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An efficient stiffness analysis model based on shear deformation theory for flexible skin shear variable-sweep wing

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Chinese Journal of Aeronautics 2024年第10期37卷 445-458页

作者： Yue BAI Guang YANG Hong XIAO Hongwei GUO Rongqiang LIU Bei LIU State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China China Aerodynamics research and Development Center Institute of High-Speed AerodynamicsMianyang 621000China

Fixed-wing aircraft cannot maintain optimal aerodynamic performance at different flight *** a type of morphing aircraft,the shear variable-sweep wing(SVSW)can dramatically improve its aerodynamic performance by altering its shape to adapt to various flight *** order to achieve smooth continuous shear deformation,SVSW’s skin adopts a flexible composite skin design instead of traditional aluminum alloy ***,this also brings about the non-linear difficulty in stiffness modeling and *** this research,a new SVSW design and efficient stiffness modeling method are *** on shear deformation theory,the flexible composite skin is equivalently modeled as diagonally arranged nonlinear springs,simulating the elastic force interaction between the skin and the *** shear loading tests of flexible composite skin,the accuracy of this flexible composite skin modeling method is *** SVSW stiffness model was established,and its accuracy was verified through static loading *** effects of root connection,sweep angles,and flexible composite skin on the SVSW stiffness are ***,considering three typical flight conditions of SVSW:low-speed flow(Ma=0.3,Re=5.8210^(6)),transonic flow(Ma=0.9,Re=3.4410^(6)),and supersonic flow(Ma=3,Re=7.5110^(6)),the stiffness characteristics of SVSW under flight conditions were *** calculated results guide the application of SVSW.

关键词： Shear variable-sweep wing(SVSW) Flexible composite skin Morphing mechanism Stiffness analysis Loading tests Structure

An Underwater Biomimetic Robot that can Swim,Bipedal Walk and Grasp

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Journal of Bionic Engineering 2024年第3期21卷 1223-1237页

作者： Qiuxuan Wu Liwei Pan FuLin Du ZhaoSheng Wu XiaoNi Chi FaRong Gao Jian Wang Anton A.Zhilenkov School of Automation Hangzhou Dianzi UniversityHangzhou310018China International Joint research Laboratory for autonomous Robotic systems Hangzhou310018China GEELY Automotive Institute Hangzhou Vocational and Technical CollegeHangzhou310018China Institute of Hydrodynamics and Control Processes Sankt-Petersburg Saint Petersburg State Marine Technical UniversitySankt-PetersburgRussia

In developing and exploring extreme and harsh underwater environments,underwater robots can effectively replace humans to complete *** meet the requirements of underwater flexible motion and comprehensive subsea operation,a novel octopus-inspired robot with eight soft limbs was designed and *** robot possesses the capabilities of underwater bipedal walking,multi-arm swimming,and grasping *** closely interact with the underwater seabed environment and minimize disturbance,the robot employs a cable-driven flexible arm for its walking in underwater floor through a bipedal walking *** multi-arm swimming offers a means of three-dimensional spatial movement,allowing the robot to swiftly explore and navigate over large areas,thereby enhancing its ***,the robot’s walking arm enables it to grasp and transport objects underwater,thereby enhancing its practicality in underwater environments.A simplified motion models and gait generation strategies were proposed for two modes of robot locomotion:swimming and walking,inspired by the movement characteristics of octopus-inspired multi-arm swimming and bipedal *** experimental verification,the robot’s average speed of underwater bipedal walking reaches 7.26 cm/s,while the horizontal movement speed for multi-arm swimming is 8.6 cm/s.

关键词： Underwater soft robots Underwater bipedal walking Multi-arm swimming Cable drive

Simulation of magnetization process and Faraday effect of magnetic bilayer films

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Chinese Physics B 2024年第9期33卷 590-597页

作者： Sheng Gao An Du Lei Zhang Tian-Guang Li Da-Cheng Ma Department of Basic and General Studies Shenyang Institute of Science and TechnologyShenyang 110167China College of Science Northeastern UniversityShenyang 110819China National Frontiers Science Center for Industrial Intelligence and systems Optimization Northeastern UniversityShenyang 110819China Office of Academic research Shenyang Institute of Science and TechnologyShenyang 110167China State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy ofSciencesShenyang 110016China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110016China

We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)*** results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance ***,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave *** the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is *** the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization *** a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.

关键词： magnetic bilayer films magnetic permeability hysteresis loop Faraday effect Landau–Lifshitz– Gilbert (LLG) equation

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Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots:design and realization

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Frontiers of Mechanical Engineering 2024年第2期19卷 45-58页

作者： Yaguang ZHU Minghuan ZHANG Xiaoyu ZHANG Haipeng QIN Key Laboratory of Road Construction Technology and Equipment of Ministry of Education School of Engineering MachineryChang’an UniversityXi’an 710064China State Key Laboratory of robotics and systems Harbin Institute of TechnologyHarbin 150001China

Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding *** recent predictive control methods based on single-rigid-body models can generate dynamic motion,they all assume infinite energy,making them unsuitable for prolonged robot *** this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure *** work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg *** design integrates a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects.A leg control model that incorporates motor loads is developed to validate the response and dynamic performance of a leg with elastic *** model provides torque to the knee joint,effectively reducing the robot’s energy consumption through active or passive control *** benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario are demonstrated to validate the dynamic motion performance of the leg with elastic joints with the advantage of energy-efficient legs.

关键词： dynamic responsiveness energy dissipation legged locomotion parallel joints quadruped robot

Mechanism of pachymic acid in the treatment of gastric cancer based on network pharmacology and experimental verification

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World Journal of Gastrointestinal Oncology 2024年第1期16卷 30-50页

作者： Yu-Hua Du Jian-Jun Zhao Xia Li Shi-Cong Huang Na Ning Guo-Qing Chen Yi Yang Yi Nan Ling Yuan College of Pharmacy Ningxia Medical UniversityYinchuan 750004Ningxia Hui Autonomous RegionChina Ningxia Chinese Medicine research Center Manufacturing LaboratoryYinchuan 750004Ningxia Hui Autonomous RegionChina College of Foundation Ningxia Medical UniversityYinchuan 750004Ningxia Hui Autonomous RegionChina Key Laboratory of Ningxia Minority Medicine Modernization Ministry of Education Ningxia Medical UniversityYinchuan 750004Ningxia Hui Autonomous RegionChina

BACKGROUND Pachymic acid(PA)is derived from Poria *** has a variety of pharmacological and inhibitory effects on various ***,the mechanism of action of PA in gastric cancer(GC)remains *** To investigate the mechanism of PA in treating GC via the combination of network pharmacology and experimental *** The GeneCards and OMIM databases were used to derive the GC targets,while the Pharm Mapper database provided the PA *** the STRING database,a protein-protein interaction network was constructed and core targets were *** analyses of Gene Ontology,Kyoto Encyclopedia of Genes and Genomes(KEGG),and gene set enrichment analysis were conducted,and molecular docking and clinical correlation analyses were performed on the core ***,the network pharmacology findings were validated through in vitro cell assays,encompassing assessments of cell viability,apoptosis,cell cycle,cloning,and western blot *** According to network pharmacology analysis,the core targets were screened,and the PI3K/AKT signaling pathway is likely to be the mechanism by which PA effectively treats GC,according to KEGG enrichment *** experimental findings showed that PA could control PI3K/AKT signaling to prevent GC cell proliferation,induce apoptosis,and pause the cell *** Network pharmacology demonstrated that PA could treat GC by controlling a variety of signaling pathways and acting on a variety of *** has also been supported by in vitro cell studies,which serve as benchmarks for further research.

关键词： Pachymic acid Gastric cancer Network pharmacology Enrichment analysis Cell proliferation

Game theory based finite-time formation control using artificial potentials for tethered space net robot

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Chinese Journal of Aeronautics 2024年第8期37卷 358-372页

作者： Yifeng MA Yizhai ZHANG Panfeng HUANG Ya LIU Fan ZHANG The research Center for Intelligent robotics School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

The Tethered Space Net Robot(TSNR)is an innovative solution for active space debris capture and *** large envelope and simple capture method make it an attractive option for this ***,capturing maneuverable debris with the flexible and elastic underactuated net poses significant *** address this,a novel formation control method for the TSNR is proposed through the integration of differential game theory and robust adaptive control in this ***,the trajectory of the TSNR is obtained through the solution of a real-time feedback pursuit-evasion game with a dynamic target,where the primary condition is to ensure the stability of the ***,to minimize tracking errors and maintain a specific configuration,a robust adaptive formation control scheme with Artificial Potential Field(APF)based on a Finite-Time Convergent Extended State Observer(FTCESO)is *** proposed control method has a key advantage in suppressing complex oscillations by a new adaptive law,thus precisely maintaining the ***,numerical simulations are performed to demonstrate the effectiveness of the proposed scheme.

关键词： Game theory Formation control Artificial potential field Relative distance constraint Tethered space net robot(TSNR)

An adaptive large neighborhood search for the multi-point dynamic aggregation problem

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Control Theory and Technology 2024年第3期22卷 360-378页

作者： Shengyu Lu Bin Xin Jie Chen Miao Guo School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Lab of autonomous Intelligent Unmanned systems Beijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each *** robots are allowed to collaborate on the same task or work separately until all tasks are *** is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot *** effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution *** creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA *** the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction *** heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS *** results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.

关键词： Adaptive large neighborhood search(ALNS) Multi-point dynamic aggregation(MPDA) Heuristic solution construction Multi-robot collaboration

Pathological and physiological functional cross-talks ofα-synuclein and tau in the central nervous system

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Neural Regeneration research 2024年第4期19卷 855-862页

作者： Mingyue Jin Shengming Wang Xiaodie Gao Zhenyou Zou Shinji Hirotsune Liyuan Sun Guangxi Key Laboratory of Brain and Cognitive Neuroscience Guilin Medical University Department of Genetic Disease research Osaka Metropolitan University Graduate School of Medicine Department of Scientific research Brain Hospital of Guangxi Zhuang Autonomous Region

α-Synuclein and tau are abundant multifunctional brain proteins that are mainly expressed in the presynaptic and axonal compartments of neurons,*** works have revealed that intracellular deposition ofα-synuclein and/or tau causes many neurodegenerative disorders,including Alzheimer’s disease and Parkinson’s *** intense investigation,the normal physiological functions and roles ofα-synuclein and tau are still unclear,owing to the fact that mice with knockout of either of these proteins do not present apparent ***,the co-occurrence ofα-synuclein and tau aggregates was found in post-mortem brains with synucleinopathies and tauopathies,some of which share similarities in clinical ***,the direct interaction ofα-synuclein with tau is considered to promote the fibrillization of each of the proteins in vitro and in *** the other hand,our recent findings have revealed thatα-synuclein and tau are cooperatively involved in brain development in a stage-dependent *** findings indicate strong cross-talk between the two proteins in physiology and *** this review,we provide a summary of the recent findings on the functional roles ofα-synuclein and tau in the physiological conditions and pathogenesis of neurodegenerative diseases.A deep understanding of the interplay betweenα-synuclein and tau in physiological and pathological conditions might provide novel targets for clinical diagnosis and therapeutic strategies to treat neurodegenerative diseases.

关键词： alpha-synuclein microtubule-associated protein neurodegenerative disease tau

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Intuitive Human-Robot-Environment Interaction With EMG Signals:A Review

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1075-1091页

作者： Dezhen Xiong Daohui Zhang Yaqi Chu Yiwen Zhao Xingang Zhao State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169 University of Chinese Academy of Sciences Beijing 100049China

A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive ***,it still has a gap between scientific research and real-life *** studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly *** fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)*** general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are ***-based intention decoding is treated as a module of the proposed *** key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are *** important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future *** the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is *** provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.

关键词： robot summarized Robot

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