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Sliding mode-based adaptive tube model predictive control for robotic manipulators with model uncertainty and state constraints

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Control Theory and Technology 2023年第3期21卷 334-351页

作者： Erlong Kang yang Liu Hong qiao State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Research and Application for Robotic Intelligence of Hand-Eye-Brain Interaction Beijing 100190China The School of Mechanical Engineering University of Science and Technology BeijingBeijing 100083China University of Chinese Academy of Sciences Beijing 100049China CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China

In this paper,the optimal tracking control for robotic manipulators with state constraints and uncertain dynamics is investigated,and a sliding mode-based adaptive tube model predictive control method is proposed.First,utilizing the high-order fully actuated system approach,the nominal model of the robotic manipulator is constructed as the predictive model.Based on the nominal model,a nominal model predictive controller with the sliding mode is designed,which relaxes the terminal constraints,and realizes the accurate and stable tracking of the desired trajectory by the nominal system.Then,an auxiliary controller based on the node-adaptive neural networks is constructed to dynamically compensate nonlinear uncertain dynamics of the robotic manipulator.Furthermore,the estimation deviation between the nominal and actual states is limited to the tube invariant sets.At the same time,the recursive feasibility of nominal model predictive control is verified,and the ultimately uniformly boundedness of all variables is proved according to the Lyapunov theorem.Finally,experiments show that the robotic manipulator can achieve fast and efficient trajectory tracking under the action of the proposed method.

关键词： Tube-based model predictive control-Robotic manipulator Sliding mode Node-adaptive neural networks Model uncertainty

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Extension Operators Preserving Biholomorphic Mappings on Hartogs Domains

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Chinese Annals of Mathematics,Series B 2023年第2期44卷 307-324页

作者： Yanyan CUI Heju yang Yuying qiao College of Mathematics and Statistics Zhoukou Normal UniversityZhoukou 466001HenanChina College of Science Hebei University of Science and TechnologyShijiazhuang 050024China College of Mathematics and Information Science Hebei Normal UniversityShijiazhuang 050024China

In this paper,the authors extend the Roper-Suffridge operator on the generalized Hartogs domains.They mainly research the properties of the extended operator.By the characteristics of Hartogs domains and the geometric properties of subclasses of spirallike mappings,they obtain the extended Roper-Suffridge operator preserving almost starlikeness of complex orderλ,almost spirallikeness of typeβand orderα,parabolic spirallikeness of typeβand orderρon the Hartogs domains in different conditions.They conclude that the corresponding extension operator preserves the same geometric invariance on the unit ball B^(n) in C^(n).The conclusions provide a new approach to study these geometric mappings in C^(n).

关键词： Roper-Suffridge operator Spirallike mappings Starlike mappings

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Conservation and Utilization of Genetic Resources of Wild Rice in China

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Rice science 2022年第3期29卷 216-224页

作者： yang Ziyi XU Zhijian yang Qingwen qiao Weihua Institute of Crop Sciences Chinese Academy of Agricultural SciencesBeijing 100081China Rice Research Institute Guangxi Academy of Agricultural SciencesNanning 530007China

The abundant genetic resources of wild rice in China represent a key gene pool for modern rice breeding,contributing to food production and agricultural development in China and worldwide.Between the 1970s and the 2010s,two national wild rice surveys were carried out in China.More than 20000accessions of three species Oryza rufipogon,O.officinalis and O.meyeriana have been conserved ex situ.An in situ conservation system has also been set up to protect notable and endangered populations.This review summarized the geographical distribution of wild rice in China,the current status of conservation,the discovery of elite genes,and the application of research into the origin and domestication of rice.

关键词： wild rice conservation valuable gene origin and domestication

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Regulating the coordination environment of Ru single-atom catalysts and unravelling the reaction path of acetylene hydrochlorination

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Green Energy & Environment 2023年第4期8卷 1141-1153页

作者： yang yang Chaoyue Zhao Xianliang qiao Qingxin Guan Wei Li State Key Laboratory of Elemento-Organic Chemistry Key Laboratory of Advanced Energy Materials Chemistry(Ministry of Education)College of ChemistryNankai UniversityNo.94 Weijin RoadTianjin300071China

In this work,DFT calculations were used firstly to simulate the nitrogen coordinated metal single-atom catalysts(M-N_(x)SACs,M=Hg,Cu,Au,and Ru) to predict their catalytic activities in acetylene hydrochlorination.The DFT results showed that Ru-N_(x)SACs had the best catalytic performance among the four catalysts,and Ru-N_(x)SACs could effectively inhibit the reduction of ruthenium cation.To verify the DFT results,Ru-N_(x)SACs were fabricated by pyrolyzing MOFs in-situ spatially confined metal precursors.The N coordination environment could be controlled by changing the pyrolysis temperature.Catalytic performance tests indicated that low N coordination number(Ru-N_(2),Ru-N_(3))exhibited excellent catalytic activity and stability compared to RuCl_(3)catalyst.DFT calculations further revealed that Ru-N_(2)and Ru-N_(3)had a tendency to activate HCl at the first step of reaction,whereas Ru-N4tended to activate C_(2)H_(2).These findings will serve as a reference for the design and control of metal active sites.

关键词： Single-atom catalyst Coordination environment Ru-based catalyst DFT calculations Acetylene hydrochlorination

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Cytokines that target immune killer cells against tumors

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Cellular & Molecular Immunology 2020年第7期17卷 722-727页

作者： Jian qiao yang-Xin Fu The Department of Pathology University of Texas Southwestern Medical CenterDallasTX 75235USA

T-cell-stimulating cytokines have shown promise as monotherapies or in combination with other therapeutic modalities for immunotherapy of cancer.However,their efficacy is limited due to their short half-life,pleiotropic roles,and induction of severe toxicity even at therapeutic doses.To overcome these major therapeutic barriers,cytokine-based products are being further developed to improve their therapeutic index.These approaches include manipulating their activity to preferentially bind to effector immune cells rather than immune-suppressive cells,prolonging their half-life in vivo and modifying them to target tumors.This review focuses on IL-2,IL-15,and IL-10,which have potent effects on immune cells that mediate effective antitumor responses.We will summarize the recent progress of these cytokines in both preclinical studies and selective clinical applications and will discuss our perspectives on the development of new strategies to potentiate cytokine-based immunotherapy.

关键词： IL-2 IL-15 IL-10 cytokine therapy cancer

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Electrochemical hydrogen evolution efficiently boosted by interfacial charge redistribution in Ru/MoSe_(2) embedded mesoporous hollow carbon spheres

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Journal of Energy Chemistry 2023年第10期85卷 447-454,I0012页

作者： Yubin Kuang Wei qiao Fulin yang Ligang Feng School of Chemistry and Chemical Engineering Yangzhou UniversityYangzhou 225002JiangsuChina

The strong metal-support interaction inducing combined effect plays a crucial role in the catalysis reaction. Herein, we revealed that the combined advantages of MoSe_(2), Ru, and hollow carbon spheres in the form of Ru nanoparticles(NPs) anchored on a two-dimensionally ordered MoSe_(2) nanosheet-embedded mesoporous hollow carbon spheres surface(Ru/MoSe_(2)@MHCS) for the largely boosted hydrogen evolution reaction(HER) performance. The combined advantages from the conductive support, oxyphilic MoSe_(2), and Ru active sites imparted a strong synergistic effect and charge redistribution in the Ru periphery which induced high catalytic activity, stability, and kinetics for HER. Specifically, the obtained Ru/MoSe_(2)@MHCS required a small overpotential of 25.5 and 38.4 mV to drive the kinetic current density of 10 mA cm^(-2)both in acid and alkaline media, respectively, which was comparable to that of the Pt/C catalyst. Experimental and theoretical results demonstrated that the charge transfer from MoSe_(2) to Ru NPs enriched the electronic density of Ru sites and thus facilitated hydrogen adsorption and water dissociation. The current work showed the significant interfacial engineering in Ru-based catalysts development and catalysis promotion effect understanding via the metal-support interaction.

关键词： Hydrogen evolution reaction Ruthenium Electrocatalyst MoSe_(2) Mesoporous hollow carbon spheres

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Advances in research on solid-state fermented feed and its utilization:The pioneer of private customization for intestinal microorganisms

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Animal Nutrition 2021年第4期7卷 905-916页

作者： Lijie yang Xiangfang Zeng Shiyan qiao State Key Laboratory of Animal Nutrition College of Animal Science and TechnologyChina Agricultural UniversityYuanmingyuan West Road 2Haidian DistrictBeijingChina Beijing Biofeed Additives Key Laboratory BeijingChina

With sustainable development of biotechnology,increasing attention has been placed on utilization of solid-state fermented feed(SFF).Solid-state fermented feed has been a candidate strategy to alleviate the contradiction between supply and demand of feed resources,ensure food hygiene safety,promoting energy conservation,and emission reduction.In production of SFF,a variety of organic acids,enzymes,vitamins,peptides,and other unknown growth factors are produced,which could affect performance of animals.Solid-state fermented feed produced by different fermentation techniques has great instability on different physiological stages of different animals,which hinders the application and standardized production of SFF.Herein,we summarize the current advances in the role of the characteristics of SFF prepared by different manufacturing technique and its research progress in animal experiments on growth performance,gastrointestinal ecology,and immune system,so as to provide references for further acquiring a relatively perfect set of SFF production and evaluation systems.

关键词： Solid-state fermented feed Manufacturing technique Growth performance Gastrointestinal ecology Immune system

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Different dietary starch patterns in lowprotein diets:effect on nitrogen efficiency,nutrient metabolism,and intestinal flora in growing pigs

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Journal of Animal Science and Biotechnology 2022年第5期13卷 1557-1575页

作者： Junyan Zhou Lu Wang Lijie yang Guangxin yang Xiangfang Zeng Shiyan qiao State Key Laboratory of Animal Nutrition China Agricultural UniversityBeijing 100193People’s Republic of China Beijing Bio-feed additives Key Laboratory Beijing 100193People’s Republic of China

Background:Protein releases amino acids faster than starch releases glucose in digestive tract of pigs fed lowprotein(LP)diets.Poor synchronization of dietary glucose and amino acids supply leads to compromised nitrogen efficiency.Dietary starch patterns modulation may improve this situation.Methods:Growing barrows(29.7±2.0 kg)were randomly allotted into 5 dietary treatments with LP diets consisting of different purified starches.Treatments included:waxy corn starch(W LP),corn starch+waxy corn starch(C+W LP),corn starch(C LP),pea starch+waxy corn starch(P+W LP)and pea starch(P LP).In the experiment,growth performance,protein deposition,nutrient metabolism,and fecal microbial community of pigs were investigated.In vitro starch digestion was used for predicting the in vivo glucose response.Results:Dietary starch in vitro glucose release profile was determined by starch source and the ratio of amylopectin and amylose.C+W LP treatment showed decreased total nitrogen excretion and plasma citrulline concentration and improved plasma leptin concentration among treatments(P<0.05).Besides,the highest nitrogen apparent biological value,whole-body protein deposition and growth performance and lowest urinary nitrogen excretion were also observed in C+W LP treatment.Compared with the other groups,C+W LP and C LP showed increased plasma pyruvate,IGF-1,and lipase concentrations(P<0.05).The W LP group presented dramatically increased plasma alanine and urea nitrogen concentration and decreased aldolase and leptin concentrations(P<0.05).Dietary starch patterns did not make an impact on bacterial richness and diversity,but changed the taxonomic and functional structures of the microbial communities.Microbial protein fermentation product(isobutyrate and isovalerate)presented increased in P LP treatments compared with the other treatments(P<0.05).Conclusions:Dietary starch patterns modulation can regulate dietary glucose release profile,nutrient metabolism,protein turnover,and fecal microbial fermentation in pigs.The optimal dietary

关键词： Intestinal flora Low-protein diet Nitrogen efficiency Nutrient metabolism Starch patterns

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The anelastic origin of mechanical cycling induced rejuvenation in the metallic glass

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Science China(Physics,Mechanics & Astronomy) 2023年第8期66卷 93-100页

作者： Langting Zhang Yunjiang Wang Yong yang Jichao qiao School of Mechanics CivilEngineering and ArchitectureNorthwestern Polytechnical UniversityXi'an 70072China State Key Laboratory of Nonlinear Mechanics Institute of MechanicsChinese Academy of SciencesBeijing 100190China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049China Department of Mechanical Engineering College of EngineeringCity University of Hong KongHong Kong 999077China Department of Materials Science and Engineering College of EngineeringCity University of Hong KongHong Kong 999077China Innovation Center NPU-ChongqingChongqing 401135China

Mechanical cycling is one of the effective methods to rejuvenate metallic glasses(MGs)and improve their mechanical properties.The anelastic origin of the rejuvenation by mechanical cycling in a La_(30)Ce_(30)Ni_(10)Al_(20)Co_(10) MG was investigated via differential scanning calorimetry(DSC)and dynamic mechanical analysis(DMA).We demonstrate that mechanical cycling promotes the activation of flow defects with short relaxation times,leading to anelastic strains and therefore considerable energy storage,which manifests itself as larger relaxation enthalpy on the DSC curves of MGs.However,the MGs release the excess relaxation enthalpy caused by anelastic strain with time,thus suppressing atomic mobility and elevating β relaxation activation energies.The strategy of mechanical cycling at small strains,as demonstrated in the current work,can expand the energy states of MGs over a wide range of relaxation enthalpies.

关键词： metallic glass mechanical cycling rejuvenation anelastic strain structural heterogeneity

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Solid-state corrosion of lithium for prelithiation of SiO_(x)-C composite anode with carbon-incorporated lithium phosphorus oxynitride

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Nano Research 2023年第6期16卷 8394-8404页

作者： Yan qiao Siyu yang Ziqiang Ma yangyuchen yang Xiang Hong Zhengwen Fu Shanghai Key Laboratory of Molecular Catalysis and Innovative Materials Department of ChemistryFudan UniversityShanghai 200433China Nano Science and Technology Institute University of Science and Technology of ChinaSuzhou 215123China Central Research Institute Huawei Technologies Co.Ltd.Shenzhen 518129China

In order to address the issues of low initial Coulombic efficiency of SiO_(x)-C composite anode due to the formation of solid electrolyte interphase,irreversible conversion reaction,and large volume change,the prelithiation method using metal lithium has been employed as one of effective solutions.However,violent side reactions with liquid electrolyte for prelithiation lead to low prelithiation efficiency and induce poor interface between the SiO_(x)-C electrode and liquid electrolyte.Here,a new prelithiation method with so called solid-state corrosion of lithium is developed.By replacing liquid electrolyte with solid-state electrolyte of carbon-incorporated lithium phosphorus oxynitride(LiCPON),not only various side reactions associated with metal lithium are avoided,but also the perfect interface is achieved from the decomposition products of LiCPON.The successful implementation of solid-state corrosion prelithiation can be confirmed by changes in optical image,scanning electron microscopy,and X-ray diffraction.Compared with pristine electrode,the initial Coulombic efficiency of the prelithiated electrode using solid electrolyte can be increased by about 10%,reaching 98.6%in half cell and 88.9%in full cell.Compared with prelithiated electrode using liquid electrolyte,the prelithiation efficiency of the prelithiated anode with solid-state corrosion can be increased from 25.7%to 82.8%.Solid-state corrosion of lithium is expected to become a useful method for prelithiation of SiO_(x)-C composite electrode with high initial Coulombic efficiency and large prelithiation efficiency.

关键词： carbon-incorporated lithium phosphorus oxynitride SiO_(x)-C composite anode prelithiation efficiency interface

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