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Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

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Computer Modeling in Engineering & Sciences 2024年第7期140卷 305-323页

作者： Guogang Gao LeiXu Tianpeng Huang Xuliang zhao lihua Huang College of Engineering China University of Petroleum-Beijing at KaramayKaramay834000China School of Electrical Engineering and Information Southwest Petroleum UniversityChengdu610500China

The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.

关键词： Rotary inverted pendulum(RIP) linear quadratic regulator(LQR) reduced-order observer states estimate

Mutations in wheat TaAPA2 gene result in pleiotropic effects on plant architecture

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Science China Life Sciences 2024年

作者： Shengsheng Bai Guiping Wang Rui Song Yanna Liu Lei Hua Jinwei Yang Lijun Zhang Shams ur Rehman Xiaohua Hao Lifeng Hou Chaozhong Zhang Hongna Li Yanyan Liang lihua zhao Yan Xue Zheng Wang Shisheng Chen National Key Laboratory of Wheat Improvement Peking University Institute of Advanced Agricultural Sciences Shandong Laboratory of Advanced Agriculture Sciences in Weifang Department of Plant Sciences University of CaliforniaDavis

Dear Editor,Bread wheat (Triticum aestivum L.) is a globally important cereal providing～20% of the calories and proteins for>4.5 billion people. Plant architecture, including morphologies of leaves, spikes, stems,and roots, has great impact on plant development and productivity, and thus has been extensively investigated in various plant species (Jiang et al., 2023;Zhang et al., 2017). However, studies on the genes and molecular mechanisms regulating plant architecture in wheat remain limited.

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Exploring device physics of perovskite solar cell via machine learning with limited samples

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Journal of Energy Chemistry 2024年第7期94卷 441-448页

作者： Shanshan zhao Jie Wang Zhongli Guo Hongqiang Luo lihua Lu Yuanyuan Tian Zhuoying Jiang Jing Zhang Mengyu Chen Lin Li Cheng Li School of Electronic Science and Engineering Xiamen UniversityXiamen 361005FujianChina Future Display Institute of Xiamen Xiamen 361005FujianChina

Perovskite solar cells(PsCs)have developed tremendously over the past decade.However,the key factors influencing the power conversion efficiency(PCE)of PSCs remain incompletely understood,due to the complexity and coupling of these structural and compositional parameters.In this research,we demon-strate an effective approach to optimize PSCs performance via machine learning(ML).To address chal-lenges posed by limited samples,we propose a feature mask(FM)method,which augments training samples through feature transformation rather than synthetic data.Using this approach,squeeze-and-excitation residual network(SEResNet)model achieves an accuracy with a root-mean-square-error(RMSE)of 0.833%and a Pearson's correlation coefficient(r)of 0.980.Furthermore,we employ the permu-tation importance(PI)algorithm to investigate key features for PCE.Subsequently,we predict PCE through high-throughput screenings,in which we study the relationship between PCE and chemical com-positions.After that,we conduct experiments to validate the consistency between predicted results by ML and experimental results.In this work,ML demonstrates the capability to predict device performance,extract key parameters from complex systems,and accelerate the transition from laboratory findings to commercialapplications.

关键词： Perovskite solar cell Machine learning Device physics Performance prediction Limited samples

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Reductive lipid nanoparticles loaded with vinorelbine inhibit chemotherapy-induced invasion of cancer cells by modulating ENPP2

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Nano Research 2024年第4期17卷 2886-2898页

作者： Xiaoqi zhao Xuemeng Guo Mei Pang Weigen Qiu Zhenyu Luo Qing Lin Yichao Lu Hang Yin Sijie Wang Huihui Liu Junlei Zhang lihua Luo Jian You College of Pharmaceutical Sciences Zhejiang University866 Yuhangtang RoadHangzhou 310058China Hangzhou Institute of Innovative Medicine Zhejiang UniversityHangzhou 310058China

Cancer is a predominant culprit behind worldwide death and accounts for up to 10 million deaths every year.Chemotherapy is the primary therapeutic method employed for cancer in clinical settings and is essential in controlling tumor progression.Despite the advances in this field,tumor invasion and metastasis during treatment remain a significant cause of treatment failure.Nevertheless,the underlying mechanisms involving such a disappointing phenomenon are still not fully elucidated.Vinorelbine(VNB)extends the lifespan of many cancer patients in the clinic as an emerging chemotherapy drug approved by Food and Drug Administration(FDA).However,VNB-induced tumor metastasis is still an intractable problem,which may be closely related to the abnormal oxidative stress generated during VNB-mediated treatment.Hence,the study aims to construct a reductive nanosystem loaded with VNB,called VNB-VNP,to improve cancer cure rates and reduce tumor metastasis.With the reductive component vitamin E,VNB-VNP can effectively reduce oxidative stress and significantly outperform free VNB in preventing tumor progression.The transcriptome analysis shows that VNB-VNP can alleviate the over-expression of ectonucleotide pyrophosphatase/phosphodiesterase 2(ENPP2),which may be the main reason why VNB-VNP can inhibit tumor invasion and metastasis.Overall,the research designs a new platform for VNB treatment,which demonstrates promising efficacy in inhibiting neoplastic progression and identifies a new mechanism associated with VNB-induced tumor metastasis,which may offer several valuable references for enhancing chemotherapy efficacy in clinical anti-tumor therapy.

关键词： chemotherapy vinorelbine tumor Invasion lysophosphatidic acid ectonucleotide pyrophosphatase/phosphodiesterase 2(ENPP2)

Crystalline-amorphous interfaces of NiO-CrO_(x)electrocatalysts for boosting the urea oxidation reaction

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Nano Research 2023年第3期16卷 3665-3671页

作者： Xuejie Cao Tongzhou Wang Hongye Qin Guangliang Lin lihua zhao Lifang Jiao Key Laboratory of Advanced Energy Materials Chemistry(Ministry of Education) Renewable Energy Conversion and Storage Center(RECAST)College of ChemistryNankai UniversityTianjin 300071China Haihe Laboratory of Sustainable Chemical Transformations Tianjin 300192China Tianjin Renai College Tianjin 301636China

The overall energy efficiency of electrochemical systems is severely hindered by the traditional anodic oxygen evolution reaction(OER).Utilizing urea oxidation reaction(UOR)with lower thermodynamic potential to replace OER provides a promising strategy to enhance the energy efficiency.Amorphous and heterojunctions electrocatalysts have been aroused extensive studies owing to their unique physicochemical properties and outperformed activity.Herein,we report a simple method to construct a novel crystalline-amorphous NiO-CrO_(x)heterojunction grown on Ni foam for UOR electrocatalyst.The NiO-CrO_(x)electrocatalyst displays excellent UOR performance with an ultralow working potential of 1.32 V at 10 mA·cm^(−2)and ultra-long stability about 5 days even at 100 mA·cm^(−2).In-situ Raman analysis and temperature-programmed desorption(TPD)measurement verify that the presence of the amorphous CrO_(x)phase can boost the reconstruction from NiO to active NiOOH species and enhance adsorption ability of urea molecule.Besides,the unique crystalline-amorphous interfaces are also benefit to improving the UOR performance.

关键词： NiO-CrO_(x) crystalline-amorphous interfaces electrochemical reconstruction urea oxidation reaction

A Pt/CeO_(2)Hybrid Nanozyme with Stable Peroxidase Activity for the Detection of Acetylcholine

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Chemical Research in Chinese Universities 2024年第2期40卷 268-271页

作者： CUI Xulian MA Baofu PAN Hui XIA Yu LIU Li zhao Baofeng LIANG Zhen ZHANG lihua ZHANG Yukui State Key Laboratory of Medical Proteomics Dalian Institute of Chemical PhysicsChinese Academy of ScienceDalian116023P.R.China The Research Center for Medical Genomics Key Laboratory of Medical Cell BiologyMinistry of EducationSchool of Life ScienceChina Medical UniversityShenyang110001P.R.China River Fisheries Research Institute Chinese Academy of Fishery SciencesGuangzhou510000P.R.China

Acetylcholine(ACh)is a common neurotransmitterl)that is secreted by cholinergic neurons[2]and is found mainly in the peripheral and central nervous systems.[3]ACh transmits nerve signals from presynaptic to postsynapt... 详细信息

关键词： Acetylcholine/choline Nanozyme Hydrogen peroxide Alzheimer’s disease

Rational design of a single-component mRNA vaccine against orthopoxvirus and SARS-CoV-2

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Science China(Life Sciences) 2024年第6期67卷 1311-1313页

作者： Yilong Yang Xiaofan zhao Yu Li Xiaodong Zai Xinyi Wang Yue Zhang Xiaolin Wang Peng Lv Jun Zhang lihua Hou Junjie Xu Wei Chen Laboratory of Advanced Biotechnology Beijing Institute of BiotechnologyAcademy of Military Medical SciencesBeijing 100071China

Dear Editor,In the era of COVID-19,the prevalence of viruses from other families poses new threats to humans.Despite the eradication of smallpox in 1980,the global outbreak of monkeypox in 2022(Lum et al.,2022;Nuzzo et al.,2022)alerted that the re-emerging orthopoxvirus(OPXV)remained a persistent threat to global health.OPXV includes a number of viruses with a broad host range,including variola virus(VARV),monkeypox virus(MPXV),vaccinia virus(VACV).

关键词： al. vaccine Rational

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Clinical Value of Echocardiographic Screening and Dynamic Observations for Ductus Arteriosus Closure in Newborns

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Journal of Clinical and Nursing Research 2024年第1期8卷 146-151页

作者： Xiaogang zhao Chao Liang lihua Yang Department of Ultrasound 920 Hospital of Joint Logistics Support ForcePLAKunming 650032Yunnan ProvinceChina Department of Ultrasound Kunming Tongren HospitalKunming 650028Yunnan ProvinceChina

Objective:To explore and analyze the clinical value of echocardiography screening and dynamic observation for ductus arteriosus closure in newborns.Methods:The study was conducted from August 2022 to December 2023.500 newborns who were admitted to our hospital were selected as research subjects for this study(Kunming Tongren Hospital).All subjects underwent echocardiography to determine the severity of patent ductus arteriosus(PDA).The inner diameter of the pulmonary artery was measured,and the pulmonary artery pressure was estimated through tricuspid regurgitation.If the patient had high pulmonary artery pressure,elective closure surgery was performed.Results:Among the 500 subjects,448 cases of ductus arteriosus closure and 52 cases of PDA were detected by echocardiography,including 23 cases of simple PDA,15 cases with patent foramen ovale,11 cases with atrial septal defect,1 case with muscular ventricular septal defect,1 case with tricuspid valve prolapse,and 1 case with tricuspid valve chordae tendineae rupture.After symptomatic treatment and intervention,their echocardiogram results were reviewed and no abnormalities were found.All measurement results of children with PDA combined with pulmonary hypertension were better than before treatment(P<0.05).Conclusion:Echocardiography is a fast,accurate,and reliable non-invasive imaging examination technology.It can significantly improve congenital heart disease detection rate in infants and young children.Early intervention based on the examination results can dramatically improve the quality of life of infants and young children with PDA.

关键词： Infants and young children Ductus arteriosus closure Echocardiography

Global model of plasma-activated water over long time scale:Pulsed discharge and afterglow

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High Voltage 2023年第2期8卷 326-339页

作者： Wenjun Ning Hao Shang Yiwei Ji Ronghui Li lihua zhao Xiaolong Huang Shenli Jia College of Electrical Engineering Sichuan UniversityChengduChina School of Electrical Engineering Xi'an Jiaotong UniversityXi'anChina

Plasma-activated water(PAW)has been utilised in various application fields,and a deep understanding on the plasma chemistry is the foundation of application-orientated optimisation.In this paper,a global model is built to study the chemical properties of PAW produced by a dielectric barrier discharge that is powered by nanosecond voltage pulses.The applied voltage is firstly repeated with 10 kHz frequency for 100 s,and then shut down for 200 s afterglow,providing a long-term evolution regarding the production and consumption of some typical reactive oxygen/nitrogen species(RONS)in PAW.The calculated results agree principally with experimental measurements from literature.During the pulsed discharge,the water gradually acidises,and the long-lived species accumulate;while in the afterglow,most of the aqueous RONS decay rapidly,except for O_(3aq),NO_(3aq)^(−),H_(2)O_(2aq)and N_(2)O_(aq),which might be the main sources to sustain long-term effects.Furthermore,the effects of applied voltage and gap distance on RONS are investigated.Correlation analyses from Pearson correlation coefficient indicate that gaseous RONS are more sensitive to the gap distance,while the aqueous ones are more sensitive to the voltage amplitude,suggesting the possibility to independently regulating the gaseous and aqueous chemistry.

关键词： gaseous Global providing