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Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 100-114页

作者： yan Shi Jiange Kou Zhenlei Chen Yixuan wang Qing Guo School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China

Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction ***,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to ***,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model ***,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical *** a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative ***,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons *** knee joint motion achieves a steady-state response after 0.5 ***,the position error of hip joint response is less than 0.03 rad after 0.9 *** addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·*** research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model ***,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.

关键词： Parameter identification Enhanced whale optimization algorithm(EWOA) Backstepping Human-robot interaction Lower limb exoskeleton

Effect of mechanical stresses on degradation behavior of high-purity magnesium in bone environments

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Journal of Materials Science & Technology 2024年第4期171卷 252-261页

作者： yan Yao Jie Xia Lizhen wang Yuanming Gao Xili Ding Chao wang Yubo Fan Key Laboratory of Biomechanics and Mechanobiology(Beihang University) Ministry of EducationBeijing Advanced Innovation Center for Biomedical EngineeringSchool of Biological Science and Medical EngineeringSchool of Engineering MedicineBeihang UniversityBeijing 100083China

High-purity(HP)magnesium(Mg)has emerged as a promising biomaterial for supporting functional bone *** previous study found that mechanical stresses and the surrounding fibrotic tissue(subcuta-neous)both play crucial roles in the degradation of HP ***,due to challenges in the degradation and regeneration process in vivo,it remains unclear how stress affects HP Mg degradation in bone en-vironments,limiting its further *** this study,novel loading devices were designed and the effects of tensile and compressive stresses on HP Mg degradation in vivo and in vitro bone environments were quantitatively *** addition,bone osteointegration around HP Mg was explored *** stress increases the degradation rate of HP Mg in vivo and in *** Mg degradation in vivo is more sensitive to stress factors than in vitro,but the sensitivity decreases with corrosion *** volume loss rate of HP Mg is multilinear with the applied stress and degradation *** volume of bone tissue surrounding HP Mg is larger in the no-stress group compared to the stressed groups,which is more pronounced with increasing implantation *** results provide valuable insights for optimiz-ing the design of HP Mg-based implants considering load *** will help to achieve a balance between the degradation rate of the implant and the regeneration rate of the surrounding bone.

关键词： High-purity magnesium Quantitative stresses Degradation Bone environments In vivo and in vitro

Cascaded four-wave mixing all-optical wavelength converter based on highly nonlinear fiber deposited graphene oxide

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Journal of Materials Science & Technology 2024年第4期171卷 10-15页

作者： Yuanhongliu Gao Xiaoyu Chen Tonglei Cheng Fang wang Xin yan College of Information Science and Engineering State Key Laboratory of Synthetical Automation for Process IndustriesNortheastern UniversityShenyang 110819China

The all-optical wavelength conversion using cascaded four-wave mixing(FWM)phenomena with graphene oxide(GO)and a highly nonlinear fiber(HNLF)device is demonstrated *** has a strong third-order nonlinear effect and is an excellent nonlinear optical material for nonlinear optical wavelength *** group velocity matching of pump and signal,HNLF,and GO amplification promote the cascaded nonlinear frequency mixing *** the experimental and analytical results,the maximum spacing between signal and pump is 21 nm,and specifically,the order of cascaded FWM light increases from order 1 to order 2 with increasing GO,and the first-order FWM conversion effi-ciency increases to a maximum of−14.5 *** the best of our knowledge,this is the first time that cascaded FWM-based all-optical wavelength conversion in HNLF-GO with wide wavelength selectivity is investigated with combined pump and signal *** findings not only provide an effective method for achieving all-optical wavelength conversion in cascaded FWM but also offer the possibility of fabricating high-performance nonlinear optical devices.

关键词： Four-wave mixing Graphene oxide Highly nonlinear fiber Optical wavelength conversion

Disturbances rejection optimization based on improved two-degree-of-freedom LADRC for permanent magnet synchronous motor systems

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Defence Technology（防务技术） 2024年第3期33卷 518-531页

作者： Chenggang wang Jianhu yan Wenlong Li Liang Shan Le Sun School of Automation Nanjing University of Science and TechnologyNanjing 210094China

Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear *** order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter *** models that consider total disturbances are developed to design the TDOF-LADRC speed controller ***,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is *** on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting ***,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.

关键词： Permanent magnet synchronous motor(PMSM) Active disturbance rejection control(ADRC) Disturbance observer Two-degree-of-freedom control Anti-disturbance

Clinical outcome and prognostic factors of T4N0M0 colon cancer after R0 resection:A retrospective study

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World Journal of Gastrointestinal Oncology 2024年第5期16卷 1869-1877页

作者： bang Liu Zhao-Xiong Zhang Xin-yang Nie Wei-Lin Sun Yong-Jia yan Wei-Hua Fu Department of General Surgery Tianjin Medical University General HospitalTianjin Medical UniversityTianjin 300052China

BACKGROUND Paradoxically,patients with T4N0M0(stage II,no lymph node metastasis)colon cancer have a worse prognosis than those with T2N1-2M0(stage III).However,no previous report has addressed this *** To screen prognostic risk factors for T4N0M0 colon cancer and construct a prognostic nomogram model for these *** Two hundred patients with T4N0M0 colon cancer were treated at Tianjin Medical University General Hospital between January 2017 and December 2021,of which 112 patients were assigned to the training cohort,and the remaining 88 patients were assigned to the validation *** between the training and validation groups were *** training cohort was subjected to multi-variate analysis to select prognostic risk factors for T4N0M0 colon cancer,followed by the construction of a nomogram *** The 3-year overall survival(OS)rates were 86.2%and 74.4%for the training and validation cohorts,***(P=0.000),T stage(P=0.001),right hemicolon(P=0.025),irregular review(P=0.040),and carbohydrate antigen 199(CA199)(P=0.011)were independent risk factors of OS in patients with T4N0M0 colon cancer.A nomogram model with good concordance and accuracy was *** Enterostomy,T stage,right hemicolon,irregular review,and CA199 were independent risk factors for OS in patients with T4N0M0 colon *** nomogram model exhibited good agreement and accuracy.

关键词： T4N0M0 colon cancer Prognosis Multivariate analysis Nomogram Colon cancer

A scalable versatile methodology to construct micro/nano open-cell polypropylene foam with high oil adsorption capacity and speed

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Nano Research 2024年第4期17卷 2814-2823页

作者： Chenguang yang Dechang Tao Kun yan Zhiyao Li Qingshi Guo Wenwen wang Dong wang Key Laboratory of Textile Fiber and Products(Wuhan Textile University) Ministry of EducationWuhan Textile UniversityWuhan 430200China College of Chemistry Chemical Engineering and BiotechnologyDonghua UniversityShanghai 201620China

Oil pollution is a serious environmental and natural resource *** adsorption materials for oil–water separation have limitations in terms of their preparation cost,reusability,and mechanical *** the conventional adsorption materials,super-hydrophobic/super-lipophilic materials are easily contaminated by *** this study,polypropylene(PP)is used as a foam substrate to prepare an open-cell PP foam via hot pressing,supercritical CO_(2) foaming,and electron beam(EB)*** impact of EB irradiation dose on the open-cell content of PP foam can lead to cell wall rupture,resulting in an open-cell structure that enhances oil-water separation *** an absorbed radiation dose of 200 kGy,the PP foams exhibit optimal oil–water separation performance,cyclic compression stability,heat insulation,and preparation *** open-cell content of PP foam is increased to 86.5%,the adsorption capacity for diesel oil is 42.8 g/g,and the adsorption efficiency remains at 99.6%after 100 cycles of oil desorption in a complex pH ***,cracks and nano-voids simultaneously promote the capillary action of oil,and the oil transport rate is 0.0713 g/(g·s).This study provides a new concept for the preparation of open-cell polymer foams that can meet the demand for high oil-absorption capacity under complex acid-base pH conditions.

关键词： open-cell polypropylene(PP)foam electron beam irradiation oil/water separation cyclic compression complex acid-base pH conditions

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基于EPA的功能安全通信方法研究和实现

自动化与仪表 2010年第1期25卷 21-24,60页

作者：王浩王彦邦王平重庆邮电大学网络化控制与智能仪器仪表教育部重点实验室重庆400065

在研究EPA协议栈的基础上,分析了工业控制网络的通信故障与功能安全机制的对应关系,描述了功能安全典型系统体系,建立了功能安全通信协议模型,设计了EPA功能安全通信过程,开发了EPA功能安全扩展协议层软件。测试结果表明,通过在EPA应用... 详细信息

在研究EPA协议栈的基础上,分析了工业控制网络的通信故障与功能安全机制的对应关系,描述了功能安全典型系统体系,建立了功能安全通信协议模型,设计了EPA功能安全通信过程,开发了EPA功能安全扩展协议层软件。测试结果表明,通过在EPA应用层中增加EPA功能安全应用访问实体以及将EPA通信报文中的用户数据单元进行扩展来实现关键安全措施,从而满足了安全相关领域通信的要求,保障了EPA系统的安全性和可靠性。

关键词： EPASafety 功能安全通信 IEC61 508 IEC61784—3

Strain engineering of Pt-based electrocatalysts for oxygen reaction reduction

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Frontiers in Energy 2024年第2期18卷 241-262页

作者： Zeyu wang yanru LIU Shun CHEN Yun ZHENG Xiaogang FU yan ZHANG wanglei wang State Key Laboratory of Solidification Processing Atomic Control and Catalysis Engineering LaboratorySchool of Materials Science and EngineeringNorthwestern Polytechnical UniversityXi’an 710072China State Key Laboratory of Oral and Maxillofacial Reconstruction and Regeneration National Clinical Research Center for Oral DiseasesShaanxi Key Laboratory of StomatologyDepartment of Dental MaterialsSchool of StomatologyThe Fourth Military Medical UniversityXi’an 710032China Institute of New Energy Materials and Engineering School of Materials Science and EngineeringFuzhou UniversityFuzhou 350108China Key Laboratory of Marine Chemistry Theory and Technology(Ministry of Education) College of Chemistry and Chemical EngineeringOcean University of ChinaQingdao 266100China

Proton exchange membrane fuel cells(PEMFCs)are playing irreplaceable roles in the construction of the future sustainable energy ***,the insufficient performance of platinum(Pt)-based electrocatalysts for oxygen reduction reaction(ORR)hinders the overall efficiency of *** the surface strain of catalysts is considered an effective way to tune their electronic structures and therefore optimize catalytic *** this paper,insights into strain engineering for improving Pt-based catalysts toward ORR are elaborated in ***,recent advances in understanding the strain effects on ORR catalysts are comprehensively ***,strain engineering methodologies for adjusting Ptbased catalysts are comprehensively ***,further information on the various challenges and potential prospects for strain modulation of Pt-based catalysts is provided.

关键词： strain engineering Pt-based catalysts oxygen reduction reaction(ORR) catalytic performance proton exchange membrane fuel cells(PEMFCs)

Tube Model Predictive Control Based Cyber-attack-resilient Optimal Voltage Control Strategy in Wind Farms

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 530-538页

作者： Zhenming Li Minghao wang Yunfeng yan Donglian Qi Zhao Xu Jianliang Zhang Zezhou wang College of Electrical Electronic Engineering Zhejiang UniversityHangzhou 310058China Department of Electrical Engineering The Hong Kong Polytechnic UniversityKowloonHong KongChina Haiyan power supply company of State Grid Zhejiang Electric Power Co. LtdHangzhouChina

Optimal voltage controls have been widely applied in wind farms to maintain voltage stability of power *** order to achieve optimal voltage operation,authentic grid information is widely needed in the sensing and actuating ***,this may induce system vulnerable to malicious *** this end,a tube model predictive control-based cyber-attack-resilient optimal voltage control method is proposed to achieve voltage stability against malicious *** proposed method consists of two cascaded model predictive controllers(MPC),which outperform other peer control methods in effective alleviation of adverse effects from cyber-attacks on actuators and sensors of the ***,efficiency of the proposed method is evaluated in sensor and actuator cyber-attack cases based on a modified IEEE 14 buses system and IEEE 118 buses *** Terms-Attack-resilient control,optimal voltage control,tube-based model predictive control,wind farm-connected power system.

关键词： Attack-resilient control optimal voltage control tube-based model predictive control wind farm-connected power system