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Segment-wise learning control for trajectory tracking of robot manipulators under iteration-dependent periods

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Science China(Information Sciences) 2024年第3期67卷 155-166页

作者： Fan ZHANG Deyuan meng Kaiquan cai The Seventh Research Division Beihang University School of Automation Science and Electrical Engineering Beihang University School of Electronics and Information Engineering Beihang University

This paper is concerned with the amplitude boundedness problem of adaptive iterative learning control(AILC) for robot manipulators operating with iteration-dependent periods. By introducing virtual memory slots for storing historical data, a practical AILC method is proposed to achieve the segmentwise learning. This method requires less memory storage for historical information of previous iterations,especially in comparison with that of the conventional AILC methods using point-wise learning strategies.It is shown that not only the energy boundedness but also the amplitude boundedness of estimates and inputs of practical AILC can be guaranteed. Moreover, the practical AILC method can achieve the perfect tracking objective regardless of iteration-dependent periods when the robot manipulators have a persistent full learning property. In addition, a solution to the visual manipulator platform is provided and deployed based on Coppeliasim and Matlab, which helps to show the amplitude boundedness of learning results and the perfect tracking performances of the proposed practical AILC method for robot manipulators.

关键词： amplitude boundedness iteration-dependent period iterative learning control robot manipulator segment-wise virtual memory slot

Lactonization of dyes promoted by a coordination cage facilitates cavity-induced chromism as ion mobile detector

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Science China Chemistry 2024年第5期67卷 1554-1560页

作者： Liangliang Zhang yu Liang Zhifeng Xiao yuxuan meng Jinyi Huang Xi Lin Ji Li Hong-cai Zhou yu Fang Strait Institute of Flexible Electronics(SIFE Future Technologies)Fujian Normal University and Strait Laboratory of Flexible Electronics(SLoFE)Fuzhou 350017China State Key Laboratory of Chemo/Bio-Sensing and Chemometrics College of Chemistry and Chemical EngineeringHunan UniversityChangsha 410082China Department of Chemistry Texas A&M UniversityCollege StationTexas 77842-3012USA State Key Laboratory of Structural Chemistry Fujian Institute of Research on the Structure of MatterChinese Academy of SciencesFuzhou 350002China Frontiers Science Center for Flexible Electronics(FSCFE) MIIT Key Laboratory of Flexible Electronics(KLoFE)Northwestern Polytechnical UniversityXi’an 710072China

Dye molecules often change colors(so-called “chromism”) according to the environment variation. However, they are rarely induced by a catalytic amount of cavity. Through encapsulation in the cavity of a porous coordination cage(PCC-2), Rhodamine B(1) is transformed from red quinonoid form(1q) into colorless lactone form(1l) in aprotic polar solutions. The μ4-OH groups in the cavity of PCC-2 are shown to stabilize the uncommon zwitterion intermediate(1z), followed by converting to 1l, thus accelerating the equilibrium. The chromism is catalyzed by 0.25 mol% of PCC-2, and the reaction rate is improved by 80,400times. 1@PCC-2 can be further fabricated to a sol-gel that exhibits ion recognition properties. The resulting encapsulation and stabilization of an unconventional intermediate by a catalytic amount of the coordination cage provides fundamental insights into molecular isomerization and has potential use in chemical sensing.

关键词： porous coordination cage Zwitterion intermediate cavity Rhodamine B chromism

Uniform lithium deposition induced by copper phthalocyanine additive for durable lithium anode in lithium-sulfur batteries

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Chinese Chemical Letters 2024年第5期35卷 447-452页

作者： Ting Hu yuxuan Guo Yixuan meng Ze Zhang Ji yu Jianxin cai Zhenyu Yang Key Laboratory of Jiangxi Province for Environment and Energy Catalysis School of Chemistry and Chemical EngineeringNanchang UniversityNanchang 330031China

Copper phthalocyanine(CuPc)is adopted as an electrolyte additive to stabilize lithium anode for lithiumsulfur(Li-S)batteries.CuPc with a planar molecular structure and lithiophilic N-containing group,is likely to be adsorbed on the surface of Li anode to form a coating layer,which can restrict the direct contact between Li anode and solvents,and guide the uniform deposition of Li^(+)ions.The Li||Li symmetric cells demonstrate a stable cycle performance,and Li||Cu cells show high Coulombic efficiencies.In Li-S batteries,the formed stable solid-electrolyte interface(SEI)film containing copper sulfides can protect Li anode from the polysulfide corrosion and side reactions with the electrolyte,leading to the compact and smooth surface morphology of Li anode.Therefore,the Li-S batteries with CuPc additive deliver much higher capacity,better cycle performance and rate capability as compared to the one without CuPc additive.

关键词： Copper phthalocyanine Electrolyte additive Stable SEI film Stabilized Li anode Lithium-sulfur batteries

WEAK APPROXIMATIONS OF STOCHASTIC PARTIAL DIFFERENTIAL EQUATIONS WITH FRACTIONAL NOISE

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Journal of Computational Mathematics 2024年第3期42卷 735-754页

作者： meng cai Siqing Gan Xiaojie Wang School of Mathematics and Statistics HNP-LAMACentral South UniversityChangshaChina

This paper aims to analyze the weak approximation error of a fully discrete scheme for a class of semi-linear parabolic stochastic partial differential equations(SPDEs)driven by additive fractional Brownian motions with the Hurst parameter H∈(1/2,1).The spatial approximation is performed by a spectral Galerkin method and the temporal discretization by an exponential Euler method.As far as we know,the weak error analysis for approximations of fractional noise driven SPDEs is absent in the literature.A key difficulty in the analysis is caused by the lack of the associated Kolmogorov equations.In the present work,a novel and efficient approach is presented to carry out the weak error analysis for the approximations,which does not rely on the associated Kolmogorov equations but relies on the Malliavin calculus.To the best of our knowledge,the rates of weak convergence,shown to be higher than the strong convergence rates,are revealed in the fractional noise driven SPDE setting for the first time.Numerical examples corroborate the claimed weak orders of convergence.

关键词： Parabolic SPDEs Fractional Brownian motion Weak convergence rates Spec-tral Galerkin method Exponential Euler method Malliavin calculus

Effect of artificial natural light on the development of myopia among primary school-age children in China:a three-year longitudinal study

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International Journal of Ophthalmology(English edition) 2024年第5期17卷 924-931页

作者： Hui-Min cai meng-Yan Li Yi Cao yu-Lin Wu Ming Liang yu-Shi Chen Bi-Kun Xian yu-Juan Huang Xiang-Bin Kong Department of Ophthalmology the Second People’s Hospital of FoshanAffiliated Foshan Hospital of Southern Medical UniversityFoshan 528000Guangdong ProvinceChina Guangdong Medical University Zhanjiang 524023Guangdong ProvinceChina Guangdong Cosio Lighting Corporation Foshan 528000Guangdong ProvinceChina

AIM:To assess the efficacy of artificial natural light in preventing incident myopia in primary school-age children.METHODS:This is a prospective,randomized control,intervention study.A total of 1840 students from 39 classes in 4 primary schools in Foshan participated in this study.The whole randomization method was adopted to include classes as a group according to 1:1 randomized control.Classrooms in the control group were illuminated by usual light,and classrooms in the intervention group were illuminated by artificial natural light.All students received uncorrected visual acuity and best-corrected visual acuity measurement,non-cycloplegic autorefraction,ocular biometric examination,slit lamp and strabismus examination.Three-year follow-up,the students underwent same procedures.Myopia was defined as spherical equivalent refraction≤-0.50 D and uncorrected visual acuity<20/20.RESULTS:There were 894 students in the control group and 946 students in the intervention group with a mean±SD age of 7.50±0.53y.The three-year cumulative incidence rate of myopia was 26.4%(207 incident cases among 784 eligible participants at baseline)in the control group and 21.2%(164 incident cases among 774 eligible participants at baseline)in the intervention group[difference of 5.2%(95%CI,3.7%to 10.1%);P=0.035].There was also a significant difference in the three-year change in spherical equivalent refraction for the control group(-0.81 D)compared with the intervention group[-0.63 D;difference of 0.18 D(95%CI,0.08 to 0.28 D);P<0.001].Elongation of axial length was significantly different between in the control group(0.77 mm)and the intervention group[0.72 mm;difference of 0.05 mm(95%CI,0.01 to 0.09 mm);P=0.003].CONCLUSION:Artificial natural light in the classroom of primary schools can result in reducing incidence rate of myopia during a period of three years.

关键词： myopia artificial natural light school-age children efficacy

Large isolated fibrous tumors in the upper esophagus: A case report

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World Journal of Gastrointestinal Oncology 2024年第2期16卷 543-549页

作者： Jia-Jia yu Huan-Shuang Pei yu meng Department of Anesthesiology The Fourth Hospital of Hebei Medical UniversityShijiazhuang 050000Hebei ProvinceChina

BACKGROUND Solitary fibrous tumors(SFT)are rare spindle cell tumors that are usually benign.A total of 10 cases of SFTs in the upper esophagus have ever been reported.Here,we report the anesthetic management of a patient with a large isolated fibrous tumor of the upper esophagus compressing the tracheal membrane.We also provide a literature review of the current research.CASE SUMMARY We report the case of a 49 year old male with“cough aggravation and wheezing after exercise”,who underwent esophagectomy for a large isolated fibrous tumor compressing the tracheal membrane in the upper esophagus.We advise the use of a single-lumen tube with a blocker in patients with difficult airways to reduce the incidence of airway injury and fibrinoscopy at all stages of the perioperative period to guide airway management.This case study is the first report of the anesthetic management of a large,isolated fibrous tumor compressing the tracheal membrane in the upper esophagus.CONCLUSION This rare case emphasizes the importance of perioperative management of anesthesia in patients with large isolated fibrous tumors of the upper esophagus that compress the tracheal membrane.The use of blocker reduce the incidence of airway injury and fibrinoscopy at the perioperative period to guide airway mana-gement.

关键词： Upper esophagus Isolated fibrous tumor Tracheal membrane Peak airway pressure Case report

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 attention.Microbial electrolysis cells(MECs)are viewed as a promising alterna tive for pollutant removal,which can be strengthened from two aspects:microbial inocula tion and acclimation.In 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.The 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),respectively.The 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 electrolyte.In the biofilm,the dominant genera shifted from Geobacter to Hyphomicrobium in acclimation stages.Moreover,Methylobacterium played an increasingly important role.DCM metabolism mainly occurred through the hydrolytic glutathione S-transferase pathway,given that the gene dcmA was identified rather than the dhlA and P450/MO.The exogenous electrons facilitated the reduction of GSSG,directly o indirectly accelerating the GSH-catalyzed dehalogenation.This 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

Prediction of ball-on-plate friction and wear by ANN with data-driven optimization

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Friction 2024年第6期12卷 1235-1249页

作者： Alexander KOVALEV yu TIAN Yonggang meng State Key Laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijing 100084China

For training artificial neural network(ANN),big data either generated by machine or measured from experiments are used as input to"learn"the unspecified functions defining the ANN.The experimental data are fed directly into the optimizer allowing training to be performed according to a predefined loss function.To predict sliding friction and wear at mixed lubrication conditions,in this study a specific ANN structure was so designed that deep learning algorithms and data-driven optimization models can be used.Experimental ball-on-plate friction and wear data were analyzed using the specific training procedure to optimize the weights and biases incorporated into the neural layers of the ANN,and only two independent experimental data sets were used during the ANN optimization procedure.After the training procedure,the ANN is capable to predict the contact and hydrodynamic pressure by adapting the output data according to the tribological condition implemented in the optimization algorithm.

关键词： machine learning deep learning artificial neural network mixed lubrication

Tailoring sulfur-doped and nitrogen-defective carbon nitride nanosheets for efficient photo-controlled radical polymerizations

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Science China Chemistry 2024年第7期67卷 2325-2334页

作者： Xue Li meng Kai Xu yuan Huang Tao cai Key Laboratory of Biomedical Polymers of Ministry of Education College of Chemistry and Molecular SciencesWuhan UniversityWuhan 430072China Wuhan University Shenzhen Research Institute Shenzhen 518057China

Despite the challenges that remain,the synergistic adjustment of various microstructures and photochemical parameters of graphitic carbon nitride(g-C_(3)N_(4))in photocatalytic reactions holds promises for improving catalytic efficiency and reducing energy consumption.Herein,sulfur-doped and nitrogen-defective g-C_(3)N_(4)(n-SC_(3)N_(x))nanosheets were designed and elaborately synthesized.The resultant n-SC_(3)N_(x)possessed a precisely defined 2D layer structure with extensive porosity and incremental specific surface area.Enhanced photoinduced electron transfer-reversible addition-fragmentation chain transfer(PET-RAFT)polymerization of vinyl monomers with low dispersity,excellent temporal control and high chain-end fidelity was achieved under mild blue light irradiation in a nondegassed system.Owing to their ultrathin nanostructures with nitrogen defects and sulfur dopants,n-SC_(3)N_(x)was capable of catalyzing RAFT polymerization in aqueous solutions at significantly accelerated rates,which were nearly 8 times faster compared to bulk g-C_(3)N_(4).The ease of separation and efficient reusability in subsequent polymerizations was enabled by the heterogeneous nature of n-SC_(3)N_(x).The appeal of this approach was illustrated by the fact that utilizing a reusable and metal-free photocatalyst in aqueous environments allowed for the synthesis of polymers with molecular weight up to 300 kg mol-1and a dispersity of 1.32.

关键词： graphitic carbon nitride nitrogen defects sulfur dopants PET-RAFT polymerization recyclability