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Adaptive admittance tracking control for interactive robot with prescribed performance

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Journal of Systems Engineering and Electronics 2024年第2期35卷 444-450页

作者： meng Qingrui lin Yan School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100190China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

关键词： prescribed performance admittance control adaptive control robots

Method for rapid warning and activity concentration estimates in online waterγ-spectrometry systems

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Nuclear Science and Techniques 2024年第3期35卷 1-12页

作者： meng Wang Yi Gu Mao-lin Xiong Liang-Quan Ge Qing-xian Zhang Guo-Qiang Zeng Heng Lu Sheng-Liang Guo College of Nuclear Technology and Automation Engineering Chengdu University of TechnologyChengdu 610059China Applied Nuclear Technology in Geosciences Key Laboratory of Sichuan Province (Chengdu University of Technology)Chengdu 610059China Chengdu New Ray Technology Co.Ltd Chengdu 610052China

Onlineγ-spectrometry systems for inland waters,most of which extract samples in situ and in real time,are able to produce reliable activity concentration measurements for waterborne radionuclides only when they are distributed relatively uniformly and enter into a steady-state diffusion regime in the measurement *** protect residents’health and ensure the safety of the living environment,better timeliness is required for this measurement *** address this issue,this study established a mathematical model of the online waterγ-spectrometry system so that rapid warning and activity estimates can be obtained for water under non-steady-state(NSS)*** addition,the detection efficiency of the detector for radionuclides during the NSS diffusion process was determined by applying the computational fluid dynamics technique in conjunction with Monte Carlo *** this basis,a method was developed that allowed the online waterγ-spectrometry system to provide rapid warning and activity concentration estimates for radionuclides in *** analysis of the NSS-mode measurements of^(40)K radioactive solutions with different activity concentrations determined the optimum warning threshold and measurement time for producing accurate activity concentration estimates for *** experimental results show that the proposed NSS measurement method is able to give warning and yield accurate activity concentration estimates for radionuclides 55.42 and 69.42 min after the entry of a 10 Bq/L^(40)K radioactive solution into the measurement chamber,*** times are much shorter than the 90 min required by the conventional measurement ***,the NSS measurement method allows the measurement system to give rapid(within approximately 15 min)warning when the activity concentrations of some radionuclides reach their respective limits stipulated in the Guidelines for Drinking-water Quality of the WHO,suggesting that this method con

关键词： Water radioactivity monitoring Dynamic detection efficiency Rapid warning Activity estimation

Free radicals trigger the closure of open pores in lignin-derived hard carbons toward improved sodium-storage capacity

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Journal of Energy Chemistry 2024年第7期94卷 551-559页

作者： Wen-Jun Ji Zong-lin Yi Ming-Xin Song Xiao-Qian Guo Yi-lin Wang Yi-Xuan Mao Fang-Yuan Su Jing-Peng Chen xian-xian Wei Li-Jing Xie Cheng-meng Chen CAS Key Laboratory of Carbon Materials Institute of Coal ChemistryChinese Academy of SciencesTaiyuan 030001ShanxiChina University of Chinese Academy of Sciences Beijing 100049China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China School of Environment and Safety Taiyuan University of Science and TechnologyTaiyuan 030001ShanxiChina

The chemical activation of various precursors is effective for creating additional closed pores in hard carbons for sodium ***,the formation mechanism of closed pores under the influence of pore-forming agents is not well ***,an effective chemical activation followed by a high-temperature self-healing strategy is employed to generate interconnected closed pores in lignin-derived hard carbon(HCs).By systematic experimental design combined with electron paramagnetic res-onance spectroscopy,it can be found that the content of free radicals in the carbon matrix influences the closure of open pores at high *** high activation temperature(>700 C)leads to a low free radical concentration,making it difficult to achieve self-healing of open pores at high *** activation at 700°C,a balance between pore making and self-healing is achieved in the final hard carbon.A large number of free radicals triggers rapid growth and aggregation of carbon microcrys-tals,blocking pre-formed open micropores and creating additional interconnected closed pores in as-obtained hard *** a result,the optimized carbon anode(LK-700-1300)delivers a high reversible capacity of 330.8 mA h g^(-1) at 0.03 A g^(-1),which is an increase of 86 mA h g^(-1) compared to the pristine lignin-derived carbon anode(L-700-1300),and exhibits a good rate performance(202.1 mA h g^(-1) at 1 A g^(-1)).This work provides a universal and effective guidance for tuning closed pores of hard carbons from otherprecursors.

关键词： Hard carbon Chemical activation Free radical Self-healing Closed pores Sodium ion batteries

Establishment of microneurovascular units in alginate hydrogel microspheres to reveal the anti-hypoxic effect of salidroside

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Journal of Pharmaceutical Analysis 2024年第6期14卷 926-929页

作者： Shiyu Chen Yuxuan Li Yingrui Zhang Hongren Yao Tong Xu Yi Zhang Jin-Ming lin xian-Li meng State Key Laboratory of Southwestern Chinese Medicine Resources Innovative Institute of Chinese Medicine and PharmacyChengdu University of Traditional Chinese MedicineChengdu611137China Beijing Key Laboratory of Microanalytical Methods and Instrumentation Department of ChemistryKey Laboratory of Bioorganic Phosphorus Chemistry&Chemical Biology(Ministry of Education)Tsinghua UniversityBeijing100084China School of Ethnic Medicine Chengdu University of Traditional Chinese MedicineChengdu611137China

Microneurovascular units(mNVUs),comprising neurons,micro-glia,and blood-brain barrier(BBB)endothelial cells,are pivotal to the central nervous system and are associated with cerebral hypoxia and brain *** hypoxia triggers microglial overactivity,causing inflammation,neuronal injury,and disruption of the BBB[1].Salidroside(Sal),a key compound in Tibetan medicine Rhodiola crenulata,mitigates hypoxia-induced metabolic disorders and neuronal damage by preserving mitochondrial function[2].

关键词： injuries preserving Tibetan

Myokines:metabolic regulation in obesity and type 2 diabetes

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Life Metabolism 2024年第3期3卷 21-45页

作者： Zhi-Tian Chen Zhi-Xuan Weng Jiandie D.lin Zhuo-xian meng Department of Pathology and Pathophysiology and Department of Cardiology of the Second Affiliated Hospital School of MedicineZhejiang UniversityHangzhouZhejiang 310058China Key Laboratory of Disease Proteomics of Zhejiang Province School of MedicineZhejiang UniversityHangzhouZhejiang 310058China Zhejiang University-University of Edinburgh Institute(ZJE) School of MedicineZhejiang UniversityHainingZhejiang 314400China Life Sciences Institute and Department of Cell and Developmental Biology University of MichiganAnn ArborMI 48109United States Department of Geriatrics Affiliated Hangzhou First People’s HospitalHangzhouZhejiang 310006China

Skeletal muscle plays a vital role in the regulation of systemic metabolism,partly through its secretion of endocrine factors which are collectively known as *** myokine levels are associated with metabolic diseases,such as type 2 diabetes(T2D).The significance of interorgan crosstalk,particularly through myokines,has emerged as a fundamental aspect of nutrient and energy ***,a comprehensive understanding of myokine biology in the setting of obesity and T2D remains a major chal*** this review,we discuss the regulation and biological functions of key myokines that have been extensively studied during the past two decades,namely interleukin 6(IL-6),irisin,myostatin(MSTN),growth differentiation factor 11(GDF11),fibroblast growth factor 21(FGF21),apelin,brain-derived neurotrophic factor(BDNF),meteorin-like(Metrnl),secreted protein acidic and rich in cysteine(SPARC),β-aminoisobutyric acid(BAIBA),Musclin,and Dickkopf 3(Dkk3).Related to these,we detail the role of exercise in myokine expression and secretion together with their contributions to metabolic physiology and *** significant advancements in myokine research,many myokines remain challenging to measure accurately and investigate ***,new research techniques and detection methods should be developed and rigorously ***,developing a comprehensive perspective on myokine biology is crucial,as this will likely offer new insights into the pathophysiological mechanisms underlying obesity and T2D and may reveal novel targets for therapeutic interventions.

关键词： myokines skeletal muscle obesity type 2 diabetes metabolism

Delving into high-quality SVBRDF acquisition: A new setup and method

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Computational Visual Media 2024年第3期10卷 523-541页

作者： Chuhua xian Jiaxin Li Hao Wu Zisen lin Guiqing Li School of Computer Science and Engineering South China University of TechnologyGuangzhou 510006China Guangdong Shidi Intelligence Technology Ltd.Guangzhou 510000China

In this study, we present a new andinnovative framework for acquiring high-qualitySVBRDF maps. Our approach addresses the limitations of the current methods and proposes a newsolution. The core of our method is a simple hardwaresetup consisting of a consumer-level camera, LEDlights, and a carefully designed network that canaccurately obtain the high-quality SVBRDF propertiesof a nearly planar object. By capturing a ﬂexiblenumber of images of an object, our network usesdifferent subnetworks to train different property mapsand employs appropriate loss functions for each ofthem. To further enhance the quality of the maps, weimproved the network structure by adding a novel skipconnection that connects the encoder and decoder withglobal features. Through extensive experimentation usingboth synthetic and real-world materials, our resultsdemonstrate that our method outperforms previousmethods and produces superior results. Furthermore,our proposed setup can also be used to acquire physicallybased rendering maps of special materials.

关键词： acquisition setup SVBRDF acquisition material capture global skip connection

Enhanced potassium storage of carbon nanofibers as binderfree anodes enabled by coupling ultra-small amorphous Sb_(2)O_(3),graphene modification and sulfur doping

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Rare Metals 2024年第1期43卷 51-64页

作者： Zhao Huang Yu-Kang Lou lin Peng Yuan Peng meng-meng Wang Ming Zhang College of Railway Transportation Hunan University of TechnologyZhuzhou 412007China College of Semiconductors(College of Integrated Circuits) Changsha Semiconductor Technology and Application Innovation Research InstituteHunan UniversityChangsha 410082China Key Laboratory for Micro-Nano Optoelectronic Devices of Ministry of Education College of Semiconductors(College of Integrated Circuits)Hunan UniversityChangsha 410082China

Considering the intrinsic advantages of natural copiousness and cost-effectiveness of potassium resource,potassium-ion batteries(KIBs) are booming as prospective alternatives to lithium-ion batteries(LIBs) in large-scale energy storage scenarios. Nevertheless, lacking desirable electrodes for reversibly hosting the bulky K+hinders the widespread application of KIBs, and it needs to be urgently solved. Hereon, the porous S-doped Sb_(2)O_(3)-graphene-carbon(SAGC) nanofibers are manufactured through an adjustable and facile approach, which involves electrospinning, in situ etching and sulfuration. The synthesized SAGC is featured by the ultra-small amorphous Sb_(2)O_(3) homogeneously wrapped inside the carbon matrix, as well as the co-incorporation of graphene and sulfur. Tentatively,the SAGC nanofiber sheets are applied as binder-free anodes for KIBs, exhibiting a prominent cycling life(256.72 m Ah·g^(-1) over 150 cycles at 100 m A·g^(-1)) and rate·g^(-1) over 100 cycles at 1 A·g^(-1)). The positive synergy among all the active components accounts for the distinguished performances of the SAGC. By reinforcing the tolerability to the swelling stress, producing the valid electrochemical active sites, and promoting the charge transferring for reversible K+uptake, the SAGC finally renders the excellent cyclability, capacity, and rate capability. Moreover, the extrinsic electrochemical pseudocapacitance characteristics induced by the porous carbon substrate elevate the K-storage capacity of the SAGC as well. It is hoped that the conclusions drawn may offer new insights into a direction for the high-performance binderfree KIB anodes.

关键词： S-doped Sb_(2)O_(3)-graphene-carbon Nanofibers Binder-free Anodes Potassium-ion batteries

Synergistic Effects of Carbon Nanotube(CNT)and Reduced Graphene Oxide(RGO)on Mechanical and Thermal Properties of ZK61 Alloy

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Acta Metallurgica Sinica(English Letters) 2024年第3期37卷 577-585页

作者： Fanjing meng Wenbo Du Ning Ding Jian Sun xian Du Ke Liu Shubo Li College of Materials Science and Engineering Faculty of Materials and ManufacturingBeijing University of TechnologyBeijing 100124China

The hybrid of carbon nanotube(CNT)and reduced graphene oxide(RGO)reinforced ZK61 composite was fabricated by a hot extrusion *** with the raw ZK61 alloy and single-reinforced composites,the hybrid-reinforced by RGO+CNT complex exhibited significant enhancements both in mechanical and thermal *** adjusting the proportion of RGO and CNT in ZK61 alloy,the obtained optimum ZK61/(0.06 wt%RGO+0.54 wt%CNT)composite exhibited increase of 25.4%in yield strength,26.5%in ultimate tensile strength,104%in failure strain and 30.4%in thermal conductivity,respectively,in comparison with ZK61 *** superior properties of the nano-hybrid composite are attributed to the synergetic effects of RGO and CNT,leading to a uniform dispersion and integrated structure as well as the enhanced interfacial bonding with *** strengthening ability of RGO and CNT was calculated to quantify their individual contribution to the improvement in mechanical and thermal properties of the ZK61 matrix *** RGO+CNT hybrids provide a promising way to develop Mg matrix composites with impressive performances.

关键词： Mg matrix composite Carbon nanotube Reduced graphene oxide Mechanical performance Thermal conductivity

Quantum dot-enabled infrared hyperspectral imaging with single-pixel detection

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Light(Science & Applications) 2024年第6期13卷 1112-1121页

作者： Heyan meng Yuan Gao Xuhong Wang xianye Li Lili Wang xian Zhao Baoqing Sun School of Information Sciences and Engineering Shandong UniversityQingdaoChina Center for Optics Research and Engineering(CORE) Key Laboratory of Laser&Infrared System(Shandong University)Ministry of EducationShandong UniversityQingdaoChina School of Mechanical Electrical and Information EngineeringShandong UniversityWeihaiChina

Near-infrared(NIR)hyperspectral imaging is a powerful technique that enables the capture of three-dimensional(3D)spectra-spatial information within the NIR spectral range,offering a wide array of ***,the high cost associated with InGaAs focal plane array(FPA)has impeded the widespread adoption of NIR hyperspectral *** this challenge,in this study,we adopt an alternative approach—single-pixel detection for NIR hyperspectral *** investigation reveals that single-pixel detection outperforms conventional FPA,delivering a superior signal-to-noise ratio(SNR)for both spectral and imaging *** implement this strategy,we leverage self-assembled colloidal quantum dots(CQDs)and a digital micromirror device(DMD)for NIR spectral and spatial information multiplexing,complemented by single-pixel detection for simultaneous spectral and image *** experimental results demonstrate successful NIR hyperspectral imaging with a detection window about 600 nm and an average spectral resolution of 8.6 nm with a pixel resolution of 128×*** resulting spectral and spatial data align well with reference instruments,which validates the effectiveness of our *** circumventing the need for expensive and bulky FPA and wavelength selection components,our solution shows promise in advancing affordable and accessible NIR hyperspectral imaging technologies,thereby expanding the range of potential applications.

关键词： spectral Quantum mirror