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Optimal Energy Efficiency Based High-speed Flying Control Method for Hydraulic Quadruped Robot

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Journal of Bionic Engineering 2024年第3期21卷 1156-1173页

作者： Qingjun Yang Zhenyang zhang Rui zhu Dianxin Wang School of Mechatronics Engineering Harbin Institute of TechnologyHarbin150000China Nanjing Chenguang Group Co.Ltd Nanjing210006China

Herein,a control method based on the optimal energy efficiency of a hydraulic quadruped robot was proposed,which not only realizes the optimal energy efficiency of flying trot gait but also ensures the stability of high-speed ***,the energy consumption per unit distance was adopted as the energy efficiency evaluation index based on the constant pressure oil supply characteristics of the hydraulic system,and the global optimization algorithm was adopted to solve the optimal ***,the gait parameters that affect the energy efficiency of quadruped were analyzed and the mapping relationship between each parameter and energy efficiency was captured,so as to select the optimum combination of energy efficiency parameters,which is significant to improve endurance ***,to ensure the stability of the high-speed flying trot gait motion of the hydraulic quadruped robot,the active compliance control strategy was ***,the proposed method was successfully verified by simulations and *** experimental results reveal that the flying trot gait of the hydraulic quadruped robot can be stably controlled at a speed of 2.2 m/s.

关键词： Hydraulic quadruped robot Flying trot Energy efficiency Active compliance control

Fast solution to the free return orbit's reachable domain of the manned lunar mission by deep neural network

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Journal of Systems Engineering and Electronics 2024年第2期35卷 495-508页

作者： YANG Luyi LI Haiyang zhang Jin zhu Yuehe College of Aerospace Science and Engineering National University of Defense TechnologyChangsha 410073China China Astronauts Research and Training Center Beijing 100094China Hunan Key Laboratory of Intelligent Planning and Simulation for Aerospace Missions Changsha 410073China

It is important to calculate the reachable domain(RD)of the manned lunar mission to evaluate whether a lunar landing site could be reached by the spacecraft. In this paper, the RD of free return orbits is quickly evaluated and calculated via the classification and regression neural networks. An efficient databasegeneration method is developed for obtaining eight types of free return orbits and then the RD is defined by the orbit’s inclination and right ascension of ascending node(RAAN) at the perilune. A classify neural network and a regression network are trained respectively. The former is built for classifying the type of the RD, and the latter is built for calculating the inclination and RAAN of the RD. The simulation results show that two neural networks are well trained. The classification model has an accuracy of more than 99% and the mean square error of the regression model is less than 0.01°on the test set. Moreover, a serial strategy is proposed to combine the two surrogate models and a recognition tool is built to evaluate whether a lunar site could be reached. The proposed deep learning method shows the superiority in computation efficiency compared with the traditional double two-body model.

关键词： manned lunar mission free return orbit reachable domain(RD) deep neural network computation efficiency

Danhongqing formula alleviates cholestatic liver fibrosis by downregulating long non-coding RNA H19 derived from cholangiocytes and inhibiting hepatic stellate cell activation

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Journal of Integrative Medicine 2024年第2期22卷 188-198页

作者： Meng Li Yang Zhou Hui zhu Lie-ming Xu Jian ping Institute of Liver Diseases Shuguang HospitalShanghai University of Traditional Chinese MedicineShanghai 201203China Preventive Treatment Center Yueyang Hospital of Integrated Traditional Chinese and Western MedicineShanghai University of Traditional Chinese MedicineShanghai 200437 China Department of Gastroenterology Suzhou Traditional Chinese Medicine HospitalSuzhou 215000Jiangsu ProvinceChina Shanghai Key Laboratory of Traditional Chinese Medicine Shanghai 201203China Key Laboratory of Liver and Kidney Diseases(Ministry of Education) Shanghai 201203China

Objective:This study explores the mechanism of action of Danhongqing formula(DHQ),a compoundbased Chinese medicine formula,in the treatment of cholestatic liver ***:In vivo experiments were conducted using 8-week-old multidrug resistance protein 2 knockout(Mdr2-/-)mice as an animal model of cholestatic liver *** was administered orally for 8 weeks,and its impact on cholestatic liver fibrosis was evaluated by assessing liver function,liver histopathology,and the expression of liver fibrosis-related ***-time polymerase chain reaction,Western blot,immunohistochemistry and other methods were used to observe the effects of DHQ on long non-coding RNA H19(H19)and signal transducer and activator of transcription 3(STAT3)phosphorylation in the liver tissue of Mdr2-/-*** addition,cholangiocytes and hepatic stellate cells(HSCs)were cultured in vitro to measure the effects of bile acids on cholangiocyte injury and H19 *** overexpressing H19 were constructed,and a conditioned medium containing H19 was collected to measure its effects on STAT3 protein expression and cell *** intervention effect of DHQ on these processes was also *** overexpressing H19 were constructed to measure the impact of H19 on cell activation and assess the intervention effect of ***:DHQ alleviated liver injury,ductular reaction,and fibrosis in Mdr2-/-mice,and inhibited H19expression,STAT3 expression and STAT3 *** formula also reduced hydrophobic bile acid-induced cholangiocyte injury and the upregulation of H19,inhibited the activation of HSCs induced by cholangiocyte-derived conditioned medium,and decreased the expression of activation markers in *** overexpression of H19 in a human HSC line confirmed that H19 promoted STAT3 phosphorylation and HSC activation,and DHQ was able to successfully inhibit these ***:DHQ effectively alleviated spontaneous cholestatic liver fibrosis in Md

关键词： Liver cirrhosis biliary Long non-coding RNA H19 Danhongqing formula Cholangiocyte Hepatic stellate cells STAT3 transcription factor

Adaptive nonlinear Kalman filters based on credibility theory with noise correlation

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Chinese Journal of Aeronautics 2024年第6期37卷 232-243页

作者： Quanbo GE Zihao SONG Bingtao zhu Bingjun zhang School of Automation Nanjing University of Information Science and TechnologyNanjing 210044China Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology Nanjing 210044China School of Electrical and Automation Engineering East China Jiaotong UniversityNanchang 330013China School of Logistics Engineering Shanghai Maritime UniversityShanghai 201306China School of Electronic and Information Engineering Tongji UniversityShanghai 200092China

To solve the divergence problem and overcome the difficulty in guaranteeing filtering accuracy during estimation of the process noise covariance or the measurement noise covariance with traditional new information-based nonlinear filtering methods,we design a new method for estimating noise statistical characteristics of nonlinear systems based on the credibility Kalman Filter(KF)theory considering noise *** method first extends credibility to the Unscented Kalman Filter(UKF)and Extended Kalman Filter(EKF)based on the credibility ***,an optimization model for nonlinear credibility under noise related conditions is established considering noise correlation.A combination of filtering smoothing and credibility iteration formula is used to improve the real-time performance of the nonlinear adaptive credibility KF algorithm,further expanding its application scenarios,and the derivation process of the formula theory is ***,the performance of the nonlinear credibility filtering algorithm is simulated and analyzed from multiple perspectives,and a comparative analysis conducted on specific experimental *** simulation and experimental results show that the proposed credibility EKF and credibility UKF algorithms can estimate the noise covariance more accurately and effectively with lower average estimation time than traditional methods,indicating that the proposed algorithm has stable estimation performance and good real-time performance.

关键词： Kalman filter Extended Kalman Filter(EKF) Unscented Kalman Filter(UKF) Credibility Noise correlation

Wearable Leg Movement Monitoring System for High-Precision Real-Time Metabolic Energy Estimation and Motion Recognition

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Research 2024年第2期2023卷 417-429页

作者： Jinfeng Yuan Yuzhong zhang Shiqiang Liu Rong zhu State Key Laboratory of Precision Measurement Technology and Instruments Department of Precision InstrumentTsinghua UniversityBeijing 100084China

Comprehensive and quantitative assessment of human physical activity in daily life is valuable for healthcare,especially for those who suffer from obesity and neurological disorders or are at high risk of *** wearable devices,e.g.,smartwatches,are insufficient and inaccurate for monitoring highly dynamic limb movements and assessing human ***,we report a new wearable leg movement monitoring system incorporating a custom-made motion sensor with machine learning algorithm to perceive human motion accurately and comprehensively during diverse walking and running *** system enables real-time multimodal perceptions of personal identity,motion state,locomotion speed,and energy expenditure for wearers.A general law of extracting real-time metabolic energy from leg movements is verified although individual gaits show *** addition,we propose a novel sensing configuration combining unilateral lower leg movement velocity with its angular rate to achieve high accuracy and good generalizability while simplifying the wearable *** performances in personal identification(accuracy of 98.7%)and motion-state recognition(accuracy of 93.7%)are *** wearable system also exhibites high-precision real-time estimations of locomotion speed(error of 3.04%to 9.68%)and metabolic energy(error of 4.18%to 14.71%)for new subjects across various time-varying *** wearable system allows reliable leg movement monitoring and quantitative assessment of bodily kinematic and kinetic behaviors during daily activities,as well as safe identity authentication by gait parameters,which would greatly facilitate smart life,personal healthcare,and rehabilitation training.

关键词： smart enable monitoring

Gas–solid reactor optimization based on EMMS-DPM simulation and machine learning

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Particuology 2024年第6期89卷 131-143页

作者： Haolei zhang Aiqi zhu Ji Xu Wei Ge State Key Laboratory of Mesoscience and Engineering Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Chemical Engineering University of Chinese Academy of SciencesBeijing 100049China Innovation Academy for Green Manufacture Chinese Academy of SciencesBeijing 100190China

Design,scaling-up,and optimization of industrial reactors mainly depend on step-by-step experiments and engineering experience,which is usually time-consuming,high cost,and high *** numerical simulation can reproduce high resolution details of hydrodynamics,thermal transfer,and reaction process in reactors,it is still challenging for industrial reactors due to huge computational *** this study,by combining the numerical simulation and artificial intelligence(AI)technology of machine learning(ML),a method is proposed to efficiently predict and optimize the performance of industrial reactors.A gas–solid fluidization reactor for the methanol to olefins process is taken as an example.1500 cases under different conditions are simulated by the coarse-grain discrete particle method based on the Energy-Minimization Multi-Scale model,and thus,the reactor performance data set is *** develop an efficient reactor performance prediction model influenced by multiple factors,the ML method is established including the ensemble learning strategy and automatic hyperparameter optimization technique,which has better performance than the methods based on the artificial neural ***,the operating conditions for highest yield of ethylene and propylene or lowest pressure drop are searched with the particle swarm optimization algorithm due to its strength to solve non-linear optimization *** show that decreasing the methanol inflow rate and increasing the catalyst inventory can maximize the yield,while decreasing methanol the inflow rate and reducing the catalyst inventory can minimize the pressure *** two objectives are thus conflicting,and the practical operations need to be compromised under different circumstance.

关键词： Discrete particle method Artificial intelligence Machine learning Particle swarm optimization Industrial reactor optimization

Recent progresses in thermal treatment of β-Ga_(2)O_(3) single crystals and devices

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International Journal of Minerals,Metallurgy and Materials 2024年第7期31卷 1659-1677页

作者： Yuchao Yan zhu Jin Hui zhang Deren Yang State Key Laboratory of Silicon and Advanced Semiconductor Materials and School of Materials Science and Engineering Zhejiang UniversityHangzhou 310027China Zhejiang Provincial Key Laboratory of Power Semiconductor Materials and Devices ZJU-Hangzhou Global Scientific and Technological Innovation CenterHangzhou 311200China

In recent years,ultra-wide bandgap β-Ga_(2)O_(3) has emerged as a fascinating semiconductor material due to its great potential in power and photoelectric *** semiconductor industrial,thermal treatment has been widely utilized as a convenient and effective approach for substrate property modulation and device ***,a thorough summary of β-Ga_(2)O_(3) substrates and devices behaviors after high-temperature treatment should be *** this review,we present the recent advances in modulating properties of β-Ga_(2)O_(3) substrates by thermal treatment,which include three major applications:(ⅰ)tuning surface electrical properties,(ⅱ)modifying surface morphology,and(ⅲ)oxidating ***,regulating electrical contacts and handling with radiation damage and ion implantation have also been discussed in device *** each category,universal annealing conditions were speculated to figure out the corresponding problems,and some unsolved questions were proposed *** review could construct a systematic thermal treatment strategy for various purposes and applications of β-Ga_(2)O_(3).

关键词： β-gallium oxide thermal treatment substrates devices

New‑Generation Ferroelectric AlScN Materials

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Nano-Micro Letters 2024年第11期16卷 88-118页

作者： Yalong zhang Qiuxiang zhu Bobo Tian Chungang Duan Key Laboratory of Polar Materials and Devices Ministry of EducationShanghai Center of Brain‑Inspired Intelligent Materials and DevicesDepartment of ElectronicsEast China Normal UniversityShanghai 200241People’s Republic of China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006ShanxiPeople’s Republic of China

Ferroelectrics have great potential in the field of nonvolatile memory due to programmable polarization states by external electric field in nonvolatile ***,complementary metal oxide semiconductor compatibility and uniformity of ferroelectric performance after size scaling have always been two thorny issues hindering practical application of ferroelectric memory *** emerging ferroelectricity of wurtzite structure nitride offers opportunities to circumvent the *** review covers the mechanism of ferroelectricity and domain dynamics in ferroelectric AlScN *** performance optimization of AlScN films grown by different techniques is summarized and their applications for memories and emerging in-memory computing are ***,the challenges and perspectives regarding the commercial avenue of ferroelectric AlScN are discussed.

关键词： AlScN Ferroelectrics Nonvolatile memory In-memory computing

A brief review on the recent development of phonon engineering and manipulation at nanoscales

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International Journal of Extreme Manufacturing 2024年第1期6卷 177-206页

作者： Siqi Xie Hongxin zhu Xing zhang Haidong Wang Key Laboratory for Thermal Science and Power Engineering of Ministry of Education Department of Engineering MechanicsTsinghua UniversityBeijing 100084People’s Republic of China

Phonons are the quantum mechanical descriptions of vibrational modes that manifest themselves in many physical properties of condensed matter systems. As the size of electronic devices continues to decrease below mean free paths of acoustic phonons, the engineering of phonon spectra at the nanoscale becomes an important topic. Phonon manipulation allows for active control and management of heat fow, enabling functions such as regulated heat transport. At the same time, phonon transmission, as a novel signal transmission method, holds great potential to revolutionize modern industry like microelectronics technology, and boasts wide-ranging applications. Unlike fermions such as electrons, polarity regulation is difficult to act on phonons as bosons, making the development of effective phonon modulation methods a daunting *** work reviews the development of phonon engineering and strategies of phonon manipulation at different scales, reports the latest research progress of nanophononic devices such as thermal rectifiers, thermal transistors, thermal memories, and thermoelectric devices,and analyzes the phonon transport mechanisms involved. Lastly, we survey feasible perspectives and research directions of phonon engineering. Thermoelectric analogies, external field regulation, and acousto-optic co-optimization are expected to become future research hotspots.

关键词： phonon engineering phononic device nanoscale