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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

Simulating the evolution of focused waves by a two-layer Boussinesq-type model

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Acta Oceanologica Sinica 2024年第5期43卷 91-99页

作者： Ping Wang zhongbo Liu Kezhao Fang Wenfeng Zou Xiangke Dong Jiawen Sun State Environmental Protection Key Laboratory of Marine Ecosystem Restoration National Marine Environmental Monitoring CenterDalian 116023China College of Transportation Engineering Dalian Maritime UniversityDalian 116026China State Key Laboratory of Coastal and Offshore Engineering Dalian University of TechnologyDalian 116024China

Accurate simulation of the evolution of freak waves by the wave phase focusing method requires accurate linear and nonlinear properties,especially in deep-water *** this paper,we analyze the ability to simulate deep-water focused waves of a two-layer Boussinesq-type(BT)model,which has been shown to have excellent linear and nonlinear *** further improve the numerical accuracy and stability,the internal wavegenerated method is introduced into the two-layer Boussinesq-type ***,the sensitivity of the numerical results to the grid resolution is analyzed to verify the convergence of the model;secondly,the focused wave propagating in two opposite directions is simulated to prove the symmetry of the numerical results and the feasibility of the internal wave-generated method;thirdly,the limiting focused wave condition is simulated to compare and analyze the wave surface and the horizontal velocity of the profile at the focusing position,which is in good agreement with the measured *** the simulation of focused waves in very deep waters agrees well with the measured values,which further demonstrates the capability of the two-layer BT model in simulating focused waves in deep waters.

关键词： focused waves numerical simulation Boussinesq-type model velocity profile

An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 511-525页

作者： Yongbai Liu Keping Liu Gang Wang Jiliang Zhang Yao Chou zhongbo Sun Department of Mechanical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina School of Electrical and Information Engineering Jilin Engineering Normal UniversityChangchunChina College of Information Science and Engineering Northeastern UniversityShenyangChina Department of Electrical and Computer Engineering Brigham Young UniversityProvoUtahUSA

In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ***,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be *** deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI *** upper limb-robotic exoskeleton system is re-modelled as an artificial *** on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical ***,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and *** results substantiate the global convergence and robustness of the proposed controller in the presence of different external *** addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

关键词： neural network pattern recognition robotics signal processing

A DNA Force Circuit for Exploring Protein-Protein Interactions at the Single-Molecule Level

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Chinese Journal of Chemistry 2024年第13期42卷 1456-1464页

作者： Kangkang Ma Luoan Xiong Zhuofei Wang Xin Hu Lihua Qu Xuetong Zhao Yao Li zhongbo Yu State Key Laboratory of Medicinal Chemical Biology Frontiers Science Center for Cell Responsesand College of PharmacyNankai University38 Tongyan RoadTianjin 300350China School of Physics and Key Laboratory of Functional Polymer Materials of Ministry of Education Nankai Universityand Collaborative Innovation Center of Chemical Science and EngineeringTianjin 300071China

Protein-protein interactions(PPls)play a crucial role in drug discovery and disease ***,the development of effective drugs targeting PPls remains challenging due to limited methodologies for probing their spatiotemporal ***,we propose a single-molecule approach using a unique force circuit to investigate Ppl dynamics and anisotropy under mechanical *** conventional techniques,this approach enables the manipulation and real-time monitoring of individual proteins at specific amino acids with defined geometry,offering insights into molecular mechanisms at the single-molecule *** DNA force circuit was constructed using click chemistry conjugation methods and genetic code expansion techniques,facilitating orthogonal conjugation between proteins and nucleic *** SET domain of the MLL1 protein and the tail of histone H3 were used as a model system to demonstrate the application of the DNA force *** the use of atomic force microscopy and magnetic tweezers,optimized assembly procedures were *** DNA force circuit provides an exceptional platform for studying the anisotropy of PPis and holds promise for advancing drug discovery research targeted at PPIs.

关键词： Single-molecule studies Protein-protein interactions Click chemistry Genetic code expansion Molecular dynamics

Ti_(3)AlN/ZrYN纳米多层膜力学性能、抗氧化及疏水性能

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材料工程 2024年第2期52卷 190-197页

作者：李仲博中国航发北京航空材料研究院北京100095

利用物理气相沉积(PVD)技术交替沉积Ti_(3)AlN和ZrYN纳米层,制备一系列具有不同ZrYN纳米层厚度(l)的Ti_(3)AlN/ZrYN纳米多层膜,并通过XRD,SEM,纳米压痕仪,显微硬度计及接触角测量仪等研究不同l对Ti_(3)AlN/ZrYN纳米多层膜力学、抗氧化... 详细信息

利用物理气相沉积(PVD)技术交替沉积Ti_(3)AlN和ZrYN纳米层,制备一系列具有不同ZrYN纳米层厚度(l)的Ti_(3)AlN/ZrYN纳米多层膜,并通过XRD,SEM,纳米压痕仪,显微硬度计及接触角测量仪等研究不同l对Ti_(3)AlN/ZrYN纳米多层膜力学、抗氧化以及疏水性能的影响。结果表明:当Ti_(3)AlN和ZrYN纳米层厚度分别为10 nm和1 nm时,纳米多层膜具有高硬度(H=2..8 GPa)和优异的断裂韧度(Kf=4.2. MPa∙m^(1/2.)。硬度和断裂韧度的提高可能是因为,当l较小时,纳米层间形成良好的c-Ti_(3)AlN/c-ZrYN共格外延结构,可以有效阻碍位错的产生和滑移。高密度的异质界面可使微裂纹发生连续偏转,有效延长裂纹扩散路径的同时消耗裂纹传播能量,从而提高断裂韧度。同时,较小的l也易于获得优异的抗氧化性能,l较小时Ti_(3)AlN纳米层占主导地位,Al倾向于在表面形成致密的Al_(2.O_(3)层,阻碍氧气向薄膜内部扩散。此外,Ti_(3)AlN/ZrYN纳米多层膜表面形成的结瘤缺陷增加表面粗糙度,使得薄膜的疏水性能得到提高,从而使其在潮湿环境中不易快速发生腐蚀。

关键词： Ti_(3)AlN/ZrYN纳米多层膜力学性能抗氧化性疏水性

Extracellular polymeric substances as paper coating biomaterials derived from anaerobic granular sludge

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Environmental Science and Ecotechnology 2024年第5期21卷 178-186页

作者： Cuijie Feng Lorenzo Bonetti Hui Lu zhongbo Zhou Tommaso Lotti Mingsheng Jia Giacomo Rizzardi Luigi De Nardo Francesca Malpei Department of Civil and Environmental Engineering Politecnico di MilanoPiazza Leonardo da Vinci3220133MilanItaly School of Civil Engineering Sun Yat-sen University519082ZhuhaiChina Department of Chemistry Materials and Chemical Engineering“G.Natta”Politecnico di MilanoVia Mancinelli720131MilanItaly School of Environmental Science and Engineering Sun Yat-sen University510275GuangzhouChina Southwest University College of Resources and EnvironmentTiansheng Road 2Beibei District400716ChongqingChina Civil and Environmental Engineering Department University of FlorenceVia di Santa Marta 350139FlorenceItaly Center for Microbial Ecological and Technology(CMET) Ghent UniversityCoupure Links 653GentBelgium

Recovering extracellular polymeric substances(EPS)from waste granular sludge offers a cost-effective and sustainable approach for transforming wastewater resources into industrially valuable ***,the application potential of these EPS in real-world scenarios,particularly in paper manufacturing,remains *** we show the feasibility of EPS-based biomaterials,derived from anaerobic granular sludges,as novel coating agents in paper *** systematically characterised the rheological properties of various EPS-based *** applied as surface sizing agents,these EPS-based biomaterials formed a distinct,ultra-thin layer on paper,as evidenced by scanning electron microscopy.A comprehensive evaluation of water and oil penetration,along with barrier properties,revealed that EPS-enhanced coatings markedly diminished water absorption while significantly bolstering oil and grease *** performance was observed in EPS variants with elevated protein and hydrophobic contents,correlating with their superior rheological *** enhanced water-barrier and grease resistance of EPS-coated paper can be attributed to its non-porous,fine surface structure and the functional groups in EPS,particularly the high protein content and hydrophobic humic-like *** research marks the first demonstration of utilizing EPS from anaerobic granular sludge as paper-coating biomaterials,bridging a critical knowledge gap in the sustainable use of biopolymers in industrial applications.

关键词： Anaerobic granular sludge Extracellular polymeric substances(EPS) Resource recovery Paper coating

A Review of Polyurethane as an Alternative to Asphalt Binder for More Sustainable Roads: Performance， Environment， and Economy

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Journal of Traffic and Transportation Engineering(English Edition) 2024年

作者： Lei Xu Tong Lu zhongbo Chen Hangtian Ni Daquan Sun Yufeng Tian Key Laboratory of Road and Traffic Engineering of Ministry of Education， Tongji University School of Highway， Chang'an University

Polyurethane (PU) as an alternative for petroleum asphalt binder in pavement engineering can not only prolong the service life of the pavement， but also enable the pavement to perform multiple functions such as drainage， noise reduction， snow melting， and ice melting， and flame retardancy， providing with economic， social and environmental benefits. PU is a kind of "wear-resistant rubber" with high strength and good wear resistance obtained by pre-polymerization of isocyanate and polyol. In this review， the design and preparation of PU and aggregates， i.e. PU mixture， were summarized， followed by the discussion of the strength， stiffness and durability of PU mixture. Numerous creative concepts of structure and mixture design of PU pavements were summarized， and PU dosage， the curing time， temperature， and compaction times were clarified in detail. Particularly， some successful applications including PoroElastic Road Surface (PERS)， PU porous mixture (PPM)， PU rubber particle mixture (PRPM)， and permeable PU stabilized recycled aggregate (PPSRA) were discussed. Special attention was given to the economic and environmental benefits of PU pavement. Overall， the PU pavement can achieve the much-needed functions of modern urban roads or highways， and prolong the service life of the pavement. However， more researches are needed to explore the design methods of PU mixture and improved its road performance. In addition， reducing the price of PU to reduce the construction cost of PU mixture was also a problem that needed to be solved.

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Unique double-layer solid electrolyte interphase formed with fluorinated ether-based electrolytes for high-voltage lithium metal batteries

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Journal of Energy Chemistry 2024年第1期88卷 532-542,I0012页

作者： Ruo Wang Jiawei Li Bing Han Qingrong Wang Ruohong Ke Tong Zhang Xiaohu Ao Guangzhao Zhang zhongbo Liu Yunxian Qian Fangfang Pan Iseult Lynch Jun Wang Yonghong Deng Department of Materials Science&Engineering School of Innovation and EntrepreneurshipSouthern University of Science and TechnologyShenzhen 518055GuangdongChina School of Geography Earth and Environmental SciencesUniversity of BirminghamEdgbastonBirmingham B152TTUK Key Laboratory of Marine Environmental Corrosion and Bio-Fouling Institute of OceanologyChinese Academy of SciencesQingdao 266071ShandongChina Shenzhen CAPCHEM Technology Co. Ltd.Shenzhen 518118GuangdongChina CALB Group Co. Ltd.Changzhou 213200JiangsuChina

Li metal batteries using high-voltage layered oxides cathodes are of particular interest due to their high energy ***,they suffer from short lifespan and extreme safety concerns,which are attributed to the degradation of layered oxides and the decomposition of electrolyte at high voltage,as well as the high reactivity of metallic *** key is the development of stable electrolytes against both highvoltage cathodes and Li with the formation of robust interphase films on the ***,we report a highly fluorinated ether,1,1,1-trifluoro-2.[(2.2.2.trifluoroethoxy)methoxy]ethane(TTME),as a cosolvent,which not only functions as a diluent forming a localized high concentration electrolyte(LHCE),but also participates in the construction of the inner solvation *** TTME-based electrolyte is stable itself at high voltage and induces the formation of a unique double-layer solid electrolyte interphase(SEI)film,which is embodied as one layer rich in crystalline structural components for enhanced mechanical strength and another amorphous layer with a higher concentration of organic components for enhanced *** Li||Cu cells display a noticeably high Coulombic efficiency of 99.2.%after 300 cycles and Li symmetric cells maintain stable cycling more than 32.0 h at 0.5 mA/cm^(2. and 1.0m Ah/cm^(2..In addition,lithium metal cells using LiNi_(0.8)Co_(0.1)Mn_(0.1)O_(2. and Li CoO_(2. cathodes(both loadings~3.0 m Ah/cm^(2.)realize capacity retentions of>85%over 2.0 cycles with a charge cut-off voltage of 4.4 V and 90%for 170 cycles with a charge cut-off voltage of 4.5 V,*** study offers a bifunctional ether-based electrolyte solvent beneficial for high-voltage Li metal batteries.

关键词： Lithium metal batteries High-voltage layered oxides Fluorinated ether-based electrolytes Solid electrolyte interphase Cathode electrolyte interphase

Cryo-EM structure of cannabinoid receptor CB1-β-arrestincomplex

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Protein & Cell 2024年第3期15卷 230-234页

作者： Yuxia Wang Lijie Wu Tian Wang Junlin Liu Fei Li Longquan Jiang zhongbo Fan Yanan Yu Na Chen Qianqian Sun Qiwen Tan Tian Hua Zhi-Jie Liu iHuman Institute ShanghaiTech UniversityShanghai 201210China School of Life Science and Technology ShanghaiTech UniversityShanghai 201210China Institute of Molecular and Clinical Medicine Kunming Medical UniversityKunming 650500China

Dear Editor,G protein-coupled receptors(GPCRs)play a vital role in regulating almost every aspect of human physiology,making up more than one-third of marketed drug targets(Santos et al.,2.17).GPCRs orchestrate their signalling through interactions with three distinct downstream protein families:G proteins,G protein-coupled receptor kinases(GRKs),and arrestins(Santos et al.,2.17).While G protein-mediated signalling is initiated upon GPCR stimulation,activated GPCRs return to their basal levels through a GRK-and arrestin-regulated desensitization process(Santos et al.,2.17).In addition to modulating receptor desensitization,β-arrestin also regulates downstream events that are distinct from classical G protein signalling(Ahn et al.,2.2.).

关键词： stimulation return

废弃矿井地下空间再利用根源因素识别及评价模型构建

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中国矿业大学学报 2024年第3期53卷 585-599,612页

作者：孙中博赵毅鑫任建东中国矿业大学(北京)共伴生能源精准开采北京市重点实验室北京100083 中国矿业大学(北京)能源与矿业学院北京100083

为了推动废弃矿井空间资源的精准开发利用,根据地质条件和形态方位差异对影响废弃矿井地下空间再利用的众多因素开展系统研究.首先,从资源禀赋状态、稳定性、安全性和区位条件4个维度构建了包含18个因素的指标体系.然后,引入K-means聚... 详细信息

为了推动废弃矿井空间资源的精准开发利用,根据地质条件和形态方位差异对影响废弃矿井地下空间再利用的众多因素开展系统研究.首先,从资源禀赋状态、稳定性、安全性和区位条件4个维度构建了包含18个因素的指标体系.然后,引入K-means聚类算法避免了阈值确定的主观性和随意性,建立DEMATEL-ISM评价模型分析各因素间的相互作用关系.其次,构建多属性两阶段决策评价模型,采用TFN-TODIM方法对备选矿井排序.结果表明:“高度影响关系”类别的阈值包含63个,λ取值范围为0.107~0.2.8.各影响因素之间呈现复杂的同级和跨级作用关系,并得到了影响废弃矿井地下空间再利用的5个关键因素(煤层稳定性、围岩性质、地质构造复杂程度、开采深度、地质灾害发生频率)和3个根本因素(瓦斯浓度等级、矿井涌水量、煤层自燃倾向性).以地下旅游及休闲娱乐场所模式为例,各备选矿井的优劣势排序为A1(山西太原白家庄煤矿)>A3(山东济宁唐口煤矿)>A2.山西临汾团柏煤矿)>A5(陕西榆林山东煤矿)>A7(贵州遵义云安煤矿),最优先开发的矿井为山西太原白家庄煤矿.最后,展望了物资仓储、医疗场所、科研教学基地和深地工程等模式的决策评价模型的研究焦点和方向.研究结论为促进废弃矿井地下空间资源再利用提供了理论支撑,对推动矿区转型发展具有借鉴意义.

关键词：废弃矿井地下空间再利用 DEMATEL-ISM K-means聚类 TODIM