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Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

Chinese Journal of Mechanical Engineering 2024年第4期37卷 243-257页

作者： Hao Lu Zhiqiang Yang deliang Zhu Fei Deng Shijie Guo College of Electronic Information and Automation Tianjin University of Science and TechnologyTianjin 300222China Academy for Engineering&Technology Fudan UniversityShanghai 200433China Shanghai Engineering Research Center of AI&Robotics Shanghai 200433China School of Mechanical Engineering Hebei University of TechnologyTianjin 300130China

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a *** its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these ***,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical *** study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal *** on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to *** experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction *** method establishes a mapping relationship between the friction force and motor *** addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic *** tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic *** study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.

关键词： Nursing-care robot Coupled-drive joint Dynamic modeling Parameter identification

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Towards climate resilient urban energy systems: a review

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National Science Review 2021年第3期8卷 159-176页

作者： Vahid M.Nik A.T.D.Perera deliang Chen Division of Building Physics Department of Building and Environmental Technology Lund University Institute for Future Environments(IFE) Queensland University of Technology(QUT) Regional Climate Group Department of Earth SciencesUniversity of Gothenburg Division of Building Technology Department of Architecture and Civil Engineering Chalmers University of Technology Solar Energy and Building Physics Laboratory(LESO-PB) Ecole Polytechnique Federale de Lausanne(EPFL) Urban Energy Systems Laboratory

Climate change and increased urban population are two major concerns for *** towards more sustainable energy solutions in the urban context by integrating renewable energy technologies supports decarbonizing the energy sector and climate change mitigation.A successful transition also needs adequate consideration of climate change including extreme events to ensure the reliable performance of energy systems in the long *** review provides an overview of and insight into the progress achieved in the energy sector to adapt to climate change,focusing on the climate resilience of urban energy *** state-of-the-art methodology to assess impacts of climate change including extreme events and uncertainties on the design and performance of energy systems is described and *** resilience is an emerging concept that is increasingly used to represent the durability and stable performance of energy systems against extreme climate ***,it has not yet been adequately explored and widely used,as its definition has not been clearly articulated and assessment is mostly based on qualitative *** study reveals that a major limitation in the state-of-the-art is the inadequacy of climate change adaptation approaches in designing and preparing urban energy systems to satisfactorily address plausible extreme climate ***,the complexity of the climate and energy models and the mismatch between their temporal and spatial resolutions are the major limitations in linking these ***,few studies have focused on the design and operation of urban energy infrastructure in terms of climate *** the occurrence of extreme climate events and increasing demand for implementing climate adaptation strategies,the study highlights the importance of improving energy system models to consider future climate variations including extreme events to identify climate resilient energy transition pathways.

关键词： climate resilience climate change adaptation urban energy systems renewable energy extreme events decentralized generation

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Functions of ULK1 in autophagy and non-autophagy pathways and its implications in human physiology and disease

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BIOCELL 2020年第4期44卷 535-543页

作者： LINNA TAN YUYONG TAN deliang LIU Department of Gastroenterology the Second Xiangya HospitalChangsha410011China Research Center of Digestive Disease Central South UniversityChangsha410011China

ULK1(unc-51 like autophagy activating kinase 1),a mammalian serine/threonine kinase,is a key component of autophagy initiation complex and helps to induce all types of *** autophagy is a process in which,through the interactions of a series of autophagy-related proteins,damaged organelles or misfolded proteins are engulfed by autophagosomes and then merged with lysosomes to be ***,canonical autophagy is an important constituent part of the cellular“quality control.”Besides,accumulating evidence indicates that ULK1 exerts autophagy-independent effects in a cell-specific *** example,ULK1 facilitates neurite elongation through the regulation of endoplasmic reticulum(ER)–Golgi trafficking in neurons,stimulates phosphopentose pathway to help NADPH(nicotinamide adenine dinucleotide phosphate hydrogen)production,and acts as a duplex regulator in type I IFN(type I interferon)induced innate immune *** the importance and diversity of ULK1 in various biological processes,this review aims to present a comprehensive overview of autophagy and non-autophagy related functions of ULK1 in a variety of human physiological,pathological,and disease processes.

关键词： Ubiquitination Axonal extension Cancer Metabolism Immune response Stress

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Microsized SnS/Few-Layer Graphene Composite with Interconnected Nanosized Building Blocks for Superior Volumetric Lithium and Sodium Storage

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Energy & Environmental Materials 2021年第2期4卷 229-238页

作者： deliang Cheng Lichun Yang Renzong Hu Jiangwen Liu Min Zhu Guangdong Provincial Key Laboratory of Advanced Energy Storage Materials School of Materials Science and EngineeringSouth China University of TechnologyGuangzhou 510640China Institute of Advanced Materials Jiangxi Normal UniversityNanchang

To develop anode materials with superior volumetric storage is crucial for practical application of lithium/sodium-ion ***,we have developed a micro/nanostructured Sn S/few-layer graphene(Sn S/FLG)composite by facile scalable plasma *** the hybrid,SnS nanoparticles are tightly supported by FLG,forming nanosized primary particles as building blocks and assembling to microsized secondary *** this unique micro/nanostructure,the Sn S/FLG composite possesses a high tap density of 1.98 g cm^(-3)and thus ensures a high volumetric *** combination of Sn S nanoparticles and FLG nanosheets can not only enhance the overall electrical conductivity and facilitate the ion diffusion greatly,but alleviate the large volume expansion of Sn S effectively and maintain the electrode integrity during ***,the densely compacted Sn S/FLG composite exhibits superior volumetric lithium and sodium storage,including high volumetric capacities of 1926.5/1051.4 m Ah cm^(-3)at 0.2 A g^(-1),and high retained capacities of 1754.3/760.3 m Ah cm^(-3)after 500cycles at 1.0 A g^(-1).With superior volumetric storage performance and facile scalable synthesis,the Sn S/FLG composite can be a promising anode for practical batteries application.

关键词： micro/nanostructure SnS nanoparticle few-layer graphene volumetric storage anode

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Data Cleaning Based on Stacked Denoising Autoencoders and Multi-Sensor Collaborations

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Computers, Materials & Continua 2020年第5期63卷 691-703页

作者： Xiangmao Chang Yuan Qiu Shangting Su deliang Yang Nanjing University of Aeronautics and Astronautics NanjingChina Collaborative Innovation Center of Novel Software Technology and Industrialization NanjingChina Michigan State University LansingUSA

Wireless sensor networks are increasingly used in sensitive event ***,various abnormal data generated by sensors greatly decrease the accuracy of the event *** many methods have been proposed to deal with the abnormal data,they generally detect and/or repair all abnormal data without further ***,besides the abnormal data caused by events,it is well known that sensor nodes prone to generate abnormal data due to factors such as sensor hardware drawbacks and random effects of external *** with all abnormal data without differentiate will result in false detection or missed detection of the *** this paper,we propose a data cleaning approach based on Stacked Denoising Autoencoders(SDAE)and multi-sensor *** detect all abnormal data by SDAE,then differentiate the abnormal data by multi-sensor *** abnormal data caused by events are unchanged,while the abnormal data caused by other factors are *** data based simulations show the efficiency of the proposed approach.

关键词： Data cleaning wireless sensor networks stacked denoising autoencoders multi-sensor collaborations

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Hydrogeochemical and Isotopic Evidence for Flow Paths of Karst Waters Collected in the Heshang Cave,Central China

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Journal of Earth Science 2015年第1期26卷 149-156页

作者： Xiang Long Ziyong Sun Aiguo Zhou deliang Liu School of Environmental Studies China University of Geosciences

Understanding of hydrological processes in caves is important to help us interpret paleoclimate records from speleothems. In this study, we integrated hydrogeological and hydrogeochemical properties to characterize the hydraulic behavior of karst waters in the Heshang Cave, Central China. Using geological and topographical analyses, we identified regional watershed boundaries and hydrogeological connections that were controlled by anticlinal geometry and faults. Water samples were collected from the Heshang Cave and potential recharge sites. Geochemical data of c（Sr^2＋）/c（Ca^2＋） and c（Mg^2＋）/c（Ca^2＋） ratios suggest that the drainage system in Heshang Cave consists of two flow paths. For vadose waters, including drip water and rimstone pool water, c（Sr^2＋）/c（Ca^2＋） ratio ranges from 0.000 6 to 0.001 1, and c（Mg^2＋）/c（Ca^2＋） ratio ranges from 0.97 to 1.1, indicating that recharge was mainly from rainfall infiltration through the overlying Cambrian dolomite stratum. In contrast, slope current and underground river waters have higher c（Sr^2＋）/c（Ca^2＋） ratios （values from 0.002 2 to 0.002 8）, and lower c（Mg2＋）/c（Ca^2＋） ratios （values from 0.50 to 0.64）. These waters show homogeneous isotopic composition （δ^18O： -7.15‰- -6.95‰; δD： -52.73‰- -51.31‰）, implying recharge of allogeneic water from the Xiaocr River via karst conduits that pass through Ordovician limestone and Cambrian dolomite stratum.

关键词： karst water hydrogeochemistry stable isotope flow path Heshang Cave.

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Landslide susceptibility mapping(LSM)based on different boosting and hyperparameter optimization algorithms:A case of Wanzhou District,China

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第8期16卷 3221-3232页

作者： deliang Sun Jing Wang Haijia Wen YueKai Ding Changlin Mi Key Laboratory of GIS Application Research Chongqing Normal UniversityChongqing 401331China Key Laboratory of New Technology for Construction of Cities in Mountain Area Ministry of EducationChongqing UniversityChongqing 400045China National Joint Engineering Research Center of Geohazards Prevention in the Reservoir Areas Chongqing UniversityChongqing 400045China School of Civil Engineering Chongqing UniversityChongqing 400045China Natural Resources Development Service Center of Linyi Linyi 276000China

Boosting algorithms have been widely utilized in the development of landslide susceptibility mapping(LSM)***,these algorithms possess distinct computational strategies and hyperparameters,making it challenging to propose an ideal LSM *** investigate the impact of different boosting algorithms and hyperparameter optimization algorithms on LSM,this study constructed a geospatial database comprising 12 conditioning factors,such as elevation,stratum,and annual average *** XGBoost(XGB),LightGBM(LGBM),and CatBoost(CB)algorithms were employed to construct the LSM ***,the Bayesian optimization(BO),particle swarm optimization(PSO),and Hyperband optimization(HO)algorithms were applied to optimizing the LSM *** boosting algorithms exhibited varying performances,with CB demonstrating the highest precision,followed by LGBM,and XGB showing poorer ***,the hyperparameter optimization algorithms displayed different performances,with HO outperforming PSO and BO showing poorer *** HO-CB model achieved the highest precision,boasting an accuracy of 0.764,an F1-score of 0.777,an area under the curve(AUC)value of 0.837 for the training set,and an AUC value of 0.863 for the test *** model was interpreted using SHapley Additive exPlanations(SHAP),revealing that slope,curvature,topographic wetness index(TWI),degree of relief,and elevation significantly influenced landslides in the study *** study offers a scientific reference for LSM and disaster prevention *** study examines the utilization of various boosting algorithms and hyperparameter optimization algorithms in Wanzhou *** proposes the HO-CB-SHAP framework as an effective approach to accurately forecast landslide disasters and interpret LSM ***,limitations exist concerning the generalizability of the model and the data processing,which require further exploration in subsequent studies.

关键词： Landslide susceptibility Hyperparameter optimization Boosting algorithms SHapley additive exPlanations(SHAP)

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Assessment of Central Asian heat extremes by statistical downscaling:Validation and future projection for 2015-2100

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Advances in Climate Change Research 2022年第1期13卷 14-27页

作者： Li-Jun FAN Zhong-Wei YAN deliang CHEN Zhen LI Key Laboratory of Regional Climate-Environment Research for Temperate East Asia(RCE-TEA) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China Regional Climate Group Department of Earth SciencesUniversity of GothenburgGothenburg 40530Sweden

Increasing heatwaves and extreme temperatures have recently been observed across Central Asia(CA).Accurately assessing and projecting the changing climate extremes at the local(station)scale required for climate risk management are therefore highly ***,global and regional climate models often fail to represent the statistical distributions of observed daily extreme variables and hence extremes in complex *** this work,we developed a statistical downscaling(SD)model to project summer daily maximum temperature(Tmax)and heatwave indices for 65 meteorological stations in CA toward *** SD model involves first-order autoregression and multiple linear regression using large-scale Tmax and circulation indices(Cis)as predictors,and the model is cross-validated against historical *** local Tmax and heatwave indices are then projected for 2015-2100 driven by the output of a global climate model(CNRM-CM6-1)under four Shared Socioeconomic Pathways(SSP126,SSP245,SSP370,and SSP585).The application of the SD model significantly improves forecasting of the probability distribution(10th/90th percentiles)of Tmax at stations,particularly across mountainous *** model also captures interannual variability and the long-term trend in Tmax,consistent with synoptic-scale *** projections demonstrate strong warming trends of summer Tmax in CA toward 2100 with rates between 0.35-0.64℃ per decade based on the SSP245 and SSP370 ***,heatwave occurrence is projected to rise by 1.0-5.0 and 2.0-7.0 d per decade under the SSP245 and SSP370 scenarios,respectively,by ***,intensity,and amplitude of heatwaves rise at greater rates under higher-emission scenarios,particularly in southeastern *** proposed SD model serves as a useful tool for assessing local climate extremes,which are needed for regional risk management and policymaking for adaption to climate change.

关键词： Heatwave Statistical downscaling Projection of local climate extremes Central Asia

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Alkaline zinc-based flow battery: chemical stability, morphological evolution, and performance of zinc electrode with ionic liquid

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Frontiers of Materials Science 2024年第1期18卷 113-121页

作者： Tianyong Mao Jing Dai Meiqing Xin deliang Zeng Zhipeng Xie Jiangxi Province Key Laboratory of Power Batteries and Materials Jiangxi University of Science and TechnologyGanzhou 341000China

Zinc-based flow battery is an energy storage technology with good application prospects because of its advantages of abundant raw materials,low cost,and environmental *** chemical stability of zinc electrodes exposed to electrolyte is a very important issue for zinc-based *** paper reports on details of chemical stability of the zinc metal exposed to a series of solutions,as well as the relationship between the morphological evolution of zinc electrodes and their properties in an alkaline *** corrosion of zinc electrodes by the electrolyte will change their surface ***,we observed that chemical corrosion is not the main contributor to the evolution of zinc electrode surface morphology,but the main contributor is the Zn/Zn^(2+)electrode *** morphological evolution of zinc electrodes was controlled by using ionic liquids,1-ethyl-3-methylimidazolium acetate(EMIA),and 1-propylsulfonic-3-methylimidazolium tosylate(PSMIT),and the electrode performance was recorded during the morphological evolution *** was observed that the reversible change of zinc electrode morphology was accompanied by better electrode performance.

关键词： alkaline medium morphological evolution zinc-based flow battery new energy

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Photoinduced Perfluoroalkyloximation of Alkenes with Simple Perfluoroalkyl Halides

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Chinese Journal of Chemistry 2024年第18期42卷 2217-2222页

作者： Wei Li Zhongji Li deliang Zhong Nianxing Wang Huaifeng Li State Key Laboratory for Chemistry and Molecular Engineering of Medicinal Resources School of Chemistry and Pharmaceutical SciencesGuangxi Normal UniversityGuilinGuangxi 541004China School of Chemistry and Pharmacy Qilu University of TechnologyJinanShandong 250353China

In this paper,the difunctionalizative perfluoroalkyloximation of alkenes has been developed for the first *** photochemical method allows for the synthesis of various perfluoroalkyl ethanone oximes with excellent regioselectivity and good functional group *** method employs the most common perfluoroalkyl source,perfluoroalkyl iodides,as Rf *** long-chain perfluoroalkyl groups,this approach could be extended to incorporating additional groups,including trifluoromethyl,difluoromethyl,sulfonyl,and malonate,selectively into olefins,resulting in a range ofβ-substituted ethanone ***,the potential of this method in the Fukuyama indole synthesis,generating novel 2-perfluoroalkylated 3-(α-oximidobenzyl)indoles via a radical cascade mechanism with 2-vinylphenylacryloyl isocyanate as the radical acceptor,presents a compelling avenue for drug *** protocol is efficient,scalable,and useful for late-stage modification of bioactive molecules.

关键词： Perfluoroalkyloximation Radical Fukuyama indole synthesis Difunctionalization EDA complex Regioselectivity Photochemistry Alkenes

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