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北京2022年冬奥会六足冰壶机器人机构设计与运动规划

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Engineering 2024年第4期35卷 15-31页

作者： Ke Yin Yue Gao Feng Gao Xianbao Chen Yue Zhao yuguang xiao Qiao Sun Jing Sun School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

When a curling rock slides on an ice sheet with an initial rotation,a lateral movement occurs,which is known as the curling phenomenon.The force of friction between the curling rock and the ice sheet changes continually with changes in the environment;thus,the sport of curling requires great skill and experience.The throwing of the curling rock is a great challenge in robot design and control,and existing curling robots usually adopt a combination scheme of a wheel chassis and gripper that differs significantly from human throwing movements.A hexapod curling robot that imitates human kicking,sliding,pushing,and curling rock rotating was designed and manufactured by our group,and completed a perfect show during the Beijing 2022 Winter Olympics Games.Smooth switching between the walking and throwing tasks is realized by the robot’s morphology transformation based on leg configuration switching.The robot’s controlling parameters,which include the kicking velocity v_(k),pushing velocity v_(p),orientation angle hc,and rotation velocityω,are determined by aiming and sliding models according to the estimated equivalent friction coefficientμ_(equ)and ratio e of the front and back frictions.The stable errors between the target and actual stopping points converge to 0.2 and 1.105 m in the simulations and experiments,respectively,and the error shown in the experiments is close to that of a well-trained wheelchair curling athlete.This robot holds promise for helping ice-makers rectify ice sheet friction or assisting in athlete training.

关键词： Legged robot Curling robot Winter Olympics Mechanism design Motion planning

Footholds optimization for legged robots walking on complex terrain

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机械工程前沿:英文版 2023年第2期18卷 99-114页

作者： Yunpeng YIN Yue ZHAO yuguang xiao Feng GAO State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China AI Institute School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains.The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles,and to improve its stability and safety when walking on complex terrain.By relying on the depth camera installed on the robot and obtaining the terrain heightmap,the algorithm converts the discrete grid heightmap into a continuous costmap.Then,it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion.Compared with most existing footholds selection algorithms that rely on discrete enumeration search,as far as we know,the proposed algorithm is the first to use a continuous optimization method.We successfully implemented the algorithm on a hexapod robot,and verified its feasibility in a walking experiment on a complex terrain.

关键词： footholds optimization legged robot complex terrain adapting hexapod robot locomotion control

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粤港澳大湾区能源消费碳达峰情景预测研究

城市观察 2024年第3期91卷 40-67,159,160页

作者：徐维军肖宇光华南理工大学工商管理学院广州金融服务创新与风险管理研究基地

本研究结合IPCC能源消费法和夜间灯光数据反演法,估算出2005-2021年粤港澳大湾区各区市的能源消费碳排放量,并基于拓展的STIRPAT预测模型,结合情景假设法和蒙特卡罗动态模拟法,模拟分析大湾区可能的碳达峰路径,进而提出针对性政策建议... 详细信息

本研究结合IPCC能源消费法和夜间灯光数据反演法,估算出2005-2021年粤港澳大湾区各区市的能源消费碳排放量,并基于拓展的STIRPAT预测模型,结合情景假设法和蒙特卡罗动态模拟法,模拟分析大湾区可能的碳达峰路径,进而提出针对性政策建议。研究结果显示,大湾区2005-2021年碳排放量呈现波动上升态势,其中香港地区已于2014年实现碳达峰,澳门地区碳排放量占比较小;珠三角九市自2011年呈现下降态势,2016年后又波动增长。动态模拟发现大湾区在基准情景、低碳情景、极低碳情景、产业转型情景和全低速情景下能如期甚至提前实现2030年碳达峰目标,若采取更积极的碳减排和产业转型政策可以提前实现碳达峰。

关键词：粤港澳大湾区能源消费碳排放碳达峰绿色低碳情景预测

Characteristics of Bi-2223 HTS Tapes Under Short-Circuit Current Impacts in Hybrid Energy Transmission Pipelines

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 736-745页

作者： yuguang Sun Chao Yin Weizhen Li Xinyang Li xiaohua Jiang Department of Electric Engineering Tsinghua UniversityBeijing 100084China

A hybrid energy transmission pipeline is proposed with the aim of long-distance cooperative transmission of electricity and chemical fuels, which is composed of an inner high-temperature superconducting (HTS) power cable and outer liquefied natural gas (LNG) pipeline. The flowing LNG could maintain the operating temperature of the inner HTS power cable within the range of 85 K-90 K, thus the Bi-2223 superconductors in the HTS power cable produce little Joule loss with the transmission current below the critical current. Owing to the advantages of high power density, low transmission losses and economical manufacturing costs, the hybrid energy transmission pipeline is expected to be widely utilized in the near future. In order to ensure the safety of the HTS power cable and explosive LNG in case of short-circuit faults, this paper tests and analyzes the characteristics of Bi-2223 HTS tapes of the Type HT-CA, Type HT-SS and Type H models under short-circuit current impacts at the LNG cooling temperature (85 K-90 K). An experimental platform is designed and established for the ampacity tests of HTS tapes above LN2 cooling temperature (77 K). The AC over-current impact tests at 85 K-90 K are carried out on each sample of Bi-2223 tapes respectively, and the experimental results are analyzed and compared to evaluate their performances under different operating conditions. The results indicate that the Type HT-CA tape can withstand 50 Hz short-circuit current impact with the amplitude of 1108 A (10 times of critical current Ic ) for 100 ms at 90 K, and its resistance is the smallest of the three tested samples under similar current impacts. Therefore, the Type HT-CA Bi-2223 tape is the optimal superconductor of the HTS power cable in the hybrid energy transmission pipeline.

关键词： Bi-2223 high-temperature superconducting(HTS)tape critical current hybrid energy transmission pipeline liquefied natural gas(LNG)cooling temperature short-circuit current impact characteristics

Visible light cross-linking and bioactive peptides loaded integrated hydrogel with sequential release to accelerate wound healing complicated by bacterial infection

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Nano Research 2024年第3期17卷 1737-1747页

作者： Guiyan Wang Ning Yuan Jun Zhang Man Qin Suwei Dong yuguang Wang Department of Pediatric Dentistry Peking University School and Hospital of StomatologyBeijing 100081China State Key Laboratory of Natural and Biomimetic Drugs Chemical Biology Centerand School of Pharmaceutical SciencesPeking UniversityBeijing 100191China Department of Prosthodontics Peking University School and Hospital of StomatologyBeijing 100081China

The effective management of bacterial infections that are resistant to multiple drugs remains a substantial clinical challenge.The eradication of drug-resistant bacteria and subsequent promotion of angiogenesis are imperative for the regeneration of the infected wounds.Here,a novel and facile peptide containing injectable hydrogel with sustained antibacterial and angiogenic capabilities is developed.The antibacterial peptide that consists of 11 residues(CM11,WKLFKKILKVL)is loaded onto acrylate-modified gelatin through charge interactions.A vascular endothelial growth factor mimetic peptide KLT(KLTWQELYQLKYKGI)with a GCG(Gly-Cys-Gly)modification at the N-terminal is covalently coupled through a visible light-induced thiol-ene reaction.In this reaction,the acrylate gelatin undergoes cross-linkage within seconds.Based on the physical/chemical double crosslinking strategy,the bioactive peptides achieve sustained and sequential release.The results show that the hydrogel significantly inhibits methicillin-resistant Staphylococcus aureus(MRSA)growth through the rapid release of CM11 peptides at early stage;it forms obvious growth inhibition zones against pathogenic bacterial strains.Moreover,cell counting kit-8 assay and scratch test confirm that the CM11/KLT-functionalized hydrogels promote cell proliferation and migration through the later release of KLT peptides.In a mouse skin wound infected with self-luminous MRSA,the CM11/KLT-functionalized hydrogels enhance wound healing,with rapidly bacterial infection reduction,lower expression of inflammatory factors,and neovascularization promotion.These results suggest that the rationally designed,sustained and sequential release CM11/KLT-functionalized hydrogels have huge potential in promoting the healing of multi-drug resistant bacterial infected wounds.

关键词： antimicrobial peptide vascular endothelial growth factor(VEGF)mimetic peptide sequential release visible-light crosslinking hydrogel wound therapy

Long-lived lunar volcanism sustained by precession-driven core-mantle friction

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National Science Review 2024年第2期11卷 114-123页

作者： Shuoran Yu xiao xiao Shengxia Gong Nicola Tosi Jun Huang Doris Breuer Long xiao Dongdong Ni State Key Laboratory of Lunar and Planetary Sciences Macau University of Science and Technology Planetary Science Institute State Key Laboratory of Geological Processes and Mineral Resources School of Earth Sciences China University of Geosciences CAS Key Laboratory of Planetary Sciences Shanghai Astronomical Observatory Institute of Planetary Research German Aerospace Centre(DLR)

Core-mantle friction induced by the precession of the Moon's spin axis is a strong heat source in the deep lunar mantle during the early phase of a satellite's evolution, but its influence on the long-term thermal evolution still remains poorly explored. Using a one-dimensional thermal evolution model, we show that core-mantle friction can sustain global-scale partial melting in the upper lunar mantle until ～3.1 Ga, thus accounting for the intense volcanic activity on the Moon before ～3.0 Ga. Besides, core-mantle friction tends to suppress the secular cooling of the lunar core and is unlikely to be an energy source for the long-lived lunar core dynamo. Our model also favours the transition of the Cassini state before the end of the lunar magma ocean phase(～4.2 Ga), which implies a decreasing lunar obliquity over time after the solidification of the lunar magma ocean. Such a trend of lunar obliquity evolution may allow volcanically released water to be buried in the lunar regolith of the polar regions. As a consequence, local water ice could be more abundant than previously thought when considering only its accumulation caused by solar wind and comet spreading.

关键词： Moon precession orbit volcanism

A stepwise-responsive editor integrated with three copper ions for the treatment of oral squamous cell carcinoma

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Nano Research 2024年第6期17卷 5424-5434页

作者： Jinna Ren Jingying Hu Fan Dong Yan Xu Yang Peng Yuping Qian Guanmeng Zhang Min Wang yuguang Wang Department of Prosthodontics Hospital of StomatologyJilin UniversityChangchun 130021China Department of General Dentistry II Peking University School and Hospital of Stomatology&National Center for Stomatology&National Clinical Research Center for Oral Diseases&National Engineering Research Center of Oral Biomaterials and Digital Medical DevicesBeijing 100081China Center of Digital Dentistry Peking University School and Hospital of Stomatology&National Center for Stomatology&National Clinical Research Center for Oral Diseases&National Engineering Research Center of Oral Biomaterials and Digital Medical DevicesBeijing 100081China Department of Nursing Peking University School and Hospital of Stomatology&National Center for Stomatology&National Clinical Research Center for Oral Diseases&National Engineering Research Center of Oral Biomaterials and Digital Medical DevicesBeijing 100081China The VIP Department School and Hospital of StomatologyChina Medical UniversityLiaoning Provincial Key Laboratory of Oral DiseasesShenyang 110002China

Cuprotosis,a new type of cell death,provides great opportunities for the treatment of oral squamous cell carcinoma,as nanocarriers of copper ions can induce cuprotosis and immunogenic death.Here,we studied an editor that enables production of a nanoparticle“storm”in oral squamous cell carcinoma,maximizing the toxic effect of these particles and reprogramming the tumor microenvironment;as a result,T cells and natural killer(NK)cells can infiltrate the tumor microenvironment to activate an antitumor immune response.On this basis,the editor can be combined with optical therapy to improve patient prognosis.In this study,the metal ratio was regulated in response to the nanocarrier of acid response type.Thus,in the presence of a specific copper ion content,the nanocarrier could change the permeability of the tumor cell membrane.Based on these results,the nanoparticles were cracked in an acidic environment and then released copper ions.Finally,the nanoparticles contributed to cuprotosis and immunogenic death.In addition,the editor could inhibit murine oral cancer 1(MOC1)tumors in C57BL/6 without toxicity.The rate of tumor growth inhibition was as high as approximately 80%.This strategy provides a new idea for immunotherapy.Moreover,it can improve the interaction between immunotherapy and the copper-induced death of oral squamous cell carcinoma.Above all,this study will provide a new opportunity for the effective treatment of oral squamous cell carcinoma.

关键词： cuprotosis immunogenic death photothermal therapy tumor microenvironment immunotherapy

Decentralized Optimal Control and Stabilization of Interconnected Systems With Asymmetric Information

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 698-707页

作者： Na Wang xiao Liang Hongdan Li xiao Lu the College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266000China the School of Automation and Electrical Engineering Linyi UniversityLinyi 276000China the College of Energy Storage Technology Shandong University of Science and TechnologyQingdao 266000China

The paper addresses the decentralized optimal control and stabilization problems for interconnected systems subject to asymmetric information.Compared with previous work,a closed-loop optimal solution to the control problem and sufficient and necessary conditions for the stabilization problem of the interconnected systems are given for the first time.The main challenge lies in three aspects:Firstly,the asymmetric information results in coupling between control and estimation and failure of the separation principle.Secondly,two extra unknown variables are generated by asymmetric information(different information filtration)when solving forward-backward stochastic difference equations.Thirdly,the existence of additive noise makes the study of mean-square boundedness an obstacle.The adopted technique is proving and assuming the linear form of controllers and establishing the equivalence between the two systems with and without additive noise.A dual-motor parallel drive system is presented to demonstrate the validity of the proposed algorithm.

关键词： Asymmetric information decentralized control forwardbackward stochastic difference equations interconnected system stalibization

Bioinspired nanomaterials for wearable sensing and human–machine interfacing

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Nano Research 2024年第2期17卷 445-461页

作者： Vishesh Kashyap Junyi Yin xiao xiao Jun Chen Department of Bioengineering University of CaliforniaLos AngelesLos AngelesCA 90095USA Department of Mechanical and Aerospace Engineering University of CaliforniaLos AngelesLos AngelesCA 90095USA

The inculcation of bioinspiration in sensing and human–machine interface(HMI)technologies can lead to distinctive characteristics such as conformability,low power consumption,high sensitivity,and unique properties like self-healing,self-cleaning,and adaptability.Both sensing and HMI are fields rife with opportunities for the application of bioinspired nanomaterials,particularly when it comes to wearable sensory systems where biocompatibility is an additional requirement.This review discusses recent development in bioinspired nanomaterials for wearable sensing and HMIs,with a specific focus on state-of-the-art bioinspired capacitive sensors,piezoresistive sensors,piezoelectric sensors,triboelectric sensors,magnetoelastic sensors,and electrochemical sensors.We also present a comprehensive overview of the challenges that have hindered the scientific advancement in academia and commercialization in the industry.

关键词： bioinspired nanomaterials human–machine interface wearable sensors wearable bioelectronics