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Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization

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Bio-Design and Manufacturing 2024年第1期7卷 1-13页

作者： Huaizhi Zong Junhui Zhang Lei Jiang Kun Zhang Jun Shen zhenyu lu Ke Wang Yanli Wang Bing Xu The State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China Unmanned Vehicle Research and Development Center China North Vehicle Research InstituteBeijing 100072China School of Mechatronic Engineering Nanchang UniversityNanchang 330031China Auclean High-Tech Ltd. Wuxi 214108China

Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped *** various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large *** the most critical movement unit of a quadruped robot,the limb leg unit(Llu)directly affects movement speed and reliability,and requires a compact and lightweight *** by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an *** propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston *** addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the *** mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah *** mass of the optimized Llu is reduced by 24.5%,and the optimized Llu shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.

关键词： Additive manufacturing Bionic lightweight design Limb leg unit Quadruped robot Trajectory tracking

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Teleoperation with automatic posture regulation and broad learning control for assembly tasks

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Science China(Information Sciences) 2024年第11期67卷 359-360页

作者： Liwen SITU zhenyu lu Chenguang YANG School of Automation Science and Engineering South China University of Technology Bristol Robotics Laboratory University of the West of England

In recent years, robot teleoperation systems have been widely used in assembly tasks due to their ability to combine human control with robotic execution, addressing limitations in precision, perception, and intelligence faced by fully automated robots. However, robot teleoperation for assembly tasks still encounters several challenges. In complex and unstructured environments, telerobots must regulate the posture of their manipulators to avoid obstacles and singularities, ensuring the safety of human operators [1].

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基于正反上下文语义对齐融合的多模态文本摘要模型

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中文信息学报 2024年第4期38卷 108-119页

作者：陈中峰陆振宇荣欢南京信息工程大学人工智能学院江苏南京210044

该文基于序列到序列的神经网络,提出了使用文本语义信息和图片语义信息对多模态文本摘要生成任务进行建模。具体而言,使用文本一级编码器和带有图片信息指导的二级门控编码器对多模态语义信息进行编码,对齐文本与图片的语义信息。通过... 详细信息

该文基于序列到序列的神经网络,提出了使用文本语义信息和图片语义信息对多模态文本摘要生成任务进行建模。具体而言,使用文本一级编码器和带有图片信息指导的二级门控编码器对多模态语义信息进行编码,对齐文本与图片的语义信息。通过多模态正向注意力机制与反向注意力机制多方面观察对齐后的源文本与图片内容,分别得到各自模态语义信息的正相关和不相关特征表示。使用正向滤波器过滤正向注意力机制中的不相关信息,使用反向滤波器过滤反向注意力机制中的相关信息,达到分别从正向与反向两个方面选择性地融合文本语义信息和图片语义信息的目的。最后基于指针生成网络,使用正相关信息搭建正向指针、使用不相关信息搭建反向指针,生成带有多模态语义信息补偿的文本摘要内容。在京东中文电子商务数据集上,所提模型生成的多模态文本摘要在ROUGE-1、ROUGE-2、ROUGE-L指标上分别取得了38.40、16.71、28.01的结果。

关键词：多模态文本摘要多模态信息对齐二级门控编码机制文本生成模型

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Hyperspectral Image Classification Based on A Multi-Scale Weighted Kernel Network

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Chinese Journal of Electronics 2022年第5期31卷 832-843页

作者： SUN Le XU Bin lu zhenyu School of Computer Science Nanjing University of Information Science and Technology Engineering Research Center of Digital Forensics Ministry of Education Nanjing University of Information Science and Technology School of Artificial Intelligence Nanjing University of Information Science and Technology

Recently, many deep learning models have shown excellent performance in hyperspectral image(HSI) classification. Among them, networks with multiple convolution kernels of different sizes have been proved to achieve richer receptive fields and extract more representative features than those with a single convolution kernel. However, in most networks, different-sized convolution kernels are usually used directly on multibranch structures, and the image features extracted from them are fused directly and simply. In this paper, to fully and adaptively explore the multiscale information in both spectral and spatial domains of HSI, a novel multi-scale weighted kernel network(MSWKNet) based on an adaptive receptive field is proposed. First, the original HSI cubic patches are transformed to the input features by combining the principal component analysis and one-dimensional spectral convolution. Then, a three-branch network with different convolution kernels is designed to convolve the input features, and adaptively adjust the size of the receptive field through the attention mechanism of each branch. Finally, the features extracted from each branch are fused together for the task of *** on three well-known hyperspectral data sets show that MSWKNet outperforms many deep learning networks in HSI classification.

关键词： Hyperspectral image classification Convolutional neural network Kernel network Multi-scale features Attention mechanism

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Energy-Efficient Optimal Guaranteed Cost Intermittent-Switch Control of a Direct Expansion Air Conditioning System

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IEEE/CAA Journal of Automatica Sinica 2021年第11期8卷 1852-1866页

作者： Jun Mei zhenyu lu Junhao Hu Yuling Fan School of Mathematics and Statistics South-Central University for NationalitiesWuhan 430074China School of Electronic and Information Engineering Nanjing University of Information Science and TechnologyNanjing 210044China College of Informatics Huazhong Agricultural UniversityWuhan 430072China

To improve the energy efficiency of a direct expansion air conditioning(DX A/C) system while guaranteeing occupancy comfort, a hierarchical controller for a DX A/C system with uncertain parameters is proposed. The control strategy consists of an open loop optimization controller and a closed-loop guaranteed cost periodically intermittent-switch controller(GCPISC). The error dynamics system of the closed-loop control is modelled based on the GCPISC principle. The difference,compared to the previous DX A/C system control methods, is that the controller designed in this paper performs control at discrete times. For the ease of designing the controller, a series of matrix inequalities are derived to be the sufficient conditions of the lower-layer closed-loop GCPISC controller. In this way, the DX A/C system output is derived to follow the optimal references obtained through the upper-layer open loop controller in exponential time, and the energy efficiency of the system is improved. Moreover, a static optimization problem is addressed for obtaining an optimal GCPISC law to ensure a minimum upper bound on the DX A/C system performance considering energy efficiency and output tracking error. The advantages of the designed hierarchical controller for a DX A/C system with uncertain parameters are demonstrated through some simulation results.

关键词： Energy efficiency hierarchical control open loop optimal control optimal guaranteed cost periodically intermittent-switch control

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“一站式”救治护理应用于缺血性脑卒中患者中的抢救效果及对生活能力的改善

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河北医药 2024年第7期46卷 1117-1120页

作者：陆振宇尹楠河北北方学院附属第一医院急诊科河北省张家口市050057 河北省人民医院神经内科

目的探讨缺血性脑卒中患者临床治疗中予以“一站式”救治护理的干预效果及对其生活能力的影响。方法选取2022年1月至2023年1月收治的120例缺血性脑卒中患者按随机数字表分为2组,每组60例。给予对照组患者常规救治护理,观察组患者予以“... 详细信息

目的探讨缺血性脑卒中患者临床治疗中予以“一站式”救治护理的干预效果及对其生活能力的影响。方法选取2022年1月至2023年1月收治的120例缺血性脑卒中患者按随机数字表分为2组,每组60例。给予对照组患者常规救治护理,观察组患者予以“一站式”救治护理,观察患者急救指标、救治效果、神经功能、日常生活能力以及生活质量等指标水平变化情况。结果护理后,观察组就诊-CT检查、CT检查-用药、采血-送检及DNT用时均较对照组更低,且DNT达标率与救治效果均更优于对照组(P<0.05);观察组NIHSS评分与Barthel评分均较对照组更佳(P<0.05);观察组SF-36量表各项指标水平改善幅度均较对照组更大(P<0.05)。结论缺血性脑卒中患者予以“一站式”救治护理,可提升急救速度,改善救治效果,并可提高患者神经功能与日常生活能力,使其获得良好的生活质量水平。

关键词：缺血性脑卒中 “一站式”救治护理生活能力生活质量神经功能

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A Short-Term Precipitation Prediction Model Based on Spatiotemporal Convolution Network and Ensemble Empirical Mode Decomposition

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IEEE/CAA Journal of Automatica Sinica 2022年第4期9卷 738-740页

作者： Yunan Qiu zhenyu lu Shanpu Fang the School of Electronics and Information Engineering Nanjing University of Information Science and Technology the School of Artificial Intelligence Nanjing University of Information Science and Technology

Dear editor,Regional precipitation,as a very important component system of hydrology,plays a key role in the whole water cycle[1].The dramatic changes of regional precipitation in a short period can easily have a serious impact on the local ecological environment and daily ***-term heavy precipitation refers to precipitation events with rainfall of more than 20 mm in one hour or 50 mm in three hours[2].Therefore,how to accurately and timely predict future precipitation is an important research field in ***,precipitation prediction has always been a challenging task because of its complex spatial and temporal dependence.

关键词： system meteorology editor

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Almost sure stabilization of hybrid systems by feedback control based on discrete-time observations of mode and state

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Science China(Information Sciences) 2018年第7期61卷 130-145页

作者： Gongfei SONG zhenyu lu Bo-Chao ZHENG Xuerong MAO Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology School of Information and Control Nanjing University of Information Science and Technology School of Electronic and Information Engineering Nanjing University of Information Science and Technology Department of Mathematics and Statistics University of Strathclyde

Although the mean square stabilization of hybrid systems by feedback control based on discretetime observations of state and mode has been studied by several authors since 2013, the corresponding almost sure stabilization problem has received little attention. Recently, Mao was the first to study the almost sure stabilization of a given unstable system ˙x(t) = f(x(t)) by a linear discrete-time stochastic feedback control Ax([t/τ ]τ)d B(t)(namely the stochastically controlled system has the form dx(t) = f(x(t))dt +Ax([t/τ ]τ)d B(t)), where B(t) is a scalar Brownian, τ > 0, and [t/τ ] is the integer part of t/τ. In this paper, we consider a much more general problem. That is, we study the almost sure stabilization of a given unstable hybrid system ˙x(t) = f(x(t), r(t)) by nonlinear discrete-time stochastic feedback control u(x([t/τ ]τ), r([t/τ ]τ))d B(t)(so the stochastically controlled system is a hybrid stochastic system of the form dx(t) = f(x(t), r(t))dt + u(x([t/τ ]τ), r([t/τ ]τ))d B(t)), where B(t) is a multi-dimensional Brownian motion and r(t) is a Markov chain.

关键词： Brownian motion Markov chain generalized Itö formula almost sure exponential stability stochastic feedback control

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钴基光芬顿蒸馏膜处理实际垃圾渗滤液应用研究

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膜科学与技术 2024年第3期44卷 106-114页

作者：卢振宇杨麒臻蒋宇铃瞿芳术鄢忠森福州大学土木工程学院福州350108 福州水务集团有限公司福州350001 广州大学土木工程学院广州510006

垃圾渗滤液包含高浓度污染物质,对人类健康和生态环境构成威胁.尽管膜蒸馏(MD)具有截留效率高和操作压力低等优点,在垃圾渗滤液的处理中展现出一定的潜力.然而在MD的实际应用过程中,有机物和无机物引起的络合污染降低了水的净化效率,从... 详细信息

垃圾渗滤液包含高浓度污染物质,对人类健康和生态环境构成威胁.尽管膜蒸馏(MD)具有截留效率高和操作压力低等优点,在垃圾渗滤液的处理中展现出一定的潜力.然而在MD的实际应用过程中,有机物和无机物引起的络合污染降低了水的净化效率,从而限制了其潜在的应用.为了解决这一难题,将基于硫酸盐自由基的高级氧化技术(SR-AOPs)集成到MD技术中,以加强膜污染的控制.本研究采用直接水热法结合真空过滤合成了四氧化三钴/氮修饰的碳量子点/聚偏氟乙烯(Co_(3)O_(4)/NCDs/PVDF,简称CN-PVDF)光芬顿蒸馏膜,并首次用于直接接触式膜蒸馏(DCMD)中处理垃圾渗滤液.在1.9 kW/m^(2)的可见光照射下,其活化20 mmol/L的过氧一硫酸盐(PMS),能够缓解DCMD处理实际垃圾渗滤液废水过程的膜污染,减少Ca^(2+)、Mg^(2+)和有机物在膜面的沉积.此外,CN-PVDF膜能实现光芬顿自清洁效果,经清洗后膜比通量由0.449显著恢复至0.928.本研究为MD膜抗污染能力提升提供了新的思路.

关键词：膜蒸馏垃圾渗滤液光芬顿膜污染自清洁

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Structure and quality controlled growth of InAs nanowires through catalyst engineering

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Nano Research 2014年第11期7卷 1640-1649页

作者： ZhiZhang zhenyu lu Hongyi Xu Pingping Chen Wei lu Jin Zou Materials Engineering The University of Queensland St. Lucia Queensland 4072 Australia National Laboratory for Infrared Physics Shanghai Institute of Technical Physics Chinese Academy of Sciences 500 Yu-Tian Road Shanghai 200083 China Centre for Microscopy and Microanalysis The University of Queensland St. Lucia Queensland 4072 Australia

In this study, the structure and quality controlled growth of InAs nanowires using Au catalysts in a molecular beam epitaxy reactor is presented. By tuning the indium concentration in the catalyst, defect-free wurtzite structure and defect-free zinc blende structure InAs nanowires can be induced. It is found that these defect-free zinc blende structure InAs nanowires grow along 〈110〉 directions with four low-energy {111} and two {110} side-wall facets and adopt the （111） catalyst/nanowire interface. Our structural and chemical characterization and calculations identify the existence of a catalyst supersaturation threshold for the InAs nanowire growth. When the In concentration in the catalyst is sufficiently high, defect-free zinc blende structure InAs nanowires can be induced. This study provides an insight into the manipulation of crystal structure and structure quality of III-V semiconductor nanowires through catalyst engineering.

关键词： structure quality InAs nanowires molecular beam epitaxy (MBE) Au catalysts

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