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Heuristic Expanding Disconnected Graph:A Rapid Path Planning Method for Mobile Robots

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 68-82页

作者： yong tao Lian Duan He gao Yufan Zhang Yian Song Tianmiao Wang School of Mechanical Engineering&Automation Beihang UniversityBeijing 100191China Aero-Engine Research Institute Beihang UniversityBeijing 102206China School of Large Aircraft Engineering Beihang UniversityBeijing 100191China

Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational *** to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this ***,all obstacles are marked and their corners are located through the map ***,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected ***,the EDG*heuristic iterative algorithm is *** selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum *** planning experiments were conducted in a typical indoor environment and on the public dataset *** result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map *** EDG*showed better performance in terms of path smoothness,and collision *** shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.

关键词： Global path planning Mobile robot Expanding disconnected graph Edge node Offset

Synthesis and properties of energetic salts based on 3-nitro-5-nitroimino-1,2,4-oxadiazole

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Chinese Chemical Letters 2016年第3期27卷 433-436页

作者： yong-tao gao Lin-Man Zhao Fu-Qing Pang Xiu-Juan Qi Jing-Lun Huang Fu-Xue Chen School of Chemical Engineering and the Environment Beijing Institute of Technology Research Center of Energetic Material Genome Science Institute of Chemical MaterialsChina Academy of Engineering Physics

A series of 3-nitro-5-nitroimino-1,2,4-oxadiazole-based energetic salts were synthesized from 3-nitro-5-nitroimino-1,2,4-oxadiazole anion and nitrogen-rich cations. They were fully characterized by IR,elemental analysis and NMR spectroscopy. The structure of triaminoguanidinium salt（1-e） was confirmed by single crystal X-ray diffraction. All salts showed good thermal stability with decomposed temperature ranging from 155 8C to 258 8C, and positive heats of formation from 226.0 k J/mol to554.1 k J/mol. Thus, the theoretic detonation pressure was predicted from 28.70 GPa to 37.60 GPa and velocities from 8526 m/s to 9354 m/s. Among them, guanidinium salt（1-c） exhibited both high decomposition temperature（258 8C） and detonation velocity（9319 m/s）.

关键词： Energetic salts Explosives Ionic salts Nitrogen-rich cations Nitroamines 1 2 4-Oxadiazole

Engineering g-C_(3)N_(4)based materials for advanced photocatalysis:Recent advances

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Green Energy & Environment 2024年第2期9卷 166-197页

作者： Xin-Lian Song Lei Chen Li-Jiao gao Jin-tao Ren Zhong-yong Yuan National Institute for Advanced Materials School of Materials Science and EngineeringSmart Sensing Interdisciplinary Science CenterNankai UniversityTianjin300350China Key Laboratory of Advanced Energy Materials Chemistry(Ministry of Education) Nankai UniversityTianjin300071China

Photocatalysis driven by abundant yet intermittent solar energy has considerable potential in renewable energy generation and environmental *** outstanding electronic structure and physicochemical properties of graphitic carbon nitride(g-C_(3)N_(4)),together with unique metal-free characteristic,make them ideal candidates for advanced photocatalysts *** review summarizes the up-to-date advances on g-C_(3)N_(4)based photocatalysts from ingenious-design strategies and diversified photocatalytic ***,the advantages,fabrication methods and limitations of each design strategy are systemically *** order to deeply comprehend the inner connection of theory–structure–performance upon g-C_(3)N_(4)based photocatalysts,structure/composition designs,corresponding photocatalytic activities and reaction mechanisms are jointly discussed,associated with introducing their photocatalytic applications toward water splitting,carbon dioxide/nitrogen reduction and pollutants degradation,***,the current challenges and future perspectives for g-C_(3)N_(4)based materials for photocatalysis are briefly *** design strategies and limitations are also instructive for constructing g-C_(3)N_(4) based materials in other energy and environment-related applications.

关键词： Graphitic carbon nitride g-C_(3)N_(4) Design strategies Photocatalysis Photocatalysts Reaction mechanism

Revealing the role of calcium ion intercalation of hydrated vanadium oxides for aqueous zinc-ion batteries

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Journal of Energy Chemistry 2024年第8期95卷 9-19,I0001页

作者： tao Zhou Xuan Du Guo gao Key Laboratory for Thin Film and Micro Fabrication of the Ministry of Education School of Sensing Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

Exploring suitable high-capacity V_(2)O_(5)-based cathode materials is essential for the rapid advancement of aqueous zinc ion batteries(ZIBs).However,the typical problem of slow Zn^(2+)diffusion kinetics has severely limited the feasibility of such *** this work,unique hydrated vanadates(CaVO,BaVO)were obtained by intercalation of Ca^(2+)or Ba^(2+)into hydrated vanadium *** the CaVO//Zn and BaVO//Zn batteries systems,the former delivered up to a 489.8 mAh g^(-1)discharge specific capacity at 0.1 A g^(-1).Moreover,the remarkable energy density of 370.07 Wh kg^(-1)and favorable cycling stability yard outperform BaVO,pure V_(2)O_(5),and many reported cathodes of similar ionic intercalation *** addition,pseudocapacitance analysis,galvanostatic intermittent titration(GITT)tests,and Trasatti analysis revealed the high capacitance contribution and Zn^(2+)diffusion coefficient of CaVO,while an in-depth investigation based on EIS elucidated the reasons for the better electrochemical performance of ***,ex-situ XRD,XPS,and TEM tests further demonstrated the Zn^(2+)insertion/extraction and Zn-storage mechanism that occurred during the cycle in the CaVO//Zn battery *** work provides new insights into the intercalation of similar divalent cations in vanadium oxides and offers new solutions for designing cathodes for high-capacity aqueous ZIBs.

关键词： Aqueous zinc ion batteries Cathode materials Ion pre-intercalation Vanadium oxides Energy storage mechanism

Intermittent Theta Burst Stimulation Attenuates Cognitive Deficits and Alzheimer’s Disease-Type Pathologies via ISCA1-Mediated Mitochondrial Modulation in APP/PS1 Mice

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Neuroscience Bulletin 2024年第2期40卷 182-200页

作者： Yang Zhu Hao Huang Zhi Chen yong tao Ling-Yi Liao Shi-Hao gao Yan-Jiang Wang Chang-Yue gao Department of Rehabilitation Medicine Daping HospitalArmy Medical UniversityChongqing 400042China Department of Neurology and Center for Clinical Neuroscience Daping HospitalArmy Medical UniversityChongqing 400042China Department of Special Medicine Daping HospitalArmy Medical UniversityChongqing 400042China

Intermittent theta burst stimulation(iTBS),a time-saving and cost-effective repetitive transcranial magnetic stimulation regime,has been shown to improve cognition in patients with Alzheimer’s disease(AD).However,the specific mechanism underlying iTBS-induced cognitive enhancement remains *** studies suggested that mitochondrial functions are modulated by magnetic ***,we showed that iTBS upregulates the expression of iron-sulfur cluster assembly 1(ISCA1,an essential regulatory factor for mitochondrial respiration)in the brain of APP/PS1 *** vivo and in vitro studies revealed that iTBS modulates mitochondrial iron-sulfur cluster assembly to facilitate mitochondrial respiration and function,which is required for ***,iTBS rescues cognitive decline and attenuates AD-type pathologies in APP/PS1 *** present study uncovers a novel mechanism by which iTBS modulates mitochondrial respiration and function via ISCA1-mediated iron-sulfur cluster assembly to alleviate cognitive impairments and pathologies in *** provide the mechanistic target of iTBS that warrants its therapeutic potential for AD patients.

关键词： Intermittent theta burst stimulation Alzheimer’s disease Iron-sulfur cluster assembly 1 Mitochondrial dysfunction Neurodegeneration

The Investigation of Data Voting Algorithm for Train Air-Braking System Based on Multi-Classification SVM and ANFIS

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Chinese Journal of Electronics 2024年第1期33卷 274-281页

作者： Juhan WANG Ying gao Yuan CAO tao TANG School of Electronics and Information Engineering Beijing Jiaotong University Graduate Department China Academy of Railway Science National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University

The pressure data of the train air braking system is of great significance to accurately evaluate its operation state. In order to overcome the influence of sensor fault on the pressure data of train air braking system, it is necessary to design a set of sensor fault-tolerant voting mechanism to ensure that in the case of a pressure sensor fault, the system can accurately identify and locate the position of the faulty sensor, and estimate the fault data according to other normal data. A fault-tolerant mechanism based on multi-classification support vector machine(SVM) and adaptive network-based fuzzy inference system(ANFIS) is introduced. Multi-classification SVM is used to identify and locate the system fault state, and ANFIS is used to estimate the real data of the fault sensor. After estimation, the system will compare the real data of the fault sensor with the ANFIS estimated data. If it is similar,the system will recognize that there is a false alarm and record it. Then the paper tests the whole mechanism based on the real data. The test shows that the system can identify the fault samples and reduce the occurrence of false alarms.

关键词： Support vector machines Fault diagnosis Pressure sensors Fuzzy logic Fault tolerance Adaptive systems Fault tolerant systems

Spatial distribution of supra-permafrost groundwater in the Qinghai-Tibet Engineering Corridor using inversion models

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Advances in Climate Change Research 2024年第1期15卷 31-41页

作者： Yu gao Ming-Tang CHAI Wei MA Yu-tao gao State Key Laboratory of Frozen Soils Engineering Northwest Institute of Eco-Environment and ResourcesChinese Academy of SciencesLanzhou 73000China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049China School of Civil and Hydraulic Engineering Ningxia UniversityYinchuan 750021China

Supra-permafrost groundwater(SPG)is a key factor that causes damage to highways and railways in the Qinghai-Tibet Engineering Corridor(QTEC).It is difficult to monitor SPG in the field due to their complex formation mechanisms and movement *** single-site field monitoring studies limit the spatial and temporal precision of SPG spatial *** determine the moisture content of shallow soils and the SPG distribution along the QTEC,this work employed the temperature vegetation dryness index and remote sensing models for groundwater table distribution *** accuracies of the models were validated using mea-surements obtained from different sites in the *** the permafrost zones of the QTEC,72%,22%and 6%of the SPG were located at depths of 0.5-1,1 m,***,79.4%of the area along the Qinghai-Tibet Highway(QTH)(Xidatan-Tanggula)section contained *** these sections with SPG,37.9%have an SPG table at depths of 0.5-0.8 *** study preliminarily explored the SPG distribution in the QTEC with a 30 m *** findings can help improve the spatial scale of SPG research,provide a basis for the analysis of the hydrothermal mechanisms,and serve as a guide in the assessment of operational risks and road structure designs.

关键词： Dryness index Landsat Soil moisture Groundwater level Qinghai-Tibet Engineering Corridor

3D printed grafts with gradient structures for organized vascular regeneration

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International Journal of Extreme Manufacturing 2024年第3期6卷 505-520页

作者： Yuewei Chen Zhongfei Zou tao Fu Zhuang Li Zhaojie Zhang Meng Zhu Qing gao Shaofei Wu Guosheng Fu yong He Jiayin Fu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027People’s Republic of China School of Mechanical Engineering Guizhou UniversityGuiyang 550025People’s Republic of China Key Laboratory of Cardiovascular Intervention and Regenerative Medicine of Zhejiang Province Department of CardiologySir Run Run Shaw HospitalZhejiang UniversityHangzhou 310016People’s Republic of China School of Mechanical Engineering Guizhou Institute of TechnologyGuiyang 550003People’s Republic of China Department of Oral and Maxillofacial Surgery The Second Affiliated Hospital of Zhejiang University School of MedicineSchool of Stomatologyand Key Laboratory of Oral Biomedical Research of Zhejiang ProvinceHangzhouZhejiang 310006People’s Republic of China

Synthetic vascular grafts suitable for small-diameter arteries(<6 mm) are in great ***,there are still no commercially available small-diameter vascular grafts(SDVGs) in clinical practice due to thrombosis and stenosis after in vivo *** designing SDVGs,many studies emphasized reendothelization but ignored the importance of reconstruction of the smooth muscle layer(SML).To facilitate rapid SML regeneration,a high-resolution 3D printing method was used to create a novel bilayer SDVG with structures and mechanical properties mimicking natural *** by the collagen alignment of SML,the inner layer of the grafts had larger pore sizes and high porosity to accelerate the infiltration of cells and their circumferential alignment,which could facilitate SML reconstruction for compliance restoration and spontaneous *** outer layer was designed to induce fibroblast recruitment by low porosity and minor pore size and provide SDVG with sufficient mechanical *** month after implantation,the arteries regenerated by 3D-printed grafts exhibited better pulsatility than electrospun grafts,with a compliance(8.9%) approaching that of natural arteries(11.36%) and significantly higher than that of electrospun ones(1.9%).The 3D-printed vascular demonstrated a three-layer structure more closely resembling natural arteries while electrospun grafts showed incomplete endothelium and immature *** study shows the importance of SML reconstruction during vascular graft regeneration and provides an effective strategy to reconstruct blood vessels through 3D-printed structures rapidly.

关键词： small-diameter vascular graft smooth muscle layer 3D printing endothelialization

An Adaptive Strategy-incorporated Integer Genetic Algorithm for Wind Farm Layout Optimization

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Journal of Bionic Engineering 2024年第3期21卷 1522-1540页

作者： tao Zheng Haotian Li Houtian He Zhenyu Lei Shangce gao Faculty of Engineering University of ToyamaToyama9300887Japan

Energy issues have always been one of the most significant concerns for scientists *** the ongoing over exploitation and continued outbreaks of wars,traditional energy sources face the threat of *** energy is a readily available and sustainable energy *** farm layout optimization problem,through scientifically arranging wind turbines,significantly enhances the efficiency of harnessing wind ***-heuristic algorithms have been widely employed in wind farm layout *** paper introduces an Adaptive strategy-incorporated Integer Genetic Algorithm,referred to as AIGA,for optimizing wind farm layout *** adaptive strategy dynamically adjusts the placement of wind turbines,leading to a substantial improvement in energy utilization efficiency within the wind *** this study,AIGA is tested in four different wind conditions,alongside four other classical algorithms,to assess their energy conversion efficiency within the wind *** results demonstrate a notable advantage of AIGA.

关键词： Wind farm layout optimization problem Meta-heuristic algorithms Adaptive Integer genetic algorithm