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Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1213-1226页

作者： Zheng Chen Shizhao zhou Chong Shen Litong Lyu Junhui Zhang Bin yao State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027 Ocean College Zhejiang UniversityZhoushan 316021China School of Mechanical Engineering Shijiazhuang Tiedao UniversityShijiazhuang 050000 State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China School of Mechanical Engineering Purdue UniversityWest LafayetteIN 47907 USA

Hydraulic manipulators are usually applied in heavy-load and harsh operation ***,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for high control ***-based full-state-feedback control is an effective alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particularly the joint angular velocity *** that it is not suitable to obtain the velocity signal directly from differentiating of position measurement,the low-pass filtering is commonly used,but it will definitely restrict the closed-loop bandwidth of the whole *** avoid this problem and realize better control performance,this paper proposes a novel observerbased adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity ***,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric ***,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop system robust stability is theoretically proved under the observation and control ***,comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough,which is limited by low-pass filtering in fullstate-feedback control.

关键词： handle Observer filtering

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针刀联合施罗特疗法治疗青少年特发性脊柱侧弯临床观察

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广西中医药 2024年第3期47卷 43-45,70页

作者：周双武钟景扬黄振勇李健辉梁文周尧谭永振广州医科大学附属第二医院广东广州510260 广州医科大学第二临床学院广东广州510180 广州市白云区鹤龙街道卫生服务中心广东广州510440

目的:观察针刀联合施罗特疗法治疗青少年特发性脊柱侧弯(AIS)的临床效果。方法:选择80例符合纳入标准的青少年特发性脊柱侧弯患者,根据随机数字表法分为对照组与观察组各40例,对照组予以施罗特疗法治疗,观察组在对照组治疗的基础上联合... 详细信息

目的:观察针刀联合施罗特疗法治疗青少年特发性脊柱侧弯(AIS)的临床效果。方法:选择80例符合纳入标准的青少年特发性脊柱侧弯患者,根据随机数字表法分为对照组与观察组各40例,对照组予以施罗特疗法治疗,观察组在对照组治疗的基础上联合针刀疗法治疗。观察两组患者治疗前后的Cobb角值与ATR值,以及治疗后的SRS-22问卷评分(功能状况/活动能力、疼痛、自我形象及心理状况),比较两组临床疗效。结果:观察组总有效率为97.50%,对照组总有效率为85.00%,观察组疗效优于对照组(P0.05),观察组患者自我形象评分及心理状况评分高于对照组(P<0.05)。结论:针刀联合施罗特疗法治疗青少年特发性脊柱侧弯疗效明显,可降低患者体表旋转度并改善患者自我形象与心理健康状况,值得临床推广应用。

关键词：青少年特发性脊柱侧弯施罗特针刀疗法体表旋转度 Cobb角 SRS-22问卷

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System error iterative identification for underwater positioning based on spectral clustering

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Journal of Systems Engineering and Electronics 2024年第4期35卷 1028-1041页

作者： LU Yu WANG Jiongqi HE Zhangming zhou Haiyin XING yao zhou Xuanying College of Sciences National University of Defense TechnologyChangsha 410073China

The observation error model of the underwater acous-tic positioning system is an important factor to influence the positioning accuracy of the underwater *** the position inconsistency error caused by considering the underwater tar-get as a mass point,as well as the observation system error,the traditional error model best estimation trajectory(EMBET)with little observed data and too many parameters can lead to the ill-condition of the parameter *** this paper,a multi-station fusion system error model based on the optimal polynomial con-straint is constructed,and the corresponding observation sys-tem error identification based on improved spectral clustering is ***,the reduced parameter unified modeling for the underwater target position parameters and the system error is achieved through the polynomial *** a multi-sta-tion non-oriented graph network is established,which can address the problem of the inaccurate identification for the sys-tem ***,the similarity matrix of the spectral cluster-ing is improved,and the iterative identification for the system errors based on the improved spectral clustering is ***,the comprehensive measured data of long baseline lake test and sea test show that the proposed method can accu-rately identify the system errors,and moreover can improve the positioning accuracy for the underwater target positioning.

关键词： acoustic positioning reduced parameter system error identification improved spectral clustering accuracy analy-sis

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Sea-urchin-like ReS_(2) nanosheets with charge edge-collection effect as a novel cocatalyst for high-efficiency photocatalytic H_(2) evolution

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Chinese Chemical Letters 2022年第2期33卷 943-947页

作者： Bo Lin Bowen Ma Jiangang Chen yao zhou Jiadong zhou Xiaoqing Yan Chao Xue Xiao Luo Qing Liu Jinyong Wang Renji Bian Guidong Yang Fucai Liu School of Optoelectronic Science and Engineering University of Electronic Science and Technology of ChinaChengdu 611731China School of Physical and Mathematical Sciences Nanyang Technological UniversitySingapore 637371Singapore Key Lab of Advanced Optoelectronic Quantum Architecture and Measurement(Ministry of Education) Beijing Key Lab of Nanophotonics&Ultraﬁne Optoelectronic Systemsand School of PhysicsBeijing Institute of TechnologyBeijing 100081China XJTU-Oxford International Joint Laboratory for Catalysis School of Chemical Engineering and TechnologyXi’an Jiaotong UniversityXi’an 710049China State Centre for International Cooperation on Designer Low-carbon and Environmental Materials(CDLCEM) School of Materials Science and EngineeringZhengzhou UniversityZhengzhou 450001China

The recombination of charge carriers arriving from the random charge movement in semiconductor pho-tocatalysts greatly limits the practical application of solar-driven H_(2)*** design of photo-catalytic systems with spatially oriented charge-transfer is a promising route to achieve high charge-separation efficiency for ***,novel sea-urchin-like Re S_(2)nanosheet/TiO_(2)nanoparticle heterojunctions(SURTHs)are *** unique sea-urchin-like structure endows the ReS_(2)cocat-alyst with an unusual charge edge-collection effect,which leads to a significant acceleration of charge separation and transfer,as evidenced by the well-designed selective photodeposition of Pt quantum dots in *** markedly improved charge transfer capacity contributes to a high photocatalytic H_(2)evo-lution rate of 3.71 mmol h^(−1)g^(−1)for SURTHs(an apparent quantum efficiency(AQE)of 16.09%),up to 231.9 times by contrast with that of P25 TiO_(2).This work would provide a new platform for designing the high-efficiency cocatalyst/photocatalyst system with excellent charge transfer capacity.

关键词： Sea-urchin-like ReS_(2)nanosheets Charge edge-collection effect 2D planar edges/tips Charge transfer Photocatalytic H_(2)evolution

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Exploring luminescence quenching on lanthanide-doped nanoparticles through changing the spatial distribution of sensitizer and activator

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Nano Research 2024年第5期17卷 4517-4524页

作者： Jiwei Li yao Xie Renrui Sun Junxun zhou Lining Sun Department of Chemistry College of SciencesShanghai UniversityShanghai 200444China Department of Physics College of SciencesShanghai UniversityShanghai 200444China School of Medicine Shanghai UniversityShanghai 200444China

Luminescence quench is common in overdoped upconversion *** methods have been proposed to counteract the adverse effects of concentration quenching on luminescence,but in upconversion nanoparticles that are highly doped with both sensitizers and activators,the factors that contribute to the diminishing of the emission cannot be summarized by a single ***,a core-shell design is used to spatially separate the sensitizer(Yb^(3+))and activator(Er^(3+))and to modulate the emission by changes in the distribution position as well as the concentration of the dopant ions in order to probe the factors affecting the *** the sensitizer ions are located in the core,the luminescence intensity of the nanoparticles is significantly weaker than that of the other distribution,which implies that the effect of sensitizer and activator on luminescence in the highly doped state has a different and more complex *** intensity of the emission is more affected by Yb^(3+)than Er^(3+),which includes not only the self-quenching of Yb^(3+),but also the dominance in the Yb^(3+)-Er^(3+)*** this finding may provide new ideas for revealing the reasons for the diminished luminescence of highly doped upconversion nanoparticles and thus for enhancing luminescence.

关键词： upconversion luminescence lanthanide ion core-shell nanoparticles concentration quenching cross-relaxation

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SDH-FCOS:An Efficient Neural Network for Defect Detection in Urban Underground Pipelines

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Computers, Materials & Continua 2024年第1期78卷 633-652页

作者： Bin zhou Bo Li Wenfei Lan Congwen Tian Wei yao College of Computer Science South-Central Minzu UniversityWuhan430074China

Urban underground pipelines are an important infrastructure in cities,and timely investigation of problems in underground pipelines can help ensure the normal operation of *** to the growing demand for defect detection in urban underground pipelines,this study developed an improved defect detection method for urban underground pipelines based on fully convolutional one-stage object detector(FCOS),called spatial pyramid pooling-fast(SPPF)feature fusion and dual detection heads based on FCOS(SDH-FCOS)*** study improved the feature fusion component of the model network based on FCOS,introduced an SPPF network structure behind the last output feature layer of the backbone network,fused the local and global features,added a top-down path to accelerate the circulation of shallowinformation,and enriched the semantic information acquired by shallow *** ability of the model to detect objects with multiple morphologies was strengthened by introducing dual detection *** experimental results using an open dataset of underground pipes show that the proposed SDH-FCOS model can recognize underground pipe defects more accurately;the average accuracy was improved by 2.7% compared with the original FCOS model,reducing the leakage rate to a large extent and achieving real-time ***,our model achieved a good trade-off between accuracy and speed compared with other mainstream *** proved the effectiveness of the proposed model.

关键词： Urban underground pipelines defect detection SDH-FCOS feature fusion SPPF dual detection heads

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Multi-Material Topology Optimization of 2D Structures Using Convolutional Neural Networks

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Computer Modeling in Engineering & Sciences 2024年第8期140卷 1919-1947页

作者： Jiaxiang Luo Weien zhou Bingxiao Du Daokui Li Wen yao College of Aerospace Science and Engineering National University of Defense TechnologyChangsha410073China Defense Innovation Institute Chinese Academy of Military ScienceBeijing100071China Intelligent Game and Decision Laboratory Chinese Academy of Military ScienceBeijing100071China

In recent years,there has been significant research on the application of deep learning(DL)in topology optimization(TO)to accelerate structural ***,these methods have primarily focused on solving binary TO problems,and effective solutions for multi-material topology optimization(MMTO)which requires a lot of computing resources are still ***,this paper proposes the framework of multiphase topology optimization using deep learning to accelerate MMTO *** framework employs convolutional neural network(CNN)to construct a surrogate model for solving MMTO,and the obtained surrogate model can rapidly generate multi-material structure topologies in negligible time without any *** performance evaluation results show that the proposed method not only outputs multi-material topologies with clear material boundary but also reduces the calculation cost with high prediction ***,in order to find a more reasonable modeling method for MMTO,this paper studies the characteristics of surrogate modeling as regression task and classification *** the training of 297 models,our findings show that the regression task yields slightly better results than the classification task in most ***,The results indicate that the prediction accuracy is primarily influenced by factors such as the TO problem,material category,and data ***,factors such as the domain size and the material property have minimal impact on the accuracy.

关键词： Multi-material topology optimization convolutional neural networks deep learning finite element analysis

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Pure quantum gradient descent algorithm and full quantum variational eigensolver

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Frontiers of physics 2024年第2期19卷 221-234页

作者： Ronghang Chen zhou Guang Cong Guo Guanru Feng Shi-yao Hou College of Physics and Electronic Engineering Center for Computational SciencesSichuan Normal UniversityChengdu 610068China Shenzhen SpinQ Technology Co. Ltd.Shenzhen 518045China DEEPROUTE.AI

Optimization problems are prevalent in various fields,and the gradient-based gradient descent algorithm is a widely adopted optimization ***,in classical computing,computing the numerical gradient for a function with variables necessitates at least d+1 function evaluations,resulting in a computational complexity of O(d).As the number of variables increases,the classical gradient estimation methods require substantial resources,ultimately surpassing the capabilities of classical ***,leveraging the principles of superposition and entanglement in quantum mechanics,quantum computers can achieve genuine parallel computing,leading to exponential acceleration over classical algorithms in some *** this paper,we propose a novel quantum-based gradient calculation method that requires only a single oracle calculation to obtain the numerical gradient result for a multivariate *** complexity of this algorithm is just O(1).Building upon this approach,we successfully implemented the quantum gradient descent algorithm and applied it to the variational quantum eigensolver(VQE),creating a pure quantum variational optimization *** with classical gradient-based optimization algorithm,this quantum optimization algorithm has remarkable complexity advantages,providing an efficient solution to optimization *** proposed quantum-based method shows promise in enhancing the performance of optimization algorithms,highlighting the potential of quantum computing in this field.

关键词： quantum algorithm gradient descent variational quantum algorithm

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坐-立位平衡导引训练对老年衰弱前期患者平衡能力的影响

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护理学杂志 2024年第15期39卷 96-99页

作者：范卉林振平修闽宁董蕾陆妍洁聂彩云孟凡嫣王然周瑶江苏省中医院(南京中医药大学附属医院)护理部江苏南京210029 江苏省中医院(南京中医药大学附属医院)老年科江苏南京210029 江苏省中医院(南京中医药大学附属医院)神经内科江苏南京210029 江苏省中医院(南京中医药大学附属医院)风湿科江苏南京210029 南京医科大学医政学院

目的探讨坐-立位平衡导引训练改善老年衰弱前期患者平衡能力的效果。方法将80例老年衰弱前期患者采用随机数字表法分为试验组与对照组各40例。对照组按常规进行康复训练,试验组在对照组基础上实施坐-立位平衡导引训练12周。训练4周及12... 详细信息

目的探讨坐-立位平衡导引训练改善老年衰弱前期患者平衡能力的效果。方法将80例老年衰弱前期患者采用随机数字表法分为试验组与对照组各40例。对照组按常规进行康复训练,试验组在对照组基础上实施坐-立位平衡导引训练12周。训练4周及12周后,比较两组患者计时起立-行走测试和Berg平衡量表得分。结果训练4周后,试验组的Berg平衡量表得分显著高于对照组(P<0.05);训练12周后,试验组计时起立-行走测试显著短于对照组,Berg平衡量表评分显著高于对照组(均P<0.05)。结论对老年衰弱前期患者开展坐-立位平衡导引训练,有利于缩短患者起立-行走时间,提高其身体平衡能力。

关键词：老年人衰弱前期导引功法平衡训练平衡功能康复训练康复护理

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Alignment error modeling and control of a double-sided microlens array during precision glass molding

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Microsystems & Nanoengineering 2024年第2期10卷 311-322页

作者： Zihao Zeng Tianfeng zhou Qian Yu Jia zhou Gang Wang Qiuchen Xie Zifan Wang Xiaoqiang yao Yubing Guo School of Medical Technology Beijing Institute of TechnologyNo.5 Zhongguancun South StreetHaidian DistrictBeijing100081China School of Mechanical Engineering Beijing Institute of TechnologyNo.5 Zhongguancun South StreetHaidian DistrictBeijing100081China

Double-sided microlens arrays(DSMLAs)include combinations of two single-sided MLAs to overcome positioning errors and greatly improve light transmissivity compared to other types of *** glass molding(PGM)is used to fabricate DSMLAs,but controlling alignment errors during this process is *** this paper,a mold assembly was manufactured with a novel combination of materials to improve the alignment accuracy of mold cores during PGM by using the nonlinear thermal expansion characteristics of the various materials to improve the DSMLA alignment *** establishing a mathematical model of the DSMLA alignment error and a thermal expansion model of the mold-sleeve pair,the relationship between the maximum alignment error of the DSMLA and the mold-sleeve gap was *** research provides a method to optimize the mold-sleeve gap and minimize the alignment error of the *** measured DSMLA alignment error was 10.56μm,which is similar to the predicted maximum alignment *** measurements showed that the uniformity of the homogenized beam spot was 97.81%,and the effective homogeneous area accounted for 91.66%of the total *** proposed method provides a novel strategy to improve the performance of DSMLAs.

关键词： sided alignment error

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