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Adaptive Control of Lower-Limb Exoskeletons for Walking Assistance Based on Inter-Joint Coordination

Journal of Bionic Engineering 2024年第4期21卷 1775-1787页

作者： Chaoyang Li Lincong Luo Zhi Liu Tianchi Chen Songx.ang Liu Ye he xiaoan Chen Lei Li Wei Tech ang School of Mechanical Engineering Chongqing UniversityChongqing400044China Rehabilitation Research Institute of Singapore Singapore308232Singapore Department of Orthopedics Union HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhan430022China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore639798Singapore

Unilateral motor impairment can disrupt the coordination between the joints,impeding the patient’s normal *** assist such patients to walk normally and naturally,an adaptive control algorithm based on inter-joint coordination was proposed in this work for lower-limb *** control strategy can generate the reference trajectory of the affected leg in real time based on a motion coordination model between the joints,and adopt an adaptive controller with virtual windows to track the reference *** Short-Term Memory(LSTM)network was also adopted to establish the coordination model between the joints of both lower limbs,which was optimized by preprocessing angle information and adding gait phase *** the adaptive controller,the virtual windows were symmetrically distributed around the reference trajectory,and its width was adjusted according to the gait phase of the auxiliary *** addition,the impedance parameters of the controller were updated online to match the motion capacity of the affected leg based on the spatiotemporal symmetry factors between the bilateral *** LSTM coordination model demonstrated good accuracy and generality in the gait database of seven individuals,with an average root mean square error of 3.5 and 4.1 for the hip and knee joint angle estimation,*** further evaluate the control algorithm,four healthy subjects walked wearing the exoskeleton while additional weights were added around the ankle joint to simulate an asymmetric *** the experimental results,it was shown that the algorithm improved the gait symmetry of the subjects to a normal level while exhibiting great adaptability to different subjects.

关键词： Lower-limb exoskeleton Adaptive control Gait symmetry Inter-joint coordination Motion estimation

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Distinct Electrical and Mechanical Responses of a Cu-10Fe Composite Prepared by Hot-Pressed Sintering and Post Treatment

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Acta Metallurgica Sinica(English Letters) 2024年第2期37卷 255-265页

作者： x.Y.Yue S.Y.Peng x.Zhang C.N.he Y.Z.Tian Key Laboratory for Anisotropy and Texture of Materials(Ministry of Education) School of Materials Science and EngineeringNortheastern UniversityShenyang110819China School of Materials Science and Engineering and Tianjin Key Laboratory of Composite and Functional Materials Tianjin UniversityTianjin300350China Research Centre for Metallic Wires Northeastern UniversityShenyang110819China

A Cu-10wt%Fe composite was prepared through hot-pressed sintering,and the material was subsequently solution *** hot-pressed sintered and solution treated materials were rolled and *** precipitation behavior and performance changes were systematically studied by using scanning electron microscopy and transmission electron *** contrast to the hot-pressed sintered specimen,the solution treatment significantly affects the thermal stability and properties of the Cu-10wt%Fe *** Cu-10wt%Fe composite was prepared after solid solution,cold rolling and aging at 773 K for 1 h,and it obtained excellent tensile strength of 494 MPa,uniform elongation of 16.3%,electrical conductivity of 51.1%IACS and softening temperature of 838 *** for the distinct difference in thermal stability and properties between hot-pressed sintered and solution treated specimens were *** findings provide a theoretical basis for designing high-performance Cu-based in-situ composites by post treatment.

关键词： Cu-Fe composite Hot-pressed sintering Thermal stability Strength Electrical conductivity

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Direct observation of oxygen vacancy formation and migration over ceria surface by in situ environmental transmission electron microscopy

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Journal of Rare Earths 2024年第4期42卷 676-682页

作者： Dawei Pang Wei Li Ningqiang Zhang Hong he Shengcheng Mao Yanhui Chen Liwei Cao Chong Li ang Li xiaodong Han Beijing Key Laboratory of Solid Microstructure and Properties Department of Materials and ManufacturingBeijing University of TechnologyBeijing 100124China Beijing Key Laboratory for Green Catalysis and Separation The Faculty of Environment and LifeBeijing University of TechnologyBeijing10124China International Joint Research Laboratory for Quantum Functional Materials of henan School of Physics and MicroelectronicsZhengzhou UniversityZhengzhou450001China

The extremely high structural tolerance of ceria to oxygen vacancies(Ov)has made it a desirable catalytic material for the hydrocarbon oxidation to chemicals and pharmaceuticals and the reduction of gaseous *** is proposed that the formation and diffusion of Ov originate from its outstanding reduction ***,the formation and diffusion process of Ov over the surface of ceria at the atomic level is still ***,the structural and valence evolution of CeO_(2)(111)surfaces in reductive,oxidative and vacuum environments from room temperature up to 700℃was studied with in situ aberration-corrected environmental transmission electron microscopy(ETEM)*** is found to form under a high vacuum at elevated temperatures;however,the surface can recover to the initial state through the adsorption of oxygen atoms in an oxygen-contained ***,in hydrogen environment,the step-CeO_(2)(111)surface is not stable at elevated temperatures;thus,the steps tend to be eliminated with increasing *** with first-principles density function calculations(DFT),it is proposed that O-terminated surfaces would develop in a hypoxic environment due to the dynamic diffusion of Ov from the outer surface to the ***,in a reductive environment,H2 facilitates the formation and diffusion of Ov while Ce-terminated surfaces *** results reveal dynamic atomic-scale interplay between the nanoceria surface and gas,thereby providing fundamental insights into the Ov-dependent reaction of nano-CeO_(2) during catalytic processes.

关键词： Ceria Direct observation In situ ETEM Oxygen vacancy Density function calculations Rareearths

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First record of abnormal body coloration in a rockfish Sebastes koreanus(Scorpaenoidei:Sebastidae)from coastal water of China based on morphological characteristics and DNA barcoding

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Journal of Oceanology and Limnology 2024年第2期42卷 640-646页

作者： ang LI Huan Wang Changting AN Shufang LIU Yellow Sea Fisheries Research Institute Chinese Academy of Fishery SciencesQingdao 266071China Laboratory for Marine Fisheries Science and Food Production Processes Laoshan LaboratoryQingdao 266071China

The first record of abnormal body coloration in Sebastes koreanus Kim and Lee,1994,from the Yellow Sea of China,was documented based on morphological characteristics and DNA *** two rockfish specimens were collected from the coastal waters of Qingdao,China,and the whole body and all fins of them were *** the two red-colored rockfish,there were tiny deep red spots on each fin,2 red radial stripes behind and below the eyes and 1 large deep red blotch on the opercula,while the similar stripe and spot patterns are also present in the *** specimens with normal body *** countable characteristics of the two specimens are in the range of the morphometry of *** further clarify the species identity and taxonomic status of the two specimens,DNA barcode analysis was carried *** genetic distance between the red-colored rockfish and *** was 0,and the minimum net genetic distances between the red-colored rockfish and other Sebastes species except for *** were 3.0%,which exceeds the threshold of species *** phylogenetic analysis showed that the DNA barcoding sequences of the two red-colored rockfish clustered with the *** *** above results of DNA barcode analysis also support that the two red-colored rockfish could be identified as the species of *** mechanism of color variation in *** is desirable for further research and the species could be an ideal model to study the color-driven speciation of the rockfishes.

关键词： abnormal body coloration Sebastes koreanus coastal water of China Yellow Sea morphological characteristics DNA barcoding

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Influence of laser parameters on the microstructures and surface properties in laser surface modification of biomedical magnesium alloys

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Journal of Magnesium and Alloys 2024年第1期12卷 72-97页

作者： Chee Ying Tan Cuie Wen Hua Qian ang School of Engineering RMIT UniversityMelbourneVictoria 3001Australia

Biodegradable implants from magnesium(Mg)alloys have emerged in the biomedical field especially in the orthopedic and cardiovascular stent applications owing to their low density,high specific strength,excellent machinability,good biocompatibility,and *** primary shortcoming of Mg-based implants is their low corrosion resistance in the physiological environment,which results in premature mechanical integrity loss before adequate healing and the production of excessive hydrogen gas,which is harmful to the body tissues and negatively affects the biocompatibility of the *** surface modification has recently received attention because it can improve the surface properties such as surface chemistry,roughness,topography,corrosion resistance,wear resistance,hydrophilicity,and thus cell response to the surface of the *** composition and microstructures including textures and phases of laser-treated surfaces depend largely on the laser processing parameters(input laser power,laser scan velocity,frequency,pulse duration,pressure,gas circulation,working time,spot size,beam focal position,and laser track overlap)and the thermophysical properties of the substrate(solubility,melting point,and boiling point).This review investigates the impacts of various laser surface modification techniques including laser surface melting,laser surface alloying,laser cladding,laser surface texturing,and laser shock peening,and highlights their significance in improving the surface properties of biodegradable Mg alloys for implant ***,we explore how different laser process parameters affect its composition,microstructure,and surface properties in each laser surface modification technique.

关键词： Biocompatibility Biodegradability Corrosion Implant applications Laser surface modification Magnesium alloys

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Secure state estimation for cyber-physical systems with unknown input sliding mode observer

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Control Theory and Technology 2024年第2期22卷 244-253页

作者： Panpan Zhang Yuwei Ren Yixian Fang ang Liu School of Information Science and Engineering Shandong Normal UniversityJinan250358ShandongChina School of Information Engineering Shandong Management UniversityJinan250357ShandongChina

In recent years, cyber attacks have posed great challenges to the development of cyber-physical systems. It is of great significance to study secure state estimation methods to ensure the safe and stable operation of the system. This paper proposes a secure state estimation for multi-input and multi-output continuous-time linear cyber-physical systems with sparse actuator and sensor attacks. First, for sparse sensor attacks, we propose an adaptive switching mechanism to mitigate the impact of sparse sensor attacks by filtering out their attack modes. Second, an unknown input sliding mode observer is designed to not only observe the system states, sensor attack signals, and measurement noise present in the system but also counteract the effects of sparse actuator attacks through an unknown input matrix. Finally, for the design of an unknown input sliding mode state observer, the feasibility of the observing system is demonstrated by means of Lyapunov functions. Additionally, simulation experiments are conducted to show the effectiveness of this method.

关键词： Sparse attacks Cyber-physical systems Unknown input sliding mode Secure state estimation Adaptive switching mechanism

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Recent Advances in In-Memory Computing:Exploring Memristor and Memtransistor Arrays with 2D Materials

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Nano-Micro Letters 2024年第7期16卷 1-30页

作者： Hangbo Zhou Sifan Li Kah-Wee ang Yong-Wei Zhang Institute of High Performance Computing(IHPC) Agency for ScienceTechnology and Research(A*STAR)1 Fusionopolis Way#16-16 ConnexisSingapore 138632Republic of Singapore Department of Electrical and Computer Engineering National University of Singapore4 Engineering Drive 3Singapore 117583Republic of Singapore Institute of Materials Research and Engineering Agency for ScienceTechnology and Research(A*STAR)2 Fusionopolis WaySingapore 138634Republic of Singapore

The conventional computing architecture faces substantial chal-lenges,including high latency and energy consumption between memory and processing *** response,in-memory computing has emerged as a promising alternative architecture,enabling computing operations within memory arrays to overcome these *** devices have gained significant attention as key components for in-memory computing due to their high-density arrays,rapid response times,and ability to emulate biological *** these devices,two-dimensional(2D)material-based memristor and memtransistor arrays have emerged as particularly promising candidates for next-generation in-memory computing,thanks to their exceptional performance driven by the unique properties of 2D materials,such as layered structures,mechanical flexibility,and the capability to form *** review delves into the state-of-the-art research on 2D material-based memristive arrays,encompassing critical aspects such as material selection,device perfor-mance metrics,array structures,and potential ***,it provides a comprehensive overview of the current challenges and limitations associated with these arrays,along with potential *** primary objective of this review is to serve as a significant milestone in realizing next-generation in-memory computing utilizing 2D materials and bridge the gap from single-device characterization to array-level and system-level implementations of neuromorphic computing,leveraging the potential of 2D material-based memristive devices.

关键词： 2D materials Memristors Memtransistors Crossbar array In-memory computing

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Experimental Study on the Effect of Increased Downstroke Duration for an FWAV with Morphing-coupled Wing Flapping Configuration

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Journal of Bionic Engineering 2024年第1期21卷 192-208页

作者： ang Chen Bifeng Song ZhiheWang Kang Liu Dong xue xiaojun Yang School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072China Harbin Institute of Technology Shenzhen 518055China

This paper is based on a previously developed bio-inspired Flapping Wing Aerial Vehicle(FWAV),RoboFalcon,which can fly with a morphing-coupled flapping *** this paper,a simple flapping stroke control system based on Hall effect sensors is designed and applied,which is capable of assigning different up-and down-stroke speeds for the RoboFalcon platform to achieve an adjustable downstroke *** aerodynamic and power characteristics of the morphing-coupled flapping pattern and the conventional flapping pattern with varying downstroke ratios are measured through a wind tunnel experiment,and the corresponding aerodynamic models are developed and analyzed by the nonlinear least squares *** relatively low power consumption of the slow-downstroke mode of this vehicle is verified through outdoor flight *** results of wind tunnel experiments and flight tests indicate that increased downstroke duration can improve aerodynamic and power performance for the RoboFalcon platform.

关键词： Flapping wing aerial vehicle(FWAV) Downstroke ratio Bio-inspired design Morphing-coupled flapping

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Status and trends of carbon emissions research at the county level in China

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Advances in Climate Change Research 2024年第2期15卷 338-352页

作者： ang-Zu CAI Ru GUO Yu-Hao ZHang Jiang WU College of Environmental Science and Engineering Institute of Environmental Planning and ManagementTongji UniversityShanghai 200092China Institute of Carbon Neutrality Tongji UniversityShanghai 200092China Shanghai Institute of Pollution Control and Ecological Security Shanghai 200092China College of Architecture and Urban Planning Tongji UniversityShanghai 200092China Megacity Elaborated Urban Governance Institute Tongji UniversityShanghai 200092China

This study provides a comprehensive overview of the challenges to achieving carbon neutrality at the county level in China and offers targeted recommendations,laying the groundwork for future specialized research in this area.A total of 283 relevant studies(2004-2023)were analyzed to assess county-level carbon emissions through three phases:bibliometric analysis,frontier analysis,and future *** findings reveal that publication trends were largely influenced by domestic and foreign *** cluster discerns ten primary themes,ranging from conceptual frameworks to research *** frontier analysis of the literature highlights the leading research areas,which include carbon neutrality pathway,driving factors,spatiotemporal variation of carbon emissions,the co-effects of pollutants and carbon reduction,and carbon emissions in China's rural *** from the results of bibliometric and frontier analyses,this study elucidates the recommendations for achieving carbon neutrality at the county level from three perspectives:effective regional policy guidance,emphasis on ecological conservation,and the deployment of advanced carbon reduction and sequestration *** study enriches the body of knowledge on carbon emissions at the county level and holds significant implications for China's comprehensive push towards achieving its carbon neutrality objectives.

关键词： Carbon emissions Emission reduction County Carbon neutrality Sustainability

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Engineering hydrophobic protective layers on zinc anodes for enhanced performance in aqueous zinc-ion batteries

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Journal of Energy Chemistry 2024年第10期97卷 1-11页

作者： Taofeng Li Suxia Yan Hongyu Dong Yang Zheng Kun Ming Ying Chen Haitao Li Guochun Li Zhixia he Weimin Li Quan Wang xiaohui Song Junfeng Liu Edison Huix.ang ang Yong Wang Institute for Energy Research Jiangsu University School of Mechanical Engineering Jiangsu University Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shandong Zhongke Advanced Technology Co. Ltd School of Materials Science and Engineering Hefei University of Technology Natural Sciences and Science Education National Institute of Education Nanyang Technological University

Aqueous zinc-ion batteries possess substantial potential for energy storage applications;however,they are hampered by challenges such as dendrite formation and uncontrolled side reactions occurring at the zinc *** our investigation,we sought to mitigate these issues through the utilization of in situ zinc complex formation reactions to engineer hydrophobic protective layers on the zinc anode *** robust interfacial layers serve as effective barriers,isolating the zinc anode from the electrolyte and active water molecules and thereby preventing hydrogen evolution and the generation of undesirable ***,the presence of numerous zincophilic sites within these protective layers facilitates uniform zinc deposition while concurrently inhibiting dendrite *** comprehensive evaluation of functional anodes featuring diverse functional groups and alkyl chain lengths,we meticulously scrutinized the underlying mechanisms influencing performance *** analysis involved precise modulation of interfacial hydrophobicity,rapid Zn2+ion transport,and ordered deposition of Zn2+***,the optimized anode,fabricated with octadecylphosphate（OPA）,demonstrated exceptional performance *** Zn//Zn symmetric cell exhibited remarkable longevity,exceeding 4000 h under a current density of 2 mA cm-2and a capacity density of 2 mA h cm-2,Furthermore,when integrated with a VOH cathode,the complete cell exhibited superior capacity retention compared to anodes modified with alternative organic molecules.

关键词： Aqueous zinc-ion batteries Dendrite growth inhibition Energy storage Hydrophobic protective layers Zinc anode stability

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