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A variable structure passivity control method for elastic joint robots based on cascaded high-order state estimation

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Science China(Technological Sciences) 2024年第2期67卷 395-407页

作者： zhang JieXin NIE PingYun zhang bo State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China

Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction ***,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure *** method ensures the tracking error converges in a finite time,even when the system faces *** method also preserves the passivity of the ***,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity *** observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation *** particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot *** effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.

关键词： motion control elastic joint robot finite-time convergence high-order system state estimation physical human-robot interaction

Automated regression test method for scientific computing libraries:Illustration with SPHinXsys

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Journal of Hydrodynamics 2024年第3期36卷 466-478页

作者： bo zhang Chi zhang Xiangyu Hu TUM School of Engineering and Design Technical University of MunichMunichGermany

Scientific computing libraries,whether in-house or open-source,have witnessed enormous progress in both engineering and scientific ***,it is important to ensure that modifications to the source code,prompted by bug fixing or new feature development,do not compromise the accuracy and functionality that have been already validated and *** paper introduces a method for establishing and implementing an automatic regression test environment,using the open-source multi-physics library SPHinXsys as an illustrative ***,a reference database for each benchmark test is generated from observed data across multiple *** comprehensive database encapsulates the maximum variation range of metrics for different strategies,including the time-averaged,ensemble-averaged,and dynamic time warping *** accounts for uncertainties arising from parallel computing,particle relaxation,physical instabilities,and ***,new results obtained after source code modifications undergo testing based on a curve-similarity comparison against the reference *** the source code is updated,the regression test is automatically executed for all test cases,providing a comprehensive assessment of the validity of the current *** regression test environment has been successfully implemented in all dynamic test cases within SPHinXsys,including fluid dynamics,solid mechanics,fluid-structure interaction,thermal and mass diffusion,reaction-diffusion,and their multi-physics couplings,and demonstrates robust capabilities in testing different *** is noted that while the current test environment is built and implemented for a particular scientific computing library,its underlying principles are generic and can be easily adapted for use with other libraries,achieving equal effectiveness.

关键词： Scientific computing open-source library verification and validation regression test automatic test environment curve similarity comparison smoothed particle hydrodynamics

Processing,microstructure,and properties of porous ceramic composites with directional channels

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Journal of Materials Science & Technology 2024年第1期168卷 1-15页

作者： bo zhang Yang Yang Xueling Fan Key Laboratory of Service Performance and Protection Technology in Extreme Environments Xi’an Jiaotong UniversityXi’an 710049China State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace EngineeringXi’an Jiaotong UniversityXi’an 710049China

Porous ceramic composites with directional microchannels from micrometer to dozens of micrometer levels have attracted more and more attention in various fields including aerospace,biomedicines,and thermal insulation due to their excellent fluid permeability,mechanical properties,*** this article,we summarize the recent directional porous ceramics developments including their main processing routes and respective ***,the properties get from different processing routes have been com-pared and analyzed in terms of microstructures,mechanical properties,and *** has been given to the deeper understanding which can allow one to control the microstructural features of these porous ceramic composites to obtain the desired *** work can provide a useful reference for the development and application of porous ceramic composites with directional microchan-nels.

关键词： Porous ceramic composites Directional microchannels Processing routes Permeability

Deflagration and detonation induced by shock wave focusing at different Mach numbers

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Chinese Journal of Aeronautics 2024年第2期37卷 249-258页

作者： Zezhong YANG Jun CHENG bo zhang School of Aeronautics and Astronautics Shanghai Jiao Tong UniversityShanghai 200240China

Shock wave focusing is an effective way to create a hot spot or a high-pressure and hightemperature region at a certain place,showing its unique usage in detonation initiation,which is beneficial for the development of detonation-based *** flame propagation behavior after the autoignition induced by shock wave focusing is crucial to the formation and self-sustaining of the detonation *** this study,wedge reflectors with two different angles(60°and 90°)and a planar reflector are employed,and the Mach number of incident shock waves ranging from 2.0 to 2.8 is utilized to trigger different flame propagation *** pressure transducers and the high-speed schlieren imaging system are both employed to investigate the shock-shock collision and ignition *** results reveal a total of four flame propagation modes:deflagration,DDT(Deflagration-to-Detonation Transition),unsteady detonation,and direct *** detonation wave formed in the DDT and unsteady detonation mode is only approximately 75%-85%of the Chapman-Jouguet(C-J)speed;meanwhile,the directly induced detonation wave speed is close to the C-J *** waves,which are strong evidence for the existence of detonation waves,are discovered in *** usage of wedge reflectors significantly reduces the initial pressure difference ratio needed for direct detonation *** also provide a practical method for differentiating between detonation and deflagration modes,which involves contrasting the speed of the reflected shock wave with the speed of the theoretically nonreactive reflected shock *** findings should serve as a reference for the detonation initiation technique in advanced detonation propulsion engines.

关键词： Deflagration Detonation Hydrogen Ignition Shock wave focusing

A SINGULAR DIRICHLET PROBLEM FOR THE MONGE-AMPÈRE TYPE EQUATION

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Acta Mathematica Scientia 2024年第5期44卷 1965-1983页

作者： Zhijun zhang bo zhang School of Mathematics and Information Science Yantai UniversityYantai264005China

We consider the singular Dirichlet problem for the Monge-Ampère type equation{\rm det}\D^2 u=b(x)g(-u)(1+|\nabla u|^2)^{q/2},\u<0,\x\in\Omega,\u|_{\partial\Omega}=0,whereΩis a strictly convex and bounded smooth doma... 详细信息

We consider the singular Dirichlet problem for the Monge-Ampère type equation{\rm det}\D^2 u=b(x)g(-u)(1+|\nabla u|^2)^{q/2},\ubounded smooth domain inℝn,q∈[0,n+1),g∈C∞(0,∞)is positive and strictly decreasing in(0,∞)with\lim\limits_{s\rightarrow 0^+}g(s)=\infty,and b∈C∞(Ω)is positive inΩ.We obtain the existence,nonexistence and global asymptotic behavior of the convex solution to such a problem for more general b and *** approach is based on the Karamata regular variation theory and the construction of suitable sub-and super-solutions.

关键词： Monge-Ampère equation a singular boundary value problem the unique convex solution global asymptotic behavior

CO_(2) capture by modified clinoptilolite and its regeneration performance

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International Journal of Coal Science & Technology 2024年第2期11卷 81-90页

作者： bo Jiang bo zhang Xuqin Duan Yi Xing School of Energy and Environmental Engineering University of Science and Technology BeijingBeijing 100083China Beijing Key Laboratory of Resource-Oriented Treatment of Industrial Pollutants University of Science and Technology BeijingBeijing 100083China YangQuan Coal Industry(Group)Co.Ltd. Yangquan 045000China School of Civil and Resource Engineering University of Science and Technology BeijingBeijing 100083China

This study focuses on CO_(2) capture by pressure swing adsorption(PSA),with modified clinoptilolite as the *** clinoptilolite is modified by roasting,by acid pickling,by a combination of acid pickling and roasting,and by ion *** by acid pickling-roasting and by ion exchange are found to give the highest CO_(2) adsorption capacities,of 730 mL/g and 876.7 mL/g,*** is found that regeneration of clinoptilolite by a combination of vacuum desorption and heating enables recovery of as much as 89%of its previous CO_(2) adsorption *** examine the CO_(2) adsorption capacity of clinoptilolite when applied to mixed gas,a simulated coking exhaust containing 12%CO_(2) and 4%O_(2) is used,and it is found that ion exchange modified clinoptilolite achieves a CO_(2) removal efficiency of 92.5%.A BET test reveals that acid pickling-roasting and Na^(+) modification enhance the porosity of clinoptilolite,thereby improving its adsorption *** work demonstrates the feasibility of applying modified clinoptilolite as an effective adsorbent for COO_(2)capture,providing a promising tool for dealing with greenhouse gases.

关键词： Clinoptilolite Carbon dioxide capture Pressure swing adsorption(PSA)

Optimal Planning of Hybrid AC/DC Low-voltage Distribution Networks Considering DC Conversion of Three-phase Four-wire Low-voltage AC Systems

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Journal of Modern Power Systems and Clean Energy 2024年第1期12卷 141-153页

作者： bo zhang Lu zhang Wei Tang Gen Li Chen Wang the College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China the Electric Energy Group Department of Engineering TechnologyTechnical University of Denmark(DTU)2750 BallerupDenmark the Power Distribution Technology Center State Grid Beijing Electric Power Research InstituteBeijing 100075China

The increasing integration of distributed household photovoltaics(PVs)and electric vehicles(EVs)may further ag gravate voltage violations and unbalance of low-voltage distribu tion networks(LVDNs).DC distribution networks can increase the accommodation of PVs and EVs and mitigate mutilple pow er quality problems by the flexible power regulation capability of voltage source *** paper proposes schemes to es tablish hybrid AC/DC LVDNs considering the conversion of the existing three-phase four-wire low-voltage AC systems to DC op *** characteristics and DC conversion constraints of typical LVDNs are *** addition,converter configura tions for typical LVDNs are proposed based on the three-phase four-wire characteristics and quantitative analysis of various DC ***,an optimal planning method of hybrid AC/DC LVDNs is proposed,which is modeled as a bi-level programming model considering the annual investments and three-phase *** are conducted to verify the effectiveness of the proposed optimal planning *** ulation results show that the proposed optimal planning method can increase the integration of PVs while simultaneously reduc ing issues related to voltage violation and unbalance.

关键词： Optimal planning low-voltage distribution net work three-phase unbalance DC conversion

Development of a convolutional neural network based geomechanical upscaling technique for heterogeneous geological reservoir

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第6期16卷 2111-2125页

作者： Zhiwei Ma Xiaoyan Ou bo zhang Earth and Environmental Sciences Division Los Alamos National LaboratoryLos AlamosUSA Civil and Environmental Engineering University of AlbertaEdmontonCanada

Geomechanical assessment using coupled reservoir-geomechanical simulation is becoming increasingly important for analyzing the potential geomechanical risks in subsurface geological ***,a robust and efficient geomechanical upscaling technique for heterogeneous geological reservoirs is lacking to advance the applications of three-dimensional(3D)reservoir-scale geomechanical simulation considering detailed geological ***,we develop convolutional neural network(CNN)proxies that reproduce the anisotropic nonlinear geomechanical response caused by lithological heterogeneity,and compute upscaled geomechanical properties from CNN *** CNN proxies are trained using a large dataset of randomly generated spatially correlated sand-shale realizations as inputs and simulation results of their macroscopic geomechanical response as *** trained CNN models can provide the upscaled shear strength(R^(2)>0.949),stress-strain behavior(R^(2)>0.925),and volumetric strain changes(R^(2)>0.958)that highly agree with the numerical simulation results while saving over two orders of magnitude of computational *** is a major advantage in computing the upscaled geomechanical properties directly from geological realizations without the need to perform local numerical simulations to obtain the geomechanical *** proposed CNN proxybased upscaling technique has the ability to(1)bridge the gap between the fine-scale geocellular models considering geological uncertainties and computationally efficient geomechanical models used to assess the geomechanical risks of large-scale subsurface development,and(2)improve the efficiency of numerical upscaling techniques that rely on local numerical simulations,leading to significantly increased computational time for uncertainty quantification using numerous geological realizations.

关键词： Upscaling Lithological heterogeneity Convolutional neural network(CNN) Anisotropic shear strength Nonlinear stressestrain behavior

THE NYSTROM METHOD FOR ELASTIC WAVE SCATTERINGBY UNboUNDED ROUGH SURFACES

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Journal of Computational Mathematics 2024年第5期42卷 1407-1426页

作者： Jianliang Li Xiaoli Liu bo zhang Haiwen zhang Key Laboratory of Computing and Stochastic Mathematics School of Mathematics and StatisticsHunan Normal UniversityChangsha 410081China School of Mathematical Sciences Beihang UniversityBeijing 100191China LSEC and Academy of Mathematics and Systems Science Chinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Academy of Mathematics and Systems Science Chinese Academy of SciencesBeijing 100190China

We consider a numerical algorithm for the two-dimensional time-harmonic elastic wave scattering by unbounded rough surfaces with Dirichlet boundary condition.A Nystr¨om method is proposed for the scattering problem based on the integral equation *** of the Nystr¨om method is established with convergence rate depending on the smoothness of the rough *** doing so,a crucial role is played by analyzing the singularities of the kernels of the relevant boundary integral *** experiments are presented to demonstrate the effectiveness of the *** subject classification:35P25,45P05.

关键词： Elastic wave scattering Unbounded rough surface Nystrom method