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Augmented Virtual Stiffness Rendering of a Cable-driven SEA for Human-Robot Interaction

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 714-723页

作者： Ningbo Yu Wulin Zou Wen Tan zhuo yang IEEE Institute of Robotics and Automatic Information Systems Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Haihe Education Park

Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control difficulties. In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency or high stiffness bigger than the physical spring constant, and to assess the rendering accuracy with quantified metrics. By taking a velocity-sourced model of the motor, a cascaded velocity-torque-impedance control structure is established. To achieve high fidelity torque control, the 2-DOF(degree of freedom) stabilizing control method together with a compensator has been used to handle the competing requirements on tracking performance, noise and disturbance rejection,and energy optimization in the cable-driven SEA system. The conventional passivity requirement for HRI usually leads to a conservative design of the impedance controller, and the rendered stiffness cannot go higher than the physical spring constant. By adding a phase-lead compensator into the impedance controller,the stiffness rendering capability was augmented with guaranteed relaxed passivity. Extensive simulations and experiments have been performed, and the virtual stiffness has been rendered in the extended range of 0.1 to 2.0 times of the physical spring constant with guaranteed relaxed passivity for physical humanrobot interaction below 5 Hz. Quantified metrics also verified good rendering accuracy.

关键词： Cable actuation impedance control physical human-robot interaction relaxed passivity series elastic actuator stabilizing 2-DOF(degree of freedom) controllers

A fuse-based DC circuit breaker with vacuum interrupter enhanced by an external transverse magnetic field

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High Voltage 2024年第3期9卷 710-720页

作者： Yu Xiao Yi Wu Yifei Wu Fei yang Mingzhe Rong zhuo yang State Key Laboratory of Electrical Insulation and Power Equipment School of Electric EngineeringXi'an Jiaotong UniversityXi'anChina State Grid Shaanxi Electric Power Company Limited Xi'anChina

Due to the increasing power system capacity,the interruption of large fault currents has gradually become a major challenge in power *** the moment,such currents are interrupted mainly via circuit breakers based on the method of active current ***,these types of circuit breakers tend to be costly and *** possible alternative—a fuse-based circuit breaker with current commutation process enhanced by an external transverse magnetic field(ETMF)—is proposed by the *** main advantage lies in the fast current commutation achieved by an ETMF-enhanced three-stage increase of the vacuum arc *** study of the current commutation process is mainly represented by the authors,and the influencing factors of the current commutation—contact opening speed and ETMF current—are *** last,the proposed circuit breaker is verified by an experiment,whose results show that a short-circuit current of 42 kA can be interrupted within just 2 ms.

关键词： vacuum transverse interrupt

Application of high energy X-ray diffraction and Rietveld refinement in layered lithium transition metal oxide cathode materials

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Nano Research 2023年第7期16卷 9954-9967页

作者： zhuo yang Yong Lu Xiaomeng Liu Fujun Li Jun Chen Renewable Energy Conversion and Storage Center(RECAST) Key Laboratory of Advanced Energy Materials Chemistry(Ministry of Education)College of ChemistryNankai UniversityTianjin 300071China

Layered lithium transition metal oxide(LTMO)cathode materials have attracted much attention for lithium-ion batteries and are shining in the current *** a clear structure-performance relationship is necessary for the performance improvement of LTMO cathode *** combination of synchrotron X-ray diffraction(XRD)with high intensity and XRD Rietveld refinement is powerful for revealing the structural characteristics of LTMO cathode *** review summarizes the application of high energy XRD and Rietveld refinement in LTMO cathode materials,including the brief introduction of synchrotron XRD and Rietveld refinement and their applications in understanding the structural evolution related to the synthetic,thermal runaway,cycling,and high-rate charge/discharge process of LTMO cathode *** XRD can provide insights into the intermediates and reaction paths in the synthesis process,the origin of thermal runaway,the mechanism of structural decay during cycles,and the structural evolution during high-rate charging/*** works should focus on the development of higher intensity X-rays to gain more in-depth insights into the intrinsic relationship between their structural characteristics and properties.

关键词： synchrotron X-ray diffraction Rietveld refinement layered cathode materials transition metal oxide lithium-ion batteries

Investigation on Metallurgical Factors Controlling Charpy Impact Toughness in 1Cr21Ni5Ti Duplex Stainless Steel

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Journal of Iron and Steel Research International 2009年第2期16卷 73-79页

作者： yang zhuo-yue SU Jie WANG Ya-ming Institute of Structure Materials Central Iron and Steel Research Institute Beijing 100081 China Steel Tube Department China Iron and Steel Research Institute Group Beijing 100081 China

Based on the fact that toughness degradation occurred in 1Cr21Ni5Ti duplex stainless steel during slow cooling in a temperature interval of 400-600 ℃ following brazed welding, a simulated embrittlement treatment was utilized to evaluate its emhrittlement tendency. Accumulated experiences have shown that high Ti and A1 contents led frequently to severe toughness deterioration. To elucidate this phenomenon, four heats with various Ti and Al contents were prepared in laboratory-scale melts, which were used to investigate the inherent embrittlement nature. The results have shown that 550 ℃ aging led only to a modest toughness reduction, whereas, aging around 475 ℃ resulted in ferrite embrittlement, regardless of Ti, A1 levels. However, high Ti, A1 levels reduced the austenite phase, which, in the case of its inferior shape and distribution due to insufficient hot deformation, failed to resist cleavagetype cracks initiated in the ferrite phase. Increasing hot-forged areas reduction could modify the shape and distribution of austenite, resulting in the enhanced resistance of the austenite to the cleavage-type cracks, which have been confirmed to be beneficial for brittlement suppression of 1Cr21Ni5Ti duplex stainless steel.

关键词： 1Cr21Ni5Ti steel emhrittlement Ti content AI content impact toughness

Effect of initial ammonium concentration on a one-stage partial nitrification/anammox biofilm system:Nitrogen removal performance and the microbial community

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Journal of Environmental Sciences 2024年第9期143卷 176-188页

作者： Mengyu Zhou Yun Han yang zhuo Fen Yu Gaoyuan Hu Dangcong Peng School of Municipal and Environmental Engineering Xi’an University of Architecture and TechnologyXi’an 710055China Shaanxi Key Laboratory of Environmental Engineering Xi’an University of Architecture and TechnologyXi’an 710055China Key Laboratory of Northwest Water Resource Environment and EcologyMOEXi’an University of Architecture and TechnologyXi’an 710055China

One-stage partial nitrification coupled with anammox(PN/A)technology effectively reduces the energy consumption of a biological nitrogen removal *** nitrite-oxidizing bacteria(NOB)is essential for this technology to maintain efficient nitrogen removal *** ammonium concentration(IAC)affects the degree of inhibited *** this study,the effect of the IAC on a PN/A biofilm was investigated in a moving bed biofilm *** results showed that nitrogen removal efficiency decreased from 82.49%±1.90%to 64.57%±3.96%after the IAC was reduced from 60 to 20 mg N/L,while the nitrate production ratio increased from 13.87%±0.90%to 26.50%±3.76%.NOB activity increased to1,133.86 mg N/m^(2)/day after the IAC decreased,approximately 4-fold,indicating that the IAC plays an important inhibitory role in *** rate-limiting step in the mature biofilm of the PN/A system is the nitritation process and is not shifted by the *** analysis of the microbial community structure in the biofilm indicates that the IAC was the dominant factor in changes in community *** and *** were the main anammox bacteria,and Nitrosomonas and Nitrospira were the main AOB and NOB,*** did not affect the difference in growth between *** and ***,modulating the IAC promoted the PN/A process with efficient nitrogen removal performance at medium to low ammonium concentrations.

关键词： Biological nitrogen removal Partial nitrification Anammox Ammonium concentration Biofilm

The principle and amelioration of lithium plating in fast-charging lithium-ion batteries

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Journal of Energy Chemistry 2024年第10期97卷 453-459,I0009页

作者： Yi yang Xia-Lin Zhong Lei Xu zhuo-Lin yang Chong Yan Jia-Qi Huang School of Materials Science and Engineering Beijing Institute of TechnologyBeijing 100081China Advanced Research Institute of Multidisciplinary Science Beijing Institute of TechnologyBeijing 100081China Beijing Key Laboratory of Green Chemical Reaction Engineering and Technology Department of Chemical EngineeringTsinghua UniversityBeijing 100084China yangtze River Delta Graduate School of Beijing Institute of Technology Jiaxing 314003ZhejiangChina

Fast charging is restricted primarily by the risk of lithium(Li)plating,a side reaction that can lead to the rapid capacity decay and dendrite-induced thermal runaway of lithium-ion batteries(LIBs).Investigation on the intrinsic mechanism and the position of Li plating is crucial to improving the fast rechargeability and safety of ***,we investigate the Li plating behavior in porous electrodes under the restricted transport of Li^(+).Based on the theoretical model,it can be concluded that the Li plating on the anodeseparator interface(ASI)is thermodynamically feasible and kinetically ***,the prior deposition of metal Li on the ASI rather than the anode-current collector interface(ACI)is verified *** order to facilitate the transfer of Li^(+)among the electrode and improve the utilization of active materials without Li plating,a bilayer asymmetric anode composed of graphite and hard carbon(GH)is *** and simulation results suggest that the GH hybrid electrode homogenizes the lithiated-rate throughout the electrode and outperforms the pure graphite electrode in terms of the rate performance and inhibition of Li *** work provides new insights into the behavior of Li plating and the rational design of electrode structure.

关键词： Graphite Hard carbon Fast charging Lithium plating Lithium-ion batteries

The synthesis and photoactivated cytotoxicity of novel 5-phenyl-3-(2,2':5',2"-terthien-5-yl)-4,5-dihydro-1H-pyrazolines

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Chinese Chemical Letters 2014年第2期25卷 333-336页

作者： Zhi-Gang Luo Zheng-Yong Liu zhuo-Hong yang Institute of Biomaterial College of SciencesSouth China Agricultural University

A series of novel 5-phenyl-3-（2,2＇：5＇,2″-terthien-5-yl）-4,5-dihydro-lH-pyrazolines were synthesized in this report. Their photoactivated cytotoxicities on the 5podoptera litura （SL） cell line were evaluated using the MTT method. It was noticed that the inhibitory activities of all the conjugates was enhanced when irradiated with UV-A light. Compounds 4, 6 and 8 were found to be most effective with inhibition rates of 88.1%, 88.0%, and 90,5%, respectively, For compound B, the inhibition rate value was only slightly enhanced under the irradiation treatment （78.3%） compared to the dark treatment （74.8%）. The relationship analysis between structure and activity showed that the middle thiophene ring played an important role on the inhibitory activities. It was shown that these compounds could be the potential candidates for new photoactivated pesticides.

关键词： Terthienyl Pyrazolines Hotoactivated cytotoxicity Spodoptera litura cell

Broad strategies for neutralizing SARS-CoV-2 and other human coronaviruses with monoclonal antibodies

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Science China(Life Sciences) 2023年第4期66卷 658-678页

作者： Zhiyang Ling Chunyan Yi Xiaoyu Sun zhuo yang Bing Sun State Key Laboratory of Cell Biology Shanghai Institute of Biochemistry and Cell BiologyCenter for Excellence in Molecular Cell ScienceChinese Academy of SciencesShanghai 200031China University of Chinese Academy of Sciences Beijing 100049China School of Life Science and Technology ShanghaiTech UniversityShanghai 201210China

Antibody therapeutics and vaccines for coronavirus disease 2019(COVID-19)have been approved in many countries,with most being developed based on the original strain of severe acute respiratory syndrome coronavirus 2(SARS-CoV-2).SARS-CoV-2 has an exceptional ability to mutate under the pressure of host immunity,especially the immune-dominant spike protein of the virus,which is the target of both antibody drugs and *** the continuous evolution of the virus and the identification of critical mutation sites,the World Health Organization(WHO)has named 5 variants of concern(VOCs):4 are previously circulating VOCs,and 1 is currently circulating(Omicron).Due to multiple mutations in the spike protein,the recently emerged Omicron and descendent lineages have been shown to have the strongest ability to evade the neutralizing antibody(NAb)effects of current antibody drugs and *** development and characterization of broadly neutralizing antibodies(bNAbs)will provide broad strategies for the control of the sophisticated virus *** this review,we describe how the virus evolves to escape NAbs and the potential neutralization mechanisms that associated with *** also summarize progress in the development of bNAbs against SARS-CoV-2,human coronaviruses(CoVs)and other emerging pathogens and highlight their scientific and clinical significance.

关键词： antibody therapy broad neutralizing antibody human coronaviruses SARS-CoV-2

Adhesion and immunomodulatory effects of Bifidobacterium lactis HN019 on intestinal epithelial cells INT-407

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World Journal of Gastroenterology 2010年第18期16卷 2283-2290页

作者： Liu, Chang Zhang, zhuo-yang Dong, Ke Guo, Xiao-Kui Shanghai Jiao Tong Univ Sch Med Inst Med Sci Dept Med Microbiol & Parasitol Shanghai 200025 Peoples R China

AIM:To elucidate the adherence and immunomodulatory properties of a probiotic strain Bifidobacterium lactis(***) ***:Adhesion assays of *** HN019 and Salmonella typhimurium(***) ATCC 14028 to INT-407 cells were carried out by detecting copies of species-specific genes with real-time polymerase chain *** study was further conducted by transmission electron ***-1β(IL-1β),interleukin-8,and tumor necrosis factor-α(TNF-α) gene expression were assessed while enzyme linked immunosorbent assay was used to detect IL-8 protein ***:The attachment of *** ATCC 14028 to INT407 intestinal epithelial cells was inhibited significantly by *** *** HN019 could be internalized into the INT-407 cells and attenuated IL-8 mRNA level at both baseline and *** pro-inflammatory ***-8 secretion was reduced while IL-1β and TNF-α mRNA expression level remained unchanged at baseline after treated with *** ***:*** HN019 does not up-regulate the intestinal epithelium expressed pro-inflammatory cytokine,it showed the potential to protect enterocytes from an acute inflammatory response induced by enteropathogen.

关键词： Probiotics Intestinal epithelium Enteropathogen Immunomodulation Adhesion