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A Bionic Starfish Adsorption Crawling Soft Robot

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Journal of Bionic Engineering 2024年第1期21卷 149-165页

作者： Xiangang Huang Chenghao Zhang Wenqi Feng Xiangye Zhang Deyuan Zhang Yanqiang Liu institute of Bionic and micro-nano Systems School of Mechanical Engineering and AutomationBeihang UniversityBeijing 100191China

A variety of soft wall-climbing robots have been developed that can move in certain *** of these soft robots can only move on conventional surfaces and lack adaptability to complex *** the adaptability of soft robots on complex surfaces is still a challenging *** this end,we study the layered structure of the starfish tube foot and the valve flap structure in the water vascular system,and use an ultrasonic stress detector to study the stiffness distribution of the arm *** by the motion of the starfish,we present a bionic soft wall-climbing robot,which is driven by two groups of pneumatic feet and achieves body bending through active adaptation *** design the structure of the foot to flex to provide driving force,and there are suction cups at the end of the foot to provide *** soft foot has a simple structure design,adapts to a variety of surfaces,and does not damage the surface of the *** stiffness layers achieve stiffness changes by the principle of line *** Central Pattern Generator theory is introduced to coordinately control the multiple feet of the *** experiments,we verify the adaptability of the soft robot to curved *** research may provide a reference for the design and development of crawling soft robots on complex surfaces.

关键词： Starfish Tube foot Biomimetic robot Soft robot Climbing robot

Parameter Estimation of a Valve-controlled Cylinder System Model Based on Bench Test and Operating Data Fusion

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 247-263页

作者： Deying Su Shaojie Wang Haojing Lin Xiaosong Xia Yubing Xu Liang Hou Pen-Tung Sah institute of micro-nano Science and Technology Xiamen UniversityXiamen 361102China Xuzhou XCMG Excavation Machinery Co. LtdXuzhou 221000China

The accurate estimation of parameters is the premise for establishing a high-fidelity simulation model of a valve-controlled cylinder *** test data are easily obtained,but it is challenging to emulate actual loads in the research on parameter estimation of valve-controlled cylinder *** the actual load information contained in the operating data of the control valve,its acquisition remains *** paper proposes a method that fuses bench test and operating data for parameter estimation to address the aforementioned *** proposed method is based on Bayesian theory,and its core is a pool fusion of prior information from bench test and operating ***,a system model is established,and the parameters in the model are ***,the bench and operating data of the system are ***,the model parameters and weight coefficients are estimated using the data fusion ***,the estimated effects of the data fusion method,Bayesian method,and particle swarm optimisation(PSO)algorithm on system model parameters are *** research shows that the weight coefficient represents the contribution of different prior information to the parameter estimation *** effect of parameter estimation based on the data fusion method is better than that of the Bayesian method and the PSO *** load complexity leads to a decrease in model accuracy,highlighting the crucial role of the data fusion method in parameter estimation studies.

关键词： Valve-controlled cylinder system Parameter estimation The Bayesian theory Data fusion method Weight coefficients

Harmonic balance simulation of the influence of component uniformity and reliability on the performance of a Josephson traveling wave parametric amplifier

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Chinese Physics B 2024年第4期33卷 339-343页

作者：郑煜臻熊康林冯加贵杨辉 School of nano-Tech and nano-Bionics University of Science and Technology of ChinaHefei 230026China Suzhou institute of nano-Tech and nano-Bionics Chinese Academy of SciencesSuzhou 215123China

A Josephson traveling wave parametric amplifier(JTWPA),which is a quantum-limited amplifier with high gain and large bandwidth,is the core device of large-scale measurement and control systems for quantum computing.A typical JTWPA consists of thousands of Josephson junctions connected in series to form a transmission line and hundreds of shunt LC resonators periodically loaded along the line for phase *** the variation of these capacitors and inductors can be detrimental to their high-frequency characteristics,the fabrication of a JTWPA typically necessitates precise processing *** guide the fabrication process and further improve the design for manufacturability,it is necessary to understand how each electronic component affects the *** this paper,we use the harmonic balance method to conduct a comprehensive study on the impact of nonuniformity and fabrication yield of the electronic components on the performance of a *** results provide insightful and scientific guidance for device design and fabrication processes.

关键词： Josephson traveling wave parametric amplifier(JTWPA) harmonic balance method yields uniformity

Bifunctional passivation by lewis-base molecules for efficient printable mesoscopic perovskite solar cells

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Journal of Energy Chemistry 2024年第9期96卷 177-184页

作者： Hang Yang Jianhong Zhao Xiaodong Ren Tong Zhou Henbing Zhang Weilong Zhang Jin Zhang Guangzhi Hu Yuming Zhang Wen-Hua Zhang Qingju Liu Yunnan Key Laboratory for micro/nano Materials & Technology National Center for International Research on Photoelectric and Energy Materials School of Materials and Energy Yunnan UniversityKunming 650091YunnanChina institute for Ecological Research and Pollution control of Plateau Lakes School of Ecology and Environmental Science Yunnan UniversityKunming 650091YunnanChina

Printable mesoscopic perovskite solar cells(PM-PSCs)possess notable merits in terms of cost-effectiveness,easy manufacturing,and large scale ***,the absence of a hole transport layer contributes to the exacerbation of carrier recombination,and the defects between the perovskite and electron transport layer(ETL)interfaces significantly decrease the efficiency of the *** this study,a bifunctional surface passivation approach is proposed by applying a thioacetamide(TAA)surfactant on the mesoporous TiO_(2)*** results demonstrate that TAA molecules could interact with TiO_(2),thereby diminishing the oxygen vacancy ***,the amino group and sulfur atoms in TAA molecules act as Lewis base to effectively passivate the uncoordinated Pb^(2+)in perovskite and improve the morphology of perovskite,and decrease the trap-state density of *** TAA passivation mechanism improves the alignment of energy levels between TiO_(2)and perovskite,facilitating electron transport and reducing carrier ***,the TAA-passivated device achieved a champion power conversion efficiency(PCE)of 17.86%with a high fill factor(FF)of 79.16%and an open-circuit voltage(V_(OC))of 0.971 *** investigation presents a feasible strategy for interfacial passivation of the ETL to further improve the efficiency of PM-PSCs.

关键词： Perovskite solarcells Carbon electrode Thioacetamide Interfacial passivation

Interface state-based bound states in continuum and below-continuum-resonance modes with high-Q factors in the rotational periodic system

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Chinese Physics B 2024年第8期33卷 288-293页

作者：杨嘉玲史奥芊彭宇宸彭鹏刘建军 Key Laboratory for micro/nano Optoelectronic Devices of Ministry of Education School of Physics and ElectronicsHunan UniversityChangsha 410082China Greater Bay Area institute for Innovation Hunan UniversityGuangzhou 511300China

We have introduced a new approach to calculate the orbital angular momentum(OAM)of bound states in continuum(BICs)and below-continuum-resonance(BCR)modes in the rotational periodic system nested inside and outside by transforming the Bloch wave number from the translational periodic *** extensively classify and study these BICs and BCR modes,which exhibit high-quality(high-Q)factors,in different regions relative to the interface of the *** BICs and BCR modes with a high-Q factor have been studied in detail based on distinctive structural parameters and scattering *** outcomes of this research break the periodic limitation of interface state-based BICs,and realize more and higher symmetry interface state-based BICs and BCR ***,we can control the region where light is captured by adjusting the frequency,and show that the Q factor of BICs is more closely related to the ordinal number of rings and the rotational symmetry number of the system.

关键词： bound states in the continuum below continuum resonance modes high-quality factors

Triboelectric nanogenerator integrated with a simple controlled switch for regularized water wave energy harvesting

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nano Research 2024年第8期17卷 7585-7592页

作者： Hongbo Yang Xi Liang Junwu Kan Zhong Lin Wang Tao Jiang Zhanyong Hong College of Engineering Zhejiang Normal UniversityJinhua 321004China Beijing Key Laboratory of micro-nano Energy and Sensor Center for High-Entropy Energy and SystemsBeijing Institute of Nanoenergy and NanosystemsChinese Academy of SciencesBeijing 101400China The Beijing Key Laboratory for nano-Photonics and nano-Structure Department of PhysicsCapital Normal UniversityBeijing 100048China Guangzhou institute of Blue Energy Guangzhou 510555China Georgia institute of Technology AtlantaGA 30332-0245USA Yonsei Frontier Lab Yonsei UniversitySeoul 03722Republic of Korea

Ocean is full of low-frequency,irregular,and widely distributed wave energy,which is suitable as the energy source for maritime Internet of Things(IoTs).Utilizing triboelectric nanogenerators(TENGs)to harvest ocean wave energy and power sensors is proven to be an effective ***,in random ocean waves,the irregular electrical energy output by general TENGs restricts the *** present,achieving regularized water wave energy harvesting relies on rather complex mechanical structure designs,which is not conducive to *** this work,we proposed a novel mechanical controlled TENG(MCTENG)with a simple controlled switch to realize the regularization *** structural parameters of the MC-TENG are optimized,and the optimal output voltage,output current,and transferred charge respectively reach 1684.2 V,85.4μA,and 389.9 nC,generating a peak power density of 38.46 W·m^(−3)·Hz^(−1).Under real water wave environment,the output of the MC-TENG is regularized and keeps stable regardless of any wave ***,the potential applications of the MC-TENG are demonstrated in powering environmental temperature,humidity,and wind speed *** work renders a simple approach to achieve effective regularized ocean wave energy harvesting,promoting the TENG industrialization toward practical application of maritime IoTs.

关键词： water wave energy harvesting triboelectric nanogenerators random excitation mechanical control regular output

State estimation for delayed switched positive systems: delayed radius approach

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Science China(Information Sciences) 2024年第8期67卷 190-205页

作者： Weizhong CHEN Zhongyang FEI Xudong ZHAO Zheng-Guang WU School of Electronics and Information Xi'an Polytechnic University Research institute of Intelligent control and Systems Harbin Institute of Technology Key Laboratory of Intelligent control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology School of control Science and Engineering Dalian University of Technology State Key Laboratory of Industrial control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, an interval estimation scheme is developed for delayed switched positive systems（DSPS） with mode-dependent average dwell time switching. A lossless zonotopic estimation approach is proposed for the delayed intersection zonotope with the positive generator matrix. First, considering the existence of asynchronism between the system mode and the correction matrix mode, the mismatched intersection zonotope is constructed for DSPS to verify the consistency between the system model and ***, by utilizing the introduced radius definitions, the ?∞performance is addressed to optimize the size of delayed intersection zonotopes. Subsequently, we present a joint-design approach of switching signals and the mode-dependent correction matrix by constructing positive generator matrix-based delayed radius functions. Furthermore, guaranteed nonnegative state bounds are derived for the considered DSPS based on the proposed lossless zonotopic estimation criteria. Finally, detailed simulations are conducted to validate the feasibility and superiority of the developed methods.

关键词： delayed switched positive systems interval estimation asynchronous correction matrix zonotopes mode-dependent average dwell time

Prescribed-time leader-following consensus of linear multi-agent systems by bounded linear time-varying protocols

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Science China(Information Sciences) 2024年第1期67卷 140-153页

作者： Kai ZHANG Bin ZHOU Xuefei YANG Guangren DUAN Center for control Theory and Guidance Technology Harbin Institute of Technology

This paper considers the prescribed-time leader-following consensus problem of input-constrained linear multi-agent systems under generally directed communication topology in two cases:the Laplacian matrix related to the entire communication topology between agents is either known or *** particular,the consensus problem for the former case is solved by a novel bounded linear time-varying(LTV) protocol,where the feedback gain is formulated by the parametric Lyapunov equation and the knowledge of the Laplacian ***,by utilizing a distributed observer,a fully bounded LTV protocol is proposed for the latter *** should be noted that,compared with the existing results,the system under consideration is more general,the designed protocols are linear,and the consensus problem is accomplished even in a fully distributed ***,the effectiveness of the proposed approach is verified by a numerical example.

关键词： leader-following consensus time-vary feedback prescribed-time control fully distributed consensus

Prescribed time control based on the periodic delayed sliding mode surface without singularities

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Science China(Information Sciences) 2024年第7期67卷 256-270页

作者： Bin ZHOU Yi DING Kang-Kang ZHANG Guang-Ren DUAN Center for control Theory and Guidance Technology Harbin Institute of Technology

In this paper, nonsingular prescribed-time control is studied based on periodic delayed sliding mode surfaces. Different from the existing sliding mode control, where either singularity problems may appear or the convergence time depends on the initial state, the proposed sliding mode control approaches can achieve prescribed-time convergence without singularity. The proposed nonsingular sliding mode control approaches can be applied to both second-order and high-order nonlinear systems with prescribed-time convergence. As applications of the proposed sliding mode control approaches, the control of hypersonic vehicle systems is revisited. Numerical simulations on the nonlinear model of the hypersonic vehicle system show the effectiveness of the proposed methods.

关键词： prescribed-time control smooth periodic delayed feedback sliding mode control high-order nonlinear systems hypersonic vehicle systems