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Neural Network Robust Control Based on Computed Torque for Lower limb Exoskeleton

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 83-99页

作者： Yibo Han Hongtao Ma Yapeng Wang Di shi Yanggang Feng Xianzhong li Yanjun shi Xilun Ding Wuxiang Zhang School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Beihang Goer(WeiFang)Intelligent Robot Co. Ltd.Beihang UniversityWeifangChina Research Center of Satellite Technology Harbin Institute of TechnologyHarbinChina Beijing Xinfeng Aerospace Equipment Co. LtdBeijingChina

The lower limb exoskeletons are used to assist wearers in various scenarios such as medical and industrial *** modeling errors of the exoskeleton in different application scenarios pose challenges to the robustness and stability of its control *** Radial Basis Function(RBF)neural network is used widely to compensate for modeling *** order to solve the problem that the current RBF neural network controllers cannot guarantee the asymptotic stability,a neural network robust control algorithm based on computed torque method is proposed in this paper,focusing on trajectory *** innovatively incorporates the robust adaptive term while introducing the RBF neural network term,improving the compensation ability for modeling *** stability of the algorithm is proved by Lyapunov method,and the effectiveness of the robust adaptive term is verified by the *** wearing the exoskeleton under different walking speeds and scenarios were carried out,and the results show that the absolute value of tracking errors of the hip and knee joints of the exoskeleton are consistently less than 1.5°and 2.5°,*** proposed control algorithm effectively compensates for modeling errors and exhibits high robustness.

关键词： Lower limb exoskeleton Model compensation RBF neural network Computed torque method

Reinterpret the heterogeneous reaction of α-Fe_(2)O_(3) and NO_(2) with 2D-COS:The role of SDS,UV and SO_(2)

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Chinese Chemical Letters 2024年第6期35卷 469-473页

作者： Haojie Duan Hejingying Niu lina Gan Xiaodi Duan Shuo shi li li School of Environmental&Chemical Engineering Shanghai UniversityShanghai 200444China School of Environment and Architecture University of Shanghai for Science and TechnologyShanghai 200093China Shanghai Aircraft Design and Research Institute Shanghai 201210China

Heterogeneous reaction of mineral aerosols and atmospheric polluting gases play an important role in atmospheric *** this study,the reactions of NO_(2) with or without SO_(2) mixture gas on the surface of α-Fe_(2)O_(3) particles under dry conditions were *** effects of sodium dodecyl sulfate(SDS)and the heterogeneous reaction under both dark and UV irradiation conditions were *** infrared spectrum analyzed by the two-dimensional correlation spectroscopy(2D-COS)was used to obtain the products formation *** results showed that UV irradiation can promote the production of *** 2D-COS analysis indicated SDS changed the sequence order of nitrate and nitrite species during *** oxidation conditions,the final product of heterogeneous reaction of NO_(2) and α-Fe_(2)O_(3) was monodentate *** the heterogenous reaction of NO_(2) and α-Fe_(2)O_(3) containing SDS(FOS)without UV light,the final product was bidentate *** was the catalysis agent supply and photoresist to the *** surface active compounds,the environmental lifetime of heterogeneous reactions between trace gases and aerosols ***,ultraviolet light,and the types of gases involved in the reaction all have complex effects on the aerosol aging *** study provided a reference for subsequent heterogeneous reaction studies and the formation of aerosols.

关键词： Heterogeneous reaction α-Fe_(2)O_(3) 2D-COS SDS Aerosol

Collaborative multi-lane on-ramp merging strategy for connected and automated vehicles using dynamic conflict graph

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Journal of Intelligent and Connected Vehicles

Journal of Intelligent and Connected Vehicles 2024年第1期7卷 38-51页

作者： Jia shi Yugong Luo Pengfei li Jiawei Wang Keqiang li School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China Department of Civil and Environmental Engineering University of MichiganAnn ArborMI 48109USA

The on-ramp merging in multi-lane highway scenarios presents challenges due to the complexity of coordinating vehicles’merging and lane-changing behaviors,while ensuring safety and optimizing traffic ***,there are few studies that have addressed the merging problem of ramp vehicles and the cooperative lane-change problem of mainline vehicles within a unified framework and proposed corresponding optimization *** tackle this issue,this study adopts a cyber-physical integration perspective and proposes a graph-based solution ***,the information of vehicle groups in the physical plane is mapped to the cyber plane,and a dynamic conflict graph is introduced in the cyber space to describe the conflict relationships among vehicle ***,graph decomposition and search strategies are employed to obtain the optimal solution,including the set of mainline vehicles changing lanes,passing sequences for each route,and corresponding ***,the proposed dynamic conflict graph-based algorithm is validated through simulations in continuous traffic with various densities,and its performance is compared with the default algorithm in *** results demonstrate the effectiveness of the proposed approach in improving vehicle safety and traffic efficiency,particularly in high traffic density scenarios,providing valuable insights for future research in multi-lane merging strategies.

关键词： cooperative merging multi-lane graph theory cyber-physical integration system

Effect of TiO_(2) addition on microstructures and properties of Mgo-Cao refractory aggregates

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Journal of Iron and Steel Research International 2024年第6期31卷 1547-1554页

作者： Shuai Zhang Jing-ran Wang Yuan-gao li Feng-you li Wen Yan Hui-ying shi The State Key Laboratory of Refractories and Metallurgy Wuhan University of Science and TechnologyWuhan 430081HubeiChina Joint International Research Laboratory of Refractories and Metallurgy Wuhan 430081HubeiChina Shanxi Luweibao Taigang Refractory Co. Ltd.Taiyuan 030003ShanxiChina

MgO-CaO(40 wt.%CaO)refractory aggregates were prepared using the calcined dolomite and light-burned magnesia fine powder as raw materials and TiO_(2) as *** effect of TiO_(2) on their phase composition,microstructures and properties was investigated by X-ray diffraction and scanning electron *** properties such as bulk density,apparent porosity,relative aggregate tube strength and hydration resistance were also *** results showed that the CaTiO_(3) generated by the reaction between CaO and TiO_(2) was distributed around the CaO grain boundaries and intermittently distributed with MgO,which formed an isolation layer around CaO and greatly improved the hydration ***,the introduction of TiO_(2) promoted sintering and increased the grain size,further improving the strengths and hydration resistance of the *** addition,the most significant enhancement in the hydration resistance and strengths of the samples was achieved when 1.0-2.0 wt.%TiO_(2) was *** this case,the relative strength of aggregate increased from 33.3% to 37.3%-43.1%,and the mass gain after the hydration test decreased from 3.13% to 1.26%-1.45%.

关键词： MgO-CaO refractory aggregate TiO_(2)addition Phase composition Microstructure Hydration resistance

Assessment of climate damage in China based on integrated assessment framework

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Advances in Climate Change Research 2024年第1期15卷 124-133页

作者： Jie liU Xiang-Zhen shi li YANG Chang-Yi liU Jin-Cheng WANG Rui-Min ZHU Xue-li shi Qiu-Feng liU International Business School Shanxi Normal UniversityXi'an 710062China University of Chinese Academy of Social Sciences Bejing 102488China School of Economics and Management Xinjiang UniversityUrumqi 830046China Global Energy Interconnection Development and Cooperation Organization(GEIDCO) Bejing 100031China Hubei Enshi College Enshi 445099China CMA Earth System Modeling and Prediction Centre China Meteorological AdministrationBeijing 100081China National Climate Centre China Meteorological AdministrationBeijing 100081China

Developing a localized and consistent model framework for climate loss and damage assessment is crucial for the policy-making of climate change mitigation and *** study introduces a comprehensive,multidisciplinary Integrated Assessment Model(IAM)framework for evaluating climate damage in China,utilizing BCC-SESM climate model and FUND sectoral climate damage model under the SSP2-RCPs *** a bottom-up approach,the research estimates climate damage across eight major sectors,recalibrates sectoral climate damage functions and parameters for China,and elucidates distinctions among direct climate loss,market climate loss,and aggregate climate *** findings reveal that the total climate damage function for China follows a quadratic pattern in response to temperature *** 2050,the estimated climate damage is projected to be 5.4%,5.7%,and 8.2%of GDP under RCP2.6,RCP4.5,and RCP8.5,***,both direct and market climate losses are projected to remain below 2%of GDP by 2050,while the aggregate climate loss could reach as high as 8.2%,which is predominantly attributed to non-market *** a sectoral perspective,under the RCP8.5 scenario,human health damage constitutes the largest share(61.9%)of the total climate loss by 2050,followed by sea-level rise damage(18.6%).This study sheds lights on the adaptation policy that should attach importance to the non-market sectors,particularly focusing on human health and sea-level rise.

关键词： Climate loss and damage Integrated assessment model(IAM) FUND model Representative concentration pathways(RCPs)scenario BCC-SESM

Nano-Au-decorated hierarchical porous cobalt sulfide derived from ZIF-67 toward optimized oxygen evolution catalysis:Important roles of microstructures and electronic modulation

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Carbon Energy 2024年第5期6卷 1-14页

作者： Hongyu Gong Guanliang Sun Wenhua shi Dongwei li Xiangjun Zheng Huan shi Xiu liang Ruizhi Yang Changzhou Yuan Department of New Energy Materials School of Environmental and Chemical EngineeringJiangsu University of Science and TechnologyZhenjiangJiangsuChina Advanced Materials Institute Qilu University of Technology(Shandong Academy of Sciences)JinanShandongChina Shandong Saikesaisi Hydrogen Energy Co. Ltd.JinanShandongChina Department of Materials Science and Engineering School of Materials Science&EngineeringUniversity of JinanJinanShandongChina Department of New Energy Science and Engineering College of EnergySoochow Institute for Energy and Materials InnovationsSoochow UniversitySuzhouJiangsuChina

Enhancing both the number of active sites available and the intrinsic activity of Co-based electrocatalysts simultaneously is a desirable ***,a ZIF-67-derived hierarchical porous cobalt sulfide decorated by Au nanoparticles(NPs)(denoted as HP-Au@CoxSy@ZIF-67)hybrid is synthesized by low-temperature sulfuration *** well-defined macroporous-mesoporous-microporous structure is obtained based on the combination of polystyrene spheres,as-formed CoxSy nanosheets,and ZIF-67 *** novel three-dimensional hierarchical structure significantly enlarges the three-phase interfaces,accelerating the mass transfer and exposing the active centers for oxygen evolution *** electronic structure of Co is modulated by Au through charge transfer,and a series of experiments,together with theoretical analysis,is performed to ascertain the electronic modulation of Co by ***,HP-Au@CoxSy@ZIF-67 catalysts with different amounts of Au were synthesized,wherein Au and NaBH4 reductant result in an interesting“competition effect”to regulate the relative ratio of Co^(2+)/Co^(3+),and moderate Au assists the electrochemical performance to reach the highest ***,the optimized HP-Au@CoxSy@ZIF-67 exhibits a low overpotential of 340 mV at 10 mA cm^(-2)and a Tafel slope of 42 mV dec-1 for OER in 0.1 M aqueous KOH,enabling efficient water splitting and Zn-air battery *** work here highlights the pivotal roles of both microstructural and electronic modulation in enhancing electrocatalytic activity and presents a feasible strategy for designing and optimizing advanced electrocatalysts.

关键词： Au nanoparticles cobalt sulfide electronic modulation hierarchical porous structure oxygen evolution reaction

Amide naphthotubes:Biomimetic macrocycles for selective molecular recognition

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Chinese Chemical Letters 2024年第4期35卷 124-131页

作者： Cheng-Da Zhao Huan Yao shi-Yao li Fangfang Du li-li Wang liu-Pan Yang School of Pharmaceutical Science Postdoctoral Research Station of Basic MedicineHengyang Medical SchoolUniversity of South ChinaHengyang 421001China

Selective molecular recognition in water is routine for bioreceptors,but remains challenging for synthetic *** is principally because noncovalent interactions are usually less efficient in aqueous *** mimicking the cavity feature of bioreceptors,*** Jiang proposed and clarified the concept of“endo-functionalized cavity”.Through situating polar binding sites into a deep hydrophobic cavity,we designed and synthesized several macrocyclic hosts,among which amide naphthotubes are the most *** hosts can selectively recognize various polar molecules including organic micropollutants,drug molecules,and chiral molecules in water by employing the hydrophobic effect and shielded hydrogen *** addition,these biomimetic hosts have been applied in spectroscopic analysis,adsorptive separation and *** this review,we provide an overview of recent advances on amide naphthotubes with special emphasis on the efforts of Jiang's *** are convinced that these biomimetic macrocycles will make further contributions to supramolecular chemistry and beyond.

关键词： Molecular recognition Supramolecular chemistry Amide naphthotube Endo-functionalized cavity Biomimetic macrocycle

A Novel Gymnosperm Wood from the Lopingian(Late Permian)in Zhangzi,Shanxi,North China and Its Paleoecological and Paleogeographic Implications

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Journal of Earth Science 2024年第1期35卷 167-176页

作者： Xiao shi Jianxin Yu Yuewu Sun Zhen Xu Hui li College of Earth Sciences Jilin UniversityChangchun 130061China International Center of Future Science Dinosaur Evolution Research CenterJilin UniversityChangchun 130012China State Key Laboratory of Biogeology and Environmental Geology School of Earth SciencesChina University of GeosciencesWuhan 430074China Research Center of Palaeontology and Stratigraphy Jilin UniversityChangchun 130026China Jiangxi Key Laboratory for Mass Spectrometry and Instrumentation East China University of TechnologyNanchang 330013China

The Permian-Triassic transition saw extreme climatic changes that severely impacted the terrestrial *** plants,particularly fossil woods,are sensitive to climatic changes,and they,therefore,are unique materials revealing extreme environmental and climatic changes on land at that *** conifer woods were discovered in the Lopingian(Late Permian)strata of the Sunjiagou Formation in Shanxi Province,North *** newly finding permineralized woods record the unique landscape of Lopingian North *** represent a new conifer genus and species:Shanxiopitys zhangziensis *** *** of growth pattern and anatomical characteristics of the fossil woods indicate these trees grew under optimal growing conditions,and without seasonal growth ***,climate signals from leaf fossils,vertebrate fossils and sedimentary evidences indicate a strongly seasonal climate in North China during the ***,it is speculated that these trees likely lived in the gallery forests,which were distributed along the paleo-rivers within a seasonal landscape in the central North China block during the Lopingian.

关键词： Shanxiopitys zhangziensis gen.et sp.nov. wood ecology geography gallery forest Lopingian North China

Phylogenetic study on Scenedesmacae with the description of a new genus Coccoidesmus ***.(Chlorophyceae,Chlorophyta)and chloroplast genome analyses

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Journal of Oceanology and limnology 2024年第4期42卷 1272-1285页

作者： Qinghua WANG Ying HOU Yanhui li Ying shi Guoxiang liU College of Biological Sciences and Technology Taiyuan Normal UniversityJinzhong 030619China Shanxi Vocational University of Engineering Science and Technology Jinzhong 030619China Key Laboratory of Algal Biology Institute of HydrobiologyChinese Academy of SciencesWuhan 430072China

Members of the family Scenedesmaceae are some of the most common algal taxa in inland ecosystems,and they are widely distributed in freshwaters,aerial,and sub-aerial *** the continuous updating of methods,the classic morphological taxonomy of this family needs to be *** recent years,many genera of Scenedesmaceae have been established via the use of molecular *** phylogenetic relationships within Scenedesmaceae were analyzed using different molecular markers and morphological data,and the new freshwater genus Coccoidesmus Wang,Hou et liu *** *** new species in this genus were also *** analysis based on tufA genes revealed that the new genus formed an independent clade closely related to ***,these two genera are characterized by significant morphological differences in colony arrangement and cell *** chloroplast genome of the type species was assembled and annotated,and analyses of genome structure and sequences were *** genome data could help clarify the phylogenetic relationships within this family.

关键词： phylogenetic Scenedesmaceae Coccoidesmus morphology chloroplast genome