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Investigation of mechanical and electrical characteristics of selfsensing pneumatic torsional actuators

Science China(Technological Sciences) 2024年第1期67卷 130-142页

作者： xiao Wei hu DeAn hu GuoLiang xiao Yihua Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang 330013China Key Laboratory of Advanced Design and Simulation Techniques for Special Equipment Ministry of EducationHunan UniversityChangsha 410082China

Soft pneumatic actuators are one of the most promising actuation for soft robots,and great achievements have been obtained.But it remains challenging to endow sensing capabilities to pneumatic actuators,especially for the sensing ability originating directly from the actuator architecture.Herein,a self-sensing pneumatic torsional actuator(SPTA)is designed based on the electromagnetic induction effect and magnetically responsive materials.The SPTA can generate feedback voltage and current with the deformation,in which the sensing function comes from its inherent structure.To investigate the mechanical and electrical characteristics,an experimental platform and a finite element model are established,respectively.We find that the torsion angle and output torque increase in nonlinear with the actuating pressure.The maximum torsion angle is 66.35°,which is 84.34%of that for the actuator fabricated by pure rubber.The maximum output torque(24.9 N mm)improves by 23.19%compared with the actuator made by pure rubber.As regards the electrical characteristics,the maximum feedback voltage and current are 2.90μV and 29.50 nA when the SPTA is actuated by a pressure of−40 kPa.We also demonstrate that the relationship between the torsion angle and the magnetic flux change is approximately linear.Finally,the number of turns of wires,magnetic powders contents,and magnetic direction on the feedback voltage and current are studied.Results show that the feedback voltage and current can be enhanced by increasing the number of turns and magnetic powders contents.We envision that the SPTA would be promising for soft robots to realize their accuracy control and intelligentization.

关键词： pneumatic torsional actuators self-sensing feedback voltage finite element modeling soft robots

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Coning motion instability of spinning missiles induced by the delay of strap-down seeker

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Chinese Journal of Aeronautics 2020年第12期33卷 3360-3368页

作者： Xiao Hu Shuxing YANG School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of EducationBeijing 100081China Xi'an Modern Control and Technology Institute Xi'an 710065China

The strap-down seeker,which combines the seeker's and the onboard gyro's measurements to obtain the target information,has been extensively applied by spinning missiles.The response delay of the strap-down seeker,a novel factor that could result in crosscoupling between the acceleration commands in the pitch and yaw channels and subsequently cause the significant deterioration in dynamic stability of the spinning missile equipped with a rate loop,is noted in this paper.The sufficient and necessary stability conditions are also analytically established based on the system equation with complex coefficient,which are further verified by numerical simulations.It could be indicated that the response delay of the strap-down seeker will greatly deteriorate the dynamic stability of the whole guidance system designed by the conventional method.It is also noticed from analysis that the stable region of the combined guidance coefficient is shrunken significantly with the increase of the spinning rate.

关键词： Coning motion Dynamic stability Proportional guidance system Spinning missiles Strap-down seeker

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Cnoidal waves and their soliton limits in single mode fiber lasers

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Photonics Research 2024年第3期12卷 543-551页

作者： Xiao Hu TUPEI CHEN SEONGWOO YOO DINGYUAN TANG Julong College Shenzhen Technology UniversityShenzhen 518118China School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore

Cnoidal waves are a type of nonlinear periodic wave solutions of the nonlinear dynamic equations.They are well known in fluid dynamics,but it is not the case in optics.In this paper we show both experimentally and numerically that cnoidal waves could be formed in a fiber laser either in the net normal or net anomalous cavity dispersion regime,especially because,as the pump power is increased,the formed cnoidal waves could eventually evolve into a train of bright(in the net anomalous cavity dispersion regime)or dark(in the net normal cavity dispersion regime)solitons.Numerical simulations of the laser operation based on the extended nonlinear Schrödinger equation(NLSE)have well reproduced the experimental observations.The result not only explains why solitons can still be formed in a fiber laser even without mode locking but also suggests a new effective way of automatic stable periodic pulse train generation in lasers with a nonlinear cavity.

关键词： fiber pump mode

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A point cloud deep neural network metamodel method for aerodynamic prediction

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Chinese Journal of Aeronautics 2023年第4期36卷 92-103页

作者： Fenfen XIONG Li ZHANG Xiao Hu Chengkun REN School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Department of Mechanical Engineering Imperial College LondonLondon SW72AZUK

Aiming to reduce the high expense of 3-Dimensional(3D)aerodynamics numerical sim-ulations and overcome the limitations of the traditional parametric learning methods,a point cloud deep learning non-parametric metamodel method is proposed in this paper.The 3D geometric data,corresponding to the object boundaries,are chosen as point clouds and a deep learning neural net-work metamodel fed by the point clouds is further established based on the PointNet architecture.This network can learn an end-to-end mapping between spatial positions of the object surface and CFD numerical quantities.With the proposed aerodynamic metamodel approach,the point clouds are constructed by collecting the coordinates of grid vertices on the object surface in a CFD domain,which can maintain the boundary smoothness and allow the network to detect small changes between geometries.Moreover,the point clouds are easily accessible from 3D sensors.The point cloud deep learning neural network,which employs re-sampling technique,the spatial transformer network and the fully connected layer,is developed to predict the aerodynamic char-acteristics of 3D geometry.The effectiveness of the proposed metamodel method is further verified by aerodynamic prediction and robust shape optimization of the ONERA M6 wing.The results show that the proposed method can achieve more satisfactory agreement with the experimental measurements compared to the parametric-learning-based deep neural network.

关键词： Aerodynamic prediction Deep neural network Metamodel Point clouds Robust shape optimization

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Experience of Professor Chen xiao-hu in treating"Double Heart Disease"with the method of activating blood and soothing the mind

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Journal of Hainan Medical University 2021年第15期27卷 61-64页

作者： Qian Liu Pei-hua Cao Tong Sun Zhi-Jing Wu xiao-hu Chen Affiliated Hospital of Nanjing University of Chinese Medicine Jiangsu Provincial Hospital of Chinese medicineNanjing 210029China Nanjing University Of Chinese Medicine Nanjing 210023China

"Double Heart Disease",that is,patients with cardiovascular disease often have mental and psychological disorders such as anxiety and depression.Professor Chen xiao-hu is guided by the holistic concept of Chinese medicine and based on the dual physiological functions of the heart as the main blood vessel and the main god.He believes that the internal resistance of blood stasis and mental disturbance are the core pathogenesis of"Double Heart Disease".Advocating the use of activating blood to calm the nerves to treat"double heart disease",and taking advantage of the overall adjustment of traditional Chinese medicine to achieve the purpose of harmonizing viscera and balancing Yin and Yang.The article summarizes Professor Chen xiao-hu's experience in using the method of activating blood to soothe the nerves to treat"Double Heart Disease",with a view to clinical treatment Provide new ideas.

关键词： Activating blood to soothe the nerves Double Heart Disease Clinical experience Chen xiao-hu

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Low-rank tensor completion with spatial-spectral consistency for hyperspectral image restoration

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光电子快报:英文版 2023年第7期19卷 432-436页

作者： xiao Zhiwen Zhu hu School of Communications and Information Engineering Nanjing University of Posts and TelecommunicationsNanjing 210023China

Hyperspectral image(HSI) restoration has been widely used to improve the quality of HSI.HSIs are often impacted by various degradations,such as noise and deadlines,which have a bad visual effect and influence the subsequent applications.For HSIs with missing data,most tensor regularized methods cannot complete missing data and restore it.We propose a spatial-spectral consistency regularized low-rank tensor completion(SSC-LRTC) model for removing noise and recovering HSI data,in which an SSC regularization is proposed considering the images of different bands are different from each other.Then,the proposed method is solved by a convergent multi-block alternating direction method of multipliers(ADMM) algorithm,and convergence of the solution is proved.The superiority of the proposed model on HSI restoration is demonstrated by experiments on removing various noises and deadlines.

关键词： tensor consistency removing

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Toward Training and Assessing Reproducible Data Analysis in Data Science Education

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Data Intelligence 2019年第4期1卷 381-392页

作者： Bei Yu Xiao Hu Syracuse University Ringgold Standard Institution 320 Hinds HallSyracuseNew York 13244-1100USA University of Hong Kong Ringgold Standard Institution Room 209Runme Shaw BuildingHong Kong 00000China

Reproducibility is a cornerstone of scientific research.Data science is not an exception.In recent years scientists were concerned about a large number of irreproducible studies.Such reproducibility crisis in science could severely undermine public trust in science and science-based public policy.Recent efforts to promote reproducible research mainly focused on matured scientists and much less on student training.In this study,we conducted action research on students in data science to evaluate to what extent students are ready for communicating reproducible data analysis.The results show that although two-thirds of the students claimed they were able to reproduce results in peer reports,only one-third of reports provided all necessary information for replication.The actual replication results also include conflicting claims;some lacked comparisons of original and replication results,indicating that some students did not share a consistent understanding of what reproducibility means and how to report replication results.The findings suggest that more training is needed to help data science students communicating reproducible data analysis.

关键词： Data science education Reproducibility Reproducible data analysis Communication Action research

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Coupling Vibration of Simply-Supported Damping Beam Carrying a Moving Mass

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Acta Mechanica Solida Sinica 2022年第6期35卷 972-978页

作者： Jingjing hu Weipeng hu Chuan xiao Zichen Deng School of Mechanics Civil Engineering and ArchitectureNorthwestern Polytechnical UniversityXi’an710072China School of Civil Engineering and Architecture Xi’an University of TechnologyXi’an710048China State Key Laboratory of Eco-Hydraulics in Northwest Arid Region of China Xi’an University of TechnologyXi’an710048China China Research and Development Academy of Machinery Equipment Beijing100089China

The coupling dynamic problems,such as the vehicle-bridge interaction problem,are difficult to be analyzed.In this paper,the generalized multi-symplectic approach is employed to investigate the coupling dynamic behaviors in the vehicle-bridge interaction system.A simply-supported damping beam model carrying a moving mass is considered and the generalized multi-symplectic form with the dynamical symmetry breaking factors is deduced firstly.And then,Preissmann’s scheme is employed to discretize the generalized multi-symplectic form,and the discrete structure-preserving condition for the numerical scheme is presented.According to the discrete structure-preserving condition,the permitted moving speed of the mass with different damping factors and different time step lengths is obtained to ensure the structure-preserving properties of the numerical scheme.Finally,the effects of the damping factor of the beam and the moving speed of the mass on the vibration of the beam are investigated by Preissmann’s scheme.The main contribution of this work is to provide a structure-preserving analysis approach for the vehicle-bridge interaction problem.

关键词： Vehicle-bridge interaction Dynamical symmetry breaking Generalized multi-symplectic Hamiltonian Moving mass

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胡晓:用户体验设计的领域与应用程度不断拓宽

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设计 2019年第8期32卷 59-63页

作者：胡晓国际体验设计委员会(IXDC)

国际体验设计大会是全球具影响力的体验设计盛会,是中国连接世界的跨界创新平台。从大会诞生之日起,国际体验设计委员会(IXDC)便赋予了它诸多期待,充分发挥“设计外交”的作用,搭建跨越国家、文化和语言界限的桥梁,帮助各行业人士获得... 详细信息

国际体验设计大会是全球具影响力的体验设计盛会,是中国连接世界的跨界创新平台。从大会诞生之日起,国际体验设计委员会(IXDC)便赋予了它诸多期待,充分发挥“设计外交”的作用,搭建跨越国家、文化和语言界限的桥梁,帮助各行业人士获得在应对21世纪挑战时必不可少的全球视角。过去九年间,数以万计的设计领袖、商业领袖、产品运营者们聚集于这个舞台,致力于探索和分享设计界最前沿的思想和技术,交流学习,让世界更美好。2019年,IXDC在正式步入10周年,国际体验设计大会也将开启十年的新篇章。国际体验设计委员会创始人,美啊教育创始人,贝塔空间创始人;中国设计业十大杰出青年胡晓与本刊分享了IXDC的初心及愿景,并从行业、人才的角度分析了体验设计的发展大趋势。

关键词：体验设计应用用户创始人创新平台角度分析运营者设计业

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World Journal of Emergency Medicine 2022年第6期13卷 425-432页

作者： Hai hu Ni Yao xiao-qin Lai Emergency Management Office of West China Hospital Sichuan UniversityChengdu 610041China China International Emergency Medical Team Chengdu 610041China Sichuan University’s Emergency Medical Rescue Base Chengdu 610041China Department of Critical Care Medicine West China HospitalSichuan UniversityChengdu 610041China Day Surgery Center West China HospitalSichuan UniversityChengdu 610041China West China School of Nursing Sichuan UniversityChengdu 610041China

BACKGROUND:There is limited evidence for emergency physicians and emergency trauma surgeons regarding the determinants of early and rapid assessment of older adult in-hospital mortality due to earthquakes.This study explored factors related to the early and rapid assessment of the mortality among older adult earthquake trauma patients(OAETPs)and created a screening model.METHODS:Data on 7,308 OAETPs from the West China Earthquake Patients Database were analyzed retrospectively.The 35 variables that can be obtained rapidly on arrival at the hospital were collected.Least absolute shrinkage and selection operator(LASSO)regression analysis was performed.Then,the nomogram for assessing the mortality of OAETPs was constructed.RESULTS:We identified 10 independent mortality-related factors that contributed to the in-hospital mortality of OAETPs.The 10 factors included age(odds ratio[OR]=1.061,95%confidence interval[CI]:1.031-1.090),dementia(OR=5.146,95%CI:1.169-17.856),coronary heart disease(CHD;OR=23.441,95%CI:4.799-83.927),malignant tumor(OR=8.497,95%CI:3.583-17.967),deep vein thrombosis(DVT;OR=7.110,95%CI:1.369-27.168),chronic kidney disease(CKD;OR=11.783,95%CI:5.419-24.407),pulse rate(PR;OR=1.036,95%CI:1.022-1.048),mean artery pressure(MAP;OR=0.960,95%CI:0.945-0.975),Glasgow Coma Scale(GCS;OR=0.864,95%CI:0.760-0.972),and Triage Revised Trauma Score(T-RTS,OR=0.485,95%CI:0.351-0.696).CONCLUSION:The 10 mortality-related factors could be quickly obtained on hospital arrival and should be the focal point of future earthquake response strategies regarding hospitalized older adults with trauma.A nomogram was constructed based on the factors for screening OAETPs with a higher risk of in-hospital mortality.

关键词： Trauma Mortality Earthquakes Elderly patients

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