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Underwater minirobots actuated by hybrid driving method

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2023年第7期24卷 596-611页

作者： xinghong ye Yang YANG Pengcheng JIAO Zhiguo HE Lingwei LI Institute of Port Coastal and Offshore EngineeringOcean CollegeZhejiang UniversityZhoushan 316021China Engineering Research Center of Oceanic Sensing Technology and Equipment of Ministry of Education Zhejiang UniversityZhoushan 316021China Department of Biomedical Engineering(BME) National University of SingaporeSingapore 119077Singapore Key Laboratory of Marine Geotechnical Engineering and Materials Zhoushan 316021China

Underwater minirobots have attracted significant interest due to their value in complex application *** underwater minirobots are driven mainly by a soft or rigid ***,soft actuation is currently facing challenges,including inadequate motional control accuracy and the lack of a continuous and steady driving force,while conventional rigid actuation has limited actuation efficiency,environmental adaptability,and motional flexibility,which severely limits the accomplishment of complicated underwater *** this study,we developed underwater minirobots actuated by a hybrid driving method(HDM)that combines combustion-based actuators and propeller thrusters to achieve accurate,fast,and flexible underwater locomotion *** experiments were conducted to investigate the kinematic performance of the minirobots with respect to the motion modes of rising,drifting,and *** models were used to investigate the kinematic characteristics of the minirobots,and theoretical models developed to unveil the mechanical principle that governs the driving *** agreement was obtained from comarisons of the experimental,numerical,and theoretical ***,the HDM was compared with selected hybrid driving technologies in terms of acceleration and response *** comparison showed that the minirobots based on HDM were generally superior in transient actuation ability and reliability.

关键词： Hybrid driving method(HDM) Underwater minirobots Operation reliability Transient actuation

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Experimental Investigation and Numerical Simulation of Ship Stern Structural Vibration Model

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Journal of Shanghai Jiaotong university(Science) 2022年第3期27卷 365-374页

作者： ye xinghong XIA Lijuan State Key Laboratory of Ocean Engineering Collaborative Innovation Center for Advanced Ship and Deep-Sea ExplorationSchool of Naval ArchitectureOcean&Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China

Vibration at the stern area is generally the most severe of the entire ship hull,which has always attracted special attention by ship designers and *** reference to a real ship structural layout,a scaled stern model of steel structure was innovatively designed to carry out the mode and response *** finite element(FE)model representing the tested structure was established for verification of commonly-used calculation methods of modal parameters and *** agreement between experimental and numerical results demonstrates the credibility of FE method,and some key points of modeling and calculating are *** addition,with the combination of the experiment and calculation,some vibration characteristics of ship stern structure are summarized for future ship design guideline.

关键词： stern vibration model test virtual mass method modal superposition method vibration characteristics finite element(FE)model

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Progress in Research on Materials Under Microgravity in China

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空间科学学报 2004年第Z1期24卷 138-149页

作者： CHEN Nuofu CHEN Wanchun LUO xinghong ye Yude Key Laboratory of Semiconductor Materials Sciences Institute of Semiconductors The Chinese Academy of Sciences Beijing 100083 China National Laboratory of Microgravity Institute of Mechanics The Chinese Academy of Sciences Beijing 100080 China Institute of Physics The Chinese Academy of Sciences Beijing 100080 China National Laboratory of Microgravity Institute of Mechanics The Chinese Academy of Sciences Beijing 100080 China Institute of Metal Research The Chinese Academy of Sciences Shenyang 110016 China Key Laboratory of Semiconductor Materials Sciences Institute of Semiconductors The Chinese Academy of Sciences Beijing 100083 China

Research on materials under microgravity in China began in the 1980s, sparked by Prof. Lanying Lin (academician of CAS), Prof. Xiji Wang (academician of CAS), Prof. Guirong Min (academician of CAS), and Prof. Huabao Lin (academician of CAS), and others. The first semiconductor crystal, first optical crystal, and first alloys were grown in space on board a recoverable satellite in 1987. Since then, microgravity materials science became a new scientific branch in *** and technical activities on space crystal growth and solidification are carried out through two major programs: ground-based studies and orbital experiments. The main results obtained during 2001-2003 are reported below.

关键词： Microgravity, Semiconductor, Metal, Crystal

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Advanced ocean wave energy harvesting:current progress and future trends

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2023年第2期24卷 91-108页

作者： Fang HE Yibei LIU Jiapeng PAN xinghong ye Pengcheng JIAO Ocean College Zhejiang UniversityZhoushan 316021China

With a transition towards clean and low-carbon renewable energy,against the backdrop of the fossil-energy crisis and rising pollution,ocean energy has been proposed as a significant possibility for mitigating climate change and energy shortages for its characteristics of clean,renewable,and *** rapid development of energy harvesting technology has led to extensive applications of ocean wave energy,which,however,has faced certain challenges due to the low-frequency and unstable nature of ocean *** paper overviews the debut and development of ocean wave energy harvesting technology,and discusses the potential and application paradigm for energy harvesting in the“intelligent ocean.”We first describe for readers the mechanisms and applications of traditional wave energy converters,and then discuss current challenges in energy harvesting performance connected to the characteristics of ocean ***,we summarize the progress in wave energy harvesting with a focus on advanced technologies(e.g.,data-driven design and optimization)and multifunctional energy materials(e.g.,triboelectric metamaterials),and finally propose recommendations for future development.

关键词： Ocean wave energy Wave energy converters Energy harvesting technology Advanced energy materials Intelligent ocean

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船舶尾部避振穴的设计研究

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振动与冲击 2021年第23期40卷 44-50,65页

作者：叶星宏夏利娟上海交通大学海洋工程国家重点实验室上海200240 高新船舶与深海开发装备协同创新中心上海200240

避振穴是一种能有效减小船舶尾部振动的密闭充气结构。基于振动学和板壳结构的相关理论,推导了避振穴橡胶板固有频率的近似计算方法,结合参考文献和非线性有限元计算对理论计算方法进行了验证,总结了各设计参数对固有频率的影响;基于两... 详细信息

避振穴是一种能有效减小船舶尾部振动的密闭充气结构。基于振动学和板壳结构的相关理论,推导了避振穴橡胶板固有频率的近似计算方法,结合参考文献和非线性有限元计算对理论计算方法进行了验证,总结了各设计参数对固有频率的影响;基于两自由度(DOFs)振动系统,分析避振穴固有频率对减振效果的影响,讨论避振穴设计过程中需要考虑的因素;针对某318000 DWT超大型油轮进行尾部避振穴的设计,对比加装避振穴前后船体的响应特性,验证避振穴的减振效果。对避振穴的频率特性和设计参数的选取进行了较为详细的分析,可为相关的减振设计提供有益参考。

关键词：船舶减振避振穴橡胶板固有频率计算有限元分析

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变面积式电涡流传感器线圈阻抗理论计算模型

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电子测量与仪器学报 2016年第12期30卷 1907-1914页

作者：吕春峰朱建平匡兴红叶海雄上海海洋大学工程学院上海201306

变面积式电涡流传感器相比于传统的变距式传电涡流感器具有线性度好和量程易扩展等优点。介绍了变面积式电涡流传感器的基本测量原理和理论模型的建立方法。该模型利用二阶矢量位结合截取边界法建立了相关电磁场方程组,在此基础上推导... 详细信息

变面积式电涡流传感器相比于传统的变距式传电涡流感器具有线性度好和量程易扩展等优点。介绍了变面积式电涡流传感器的基本测量原理和理论模型的建立方法。该模型利用二阶矢量位结合截取边界法建立了相关电磁场方程组,在此基础上推导并建立了传感器的理论模型并给出了传感器线圈阻抗计算以及相关场量的闭合解析表达式。实验结果证明了此模型的有效性和正确性,该计算模型与传统的数值仿真运算相比,不仅物理意义明晰,而且极大缩短了运算时间。

关键词：变面积电涡流传感器线圈阻抗理论模型

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瞬变速软体机器人研究综述

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机器人 2022年第5期44卷 626-640页

作者：杨旸贺治国焦鹏程王海鹏李文焘叶星宏林官正宋伟任洪亮浙江大学海洋学院浙江舟山316021 新加坡国立大学生物医学工程学院新加坡119077 浙江大学海洋感知技术与装备教育部工程研究中心浙江舟山316021 浙江大学海南研究院海南三亚572000 香港中文大学电子工程学院中国香港999077

瞬变速软体机器人是一类能够在极短的时间内(不到1 s),通过柔性材料大变形产生瞬时高速驱动效果(大于1倍身长/秒)的软体机器人。本文总结了瞬变速软体机器人的国内外发展现状,并按照不同驱动方式为其分类。梳理了瞬变速软体机器人的运... 详细信息

瞬变速软体机器人是一类能够在极短的时间内(不到1 s),通过柔性材料大变形产生瞬时高速驱动效果(大于1倍身长/秒)的软体机器人。本文总结了瞬变速软体机器人的国内外发展现状,并按照不同驱动方式为其分类。梳理了瞬变速软体机器人的运动建模与仿真方法,并提出了一种多场耦合的仿真模式,讨论了仿真研究的技术特点、难点、准确性以及发展方向。总结了当前瞬变速软体机器人的应用,并展望其在未来不同场景下的设计和应用。

关键词：瞬变速驱动软体机器人快速响应柔性材料

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复合木地板甲醛和VOCs释放规律研究

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河北环境工程学院学报 2022年第6期32卷 62-66页

作者：胡锋王兴磊叶新红山瑛伊犁师范大学化学与环境科学学院新疆伊宁835000 伊犁州产品质量检检所化工与环境室新疆伊宁835000

采用1 m^(3)气候箱模拟室内环境,在23℃和35℃条件下,便携式气质联用法和分光光度法测定并研究了两类复合木地板中甲醛和挥发性有机化合物(VOCs)的浓度及释放规律,并对污染物释放浓度进行了风险评估。结果表明:便携式气质联用能快速、... 详细信息

采用1 m^(3)气候箱模拟室内环境,在23℃和35℃条件下,便携式气质联用法和分光光度法测定并研究了两类复合木地板中甲醛和挥发性有机化合物(VOCs)的浓度及释放规律,并对污染物释放浓度进行了风险评估。结果表明:便携式气质联用能快速、准确测出VOCs的质量浓度;分光光度法测定的甲醛为复合木地板中主要污染物,其单因子影响最大。温度为35℃时,两类木地板均存在甲醛超标,超标倍数分别为1.1倍和1.3倍, 28 d后污染风险依然存在。

关键词：气候箱法挥发性有机化合物室内空气品质综合评估

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A novel nine gene signature integrates stemness characteristics associated with prognosis in hepatocellular carcinoma

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BIOCELL 2021年第6期45卷 1425-1448页

作者： xinghong YAO CHENGQUAN LU JUNYI SHEN WENLI JIANG YAN QIU ye ZENG LIANG LI Institute of Biomedical Engineering West China School of Basic Medical Sciences&Forensic MedicineSichuan UniversityChengdu610041China Department of Radiation Oncology Sichuan Cancer Hospital&InstituteSchool of Medicine of University of Electronic Science and Technology of ChinaChengdu610041China Jinzhou City Center for Disease Control and Prevention Jinzhou121000China

Cancer stem cells(CSCs)are heterogeneous with self-renewal and differentiation *** mRNA expression-based stemness index(mRNAsi)described the similarity between tumor cells and CSCs,which is positively associated with the poor prognosis of cancer ***,the key prognostic genes related to mRNAsi in hepatocellular carcinoma(HCC)remains unclear.A 9-gene signature related to mRNAsi and HCC prognosis including PSMG3,SNRPD1,DTYMK,PIGU,NME1,TXNL4A,IPO4,PES1,and REXO4 was *** expression of this signature indicates poor prognosis of *** was an independent prognostic factor of HCC,which was significantly associated with progression of *** them,DTYMK and NME1 enriched in pyrimidine metabolism,SNRPD1 and TXNL4A enriched in spliceosome and PIGU enriched in glycosyl phosphatidylinositol(GPI)-anchor biosynthesis *** levels of IPO4,NME1,PES1,PIGU and SNRPD1 were closely associated with metastasis of HCC,and low levels of IPO4,PIGU and REOX4 were significantly associated with sorafenib resistance of *** expression of the 9-gene signature was negatively correlated with the stromal cell infiltration,and positively correlated with specific immune subtypes-related to angiogenesis,M1/M2 macrophage polarization,and M2 *** 9-gene signature was negatively correlated with the stroma,and SNRPD1 and TXNL4 were positively correlated with immune ***1 was negatively correlated with tumor ***,a 9-gene signature related to mRNAsi and poor prognosis in HCC were identified,which can be used as biomarkers for the diagnosis of HCC and functional mechanism exploration of CSCs in *** genes such as IPO4 and PIGU might drive the transition of tumor cells into CSCs which possibly controls the balance between metastasis and drug resistance in *** challenge on balance between metastasis and drug resistance for tumor therapy was firstly reported by the present study.

关键词： Stemness index Hepatocellular carcinoma Prognosis Microenvironment

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贝伐珠单抗胸腔灌注联合用药治疗恶性胸腔积液的研究进展

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中国医学创新 2020年第16期17卷 157-162页

作者：宋长山杨雨欣刘格格叶星宏张关英胡炜煜沈柏儒广东省佛山市禅城区中心医院(广州中医药大学附属佛山临床医学院) 广东佛山528000

恶性胸腔积液(malignantpleuraleffusion,MPE)由恶性肿瘤胸膜转移或胸膜间皮瘤引起,它的发生严重影响患者生存质量和提示预后不良.目前MPE的主要治疗方法是,在原发肿瘤进行全身治疗的基础上,对胸腔进行局部治疗(腔穿刺术、胸膜固定术、... 详细信息

恶性胸腔积液(malignantpleuraleffusion,MPE)由恶性肿瘤胸膜转移或胸膜间皮瘤引起,它的发生严重影响患者生存质量和提示预后不良.目前MPE的主要治疗方法是,在原发肿瘤进行全身治疗的基础上,对胸腔进行局部治疗(腔穿刺术、胸膜固定术、胸腔埋管引流、胸腔内灌注治疗等),其中胸腔内灌注治疗有着较好的疗效和发展空间.血管内皮生长因子(vascularendothelialgrowthfactor,VEGF)及其受体是一组影响血管生成的重要配体和受体,在控制血管生成中起重要作用,与MPE的发生关系密切.贝伐珠单抗是一种重组的人源化VEGF单克隆抗体,可与内源性VEGF竞争性结合VEGF受体,抑制新血管生成以及降低血管通透性,阻碍胸腔积液形成,延缓肿瘤发展进程.本综述讨论贝伐珠单抗胸腔灌注联合治疗肺癌、晚期消化道癌、恶性胸膜间皮瘤介导的恶性胸腔积液的研究进展,探讨贝伐珠单抗胸腔灌注联合用药的疗效、安全性.

关键词：恶性胸腔积液贝伐珠单抗研究进展

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