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A calibration and compensation method for an industrial robot with high accuracy harmonic reducers

Science China(Technological Sciences) 2024年第3期67卷 725-739页

作者： ZHAO Yiyang liu Xun CAO JiaBin liu JinYu XU yan yan WeiXin School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China College of Computer and Control Engineering Northeast Forestry UniversityHarbin 150040China

Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot end-effector, which will also increase the pose error of robot. Especially, the existing calibration methods often consider under no-payload condition without discussing the payload state. In this paper, we report a new industrial serial robot composed by a new harmonic reducer: Model-Y, based on high accuracy and high stiffness, and a kinematic parameter calibration algorithm which is based on a harmonic reducer forcedeformation model. To decrease the accuracy effects of payload, an iterative calibration method for kinematic parameters with payload situation was proposed. Simulation and experiments are conducted to verify the effectiveness of the proposed calibration method using the self-developed industrial serial robot. The results show a remarkably improved accuracy in absolute position and orientation with the robot's payload range. The position mean error has 70% decreased to 0.1 mm and the orientation mean error diminished to less than 0.01° after calibration with compensation. Additionally, online linear and circular tests are carried out to evaluate the position error of the robot during large-scale spatial and low-speed continuous movement. The accuracy is consistent with the previous calibration results, indicating the effectiveness and advantages of the proposed strategy in this article.

关键词： industrial serial robot Model-Y harmonic calibration stiffness model online compensation

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Flexible Crystal Heterojunctions of Low-Dimensional Organic Metal Halides Enabling Color-Tunable Space-Resolved Optical Waveguides

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Research 2024年第3期6卷 293-304页

作者： Yuhang Lin Shuya liu Dongpeng yan Beijing Key Laboratory of Energy Conversion and Storage Materials and Key Laboratory of RadiopharmaceuticalsMinistry of EducationCollege of ChemistryBeijing Normal UniversityBeijing 100875China.

Molecular luminescent materials with optical waveguide have wide application prospects in light-emitting diodes, sensors, and logic gates. However, the majority of traditional optical waveguide systems are based on brittle molecular crystals, which limited the fabrication, transportation, storage, and adaptation of flexible devices under diverse application situations. To date, the design and synthesis of photofunctional materials with high flexibility, novel optical waveguide, and multi-port color-tunable emission in the same solid-state system remain an open challenge. Here, we have constructed new types of zero-dimensional organic metal halides (Au-4-dimethylaminopyridine [DMAP] and In-DMAP) with a rarely high elasticity and rather low loss coefficients for optical waveguide. Theoretical calculations on the intermolecular interactions showed that the high elasticity of 2 molecular crystalline materials was original from their herringbone structure and slip plane. Based on one-dimensional flexible microrods of 2 crystals and the 2-dimensional microplate of the Mn-DMAP, heterojunctions with multi-color and space-resolved optical waveguides have been fabricated. The formation mechanism of heterojunctions is based on the surface selective growth on account of the low lattice mismatch ratio between contacting crystal planes. Therefore, this work describes the first attempt to the design of metal-halide-based crystal heterojunctions with high flexibility and optical waveguide, expanding the prospects of traditional luminescent materials for smart optical devices, such as logic gates and multiplexers.

关键词： waveguide Crystal elasticity

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Fast measurement and prediction method for electromagnetic susceptibility of receiver

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Journal of Systems Engineering and Electronics 2024年第2期35卷 275-285页

作者： CHEN yan LU Zhonghao liu Yunxia State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System College of Electronic Science and TechnologyNational University of Defense TechnologyChangsha 410073China State Key Laboratory of Astronautic Dynamics Xi’an 710043China

Aiming at evaluating and predicting rapidly and accurately a high sensitivity receiver’s adaptability in complex electromagnetic environments,a novel testing and prediction method based on dual-channel multi-frequency is proposed to improve the traditional two-tone ***,two signal generators are used to generate signals at the radio frequency(RF)by frequency scanning,and then a rapid measurement at the intermediate frequency(IF)output port is carried out to obtain a huge amount of sample data for the subsequent ***,the IF output response data are modeled and analyzed to construct the linear and nonlinear response constraint equations in the frequency domain and prediction models in the power domain,which provide the theoretical criteria for interpreting and predicting electromagnetic susceptibility(EMS)of the *** experiment performed on a radar receiver confirms the reliability of the method proposed in this *** shows that the interference of each harmonic frequency and each order to the receiver can be identified and predicted with the sensitivity *** on this,fast and comprehensive evaluation and prediction of the receiver’s EMS in complex environment can be efficiently realized.

关键词： electromagnetic susceptibility(EMS) receiver dualchannel multi-frequency nonlinear response frequency domain power domain

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LncRNA PCGEM1 facilitates cervical cancer progression via miR-642a-5p/KIF5B axis

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Oncology Research 2024年第7期32卷 1221-1229页

作者： YUANLIN liu yan liu yan WANG QIANG WANG yan yan DANDAN ZHANG HUIQIN liu Department of Obstetrics and Gynecology Shanghai First Maternity and Infant HospitalSchool of MedicineTongji UniversityShanghai200092China Department of Obstetrics and Gynecology The Second People’s Hospital of Nantong CityNantong226002China Department of Obstetrics and Gynecology Affiliated Hospital of Nantong UniversityNantong226002China

At present,the role of many long non-coding RNAs(lncRNAs)as tumor suppressors in the formation and development of cervical cancer(CC)has been ***,lncRNA prostate cancer gene expression marker 1(PCGEM1),whose high expression not only aggravates ovarian cancer but also can induce tumorigenesis and endometrial cancer progression,has not been studied in *** objective of this study was to investigate the expression and the underlying role of PCGEM1 in *** relative expression of PCGEM1 in CC cells was detected by real-time *** the suppression of PCGEM1 expression by shRNA,the changes in the proliferation,migration,and invasion capacities were detected via CCK-8 assay,EdU assay,and colony formation assay wound healing *** assay and the changes in expressions of epithelial-to-mesenchymal transition(EMT)markers were determined by western blot and immunoﬂ*** interplay among PCGEM1,miR-642a-5p,and kinesin family member 5B(KIF5B)was conﬁrmed by bioinformatics analyses and luciferase reporter *** showed that PCGEM1 expressions were up-regulated within CC *** viabilities,migration,and invasion were remarkably reduced after the suppression of PCGEM1 expression by shRNA in Hela and SiHa cells.N-cadherin was silenced,but E-cadherin expression was elevated by ***,by sponging miR-642a-5p in CC,PCGEM1 was veriﬁed as a competitive endogenous RNA(ceRNA)that modulates KIF5B ***-642a-5p down-regulation partially rescued sh-PCGEM1’s inhibitory effects on cell proliferation,migration,invasion,and EMT *** conclusion,the PCGEM1/miR-642a-5p/KIF5B signaling axis might be a novel therapeutic target in *** study provides a research basis and new direction for targeted therapy of CC.

关键词： Cervical cancer PCGEM1 KIF5B MiR-642a-5p tumorigenesis

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Automatic modulation recognition of radio fuzes using a DR2D-based adaptive denoising method and textural feature extraction

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Defence Technology（防务技术） 2024年第4期34卷 328-338页

作者： yangtian liu Xiaopeng yan Qiang liu Tai An Jian Dai Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China China Research and Development Academy of Machinery Equipment Beijing 100089China

The identification of intercepted radio fuze modulation types is a prerequisite for decision-making in interference ***,the electromagnetic environment of modern battlefields is complex,and the signal-to-noise ratio(SNR)of such environments is usually low,which makes it difficult to implement accurate recognition of radio *** solve the above problem,a radio fuze automatic modulation recognition(AMR)method for low-SNR environments is ***,an adaptive denoising algorithm based on data rearrangement and the two-dimensional(2D)fast Fourier transform(FFT)(DR2D)is used to reduce the noise of the intercepted radio fuze intermediate frequency(IF)***,the textural features of the denoised IF signal rearranged data matrix are extracted from the statistical indicator vectors of gray-level cooccurrence matrices(GLCMs),and support vector machines(SVMs)are used for *** DR2D-based adaptive denoising algorithm achieves an average correlation coefficient of more than 0.76 for ten fuze types under SNRs of-10 d B and above,which is higher than that of other typical *** trained SVM classification model achieves an average recognition accuracy of more than 96%on seven modulation types and recognition accuracies of more than 94%on each modulation type under SNRs of-12 d B and above,which represents a good AMR performance of radio fuzes under low SNRs.

关键词： Automatic modulation recognition Adaptive denoising Data rearrangement and the 2D FFT(DR2D) Radio fuze

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Distributed Minimum-Energy Containment Control of Continuous-Time Multi-Agent Systems by Inverse Optimal Control

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ieEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1533-1535页

作者： Fei yan Xiangbiao liu Tao Feng School of Information Science and Technology Southwest Jiaotong UniversityChengdu 611756China National Engineering Laboratory of Integrated Transportation Big Data Application Technology Chengdu 611756China

Dear Editor,This letter focuses on the distributed optimal containment control of continuous-time multi-agent systems(CTMASs)with respect to the minimum-energy performance index over fixed *** achieve this,we firstly investigate the optimal containment control problem using the inverse optimal control method,where all states of followers asymptotically converge to the convex hull spanned by the leaders while some quadratic performance indexes get minimized.A sufficient condition for existence of the distributed optimal containment control protocol is *** introducing the parametric algebraic Riccati equation(PARE),it is strictly proved that the global performance index can be used to approximate the standard minimumenergy performance index as the parameters tends to *** consequence,the standard minimum-energy cooperative containment control can be solved by local steady state feedback protocols.

关键词： optimal infinity algebraic

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Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

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Advances in Manufacturing 2024年第1期12卷 94-107页

作者： yan liu Qiu Tang Xin-Cheng Tian School of Control Science and Engineering Shandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China School of Mechanical and Electronic Engineering Shandong Jianzhu UniversityJinan250101People’s Republic of China

The automatic cutting of intersecting pipes is a challenging task in *** improved automation and accuracy,this paper proposes a model-driven path planning approach for the robotic plasma cutting of a branch pipe with a single ***,it summarizes the intersection forms and introduces a dual-pipe intersection *** on this model,the moving three-plane structure(a description unit of the geometric characteristics of the intersecting curve)is constructed,and a geometric model of the branch pipe with a single Y-groove is ***,a novel mathematical model for plasma radius and taper compensation is ***,the compensation model and groove model are integrated by establishing movable ***,to prevent collisions between the plasma torch and workpiece,the torch height is planned and a branch pipe-rotating scheme is *** the established models and moving frames,the planned path description of cutting robot is provided in this novel *** accuracy of the proposed method is verified by simulations and robotic cutting experiments.

关键词： Automatic groove cutting of intersecting pipes Model-driven robot path planning Plasma beam radius and taper compensation

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Joint alignment and steering to manage interference

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Digital Communications and Networks 2024年第2期10卷 429-438页

作者： Zhao Li Xiujuan Liang Yinghou liu Jia liu Zheng yan School of Cyber Engineering Xidian UniversityXi'an710126China Technol.on Commun.Net.Lab. The 54th Research Inst.of China Elec.Technol.Group Corp.Shijiazhuang050081China School of Computer Science and Technology Xidian UniversityXi'an710126China The Department of Communications and Networking(Comnet) Aalto University02150EspooFinland

In wireless communication networks,mobile users in overlapping areas may experience severe interference,therefore,designing effective Interference Management(IM)methods is crucial to improving network ***,when managing multiple disturbances from the same source,it may not be feasible to use existing IM methods such as Interference Alignment(IA)and Interference Steering(IS)*** is because with IA,the aligned interference becomes indistinguishable at its desired Receiver(Rx)under the cost constraint of Degrees-of-Freedom(DoF),while with IS,more transmit power will be consumed in the direct and repeated application of IS to each *** remedy these deficiencies,Interference Alignment Steering(IAS)is proposed by incorporating IA and IS and exploiting their advantages in *** IAS,the interfering Transmitter(Tx)first aligns one interference incurred by the transmission of one data stream to a one-dimensional subspace orthogonal to the desired transmission at the interfered Rx,and then the remaining interferences are treated as a whole and steered to the same subspace as the aligned ***,two improved versions of IAS,i.e.,IAS with Full Adjustment at the Interfering Tx(IAS-FAIT)and Interference Steering and Alignment(ISA),are *** former considers the influence of IA on the interfering user-pair's *** orthogonality between the desired signals at the interfered Rx can be maintained by adjusting the spatial characteristics of all interferences and the aligned interference components,thus ensuring the Spectral Efficiency(SE)of the interfering communication *** ISA,the power cost for IS at the interfered Tx is minimized,hence improving SE performance of the interfered *** the proposed methods are realized at the interfering and interfered Txs cooperatively,the expenses of IM are shared by both *** in-depth simulation results show that joint use of IA and

关键词： Interference Interference management Interference alignment Interference steering Spectral efficiency

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Effect of Al_(2)O_(3)fiber on twin intersections-induced dynamic recrystallization in fine-grained TiAl matrix composite

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Journal of Materials Science & Technology 2024年第5期172卷 1-14页

作者： Yaofeng Luo yan Wang Li Wang Bin liu Yong liu State Key Laboratory of Powder Metallurgy Central South UniversityChangsha 410083China

Dynamic recrystallization(DRX)is of great significance for the thermomechanical processing and microstructural regulation of TiAl ***,the underlying DRX mechanism remains poorly *** this study,an Avrami kinetics model for DRX was established,which was capable of predicting the DRX fraction *** addition,the effect of Al_(2)O_(3)short fiber on the DRX mechanisms of TiAl matrix composite during the isothermal compression was investigated for the first *** re-sults showed that other than inhibiting DRX by particles in the TiAl matrix composites,the addition of Al_(2)O_(3)short fiber accelerated a novel DRX process,which was induced by twinning and twin intersec-tions(TDRX).Thus,this composite exhibited a higher DRX rate than that of the as-cast TiAl monolithic *** origin of the twin intersection and TDRX for the composite was *** stress concentration near the Al_(2)O_(3)fiber was above the critical shear stress for twinning and thus was favorable for the formation of twinning and twin *** high stored strain energy at the regions of twins and twin intersections provided the driving force for *** accelerated the grain refinement in the TiAl matrix near the Al_(2)O_(3)*** present findings would provide a new perspective on DRX mechanisms,and provide the scientific guidance for optimizing the microstructures of TiAl matrix composites.

关键词： TiAl matrix composite Al_(2)O_(3)fiber Twin intersection Dynamic recrystallization

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Homoclinic Solutions for a Class of Perturbed Fractional Hamiltonian Systems with Subquadratic Conditions

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Acta Mathematica Sinica,English Series 2024年第5期40卷 1177-1196页

作者： Ying LUO Fei GUO yan liu School of Mathematics Tianjin UniversityTianjin 300354P.R.China Tianjin Key Laboratory of Brain-Inspired Intelligence Technology Tianjin300354P.R.China

In this paper,we consider the following perturbed fractional Hamiltonian systems{tD_(∞)^(α)(_(-∞)D_(t)^(α)u(t))+L(t)u(t)=■_(u)W(t,u(t))+■(u)G(t,u(t)),t∈R,u∈H^(α)(R,R^(N)),whereα∈(1/2,1],L∈C(R,R^(N×N))is symmetric and not necessarily required to be positive definite,W∈C1(R×R^(N,R))is locally subquadratic and locally even near the origin,and perturbed term G∈C1(R×R^(N,R))maybe has no parity in *** the perturbed method improved by the authors,a sequence of nontrivial homo clinic solutions is obtained,which generalizes previous results.

关键词： Perturbed fractional Hamiltonian systems subquadratic condition perturbed method homoclinic solutions multiplicity

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