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An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

Research 2024年第1期2023卷 149-163页

作者： Qian Li Haoze Li Huan Shen Yangguang Yu Haoran He Xincheng Feng Yi Sun Zhiyuan Mao Guangming Chen Zongjun Tian Lida Shen xiangming zheng Aihong Ji College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjingChina

Insects that can perform flapping-wing flight,climb on a wall,and switch smoothly between the 2 locomotion regimes provide us with excellent biomimetic ***,very few biomimetic robots can perform complex locomotion tasks that combine the 2 abilities of climbing and ***,we describe an aerial–wall amphibious robot that is self-contained for flying and climbing,and that can seamlessly move between the air and *** adopts a flapping/rotor hybrid power layout,which realizes not only efficient and controllable flight in the air but also attachment to,and climbing on,the vertical wall through a synergistic combination of the aerodynamic negative pressure adsorption of the rotor power and a climbing mechanism with bionic adhesion *** the basis of the attachment mechanism of insect foot pads,the prepared biomimetic adhesive materials of the robot can be applied to various types of wall surfaces to achieve stable *** longitudinal axis layout design of the rotor dynamics and control strategy realize a unique cross-domain movement during the flying–climbing transition,which has important implications in understanding the takeoff and landing of ***,it enables the robot to cross the air–wall boundary in 0.4 s(landing),and cross the wall–air boundary in 0.7 s(taking off).The aerial–wall amphibious robot expands the working space of traditional flying and climbing robots,which can pave the way for future robots that can perform autonomous visual monitoring,human search and rescue,and tracking tasks in complex air–wall environments.

关键词： robot smoothly Vertical

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风险常态化背景下长江经济带物流网络结构韧性

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经济地理 2024年第3期44卷 127-137页

作者：周欢黄金郑湘明湖南工业大学商学院湖南株洲412007

文章采用真实货运“流动数据”表征城市物流联系,从公路、铁路、水路、航空4类物流联系分析长江经济带物流网络,同时引用复杂网络理论和仿真攻击策略评估了物流网络结构的静态韧性和动态韧性,并通过模拟新冠疫情冲击探讨了上海等主导性... 详细信息

文章采用真实货运“流动数据”表征城市物流联系,从公路、铁路、水路、航空4类物流联系分析长江经济带物流网络,同时引用复杂网络理论和仿真攻击策略评估了物流网络结构的静态韧性和动态韧性,并通过模拟新冠疫情冲击探讨了上海等主导性节点城市物流网络在应对风险时的韧性表现。结果表明:(1)长江经济带形成了以公铁陆运为主干、水运为辅助、航空为补充的物流网络,其中各省会城市发挥着重要枢纽功能;(2)其物流网络层级性、异配性显著,具备良好传输韧性,但物流资源过度集中于核心城市,易引发局部区域的闭塞和僵化;(3)物流网络结构的韧性能力并非固定不变,而是随风险冲击增大呈现阶段变化特征,核心部分未遭受严重破坏,整体网络就仍能维持正常运转;(4)新冠疫情模拟下,上海等核心城市“封城”并未使物流网络陷入困境,其他城市可增强自身中介作用来弥补网络核心缺失,实现网络结构的再平衡。由此,从物流基础建设、主导性节点和脆弱性节点3方面提出物流网络结构韧性的优化建议。

关键词：风险常态化物流网络网络结构韧性公路与铁路新冠疫情攻击策略物流基础设施

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含时滞的不确定性交直流微电网直流母线电压H_∞控制

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电力自动化设备 2024年第4期44卷 184-189,217页

作者：肖伸平廖世英张晓虎郑湘明邓博文湖南工业大学电气与信息工程学院湖南株洲412007 湖南工业大学电传动控制与智能装备湖南省重点实验室湖南株洲412007 湖南工业大学城市与环境学院湖南株洲412007

针对含通信网络延时的不确定性交直流微电网的直流母线电压稳定问题,提出了一种将状态空间法和阻抗分析法相融合的方法,构建具有时滞的范数有界不确定交直流微电网模型。基于系统鲁棒二次稳定的求解,获得了满足H_∞控制性能的时滞无关... 详细信息

针对含通信网络延时的不确定性交直流微电网的直流母线电压稳定问题,提出了一种将状态空间法和阻抗分析法相融合的方法,构建具有时滞的范数有界不确定交直流微电网模型。基于系统鲁棒二次稳定的求解,获得了满足H_∞控制性能的时滞无关型状态反馈控制器的条件。然后应用S-procedure定理,提出一种降低时滞依赖型Lyapunov方法的泛函构造难度且无须再次求导的方法,引用Wirtinger积分不等式和自由矩阵的积分不等式,得到时滞依赖型的H_∞控制器。仿真分析验证了所提控制方法能在一定的通信延时约束下抑制不确定参数对直流母线电压的影响。

关键词： H_∞控制器交直流微电网直流母线电压不确定系统时滞系统

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双碳背景下居民快递包装回收行为研究

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包装学报 2024年第3期16卷 8-17页

作者：郑湘明陈丽娜湖南工业大学商学院湖南株洲412007

在“双碳”背景下,针对目前中国快递包装回收率低的问题,利用湖南省高校学生家庭的308份调研数据,研究居民快递包装回收行为影响因素。以拓展的计划行为理论为基础,通过构建结构方程模型(structural equation model,SEM)进行验证分析,... 详细信息

在“双碳”背景下,针对目前中国快递包装回收率低的问题,利用湖南省高校学生家庭的308份调研数据,研究居民快递包装回收行为影响因素。以拓展的计划行为理论为基础,通过构建结构方程模型(structural equation model,SEM)进行验证分析,并替换不同模型,用线性回归对结果进行稳健性检验。研究结果表明:感知行为控制和低碳自我认同感对居民快递包装回收意愿的影响程度明显高于回收态度、主观规范;实施垃圾分类会显著正向调节回收意愿与回收行为之间的关系,并且实施垃圾分类的程度越高,发生快递包装回收实际行为的可能性越大。

关键词：双碳快递包装回收结构方程模型调节效应稳健性检验

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环境关心对消费者快递包装回收意愿的影响

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长沙大学学报 2024年第2期38卷 77-83页

作者：郑湘明陈文琪湖南工业大学商学院湖南株洲412007

消费者是快递包装废弃物的产生者,也是快递包装回收的源头主体。从消费者视角出发分析环境关心对快递包装回收意愿的影响,有助于发挥消费者在快递包装回收过程中的核心主体作用,推进绿色物流和资源可持续利用。本文基于问卷调查收集到的... 详细信息

消费者是快递包装废弃物的产生者,也是快递包装回收的源头主体。从消费者视角出发分析环境关心对快递包装回收意愿的影响,有助于发挥消费者在快递包装回收过程中的核心主体作用,推进绿色物流和资源可持续利用。本文基于问卷调查收集到的381份有效样本数据,运用层次回归分析方法进行分析,结果表明:消费者的环境关心水平、月收入水平显著正向影响其快递包装回收意愿,消费者的社会身份对其快递包装回收意愿具有显著影响。

关键词：环境关心快递包装回收回收意愿

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基于CDIO-PBL教学模式的DSP应用技术实验课程教学改革——以亳州学院为例

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西昌学院学报（自然科学版） 2024年第2期38卷 114-120页

作者：张丽武明西陈灿郑祥明亳州学院电子与信息工程系安徽亳州236800

DSP应用技术是一门综合性较强的课程,在电子信息工程专业人才培养方案中占据重要地位。为提高学生学习积极性和综合应用能力,提出基于构思-设计-实现-运作(conceive-design-implement-operate,CDIO)和以问题为导向(project-based learni... 详细信息

DSP应用技术是一门综合性较强的课程,在电子信息工程专业人才培养方案中占据重要地位。为提高学生学习积极性和综合应用能力,提出基于构思-设计-实现-运作(conceive-design-implement-operate,CDIO)和以问题为导向(project-based learning,PBL)的DSP应用技术实验课程改革,并具体从教学方法、教学内容和考核评价3方面进行改革与探索;为满足不同基础学生的需求,设置难易程度不同的2个实验项目,由学生根据自身情况自行选择;整个教学过程以学生主体,教师全程辅助指导。该模式为学生创设了问题情景,引导学生解决问题,同时提供自主探究的环境,有效提高了学生分析问题、解决问题的能力,同时对学生深入掌握数字信号处理器(digital signal processor,DSP)相关知识有很强的促进作用。

关键词： DSP 课程改革 CDIO PBL 能力培养

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An intelligent target detection method of UAV swarms based on improved KM algorithm

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Chinese Journal of Aeronautics 2021年第2期34卷 539-553页

作者： xiangming zheng Chunyao MA Key Laboratory of Fundamental Science for National Defense Design Technology of Flight Vehicle Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Complete and efficient detection of unknown targets is the most popular application of UAV swarms. Under most situations, targets have directional characteristics so that they can only be successfully detected within specific angles. In such cases, how to coordinate UAVs and allocate optimal paths for them to efficiently detect all the targets is the primary issue to be solved. In this paper, an intelligent target detection method is proposed for UAV swarms to achieve real-time detection requirements. First, a target-feature-information-based disintegration method is built up to divide the search space into a set of cubes. Theoretically, when the cubes are traversed, all the targets can be detected. Then, a Kuhn-Munkres(KM)-algorithm-based path planning method is proposed for UAVs to traverse the cubes. Finally, to further improve search efficiency, a 3 D realtime probability map is established over the search space which estimates the possibility of detecting new targets at each point. This map is adopted to modify the weights in KM algorithm, thereby optimizing the UAVs’ paths during the search process. Simulation results show that with the proposed method, all targets, with detection angle limitations, can be found by UAVs. Moreover, by implementing the 3 D probability map, the search efficiency is improved by 23.4%–78.1%.

关键词： 3D probability map Kuhn-Munkres algorithm Path planning Real-time control Swarm intelligence Target detection Unmanned aerial vehicle(UAV)

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Development of Bionic UAVs Cluster Technology

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Transactions of Nanjing University of Aeronautics and Astronautics 2018年第S1期35卷 1-8页

作者： Ma Chunyao Feng Zhuoqun zheng xiangming College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics

With the wider use of UAV in various fields,the raising task complexity and the increasing environmental uncertainties,the higher requirements for UAV technology are put *** bionic UAV cluster system has the potential advantages of good stealth performance,strong environmental adaptability,wide expansion of task and high operational *** has excellent prospects in future information warfare,electronic warfare and conventional combat *** reviewing the development of bionic UAV cluster technology,this paper summarizes and analyzes the latest research progresses of the key technologies such as aerodynamic mechanism and aerodynamic configuration design,driving mechanism design,autonomous flight control,adaptive networking and cluster control of bionic aircrafts.

关键词： bionic UAV aerodynamic mechanism structure design ad-hoc networks cluster control

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The impact of the Rural Minimum Living Standard Guarantee(Rural Dibao)Program on child nutrition outcomes

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Journal of Integrative Agriculture 2024年第2期23卷 444-456页

作者： Dian Chen xiangming Fang Yu Chen Xiaodong zheng Zhuo Chen Rodney B.W.Smith Academy of Global Food Economics and Policy China Agricultural UniversityBeijing 100083China School of Public Health Georgia State UniversityAtlanta 30303USA School of Economics Zhejiang Gongshang UniversityHangzhou 310018China College of Public Health University of GeorgiaAthens 30602USA Department of Applied Economics University of MinnesotaSaint Paul 55108USA

The Rural Minimum Living Standard Guarantee(Rural Dibao)is an important unconditional cash transfer program to alleviate poverty in rural *** the importance of children’s nutrition in breaking poverty cycles,little is known about the impact of Rural Dibao on child nutrition *** China Family Panel Studies(CFPS),this paper examines the effects of Rural Dibao on child nutrition outcomes and investigates potential pathways and heterogeneous *** exploit propensity score matching and difference-in-differences techniques to evaluate the effects of the Rural Dibao program on child nutrition *** results suggest that Rural Dibao significantly impacts the nutrition outcomes of children up to 15 years of ***,our results suggest that Rural Dibao improves child height-to-age z-scores by 1.05 standard deviations and lowers the probability of stunting by 11.9 percentage *** analyses suggest that increased protein intake is the main pathway through which Rural Dibao participation contributes to better nutrition *** also find that the effect of the program is more pronounced among girls,children who are non-left-behind or live with highly educated mothers,and those from low-income families and poor *** findings suggest that Rural Dibao participation helps improve child nutrition outcomes through improving diet quality.

关键词： Rural Minimum Living Standard Guarantee nutrition height-to-age z-scores stunting rural China

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Development and evaluation of a thermostatic nucleic acid testing device based on magnesium pyrophosphate precipitation for detecting Enterocytozoon hepatopenaei

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Chinese Chemical Letters 2022年第8期33卷 4053-4056页

作者： Zhu Chen Kaixuan Zhao Ziyu He Xiaofang Luo Zuodong Qin Yimin Tan xiangming zheng Zuozhong Wu Yan Deng Hui Chen Yuan Guo Song Li Hunan Key Laboratory of Biomedical Nanomaterials and Devices Hunan University of TechnologyZhuzhou 412007China Department of Cardiovascular Medicine The Affiliated Zhuzhou Hospital Xiangya Medical CollegeCentral South UniversityZhuzhou 412000China Institute of Supramolecular Structures and Micro-nano Materials Hunan University of TechnologyZhuzhou 412007China National&Local Joint Engineering Research Center for Research and Technology of Advanced Packaging Materials Hunan University of TechnologyZhuzhou 412007China Hunan Shengzhou Biotechnology Ltd. Zhuzhou 412000China College of Chemistry and Bioengineering Hunan University of Science and EngineeringYongzhou 425199China

Enterocytozoon hepatopenaei(EHP)infection has seriously affected prawn culture *** symptoms of the infection are not apparent,and traditional detection methods are time consuming and low in *** developed a new onsite rapid testing device(size 18.8×16.7×6.6 cm^(3))for EHP based on magnesium pyrophosphate precipitation and facilitated by loop mediated isothermal amplification(LAMP).The design and fabrication of the device enables efficient light *** device has a highly sensitive detector,high-precision thermal controller,and humanized touch *** temperature control precision of the device is 0.2-0.3℃ at 60℃,63℃,and 65℃.The coefficients of variation values(CVV)of the luminous power in one channel at light on and off were found to be 0.0097 and 0.0014,respectively,within 1 *** CVV of the background,luminous power,and values of eight PCR tubes filled with pure water were all less than 5%.In the EHP experiment,eight samples(including seven positive and one negative)confirmed the effectiveness of the device,and four positive and four negative samples verified whether cross-contamination *** them,the rise time of the curve was about 15 *** results assert that the developed device exhibits enhanced stability and uniformity and has excellent performance with high sensitivity,good specificity,and low testing ***,the optimal and minimum absorbance range was 555-655 nm for monitoring the production of LAMP.

关键词： Turbidity detection Magnesium pyrophosphate precipitation Nucleic acid testing Enterocytozoon hepatopenaei Loop-mediated isothermal amplification

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