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超长车体AGV落布小车控制系统设计研究

自动化与仪器仪表 2020年第12期 79-84页

作者：段博余联庆樊飞武汉纺织大学工业雷管智能装配湖北省工程研究中心武汉武汉大学动力学与机械学院武汉

为了解决纺织车间人工落布搬运效率低,降低用工成本,提高自动化水平等问题,设计开发一款实用新型AGV自动落布小车。控制系统以西门子S7-1215C为控制核心,采用模块化的编程思想,设计控制系统的总体结构。针对超长车体规格,提出双驱(四轮... 详细信息

为了解决纺织车间人工落布搬运效率低,降低用工成本,提高自动化水平等问题,设计开发一款实用新型AGV自动落布小车。控制系统以西门子S7-1215C为控制核心,采用模块化的编程思想,设计控制系统的总体结构。针对超长车体规格,提出双驱(四轮)双向双磁导差速转向控制算法,并建立小车寻迹转向运动学模型,进行理论计算与分析,得出各驱动轮之间速度关系。最后设计模糊自适应PID控制器,并进行Matlab仿真实验,验证了控制系统采用模糊PID较常规PID具有更优的动静态稳定性,为后续控制系统优化设计奠定了基础。

关键词：超长车体双驱双向双磁导航落布小车模糊PID 常规PID

Low-melting mixture solvents: extension of deep eutectic solvents and ionic liquids for broadening green solvents and green chemistry

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Green Chemical Engineering 2024年第4期5卷 409-417页

作者： yu Chen Zhiwu yu MOE Key Laboratory of Bioorganic Phosphorous Chemistry and Chemical Biology Department of ChemistryTsinghua University

Green solvents such as water and ionic liquids(ILs) are pillars of the great mansion of green chemistry and green processing. Initially proposed as a new family of ILs,deep eutectic solvents(DESs) have received fast development in the past two decades. In this contribution,DESs are reviewed critically and the concept is extended to lowmelting mixture solvents(Lo MMSs),which cover all kinds of materials including ionic compounds,molecular compounds,and metals. Six classes of Lo MMSs are proposed as the new classification system and examples are given. Finally,several thermodynamic issues concerning Lo MMSs are discussed. Two new concepts,robustness of Lo MMSs and high-entropy Lo MMSs,are proposed.

关键词： Green solvents Deep eutectic solvents Low transition temperature mixture solvents Phase diagram EGaIn

Topological Stability and Entropy for Certain Set-valued Maps

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Acta Mathematica Sinica,English Series 2024年第4期40卷 962-984页

作者： yu ZHANG yu Jun ZHU School of Mathematical Sciences Xiamen UniversityXiamen 361005P.R.China

In this paper,the dynamics(including shadowing property,expansiveness,topological stability and entropy)of several types of upper semi-continuous set-valued maps are mainly considered from differentiable dynamical systems points of *** is shown that(1)if f is a hyperbolic endomorphism then for eachε>0 there exists a C^(1)-neighborhood U of f such that the induced set-valued map F_(f,U)has theε-shadowing property,and moreover,if f is an expanding endomorphism then there exists a C^(1)-neighborhood U of f such that the induced set-valued map F_(f,U)has the Lipschitz shadowing property;(2)when a set-valued map F is generated by finite expanding endomorphisms,it has the shadowing property,and moreover,if the collection of the generators has no coincidence point then F is expansive and hence is topologically stable;(3)if f is an expanding endomorphism then for eachε>0 there exists a C^(1)-neighborhood U of f such that h(F_(f,U,ε))=h(f);(4)when F is generated by finite expanding endomorphisms with no coincidence point,the entropy formula of F is ***,the dynamics of the set-valued maps based on discontinuous maps on the interval are also considered.

关键词： Set-valued map orbit space hyperbolic endomorphism perturbation shadowing expansiveness topological stability entropy

氢还原氢氟酸刻蚀的TiO_(2)纳米薄膜光电化学性能

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材料导报 2021年第20期35卷 20001-20004页

作者：于濂清杨钱龙朱海丰段丽杰赵兴雨王艳坤中国石油大学(华东)材料科学与工程学院青岛266580 中国石油大学(华东)理学院青岛266580

TiO_(2)是一种价格低廉、稳定的半导体材料,被广泛应用于光催化水裂解、污水处理等众多领域,但其只能吸收高能量的紫外光,限制了实际应用。本工作采用氢氟酸溶液刻蚀纯钛片,然后在一系列温度下对其进行热处理,使其表面与氧气反应生成TiO... 详细信息

TiO_(2)是一种价格低廉、稳定的半导体材料,被广泛应用于光催化水裂解、污水处理等众多领域,但其只能吸收高能量的紫外光,限制了实际应用。本工作采用氢氟酸溶液刻蚀纯钛片,然后在一系列温度下对其进行热处理,使其表面与氧气反应生成TiO_(2)薄膜,随后将样品置于氢气气氛下进行还原处理。通过XRD对其进行物相表征,SEM观察微观形貌,利用电化学工作站测试样品的光响应曲线、线性扫描伏安曲线以及电化学阻抗谱,并根据线性扫描伏安曲线计算出样品的光转换效率。结果表明,经过HF处理后,所形成的TiO_(2)纳米薄膜暴露(101)晶面。同时,经过HF处理和氢气还原制备的样品的光电性能有了较大提升,光电流密度最高可达1.04 mA/cm^(2),是未经HF处理和氢气还原薄膜的11.5倍,是仅经HF处理薄膜的2.97倍,最大光转换效率提升了70%。该方法制备的纳米薄膜材料在光催化降解、产氢等领域具有潜在的应用价值。

关键词：二氧化钛氢氟酸处理氢气还原光电化学性能

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纳米二氧化钛的水热制备及光催化研究进展

无机盐工业 2010年第9期42卷 6-9页

作者：张晶张亚萍于濂清钟晓亮中国石油大学(华东)物理科学与技术学院山东东营257061

纳米二氧化钛具有优异的光催化活性以及光电转化、光致发光特性。纳米二氧化钛的水热法制备具有独特的优势。重点介绍了纳米二氧化钛的3种晶体结构、水热法制备的过程机理,以及反应条件(原料、温度、pH等)对所得产物的影响,反应条件控... 详细信息

纳米二氧化钛具有优异的光催化活性以及光电转化、光致发光特性。纳米二氧化钛的水热法制备具有独特的优势。重点介绍了纳米二氧化钛的3种晶体结构、水热法制备的过程机理,以及反应条件(原料、温度、pH等)对所得产物的影响,反应条件控制得当,可以获得具有一定晶型组成、尺寸和形状的纳米二氧化钛。介绍了纳米二氧化钛的光催化机理、晶体结构对光催化的影响,以及光催化性能的改进。根据光催化机理可以设计制备出具有分散性好、晶粒小、高比表面积、晶型可控的高催化活性的纳米二氧化钛,其在抗菌消毒、污水处理等方面具有很高的应用价值和良好的发展前景。

关键词：纳米二氧化钛晶体结构水热法制备光催化

A new liquid membrane diffusion model for characterizing the adsorption kinetics of europium by using a continuous measurement of adsorption platform

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Nuclear Science and Techniques 2024年第1期35卷 59-72页

作者： Hao-Qi yu Tao yu Jian-Hua Ye State Key Laboratory of Nuclear Resources and Environment East China University of TechnologyNanchang 330013China CGN Cangnan Nuclear Power Co. Ltd.Cangnan 325800China Jiangxi Province Key Laboratory of Polymer Micro/Nano Manufacturing and Devices East China University of TechnologyNanchang 330013China School of Nuclear Science and Engineering East China University of TechnologyNanchang 330013China

To explore the kinetic adsorption under continuous and nonequilibrium states, an integration of continuous measurement and adsorption platform kinetics method was proposed, which was initially called the ICM-AP kinetics method, and a corresponding kinetic adsorption experimental method was developed. Adsorption experiments of europium(Eu) on Ca-bentonite,Na-bentonite, and the D231 cation exchange resin were performed using the ICM-AP kinetics method and continuous measurements. Because the kinetic experimental results observed in this study were different from those of traditional batch adsorption data, pseudo-first-order or pseudo-second-order kinetic models were unsuitable for fitting the experimental ***, a liquid membrane diffusion(LMD) model was developed based on the assumption of simultaneous adsorption/desorption to discuss the mechanism of kinetic adsorption. The kinetic adsorption mechanism was also studied by using *** results indicated that the proposed adsorption model can fit the experimental data more suitably, and the adsorption/desorption behaviors of Eu on bentonite and the D231 resin were simultaneously observed, suggesting that the adsorption kinetics of Eu(Ⅲ) was mainly dominated by hydrated Eu(Ⅲ) ions on the liquid membrane.

关键词： ICM-AP method LMD model Adsorption mechanism Eu(Ⅲ)

Exclusive enteral nutrition for treating pediatric Crohn’s disease

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World Journal of Pediatrics 2024年第9期20卷 869-871页

作者： yu yu Jie Chen Department of Gastroenterology Children’s HospitalNational Clinical Research Center for Child HealthZhejiang University School of MedicineHangzhou 310052China

Crohn's disease(CD),an enduring and relapsing condition afecting the gastrointestinal tract,manifests in a spectrum of symptoms and clinical manifestations that can profoundly afect quality of life[1].Recently,CD has emerged as a global burden of *** China,the prevalence and incidence of childhood infammatory bowel disease(IBD)have steadily increased,from 0.5 per 1 million in 2001 to 6.0 per 1 million in 2010[2].Pediatric patients often face a longer treatment duration than adults.

关键词： Crohn pediatric nutrition

Device design principles and bioelectronic applications for flexible organic electrochemical transistors

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International Journal of Extreme Manufacturing 2024年第1期6卷 126-153页

作者： Lin Gao Mengge Wu Xinge yu Junsheng yu State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic Science and EngineeringUniversity of Electronic Science and Technology of China(UESTC)Chengdu 610054People’s Republic of China Department of Biomedical Engineering City University of Hong KongHong Kong Special Administrative Region of ChinaPeople’s Republic of China

Organic electrochemical transistors(OECTs) exhibit significant potential for applications in healthcare and human-machine interfaces, due to their tunable synthesis, facile deposition, and excellent biocompatibility. Expanding OECTs to the fexible devices will significantly facilitate stable contact with the skin and enable more possible bioelectronic applications. In this work,we summarize the device physics of fexible OECTs, aiming to offer a foundational understanding and guidelines for material selection and device architecture. Particular attention is paid to the advanced manufacturing approaches, including photolithography and printing techniques, which establish a robust foundation for the commercialization and large-scale fabrication. And abundantly demonstrated examples ranging from biosensors, artificial synapses/neurons, to bioinspired nervous systems are summarized to highlight the considerable prospects of smart healthcare. In the end, the challenges and opportunities are proposed for fexible OECTs. The purpose of this review is not only to elaborate on the basic design principles of fexible OECTs, but also to act as a roadmap for further exploration of wearable OECTs in advanced bio-applications.

关键词： flexible organic electrochemical transistors wearable bioelectronics manufacturing approaches device physics neuromorphic applications

A guidance and control design with reduced information for a dual-spin stabilized projectile

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Defence Technology（防务技术） 2024年第3期33卷 494-505页

作者： yu Wang Jiyan yu Xiaoming Wang Jia Fangxiu Intelligent Ammunition Technology National Defense Key Discipline Laboratory Nanjing University of Science and TechnologyNanjingJiangsu210094China

In this paper,an integrated guidance and control method based on an adaptive path-following controller is proposed to control a spin-stabilized projectile with only translational motion information under the constraint of an actuator,uncertainties in aerodynamic parameters and measurements,and control system *** to the fairly high rotation speed,the dynamic model of this missile is strongly nonlinear,uncertain and coupled in pitch,yaw and roll channels.A theoretical equivalent resultant force and uncertainty compensation method are comprehensively used to realize decoupling of pitch and *** response to the strong nonlinear and time-varying characteristics of the dynamic system,the quasi-linear model whose parameters are obtained by interpolation of points selected as the segmentation points in the trajectory envelope,is used for calculation in each *** cope with the system uncertainty caused by model approximation,parameter uncertainty and ballistic interference,an extended state estimator is used to compensate the output feedback according to the test ballistic *** order to improve the tracking efficiency and ensure the tracking error convergence with only translational motion information,the virtual guide point,whose derivative is deduced according to the Lyapunov principle,is calculated in real time according to the projection relationship between the real-time position and the reference trajectory,and a virtual line-of-sight angle and the backstepping method are used for the design of the guidance and control *** order to avoid the influence of control input saturation on the guidance and control performance due to the actuator limitation and improve the robustness of the system,an anti-saturation compensator is designed according to the two-step *** feasibility and effectiveness of the path-following controller is verified through closed-loop flight simulations with measurement,control,and condition *** result

关键词： Spin-stabilized projectile Reduced information Path-following control Extended state observer Coupled nonlinear system Input saturation