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High Dynamic Bounding and Jumping Motion of Quadruped Robot Based on Stable Optimization Control

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Journal of Bionic Engineering 2024年第1期21卷 101-111页

作者： Sai gu Fei meng Botao Liu Junyao Gao Qiang Huang School of Mechatronical Engineering Beijing Institute of Technology100081 BeijingChina Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China

Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped *** method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum *** the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is *** switching and landing stability control are also ***,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.

关键词： Quadruped robot High dynamic motion control-Periodic limit cycle Trajectory optimization

Compound Product of Hypermatrices

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Journal of Systems Science & Complexity 2024年第1期37卷 169-183页

作者： CHENG Daizhan meng Min ZHANG xiao JI Zhengping Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China Department of Control Science and Engineering School of Electronics and Information EngineeringTongji UniversityShanghai 201210China National Center for Mathematics and Interdisciplinary Sciences Chinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100149China.

The semi-tensor product(STP)of matrices is generalized to multidimensional arrays,called the compound product of *** product is first defined for three-dimensional hypermatrices with compatible orders and then extended to general *** different types of hyperdeterminants are introduced and certain properties are *** Lie groups and Lie algebras corresponding to the hypermatrix products are ***,these results are applied to dynamical systems.

关键词： Compound semi-tensor product hyperdeterminants hypereigenvalues and hypereigenvectors hypergeneral linear groups hypermatrices.

Progress and challenges of electrolyte modulation in aqueous zinc-ion batteries

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Rare Metals 2024年第7期43卷 2940-2967页

作者： Qi-Hang Yang Lu-Fei Wang xiao-Yu Wang meng-meng Zhen Tianjin Key Laboratory of Clean Energy and Pollution Control School of Energy and Environmental EngineeringHebei University of TechnologyTianjin 300071China

As a new type of green battery system,aqueous zinc-ion batteries(AZIBs)have gradually become a research hotspot due to their low cost,high safety,excellent stability,high theoretical capacity(820 mAh·g^(-1))of zinc anode,and low redox potential(-0.76 V *** hydrogen electrode(SHE)).AZIBs have been expected to be an alternative to lithium-ion batteries for large-scale commercial energy storage ***,they are facing thorny issues such as degradation of cycling performance,zinc dendrites,and side *** the same time,these problems cause short cycling life of batteries,thus severely limiting their commercial *** recent years,many more researches have been conducted on the modification of anode and cathode materials of AZIBs,but there is a lack of in-depth discussion on the characteristics and mechanism of electrolyte *** this review,we will make a systematic summary of the current problems with two electrodes in AZIBs,as well as the types and functions of electrolyte ***,we further systematically describe the modulation mechanism of electrolyte additives in the performance of the cathode and *** prospects and development directions of additive modulation strategies for AZIBs electrolytes are prospected.

关键词： Electrolyte additives Aqueous zinc-ion batteries Zinc anode protection Cathode chemistry

Grading of products utilizing bamboo as a substitute for plastic based on environmental effects

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Science China Earth Sciences 2024年第9期67卷 2989-2998页

作者： meng ZHANG guomo ZHOU Lei gu Wenshuo WANG College of Forestry Beijing Forestry University Key Laboratory of Carbon Cycling in Forest Ecosystems and Carbon Sequestration of Zhejiang Province Zhejiang A&F University

To achieve sustainable development goals, mitigate plastic pollution, and promote eco-friendly products, it is crucial to identify key products in the bamboo as a substitute for plastic(BSP) industry and assess their environmental effects. This study proposed a novel evaluation method for the environmental effect of bamboo as a substitute for plastic(EBSP). It focused on the contributions of BSP products in reducing plastic pollution and greenhouse gas emissions. We established a set of EBSP evaluation indicators and developed a grading model, evaluating 30 typical BSP products across six categories. The results showed that the EBSP evaluation model, based on the emission reduction rate of substitution(ERRS), substitution rate of material(SRM), and product renewal ratio(PRR), can accurately quantify the environmental benefits of BSP products. This model has successfully facilitated precise quantification of the EBSP and established a rational and effective grading system for BSP products. The results also demonstrated that the average EBSP ranking across the six categories of BSP products, in descending order, is: disposable bamboo products, bamboo household goods, bamboo packaging products, bamboo engineering materials, bamboo furniture products, and bamboo craft products. Specifically, disposable bamboo products scored an EBSP 1.96 times the overall average, indicating significant environmental benefits. The PRR emerged as a critical factor influencing EBSP. Among BSP products with the same lifespan, those with higher substitution emission reduction efficiency offered more pronounced environmental benefits. Ultimately, the BSP industry should strategically prioritize disposable bamboo products,such as bamboo toothbrushes, cutlery, and lunch boxes. These products should be the primary focus of policy support and central to efforts in product development, design innovation, and market promotion.

关键词： Bamboo as a substitute for plastic Bamboo products Substitution emission reduction Environmental benefits Grading evaluation

Analysis of China's Electricity Price and Electricity Burden of Basic Industries under the Carbon Peak Target before 2030

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 481-491页

作者： Yue Qiu Suyang Zhou Wei gu xiao-Ping Zhang School of Electrical Engineering Southeast UniversityNanjingChina School of Electronic Electrical and System EngineeringUniversity of BirminghamU.K.

The Chinese government is deepening reformation of electricity prices during the 14th Five Year Plan period and has set a carbon emission reduction target of reaching carbon peak before *** this context,will the carbon emission target influence electricity pricing and will electricity price influence competitiveness of Chinese main industries are two questions needing to be *** paper compares China's electricity price level with the selected major countries in the world,and four typical industries are selected to evaluate their electricity burden ***,the correlation between residential electricity price and industrial electricity price and the influencing factors is analyzed,from the perspectives of scale,structure and *** to the model obtained by regression analysis,the electricity price level and corresponding residential and industrial electricity burden in 2025 and 2030 are *** Terms-Electricity burden,industrial electricity price,regression analysis,residential electricity price.

关键词： Electricity burden industrial electricity price regression analysis residential electricity price

MOF-mediated synthesis of novel PtFeCoNiMn high-entropy nanoalloy as bifunctional oxygen electrocatalysts for zinc-air battery

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Nano Research 2024年第6期17卷 5288-5297页

作者： Mingkuan Xie Xin xiao Duojie Wu Cheng Zhen Chunsheng Wu Wenjuan Wang Hao Nian Fayan Li meng Danny gu Qiang Xu Shenzhen Key Laboratory of Micro/Nano-Porous Functional Materials(SKLPM) Shenzhen 518055China Department of Chemistry Southern University of Science and TechnologyShenzhen 518055China Department of Materials Science and Engineering Southern University of Science and TechnologyShenzhen 518055China SUSTech-Kyoto University Advanced Energy Materials Joint Innovation Laboratory(SKAEM-JIL) Shenzhen 518055China Key University Laboratory of Highly Efficient Utilization of Solar Energy and Sustainable Development of guangdong Southern University of Science and TechnologyShenzhen 518055China Eastern Institute for Advanced Study Eastern Institute of TechnologyNingbo 315200China

High-entropy alloy(HEA)-based materials are expected to be promising oxygen electrocatalysts due to their exceptional *** electronic structure regulation of HEAs plays a pivotal role in enhancing their elctrocatalytic ***,PtFeCoNiMn nanoparticles(NPs)with subtle lattice distortions are constructed on metal-organic framework-derived nitrogen-doped carbon by an ultra-rapid Joule heating *** to the modulated electronic structure and the inherent cocktail effect of HEAs,the as-synthesized PtFeCoNiMn/NC exhibits superior bifunctional electrocatalytic performance with a positive half-wave potential of 0.863 V *** hydrogen electrode(RHE)for oxygen reduction reaction and a low overpotential of 357 mV at 10 mA·cm^(-2)for oxygen evolution *** assembled quasi-solid-state zinc-air battery using PtFeCoNiMn/NC as air electrode shows a high peak power density of 192.16 mW·cm^(-2),low charge−discharge voltage gap,and excellent durability over 500 cycles at 5 mA·cm^(-2).This work demonstrates an effective route for rational design of bifunctional nanostructured HEA electrocatalysts with favorable electronic structures,and opens up a fascinating directions for energy storage and conversion,and beyond.

关键词： oxygen reduction reaction oxygen evolution reaction high-entropy nano-alloy zinc-air battery

Severe liver injury and clinical characteristics of occupational exposure to 2-amino-5-chloro-N,3-dimethylbenzamide: A case series

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Hepatobiliary & Pancreatic Diseases International 2024年第2期23卷 186-194页

作者： meng-xiao Feng Hua Zou Yuan-Qiang Lu Department of Emergency Medicine The First Affiliated HospitalZhejiang University School of MedicineHangzhou 310003China Key Laboratory for Diagnosis and Treatment of Aging and Physic-chemical Injury Diseases of Zhejiang Province Hangzhou 310003China Occupational Health and Radiation Protection Institute Zhejiang Provincial Center for Disease Control and PreventionHangzhou 310051China

Background:The 2-amino-5-chloro-N,3-dimethylbenzamide is a key intermediate in the synthesis of pesticides and ***,no literature currently exists on 2-amino-5-chloro-N,3-dimethylbenzamide poisoning in *** study aimed to reveal the health hazard of this chemical for humans and summarize the clinical characteristics of patients with occupational 2-amino-5-chloro-N,3-dimethylbenzamide ***:This observational study included four patients with 2-amino-5-chloro-N,3-dimethylbenzamide poisoning from June 2022 to July *** entire course of the incidents was described in *** 2-amino-5-chloro-N,3-dimethylbenzamide concentrations were detected by a mass ***-toxylin and eosin staining was performed to assess liver injury,and immunofluorescence was used to evaluate hepatic ***:The 2-amino-5-chloro-N,3-dimethylbenzamide powder(99%purity)entered the human body mainly via the skin and respiratory tract due to poor personal protective *** typical course of 2-amino-5-chloro-N,3-dimethylbenzamide poisoning was divided into latency,rash,fever,organic dam-age,and recovery phases in accordance with the clinical *** and fever may be the important premonitory symptoms for further organ *** chemical was detected in the blood of all patients and caused multiple organ injuries,predominantly liver injury,including kidney,myocardium,and *** patients recovered smoothly after comprehensive treatments,including artificial liver therapy,continuous renal replacement therapy,glucocorticoids,and other symptomatic and supportive *** patient survived by liver *** postoperative pathological findings of the removed liver showed acute liver failure,and immunofluorescence staining confirmed the abundance of mitophagy in residual ***:This study is the first to elaborate the clinical characteristics of patients with 2-amino-5-chloro-N,

关键词： 2-amino-5-chloro-N,3-dimethylbenzamide Poisoning Clinical characteristics Liver injury

A Possible X-ray Quasi-periodic Oscillation in the Narrow-line Seyfert 1 Galaxy Mrk 142

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Research in Astronomy and Astrophysics 2024年第6期24卷 191-200页

作者： xiao-gu Zhong Jian-Cheng Wang Yong-Yun Chen xiao-Ling Yu College of Physics and Electronic Engineering Qujing Normal UniversityQujing 655011China Yunnan Observatories Chinese Academy of SciencesKunming 650216China

A possible quasi-periodic oscillation(QPO) at frequency 7.045 × 10^(-5) Hz is found in the narrow-line Seyfert 1galaxy Mrk 142 in the data of XMM-Newton collected on 2020 April *** find that the QPO signal is statistically significantly larger than the 5σ level and highly coherent with quality factor Q > 5 at the 0.3–10 keV band by using the method of the Lomb–Scargle Periodogram,the Weighted Wavelet Z-transform and the *** analyze the data in 0.3–0.6 keV,0.6–1 keV,1–3 keV and 3–10 keV energy bands,and find obvious QPO signals at 0.3–0.6 keV and 1–3 keV *** then analyze the time-average spectra and time variability at the QPO frequency of 7.045 × 10^(-5) Hz,and use a model to fit *** find that the QPO signal mainly comes from the X-ray hot corona.

关键词： X-rays:galaxies galaxies:Seyfert accretion accretion disks radiation mechanisms:general

Efficient degradation of aqueous dichloromethane by an enhanced microbial electrolysis cell:Degradation kinetics,microbial community and metabolic mechanisms

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Journal of Environmental Sciences 2024年第5期139卷 150-159页

作者： meng Wu Di Zhao Bing gu ZiruWang Jun Hu Zhiliang Yu Jianming Yu College of Environment College of Biotechnology and BioengineeringCollaborative Innovation Center of Yangtze River Delta Region Green PharmaceuticalsZhejiang University of TechnologyHangzhou 310014China Shentuo Environment(Hangzhou)Co.Ltd. Hangzhou 311121China Zhejiang Tianyi Environmental Co.Ltd. Hangzhou 310000China

Dichloromethane(DCM)has been listed as a toxic and harmful water pollutant,and its re moval needs *** electrolysis cells(MECs)are viewed as a promising alterna tive for pollutant removal,which can be strengthened from two aspects:microbial inocula tion and *** this study,the MEC for DCM degradation was inoculated with the ac tive sludge enhanced by Methylobacterium rhodesianum H13(strain H13)and then acclimated in the form of a microbial fuel cell(MFC).Both the introduction of strain H13 and the initi ation in MFC form significantly promoted DCM *** degradation kinetics were fitted by the Haldane model,with V_(max),K_(h),K_(i)and v_(max)values of 103.2 mg/L/hr,97.8 mg/L268.3 mg/L and 44.7 mg/L/hr/cm^(2),*** cyclic voltammogram implies that DCM redox reactions became easier with the setup of MEC,and the electrochemical impedance spectrogram shows that the acclimated and enriched microbes reduced the charge transfe resistance from the electrode to the *** the biofilm,the dominant genera shifted from Geobacter to Hyphomicrobium in acclimation ***,Methylobacterium played an increasingly important *** metabolism mainly occurred through the hydrolytic glutathione S-transferase pathway,given that the gene dcmA was identified rather than the dhlA and P450/*** exogenous electrons facilitated the reduction of GSSG,directly o indirectly accelerating the GSH-catalyzed *** study provides support fo the construction of an efficient and stable MEC for DCM removal in water environment.

关键词： Dichloromethane Microbial electrolysis cells Metabolic pathways Electron transfer Degradation kinetics