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Kinematic modeling and control of a novel pneumatic soft robotic arm

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Chinese Journal of Aeronautics 2022年第7期35卷 310-319页

作者： Hongwei LI Yan xu chao zhang Huxiao YANG School of Aeronautics and Astronautics Zhejiang UniversityHangzhouZhejiangChina

A novel soft robotic arm(SRA)composed of two soft extensible arms(SEAs)and a soft bendable joint(SBJ)for space capture systems is presented in this paper.A diamond origami pattern was applied in the design of the SEAs,and large deformations of the SEAs in positive pressure were simulated using the nonlinear finite element method.A kinematic model of the SRA using the Denavit–Hartenberg method based on the assumption of constant curvatures was proposed.A closed-loop model-free control system based on a PID controller was developed using real-time data from a vision sensor *** kinematic model and closed-loop model-free control system are experimentally evaluated on an SRA prototype by four *** experimental results demonstrate that the derived kinematic model can finely describe the movement of the SRA and that the closed-loop control system can control the SRA to reach the desired destination or trajectory within an acceptable error and performs well in long-term repeated operations.

关键词： Arm control Kinematics Repeated precision Soft robotic arm Trajectory tracking

Dense Hydrogen-Bonding Network Boosts Ionic Conductive Hydrogels with Extremely High Toughness,Rapid Self-Recovery,and Autonomous Adhesion for Human-Motion Detection

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Research 2021年第1期2021卷 713-726页

作者： Bing zhang xu zhang Kening Wan Jixin Zhu Jingsan xu chao zhang Tianxi Liu State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Materials Science and EngineeringInnovation Center for Textile Science and TechnologyDonghua UniversityShanghai 201620China School of Engineering and Materials Science Queen Mary University of LondonMile End RoadLondon E14NSUK Shaanxi Institute of Flexible Electronics(SIFE) Northwestern Polytechnical University(NPU)127 West Youyi RoadXi’an 710072China School of Chemistry Physics and Mechanical EngineeringQueensland University of TechnologyBrisbaneQLD 4001Australia Key Laboratory of Synthetic and Biological Colloids Ministry of EducationSchool of Chemical and Material EngineeringJiangnan UniversityWuxi 214122China

The construction of ionic conductive hydrogels with high transparency,excellent mechanical robustness,high toughness,and rapid self-recovery is highly desired yet ***,a hydrogen-bonding network densification strategy is presented for preparing a highly stretchable and transparent poly(ionic liquid)hydrogel(PAM-r-MVIC)from the perspective of random copolymerization of 1-methyl-3-(4-vinylbenzyl)imidazolium chloride and acrylamide in *** to the formation of a dense hydrogen-bonding network,the resultant PAM-r-MVIC exhibited an intrinsically high stretchability(>1000%)and compressibility(90%),fast self-recovery with high toughness(2950 kJ m^(-3)),and excellent fatigue resistance with no deviation for 100 *** particle dynamics simulations revealed that the orientation of hydrogen bonds along the stretching direction boosted mechanical strength and toughness,which were further proved by the restriction of molecular chain movements ascribing to the formation of a dense hydrogen-bonding network from mean square displacement *** with high ionic conductivity over a wide temperature range and autonomous adhesion on various surfaces with tailored adhesive strength,the PAM-r-MVIC can readily work as a highly stretchable and healable ionic conductor for a capacitive/resistive bimodal sensor with self-adhesion,high sensitivity,excellent linearity,and great *** study might provide a new path of designing and fabricating ionic conductive hydrogels with high mechanical elasticity,high toughness,and excellent fatigue resilience for skin-inspired ionic sensors in detecting complex human motions.

关键词： toughness fatigue bonding

血浆FGF-23水平对慢性肾脏病患者血压的影响

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现代中西医结合杂志 2017年第29期26卷 3196-3198,3218页

作者：孙明慧张蕾徐超张静宋爱梅马耘新疆医科大学第五附属医院新疆乌鲁木齐830011

目的观察血浆FGF-23水平对慢性肾脏病(CKD)患者血压的影响。方法选择经实验室、影像学等检查确诊为CKD的患者140例作为CKD组,CKD患者按照肾小球滤过率分为1~5期;选择同期就诊于体检中心且性别、年龄、体质量指数相当的健康体检者140例... 详细信息

目的观察血浆FGF-23水平对慢性肾脏病(CKD)患者血压的影响。方法选择经实验室、影像学等检查确诊为CKD的患者140例作为CKD组,CKD患者按照肾小球滤过率分为1~5期;选择同期就诊于体检中心且性别、年龄、体质量指数相当的健康体检者140例作为健康组。比较2组血压、肾小球滤过率、血尿酸、血浆FGF-23水平的差异及不同CKD分期患者间年龄、体质量指数、血压、肾小球滤过率、血尿酸、血浆FGF-23、血钙、血磷、甲状旁腺激素水平的差异,使用Spearman相关分析分析CKD组患者血浆FGF-23水平与其他相关指标的关系。结果 CKD组收缩压、舒张压、平均动脉压、血尿酸、血浆FGF-23水平均显著高于健康组(P均0.05);CKD 2~5期患者血尿酸水平均明显高于CKD1期患者(P均<0.05),但CKD5期患者血尿酸水平明显低于CKD4期患者(P<0.05);甲状旁腺激素水平随CKD分期增高逐渐增高,其中CKD2期与CKD3期比较及CKD3期与CKD4期比较差异均有统计学意义(P均<0.05);FGF-23水平随肾小球滤过率的升高逐渐升高,且各分期之间比较差异均有统计学意义(P均<0.05)。CKD患者血浆FGF-23水平与收缩压呈正相关(r=0.27,P<0.05),与肾小球滤过率呈负相关(r=-0.91,P<0.05),与舒张压及平均动脉压无相关性。结论血浆FGF-23水平与CKD患者收缩压和肾小球滤过率密切相关,控制FGF-23水平可能会成为治疗CKD高血压的新靶点。

关键词：慢性肾脏病 FGF-23 肾小球滤过率收缩压

Non-orthogonal pilot pattern for sparse channel estimation in large-scale MIMO-OFDM system

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The Journal of China Universities of Posts and Telecommunications 2016年第4期23卷 63-68页

作者： xu chao zhang Jianhua Yin Changchuan Key Laboratory of Universal Wireless Communications Ministry of Education Beijing University of Posts and Telecommunications

From the perspective of compressed sensing（CS） theory, the channel estimation problem in large-scale multiple input multiple output（MIMO）-orthogonal frequency division multiplexing（OFDM） system is investigated. According to the theory, the smaller mutual coherence the reconstruction matrix has, the higher success probability the estimation can obtain. Aiming to design a pilot that can make the system reconstruction matrix having the smallest mutual coherence, this paper proposes a low complexity joint algorithm and obtains a kind of non-orthogonal pilot pattern. Simulation results show that compared with the conventional orthogonal pilot pattern, applying the proposed pattern in the CS channel estimation can obtain the better normalized mean square error performance. Moreover, the bit error rate performance of the large-scale MIMO-OFDM system is also improved.

关键词： large-scale MIMO CS channel estimation pilot pattern

Reliability Evaluation of IEEE 802.11p-Based Vehicle-to-Vehicle Communication in an Urban Expressway

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Tsinghua Science and Technology 2015年第4期20卷 417-428页

作者： Yizhi Wang Jianming Hu Yi zhang chao xu Department of Automation Tsinghua National Laboratory for Information Science and Technology (TNList) Tsinghua University Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies

IEEE 802.11p/DSRC （Dedicated Short Range Communication） is considered to be a promising wireless communication standard for enhancing transportation safety and efficiency. However, IEEE 802.11p-based Vehicle- to-Vehicle （V2V） communication is still unreliable because of the complicating factors of high vehicle speed and complex radio environments. In this paper, we performed a data-based evaluation of V2V communication reliability, using real-world measurements in a typical urban expressway in Beijing. With respect to the characteristics of the urban expressway and our experimental data, we found road slope and traffic density to be the major environmental factors having a significant impact on the V2V communication＇s Line-Of-Sight （LOS） conditions. On the basis of these two factors, we propose a fuzzy classification method for the LOS conditions, and separate the real- time communication environments into different LOS cases. For each LOS case, we quantify the metrics as received signal strength indication, packet delivery rate, and communication latency. The results reveal that the communication reliability in urban expressways is very unstable because of the changing LOS conditions. This study provides a useful reference for the IEEE 802.11 p-based cooperative systems in urban expressways.

关键词： IEEE 802.11p V2V communication empirical measurement urban expressway line-of-sight condition

Code acquisition method based on wavelet transform filtering

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Journal of Systems Engineering and Electronics 2015年第6期26卷 1169-1176页

作者： chao Wu Luping xu Hua zhang Wenbo Zhao School of Aerospace Science and Technology Xidian University

In order to improve the acquisition probability of satellite navigation signals, this paper proposes a novel code acquisition method based on wavelet transform filtering. Firstly, the signal vector based on the signal passing through a set of partial matched filters （PMFs） is built. Then, wavelet domain filtering is performed on the signal vector value. Since the correlation signal is low in frequency and narrow in bandwidth, the noise out-of-band can be filtered out and the most of the useful signal energy is retained. Thus this process greatly improves the signal to noise ratio （SNR）. Finally, the detection variable when the filtered signal goes through the combination process is constructed and the detection based on signal energy is made. Moreover, for the better retaining useful signal energy, the rule of selection of wavelet function has been made. Simulation results show the proposed method has a better detection performance than the normal code acquisition methods under the same false alarm probability.

关键词： code acquisition wavelet transform filtering detection probability.

Integration of perioperative features and intragraft TCF7L2 expression to predict lipid metabolic disorder in liver transplant recipients

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Science China Life Sciences 2025年第1期 297-299页

作者： Junbin Zhou Rongli Wei Guanghan Fan Zhengxing Lian xuanyu zhang Linsong Tang Zhetuo Qi Haiyang Xie Shusen Zheng Qiang Wei Xiao xu Department of Hepatobiliary and Pancreatic Surgery People's Hospital of LishuiAffiliated Lishui Hospital of Wenzhou Medical UniversityThe First Affiliated Hospital of Lishui University NHFPC Key Laboratory of Combined Multi-Organ Transplantation Key Laboratory of Integrated Oncology and Intelligent Medicine of Zhejiang Province Department of Hepatobiliary and Pancreatic SurgeryHangzhou First People's Hospital Department of Hepatobiliary and Pancreatic Surgery The First Affiliated HospitalZhejiang University School of Medicine Department of Urology The Second Affiliated HospitalZhejiang University School of Medicine Department of Hepatobiliary and Pancreatic Surgery Department of Liver TransplantationShulan (Hangzhou) Hospital Hangzhou Medical College Zhejiang University School of Medicine

Dear Editor, Liver transplantation(LT) is the only curative therapy for patients with endstage liver disease(He et al., 2023; Ling et al., 2022). Post-transplant hypertriglyceridemia(PTHT), which has an incidence of up to 32.8% in 6 months after LT, is one of the major post-transplant complications(Toshima et al., 2020).

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Recent progress on photoactive nonprecious transition-metal complexes

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Science China Chemistry 2025年第1期 46-95页

作者： Zhong-Liang Gong Hong-Jie zhang Yan Cheng Jianxun Liu Yuhan Ai Yaqin Li Zhihui Feng Qiong zhang Shaolong Gong Yong Chen Chang-Jiang Yao Yuan-Yuan Zhu Liang-Jin xu Yu-Wu Zhong CAS Key Laboratory of Photochemistry Institute of Chemistry Chinese Academy of Sciences State Key Laboratory of Structural Cemistry Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences School of Chemistry and Chemical Engineering Anhui Key Laboratory of Advanced Catalytic Materials and Reaction EngineeringHefei University of Technology State Key Laboratory of Explosion Science and Safety Protection School of Mechatronical Engineering Beijing Institute of Technology College of Chemistry and Molecular Sciences Hubei Key Lab on Organic and Polymeric Optoelectronic Materials Wuhan University School of Chemistry and Chemical Engineering Anhui University Key Laboratory of Photochemical Conversion and Optoelectronic Materials & CAS-HKU Joint Laboratory on New Materials Technical Institute of Physics and Chemistry Chinese Academy of Sciences

Photoactive complexes of nonprecious transition metals, mainly including those in the first-row and partially the second-row of the Periodic table of elements, have received increasing attention in view of their low cost and long-term sustainability. They are recognized as promising alternatives to noble transition metal complex congeners that have been extensively studied in optoelectronic devices, artificial photosynthesis, photocatalysis, biodiagnostics, and therapeutics, etc. This review is devoted to a comprehensive summary on the classical and recent advances on photoactive nonprecious transition metal complexes, including photoactive Zr, V, Cr, Mo, and W complexes, Mn complexes and hybrids, Fe, Co, Ni, and Cu complexes, and Zn and Cd complexes and hybrids. A particular focus is given on the molecular design, modulation of photophysical and photochemical properties, and applications of the representative and lately-developed nonprecious metal complexes. In addition, a perspective on the future development in this field is provided at the end of this review.

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Facile g-ray irradiation synthesis of Pt/GA nanocomposite for catalytic reduction of 4-nitrophenol

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Green Energy & Environment 2021年第5期6卷 734-742页

作者： Yu zhang chao Li Xianfu Liu Jing xu Xingkun Yang zhang zhang College of Chemistry and Chemical Engineering Xinyang Normal UniversityXinyang464000China

Up to now,facile and pollution-free routes for catalyst preparation are in high *** this study,a green and cost-effective strategy was successfully developed to construct platinum/graphene aerogel(Pt/GA)nanocomposites by the co-reduction of graphene oxides(GO)and chloroplatinic acid(H_(2)PtCl6$6H_(2)O)with the assists of g-ray irradiation in the absence of any other *** studies indicated that the energy of g-ray irradiation and the hole scavenger isopropanol(IPA)played a vital role in forming small Pt nanoparticles with uniform size of~3 nm on the surface of graphene aerogel(GA).Furthermore,Pt/GA synthesized with a mass ratio of 2:1(Pt/GA-2)exhibited a lowest activation energy value and outstanding catalytic properties for the reduction of 4-nitrophenol(4-NP).The excellent catalytic and cycling performance suggest that Pt/GA-2 catalyst has a promising prospect for the reduction of nitroaromatic compounds in wastewater treatment and other industrial applications.

关键词： g-ray irradiation Platinum Graphene aerogel Catalytic reduction 4-nitrophenol