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Design and Gait Planning of a Worm-inspired Metameric Robot for Pipe Crawling

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Journal of Bionic Engineering 2024年第3期21卷 1265-1277页

作者： yu liu Qingbiao Shi Zhen Chen Pen-Tung Sah Institute of Micro-Nano Science and Technology Xiamen UniversityXiamen361102China

The earthworm has been attracted much attention in the research and development of biomimetic robots due to their unique locomotion mechanism,compact structure,and small motion *** paper presents a new design and prototype of a worm-inspired metameric robot with a movement pattern similar to that of *** robot consists of multiple telescopic modules connected in series through joint *** telescopic module mimics the contraction and elongation motion modes of the earthworm segments.A kinematic and dynamic analysis is conducted on the telescopic module,and an input torque calculation method is provided to ensure sufficient friction between the robot and the pipe *** gait modes of the prototype robot for straight and turning locomotion are introduced,and these modes are extended to robots constructed by different numbers of telescopic *** addition,a method is proposed to increase the friction between the robot and the pipe wall in the aforementioned gait modes without changing the robot structure,thereby improving the robot’s motion ability in *** theoretical model of gait modes has also been validated through gait *** findings of this paper would provide a useful basis for the design,modeling,and control of future worm inspired robots.

关键词： Bio-inspired robot Spatial linkage mechanism Kinematics model Peristaltic locomotion

UKF‐MOT:An unscented Kalman filter‐based 3D multi‐object tracker

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CAAI Transactions on Intelligence Technology 2024年第4期9卷 1031-1041页

作者： Meng liu Jianwei Niu yu liu Collective Intelligence&Collaboration Laboratory China North Artificial Intelligence and Innovation Research InstituteBeijingChina China North Vehicle Research Institute BeijingChina State Key Laboratory of Software Development Environment School of Computer Science and EngineeringBeihang UniversityBeijingChina State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijingChina School of Computer Science and Engineering Beihang UniversityBeijingChina

Multi‐object tracking in autonomous driving is a non‐linear *** better address the tracking problem,this paper leveraged an unscented Kalman filter to predict the object's *** the association stage,the Mahalanobis distance was employed as an affinity metric,and a Non‐minimum Suppression method was designed for *** the detections fed into the tracker and continuous‘predicting‐matching’steps,the states of each object at different time steps were described as their own continuous *** conducted extensive experiments to evaluate tracking accuracy on three challenging datasets(KITTI,nuScenes and Waymo).The experimental results demon-strated that our method effectively achieved multi‐object tracking with satisfactory ac-curacy and real‐time efficiency.

关键词： autonomous vehicle transportation

Hybrid pedestrian positioning system using wearable inertial sensors and ultrasonic ranging

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Defence Technology（防务技术） 2024年第3期33卷 327-338页

作者： Lin Qi yu liu Chuanshun Gao Tao Feng yue yu School of Communication and Information Engineering Chongqing University of Posts and TelecommunicationsChongqing 400065China Department of Land Surveying and Geo-Informatics The Hong Kong Polytechnic UniversityHong Kong 999077China

Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,*** performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration *** paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint *** addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial ***,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall *** results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.

关键词： Pedestrian positioning system Wearable inertial sensors Ultrasonic ranging Deep-learning Data and model dual-driven

High-performance,stable CoNi LDH@Ni foam composite membrane with innovative peroxymonosulfate activation for 2,4-dichlorophenol destruction

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Journal of Environmental Sciences 2024年第7期141卷 235-248页

作者： yu liu Weibao liu Xinrui Gan Jiangwei Shang Xiuwen Cheng College of Chemistry and Environmental Science Xinjiang Laboratory of Phase Transitions and Microstructures of Condensed Matter PhysicsYili Normal UniversityYining 835000China Key Laboratory for Environmental Pollution Prediction and Control Gansu ProvinceCollege of Earth and Environmental SciencesLanzhou UniversityLanzhou 730000China

In this study,the cobalt-nickel layered double hydroxides(CoNi LDH)were synthesized with a variety of Co/Ni mass ratio,as *** comparison,Co1Ni3LDH presented the best peroxymonosulfate(PMS)activation efficiency for 2,4-dichlorophenol ***,CoNi LDH@Nickel foam(CoNi LDH@NF)composite membrane was constructed for enhancing the stability of catalytic ***,CoNi LDH@NF-PMS system exerted high degradation efficiency of 99.22%within 90 min for 2,4-DCP when[PMS]_(0)=0.4 g/L,Co^(1)Ni^(3)LDH@NF=2 cm×2 cm(0.2 g/L),reaction temperature=298 *** the surface morphology and structure of the catalyst,it was demonstrated that the CoNi LDH@NF composite membrane possessed abundant cavity structure,good specific surface area and sufficient active ***,·OH,SO_(4)·^(-)and^(1)O_(2)played the primary role in the CoNi LDH@NF-PMS system for 2,4-DCP decomposition,which revealed the PMS activation mechanism in CoNi LDH@NF-PMS ***,this study eliminated the stability and adaptability of CoNi LDH@NF composite membrane,proposing a new theoretical basis of PMS heterogeneous catalysts selection.

关键词： CoNi LDH@NF composite membrane Peroxymonosulfate 2,4-dichlorophenol Reactive radicals

GraphSTGAN:Situation understanding network of slow-fast high maneuvering targets for maritime monitor services of IoT data

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Digital Communications and Networks 2024年第3期10卷 620-630页

作者： Guanlin Wu Haipeng Wang yu liu You He Shenzhen International Graduate School Tsinghua UniversityShenzhen518071China Institute of Space Science and Applied Technology Harbin Institute of TechnologyShenzhen518055China Department of Electronic Engineering Tsinghua UniversityBeijing100084China

With the rapid growth of the maritime Internet of Things(IoT)devices for Maritime Monitor Services(MMS),maritime traffic controllers could not handle a massive amount of data in *** unmanned MMS,one of the key technologies is situation ***,the presence of slow-fast high maneuvering targets and track breakages due to radar blind zones make modeling the dynamics of marine multi-agents difficult,and pose significant challenges to maritime situation *** order to comprehend the situation accurately and thus offer unmanned MMS,it is crucial to model the complex dynamics of multi-agents using IoT big ***,previous methods typically rely on complex assumptions,are plagued by unstructured data,and disregard the interactions between multiple agents and the spatial-temporal correlations.A deep learning model,Graph Spatial-Temporal Generative Adversarial Network(GraphSTGAN),is proposed in this paper,which uses graph neural network to model unstructured data and uses STGAN to learn the spatial-temporal dependencies and *** experiments show the effectiveness and robustness of the proposed method.

关键词： Internet of things Multi-agents Graph neural network Maritime monitoring services

Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Manipulators Under Time-Varying Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1190-1201页

作者： Xiangqian Yao Hao Sun Zhijia Zhao yu liu School of Automation Science and Engineering South China University of TechnologyGuangzhou 510640China Yongjiang Laboratory Ningbo 315202 School of Astronautics Harbin Institute of TechnologyHarbin 150001China School of Mechanical and Electrical Engineering Guangzhou UniversityGuangzhou 510006China

For bipartite angle consensus tracking and vibration suppression of multiple Timoshenko manipulator systems with time-varying actuator faults,parameter and modeling uncertainties,and unknown disturbances,a novel distributed boundary event-triggered control strategy is proposed in this *** contrast to the earlier findings,time-varying consensus tracking and actuator defects are taken into account *** addition,the constructed event-triggered control mechanism can achieve a more flexible design because it is not required to satisfy the input-to-state *** achieve the control objectives,some new integral control variables are given by using back-stepping technique and boundary ***,adaptive neural networks are applied to estimate system *** the proposed event-triggered scheme,control inputs can reduce unnecessary ***,tracking errors and vibration states of the closed-looped network can be exponentially convergent into some small fields,and Zeno behaviors can be *** last,some simulation examples are given to state the effectiveness of the control algorithms.

关键词： Vibration satisfy bipartite

Narrative review of latest research progress about robotic percutaneous coronary intervention

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Journal of Geriatric Cardiology 2024年第8期21卷 816-825页

作者： Zhen-yu liu Guang-Yao ZHAI Department of Clinical Medicine Beijing Luhe HospitalCapital Medical UniversityBeijingChina Department of Cardiology Beijing Luhe HospitalCapital Medical UniversityBeijingChina

Robotic percutaneous coronary intervention(R-PCI)is a novel technology in which operators can manipulate guidewires and catheter devices in interventional *** approach provides great benefits to interventional cardiologists in terms of reducing both radiation exposure and orthopedic *** large,high-quality cohort studies have confirmed the short-term safety and high technical success rate of ***,randomized long-term data are still needed before adopting them as part of standard coronary ***,tele-stenting for complex coronary lesions has significant potential for *** need to overcome the present relevant challenges for its application such as inherent delays,bedside care for unstable patients from R-PCIs to manual PCIs(M-PCIs),incompatibility for a thrombus aspiration catheter and heavily calcified *** is a great future in laboratory workflow teams,3D-printed anatomical models and multiple joint collaborative control *** narrative review summarizes the latest developments in R-PCI,with a focus on developments in robotic technology,and discusses the current and future potential use of R-PCI in clinical practice globally.

关键词： coronary injuries unstable

Donor-acceptor covalent organic frameworks-confined ultrafine bimetallic Pt-based nanoclusters for enhanced photocatalytic H_(2)generation

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Nano Research 2024年第7期17卷 5835-5844页

作者： yu liu Yawen Shi Hua Wang Shengbo Zhang Collaborative Innovation Center of Chemical Science and Engineering(Tianjin) Key Laboratory for Green Chemical Technology of the Ministry of EducationSchool of Chemical Engineering and TechnologyTianjin UniversityTianjin 300350China School of Environmental Science and Engineering Tianjin Key Laboratory of Biomass/Wastes UtilizationTianjin UniversityTianjin 300350China

Photocatalytic hydrogen generation from hydrogen storage media is an effective and promising approach for the green hydrogen industry as well as for achieving carbon neutrality ***,the lower photocatalytic efficiency due to the limited light trapping capacity,low electron transfer rate,and severe aggregation of nanoparticles caused by high surface energy seriously restricts their practical ***,we constructed a series of donor–acceptor(D–A)type covalent organic frameworks to confine ultrafine bimetallic Pt-based nanoclusters for photocatalytic hydrogen generation from ammonia borane(AB)*** visible light irradiation at 20℃,PtCo_(2)@covalent organic framework(COF)showed the highest photocatalytic activity with a turnover frequency(TOF)of 486 min−*** and density functional theory(DFT)calculations reveal that the high catalytic activity is mainly attributed to the strong electronic interactions between D–A type COF and ultrafine PtCo_(2)***,the D–A type COF can significantly enhance the light-trapping ability by fine-tuning the electron-acceptor type in the framework,and accelerate the photogenerated electron transfer from D–A type COF to PtCo_(2)nanocluster,which promotes the adsorption and activation of H_(2)O and AB molecules and accelerates hydrogen ***,PtCo_(2)@COF also exhibited ultra-high durability due to the significantly enhanced resistance to nanocluster aggregation caused by the nanopore confinement effect of D–A type *** believe that this work will provide a theoretical guide for the rational design of efficient D–A COFbased catalysts for photocatalysis.

关键词： light trapping electron transfer donor-acceptor covalent organic frameworks(D-A COFs) bimetallic nanoclusters photocatalysis

Defect spinel oxides for electrocatalytic reduction reactions

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Nano Research 2024年第5期17卷 3547-3570页

作者： Zhijuan liu Jinyu Guo Lu-yu liu Fen Wang Zhijie Kong Yanyong Wang Henan Key Laboratory of Crystalline Molecular Functional Materials Henan International Joint Laboratory of Tumor Theranostical Cluster MaterialsKey Laboratory of Special Environmental Functional Materials(Zhengzhou University)Ministry of EducationGreen Catalysis Centerand College of ChemistryZhengzhou UniversityZhengzhou 450001China State Key Laboratory of Chem/Bio-sensing and Chemometrics College of Chemistry and Chemical EngineeringHunan UniversityChangsha 410082China

Electrocatalytic reduction reactions play a crucial role in electrochemical energy conversion and storage technology,which are emerging technologies to ameliorate environmental *** oxides are widely explored in electrocatalytic oxidation reactions but have a poor intrinsic ability to reduction reactions,making their electrocatalytic ability less *** improve this,defect engineering is a valuable method for regulating the electronic structure and coordination ***,this manuscript discusses the use of defect spinel oxides in electrocatalytic reduction reactions,including the different types of defects,construction methods,and characterization *** also outlines the various applications of defect spinel oxides in different electrocatalytic reduction ***,it goes over the challenges and future outlooks for defect *** review aims to thoroughly explain how defect spinels work in electrocatalytic reduction reactions and serve as a helpful guide for creating effective electrocatalysts.

关键词： defect spinel oxides electrochemical reduction reactions electrocatalytic mechanism dynamic evolution