artificial Intelligence Wuhan Textile UniversityWuhan 430200China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular ***,conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain *** resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion *** this paper,a kinodynamic optimization approach is *** generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain,we formulate motion planning as an optimization problem;jointly treat the foot’s locations,contact forces,and torso motions as decision variables;combine smooth motion and minimal energy consumption as the objective function;and explicitly represent feasible foothold region and friction constraints based on terrain *** track the generated motions accurately and stably,we employ a whole-body controller to compute reference position and velocity commands,which are fed forward to joint controllers of the robot’s *** verify the effectiveness of the developed approach through simulation and on a physical quadruped robot *** show that the quadruped robot can successfully traverse a 30°slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关键词： quadrupedal robot kinodynamic planning nonlinear optimization challenging terrain whole-body control

Targeted nanostrategies eliminate pre-metastatic niche of cancer

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Nano Research 2024年第6期17卷 5358-5373页

作者： Juan Wang Ning Zhang Xiuping ding Chengrui Fu Xiaodong li Baosheng li Jianxun ding Tianmeng Sun Key Laboratory of Organ Regeneration and Transplantation of Ministry of Education Institute of ImmunologyThe First HospitalJilin University1 Xinmin StreetChangchun 130061China Key Laboratory of Polymer Ecomaterials Changchun Institute of Applied ChemistryChinese Academy of Sciences5625 Renmin StreetChangchun 130022China Department of Radiation Oncology Shandong Cancer Hospital and InstituteShandong First Medical University and Shandong Academy of Medical Sciences440 Jiyan RoadJinan 250117China Department of orthopaedics The Second Hospital of Shandong UniversityShandong University247 Beiyuan StreetJinan 250033China State Key Laboratory of Molecular Engineering of Polymers Fudan University220 Handan RoadShanghai 200433China

Establishing a pre-metastatic niche(PMN)in secondary organs is a prerequisite for cancer *** advances in cancer therapy,the efficient inhibition of PMN formation remains a clinical *** advances in understanding the specific characteristics of PMN and advances in nanotechnology have provided hope for manipulating their microenvironments.A series of nanostrategies have been designed to eliminate the PMN,including the removal of pro-metastatic exosomes from the bloodstream for excretion via the intestines,the targeting and scavenging of myeloid-derived suppressor cells,fibroblasts,and critical extracellular matrix components,and the elimination of circulating tumor cells prior to colonization in distant *** review summarizes the underlying mechanisms of PMN formation,highlights the anti-PMN efficacy of currently reported nanostrategies,and underlines the unresolved questions.

关键词： nanoparticle controlled drug delivery pre-metastatic niche elimination metastasis suppression cancer therapy

Perception of fundamental science to boost lithium metal anodes toward practical application

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Green Energy & Environment 2024年第3期9卷 454-472页

作者： Jinkun Wang li Wang Hong Xu li sheng Xiangming He Institute of Nuclear and New Energy Technology Tsinghua UniversityBeijing100084China

As a key material for lithium metal batteries(LMBs),lithium metal is one of the most promising anode materials to break the bottleneck of battery energy density and a commonly used active material for reference *** lithium anodes are regarded as the holy grail of lithium batteries,decades of exploration have not led to the successful commercialization of LMBs,due mainly to the challenges related to the inherent properties of lithium *** pave the way for further investigation,herein,a comprehensive review focusing on the fundamental science of lithium are ***,the natures of lithium atoms and their isotopes,lithium clusters and lithium crystals are revisited,especially their structural and energetic ***,the electrochemical properties of lithium metal are *** important concepts and scientific questions,including the electronic structure of lithium,influence of high pressure and low temperature on the properties of lithium,factors influencing lithium deposition,generation of lithium dendrites,and electrode potential of lithium in different electrolytes,are explained and analyzed in *** to improve the performance of lithium anodes and thoughtfulness about the electrode potential in lithium battery research are proposed.

关键词： lithium Cluster Crystal Physicochemical property Fundamental science

Preparation of calcium carbonate with microstructure and nanostructure from carbide slag for CO_(2) sequestration by using recyclable ammonium chloride

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Particuology 2024年第7期90卷 1-9页

作者： Jin Yao Qiuju Chen li Zeng Wenjin ding Key Laboratory of Ministry of Education for Solid Waste Treatment and Resource Recycle Southwest University of Science and TechnologyMianyang621010China Sichuan Engineering Lab of Non-metallic Mineral Powder Modification and High-value Utilization Mianyang621010China School of Architecture and Civil Engineering Chengdu UniversityChengdu610106China

Based on the composition characteristics of carbide slag and the application of polyvinyl chloride,a method of preparing calcium carbonate with microstructure and nanostructure by using carbide slag as a raw material and ammonium chloride as a leaching agent was *** factors for the preparation of calcium carbonate and the effects of different conditions on the crystal phase,grain size,and morphology of calcium carbonate were systematically *** results showed that the nanosized calcium carbonate was prepared at 60 mL/min,25°C,no additional ammonia,and 60 *** product of spherical vaterite was in accordance with the relevant standards for the industrial precipitation of calcium ***,the reuse of carbonation filtrate was *** crystal phase,grain size,and morphology of the carbonation product could be controlled by adjusting the reaction *** manuscript provided a new idea for resource utilization of carbide slag and preparing nanocalcium carbonate.

关键词： Carbide slag Ammonium chloride Cyclic utilization Micro and nano structure Product control

Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 41-61页

作者： Fuqun Zhao Yifan Wu Xinhua Yang Xilun ding Kun Xu sheng Guo Xiaodong Jin School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China

To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot(ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the legarm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

关键词： Quadruped robot Multimode design Mode switching Locomotion Operation

Microearthquake reveals the lithospheric structure at midocean ridges and oceanic transform faults

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Journal of Oceanology and limnology 2024年第3期42卷 697-700页

作者： Zhiteng YU Jiabiao li Weiwei ding Key Laboratory of Submarine Geosciences&Second Institute of Oceanography Ministry of Natural ResourcesHangzhou 310012China

Mid-ocean ridge and oceanic transforms are among the most prominent features on the seafloor surface and are crucial for understanding seafloor spreading and plate tectonic dynamics,but the deep structure of the oceanic lithosphere remains poorly *** large number of microearthquakes occurring along ridges and transforms provide valuable information for gaining an indepth view of the underlying detailed seismic structures,contributing to understanding geodynamic processes within the oceanic *** studies have indicated that the maximum depth of microseismicity is controlled by the 600-℃***,this perspective is being challenged due to increasing observations of deep earthquakes that far exceed this suggested isotherm along mid-ocean ridges and oceanic transform *** mechanisms have been proposed to explain these deep events,and we suggest that local geodynamic processes(e.g.,magma supply,mylonite shear zone,longlived faults,hydrothermal vents,etc.)likely play a more important role than previously thought.

关键词： microearthquake mid-ocean ridge oceanic transform fault oceanic lithosphere thermal structure earthquake location

NIR emissive Ru(Ⅱ)metallacycle as a sonosensitizer/sonocatalyst assisting in vivo bacterial diagnosis and eradicating multidrug-resistant biofilms

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Science China Chemistry 2024年第9期67卷 2785-2786页

作者： Chonglu li Qihang ding Jong Seung Kim School of Medicine Wuhan University of Science and TechnologyWuhan 430065China Department of Chemistry Korea UniversitySeoul 02841Republic of Korea

Microbial biofilm-related infections present a significant global health challenge,posing a major threat to public health systems[1].Biofilms,complex structures formed by the aggregation of microorganisms,are commonly found on medical devices,human tissue surfaces,and in natural environments[2].These biofilms exhibit high levels of antibiotic resistance and survival stability,rendering traditional antibiotic treatments ineffective in eradicating infections[3].

关键词： diagnosis dic rendering

Novel high-safety aeroengine performance predictive control method based on adaptive tracking weight

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Chinese Journal of Aeronautics 2024年第7期37卷 352-374页

作者： Qian CHEN Hanlin sheng Jie ZHANG Jiacheng li College of Energy and Power Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Increasing attention has been attracted to the dynamic performance and safety of advanced performance predictive control systems of the next-generation *** latest research demonstrates that Subspace-based Improved Model Predictive Control(SIMPC)can overcome the difficulty in solving the predictive model in MPC/NMPC ***,applying constant design parameters cannot maintain consistent control effects in all ***,the designed system relies too much on sensor-measured data,and thus it is difficult to thoroughly validate the safety of the system because of its high *** means that any potential hardware/software faults will endanger the ***,this paper first presents a novel nonlinear mapping relationship to adaptively tune the tracking weight online with the change of Power Lever Angle(PLA)and real-time relative tracking ***,without introducing additional design parameters,an Adaptive Tracking Weight-based SIMPC(ATW-SIMPC)controller is designed to improve the control performance in all operating states ***,a Primary/Backup Hybrid Control(PBHC)strategy with the ATW-SIMPC controller as the primary system and the traditional speed(Nf)controller as the backup system is proposed to ensure *** designed affiliated switching controller and the real-time monitor therein can be used to realize reasonable and smooth switching between primary/backup systems,so as to avoid bump *** PBHC system switches to the Nf controller when the ATW-SIMPC controller is wrong because of potential hardware/software faults;otherwise,the ATW-SIMPC controller keeps acting on the *** main results prove that the ATW-SIMPC controller with the optimal nonlinear mapping relationship,compared with the existing SIMPC controller,uplifts the dynamic control performance by 32%and reduces overshoots to an allowable limit,resulting in a better control effect in full *** comparison results consistently i

关键词： Aeroengine Model predictive control Hybrid system Adaptive weight Safety

A novel metal-free porous covalent organic polymer for efficient room-temperature photocatalytic CO2 reduction via dry-reforming of methane

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Green Energy & Environment 2024年第9期9卷 1407-1418页

作者： sheng-Yan Yin Ziyi li Yingcai Hu Xiao Luo Jishan li College of Chemistry and Chemical Engineering Hunan University Institute of Basic Medicine and Cancer (IBMC) Chinese Academy of Sciences

At room temperature,the conversion of greenhouse gases into valuable chemicals using metal-free catalysts for dry reforming of methane（DRM） is quite promising and ***,we developed a novel covalent organic porous polymer （TPE-COP） with rapid charge separation of the electron–hole pairs for DRM driven by visible light at room temperature,which can efficiently generate syngas （CO and H2）.Both electron donor (tris（4-aminophenyl）amine,TAPA) and acceptor (4,4',4'',4'''-(（1 E,1'E,1''E,1'''E）-(ethene-1,1,2,2-tetrayltetrakis （benzene-4,1-diyl）)tetrakis （ethene-2,1-diyl）)tetrakis (1-（4-formylbenzyl）quinolin-1-ium),TPE-CHO) were existed in TPE-COP,in which the push–pull effect between them promoted the separation of photogenerated electron–hole,thus greatly improving the photocatalytic *** functional theory （DFT） simulation results show that TPE-COP can form charge-separating species under light irradiation,leading to electrons accumulation in TPE-CHO unit and holes in TAPA,and thus efficiently initiating *** 20 h illumination,the photocatalytic results show that the yields reach 1123.6 and 30.8μmol g-1for CO and H2,respectively,which are significantly higher than those of TPE-CHO small *** excellent result is mainly due to the increase of specific surface area,the enhancement of light absorption capacity,and the improvement of photoelectron-generating efficiency after the formation of ***,this work contributes to understanding the advantages of COP materials for photocatalysis and fundamentally pushes metal-free catalysts into the door of DRM field.

关键词： Metal-free Photocatalytic CO 2 reduction Covalent organic polymer Dry-reforming of methane Electron donor and acceptor