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Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 41-61页

作者： Fuqun zhao yifan Wu Xinhua Yang Xilun Ding Kun Xu Sheng Guo Xiaodong Jin School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China

To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot(ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the legarm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

关键词： Quadruped robot Multimode design Mode switching Locomotion Operation

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寿光地区拱棚生菜高产高效栽培技术

长江蔬菜 2024年第5期 63-65页

作者：赵艺帆吴爱莲吴智昊王一杰刘天英刘美霞青岛农业大学资源与环境学院青岛市266109 寿光市羊口镇农业农村服务中心莱阳市谭格庄镇农业综合服务中心山东嘉禾海洋生物科技有限公司寿光市农业农村局寿光市圣城街道办事处山东潍坊262700

生菜品种繁多,叶片颜色不同、形态不同,一般可根据叶片形态分为皱叶生菜、结球生菜和直立生菜,是菊科莴苣属的一年生或二年生草本植物。其起源中心在东亚及地中海沿岸,于隋朝传入我国,在全国各地都有栽培,尤其在广东、广西和东南沿海一... 详细信息

生菜品种繁多,叶片颜色不同、形态不同,一般可根据叶片形态分为皱叶生菜、结球生菜和直立生菜,是菊科莴苣属的一年生或二年生草本植物。其起源中心在东亚及地中海沿岸,于隋朝传入我国,在全国各地都有栽培,尤其在广东、广西和东南沿海一带及大城市的近郊区栽培更多。生菜叶片幼嫩,长途运输会影响其商品性,所以各地种植的生菜主要就近供应当地市场,品种也是根据当地市场需求而定,寿光地区主要种植皱叶生菜,也有少量结球生菜和紫叶生菜。生菜生长需较低的温度,且要求昼夜温差较大,寿光地区选择拱棚种植,一年可多茬次种植,周年栽培上市供应市场,全年每667 m2收入3万~4万元,如遇价格行情好甚至达到六七万元,相比瓜果类蔬菜,其投入低、用工少、劳动量较小,对于年龄较大的菜农朋友来说比较合适。

关键词：拱棚生菜高产高效栽培技术

Aptamer-based Membrane Protein Analysis and Molecular Diagnostics

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Chemical Research in Chinese Universities 2024年第2期40卷 173-189页

作者： zhao Long HU Haolan MA Xiaoqian LYU yifan YUAN Quan TAN Weihong Molecular Science and Biomedicine Laboratory(MBL) State Key Laboratory of Chemo/Biosensing and ChemometricsCollege of BiologyCollege of Chemistry and Chemical EngineeringAptamer Engineering Center of Hunan ProvinceHunan UniversityChangsha410082P.R.China The Cancer Hospital of the University of Chinese Academy of Sciences(Zhejiang Cancer Hospital) Hangzhou Institute of Medicine(HIM)Chinese Academy of SciencesHangzhou310022P.R.China Institute of Molecular Medicine(IMM) Renji HospitalSchool of MedicineCollege of Chemistry and Chemical EngineeringShanghai Jiao Tong UniversityShanghai200240P.R.China Furong Laboratory Changsha410082P.R.China

Membrane proteins are vital components of the cell membrane and play crucial roles in various cellular *** of membrane proteins is of paramount importance for studying molecular events inside cells and organisms and holds promising prospects for early disease diagnosis and treatment *** from obvious merits including high affinity,high specificity and ease of modification,aptamers have been regarded as ideal molecular recognition elements in membrane protein analysis and molecular diagnostics *** review summarised recent advances in membrane protein-specific aptamer screening,aptamer-based static and dynamic membrane protein analysis,and aptamer-based molecular diagnostic *** and challenges were also discussed.

关键词： Membrane protein Aptamer DNA nanotechnology Bioanalysis Molecular diagnostics

Development of flexible Li-ion batteries for flexible electronics

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InfoMat 2020年第5期2卷 866-878页

作者： yifan zhao Juchen Guo Materials Science and Engineering Program University of California–RiversideRiversideCalifornia Department of Chemical and Environmental Engineering University of California–RiversideRiversideCalifornia

We provide a critical review on the recent development of flexible lithium-ion batteries(FLIBs)for flexible electronic *** innovative designs of cell configuration for bendable and stretchable FLIBs,selection of active materials,and evaluation methods for FLIBs are *** grand challenges for FLIBs are energy density and scale-up fabrication as demonstrated in the ***,the lack of quantitative evaluation methods for FLIBs'performance and nondestructive tools to probe the mechanical degradation may significantly hinder the development of FLIB *** for future research directions,based on the current state of progress,are discussed.

关键词： flexible electronic devices flexible Li-ion batteries nondestructive probe

Computational imaging without a computer:seeing through random diffusers at the speed of light

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eLight 2022年第1期2卷 42-57页

作者： Yi Luo yifan zhao Jingxi Li Ege Çetintaş Yair Rivenson Mona Jarrahi Aydogan Ozcan Electrical and Computer Engineering Department University of CaliforniaLos AngelesLos AngelesCA 90095USA Bioengineering Department University of CaliforniaLos AngelesLos AngelesCA 90095USA California NanoSystems Institute University of CaliforniaLos AngelesLos AngelesCA 90095USA.

Imaging through diffusers presents a challenging problem with various digital image reconstruction solutions demonstrated to date using ***,we present a computer-free,all-optical image reconstruction method to see through random diffusers at the speed of *** deep learning,a set of transmissive diffractive surfaces are trained to all-optically reconstruct images of arbitrary objects that are completely covered by unknown,random phase *** the training stage,which is a one-time effort,the resulting diffractive surfaces are fabricated and form a passive optical network that is physically positioned between the unknown object and the image plane to all-optically reconstruct the object pattern through an unknown,new phase *** experimentally demonstrated this concept using coherent THz illumination and all-optically reconstructed objects distorted by unknown,random diffusers,never used during *** digital methods,all-optical diffractive reconstructions do not require power except for the illumination *** diffractive solution to see through diffusers can be extended to other wavelengths,and might fuel various applications in biomedical imaging,astronomy,atmospheric sciences,oceanography,security,robotics,autonomous vehicles,among many others.

关键词： Imaging through diffusers Computational imaging Diffractive neural network Deep learning

An efficient priority service model with two-level-polling scheme

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High Technology Letters 2011年第3期17卷 245-251页

作者： Liu Qianlin zhao Dongfeng zhao yifan Department of Communications Engineering Yunnan University Kunming 650091 P. R. China

This paper considers an efficient priority service model with two-level-polling scheme which the message packets conform to the discrete-time Geom/G/1 queue with multiple vacations and bulk arrival. By the embedded Markov chain theory and the probability generating function method, we set up the mathematics functions and give closed form expressions for obtaining the mean cyclic period (MCP), the mean queue length (MQL) and the mean waiting time (MWT) characteristics, the analytical results are also verified through extensive computer simulations. The performance analysis reveals that this priority polling scheme can gives better efficiency as well as impartiality in terms of system characteristics, and it can be used for differentiating priority service to guarantee better QoS and system stability in design and improvement of MAC protocol. Copyright © by HING TECHNOLOGY LETTERS PRESS.

关键词：服务模式有效率优先级平均等待时间平均队列长度马尔可夫链理论轮询母函数方法

A Study of the Effects of Employee Engagement on Job Satisfaction:Mediating Effect of Labor Relations Climate

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Contemporary Social Sciences 2023年第1期8卷 63-74页

作者： zhao Weihong Yang Xiaoyi Ma Xiaomeng zhao yifan Business School of Hebei Normal University HNU-ASU Joint International Tourism College of Hainan University

With the rapid advancement of new technologies and the transformation of the economic model on a global scale,enterprises are facing unprecedented changes in the external environment and more diversified demands from ***,it is essential for enterprises to bolster employee engagement by enhancing employees’job satisfaction,building a stable and harmonious internal climate,and adapting to the dynamic,complex external *** study analyzes the positive effects of employee engagement on job satisfaction,explores the mediating effect of labor relations climate in the relationship between the two,and proposes corresponding practical countermeasures and suggestions.

关键词： employee engagement job satisfaction labor relations climate

中气下陷型子宫脱垂患者应用芒针针刺联合补中益气汤治疗对其性功能的影响

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中国性科学 2024年第7期33卷 133-136页

作者：代凤超曹印成赵一凡田淑静王雪梅唐山市妇幼保健院中医科河北唐山063000 开滦总医院药剂科河北唐山063000 唐山市妇幼保健院妇科河北唐山063000

目的探讨芒针针刺联合补中益气汤治疗中气下陷型子宫脱垂患者对其性功能的影响。方法选取2020年1月至2022年6月唐山市妇幼保健院收治的260例中气下陷型子宫脱垂患者作为研究对象。采用随机数字表法分为观察组和对照组,各130例。对照组... 详细信息

目的探讨芒针针刺联合补中益气汤治疗中气下陷型子宫脱垂患者对其性功能的影响。方法选取2020年1月至2022年6月唐山市妇幼保健院收治的260例中气下陷型子宫脱垂患者作为研究对象。采用随机数字表法分为观察组和对照组,各130例。对照组进行盆底肌训练,观察组在对照组基础上采用芒针针刺联合补中益气汤治疗。比较两组临床疗效,观察两组治疗前后盆底功能及性功能。结果观察组随访6个月的总有效率较对照组高,差异具有统计学意义(P<0.05);两组治疗后Ⅰ类肌纤维、Ⅱ类肌纤维的最大收缩力均增大,中文版女性性功能量表(FSFI)评分均升高,且观察组Ⅰ类肌纤维、Ⅱ类肌纤维的最大收缩力大于对照组,FSFI评分高于对照组,差异具有统计学意义(P<0.05)。结论中气下陷型子宫脱垂患者采用芒针针刺联合补中益气汤治疗的临床效果确切,可有效改善盆底肌功能及性功能。

关键词：芒针补中益气汤中气下陷子宫脱垂性功能

Towards experimental studying the airborne sound insulation of light frame walls with staggered studs

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Science China(Technological Sciences) 2024年第7期67卷 2230-2243页

作者： ZHANG YuCai YUE Kong XIE yifan CHENG XiangYu SHI XinLei WU Peng zhao Hui College of Civil Engineering Nanjing Tech UniversityNanjing 211800China Key Laboratory of Architectural Acoustic Environment of Anhui Higher Education Institutes Hefei 230601China Nanjing Gongda Construction Technology Co.Ltd. Nanjing 211800China

Light frame walls(LFWs) serve as common partition walls in prefabricated buildings due to their lightweight nature, costeffectiveness, energy efficiency, and adaptability for rapid on-site assembly. However, their acoustic insulation capability is hindered by issues such as sound bridges, resonance, and coincidence dips, resulting in inadequate sound insulation. This study aims to propose LFW designs with superior acoustic insulation suitable for practical engineering while meeting prevailing national standards. Nine full-scale LFW configurations were subjected to laboratory testing to evaluate the impact of staggered stud arrangements, stud types, and incorporation of compounded materials. The tests were performed between 100 and 5000 Hz,and the sound pressure level and reverberation time at 1/3 octave band were measured and used to calculate the weighted sound insulation index(Rw). Results demonstrated that the outlined design modifications significantly enhanced the sound insulation of the LFW. These modifications effectively mitigate the influence of sound bridges while addressing resonance and coincidence dips inherent in the wall system. Particularly noteworthy was the superior sound insulation achieved by staggered-stud LFWs with compounded materials, surpassing that of autoclaved lightweight concrete walls commonly used in prefabricated constructions despite having lesser thickness and surface density. Rwvalues increased from 43 to 54 dB compared to conventional LFWs, translating to a notable elevation in airborne sound insulation level from 4 to 7 as an internal separation component,meeting the requisite standards for most applications.

关键词： light frame wall staggered stud airborne sound insulation weighted sound insulation index

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