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Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU State key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator Redundant manipulator Kinematics Singularity analysis Singularity avoidance

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In situ formed Mg(BH_(4))_(2) for improving hydrolysis properties of MgH_(2)

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Journal of Magnesium and Alloys 2024年第3期12卷 1204-1214页

作者： Yongyang Zhu Mili Liu liming Zeng Yin Wang Daifeng Wu Rui Li Qing Zhou Renheng Tang Fangming Xiao Institute of Resources Utilization and Rare Earth Development Guangdong Provincial Key Laboratory of Rare Earth Development and ApplicationGuangdong Academy of SciencesGuangzhou 510650China School of Materials Science and Engineering Guangdong Provincial Key Laboratory of Advanced Energy Storage MaterialsSouth China University of TechnologyGuangzhou 510641China

The hydrolysis of MgH_(2) delivers high hydrogen capacity(15.2 wt%),which is very attractive for real-time hydrogen ***,the formation of a surface passivation Mg(OH)_(2) layer and the large excess of H_(2)O required to ensure complete hydrolysis are two key challenges for the MgH_(2) hydrolysis ***,a low-cost method is reported to synthesize MgH_(2)@Mg(BH_(4))_(2) composite via ball-milling MgH_(2) with cheap and widely available B_(2)O_(3)(or B(OH)_(3)).By adding small amounts of B_(2)O_(3),the in-situ formed Mg(BH_(4))_(2) could significantly promote the hydrolysis of MgH_(2).In particular,the MgH_(2)–10 wt%B_(2)O_(3) composite releases 1330.7 mL·g^(−1) H_(2)(close to 80%theoretical hydrogen generation H_(2))in H_(2)O and 1520.4 mL·g^(−1) H_(2)(about 95%)in 0.5 M MgCl_(2) in 60 min at 26℃ with hydrolysis rate of 736.9 mL·g^(−1)·min^(−1) and 960.9 mL·g^(−1)·min^(−1) H_(2) during the first minute of the hydrolysis,*** addition,the MgCl_(2) solution allows repeated use by filtering and exhibits high cycle stability(20 cycles),therefore leading to much reduced capacity loss caused by the excess H_(2)*** show that by introducing B_(2)O_(3) and recycling the 0.5 M MgCl_(2) solution,the system hydrogen capacity can approach 5.9 wt%,providing a promising hydrogen generation scheme to supply hydrogen to the fuel cells.

关键词： Hydrolysis MgH_(2) Mg(BH_(4))_(2) Hydrogen generation B_(2)O_(3) MgCl_(2)

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Novel CoP/CoMoP_(2) heterojunction with nanoporous structure as an efficient electrocatalyst for hydrogen evolution

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Nano Research 2024年第5期17卷 3693-3699页

作者： Lili Zhang Xinxing Shi Aijiao Xu Wenwu Zhong Jitang Zhang Shijie Shen Zhejiang provincial key laboratory for Cutting Tools Taizhou UniversityJiaojiang 318000China

The exploration of new heterojunction materials is of great significance in reducing the cost of existing noble metal catalysts and thus realizing the large-scale application of electrocatalytic hydrolysis ***,a novel CoP/CoMoP_(2) heterojunction was synthesized and served as a hydrogen evolution reaction(HER)*** heterojunction has morphology of nanoporous structure,which is conducive to exposing more active sites and facilitating bubbles *** charge distribution is optimized by a strong interface interaction between CoP and CoMoP_(2).The catalyst’s conductivity and the adsorption properties of the intermediates have both been ***/CoMoP_(2) demonstrates excellent HER activity with an overpotential of 93.6 mV at 10 mA∙cm^(-2),which is competitive with the reported performance of analogous *** work provides insights into the development of innovative phosphide-based heterojunction electrocatalysts.

关键词： nanoporous CoP CoMoP_(2) heterojunction hydrogen evolution reaction

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Methane activation by[LnO]^(+):the 4f orbital matters

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Science China Chemistry 2024年第1期67卷 330-335页

作者： Bowei Yuan Jingxiang Zou Mincheng Yu Shaodong Zhou College of Chemical and Biological Engineering Zhejiang Provincial Key Laboratory of Advanced Chemical Engineering Manufacture TechnologyZhejiang UniversityHangzhou 310027China Zhejiang provincial Innovation Center of advanced Chemicals Technology Institute of Zhejiang University–QuzhouQuzhou 324000China laboratory for Sciences and Technologies of Energy Materials of Fujian Province(IKKEM) Xiamen 361005China

Gas-phase reactions of[LnO]^(+)with methane have been studied by using inductively coupled plasma-mass spectrometer(ICP-MS)combined with quantum chemical *** indicate that the[LnO]^(+)(Ln=Sm-Lu)ions are able to activate methane to generate methyl *** particular,[EuO]^(+)and[YbO]^(+)exhibit the highest ***,ab initio computations reveal a novel HAT process operating in the absence of a terminal oxygen radical,as mediated by[EuO]^(+)and[YbO]^(+).Such a process diverges from previous findings on the methane activation by metal oxide clusters,not only on the electronic pattern during the course of hydrogen transfer,but also on the important role that 4f electrons *** associated electronic origins have been discussed,and the well-designed 4f electron occupation may turn to be a promising approach in constructing lanthanide involved catalysts.

关键词： lanthanide oxides methane activation 4f orbitals quantum chemical calculation ion-molecule reaction

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Sub-nanosized vanadate hybrid clusters maintain glucose homeostasis and restore treatment response in inflammatory disease in obese mice

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Nano Research 2024年第3期17卷 1818-1826页

作者： Kun Chen Shengqiu Liu Yujun Wei South China advanced Institute for Soft Matter Science and Technology School of Emergent Soft MatterSouth China University of TechnologyGuangzhou 510641China Guangdong provincial key laboratory of Technique and Equipment for Macromolecular advanced Manufacturing South China University of TechnologyGuangzhou 510641China Guangdong provincial key laboratory of Functional and Intelligent Hybrid Materials and Devices South China University of TechnologyGuangzhou 510641China

Obesity is closely related with insulin resistance and chronic ***,we report that unsaturated lipid-modified polyoxovanadates(ULPOVs)can restrict weight gain of diet-induced obese mice and improve their glycemic control and obesity-associated *** administration of the sub-nanosized ULPOVs at a low dosage for 7 weeks reduces the body weight and almost normalizes the blood glucose levels of obese mice fed on a high-fat *** treatment increases the activity of the nuclear receptor peroxisome proliferator-activated receptorγ(PPARγ)and reduces intestinal caloric intake,which may be the main reason for blood sugar and body weight *** addition to insulin-sensitizing,PPARγactivation induced by ULPOV treatment in obese mice with atopic dermatitis(AD)promotes the type 2 T helper(TH_(2))cell selective responses and therapeutic effects on immune dysregulation caused by *** data suggest sub-nanosized polyoxovanadate clusters as a class of potential candidates to relieve symptoms accompanied by diet-induced obesity.

关键词： polyoxovanadates lipid modification glucose homeostasis obesity inflammatory disease peroxisome proliferator-activated receptorγ(PPARγ)

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Distributed Harmonic Power Sharing with Voltage Distortion Suppression in Islanded Microgrids Considering Non-linear Loads

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 117-128页

作者： Guannan Lou Shanlin Li Wei Gu Quan Yang School of Electrical Engineering Southeast UniversityNanjingJiangsu 210096China the jiangsu provincial key laboratory of Smart Grid Technology and Equipment Southeast University Dongguan Power Supply Bureau of Guangdong Power Grid Company Guangdong 523000China

In contemporary power grids or microgrids,harmonic distortion has emerged as one of the critical power quality issues for utility power grids,which has escalated especially due to the high penetration of power-electronic-converter-interfaced distributed generation(DG).This paper first illustrates the prevalent dispute revolving around the harmonic power sharing and distortion restraint,and subsequently proposes a consensusbased framework that facilitates an accurate sharing of harmonics among multi-DGs connected in parallel,with an effective suppression of the output voltage *** with the majority of existing studies addressing the issue of voltage harmonics at the point of common coupling(PCC),our method primarily emphasizes on the output voltage distortion since the power quality requirement for certain local critical loads is often known to be *** the help of adaptive regulation,the overall distortion produced at the output terminals of DGs can be retained within an acceptable *** working principle of the proposed control method,which is not only easy to implement but also independent of model parameters,is further described in *** the small-signal dynamic model,the system stability and robustness are *** hardware-in-the-loop(HIL)simulations aid in determining the outcome of the proposed strategy in microgrid control.

关键词： Distributed generation droop control harmonic power sharing microgrid voltage distortion mitigation

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A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 526-540页

作者： Xin Shu Fenglei Ni Xinyang Fan Shuai Yang Changyuan Liu Baoxu Tu Yiwei Liu Hong Liu State key laboratory of robotics and System Harbin Institute of TechnologyHarbinChina

Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse ***,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is *** humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble ***,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered ***,this article elaborates on the reasoning behind the design choices,and outlines each ***,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

关键词： intelligent robots robotics

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Direct Conversion of Methane to Propylene

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Research 2024年第2期2023卷 463-472页

作者： Yunpeng Hou Yuxiang Lan Chao Qian Shaodong Zhou College of Chemical and Biological Engineering Zhejiang Provincial Key Laboratory of Advanced Chemical Engineering Manufacture TechnologyZhejiang University310027 HangzhouP.R.China Zhejiang provincial Innovation Center of advanced Chemicals Technology Institute of Zhejiang University-Quzhou324000 QuzhouP.R.China

Nonoxidative coupling of methane exhibits promising prospect in that it affords value-added hydrocarbons and hydrogen with high atom ***,challenge remains in direct,selective conversion of methane to more valuable hydrocarbons like *** current work presents a catalyst with well-dispersed Ta atoms anchored by graphitic C_(3)N_(4)-supported *** a catalyst is able to convert methane selectively to ethylene and propylene at a relatively low temperature(350℃).The conception of the active center and construction of the catalyst have been described,and the origins of the catalytic performance are discussed.

关键词： methane catalyst hydrocarbons

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Spectral programmable mid-infrared optical parametric oscillator

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Photonics Research 2024年第8期12卷 1593-1603页

作者： JUNRUI LIANG JIANGMING XU YANZHAO KE SICHENG LI JUNHONG HE YIDONG GUO YANG ZHANG XIAOYA MA JUN YE XIAO LI JINYONG LENG PU ZHOU College of advanced Disciplinary Studies National University of Defense Technology Nanhu Laser laboratory National University of Defense Technology Hunan provincial key laboratory of High Energy Laser Technology National University of Defense Technology

A spectral programmable, continuous-wave mid-infrared(MIR) optical parametric oscillator(OPO), enabled by a self-developed high-power spectral tailorable fiber laser, was proposed and realized. While operating at a singlewavelength, the maximum idler power reached 5.53 W at 3028 nm, with a corresponding pump-to-idler conversion efficiency of 14.7%. The wavelength number switchable output was available from one to three. The single idler was tunable in a range of 528 nm(2852–3380 nm). In a dual-wavelength operation, the interval between two idlers could be flexibly tuned for 470 nm(53–523 nm), and the intensity of each channel was controllable. Triplewavelength idler emission was realized, meanwhile exhibiting spectral custom-tailored ***, we balanced the parametric gain through the pre-modulating broadband multi-peak pump spectra,enabling a 10 d B bandwidth adjustment of the idler emission from 20 to 125 nm. This versatile mid-infrared laser,simultaneously featuring wide tuning, multi-wavelength operation, and broad bandwidth manipulation, has great application potential in composition detection, terahertz generation, and speckle-free imaging.

关键词： Diode lasers Fiber lasers Fourier transform spectroscopy Periodically poled lithium niobate Spectral properties Tunable lasers

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Novel medium entropy perovskite oxide Sr(FeCoNiMo)_(1/4)O_(3−δ)for zinc-air battery cathode

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Journal of Energy Chemistry 2024年第9期96卷 669-678页

作者： Kaixin Li Juntao Gao Xu Han Qi Shao Zhe Lü School of Physics Harbin Institute of TechnologyHarbin 150001HeilongjiangChina Heilongjiang provincial key laboratory of advanced Quantum Functional Materials and Sensor Components Harbin 150001HeilongjiangChina

It is widely recognized that the development of ZABs is impeded by the kinetic bottleneck of oxygen evolution reaction(OER)and oxygen reduction reaction(ORR).The application of conformational entropy strategy to oxides often involves introducing multiple elements with different properties,thereby providing outstanding bifunctional catalytic activity for OER/***,the possible underlying catalytic pathways and potential interactions between various components are still poorly *** paper presents an excellent medium-entropy perovskite oxide,Sr(FeCoNiMo)_(1/4)O_(3−δ)(lower overpotential of 301 mV at 10 mA cm^(−2)).Zinc-air batteries employing it as a cathode catalyst demonstrate excellent round-trip efficiency(62%).By combining theoretical calculation with experiments,we aim to establish the link between the electronic structure of perovskite oxides with different elemental compositions and their OER *** reveals that the conformational entropy strategy can simultaneously shift the O 2p-band center and metal d-band center of perovskite oxide towards the vicinity of the Fermi energy level,thereby triggering a more favorable lattice oxygen-participated mechanism(LOM)during the OER *** outcomes of this work provide crucial insights into the role of conformational entropy strategies in oxygen catalysis and offer potential avenues for constructing efficient and stable electrocatalysts.

关键词： Sr(FeCoNiMo)_(1/4)O_(3−δ) Bifunctional catalyst Medium entropy LOM Rechargeable zinc-air batteries

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