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Acceleration-Level Inverse-Free G2 Scheme for Inverse Kinematics Path Tracking of Robot Manipulators

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Acceleration-Level Inverse-Free G2 Scheme for Inverse Kinema...

Collaborative multi-lane on-ramp merging strategy for connected and automated vehicles using dynamic conflict graph

第36届中国控制会议

作者： jiawei luo Jun Zhang Zhiyong Xie Xiaoyin Zhang Lin Xiao Xiao Su Pingxiang University Jiangxi Vocational College of Industry and Engineering College of Information Science and Engineering Jishou University

ISBN: (纸本)9781538629185

The mature analysis formula has been well used in the robotic forward kinematics for redundant manipulators,but the inverse-kinematics（IK） question is *** methods have been adopted to resolve the complicated inverse-kinematics problem;for example,the previous pseudo-inverse based（PIB） method that have to calculate the computationally expensive inverse（specifically,pseudo-inverse） of Jacobian ***,this method brings a lot of defects and *** that,to drastically avoid the Jacobian inversion and also to obtain the accurate solution of the time-varying IK problem for redundant robot manipulators,it is necessary to indagate other inverse-kinematics schemes through applying the related dynamic *** on many previously excellent researches,the dynamic methods used in this paper consist of gradient dynamics（GD）.By using GD kinematic method twice,a scheme called G2 is studied for solving the redundancy question of robot manipulators in an inverse-free *** a representative application of GD method,the G2 scheme,which is exploited at the acceleration level instead of the velocity ***,we conduct the end-effector path-tracking simulations performed on planar robot manipulators of different links to substantiate the effectiveness and accuracy of the proposed inverse-free G2 *** results illustrate the physical reahzability of the proposed novel solution for handling the time-varying IK problem of the redundant robot manipulator（s） in an inverse-free manner.

关键词： Inverse Kinematics Question Gradient Dynamics Inverse-Free G2 Scheme Redundant Manipulators PathTracking

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Journal of Intelligent and Connected Vehicles

Journal of Intelligent and Connected Vehicles 2024年第1期7卷 38-51页

作者： Jia Shi Yugong luo Pengfei Li jiawei Wang Keqiang Li School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China Department of Civil and Environmental Engineering University of MichiganAnn ArborMI 48109USA

The on-ramp merging in multi-lane highway scenarios presents challenges due to the complexity of coordinating vehicles’merging and lane-changing behaviors,while ensuring safety and optimizing traffic ***,there are few studies that have addressed the merging problem of ramp vehicles and the cooperative lane-change problem of mainline vehicles within a unified framework and proposed corresponding optimization *** tackle this issue,this study adopts a cyber-physical integration perspective and proposes a graph-based solution ***,the information of vehicle groups in the physical plane is mapped to the cyber plane,and a dynamic conflict graph is introduced in the cyber space to describe the conflict relationships among vehicle ***,graph decomposition and search strategies are employed to obtain the optimal solution,including the set of mainline vehicles changing lanes,passing sequences for each route,and corresponding ***,the proposed dynamic conflict graph-based algorithm is validated through simulations in continuous traffic with various densities,and its performance is compared with the default algorithm in *** results demonstrate the effectiveness of the proposed approach in improving vehicle safety and traffic efficiency,particularly in high traffic density scenarios,providing valuable insights for future research in multi-lane merging strategies.

关键词： cooperative merging multi-lane graph theory cyber-physical integration system

Discovery of tip induced unconventional superconductivity on Weyl semimetal

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Science Bulletin 2017年第6期62卷 425-430页

作者： He Wang Huichao Wang Yuqin Chen jiawei luo Zhujun Yuan Jun Liu Yong Wang Shuang Jia Xiong-Jun Liu jian Wei Jian Wang International Center for Quantum Materials School of Physics Peking University Beijing 100871 China Collaborative Innovation Center of Quantum Matter Beijing China Center of Electron Microscopy State Key Laboratory of Silicon Materials School of Materials Sdence and Engineering Zhejiang University Hangzhou 310027 China

Weyl fermion is a massless Dirac fermion with definite chirality,which has been long pursued since *** it has not been observed as a fundamental particle in nature,Weyl fermion can be realized as low-energy excitation around Weyl point in Weyl semimetal,which possesses Weyl fermion cones in the bulk and nontrivial Fermi arc states on the surface. As a firstly discovered Weyl semimetal,Ta As crystal possesses 12 pairs of Weyl points in the momentum space,which are topologically protected against small perturbations. Here,we report for the first time the tip induced superconductivity on Ta As crystal by point contact spectroscopy. The zero bias conductance peak as well as a conductance plateau with double conductance peaks and sharp double dips are observed in the point contact spectra simultaneously,indicating unconventional superconductivity. Our further theoretical study suggests that the induced superconductivity may have nontrivial topology. The present work opens a new route in investigating the novel superconducting states based on Weyl materials.

关键词： Tip induced unconventional superconductivity Topological superconductivity Weyl semimetal TaAs Point contact spectroscopy

Ultrafastly activated needle coke as electrode material for supercapacitors

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Progress in Natural Science:Materials International 2022年第6期32卷 786-792页

作者： Cuihua Zeng Cunpeng Duan Zhaoxin Guo Zhedong Liu Shuming Dou Qunyao Yuan Peng Liu Jingchao Zhang jiawei luo Weidi Liu Jinfeng Zhang Yanan Chen Wenbin Hu School of Materials Science and Engineering Tianjin University Institute of Frontier and Interdisciplinary Science and Key Laboratory of Particle Physics and Particle Irradiation (MOE) Shandong University Australian Instiute for Bioengineering and Nanotechnology The University of Queensland

The uniform porous structure makes activated porous carbons(APCs) superior electrode ***,APCs are produced by a combination of time-consuming high-temperature heat treatment and activation,with a production time of up to several *** produced APCs have relatively low specific surface area(SSA) and ***,the electrochemical performance is poor,which limits its application in high-power energy storage ***,APCs materials are directly synthesized by a high temperature shock(HTS) strategy using needle coke as a *** structure of as-prepared APC is characterized by XRD,SEM and Raman,and electrochemical tests confirmed its good electrochemical *** the two-electrode system,the super-capacitor with HTS-APC as the electrode material provides a high energy density of 35 Wh kg-1and a high power density of 875 W kg-1in EMIMBF4ionic *** work is instructive for the rapid synthesis of electrode materials,and also provides guidance for the large-scale application of porous carbon materials.

关键词： Supercapacitors Activated porous carbons (APCs) High temperature shock (HTS) method Cost-effective

Two-stage matrix-assisted glare suppression at a large scale

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Photonics Research 2022年第12期10卷 2693-2701页

作者： DAIXUAN WU jiawei luo ZHIBING LU HANPENG LIANG YUECHENG SHEN ZHAOHUI LI School of Electronics and Information Technology Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and SystemsSun Yat-sen UniversityGuangzhou510006China State Key Laboratory of Optoelectronic Materials and Technologies Sun Yat-sen UniversityGuangzhou 510006China State Key Laboratory of Advanced Communication Systems and Networks Shanghai Jiao Tong UniversityShanghai 200240China Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) Zhuhai 519000China

Scattering-induced glares hinder the detection of weak objects in various *** advances in wavefront shaping show one can not only enhance intensities through constructive interference but also suppress glares within a targeted region via destructive ***,due to the lack of a physical model and mathematical guidance,existing approaches have generally adopted a feedback-based scheme,which requires timeconsuming hardware ***,glare suppression with up to tens of speckles was demonstrated by controlling thousands of independent ***,we reported the development of a method named twostage matrix-assisted glare suppression(TAGS),which is capable of suppressing glares at a large scale without triggering time-consuming hardware *** using the TAGS,we experimentally darkened an area containing 100 speckles by controlling only 100 independent elements,achieving an average intensity of only 0.11 of the original *** is also noticeable that the TAGS is computationally efficient,which only takes 0.35 s to retrieve the matrix and 0.11 s to synthesize the *** the same number of independent controls,further demonstrations on suppressing larger scales up to 256 speckles were also *** envision that the superior performance of the TAGS at a large scale can be beneficial to a variety of demanding imaging tasks under a scattering environment.

关键词： scattering matrix speckle

Transepithelial transport of nanoparticles in oral drug delivery:From the perspective of surface and holistic property modulation

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Acta Pharmaceutica Sinica B 2024年第9期14卷 3876-3900页

作者： Yaxian Zheng Shiqin luo Min Xu Qin He Jiang Xie jiawei Wu Yuan Huang Department of Pharmacy the Third People’s Hospital of Chengduthe Affiliated Hospital of Southwest Jiaotong UniversityCollege of MedicineSouthwest Jiaotong UniversityChengdu 610031China Department of Pharmacy Personalized Drug Therapy Key Laboratory of Sichuan ProvinceSichuan Academy of Medical Sciences&Sichuan Provincial People’s HospitalSchool of MedicineUniversity of Electronic Science and Technology of ChinaChengdu 610072China Key Laboratory of Drug-Targeting and Drug Delivery System of the Education Ministry and Sichuan Province Sichuan Engineering Laboratory for Plant-Sourced Drug and Sichuan Research Center for Drug Precision Industrial TechnologyWest China School of PharmacySichuan UniversityChengdu 610041China

Despite the promising prospects of nanoparticles in oral drug delivery,the process of oral administration involves a complex transportation pathway that includes cellular uptake,intracellular trafficking,and exocytosis by intestinal epithelial cells,which are necessary steps for nanoparticles to enter the bloodstream and exert therapeutic *** researchers have identified several crucial factors that regulate the interaction between nanoparticles and intestinal epithelial cells,including surface properties such as ligand modification,surface charge,hydrophilicity/hydrophobicity,intestinal protein corona formation,as well as holistic properties like particle size,shape,and *** these properties is essential for enhancing transepithelial transport efficiency and designing effective oral drug delivery ***,this review provides a comprehensive overview of the surface and holistic properties that influence the transepithelial transport of nanoparticles,elucidating the underlying principles governing their impact on transepithelial *** review also outlines the chosen of parameters to be considered for the subsequent design of oral drug delivery systems.

关键词： Oral delivery Nanoparticles Intestinal epithelial cells Surface property Holistic property Transepithelial transport

Surface superconductivity in the type Ⅱ Weyl semimetal TaIrTe4

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National Science Review 2020年第3期7卷 579-587页

作者： Ying Xing Zhibin Shao Jun Ge jiawei luo Jinhua Wang Zengwei Zhu Jun Liu Yong Wang Zhiying Zhao Jiaqiang Yan David Mandrus Binghai Yan Xiong-Jun Liu Minghu Pan Jian Wang Department of Materials Science and Engineering College of New Energy and Materials China University of Petroleum International Center for Quantum Materials School of Physics Peking University School of Physics and Information Technology Shaanxi Normal University School of Physics Huazhong University of Science and Technology Wuhan National High Magnetic Field Center Huazhong University of Science and Technology Center of Electron Microscopy State Key Laboratory of Silicon Materials School of Materials Science and Engineering Zhejiang University Department of Materials Science and Engineering University of Tennessee Department of Physics and Astronomy University of Tennessee Materials Science and Technology Division Oak Ridge National Laboratory Department of Condensed Matter Physics Weizmann Institute of Science CAS Center for Excellence in Topological Quantum Computation University of Chinese Academy of Sciences Beijing Academy of Quantum Information Sciences Collaborative Innovation Center of Quantum Matter

The search for unconventional superconductivity in Weyl semimetal materials is currently an exciting pursuit, since such superconducting phases could potentially be topologically non-trivial and host exotic Majorana modes. The layered material TaIrTe4is a newly predicted time-reversal invariant type Ⅱ Weyl semimetal with the minimum number of Weyl points. Here, we report the discovery of surface superconductivity in Weyl semimetal Ta Ir Te4. Our scanning tunneling microscopy/spectroscopy(STM/STS) visualizes Fermi arc surface states of TaIrTe4that are consistent with the previous angle-resolved photoemission spectroscopy results. By a systematic study based on STS at ultralow temperature, we observe uniform superconducting gaps on the sample surface. The superconductivity is further confirmed by electrical transport measurements at ultralow temperature, with an onset transition temperature(Tc) up to 1.54 K being observed. The normalized upper critical field h*(T/Tc) behavior and the stability of the superconductivity against the ferromagnet indicate that the discovered superconductivity is unconventional with the p-wave pairing. The systematic STS, and thickness-and angular-dependent transport measurements reveal that the detected superconductivity is quasi-1 D and occurs in the surface states. The discovery of the surface superconductivity in TaIrTe4provides a new novel platform to explore topological superconductivity and Majorana modes.

关键词： surface superconductivity Weyl semimetal topological superconductivity

Generalizing the Gerchberg–Saxton algorithm for retrieving complex optical transmission matrices

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Photonics Research 2021年第1期9卷 34-42页

作者： GUOQIANG HUANG DAIXUAN WU jiawei luo LIANG LU FAN LI YUECHENG SHEN ZHAOHUI LI Key Laboratory of Optoelectronic Materials and Technologies School of Electronics and Information TechnologySun Yat-sen UniversityGuangzhou 510275China Information Materials and Intelligent Sensing Laboratory of Anhui Province Key Laboratory of Opto-Electronic Information Acquisition and Manipulation of Ministry of EducationAnhui UniversityHefei 230601China Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) Zhuhai 519000China

The Gerchberg–Saxton(GS)algorithm,which retrieves phase information from the measured intensities on two related planes(the source plane and the target plane),has been widely adopted in a variety of applications when holographic methods are challenging to be *** this work,we showed that the GS algorithm can be generalized to retrieve the unknown propagating function that connects these two *** a proof-of-concept,we employed the generalized GS(GGS)algorithm to retrieve the optical transmission matrix(TM)of a complex medium through the measured intensity distributions on the target *** studies indicate that the GGS algorithm can efficiently retrieve the optical TM while maintaining *** the same training data set,the computational time cost by the GGS algorithm is orders of magnitude less than that consumed by other non-holographic methods reported in the *** numerical investigations,we also experimentally demonstrated retrieving the optical TMs of a stack of ground glasses and a 1-m-long multimode fiber using the GGS *** accuracy of the retrieved TM was evaluated by synthesizing high-quality single foci and multiple foci on the target plane through these complex *** results indicate that the GGS algorithm can handle a large TM with high efficiency,showing great promise in a variety of applications in optics.

关键词： optical algorithm holographic

新兴业态与互联网党建:特征、实践与路径——基于赣北J、Y两市的调查研究

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中共天津市委党校学报 2020年第4期22卷 21-29页

作者：罗家为中共江西省委党校马克思主义学院江西省基层党建协同创新中心江西南昌330108

现代经济和互联网技术的飞速发展促使市场需求、商业模式和空间分布发生了结构性转变,孕育出大量新兴业态与互联网企业。新兴领域党建工作区域分布不均衡,市场主体数量大、规模小、分布广,党员流动性强,人员年轻化、知识化、个性化,相... 详细信息

现代经济和互联网技术的飞速发展促使市场需求、商业模式和空间分布发生了结构性转变,孕育出大量新兴业态与互联网企业。新兴领域党建工作区域分布不均衡,市场主体数量大、规模小、分布广,党员流动性强,人员年轻化、知识化、个性化,相较传统领域更为复杂。新兴领域党建工作在组织覆盖、管理体系、组织生活、人才队伍和保障体系建设上成效显著,但仍有较大提升空间。要推进党员组织关系动态重组,理顺垂直分工与部门协同管理,拓展活动方式与内容,强化培训指导与人员配备,提高财政投入与资源整合能力,提升新兴业态与互联网党建工作质量。

关键词：新兴业态互联网企业基层党建高质量发展