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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 *** 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

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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

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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

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Pore-scale water-gas distribution and gas permeability of natural gas hydrate reservoirs in the South China Sea

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Geoscience Frontiers 2024年第4期15卷 315-329页

作者： Yuxuan xia Derek Elsworth Jianchao Cai cheng Lu Chao Ma National Key Laboratory of Petroleum Resources and Engineering China University of PetroleumBeijing 102249China Department of Energy and mineral Engineering G3 Center and Energy InstituteThe Pennsylvania State UniversityUniversity Park 16802PAUnited States Guangzhou Marine Geological Survey China Geological SurveyGuangzhou 510075China Center of Oil&Natural Gas Resource Exploration China Geological SurveyBeijing 100083China

Challenges in water drainage within natural gas hydrate reservoirs in the Shenhu area of the South China Sea,characterized by high clay content and strong hydrophilicity,significantly hinder natural gas *** the effects of gas pressure and liquid/gas saturation on gas permeability reveals essential insights for increasing gas production *** report gas displacement experiments on clayey-silt sediment samples,alongside X-ray computed tomography imaging,that reveal critical findings:a notable increase in flow rate and permeability as displacement pressure nears compaction pressure,highlighting the role of pressure management in enhancing recovery;water displacement from varying pore sizes under different pressures,highlighting the influence of pore size on fluid dynamics,and structural changes,including microfracture formation and a significant fracture that enlarges total pore space by about 15%,which collectively suggest methods to improve gas flow and ***,our analysis identifies average throat length,fractal dimension,and succolarity as principal controls on gas permeability,indicating the substantial impact of microstructural properties on extraction *** outcomes offer valuable strategies for optimizing natural gas hydrate reservoir development in the South China Sea,emphasizing the need for meticulous pressure and saturation control and in applying a deep understanding of microstructural dynamics.

关键词： Natural gas hydrate Clayey-silt sediments Gas saturation Gas permeability Microstructure

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YOLOv5ST:A Lightweight and Fast Scene Text Detector

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Computers, Materials & Continua 2024年第4期79卷 909-926页

作者： Yiwei Liu Yingnan Zhao Yi Chen Zheng Hu min xia School of Computer and Science Nanjing University of Information Science and TechnologyNanjing210044China School of Automation Nanjing University of Information Science and TechnologyNanjing210044China

Scene text detection is an important task in computer *** this paper,we present YOLOv5 Scene Text(YOLOv5ST),an optimized architecture based on YOLOv5 v6.0 tailored for fast scene text *** primary goal is to enhance inference speed without sacrificing significant detection accuracy,thereby enabling robust performance on resource-constrained devices like drones,closed-circuit television cameras,and other embedded *** achieve this,we propose key modifications to the network architecture to lighten the original backbone and improve feature aggregation,including replacing standard convolution with depth-wise convolution,adopting the C2 sequence module in place of C3,employing Spatial Pyramid Pooling Global(SPPG)instead of Spatial Pyramid Pooling Fast(SPPF)and integrating Bi-directional Feature Pyramid Network(BiFPN)into the *** results demonstrate a remarkable 26%improvement in inference speed compared to the baseline,with only marginal reductions of 1.6%and 4.2%in mean average precision(mAP)at the intersection over union(IoU)thresholds of 0.5 and 0.5:0.95,*** work represents a significant advancement in scene text detection,striking a balance between speed and accuracy,making it well-suited for performance-constrained environments.

关键词： Scene text detection YOLOv5 lightweight object detection

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A new fluorocarbon adhesive:Inhibiting agglomeration during combustion of propellant via efficient F-Al_(2)O_(3) preignition reaction

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Carbon Energy 2024年第6期6卷 292-305页

作者： Qifa Yao min xia Chao Wang Fanzhi Yang Wei Yang Yunjun Luo School of Materials Science and Engineering Beijing Institute of TechnologyBeijingChina Key Laboratory of High Energy Density Materials Ministry of EducationBeijing Institute of TechnologyBeijingChina School of Aerospace Engineering Beijing Institute of TechnologyBeijingChina Advanced Research Institute of Multidisciplinary Science Beijing Institute of TechnologyBeijingChina

Inhibiting the agglomeration of molten aluminum particles packed in the binder network is a promising scheme to achieve efficient combustion of solid *** this investigation,the hydroxyl-terminated structured fluorinated alcohol compound(PFD)was introduced to modify the traditional polyethylene glycol/polytetrahydrofuran block copolymerization(HTPE)binder;that is,a unique fluorinated polyether(FTPE)binder was synthesized by embedding fluorinated organic segments into the HTPE binder via crosslinking *** FTPE was applied in aluminum-based propellants for the first *** to the complete release of fluorinated organic active segments in the range of 300℃to 400℃,the burning rate of FTPEbased propellant increased from 4.07(0%PFD)to 6.36 mm/s(5%PFD),increased by 56.27%under 1 *** reaction heat of FTPE propellants increased from 5.95(0%PFD)to 7.18 MJ/kg(5%PFD)under 3.0 MPa,indicating that HTPE binder modified with PFD would be conducive to inhibiting the D90 of condensed combustion products(CCPs)dropped by 81.84%from 75.46(0%PFD)to 13.71μm(5%PFD)under 3.0 MPa,in consistent with the significant reduction of aluminum agglomerates observed on the quenched burning surface of the *** results demonstrated that a novel FTPE binder with PFD can release fluorinated organic active segments,which motivate preignition reaction with the alumina shell in the early stage of aluminum combustion,and then enhance the melting diffusion effect of aluminum to inhibit the agglomeration.

关键词： agglomeration characteristics aluminum particles combustion fluorine alcohol compounds HTPE propellants

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Small-diameter acellular porcine corneal stroma for peripheral corneal ulceration treatment

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International Journal of Ophthalmology(English edition) 2024年第5期17卷 831-837页

作者： Tian Liang xia Wang Jie Wu Yan cheng Department of Ophthalmology Xi’an No.1 HospitalXi’an 710002Shaanxi ProvinceChina

AIM:To evaluate the clinical efficacy of small-diameter acellular porcine corneal stroma(SAPS)for the treatment of peripheral corneal ulceration(PCU).METHODS:This retrospective clinical study included 18 patients(18 eyes)with PCU between April 2018 and December *** patients had PCU and underwent lamellar keratoplasty with *** indicators included preoperative and postoperative best-corrected visual acuity(BCVA)and transparency of *** infection control rate in the surgical eye-lesion area was also ***:Eighteen patients underwent lamellar keratoplasty with SAPS to treat *** of the patients experienced rejection after 6mo(18/18)and 12mo(16/16)of *** BCVA(0.47±0.30)at the 6mo followup after operation was significantly improved compared with the baseline(0.99±0.80),and the difference was statistically significant(Z=-3.415,P<0.05).The BCVA at the 12mo follow-up after operation was not statistically significant compared to the 6mo(Z=0,P=1).With time,the SAPS graft gradually became *** the 6mo(18/18)and 12mo(16/16)follow-up,none of the patients had recurrent corneal ***:SAPS is clinically effective in the treatment of PCU,improving the patient’s BCVA and reducing the incidence of rejection after keratoplasty.

关键词： acellular porcine corneal stroma lamellar keratoplasty infectious corneal ulcer

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The innovative safe herbicide dienediamine saves paraquat

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Molecular Plant 2024年第1期17卷 11-12页

作者： Jin-Qiu xia Ping Xu cheng-Bin xiang Division of Life Sciences and Medicine Division of Molecular&Cell BiophysicsHefei National Science Center for Physical Sciences at the MicroscaleMOE Key Laboratory for Membraneless Organelles and Cellular DynamicsUniversity of Science and Technology of ChinaThe Innovation Academy of Seed DesignChinese Academy of SciencesHefeiAnhui Province 230027China Shanghai Key Laboratory of Plant Functional Genomics and Resources Shanghai Chenshan Botanical GardenShanghai Chenshan Plant Science Research CenterCAS Center for Excellence in Molecular Plant SciencesShanghai 201602China

Throughout the history of agriculture,the challenge of weed management has endured,necessitating significant investments to facilitate ideal crop growth and maximize *** for weed control mainly involve manual and chem... 详细信息

关键词： approach. manual chemical

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Cognitive impairment in patients with bipolar disorder alone versus those with bipolar disorder comorbid with borderline personality disorder

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World Journal of Psychiatry 2024年第8期14卷 1174-1181页

作者： Chao-min Wang Hua Xue Bo Xin Kun Zhang Shuo Wang Jin-cheng Wang Cui-xia An Na Li Department of Psychiatry The First Hospital of Hebei Medical UniversityShijiazhuang 050031Hebei ProvinceChina

BACKGROUND Bipolar disorder(BD)is a severe mental *** often coexists with borderline personality disorders,making the condition more *** To explore the differences in cognitive impairment between patients with BD and those with BD comorbid with borderline personality *** Eighty patients with BD and comorbid borderline personality disorder and 80 patients with BD alone were included in groups A and B,respectively,and 80 healthy volunteers were included as *** function in each group was evaluated using the Chinese version of the repeatable battery for the assess-ment of neuropsychological status(RBANS),the Stroop color-word test,and the Wechsler intelligence scale-revised(WAIS-RC).RESULTS The indices of the RBANS,Stroop color-word test,and WAIS-RC in groups A and B were significantly lower than those of the control group(P<0.05).Group A had significantly longer Stroop color-word test times for single-character,single-color,double-character,and double-color,lower scores of immediate memory,visual breadth,verbal function dimensions and total score of the RBANS,as well as lower scores of verbal IQ,performance IQ,and overall IQ of the WAIS-RC compared with group B(P<0.05).Compared to group B,group A exhibited significantly longer single-character time,single-color time,double-character time,and double-color time in the Stroop color-word test(P<0.05).CONCLUSION The cognitive function of patients with BD complicated with borderline personality disorder is lower than that of patients with BD.

关键词： Bipolar disorder Borderline personality disorder Cognitive impairment Chinese-version repeatable neuropsychological status test Stroop color-word test Wechsler intelligence scale

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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

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