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Adaptive admittance tracking control for interactive robot with prescribed performance

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Journal of Systems Engineering and Electronics 2024年第2期35卷 444-450页

作者： MENG Qingrui LIN yan School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100190China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

关键词： prescribed performance admittance control adaptive control robots

Rational surface charge engineering of haloalkane dehalogenase for boosting the enzymatic performance in organic solvent solutions

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Chinese Journal of Chemical Engineering 2024年第1期65卷 276-285页

作者： Yin Wu yan Sun Department of Biochemical Engineering School of Chemical Engineering and Technology and Key Laboratory of Systems Bioengineering and Frontiers Science Center for Synthetic Biology(Ministry of Education)Tianjin UniversityTianjin 300350China

Biocatalysis in organic solvents(OSs)has numerous important applications,but native enzymes in OSs often exhibit limited catalytic ***,we proposed a computation-aided surface charge engineering strategy to improve the catalytic performance of haloalkane dehalogenase DhaA in OSs based on the energetic analysis of substrate binding to the DhaA *** variants with enhanced OS resistance were obtained by replacing negative charged residues on the surface with positive charged residue(Arg).Particularly,a four-substitution variant E16R/E93R/E121R/E257R exhibited the best catalytic performance(five-fold improvement in OS resistance and seven-fold half-life increase in 40%(vol)dimethylsulfoxide).As a result,the overall catalytic performance of the variant could be at least 26 times higher than the wild-type *** spectroscopy and molecular dynamics simulation studies revealed that the residue substitution mainly enhanced OS resistance from four aspects:(a)improved the overall structural stability,(b)increased the hydrophobicity of the local microenvironment around the catalytic triad,(c)enriched the hydrophobic substrate around the enzyme molecule,and(d)lowered the contact frequency between OS molecules and the catalytic *** findings validate that computationaided surface charge engineering is an effective and ingenious rational strategy for tailoring enzyme performance in OSs.

关键词： Surface charge engineering Organic solvent resistance Molecular dynamics simulation Haloalkane dehalogenase

Ultra-flexible all-in-one anti-freeze photothermally enhanced supercapacitors

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Nano Research 2024年第8期17卷 7221-7229页

作者： Yongxin Lu Keke Li yan-yan Song Zhida Gao Condense matter of physics College of ScienceNortheazistern UniversityShenyang 110004China

Wearable electronics powered by flexible energy storage devices have captured global *** low-temperature conditions,unfortunately,solidification of flexible hydrogel electrolyte and decreased pseudo-capacity of these devices largely hamper their practical *** this study,photothermally-active Prussian blue(PB)was introduced onto poly(3,4-ethylenedioxythiophene)/polyacrylamide(PEDOT/PAM)networks to address the challenges of electrolyte solidification and degraded pseudo-capacitance for flexible all-in-one device at low *** as-constructed PB/PEDOT/PAM hydrogel device delivers stable electrochemical performance and remarkable mechanical property with 1652%***,this hydrogel device well retains its flexibility in cold environment with a freezing point below−30℃.The incorporation of PB extends the voltage range to 1.5 V as a single device,thus significantly enhancing the electrochemical performance as an all-inone integrated *** from the outstanding photo-to-thermal conversion ability of embedded PB nanocubes,the temperature of the assembled all-in-one PB/PEDOT/PAM device increased from^(−2)0 to 17.7℃ after solar-light irradiation for only 5 ***,the degraded pseudo-capacitance was subsequently boosted to 287.1%of its original capacitance at−20℃.This study establishes a connection between flexible all-solid-state hydrogel devices and photothermally enhanced pseudocapacitors in freezing environments,thereby expanding the potential applications of multi-functional pseudo-capacitors.

关键词： all-in-one energy storage devices all-solid-state photothermal flexible low temperatures

Direct conversion of CO and H_(2)O to hydrocarbons at atmospheric pressure using a TiO_(2-x)/Ni photothermal catalyst

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Science China Materials 2024年第3期67卷 1009-1010页

作者： yan Zhu School of Chemistry and Chemical Engineering Nanjing UniversityNanjing 210093China

Generating high-value chemical compounds by catalytically converting carbon resources—typically derived from coal and biomass, etc.—is crucial. It is more meaningful to achieve“carbon neutrality” and lower production costs by utilizing industrial waste carbon sources, such as steel mill waste gases,which are typically intended for direct emission or burning into CO_(2).

关键词： typically utilizing meaningful

Numerical Investigation on Characteristics of Supercritical CO_(2)Heat Transfer in Vertical Circular Tubes with Circumferentially Half-Side Heating

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Journal of Thermal Science 2024年第5期33卷 1744-1756页

作者： ZHANG yan ZHANG Xinyi yan Chenshuai WU Wenhua GAO Erman School of Energy and Power Engineering Northeast Electric Power UniversityJilin 132012China

The design of heat exchangers in the advanced supercritical power conversion system cannot be separated from the study of heat transfer ***-side heating mode is often encountered for solar receiver and supercritical ***,the characteristics of supercritical CO_(2)(sCO_(2))convection heat transfer in vertical tubes with circumferentially half-side heating was numerically investigated through the SST k-ωturbulent model which matches well with the experimental ***,heat transfer between sCO_(2)upflow and downflow was *** to film boiling heat transfer at subcritical pressure,numerical results were processed according to the supercritical pseudo-phase transition hypothesis,with liquid-like phase in the tube core region and vapor-like film in the region near the heated tube *** structure of two layers was demarcated by pseudo-critical temperature T_(pc).Therefore,sCO_(2)heat transfer was assessed according to double thermal resistances caused by vapor-like film near the wall and core liquid-like *** findings suggest that wall temperature for upflow is higher than that for downflow,which is attributed to larger thermal resistance in the fluid domain for upflow than that for *** difference guarantees the excellent heat transfer performance for downflow than *** is also further concluded that the formation of vapor-like film near the wall due to pseudo-phase transition plays a key role in dominating wall temperature and inducing heat transfer deterioration in half-side heating *** present contribution is significant to the design of supercritical heat exchanger under half-side heating mode.

关键词： supercritical CO_(2) pseudo-phase transition half-side heating thermal resistance flow direction

On the core entropy of Newton maps

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Science China Mathematics 2024年第1期67卷 77-128页

作者： yan Gao Department of Mathematics Shenzhen UniversityShenzhen 518060China

In this paper,we define the core entropy for postcritically-finite Newton maps and study its continuity within this *** show that the entropy function is not continuous in this family,which is different from the polyn... 详细信息

关键词： core entropy extended Newton graph critical marking polynomial Newton map

Towards direct superlubricity and superlow wear via amino modification of polyhydroxy alcohol solutions

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Friction 2024年第9期12卷 1980-1990页

作者： Qiang MA Chengpeng yan Rui yan Xin XU Haifeng WANG State Key Laboratory of Solidification Processing Center of Advanced Lubrication and Seal MaterialsNorthwestern Polytechnical UniversityXi'an 710072China Chongqing Innovation Center Northwestern Polytechnical UniversityChongqing 401135China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518063China

Friction remains as the primary mode of energy dissipation and components wear,and achieving superlubricity shows high promise in energy conservation and lifetime wear *** results in this work demonstrate that direct superlubricity combined with superlow wear can be realized for steel/Si_(3)N_(4)contacts on engineering scale when polyhydroxy alcohol solution was selectively modified by amino *** direct superlubricity occurs because 3-amino-1,2-propanediol molecules at the friction interface could be induced to rotate and adsorb vertically on the friction surface,forming in-situ thick and dense molecular films to passivate the asperity ***,amino modification is also conducive to improving the lubrication state from boundary to mixed lubrication regime by strengthening the intermolecular hydrogen bonding interaction,presenting enhanced load-bearing capability and reduced direct solid asperity ***,direct superlow average friction of 0.01 combined with superlow wear are achieved *** design principle of direct superlubricity and superlow wear in this work indeed offers an effective strategy to fundamentally improve energy efficiency and provide lifetime wear protection for moving mechanical assemblies.

关键词： direct superlubricity amino modification molecular layer superlow wear

Recent progress in diagnostic imaging and therapeutics of osteosarcoma based on multifunctional nanoparticles

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Science China Chemistry 2024年第9期67卷 2864-2889页

作者： Xueke yan Danmin Lin Dingyuan yan Dong Wang Huifang Su Department of Orthopaedic Surgery The First Affiliated Hospital of Zhengzhou UniversityZhengzhou 450052China Center for AIE Research College of Materials Science and EngineeringShenzhen UniversityShenzhen 518060China

Osteosarcoma is one of the most common primary bone malignancies,mainly occurring in children and *** diagnosis imaging methods for osteosarcoma contain X-ray,computed tomography and magnetic resonance imaging,and traditional therapy protocols are surgical resection and ***,these strategies are complicated and *** imaging methods,despite their maturity,have drawbacks that prevent them from showing more *** is more,the prognosis for patients with osteosarcoma remains unsatisfactory due to side effects of chemotherapy,as well as incomplete surgical removal of the *** compensate for the shortcomings of traditional imaging and treatment strategies for osteosarcoma,various types of nanoparticles have been designed and synthesized to selectively target osteosarcoma cells without toxic side effects on healthy *** the same time,these nanoparticle-based technologies can integrate the imaging and treatment of *** review summarizes the application of nanotechnology in the imaging and treatment of osteosarcoma in recent years,and finally discusses the challenges and development prospects,aiming to provide ideas for future research.

关键词： osteosarcoma nanotechnology imaging diagnosis therapy

Design of Robust Var Reserve Contract for Enhancing Reactive Power Ancillary Service Market Efficiency

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 767-771页

作者： Yunyang Zou yan Xu School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore

In a deregulated Var market, market power issue is more serious than in an energy market since reactive power cannot be transmitted over long distances. This letter designs a multi-timescale Var market framework, where market power that may arise in the hourly-ahead Var support service market due to system configuration deficiency and market structure flaws can be eliminated by day-ahead contract-based Var reserve service market. Settlement of day-ahead Var reserve contract is formulated as a two-stage robust optimization (TSRO) model considering worst case of uncertainty realization and potential market power that may arise in hourly-ahead market. TSRO with integer recourses is then solved by a new column and constraint generation algorithm. Results show a robust Var reserve contract can fully eliminate market power, and prevent suppliers from manipulating market prices.

关键词： Market efficiency market power reactive power ancillary service two-stage robust optimization Var reserve