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

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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

K doping stabilizes three-dimensional K0.2Na1.3Mn0.5O2-δ as high-performance cathode for sodium-ion batteries

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Rare Metals 2024年第10期43卷 5030-5038页

作者： Jia-hao Xu You-Huan zhu Wei-Min yang Hua Cheng Zhou-Guang Lu Industrial Training Center Shenzhen Polytechnic University Department of Materials Science and Engineering Southern University of Science and Technology School of Materials Science and Environmental Engineering Shenzhen Polytechnic University

It is a difficult challenge to simultaneously employ the cationic and anionic redox chemistry in cathode materials for sodium-ion batteries with high *** though layered oxides （classified as two-dimensional oxides） demonstrate excellent promise in the high discharge capacity,their poor oxygen transformation via redox reactions is limited by crystal ***,a doping strategy was conceived to tackle this issue and increase redox efficiency.K doping was applied to transform the two-dimensional Na1.3Mn0.7O2（NMO） to threedimensional K0.2Na1.3Mn0.5O2（KNMO）,preventing the irreversible phase shift and preserving the crystal structure’s stability while *** this modification treatment,KNMO features manganese and oxygen reactive sites,delivering a promising energy density of 190mAh·g-1at 5 mA·g-1in the 2.0–4.5 V voltage range (vs71.4 mAh·g-1for the pristine NMO).Moreover,it displays improved capacity retention of more than 83.5% after 50cycles at 50 mA·*** results demonstrated that doped intercalation oxides were promising for redox oxygen transformation in sodium-ion batteries.

关键词： High-performance cathode Metal ion dopings Sodium-ion batteries Three-dimensional structure

Advanced organic electrode materials for aqueous rechargeable batteries

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Science China Chemistry 2024年第1期67卷 137-164页

作者： Gaojing yang Yaxun zhu Qi Zhao Zhimeng hao Yong Lu Qing Zhao Jun Chen Frontiers Science Center for New Organic Matter Key Laboratory of Advanced Energy Materials Chemistry(Ministry of Education)College of ChemistryNankai UniversityTianjin 300071China

Organic electrode materials take advantages of potentially sustainable production and structural tunability compared with present commercial inorganic electrode ***,their applications in traditional rechargeable batteries with nonaqueous electrolytes suffer from the premature failure and safety *** comparison,aqueous rechargeable batteries based on organic electrode materials have received extensive attentions in recent years for low-cost and sustainable energy storage systems due to their inherent *** review aims to provide a comprehensive summary on the recent progress in advanced organic electrode materials for aqueous rechargeable *** start from the overview of working principles and general design strategies of organic electrode materials in aqueous rechargeable *** the research advances of organic electrode materials in various aqueous rechargeable batteries are highlighted in terms of charge carriers(monovalent ions,multivalent ions,and anions).We emphasized the characteristics of organic electrode materials in various charge ***,the critical challenges and future efforts of aqueous organic rechargeable batteries are *** organic electrode materials with better electronic conductivity and fast reaction kinetics are still needed to build advanced aqueous batteries for commercial applications.

关键词： organic electrode materials aqueous batteries organic batteries rechargeable batteries

Hydrogen Bonds in Perovskite for Efficient and Stable Photovoltaic

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Chinese Journal of Chemistry 2024年第11期42卷 1284-1306页

作者： Tian-yun Wang yang-yang hao Ming-zhe zhu Guo-rui Cao Zhong-min Zhou College of Chemistry and Molecular Engineering Qingdao University of Science and TechnologyQingdaoShandong266042 China College of Chemical Engineering Qingdao University of Science and TechnologyQingdaoShandong266042 China

Owing to their distinctive optical and physical properties,organic-inorganic hybrid perovskite materials have gained significant attention in the field of electronic devices,especially solar *** achievement of high-performance solar cells hinges upon the utilization of top-notch perovskite thin ***,the fabrication process involving solutions and the polycrystalline nature of perovskite result in the emergence of numerous defects within the perovskite films,consequently exerting a deleterious influence on the overall performance and stability of the *** the performance and stability of perovskite solar cells by additive engineering to suppress/passivate defects is a viable approach,which involves hydrogen bond interactions in these device engineering *** review explores the intrinsic hydrogen bonds in methylammonium and formamidium lead triiodide,while also considering cation rotations,phase transitions,and ***,the review classifies additives into distinct categories,including organic small molecules,polymers,nanodots,classical salts,ionic liquids,and molten *** various forms and characterization techniques of hydrogen bonds are discussed,as well as their potential synergistic effects in conjunction with other chemical ***,this review offers insights into the potential utilization of hydrogen bonds to further enhance the performance and stability of devices.

关键词： Perovskite solar cells Hydrogen bond Additive Performance Stability Charge transfer Inhibition Cooperative effects

Constructing core@shell structured photothermal nanosphere with thin carbon layer confined Co-Mn bimetals for pollutant degradation and solar interfacial water evaporation

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Rare Metals 2024年第4期43卷 1686-1701页

作者： Hong-yang zhu Meng-Ting Liu Gang Wang Rong-Rong Du Hong-Yao Zhao hao Lu Shi-Qi yang Sheng Tang Zeng-Jing Guo Jun yang Cheng-Zhang zhu Fu yang School of Environmental and Chemical Engineering Jiangsu University of Science and TechnologyZhenjiang212003China School of Chemistry and Chemical Engineering Liaocheng UniversityLiaocheng252000China School of Material Science and Engineering Jiangsu University of Science and TechnologyZhenjiang212003China School of Environmental Science and Engineering Nanjing Tech UniversityNanjing210009China

Photothermal material applied in environmental governance has attracted growing *** combining the Stober method and dopamine-triggered coating strategy,Co-Mn precursor was in situ incorporated into the poly dopamine(PDA)layer over the surface of silica ***,a unique photothermal nanosphere with SiO_(2)core and thin carbon layer and dual Co-Mn oxides shell was allowed to form by sequential heat treatment in the inert atmosphere(SiO_(2)@CoMn/C).The bimetallic fraction of Co/Mn in the carbon layer and post-treatment calcination temperature was comprehensively tuned to optimize the peroxymonosulfate(PMS)activation performance of the *** state of bimetallic species was studied including their physical distribution,chemical valence,and interplay by various ***,Co oxides appear as dominant monodispersed nanoparticles(~10 nm),while Mn with cluster-like morphology is observed to uniformly distribute over thin-layer carbon and adhered to the surface of SiO_(2)nanospheres(~250 nm).The calcined temperature could tune the oxidized state of Co species,leading to the optimization of the catalytic performance of introduced dual metal *** a result,this obtained optimal catalyst integrated the advantages of exposed bimetallic CoMn species and N-doped thin carbon to deliver excellent catalytic PMS activation performance and photothermal synergetic catalytic mineralization ability for diversiform *** reactions condition controls and anion interference studies were conducted to identify the adaptability of the optimal ***,the application of solar-driven interfacial water evaporation using optimal SiO_(2)@Co_3Mn_1/C-600 catalyst was explored,showing a high water evaporation rate of 1.48 kg·m^(-2)·h^(-1)and an efficiency of 95.2%,further revealing a comprehensive governance functionality of obtained material in the complex pollution condition.

关键词： Photothermal Peroxymonosulfate(PMS)activation Bimetallic synergy Water evaporation Advanced oxidation process

Comprehensive Evaluation of Distributed PV Grid-Connected Based on Combined Weighting Weights and TOPSIS-RSR Method

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Energy Engineering 2024年第3期121卷 703-728页

作者： Yue yang Jiarui Zheng Long Cheng Yongnan zhu hao Wu Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology Ministry of Education(Northeast Electric Power University)Jilin132012China Siping Suburban Power Supply Company State Grid Jilin Electric Power Co.Ltd.Siping136000China

To effectively quantify the impact of distributed photovoltaic(PV)access on the distribution network,this paper proposes a comprehensive evaluation method of distributed PV grid connection combining subjective and objective combination of assignment and technique for order preference by similarity to an ideal solution(TOPSIS)—rank sum ratio(RSR)(TOPSIS-RSR)*** on the traditional distribution network evaluation system,a comprehensive evaluation system has been *** fully considers the new development requirements of distributed PV access on the environmental friendliness and absorptive capacity of the distribution grid and comprehensively reflects the impact of distributed PV grid *** analytic hierarchy process(AHP)was used to determine the subjective weights of the primary indicators,and the Spearman consistency test was combined to determine the weights of the secondary indicators based on three objective assignment *** subjective and objective combination weights of each assessment indicator were calculated through the principle of minimum *** the distance between the indicators to be evaluated and the positive and negative ideal solutions,the relative closeness ranking,and qualitative binning by TOPSIS-RSR method to obtain the comprehensive evaluation results of different *** setting up different PV grid-connected scenarios and utilizing the IEEE33 node simulation algorithm,the correctness and effectiveness of the proposed subject-object combination assignment and integrated assessment method are verified.

关键词： Distributed PV grid-connected comprehensive evaluation evaluation indicator system combined subjective and objective empowerment TOPSIS-RSR method

PCA-Net: a heart segmentation model based on the meta-learning method

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Optoelectronics Letters 2024年第11期20卷 697-704页

作者： yang Mengzhu zhu Dong DONG hao HU Shunbo WANG Yongfang School of Information Science and Engineering Linyi University

In order to effectively prevent and treat heart-based diseases, the study of precise segmentation of heart parts is particularly important. The heart is divided into four parts: the left and right ventricles and the left and right atria, and the left main trunk is more important, thus the left ventricular muscle(LV-MYO), which is located in the middle part of the heart, has become the object of many researches.

关键词： A

Fedora-type magnetic compression anastomosis device for intestinal anastomosis

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World Journal of Gastroenterology 2020年第42期26卷 6614-6625页

作者： Huan Chen Tao Ma Yue Wang hao-yang zhu Zhe Feng Rong-Qian Wu Yi Lv Ding-Hui Dong National Local Joint Engineering Research Center for Precision Surgery&Regenerative Medicine The First Affiliated Hospital of Xi'an Jiaotong UniversityXi’an 710061Shaanxi ProvinceChina Department of Hepatobiliary Surgery The First Affiliated Hospital of Xi’an Jiaotong UniversityXi’an 710061Shaanxi ProvinceChina

BACKGROUND Although previous studies have confirmed the feasibility of magnetic compression anastomosis(MCA),there is still a risk of long-term anastomotic *** traditional MCA devices,a large device is associated with great pressure,and eventually increased *** To develop a novel MCA device to simultaneously meet the requirements of pressure and *** Traditional nummular MCA devices of all possible sizes were used to conduct ileac anastomosis in *** mean(±SD)circumference of the ileum was 13.34±0.12 *** on short-and long-term follow-up results,we determined the appropriate pressure range and minimum ***,we introduced a novel“fedora-type”MCA device,which entailed the use of a nummular magnet with a larger sheet *** With traditional MCA devices,the anastomoses experienced stenosis and even closure during the long-term follow-up when the anastomat was smaller thanΦ5 ***,the risk of leakage increased when it was larger thanΦ4 *** comparison of the different designs,it was found that the“fedora-type”MCA device should be composed of aΦ4-mm nummular magnet with aΦ6-mm sheet *** The diameter of the MCA device should be greater than 120%of the enteric *** novel“fedora-type”MCA device controls the pressure and optimizes the size.

关键词： Magnetic compression anastomosis Anastomotic stenosis Size of anastomat Compression pressure Fedora-type magnetic compression anastomosis device

Bioengineered skin organoids:from development to applications

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Military Medical Research 2024年第3期11卷 449-466页

作者： Zi-Xuan Hong Shun-Tian zhu hao Li Jing-Zhi Luo Yu yang yang An Xi Wang Kai Wang Department of Physiology and Pathophysiology School of Basic Medical SciencesState Key Laboratory of Vascular Homeostasis and RemodelingPeking UniversityBeijing 100191China Department of Hepatopancreatobiliary Surgery the Third Affiliated Hospital of Soochow UniversityChangzhou 213000JiangsuChina Department of Plastic Surgery Peking University Third HospitalBeijing 100191China Clinical Stem Cell Research Center Peking University Third HospitalBeijing 100191China State Key Laboratory of Cardiovascular Disease Fuwai HospitalBeijing 100037China Beijing Key Laboratory of Metabolic Disorder Related Cardiovascular Disease Capital Medical UniversityBeijing 100050China

Signifcant advancements have been made in recent years in the development of highly sophisticated skin *** as three-dimensional(3D)models that mimic human skin,these organoids have evolved into complex structures and are increasingly recognized as efective alternatives to traditional culture models and human skin due to their ability to overcome the limitations of two-dimensional(2D)systems and ethical *** inherent plasticity of skin organoids allows for their construction into physiological and pathological models,enabling the study of skin development and dynamic *** review provides an overview of the pivotal work in the progression from 3D layered epidermis to cyst-like skin organoids with ***,it highlights the latest advancements in organoid construction facilitated by state-of-the-art engineering techniques,such as 3D printing and microfuidic *** review also summarizes and discusses the diverse applications of skin organoids in developmental biology,disease modelling,regenerative medicine,and personalized medicine,while considering their prospects and limitations.

关键词： Skin organoid Organoid generation Skin appendage Tissue engineering Disease modelling Regenerative medicine