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Leader-follower: Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG rui wu Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of Technology The Learning Algorithms and Systems Laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(SuperLimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–SuperLimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the SuperLimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between SuperLimb, humans, and the environment under human safety assurance. First, the human–SuperLimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–SuperLimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and SuperLimb could well understand the wearer's intentions to switch different SuperLimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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DESIGN OF NONCIRCULAR GEARS WITH DISCONTINUOUS PITCH CURVE

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Chinese Journal of Mechanical Engineering 2006年第4期19卷 594-599页

作者： ZHANG rui wu Xutang School of Mechanical Engineering Xi＇an Jiaotong University Xi＇an 710049 China

When the noncircular gear pair is applied to the continuously variable transmission （CVT） with gear, the transmission ratio function is discontinuous. In accordance with this unique characteristic, a new approach to design and analyze noncircular gears with discontinuous pitch curve is proposed. The design courses of various noncircular gear pairs with discontinuous pitch curve are unified based on the numerical algorithm of spline fitting and ＂fairing boundary condition＂. According to the particularity of discontinuous pitch curve, the rules and procedures for teeth distribution are recommended. It is explained in detail why the undercut is formed and how to manage the undercut based on meshing *** addition, the calculation formulas for each tooth profile segment are also derived. If the tooth profile data are calculated, the measurement and the incision process for noncircular gear can be conducted and the CAD simulation can be achieved easily. To ensure the continuity of the transmission, the transmission interference of the tooth which is located at the pitch curve joint point is managed by utilizing Bezier curve with CAD software. And the contact ratio of gear pair is obtained. The case study shows that this approach is successful and opens up a new way for the design of noncircular gear.

关键词： Noncircular gears Continuously variable transmission(CVT) Tooth profile

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Selection diagram of design algorithms for neutron-focusing supermirrors

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Nuclear Science and Techniques 2022年第8期33卷 106-117页

作者： Wen-Bo Mo Hua-rui wu Xue-wu Wang Department of Engineering Physics Tsinghua UniversityBeijing 100084China Key Laboratory of Particle Radiation Imaging(Tsinghua University) Ministry of EducationBeijing 100084China

The neutron supermirror is an important neutron optical device that can significantly improve the efficiency of neutron transport in neutron guides and has been widely used in research neutron *** types of algorithms,including approximately ten algorithms,have been developed for designing high-efficiency supermirror *** addition to its applications in neutron guides,in recent years,the use of neutron supermirrors in neutronfocusing mirrors has been proposed to advance the development of neutron scattering and neutron imaging instruments,especially those at compact neutron *** this new application scenario,the performance of supermirrors strongly affects the instrument performance;therefore,a careful evaluation of the design algorithms is *** this study,we examine two issues:the effect of nonuniform film thickness distribution on a curved substrate and the effect of the specific neutron intensity distribution on the performance of neutron supermirrors designed using existing *** effect of film thickness nonuniformity is found to be relatively insignificant,whereas the effect of the neutron intensity distribution over Q(where Q is the magnitude of the scattering vector of incident neutrons)is *** diagrams that show the best design algorithm under different conditions are obtained from these *** the intensity distribution is not considered,empirical algorithms can obtain the highest average reflectivity,whereas discrete algorithms perform best when the intensity distribution is taken into *** reasons for the differences in performance between algorithms are also *** findings provide a reference for selecting design algorithms for supermirrors for use in neutron optical devices with unique geometries and can be very helpful for improving the performance of focusing supermirror-based instruments.

关键词： Neutron-focusing supermirror Design algorithm Thickness nonuniformity Intensity distribution over Q Selection diagram

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Examination of two-phase behaviors in porous media during pool boiling

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Science China(Technological Sciences) 2024年第6期67卷 1695-1713页

作者： ZHANG ZhiHao GUAN ShuYa wu rui ZHAO ChangYing School of Mechanical Engineering Shanghai Jiao Tong University

The enhancement of pool boiling heat transfer using porous media has been extensively *** the two-phase distribution and evolution in porous media are crucial to the heat transfer performance,including the critical heat flux(CHF)and heat transfer coefficient(HTC),direct observation of the two-phase flow inside the media is limited owing to the blockage of the direct view from the porous *** this study,pool boiling visualization experiments were conducted on porous samples with different throat widths in deionized *** results showed that the HTC increased with the throat ***,the growth-contraction cycle of the vapor region and the formation and drying of the wall liquid film inside the porous media were *** vapor region,including the maximum and minimum areas in the boiling cycle,was quantitatively ***,the relationship between the minimum gas-phase area and HTC peak was identified.A one-dimensional transient model was developed considering solid skeleton heat conduction,liquid film evaporation,and vapor region growth to quantitatively study the influence of heat flux on the internal two-phase *** model successfully captured the maximum gas-phase area,duration of boiling cycles,and HTC trends at specific heat *** results of this quantitative study provide insights into the internal two-phase distribution and evolution induced by pool boiling.

关键词： porous media two-phase behaviors pool boiling

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Network boundary recognition via relative azimuth angle

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The Journal of China Universities of Posts and Telecommunications 2010年第4期17卷 31-41页

作者： JIA rui-wu SHI Geng-chen National Lab of Mechatronic Engineering and Control Beijing Institute of Technology Beijing 100081 China

To recognize the boundary of wireless networks to meet some specific needs, relative azimuth angles of nodes distributed in the 1-hop neighborhood of each node in one network were used to recognize the boundary of the network. A novel recognition algorithm based on local generalized convex hull was proposed for one node to decide if it self is a boundary node. The flexibility, efficiency and consistency of the algorithm are shown in its performance by extensive simulations.

关键词： wireless sensor network boundary point generalized convex hull relative azimuth angle θ-hull

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Tumor suppressor p53 meets microRNAs

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Journal of Molecular Cell Biology 2011年第1期3卷 44-50页

作者： Zhaohui Feng Cen Zhang rui wu Wenwei Hu Department of Radiation Oncology Cancer Institute of New JerseyUniversity of Medicine and Dentistry of New JerseyNew BrunswickNJ 08903USA Department of Pediatrics Cancer Institute of New JerseyUniversity of Medicine and Dentistry of New JerseyNew BrunswickNJ 08903USA

Tumor suppressor p53 plays a central role in tumor *** a transcription factor,p53 mainly exerts its function through transcription regulation of its target genes to initiate various cellular *** maintain its proper function,p53 is tightly regulated by a wide variety of regulators in ***,p53,its regulators and regulated genes form a complex p53 network which is composed of hundreds of genes and their ***(miRNAs)are a class of endogenously expressed,small non-coding RNA molecules which play a key role in regulation of gene expression at the post-transcriptional *** studies have demonstrated that miRNAs interact with p53 and its network at multiple levels.p53 regulates the transcription expression and the maturation of a group of *** the other hand,miRNAs can regulate the activity and function of p53 through direct repression of p53 or its regulators in *** findings have demonstrated that miRNAs are important components in the p53 network,and also added another layer of complexity to the p53 network.

关键词： p53 tumor suppression microRNA

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Filling the gap: thermal properties and device applications of graphene

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Science China(Information Sciences) 2021年第4期64卷 103-119页

作者： rui wu rui-Zhi ZHU Shi-Hui ZHAO Gang ZHANG He TIAN Tian-Ling REN Institute of Microelectronics and Beijing National Research Center for Information Science and Technology (BNRist) Tsinghua University Institute of High Performance Computing A*STAR

With the miniaturization and integration of electronic devices, the heat dissipation problems caused by higher power density are getting more serious, limiting the development of integrated circuits industry. Graphene, as a representative of two-dimensional materials, has attracted extensive attention for its excellent thermal properties. Ever since it has been discovered, researches have been carried out and achievements have been made both theoretically and practically. Here, we review the established theories and simulation system for 2D heat conduction, different measurement methods for thermal conductivity and graphene’s device applications. We propose two gaps between different scales and between theoretical prediction and practical effect. Owing to the higher heat dissipation requirements and the endless pursuit of better thermal performance, it is challenging but critical to continue studying and further understand the thermal properties of graphene. Challenges and opportunities are both emphasized. It is hoped that the diversification and progress in morphology and manufacturing technology can bring new development and that graphene can eventually be widely used and make huge changes to micoelectronic industry.

关键词： graphene thermal properties device application thermal conductivity 2D material

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A numerical study on the effect of column layout on air distribution and performance of column attachment ventilation

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Building Simulation 2021年第4期14卷 1095-1108页

作者： Haiguo Yin Linna Li rui wu Yuanyuan Wang Angui Li School of Building Services Science and Engineering Xi’an University of Architecture and TechnologyShaanxiXi’an710055China

Based on the structural characteristics of existing buildings and the disadvantages of current mixed ventilation mode in the application to large space buildings,an original column attachment ventilation(CAV)has been *** this study,the experiment utilized a room space with four columns uniformly distributed in the space to visualize the movement of attached airflow along the cylinder surface and the floor,the numerical technique was employed to study the effects of the column layout(i.e.,uniform,centralized,dispersed,and crossed distribution)on the air distribution of CAV mode in a standard four-column full scale model of a shopping *** indices,including airflow pattern,air diffusion performance index(ADPI),air temperature distribution,heat removal effectiveness,draught rate(DR),predicted mean vote(PMV),and carbon dioxide(CO2)concentration,were used to assess the ventilation *** the CAV mode with a uniform column layout scheme,the experimental results indicated that the air supply flows downward along the wall surface,forming a secondary attachment with the ground and spreading along the floor in a fan radiation flow ***,an“air lake”-like speed and temperature distribution similar to displacement ventilation(DV)was formed in the occupied *** all simulation cases,it was found that the average air velocity was less than 0.25 m/s in occupied zone,the effectiveness for heat removal was more significant than 1.0,DR value was less than 20%,the PMV level can also satisfy most *** average CO2 concentration was around 470 ppm in the occupied breathing *** results indicated that the CAV mode could be an efficient air distribution *** demonstrated the technical feasibility of applying the CAV in the space under different column layout schemes.

关键词： column attachment ventilation air distribution column layout performance evaluation large space buildings

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Electromagnetic effects of nearby Na Cl solution on RFID tags based on dynamic measurement system

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The Journal of China Universities of Posts and Telecommunications 2015年第5期22卷 49-55页

作者： Huang Yu Yu Xiaolei Wang Donghua wu rui Jiangsu Institute of Standardization School of Electronic Science and Engineering Nanjing University of Posts and Telecommunications

We have studied the effects of nearby Na Cl solution on the performance of ultra high frequency(UHF) radio frequency identification(RFID) tags, using simulations and measurements. The main reason for the decrease of read range in proximity to Na Cl solution is the antenna gain penalty. The boundary conditions near the surface reduce antenna efficiency and antenna gain. With the conductivity of the Na Cl solution increasing, the read range of the RFID system decreases. A theoretical formula is proposed for the read range to calculate the material losses of tag antenna. The formula establishes relationship between conductivity and read range of RFID system. The maximum read range is also calculated theoretically with simulation software. In addition, we develop an experimental measurement technique to certify the feasibility of the derived formula, which involves a dynamic measurement system. Consequently, the experimental results are found to be in good agreement with theoretical data.

关键词： radio frequency identification(RFID) read range Na

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Morphology and distribution of the marine diatom Azpeitia africana(Janisch ex A. Schmidt) G. Fryxell & T. P. Watkins in the South China Sea

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Journal of Oceanology and Limnology 2019年第1期37卷 102-111页

作者： wu rui GAO Yu CHEN Changping CHEN Dandan Hainan Academy of Ocean and Fisheries Sciences (Hainan Provincial Marine Development Plan and Design Research Institute) School of Life Sciences Xiamen University Department of Earth System Science Ministry of Education Key Laboratory for Earth System Modeling Tsinghua University

The purpose of the present paper is to study the morphological structure and variability of Azpeitia africana and to determine its geographical distribution in the surface sediments of the South China Sea(SCS). Sediment samples were collected with grabs or box corers in one cruise in 2001 and two cruises in 2007. The sampling stations were located between 3°56.61′–20°59.37′N and 108°30.68′–116°46.70′E,where the water depth ranged from 72 m to 4 238 m. The diatom was observed by phase contrast microscopy and scanning electron microscopy. Microscopical observation showed that A. africana had circular valves with the areolar lines radiating from the eccentric ring. The central rimoportula had an external tube recessed on the edge of a central ring. The marginal rimoportulae were not evenly spaced, and they were positioned more closely together in one quadrant than in the others. Azpeitia africana is the most abundant diatom species in the southern region of the SCS, and accounted for 0.9%–5.6% of all diatom species in the Xisha Islands area. Average cell density of A. africana was 1.1×10~5 valves/g. The percentage abundance of *** was low(0%–2.5%) in the northern regions of the SCS and the Sunda Shelf, and it was not detected in the northwestern continental shelf(shallow water area) and northern Kalimantan Island shelf. Our results suggested that A. africana is a typical warm water species and that it could be used as an indicator of the warm Paci?c Ocean water, including the Kuroshio Current, ?owing into the SCS.

关键词： diatom morphology Azpeitia africana South China Sea(SCS)

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