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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object

Frontiers of Mechanical Engineering 2024年第1期19卷 35-52页

作者： Bolin SUN min cheng Ruqi DING Bing XU State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China Key Laboratory of Conveyance and Equipment(ministry of Education) East China Jiaotong UniversityNanchang 330013China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Given the limited operating ability of a single robotic arm,dual-arm collaborative operations have become increasingly prominent.Compared with the electrically driven dual-arm manipulator,due to the unknown heavy load,difficulty in measuring contact forces,and control complexity during the closed-chain object transportation task,the hydraulic dual-arm manipulator(HDM)faces more difficulty in accurately tracking the desired motion trajectory,which may cause object deformation or even breakage.To overcome this problem,a compliance motion control method is proposed in this paper for the HDM.The mass parameter of the unknown object is obtained by using an adaptive method based on velocity error.Due to the difficulty in obtaining the actual internal force of the object,the pressure signal from the pressure sensor of the hydraulic system is used to estimate the contact force at the end-effector(EE)of two hydraulic manipulators(HMs).Further,the estimated contact force is used to calculate the actual internal force on the object.Then,a compliance motion controller is designed for HDM closed-chain collaboration.The position and internal force errors of the object are reduced by the feedback of the position,velocity,and internal force errors of the object to achieve the effect of the compliance motion of the HDM,i.e.,to reduce the motion error and internal force of the object.The required velocity and force at the EE of the two HMs,including the position and internal force errors of the object,are inputted into separate position controllers.In addition,the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control method.Finally,comparative experiments are carried out on a hydraulic dual-arm test bench.The proposed method is validated by the experimental results,which demonstrate improved object position accuracy and reduced internal force.

关键词： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control

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Intramolecular Hydrogen Bond Improved Durability and Kinetics for Zinc‑Organic Batteries

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Nano-Micro Letters 2024年第3期16卷 138-148页

作者： Tianjiang Sun Jun Pan Weijia Zhang Xiaodi Jiang min cheng Zhengtai Zha Hong Jin Fan Zhanliang Tao Key Laboratory of Advanced Energy Materials Chemistry(ministry of Education) Renewable Energy Conversion and Storage CenterCollege of ChemistryNankai UniversityHaihe Laboratory of Sustainable Chemical TransformationsTianjin 300071People’s Republic of China School of Physical and Mathematical Sciences Nanyang Technological UniversitySingapore 637371Singapore Shanghai Key Laboratory of Special Artificial Microstructure Materials and Technology School of Physics Science and EngineeringTongji UniversityShanghai 200092People’s Republic of China

Organic compounds have the advantages of green sustainability and high designability,but their high solubility leads to poor durability of zinc-organic batteries.Herein,a high-performance quinone-based polymer(H-PNADBQ)material is designed by introducing an intramolecular hydrogen bonding(HB)strategy.The intramolecular HB(C=O⋯N-H)is formed in the reaction of 1,4-benzoquinone and 1,5-naphthalene diamine,which efficiently reduces the H-PNADBQ solubility and enhances its charge transfer in theory.In situ ultraviolet-visible analysis further reveals the insolubility of H-PNADBQ during the electrochemical cycles,enabling high durability at different current densities.Specifically,the H-PNADBQ electrode with high loading(10 mg cm^(-2))performs a long cycling life at 125 mA g^(-1)(>290 cycles).The H-PNADBQ also shows high rate capability(137.1 mAh g^(−1)at 25 A g^(−1))due to significantly improved kinetics inducted by intramolecular HB.This work provides an efficient approach toward insoluble organic electrode materials.

关键词： Zn-organic batteries H-PNADBQ polymer Intramolecular hydrogen bond Reduced solubility Improvedπ-conjugated level

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A solubility limited pyrene-4,5,9,10-tetraone-based covalent organic framework for high-performance aqueous zinc-organic batteries

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Nano Research 2024年第6期17卷 5095-5103页

作者： min cheng Shibing Zheng Tianjiang Sun Diantao Li Weijia Zhang Zhengtai Zha Qiong Sun Jing Tian Kai Zhang Zhanliang Tao Frontiers Science Center for New Organic Matter State Key Laboratory of Advanced Chemical Power SourcesKey Laboratory of Advanced Energy Materials Chemistry(Ministry of Education)Collaborative Innovation Center of Chemical Science and Engineering(Tianjin)Renewable Energy Conversion and Storage CentreNankai UniversityTianjin 300071China Haihe Laboratory of Sustainable Chemical Transformations Tianjin 300192China

Pyrene-4,5,9,10-tetraone(PTO),with a high theoretical capacity of 408 mAh·g^(−1),is a promising candidate for rechargeable aqueous zinc-ion batteries(RAZIBs),but its zincated products during discharge process suffer from high solubility in electrolytes.Herein,aβ-ketoenamine-linked two-dimensional(2D)covalent organic framework(COF)based on a 2,7-diaminopyrene-4,5,9,10-tetraone(4KT-BD)monomer and a 2,4,6-trihydroxy-benzene-1,3,5-tricarbaldehyde(Tp)node(4KT-Tp-COF)is synthesized to address the above issue.The well-designed 4KT-Tp-COF displays low solubility in 3 M Zn(CF3SO3)2 owing to the favorableπ-πstacking as well as extended structure.Besides,the ingenious structural design of the active molecule and the long-range ordered nano-channels alter the intramolecular electron distribution,which facilitates the ionic diffusion.Consequently,the 4KT-Tp-COF cathode exhibits a stable capacity of 181 mAh·g^(−1)at 0.2 A·g^(−1),superior rate capability of 139 mAh·g^(−1)at 20 A·g^(−1),and a long lifetime of 1000 cycles without capacity loss at 30 A·g^(−1).Even at a low temperature of−20°C,the electrode also performs an ultralong cycling life of 9000 cycles with a capacity of 106 mAh·g^(−1)at 5 A·g^(−1).The comprehensive characterizations of ex-situ analyses together with the theoretical calculations validate that the groups of C=O can contribute highly accessible redox-active sites for Zn^(2+)storage.The ultra-stable 4KT-Tp-COF cathode provides important insights for designing robust organic electrodes for sustainable and large-scale electrochemical energy storage.

关键词： pyrene-4,5,9,10-tetraone solubility limited covalent organic framework zinc batteries

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Correlation between cerebral neurotransmitters levels by proton magnetic resonance spectroscopy and HbA1c in patients with type 2 diabetes

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World Journal of Diabetes 2024年第6期15卷 1263-1271页

作者： Xiang-Yu Gao Chen-Xia Zhou Hong-Mei Li min cheng Da Chen Zi-Yi Li Bo Feng Jun Song Department of Endocrinology East HospitalTongji University School of MedicineShanghai 200120China Department of Endocrinology Qilu Hospital(Qingdao)Cheeloo College of MedicineShandong UniversityQingdao 266000Shandong ProvinceChina Department of Immunization Program Huangdao District Center for Disease Prevention and ControlQingdao 266400Shandong ProvinceChina

BACKGROUND Cognitive dysfunction is the main manifestation of central neuropathy.Although cognitive impairments tend to be overlooked in patients with diabetes mellitus(DM),there is a growing body of evidence linking DM to cognitive dysfunction.Hyperglycemia is closely related to neurological abnormalities,while often disregarded in clinical practice.Changes in cerebral neurotransmitter levels are associated with a variety of neurological abnormalities and may be closely related to blood glucose control in patients with type 2 DM(T2DM).AIM To evaluate the concentrations of cerebral neurotransmitters in T2DM patients exhibiting different hemoglobin A1c(HbA1c)levels.METHODS A total of 130 T2DM patients were enrolled at the Department of Endocrinology of Shanghai East Hospital.The participants were divided into four groups according to their HbA1c levels using the interquartile method,namely Q1(min(mALB),triglyceride,low-density lipoprotein cholesterol(LDL-C),homeostasis model assessment of insulin resistance(HOMA-IR),and beta cell function(HOMA-β),N-acetylaspartate/creatine(NAA/Cr),and NAA/choline(NAA/Cho).Spearman correlation analysis showed that mALB,LDL-C,HOMA-IR and NAA/Cr in the left brainstem area were positively correlated with the level of HbA1c(P<0.05),whereas HOMA-βwas negatively correlated with the HbA1c level(P<0.05).Ordered multiple logistic regression analysis showed that NAA/Cho[Odds ratio(OR):1.608,95%confidence interval(95%CI):1.004-2.578,P<0.05],LDL-C(OR:1.627,95%CI:1.119-2.370,P<0.05),and HOMA-IR(OR:1.107,95%CI:1.031-1.188,P<0.01)were independent predictors of poor

关键词： Type 2 diabetes mellitus Hemoglobin A1c Proton magnetic resonance spectroscopy Neurotransmitters Central neuropathy

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A Multi-mode Electronic Load Sensing Control Scheme with Power Limitation and Pressure Cut-off for Mobile Machinery

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 157-170页

作者： min cheng Bolin Sun Ruqi Ding Bing Xu State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing400044China Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang330052China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310027China

In mobile machinery,hydro-mechanical pumps are increasingly replaced by electronically controlled pumps to improve the automation level,but diversified control functions(e.g.,power limitation and pressure cut-off)are integrated into the electronic controller only from the pump level,leading to the potential instability of the overall system.To solve this problem,a multi-mode electrohydraulic load sensing(MELS)control scheme is proposed especially considering the switching stability from the system level,which includes four working modes of flow control,load sensing,power limitation,and pressure control.Depending on the actual working requirements,the switching rules for the different modes and the switching direction(i.e.,the modes can be switched bilaterally or unilaterally)are defined.The priority of different modes is also defined,from high to low:pressure control,power limitation,load sensing,and flow control.When multiple switching rules are satisfied at the same time,the system switches to the control mode with the highest priority.In addition,the switching stability between flow control and pressure control modes is analyzed,and the controller parameters that guarantee the switching stability are obtained.A comparative study is carried out based on a test rig with a 2-ton hydraulic excavator.The results show that the MELS controller can achieve the control functions of proper flow supplement,power limitation,and pressure cut-off,which has good stability performance when switching between different control modes.This research proposes the MELS control method that realizes the stability of multi-mode switching of the hydraulic system of mobile machinery under different working conditions.

关键词： Hydraulic control Load sensing Multi-Mode Power limitation Mobile machinery

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Is tumor necrosis factor-α monoclonal therapy with proactive therapeutic drug monitoring optimized for inflammatory bowel disease? Network meta-analysis

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World Journal of Gastrointestinal Surgery 2024年第2期16卷 571-584页

作者： Fang-Yuan Zheng Kai-Si Yang Wen-cheng min Xin-Zhu Li Yu Xing Shuai Wang Ying-Shi Zhang Qing-Chun Zhao Teaching Hospital of Shenyang Pharmaceutical University General Hospital of Northern Theater CommandShenyang 110016Liaoning ProvinceChina

BACKGROUND The efficacy and safety of anti-tumor necrosis factor-α(TNF-α)monoclonal antibody therapy[adalimumab(ADA)and infliximab(IFX)]with therapeutic drug monitoring(TDM),which has been proposed for inflammatory bowel disease(IBD)patients,are still controversial.AIM To determine the efficacy and safety of anti-TNF-αmonoclonal antibody therapy with proactive TDM in patients with IBD and to determine which subtype of IBD patients is most suitable for proactive TDM interventions.METHODS As of July 2023,we searched for randomized controlled trials(RCTs)and observa-tional studies in PubMed,Embase,and the Cochrane Library to compare anti-TNF-αmonoclonal antibody therapy with proactive TDM with therapy with reactive TDM or empiric therapy.Pairwise and network meta-analyses were used to determine the IBD patient subtype that achieved clinical remission and to determine the need for surgery.RESULTS This systematic review and meta-analysis yielded 13 studies after exclusion,and the baseline indicators were balanced.We found a significant increase in the number of patients who achieved clinical remission in the ADA[odds ratio(OR)=1.416,95%confidence interval(CI):1.196-1.676]and RCT(OR=1.393,95%CI:1.182-1.641)subgroups and a significant decrease in the number of patients who needed surgery in the proactive vs reactive(OR=0.237,95%CI:0.101-0.558)and IFX+ADA(OR=0.137,95%CI:0.032-0.588)subgroups,and the overall risk of adverse events was reduced(OR=0.579,95%CI:0.391-0.858)according to the pairwise meta-analysis.Moreover,the network meta-analysis results suggested that patients with IBD treated with ADA(OR=1.39,95%CI:1.19-1.63)were more likely to undergo TDM,especially in comparison with patients with reactive TDM(OR=1.38,95%CI:1.07-1.77).CONCLUSION Proactive TDM is more suitable for IBD patients treated with ADA and has obvious advantages over reactive TDM.We recommend proactive TDM in IBD patients who are treated with ADA.

关键词： Inflammatory bowel disease Therapeutic drug monitoring Adalimumab Infliximab Network meta-analysis

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Practice of flow control and smart valves

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2022年第4期23卷 243-246页

作者： Jin-yuan QIAN Wei WU min cheng Jun-hui ZHANG Institute of Process Equipment College of Energy EngineeringZhejiang UniversityHangzhou 310027China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China School of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China Institute of Mechatronics and Control Engineering Zhejiang UniversityHangzhou 310027China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Introduction The usual metaphors of“heart”and“throat”indi-cate the importance of pumps and valves in industrial systems including petroleum,chemical,metallurgy,aviation,and aerospace.With the continuous penetra-tion of the industrial internet,the miniaturization,digi-tization,multi-functionalization,and systemization of valves have become very important(Si et al.,2020;Chang et al.,2021;Pang et al.,2021;Bonilla et al.,2022;Yuan et al.,2022;Zhao et al.,2022).

关键词： smart internet flow

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Micropeptides: origins, identification, and potential role in metabolism-related diseases

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2023年第12期24卷 1106-1122页

作者： Yirui LU Yutong RAN Hong LI Jiao WEN Xiaodong CUI Xiaoyun ZHANG Xiumei GUAN min cheng School of Basic Medicine Sciences Weifang Medical UniversityWeifang 261053China

With the development of modern sequencing techniques and bioinformatics, genomes that were once thought to be noncoding have been found to encode abundant functional micropeptides(miPs), a kind of small polypeptides. Although miPs are difficult to analyze and identify, a number of studies have begun to focus on them. More and more miPs have been revealed as essential for energy metabolism homeostasis, immune regulation, and tumor growth and development. Many reports have shown that miPs are especially essential for regulating glucose and lipid metabolism and regulating mitochondrial function.MiPs are also involved in the progression of related diseases. This paper reviews the sources and identification of miPs, as well as the functional significance of miPs for metabolism-related diseases, with the aim of revealing their potential clinical applications.

关键词： Energy metabolism Micropeptides Mitochondria Noncoding RNA(ncRNA) Small open reading frame(sORF)

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Effect of thermal induced porosity on high-cycle fatigue and very high-cycle fatigue behaviors of hot-isostatic-pressed Ti-6Al-4V powder components

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Journal of Materials Science & Technology 2022年第3期98卷 177-185页

作者： min cheng Zhengguan Lu Jie Wu Ruipeng Guo Junwei Qiao Lei Xu Rui Yang College of Materials Science and Engineering Taiyuan University of TechnologyTaiyuan 030024China Institute of Metal Research Chinese Academy of SciencesShenyang 110016China

The present work reports the effect of thermal induced porosity(TIP)on the high-cycle fatigue(HCF)and very high-cycle fatigue(VHCF)behaviors of hot-isostatic-pressed(HIPed)Ti-6Al-4V alloy from gasatomized powder.The results show that the residual pores in the as-HIPed powder compacts present no obvious effect on the HCF life.The regrowth of the residual pores can be observed after solution heat treatment.The pore location ranks the most harmful for the fatigue life compared with the other initiating defects.The maximum stress intensity factors were calculated.The plastic zone size of fine granular area(FGA)is much less than the characteristic size of the microstructure,and the crucial size of the internal pores in this study is about 40μm.The failure types of fatigue specimens in the VHCF regime were classified,and the competition of different failure types was described based on the modified Poisson distribution.

关键词： Titanium alloy Hot isostatic pressing Fatigue life Crack initiation type Porosity

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A design constraint for a double-acting telescopic hydraulic cylinder in a hydraulic erecting system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2022年第1期23卷 1-13页

作者： Xiao-long ZHANG Jun-hui ZHANG min cheng Shen ZHENG Bing XU Yu FANG State Key Laboratory of Fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou310027China State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing400044China

Hydraulic erecting systems are widely used in missile and rocket launchers because of their high power density.The double-acting telescopic hydraulic cylinder(DATHC)plays a decisive role in the safe and proper operation of such systems.In particular,improper design of effective areas of a DATHC could potentially lead to an overspeed descent with severe damage for the erecting system.Unfortunately,there is no design constraint for DATHC to prevent this.Therefore,in this paper,a simplified and practical design constraint is proposed.Based on a developed mathematical model of a typical erecting system,we simulated and analyzed not only six cases meeting and not meeting the design constraint,but also the effectiveness of the design constraint under different loads.Experiments were then carried out under four cases.Simulation and experimental results validate the simplified design constraint,a constraint inequation guiding the design of diameters of effective areas for a DATHC.

关键词： Erecting system Telescopic hydraulic cylinder Overspeed descent Design constraint

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