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

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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(min.stry 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 *** 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 *** overcome this problem,a compliance motion control method is proposed in this paper for the *** mass parameter of the unknown object is obtained by using an adaptive method based on velocity *** 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 ***,a compliance motion controller is designed for HDM closed-chain *** 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 *** 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 *** addition,the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control ***,comparative experiments are carried out on a hydraulic dual-arm test *** 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

Jellyfish bio-inspired Fe@CNT@CuNC derived from ZIF-8 for cathodic oxygen reduction

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Nano Research 2024年第4期17卷 2352-2359页

作者： Kai cheng Zequan Liu Demin.Jiang min.Song Yuqiao Wang Research Center for Nano Photoelectrochemistry and Devices School of Chemistry and Chemical EngineeringSoutheast UniversityNanjing 211189China Yangtze River Delta Carbon Neutrality Strategy Development Institute Southeast UniversityNanjing 210096China School of Energy and Environment Southeast UniversityNanjing 210096China

Biomimetics provides guidance to design and synthesize advanced catalysts for oxygen reduction reaction in microbial fuel cells(MFCs).Herein,jellyfish-inspired Fe clusters on carbon nanotubes connected with CuNC(Fe@CNT@CuNC)were designed and prepared by using zeolitic imidazolate framework(ZIF)-8 precursors to imitate the organic texture and function of *** antibacterial effect of Cu^(+)ions depressed the growth of cathode biofilm to ensure rapid mass *** clusters and CuNC connected by CNTs accelerated the electron transfer from Fe to *** optimization of oxygen adsorption was caused by electron redistribution between sites of Fe and ***-like catalysts achieved a half-wave potential of 0.86 V and onset potential of 0.95 V *** hydrogen electrode(RHE).MFCs gained the maximum power density of 1600 mW·m^(-2) after 500 h *** work provides insights into the special design of advanced catalysts based on bio-inspiration and biomimetics.

关键词： bio-inspiration oxygen reduction reaction antibacterial ability microbial fuel cells density functional theory(DFT)rational design

Strengthened and toughened SiHfBCN-based hightemperature resistant adhesive with SiC NWs

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Chinese Journal of Aeronautics 2024年第7期37卷 539-549页

作者： Xingang LUAN Xiyue ZHU Xichao DONG min.LI Laifei cheng Science and Technology on Thermostructural Composite Materials Laboratory Northwestern Polytechnical UniversityXi’an 710072China

To further improve the performance of binders,a SiHfBCN-based high-temperature resistant adhesive was successfully synthesized by Polymer-Derived Ceramics(PDC)route using TiB2,Polysiloxane(PSO)and short SiC nanowires as *** effect of short SiC nanowires on the adhesive strength at room temperature and high temperature,as well as the reinforcing mechanism was *** with the adhesive without SiC nanowires,after curing(at 170℃)and pyrolysis(at 1000℃)in air,the appropriate adding of SiC nanowires upgrades the room temperature and high temperature(at 1000℃ in air)adhesive strength to(12.50±0.67)MPa(up by about 32%)and(13.11±0.79)MPa(up by about 106%),***,under the synergistic impact of the nanowire bridging,nanowire breaking,nanowire drawing and crack deflection,the optimized adhesive exhibits multi-stage fracture,causing the increscent fracture displacement.

关键词： High-temperature resistant adhesive SiHfBCN SiC NWs Strengthening Toughening

New insight into Ca^(2+)-permeable channel in plant immunity

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Journal of Integrative Plant Biology 2024年第3期66卷 623-631页

作者： Wei Wang Hang-Yuan cheng Jian-min.Zhou State Key Laboratory of Plant Genomics Institute of Genetics and Developmental BiologyChinese Academy of SciencesBeijing 100101China CAS Center for Excellence in Biotic Interactions University of Chinese Academy of SciencesBeijing 100049China College of Advanced Agricultural Sciences University of Chinese Academy of SciencesBeijing 100049China Hainan Yazhou Bay Seed Laboratory Sanya 572025China

Calcium ions(Ca^(2+)) are crucial intracellular second messengers in eukaryotic cells. Upon pathogen perception, plants generate a transient and rapid increase in cytoplasmic Ca^(2+)levels, which is subsequently decoded by Ca^(2+)sensors and effectors to activate downstream immune responses. The elevation of cytosolic Ca^(2+)is commonly attributed to Ca^(2+)influx mediated by plasma membranelocalized Ca^(2+)–permeable channels. However, the contribution of Ca^(2+)release triggered by intracellular Ca^(2+)-permeable channels in shaping Ca^(2+)signaling associated with plant immunity remains poorly understood. This review discusses recent advances in understanding the mechanism underlying the shaping of Ca^(2+)signatures upon the activation of immune receptors, with particular emphasis on the identification of intracellular immune receptors as non-canonical Ca^(2+)-permeable channels. We also discuss the involvement of Ca^(2+)release from the endoplasmic reticulum in generating Ca^(2+)signaling during plant immunity.

关键词： Ca^(2+)-permeable channels endoplasmic reticulum phosphorylation plant immunity resistosome

The study of intelligent algorithm in particle identification of heavy-ion collisions at low and intermediate energies

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Nuclear Science and Techniques 2024年第2期35卷 170-182页

作者： Gao-Yi cheng Qian-min.Su Xi-Guang Cao Guo-Qiang Zhang School of Electronic and Electrical Engineering Shanghai University of Engineering ScienceShanghai 201620China Shanghai Advanced Research Institute Chinese Academy of SciencesShanghai 201210China Shanghai Institute of Applied Physics Chinese Academy of SciencesShanghai 201800China

Traditional particle identification methods face timeconsumin.,experience-dependent,and poor repeatability challenges in heavy-ion collisions at low and intermediate *** urgently need solutions to the dilemma of traditional particle identification *** study explores the possibility of applying intelligent learning algorithms to the particle identification of heavy-ion collisions at low and intermediate *** intelligent algorithms,including XgBoost and TabNet,were selected to test datasets from the neutron ion multi-detector for reaction-oriented dynamics(NIMROD-ISiS)and Geant4 ***-based machine learning algorithms and deep learning algorithms *** show excellent performance and generalization *** additional data features besides energy deposition can improve the algorithm’s performance when the data distribution is *** learning algorithms can be applied to solve the particle identification problem in heavy-ion collisions at low and intermediate energies.

关键词： Heavy-ion collisions at low and intermediate energies Machine learning Ensemble learning algorithm Particle identification Data imbalance

Intelligent representation method of image flatness for cold rolled strip

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Journal of Iron and Steel Research International 2024年第5期31卷 1177-1195页

作者： Yang-huan Xu Dong-cheng Wang Hong-min.Liu Bo-wei Duan National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan UniversityQinhuangdao066004HebeiChina National Key Laboratory of Metal Formin. Technology and Heavy Equipment China National Heavy Machinery Research Institute Co.Ltd.Xi’an710018ShaanxiChina State Key Laboratory of Metastable Materials Science and Technology Yanshan UniversityQinhuangdao066004HebeiChina

Real flatness images are the bases for flatness detection based on machine vision of cold rolled *** characteristics of a real flatness image are analyzed,and a lightweight strip location detection(SLD)model with deep semantic segmentation networks is *** interference areas in the real flatness image can be elimin.ted by the SLD model,and valid information can be *** this basis,the concept of image flatness is proposed for the first *** image flatness representation(IFAR)model is established on the basis of an autoencoder with a new *** optimal structure of the bottleneck layer is 16×16×4,and the IFAR model exhibits a good representation ***,interpretability analysis of the representation factors is carried out,and the difference and physical meaning of the representation factors for image flatness with different categories are *** flatness with new defect morphologies(bilateral quarter waves and large middle waves)that are not present in the original dataset are generated by modifying the representation factors of the no wave ***,the SLD and IFAR models are used to detect and represent all the real flatness images on the test *** average processing time for a single image is 11.42 ms,which is suitable for industrial *** research results provide effective methods and ideas for intelligent flatness detection technology based on machine vision.

关键词： Cold rolled strip Image flatness Location detection Representation learning Bottleneck layer

Identification of key genes regulating the synthesis of quercetin derivatives in Rosa roxburghii through integrated transcriptomics and metabolomics

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Journal of Integrative Agriculture 2024年第3期23卷 876-887页

作者： Liyao Su min.Wu Tian Zhang Yan Zhong Zongmin.(Max) cheng State Key Laboratory of Crop Genetics and Germplasm Enhancement College of HorticultureNanjing Agricultural UniversityNanjing210095China

Rosa roxburghii fruit is rich in flavonoids, but little is known about their biosynthetic pathways. In this study, we employed transcriptomics and metabolomics to study changes related to the flavonoids at five different stages of R. roxburghii fruit development. Flavonoids and the genes related to their biosynthesis were found to undergo significant changes in abundance across different developmental stages, and numerous quercetin derivatives were identified. We found three gene expression modules that were significantly associated with the abundances of the different flavonoids in R. roxburghii and identified three structural UDP-glycosyltransferase genes directly involved in the synthesis of quercetin derivatives within these modules. In addition, we found that RrBEH4, RrLBD1 and RrPIF8could significantly increase the expression of downstream quercetin derivative biosynthesis genes. Taken together,these results provide new insights into the metabolism of flavonoids and the accumulation of quercetin derivatives in R. roxburghii.

关键词： Rosa roxburghii quercetin derivatives weighted gene co-expression network analysis transcription factor transcriptome metabolome

Research on a TOPSIS energy efficiency evaluation system for crude oil gathering and transportation systems based on a GA-BP neural network

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Petroleum Science 2024年第1期21卷 621-640页

作者： Xue-Qiang Zhang Qing-Lin cheng Wei Sun Yi Zhao Zhi-min.Li Key Lab of min.stry of Education for Enhancing the Oil and Gas Recovery Ratio Northeast Petroleum UniversityDaqing163318HeilongjiangChina China Petroleum Pipeline Material and Equipment Co. LtdLangfang065000HebeiChina Research Institute of Petroleum Engineering and Technology Sinopec Northwest Oilfield CompanyUrumqi830011XinjiangChina

As the main link of ground engineering,crude oil gathering and transportation systems require huge energy consumption and complex *** is necessary to establish an energy efficiency evaluation system for crude oil gathering and transportation systems and identify the energy efficiency *** this paper,the energy efficiency evaluation system of the crude oil gathering and transportation system in an oilfield in western China is *** with the big data analysis method,the GA-BP neural network is used to establish the energy efficiency index prediction model for crude oil gathering and transportation *** comprehensive energy consumption,gas consumption,power consumption,energy utilization rate,heat utilization rate,and power utilization rate of crude oil gathering and transportation systems are *** the efficiency and unit consumption index of the crude oil gathering and transportation system,the energy efficiency evaluation system of the crude oil gathering and transportation system is established based on a game theory combined weighting method and TOPSIS evaluation method,and the subjective weight is determin.d by the triangular fuzzy analytic hierarchy *** entropy weight method determin.s the objective weight,and the combined weight of game theory combines subjectivity with objectivity to comprehensively evaluate the comprehensive energy efficiency of crude oil gathering and transportation systems and their ***,the weak links in energy utilization are identified,and energy conservation and consumption reduction are *** above research provides technical support for the green,efficient and intelligent development of crude oil gathering and transportation systems.

关键词： Crude oil gathering and transportation system GA-BP neural network Energy efficiency evaluation TOPSIS evaluation method Energy saving and consumption reduction

Binding SnO2 Nanoparticles with MoS2 Nanosheets Toward Highly Reversible and Cycle-Stable Lithium/Sodium Storage

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Energy & Environmental Materials 2024年第4期7卷 135-142页

作者： Deliang cheng Wenbiao Zhang Yi Tang Qingsheng Gao Renzong Hu Lichun Yang min.Zhu Institute of Advanced Materials Jiangxi Normal University School of Materials Science and Engineering Guangdong Provincial Key Laboratory of Advanced Energy Storage Materials South China University of Technology College of Chemistry and Materials Science Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications Jinan University Department of Chemistry Shanghai Key Laboratory of Molecular Catalysis and Innovative Materials Laboratory of Advanced Materials and Collaborative Innovation Center of Chemistry for Energy Materials Fudan University

SnO2,with its high theoretical capacity,abundant resources,and environmental friendliness,is widely regarded as a potential anode material for lithium-ion batteries （LIBs）.Nevertheless,the coarsening of the Sn nanop... 详细信息

关键词： 1 T-MoS2 heterostructure lithium-ion batteries Sn coarsening SnO2