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Dynamic motion of quadrupedal robots on challenging terrain:a kinodynamic optimization approach

Frontiers of Mechanical Engineering 2024年第3期19卷 23-40页

作者： Qi LI Lei ding xin LUO Engineering Research Center of Hubei Province for Clothing Information Wuhan 430200China School of Computer Science and Artificial Intelligence Wuhan Textile UniversityWuhan 430200China State key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular ***,conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain *** resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion *** this paper,a kinodynamic optimization approach is *** generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain,we formulate motion planning as an optimization problem;jointly treat the foot’s locations,contact forces,and torso motions as decision variables;combine smooth motion and minimal energy consumption as the objective function;and explicitly represent feasible foothold region and friction constraints based on terrain *** track the generated motions accurately and stably,we employ a whole-body controller to compute reference position and velocity commands,which are fed forward to joint controllers of the robot’s *** verify the effectiveness of the developed approach through simulation and on a physical quadruped robot *** show that the quadruped robot can successfully traverse a 30°slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关键词： quadrupedal robot kinodynamic planning nonlinear optimization challenging terrain whole-body control

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Influences of the adsorption state of catalyst on the performance of DS-PEC for visible light driven water splitting

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Journal of Energy Chemistry 2017年第1期26卷 163-167页

作者： Linlin Zhang Yan Gao xin ding State key Laboratory of Fine Chemicals Institute of Artificial Photosynthesis DUT-KTH Joint Education and Research Center on Molecular Devices Dalian University of Technology (DUT) School of Chemistry and Chemical Engineering Qingdao University Collaborative Innovation Center for Marine Biomass Fiber Materials and Textiles of Shandong Province

Adsorption state of catalyst on photoanode is an important factor on influencing the performance of dye-sensitized photoelectrochemical cells (DS-PECs) for water splitting. Photoanode TiO2(1 + 2) was assembled with Ru(bpy)(3) phosphoric acid derivative (complex 1) as photosensitizer and complex 2 as water oxidation catalyst to compare with photoanode TiO2(1 + 3). The photocurrent density of photoanode TiO2(1 + 3) with catalyst 3 synthesized with only one end fixing on the surface of TiO2 is about four-fold of the photoanode assembled with catalyst 2 fixing with two claws on the surface of TiO2. The phenomenon should be caused by the littery arrangement and shorter distance of catalyst 2 from the active center of catalyst to TiO2 on the surface of semiconductor which led to lowly efficient electron transfer. (C) 2016 Science Press and Dalian Institute of Chemical Physics, Chinese Academy of Sciences. Published by Elsevier B.V. and Science Press. All rights reserved

关键词： Water oxidation Photoelectrochemical Photoanode DS-PEC

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Facile and large-scale synthesis of green-emitting carbon nanodots from aspartame and the applications for ferric ions sensing and cell imaging

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Science Bulletin 2017年第18期62卷 1256-1266页

作者： xin Zhang Yun Chen Shou-Nian ding School of Chemistry and Chemical Engineering Southeast University Department of Immunology Nanjing Medical University

A facile, economical and green strategy to prepare green-fluorescent nitrogen-doped carbon nanodots （N- CDs） with a quantum yield （QY） of approximately 31.91% has been built up, while aspartame was employed as the carbon-nitrogen source for the first time. The prepared N-CDs exhibited ultrahigh brightness, favorable strong photostability and negligible cytotoxicity. The outstanding optical properties are mainly derived from the their robost composition and steric distribution of the doped nitrogen atoms, which have been characterized detailedly. The obtained N-CDs showed highly selective and sensitive response toward ferric ions （Fe3＋） through a fluorescence static quenching process in a wide linear range of 0.005-60 μmol/L. The detection limit was as low as 1.43 nmol/L, allowing the analysis of Fe3＋ in a very simple method. The excitation-dependent luminescent behavior of the obtained N-CDs guaranteed the multicolor emissive property when they were used in cell imaging. And the application for intracellular Fe3＋ sensing further verified this novel N-CDs may open more opportunities in biosensor, bioimaging and biological assay.

关键词： Carbon nanodots Green-emitting Aspartame Ferric ions Cell imaging Real sample

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The way to high-performance single nanowire photodetectors： problems and prospects

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Science China(Physics,Mechanics & Astronomy) 2017年第1期60卷 82-83页

作者： Jie Mao ke ding JianSheng Jie Institute of Functional Nano & Soft Materials (FUNSOM) Collaborative Innovation Center of Suzhou Nano Science and Technology (Nano-CIC) Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices Soochow University Suzhou 215123 China

As potential building blocks for micro-nano devices, one-di- mensional semiconductor nanowires （NWs） have been widely studied in recent decades. Due to limited dimension and large surface-to-volume ratio, devices based on NWs are more likely to exhibit unique properties. NW photodetectors adopting different materials have been fabricated. However, the performance is greatly affected by several issues such as lattice quality, surface homogeneity, contact electrodes and gas atmosphere. Particularly surface states play a more and more important role. Lots of efforts have been made to re- move the obstacles that prevent NWs to be high-performance photodetectors.

关键词： The way to high-performance single nanowire photodetectors

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Enhancing electrochemical performances of small quinone toward lithium and sodium energy storage

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Rare Metals 2022年第2期41卷 425-437页

作者： Li-Min Zhu Guo-Chun ding Qing Han Yong-Xia Miao xin Li xin-Li Yang Lei Chen Gong-ke Wang Ling-Ling Xie Xiao-Yu Cao School of Chemistry and Chemical Engineering Henan University of TechnologyZhengzhou 450001China key Laboratory of High Specific Energy Materials for Electrochemical Power Sources of Zhengzhou City Henan University of TechnologyZhengzhou 450001China College of Chemical and Printing-Dyeing Engineering Henan University of EngineeringZhengzhou 450007China School of Materials Science and Engineering Henan Normal UniversityXinxiang 453007China School of Environmental Engineering Henan University of TechnologyZhengzhou 450001China

Further application of organic quinone cathodes is restricted because they are inherent in poor conductivity and tend to dissolve in aprotic *** can work on the strong solubility of ***,the ortho-disodium salt of tetrahydroxyquinone(o-Na_(2)THBQ)was selected to promote the electrochemical properties of tetrahydroxyquinone(THBQ).Reduced dissolution of o-Na_(2)THBQ in electrolyte after salinization(replacement of two H with two Na)contributed to enhanced electrochemical *** sodium-ion batteries(SIBs)in ester-based electrolyte,o-Na2THBQ cathodes at 50 mA·g^(-1)exhibited a reversible discharge capacity of 107 mAh·g^(-1)after 200 ***,in ether-based electrolyte,reversible discharge capacities of 200.4,102.2,99.5 and 88 mAh·g^(-1)were obtained at 800,1600,3200 and 4800 mA·g^(-1)after 1000,2000,5000 and 8000 cycles,*** ultraviolet absorption spectra and ex situ dissolution experiments of THBQ and o-Na_(2)THBQ showed that o-Na_(2)THBQ hardly dissolved in ether-based *** lithium-ion batteries(LIBs),graphene was selected to further enhance the conductivity of *** 50 mA·g^(-1),o-Na_(2)THBQ and o-Na_(2)THBQ/Gr cathodes exhibited reversible discharge capacities of 124 and 131.5 mAh·g^(-1)after 200 cycles in ester-based electrolyte,*** 50 mA·g^(-1),PTPAn/o-Na_(2)THBQ electrodes in an all-organic Na/Li-ion battery showed reversible charge/discharge capacities of 51/50.3 and 33.8/33.1 mAh·g^(-1)after 200 cycles.

关键词： Na/Li-ion batteries All-organic batteries Cathodes Organic materials Electrochemical performance

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Interception time and uncertainty optimization for tangent-impulse orbit interception problem

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Defence Technology（防务技术） 2022年第3期18卷 418-440页

作者： Yang Hong Li xin-hong ding Wen-zhev Department of Aerospace Science and Technology Space Engineering UniversityNo.1 BaYi RoadHuaiRou DistrictBeijing101416China

The traditional tangent impulse interception problem does not consider the influence of actual ***,by taking the actual state deviation of the interceptor into the orbit design process,an interception orbit that is more robust than the nominal orbit can be ***,we study the minimum time interception problem and the minimum terminal interception error problem under tangent impulse conditions and give an orbit optimization method that considers the interception time and the interception ***,we express the interceptor's transfer time equation as a form of flight path angle,establish a global optimization model for solving the minimum time tangent impulse interception and give a hybrid optimization algorithm based on Augmented Lagrange Genetic Algorithm-Sequential Quadratic Programming(ALGA-SQP).Secondly,we use the universal time equation and Bootstrap resampling technology to calculate the interceptor's terminal error distribution and establish the relevant global optimization model by using the circumscribed cuboid volume of the interceptor's terminal position error ellipsoid as the optimization ***,we combined the above two singleobjective optimization models to establish a global multi-objective optimization model that considers interception time and interception uncertainty and gave a hybrid multi-objective optimization algorithm based on Non-dominated Sorting Genetic Algorithm Ⅱ-Goal Achievement Method(NSGA2-GAM).The simulation example verifies the effectiveness of this method.

关键词： Tangent impulse interception Minimum time Interception uncertainty Multi-objective optimization Hybrid optimization

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Adjacent mode resonance of a hydraulic pipe system consisting of parallel pipes coupled at middle points

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Applied Mathematics and Mechanics(English Edition) 2023年第3期44卷 363-380页

作者： xin FAN Changan ZHU Xiaoye MAO Hu ding Department of Precision Machinery and Precision Instruments University of Science and Technology of ChinaHefei 230022China State-owned Machinery Factory in Wuhu Wuhu 241007Anhui ProvinceChina Shanghai key Laboratory of Mechanics in Energy Engineering Shanghai Frontier Science Center of MechanoinformaticsShanghai Institute of Applied Mathematics and MechanicsSchool of Mechanics and Engineering ScienceShanghai UniversityShanghai 200444China

The coupling vibration of a hydraulic pipe system consisting of two pipes is *** pipes are installed in parallel and fixed at their ends,and are restrained by clips to one bracket at their middle *** pipe subjected to the basement excitation at the left end is named as the active pipe,while the pipe without excitation is called the passive *** clips between the two pipes are the bridge for the vibration *** adjacent natural frequencies will enhance the vibration *** governing equation of the coupled system is deduced by the generalized Hamilton principle,and is discretized to the modal *** modal correction is used during the *** investigation on the natural characters indicates that the adjacent natural frequencies can be adjusted by the stiffness of the two clips and *** harmonic balance method(HBM)is used to study the responses in the adjacent natural frequency *** results show that the vibration energy transmits from the active pipe to the passive pipe swimmingly via the clips together with a flexible bracket,while the locations of them are not node *** adjacent natural frequencies may arouse wide resonance curves with two peaks for both *** stiffness of the clip and bracket can release the vibration *** is suggested that the stiffness of the clip on the passive pipe should be weak and the bracket should be strong *** this way,the vibration energy is reflected by the almost rigid bracket,and is hard to transfer to the passive pipe via a soft *** best choice is to set the clips at the pipe node *** current work gives some suggestions for weakening the coupled vibration during the dynamic design of a coupled hydraulic pipe system.

关键词： hydraulic pipe system coupling vibration adjacent mode coupling parallel pipe conveying fluid harmonic balance method(HBM)

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Effect of hot isostatic pressure on the microstructure and tensile properties of γ'-strengthened superalloy fabricated through induction-assisted directed energy deposition

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International Journal of Minerals,Metallurgy and Materials 2024年第5期31卷 1089-1097页

作者： Jianjun Xu Hanlin ding xin Lin Feng Liu Analytical&Testing Center Northwestern Polytechnical UniversityXi’an 710072China State key Laboratory of Solidification Processing Northwestern Polytechnical UniversityXi’an 710072China

The microstructure characteristics and strengthening mechanism of Inconel738LC(IN-738LC) alloy prepared by using induction-assisted directed energy deposition(IDED) were elucidated through the investigation of samples subjected to IDED under 1050℃ preheating with and without hot isostatic pressing(HIP,1190℃,105 MPa,and 3 h).Results show that the as-deposited sample mainly consisted of epitaxial columnar crystals and inhomogeneously distributed γ’ phases in interdendritic and dendritic core *** HIP,grain morphology changed negligibly,whereas the size of the γ’ phase became increasingly *** further heat treatment(HT,1070℃,2 h + 845℃,24 h),the γ’ phase in the as-deposited and HIPed samples presented a bimodal size distribution,whereas that in the as-deposited sample showed a size that remained *** comparison of tensile properties revealed that the tensile strength and uniform elongation of the HIP + HTed sample increased by 5% and 46%,respectively,due to the synergistic deformation of bimodal γ’phases,especially large cubic γ’ ***,the relationship between phase transformations and plastic deformations in the IDEDed sample was discussed on the basis of generalized stability theory in terms of the trade-off between thermodynamics and kinetics.

关键词： directed energy deposition Ni-based superalloys high-temperature preheating hot isostatic pressing microstructure tensile properties

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OsGLU3, a Putative Membrane-Bound Endo-1, 4-Beta-Glucanase, Is Required for Root Cell Elongation and Division in Rice （Oryza sativa L.）

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Molecular Plant 2012年第1期5卷 176-186页

作者： Jin-Wei Zhang Lei XU Yun-Rong Wu xin-Ai Chen Yu Liu Shi-Hua Zhu Wo-Na ding Ping Wu ke-ke Yi The State key Laboratory of Plant Physiology and Biochemistry College of Life ScienceZhejiang UniversityHangzhou 310058China College of Science and Technology Ningbo UniversityNingboZhejiang 315211China""'1 State key Laboratory Breeding Base forZhejiang Sustainable Pest and Disease Control Institute of Virology and BiotechnologyZhejiang Academy of Agricultural SciencesHangzhou 310021China

Plant roots move through the soil by elongation. This is vital to their ability to anchor the plant and acquire water and minerals from the soil. In order to identify new genes involved in root elongation in rice, we screened an ethyl methane sulfonate （EMS）-mutagenized rice library, and isolated a short root mutant, Osglu3-1. The map-based cloning results showed that the mutant was due to a point mutation in OsGLU3, which encodes a putative membrane-bound endo- 1,4-13-glucanase. Osglu3-1 displayed less crystalline cellulose content in its root cell wall, shorter root cell length, and a slightly smaller root meristem as visualized by restricted expression of OsCYCBI, I：GUS. Exogenous application of glu- cose can suppress both the lower root cell wall cellulose content and short root phenotypes of Osglu3-1. Consistently, OsGLU3 is ubiquitously expressed in various tissues with strong expression in root tip, lateral root, and crown root pri- modia. The fully functional OsGLU3-GFP was detected in plasma membrane, and FM4-64-1abeled compartments in the root meristem and elongation zones. We also found that phosphate starvation, an environmental stress, altered cell wall cel- lulose content to modulate root elongation in a OsGLU3-dependant way.

关键词： Abiotic/environmental stress nutrition cell expansion root biology.

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xingnao Kaiqiao needling method for acute ischemic stroke： a meta-analysis of safety and efficacy

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Neural Regeneration Research 2017年第8期12卷 1308-1314页

作者： Zhi-xin Yang Jia-hong Xie ding-ding Liu Department of Traditional Chinese Medicine Chengde Medical University Chengde Hebei Province China key Laboratory of Traditional Chinese Medicine Research and Development Institute of Traditional Chinese Medicine Chengde Medical University Chengde Hebei Province China School of Traditional Chinese Medicine North China University of Science and Technology Tangshan Hebei Province China

OBJECTIVE： To evaluate the effectiveness and safety of the xingnao Kaiqiao needling method for treating acute ischemic *** SOURCES： We retrieved relevant randomized controlled trials involving xingnao Kaiqiao acupuncture for treatment of acute ischemic stroke. The China National Knowledge Infrastructure, Weipu Information Resources System, Wanfang Medical Data System, Chinese Biomedical Literature Database, Cochrane Library, and Pub Med were searched from June 2006 to March *** SELECTION： We analyzed randomized and semi-randomized clinical controlled trials that compared xingnao Kaiqiao acupuncture with various control treatments, such as conventional drugs or other acupuncture therapies, for treatment of acute ischemic stroke. The quality of articles was evaluated according to the Cochrane Handbook for Systematic Reviews of Interventions（Version 5.1）, and the study was carried out using Cochrane system assessment methods. Rev Man 5.2 was used for the meta-analysis of the included *** MEASURES： The mortality rate, disability rate, activities of daily living（Barthel Index）, and clinical efficacy were ***： Twelve studies met the inclusion criteria for this review. The meta-analysis showed that between xingnao Kaiqiao acupuncture and the control treatment, xingnao Kaiqiao acupuncture reduced the disability rate [risk ratio（RR） = 0.51, 95% confidence interval（CI） = 0.27-0.98, z = 2.03, P 〈 0.05], elevated the activities of daily living（weighted mean difference = 12.23, 95% CI： 3.66-20.08, z = 2.80, P 〈 0.005）, and had greater clinical efficacy（RR = 1.61, 95% CI： 1.23-2.09, z = 3.53, P 〈 0.0004）. However, there was no significant difference in mortality rate（RR = 0.61, 95% CI： 0.15-2.45, z = 0.70, P 〉 0.05）. CONCLUSION： The xingnao Kaiqiao needling method is effective and safe for acute ischemic stroke. However, there was selective bias in this study, and the likelihood of measurement bias is high. Thus, more high-quality randomized

关键词： nerve regeneration xingnao Kaiqiao needling method acute ischemic stroke meta-analysis systematic review activities of daily living Barthel index mortality disability rate clinical e^cacy neuralregeneration

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