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Segment-wise learning control for trajectory tracking of robot manipulators under iteration-dependent periods

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Science China(Information Sciences) 2024年第3期67卷 155-166页

作者： Fan ZHANG Deyuan MENG Kaiquan cai The Seventh Research Division Beihang University School of Automation Science and Electrical Engineering Beihang University School of Electronics and Information Engineering Beihang University

This paper is concerned with the amplitude boundedness problem of adaptive iterative learning control(AILC) for robot manipulators operating with iteration-dependent periods. By introducing virtual memory slots for storing historical data, a practical AILC method is proposed to achieve the segmentwise learning. This method requires less memory storage for historical information of previous iterations,especially in comparison with that of the conventional AILC methods using point-wise learning *** is shown that not only the energy boundedness but also the amplitude boundedness of estimates and inputs of practical AILC can be guaranteed. Moreover, the practical AILC method can achieve the perfect tracking objective regardless of iteration-dependent periods when the robot manipulators have a persistent full learning property. In addition, a solution to the visual manipulator platform is provided and deployed based on Coppeliasim and Matlab, which helps to show the amplitude boundedness of learning results and the perfect tracking performances of the proposed practical AILC method for robot manipulators.

关键词： amplitude boundedness iteration-dependent period iterative learning control robot manipulator segment-wise virtual memory slot

Reveal the lost entanglement for accelerated atoms in the high-dimensional spacetime

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Science China(Physics,Mechanics & Astronomy) 2024年第6期67卷 48-57页

作者： Jiatong Yan Baocheng Zhang Qingyu cai School of Mathematics and Physics China University of GeosciencesWuhan 430074China Physics Department Brown UniversityProvidenceRhode Island 02912USA Center for Theoretical Physics Hainan UniversityHaikou 570228China School of Information and Communication Engineering Hainan UniversityHaikou 570228China Peng Huanwu Center for Fundamental Theory Hefei 230026China

When atoms are accelerated in the vacuum,entanglement among atoms will degrade compared with the initial situation before the *** this study,we propose a novel and interesting view that the lost entanglement can be recovered completely when the high-dimensional spacetime is exploited,in the case that the acceleration is not too large,since the entanglement loss rate caused by the large acceleration is faster than the recovery *** also calculate the entanglement change caused by the anti-Unruh effect and found that the lost entanglement could just be recovered part by the anti-Unruh effect,and the anti-Unruh effect could only appear for a finite range of acceleration when the interaction time scale is approximately shorter than the reciprocal of the energy gap in two dimensional *** limit case of zero acceleration is also investigated,which gives an analytical interpretation for the increase or recovery of entanglement.

关键词： entanglement acceleration high-dimensional spacetime

Defect engineering on constructing surface active sites in catalysts for environment and energy applications

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Frontiers of Chemical Science and Engineering 2024年第7期18卷 11-32页

作者： Yawen cai Baowei Hu Xiangke Wang School of Life Science Shaoxing UniversityShaoxing 312000China College of Environmental Science and Engineering North China Electric Power UniversityBeijing 102206China

The precise engineering of surface active sites is deemed as an efficient protocol for regulating surfaces and catalytic properties of *** engineering is the most feasible option to modulate the surface active sites of *** specific active sites on the catalyst allows precise modulation of its electronic structure and physicochemical ***,we outlined the engineering of several types of defects,including vacancy defects,void defects,dopant-related defects,and defect-based single atomic *** overview of progress in fabricating structural defects on catalysts via de novo synthesis or post-synthetic modification was ***,the applications of the well-designed defective catalysts in energy conversion and environmental remediation were carefully ***,current challenges in the precise construction of active defect sites on the catalyst and future perspectives for the development directions of precisely controlled synthesis of defective catalysts were also proposed.

关键词： defect engineering vacancy void defects doping single atomic sites

Comprehensive analysis of clinical and biological value of ING family genes in liver cancer

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World Journal of Gastrointestinal Oncology 2024年第6期16卷 2592-2609页

作者： Shi-cai Liu School of Medical Information Wannan Medical CollegeWuhu 241002Anhui ProvinceChina

BACKGROUND Liver cancer(LIHC)is a malignant tumor that occurs in the liver and has a high mortality in *** ING family genes were identified as tumor suppressor *** expression of these genes can lead to cell cycle arrest,senescence and/or *** family genes are promising targets for anticancer ***,their role in LIHC is still not well *** To have a better understanding of the important roles of ING family members in *** A series of bioinformatics approaches(including gene expression analysis,genetic alteration analysis,survival analysis,immune infiltration analysis,prediction of upstream microRNAs(miRNAs)and long noncoding RNAs(lncRNAs)of ING1,and ING1-related gene functional enrichment analysis)was applied to study the expression profile,clinical relationship,prognostic significance and immune infiltration of ING in *** relationship between ING family genes expression and tumor associated immune checkpoints was investigated in *** molecular mechanism of ING1 mediated hepatocarcinogenesis was preliminarily *** mRNA/protein expression of different ING family genes in LIHC was analyzed in different databases,showing that ING family genes were highly expressed in *** 47 samples from 366 LIHC patients,the ING family genes were altered at a rate of 13%.By comprehensively analyzing the expression,clinical pathological parameters and prognostic value of ING family genes,ING1/5 was ***1/5 was related to poor prognosis of LIHC,suggesting that they may play key roles in LIHC tumorigenesis and *** of the target miRNAs of ING1 was identified as *** upstream lncRNAs of hsa-miR-214-3p,U91328.1,and HCG17,were *** the same time,we found that the expression of ING family genes was correlated with immune cell infiltration and immune checkpoint *** This study lays a foundation for further research on the potential mechanism and clinical v

关键词： Liver cancer ING family genes Noncoding RNAs Immune cell infiltration Prognosis

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子午线轮胎周向花纹沟共振频率预测方法

合肥工业大学学报（自然科学版） 2021年第4期44卷 454-457,496页

作者：蔡青青张永斌合肥工业大学机械工程学院安徽合肥230009

现有的声管共振频率预测公式中的管端修正值是在假设管口位于自由声场或位于无限大障板中的基础上推导得到的,将这2种管端修正值用于预测子午线轮胎周向花纹沟共振频率时误差较大。为此,文章提出一种描述轮子午线轮胎周向花纹沟开口形... 详细信息

现有的声管共振频率预测公式中的管端修正值是在假设管口位于自由声场或位于无限大障板中的基础上推导得到的,将这2种管端修正值用于预测子午线轮胎周向花纹沟共振频率时误差较大。为此,文章提出一种描述轮子午线轮胎周向花纹沟开口形式的轮胎/地面模型,基于该模型推导管端修正公式和共振频率预测公式,并分别以铜管和轮胎花纹沟为对象开展实验,以验证所提出预测公式的准确性。实验结果表明,采用该文所推导的管端修正公式计算出的共振频率比现有公式的计算精度更高。

关键词：轮胎噪声轮胎/地面模型管端修正共振频率

High‑Entropy Layered Oxide Cathode Enabling High‑Rate for Solid‑State Sodium‑Ion Batteries

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Nano-Micro Letters 2024年第1期16卷 160-171页

作者： Tianxun cai Mingzhi cai Jinxiao Mu Siwei Zhao Hui Bi Wei Zhao Wujie Dong Fuqiang Huang State Key Laboratory of High Performance Ceramics and Superfine Microstructure Shanghai Institute of CeramicsChinese Academy of SciencesShanghai 200050People’s Republic of China State Key Laboratory of Rare Earth Materials Chemistry and Applications College of Chemistry and Molecular EngineeringPeking UniversityBeijing 100871People’s Republic of China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049People’s Republic of China Zhongke Institute of Strategic Emerging Materials Yixing 214213JiangsuPeople’s Republic of China

Na-ion O3-type layered oxides are prospective cathodes for Na-ion batteries due to high energy density and ***,such cathodes usually suffer from phase transitions,sluggish kinetics and air instability,making it difficult to achieve high performance solid-state sodium-ion ***,the high-entropy design and Li doping strategy alleviate lattice stress and enhance ionic conductivity,achieving high-rate performance,air stability and electrochemically thermal stability for Na_(0.95)Li_(0.06)Ni_(0.25)Cu_(0.05)Fe_(0.15)Mn_(0.49)O_(2).This cathode delivers a high reversible capacity(141 mAh g^(−1)at 0.2C),excellent rate capability(111 mAh g^(−1)at 8C,85 mAh g^(−1)even at 20C),and long-term stability(over 85%capacity retention after 1000 cycles),which is attributed to a rapid and reversible O3–P3 phase transition in regions of low voltage and suppresses phase ***,the compound remains unchanged over seven days and keeps thermal stability until 279℃.Remarkably,the polymer solid-state sodium battery assembled by this cathode provides a capacity of 92 mAh g^(−1)at 5C and keeps retention of 96%after 400 *** strategy inspires more rational designs and could be applied to a series of O3 cathodes to improve the performance of solid-state Na-ion batteries.

关键词： High-entropy High-rate performance Li-TM interaction Air stability O3 layered oxide cathode

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中国省域金融集聚的空间非均衡与动态演进

金融理论与实践 2021年第3期 40-50页

作者：蔡青青傅娟克甝张文中新疆财经大学金融学院新疆乌鲁木齐830012 湖北科技学院经济与管理学院湖北咸宁437001 国家信息中心大数据发展部北京100045 新疆财经大学经济学院新疆乌鲁木齐830012

从金融业三大支柱行业角度构建金融集聚评价指标体系,利用2006—2019年我国30个省份的面板数据,借助熵权法测算出省域金融集聚水平,并结合Dagum基尼系数、Kernel密度估计对中国金融集聚的区域差异及分布动态进行实证研究,得出如下结论。... 详细信息

从金融业三大支柱行业角度构建金融集聚评价指标体系,利用2006—2019年我国30个省份的面板数据,借助熵权法测算出省域金融集聚水平,并结合Dagum基尼系数、Kernel密度估计对中国金融集聚的区域差异及分布动态进行实证研究,得出如下结论。(1)中国金融集聚水平整体偏低,尤其是证券业集聚水平,存在较大提升空间;中国金融集聚的空间分布存在显著的非均衡特征,具体表现为内陆和沿边地区水平低而沿海地区水平高的梯度分布态势。(2)Dagum基尼系数及分解结果表明,全国总体差距在样本考察期内呈“上升—下降—波动上升—波动下降”的演变趋势;内陆地区区域内差距最大、沿海地区区域内差距次之、沿边地区区域内差距最小,沿边和内陆地区区域内差距逐步缩小,沿海地区因证券业集聚导致区域差距大幅提升而呈扩大趋势;无论是整个金融业还是三大支柱行业,沿边、内陆与沿海地区区域间差距较大,证券业和银行业问题尤为突出,区域间差距是造成我国金融集聚空间非均衡的首要原因。(3)Kernel密度估计表明,全国层面金融集聚水平呈上升趋势,但极化问题加剧;区域层面,各区域金融集聚水平均逐步提升,但区域内绝对差距呈扩大趋势,沿海和内陆地区多极分化问题均有所缓解,而沿边地区多极分化问题严重,沿海、内陆与沿边地区金融集聚水平分别集中在中高、中等和低水平。

关键词：金融集聚空间非均衡动态演进 Dagum基尼系数 Kernel密度估计

制度环境、城镇化与金融集聚——基于“丝绸之路经济带”沿线省(区)的经验数据

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开发研究 2022年第4期 21-31页

作者：蔡青青湖北科技学院经济与管理学院湖北咸宁437001

金融是经济的血脉,金融集聚关系到金融资源的分配和布局,金融集聚能力决定了金融支持实体经济发展的力度。以“丝绸之路经济带”沿线省(区)为案例区,从制度分析视角深入探究制度环境与城镇化对金融集聚的影响。从银行业、证券业、保险... 详细信息

金融是经济的血脉,金融集聚关系到金融资源的分配和布局,金融集聚能力决定了金融支持实体经济发展的力度。以“丝绸之路经济带”沿线省(区)为案例区,从制度分析视角深入探究制度环境与城镇化对金融集聚的影响。从银行业、证券业、保险业、信托业4个方面和机构、资金、人才3个维度构建金融集聚能力评价指标体系,采用组合赋权法测算了2007—2019年“丝绸之路经济带”沿线省(区)金融集聚能力指数,并借助面板回归模型检验了制度环境、城镇化对“丝绸之路经济带”沿线省(区)金融集聚能力的影响。研究发现,同理论分析一致,随着制度变迁和城镇化建设的推进,制度环境的优化有助于提升金融集聚水平,城镇化建设有助于内生更多的金融需求,城镇化对金融集聚能力的提升作用会随着制度环境的优化而增强。据此,“丝绸之路经济带”沿线省(区)应以“丝绸之路经济带”建设为契机,继续推进市场化改革,完善产权制度和法律制度并加快新型城镇化建设,充分发挥制度环境在城镇化的金融集聚效应释放过程中的作用。

关键词：丝绸之路经济带制度环境城镇化金融集聚

Effects of zeolite imidazole frameworks on rice seedlings (Oryza sativa L.): Phytotoxicity, transformation, and bioaccumulation

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Journal of Environmental Sciences 2024年第10期144卷 15-25页

作者： Chaofa Chen Yongqi Yao Chenghua Xing Yunyu Guo Luyi cai Jianfang Yan Xi-Lin Wu Miaozhen cai College of Geography and Environmental Science Zhejiang Normal UniversityJinhuaZhejiang 321004China College of Agriculture Jinhua PolytechnicJinhuaZhejiang 321007China

Zeolite imidazole frameworks(ZIFs),a class of the metal organic framework,have been extensively studied in environmental ***,their environmental fate and potential ecological impact on plants remain ***,we investigated the phytotoxicity,transformation,and bioaccumulation processes of two typical ZIFs(ZIF-8 and ZIF-67)in rice(Oryza sativa L.)under hydroponic ***-8 and ZIF-67 in the concentration of 50 mg/L decreased root and shoot dry weight maximally by 55.2%and 27.5%,53.5%and 37.5%,*** scanning electron microscopy(SEM)imaging combined with X-ray diffraction(XRD)patterns revealed that ZIFs on the root surface gradually collapsed and transformed into nanosheets with increasing cultivation *** fluorescein isothiocyanate(FITC)labeled ZIFs were applied to trace the uptake and translocation of ZIFs in *** results demonstrated that the transformed ZIFs were mainly distributed in the intercellular spaces of rice root,while they cannot be transported to culms and *** so,the Co and Zn contents of rice roots and shoots in the ZIFs treated groups were increased by 1145%and 1259%,145%and 259%,respectively,compared with the control *** findings suggested that the phytotoxicity of ZIFs are primarily attributed to the transformed ZIFs and to a less extent,the metal ions and their ligands,and they were internalized by rice root and increased the Co and Zn contents of *** study reported the transformation of ZIFs and their biological effectiveness in rice,highlighting the potential environmental hazards and risks of ZIFs to crop plants.

关键词： Zeolitic imidazolate frameworks (ZIFs) Rice(Oryza sativa L.) Phytotoxicity Transformed ZIFs ZIFs bioaccumulation