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Energy Efficiency Analysis of Quadruped Robot with Trot Gait and Combined Cycloid Foot Trajectory

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Chinese Journal of Mechanical Engineering 2014年第1期27卷 138-145页

作者： lei Jingtao WANG feng yu Huangying WANG Tianmiao yuAN Peijiang School of Mechatronic Engineering and Automation Shanghai University School of Mechanical Engineering and Automation Beihang University

Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.

关键词： quadruped robot trot gait trajectory planning dynamic modeling energy efficiency

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Boosting bidirectional sulfur conversion enabled by introducing boron-doped atoms and phosphorus vacancies in Ni2P for lithium-sulfur batteries

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Journal of Energy Chemistry 2025年第1期100卷 760-769页

作者： Lin Peng yu Bai Hang Li Meixiu Qu Zhenhua Wang Kening Sun Advanced Research Institute of Multidisciplinary Science Beijing Institute of Technology Beijing Key Laboratory of Chemical Power Source and Green Catalysis School of Chemistry and Chemical Engineering Beijing Institute of Technology

Lithium-sulfur （Li-S） batteries have gained great attention due to the high theoretical energy density and low cost,yet their further commercialization has been obstructed by the notorious shuttle effect and sluggish redox ***,we supply a strategy to optimize the electron structure of Ni2P by concurrently introducing B-doped atoms and P vacancies in Ni2P （Vp-B-Ni2P）,thereby enhancing the bidirectional sulfur *** study indicates that the simultaneous introduction of B-doped atoms and P vacancies in Ni2P causes the redistribution of electron around Ni atoms,bringing about the upward shift of d-band center of Ni atoms and effective d-p orbital hybridization between Ni atoms and sulfur species,thus strengthening the chemical anchoring for lithium polysulfides （LiPSs） as well as expediting the bidirectional conversion kinetics of sulfur ***,theoretical calculations reveal that the incorporation of B-doped atoms and P vacancies in Ni2P selectively promotes Li2S dissolution and nucleation ***,the Li-S batteries with Vp-B-Ni2P-separators present outstanding rate ability of 777 m A h g-1at 5 C and high areal capacity of 8.03 mA h cm-2under E/S of 5μL mg-1and sulfur loading of 7.20 mg *** work elucidates that introducing heteroatom and vacancy in metal phosphide collaboratively regulates the electron structure to accelerate bidirectional sulfur conversion.

关键词： Lithium sulfur batteries

Metastable seed-crystals: epitaxial growth of branched-array organic heterostructure nanowires

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Science China Chemistry 2025年

作者： Jin feng Zhen-yu Geng Ting-Yao Song Ying-Xin Ma Chuan-Zeng Wang Wei Zhang Hong-Tao Lin Jin Zhou Shu-Ping Zhuo Shu-Hai Chen Xue-Dong Wang School of Chemistry and Chemical Engineering Shandong University of Technology Institute of Functional Nano & Soft Materials (FUNSOM) Jiangsu Key Laboratory for Carbon-Based Functional Materials & DevicesSoochow University College of Chemistry and Chemical Engineering Hunan Normal University

Tunable light–matter interactions are exhibited by organic low-dimensional crystals, making these crystals a promising platform for organic photonics. However, the precise synthesis of organic low-dimensional crystals remains challenging due to the stochastic nature of molecular nucleation processes. Herein, the directed nucleation process is driven by the introduction of metastable seed-crystals as the trunk, which ultimately leads to branched-array organic heterostructures. The successful formation of organic heterostructures with high-density branched arrays is attributed to the highest attachment energy (Eatt（023）=-104.25 kcal mol-1) of the exposed （023） crystal plane during the seed-crystal growth route. Significantly, these as-prepared heterostructures inherently have an ultralow lattice mismatch ratio η of 0.7%between trunk and branch, which contributes to the multi-channel photon transportation. Therefore, this work provides valuable insights into a versatile synthetic strategy for accessing low-dimensional heterostructures for integrated optoelectronics.

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A Machine Learning Framework with Feature Selection for Floorplan Acceleration in IC Physical Design

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Journal of Computer Science & Technology 2020年第2期35卷 468-474页

作者： Shu-Zheng Zhang Zhen-yu Zhao Chao-Chao feng lei Wang College of Computer Science and Technology National University of Defense TechnologyChangsha 410003China

Floorplan is an important process whose quality determines the timing closure in integrated circuit(IC)physical *** generating a floorplan with satisfying timing result is time-consuming because much time is spent on the generation-evaluation *** machine learning to the floorplan stage is a potential method to accelerate the floorplan ***,there exist two challenges which are selecting proper features and achieving a satisfying model *** this paper,we propose a machine learning framework for floorplan acceleration with feature selection and model stacking to cope with the challenges,targeting to reduce time and effort in integrated circuit physical ***,the proposed framework supports predicting post-route slack of static random-access memory(SRAM)in the early floorplan ***,we introduce a feature selection method to rank and select important *** both feature importance and model accuracy,we reduce the number of features from 27 to 15(44%reduction),which can simplify the dataset and help educate novice ***,we build a stacking model by combining different kinds of models to improve *** 28 nm technology,we achieve the mean absolute error of slacks less than 23.03 ps and effectively accelerate the floorplan process by reducing evaluation time from 8 hours to less than 60 *** on our proposed framework,we can do design space exploration for thousands of locations of SRAM instances in few seconds,much more quickly than the traditional *** practical application,we improve the slacks of SRAMs more than 75.5 ps(177%improvement)on average than the initial design.

关键词： physical design machine learning feature selection design space exploration

Potential Mechanisms and Effects of Chinese Medicines in Treatment of Diabetic Atherosclerosis by Modulating NLRP3 Inflammasome:A Narrative Review

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Chinese Journal of Integrative Medicine 2022年第8期28卷 753-761页

作者： yuAN Jia-yao FU yu feng Zhi-hai SANG feng SHAO Ming-yi LI lei-lei School of First Clinical Henan University of Chinese MedicineZhengzhou450000China Department of Endocrinology The First Affiliated Hospital of Henan University of Chinese MedicineZhengzhou450000China Department of Key Laboratory of Viral Diseases Prevention and Treatment of Traditional Chinese Medicine of Henan Province The First Affiliated Hospital of Henan University of Chinese MedicineZhengzhou450000China Department of Gastroenterology The First Affiliated Hospital of Henan University of Chinese MedicineZhengzhou450000China

Nucleotide-binding oligomerization domain-like receptor family pyrin domain-containing 3(NLRP3)is an intracellular sensor that detects endogenous danger signals and environmental irritants to assemble into the NLRP3 *** of the NLRP3 inflammasome leads to the secretion of the proinflammatory cytokines interleutkin(IL)-1β and IL-18 and induces *** studies have shown that the NLRP3 inflammasome participates in the initiation and progression of diabetic atherosclerosis through pathological mechanisms such as β-cell dysfunction,insulin resistance,endothelial cell dysfunction,monocyte adhesion and infiltration,and smooth muscle cell proliferation and *** diabetic atherosclerosis,Chinese medicine has been proven effective for the inflammatory response mediated by the NLRP3 *** review summarizes the latest progress on the NLRP3 inflammasome in the pathogenesis and potential Chinese medicine treatment of diabetic atherosclerosis.

关键词： Chinese medicine diabetic atherosclerosis NLRP3 inflammasome interleukin-1β TXNIP pyroptosis

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应急一体化管理、区域竞争力与城市韧性提升路径研究

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灾害学 2025年第1期40卷 146-152页

作者：窦路遥魏凤邓阿妹辛竹琳冯宇中国科学院武汉文献情报中心湖北武汉430071 中国科学院大学经济与管理学院信息资源管理系北京100190 科技大数据湖北省重点实验室湖北武汉430071 重庆大学经济与工商管理学院重庆400044

城市韧性建设关键在应急一体化管理和区域竞争力。有助于城市群高质量发展和减少灾害损失。该文基于组态思维整合应急一体化管理和区域竞争力9个相关要素,探讨影响城市韧性提升的多重并发因素和复杂因果机制。研究发现:①应急一体化管... 详细信息

城市韧性建设关键在应急一体化管理和区域竞争力。有助于城市群高质量发展和减少灾害损失。该文基于组态思维整合应急一体化管理和区域竞争力9个相关要素,探讨影响城市韧性提升的多重并发因素和复杂因果机制。研究发现:①应急一体化管理从成本可控性、资源协同性和政策支持性上影响城市韧性的提升,形成突发事件的事前预防、事中调配和事后恢复的逻辑闭环;而区域竞争力也分别从经济、发展、交易、生活层面上实现对城市韧性的综合描述。②高城市韧性组态分为强竞争力预防型、损失应激预防型、营商优化建设型、宜居持续建设型、政策支持拔高型,低城市韧性组态分为管理效能欠缺型和应急损失过度型。③在受损可控的范围内,灾害损失的出现反而可能在应急实践中促进韧性提升;过高的管理型支出会出现管理无效率的可能,而过低的管理型支出会出现管理失调的可能,都会产生抑制城市韧性的效果。

关键词：应急一体化管理区域竞争力城市韧性 fsQCA

Boosting Photocatalytic Performance of Cu-Mn Co-doped CeO2 Nanoparticles for Tetracycline Degradation

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Journal of Wuhan University of Technology(Materials Science) 2025年第1期 42-48页

作者：徐荣琪 MI Jianxin 王树林徐慢 ZHU Li BAI lei TANG Dandan lei yu Engineering Research Center of Environmental Materials and Membrane Technology of Hubei Province School of Materials Science and Engineering Wuhan Institute of Technology Shaanxi Coal Chemical Industry Technology Research Institute Co. Ltd.

Cu-Mn co-doped CeO2photocatalyst was successfully synthesized by the sol-gel method to assess its capability in degrading *** and TEM results showed that Cu and Mn were successfully co-doped into CeO2without forming heterostructure,XPS and photoelectrochemical results revealed that Mn ions doping amplified the generation of photo-induced charge carriers,while Cu ions doping significantly facilitated the interfacial charge transfer ***,the optimized Cu3Mn2CeO2nanoparticles exhibited the highest TC removal efficiency,achieved a rate of 78.18% and maintained a stable cycling performance.

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2 - 14 Transmission of 200 keV Tapered Capillaries Etched H＋ Ions through in PC Foils

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IMP & HIRFL Annual Report 2012年第1期 48-48页

作者： Liu Shidong Zhao Yongtao Wang yuyu Zhou Xianming yu Yang Wang Xing Cheng Rui Ren Jieru Li Yong feng lei yu Sun yuanbo Peng Haibo

A high precision visual localization sensor and its working methodology for an indoor mobile robot

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Frontiers of Information Technology & Electronic Engineering 2016年第4期17卷 365-374页

作者： feng-yu ZHOU Xian-feng yuAN Yang YANG Zhi-fei JIANG Chen-lei ZHOU School of Control Science and Engineering Shandong University School of Information Science and Engineering Shandong University

To overcome the shortcomings of existing robot localization sensors, such as low accuracy and poor robustness, a high precision visual localization system based on infrared-reflective artificial markers is designed and illustrated in detail in this paper. First, the hardware system of the localization sensor is developed. Secondly, we design a novel kind of infrared-reflective artificial marker whose characteristics can be extracted by the acquisition and processing of the infrared image. In addition, a confidence calculation method for marker identification is proposed to obtain the probabilistic localization results. Finally, the autonomous localization of the robot is achieved by calculating the relative pose relation between the robot and the artificial marker based on the perspective-3-point(P3P) visual localization algorithm. Numerous experiments and practical applications show that the designed localization sensor system is immune to the interferences of the illumination and observation angle changes. The precision of the sensor is ±1.94 cm for position localization and ±1.64° for angle localization. Therefore, it satisfies perfectly the requirements of localization precision for an indoor mobile robot.

关键词： Mobile robot Localization sensor Visual localization Infrared-reflective marker Embedded system

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