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Probabilistic movement primitive based motion learning for a lower limb exoskeleton with black-box optimization

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Frontiers of Information Technology & Electronic Engineering 2023年第1期24卷 104-116页

作者： jiaqi wang Yongzhuo GAO Dongmei WU Wei DONG State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China

As a wearable robot,an exoskeleton provides a direct transfer of mechanical power to assist or augment the wearer’s movement with an anthropomorphic *** an exoskeleton is used to facilitate the wearer’s movement,a motion generation process often plays an important role in high-level *** of the main challenges in this area is to generate in real time a reference trajectory that is parallel with human intention and can adapt to different *** this paper,we first describe a novel motion modeling method based on probabilistic movement primitive(ProMP)for a lower limb exoskeleton,which is a new and powerful representative tool for generating motion *** adapt the trajectory to different situations when the exoskeleton is used by different wearers,we propose a novel motion learning scheme based on black-box optimization(BBO)PIBB combined with *** motion model is first learned by ProMP offline,which can generate reference trajectories for use by exoskeleton controllers *** is adopted to learn and update the model for online trajectory generation,which provides the capability of adaptation of the system and eliminates the effects of *** and experiments involving six subjects using the lower limb exoskeleton HEXO demonstrate the effectiveness of the proposed methods.

关键词： Lower limb exoskeleton Human-robot interaction Motion learning Trajectory generation Movement primitive Black-box optimization

An evaluation of the effects of sample size on estimating length composition of catches from tuna longline fisheries using computer simulations

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Aquaculture and Fisheries 2020年第3期5卷 122-130页

作者： jiaqi wang Luoliang Xu Bai Li Siquan Tian Yong Chen College of Marine Sciences Shanghai Ocean UniversityShanghai201306China School of Marine Sciences University of MaineOronoME04469USA National Distant-water Fisheries Engineering Research Center Shanghai Ocean UniversityShanghai201306China Key Laboratory of Sustainable Exploitation of Oceanic Fisheries Resources Ministry of EducationShanghai Ocean UniversityShanghai201306China

Length composition analysis can provide insights into the dynamics of a fish *** quantification of the size structure of a population is critical to understand the status of a fishery and how the population responds to environmental stressors.A scientific observer program is a reliable way to provide such accurate ***,100%observer coverage is usually impossible for most fisheries because of logistic and financial ***,there is a need to evaluate observer program performance,identify suitable sample sizes,and optimize the allocation of observation *** objective of this study is to evaluate the effects of sample size on the quality of length composition data and identify an optimal coverage rate and observation ratio to improve the observation efficiency using an onboard observer data set from China's tuna longline fishery in the western and central Pacific *** found that the required sample size varies with fish species,indices used to describe length composition,the acceptable accuracy of the estimates,and the allocation methods of sampling *** other information requirements,1000 individuals would be sufficient for most species to reliably quantify length compositions,and a smaller sample size could generate reliable estimates of mean length.A coverage rate of 20%would be sufficient for most species,but a lower coverage rate(5%or 10%)could also be effective to meet with the accuracy and precision requirement in estimating length compositions.A nonrandom effort allocation among fishing baskets within a set could cause the length composition to be overestimated or underestimated for some *** differences in effective sample sizes among species should be included in the consideration for a rational allocation of observation effort among species when there are different species management priorities.

关键词： Length composition Sample size Onboard observer Accuracy and precision WCPO and computer simulation

In-situ oriented oxygen-defect-rich Mn-N-O via nitridation and electrochemical oxidation based on industrial-scale Mn_(2)O_(3) to achieve high-performance aqueous zinc ion battery

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Journal of Energy Chemistry 2023年第1期76卷 11-18,I0001页

作者： Yao Liu Shuailong Guo Wei Ling Mangwei Cui Hao Lei jiaqi wang Wenzheng Li Qingjiang Liu Lukuan Cheng Yan Huang Sauvage Laboratory for Smart Materials School of Materials Science and EngineeringHarbin Institute of TechnologyShenzhen 518055GuangdongChina Shenzhen Key Laboratory of Flexible Printed Electronics Technology Harbin Institute of TechnologyShenzhen 518055GuangdongChina State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001HeilongjiangChina

As a general problem in the field of batteries,materials produced on a large industrial scale usually possess unsatisfactory electrochemical *** them,manganese-based aqueous rechargeable zinc-ion batteries(ARZBs)have been emerging as promising large-scale energy storage systems owing to their high energy densities,low manufacturing cost and intrinsic high ***,the direct application of industrial-scale Mn2O3(MO)cathode exhibits poor electrochemical performance especially at high current ***,a highly reversible Mn-based cathode is developed from the industrial-scale MO by nitridation and following electrochemical oxidation,which triples the ion diffusion rate and greatly promotes the charge ***,the cathode delivers a capacity of 161 m Ah g^(-1) at a high current density of 10 A g^(-1),nearly-three times the capacity of pristine MO(60 m Ah g^(-1)).Impressive specific capacity(243.4 m Ah g^(-1))is obtained without Mn^(2+) additive added in the electrolyte,much superior to the pristine MO(124.5 m Ah g^(-1)),suggesting its enhanced reaction kinetics and structural *** addition,it possesses an outstanding energy output of 368.4 Wh kg^(-1) at 387.8 W kg^(-1),which exceeds many of reported cathodes in ARZBs,providing new opportunities for the large-scale application of highperformance and low-cost ARZBs.

关键词： Aqueous rechargeable zinc-ion battery Mn-based cathode Oxygen defect Nitridation Electrochemical oxidation

Event Based Design for Cooperative Output Regulation of A Class of Multi-agent Nonlinear Systems 36

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Event Based Design for Cooperative Output Regulation of A Cl...

Fast-Charging Sodium-Ion Batteries Enabled by Molecular-Level Designed Nitrogen and Phosphorus Codoped Mesoporous Soft Carbon

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作者： jiaqi wang Dabo Xu Zhiyong Chen Youfeng Su Andong Sheng School of Automation Nanjing University of Science and Technology Electrical Engineering and Computing The University of NewcastleCallaghan College of Mathematics and Computer Science Fuzhou University

ISBN: (纸本)9781538629185

This paper considers a cooperative output regulation design for a class of multi-agent nonlinear *** this problem under undirected communication topologies,the previous studies have shown that some internal model principle based smooth distributed control law can be *** this study,we show an attempt of an event-based protocol by a cooperative practical output regulation approach.

关键词： Event-triggered control nonlinear systems stabilization

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Research 2024年第2期2023卷 329-337页

作者： Lei Liu Zhuzhu Du jiaqi wang Hongfang Du Sheng Wu Mengjun Li Yixuan Zhang Jinmeng Sun Zhipeng Sun Wei Ai Frontiers Science Center for Flexible Electronics(FSCFE)and Shaanxi Institute of Flexible Electronics(SIFE) Northwestern Polytechnical University(NPU)127 West Youyi RoadXi'an 710072China Fujian Cross Strait Institute of Flexible Electronics(Future Technologies) Fujian Normal UniversityFuzhou 350117China School of Materials and Energy Guangdong University of TechnologyGuangzhou510006 GuangdongChina

Soft carbons have attracted extensive interests as competitive anodes for fast-charging sodium-ion batteries(SIBs);however,the high-rate performance is still restricted by their large ion migration barriers and sluggish reaction ***,we show a molecular design approach toward the fabrication of nitrogen and phosphorus codoped mesoporous soft carbon(NPSC).The key to this strategy lies in the chemical cross-linking reaction between polyphosphoric acid and p-phenylenediamine,associated with pyrolysis induced in-situ self-activation that creates mesoporous structures and rich heteroatoms within the carbon *** to the enlarged interlayer spacing,reduced ion diffusion length,and plentiful active sites,the obtained NPSC delivers a superb rate capacity of 215 mAh g-1 at 10 A g-1 and an ultralong cycle life of 4,700 cycles at 5 A g^(-1).Remarkably,the full cell shows 99%capacity retention during 100 continuous cycles,and maximum energy and power densities of 191 Wh kg^(-1)and 9.2 kW kg^(-1),*** believe that such a synthetic protocol could pave a novel venue to develop soft carbons with unique properties for advanced SIBs.

关键词： kinetics carbons linking

Effect of red clover isoflavones on hormone,immune,inflammatory,and plasma biochemistry in lactating dairy cows

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Animal Nutrition 2024年第1期16卷 306-312页

作者： Shiqi Zhang Xiaoyin Zhang Zhanbo Xiong Kexin Li Yuan Gao Ying Bu Nan Zheng Shengguo Zhao jiaqi wang State Key Laboratory of Animal Nutrition Institute of Animal SciencesChinese Academy of Agricultural SciencesBeijing 100193China

This study was to conducted to investigate the effect of red clover isoflavones on the health indicated by immune status and blood biochemistry in dairy ***-eight healthy Holstein lactating cows were randomly divided into four treatments(n=17 per treatment)from 5 blocks according to milk yield using a randomized complete block *** initial differences in parity(2.13±1.21),days in milk(165±21 d),and milk yield(33.93±3.81 kg/d)between *** were fed the basal diet supplemented with 0,2,4,or 8 g/kg red clover extract(RCE)in diet(dry matter based).Feeding,refusal feed weights,and milk yield were recorded three consecutive days in weeks 0,4,8,and *** was collected from the tail vein of the cows on the last day of weeks 4,8 and 12,1 h after the morning feeding,and analyzed for hormones,immunoglobulins,inflammatory markers,and markers of liver and kidney *** dry matter intake was significantly decreased by 3.7%in the 8 g/kg group(P0.05).These results recommend the supplementation of RCE at a level from 2 to4 g/kg DM.

关键词： Dairy cow Red clover isoflavone Immunity Anti-inflammatory

Structural Isomerization in Cu(I)Clusters:Tracing the Cu Thermal Migration Paths and Unveiling the Structure-Dependent Photoluminescence

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CCS Chemistry 2023年第2期5卷 350-360页

作者： Xi Fan Furong Yuan jiaqi wang Zhibin Cheng Shengchang Xiang Huayan Yang Zhangjing Zhang Fujian Provincial Key Laboratory of Polymer Materials College of Chemistry and Materials ScienceFujian Normal UniversityFuzhouFujian 350007 State Key Laboratory of Structural Chemistry Fujian Institute of Research on the Structure of MatterChinese Academy of SciencesFuzhouFujian 350002 Health Science Center School of Biomedical Engineering Shenzhen UniversityShenzhen 518000

Revealing structural isomerization in metal clusters would bridge a huge structural gap between small molecular isomerization and solid–solid phase ***,genuine structural isomerism in metal clusters is still *** this work,we report the first example of structural isomerismin Cu *** utilizing the coordination flexibility of alkyne to enable the migration of partial Cu atoms in Cu metal cores,two Cu_(15)cluster complexes(Cu_(15)-a and Cu_(15)-c)possessing identical composition but different metal core structures have been successfully ***,although the structure of Cu_(15)-a can be retained in CH_(2)C_(l2)solution below 27°C,it will gradually change to give an intermediate state,Cu_(15)-b,as the temperature rises(at about 31°C)before it eventually transforms into Cu_(15)-c(at 40∼65°C).Significantly,atomically precise Cu_(15)-b clearly provides footprints for tracing the thermal migration process of Cu atoms during the thermal transformation from Cu_(15)-a to Cu_(15)-*** addition,Cu_(15)-a and Cu_(15)-c exhibit diverse crystallization-induced emission enhancement *** Cu_(15)-c displays redshifted photoluminescence(820 nm)compared with Cu_(15)-a(726 nm)due to the shorter mean Cu···Cu distance in Cu_(15)-***,crystalline Cu_(15)-a exhibits much more intense photoluminescence at room temperature than that in Cu_(15)-c,which might be attributed to the stronger intermolecular C–H⋯πinteractions in Cu_(15)-*** results indicate that cluster isomerism provides valuable opportunities for insight into the structure–property relationships and understanding the complex evolution of phase transformation in nanometallic solids.

关键词： cluster compounds metal clusters structural isomerism isomeric transformation structure–property relationships

The Study on Opportunities and Challenges to the Chinese High-Speed Rail Export

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International English Education Research 2015年第12期 83-84页

作者： wang jiaqi school of management shanghai university of engineer and science shanghai 201620 China

Firstly on China＇s exports of high-speed rail background, purpose, significance, research methods are introduced And the high-speed railway of our country export situation and the future prospects for development. Secondly, this paper focuses on China＇s high-speed rail export opportunities, countries high iron deficiency causes analysis, and our geographical planning effective in countries support background; then illuslrate high iron exports encountered challenges affect. Finally through the analysis of the problem, according to China＇s basic national conditions proposed corresponding

关键词： High-speed Rail Export Opportunities Challenges

High-Speed Mach-Zehnder-OTDR Distributed Optical Fiber Vibration Sensor Using Medium-Coherence Laser

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Photonic Sensors 2018年第3期8卷 203-212页

作者： Yuheng TONG Zhengying LI jiaqi wang Honghai wang Haihu YU National Engineering Laboratory for Fiber Optic Sensing Technology Wuhan University of Technology Wuhan 430070 China

This article presents a high-speed distributed vibration sensing based on Mach-Zehnder-OTDR （optical time-domain reflectometry）. Ultra-weak fiber Bragg gratings （UWFBG）, whose backward light intensity is 2-4 orders of magnitude higher than that of Rayleigh scattering, are used as the reflection markers. A medium-coherence laser can substitute conventional narrow bandwidth source to achieve an excellent performance of distributed vibration sensing since our unbalanced interferometer matches the interval of UWFBGs. The 3 m of spatial resolution of coherent detection and multiple simultaneous vibration sources locating can be realized based on OTDR. The enhanced signal to noise ratio （SNR） enables fast detection of distributed vibration without averaging. The fastest vibration of 25 kHz and the slowest vibration of 10Hz can be detected with our system successfully, and the linearity is 0.9896 with a maximum deviation of 3.46nε.

关键词： High-speed Mach-Zehnder-OTDR ultra-weak fiber Bragg grating array medium-coherence laser optical fiber vibration sensing