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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Xiaodong Zhang, Yu Lin, Yuye Mo, Jiaxuan Zhao, JiKang Beijing Aerospace Automatic Control Institute Beijing China China Academy of Launch Vehicle Technology System Engineering Department Beijing China

ISBN: (纸本)9781665465335

Be directed against the characteristics with respect to faster change of aircraft parameters, higher uncertainty and stronger channel coupling, a robust adaptive design method of aircraft attitude controller is proposed. According to the attitude motion equations during unpowered flight, a nonlinear design model facing for attitude control is first established. Then, according to the as-built design model, a robust dynamic inversion control method based on adaptive multi-variable linear extended state observer is proposed, and it is applied to the design of aircraft full-channel attitude controller through dynamic surface control theory. At the same time, a fuzzy parameter adjustment strategy is proposed to adjust the gain coefficient real-timely along with the margin of the present control ability, which can ensure the matching relationship between control parameters and control ability. Through the analysis on the simulation results, in comparison with one conventional controller, the controller proposed in this research ensures that the aircraft can track the attitude angle command faster and more accurately, and it has strong robust characteristics against time-varying uncertainty. © 2022 IEEE.

关键词： controllers

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Development of a Bio-inspired Tailless FWMAV with High-Frequency Flapping Wings Trajectory Tracking control

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Journal of Bionic engineering 2024年第5期21卷 2145-2166页

作者： Qingcheng Guo Chaofeng Wu Yichen Zhang Feng Cui Wu Liu Xiaosheng Wu Junguo Lu National Key Laboratory of Advanced Micro and Nano Manufacture Technology Shanghai Jiao Tong UniversityShanghai200240China Department of Micro/Nano Electronics School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai200240China Department of Automation Shanghai Jiao Tong UniversityShanghai200240China The Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China

The development of a tailless Flapping Wing Micro Aerial vehicle(FWMAV)inspired by the hummingbird is presented in this *** implementing mechanical simplifications,it is possible to use planar machining technology for manufacturing of the FWMAV’s body,greatly reducing assembly ***,studies on flapping wing aircraft are limited to open-loop wing kinematics *** this work,an instantaneous closed-loop wing trajectory tracking control system is introduced to minimize wings’trajectory tracking *** control system is based on Field-Oriented control(FOC)with a loop shaping compensation technique near the flapping *** frequency analysis,the loop shaping compensator ensures the satisfactory bandwidth and performance for the closed-loop flapping *** implement the proposed controller,a compact autopilot board integrated with FOC hardware is designed,weighing only 2.5 *** utilizing precise wing trajectory tracking control,the hummingbird-inspired FWMAV demonstrates superior ability to resist external disturbances and exhibits reduced attitude tracking errors during hovering flight compared to the open-loop wing motion.

关键词： Flapping Wing Micro Aerial vehicle(FWMAV) Bio-inspired robotics Trajectory control Loop shaping compensator Field-Oriented control(FOC)

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Mn-based MXene with high lithium-ion storage capacity

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Nano Research 2024年第5期17卷 4181-4191页

作者： Yanyan Wu Dongqing Liu Xiaonan Wang Usman Ghani Muhammad Asim Mushtaq Jinfeng Yang Huarui Sun Panagiotis Tsiakaras Xingke Cai School of Science and Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System Harbin Institute of Technology ShenzhenShenzhen 5180552 China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Institute for Advanced Study Shenzhen UniversityShenzhen 518060China College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Laboratory of Alternative Energy Conversion Systems Department of Mechanical EngineeringSchool of EngineeringUniversity of ThessalyPedion Areos 38834Greece

3d-transition metal(Fe,Co,Ni,and Mn)-based MXene materials have been predicted to demonstrate exceptional electrochemical performance because of their good electrical conductivity and the presence of metallic atoms with multiple charge ***,until now,there have been no reports on MXenes based on Fe,Co,Ni,and Mn,due to the lack of 3d-metal-layered ***,we successfully synthesized the first 3d-transition metal-based MXenes,Mn_(2)CT_(x) by exfoliating a layered precursor derived from the anti-perovskite bulk *** as-prepared Mn_(2)CT_(x) MXene nanosheets were employed as anode materials in lithium-ion batteries,which exhibited stable storage capacity of 764.7 mAh·g^(-1) at 0.5 C,placing its storage capacities at an upper-middle level compared with other reported MXene materials as well as other Mn-based anode ***,this study opens a new avenue for MXene research by synthesizing 3d-transition metal-based MXenes for electrochemical applications.

关键词： Mn_(3)GaC Mn_(2)CT_(x) MXenes lithium-ion battery anode materials negative fading capacity

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Research on workflow recognition for liver rupture repair surgery

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Mathematical Biosciences and engineering 2024年第2期21卷 1844-1856页

作者： Men, Yutao Zhao, Zixian Chen, Wei Wu, Hang Zhang, Guang Luo, Feng Yu, Ming Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Medical Support Technology Research Department Systems Engineering Institute Academy of Military Sciences People’s Liberation Army Tianjin300161 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

Liver rupture repair surgery serves as one tool to treat liver rupture, especially beneficial for cases of mild liver rupture hemorrhage. Liver rupture can catalyze critical conditions such as hemorrhage and shock. Surgical workflow recognition in liver rupture repair surgery videos presents a significant task aimed at reducing surgical mistakes and enhancing the quality of surgeries conducted by surgeons. A liver rupture repair simulation surgical dataset is proposed in this paper which consists of 45 videos collaboratively completed by nine surgeons. Furthermore, an end-to-end SA-RLNet, a self attention-based recurrent convolutional neural network, is introduced in this paper. The self-attention mechanism is used to automatically identify the importance of input features in various instances and associate the relationships between input features. The accuracy of the surgical phase classification of the SA-RLNet approach is 90.6%. The present study demonstrates that the SA-RLNet approach shows strong generalization capabilities on the dataset. SA-RLNet has proved to be advantageous in capturing subtle variations between surgical phases. The application of surgical workflow recognition has promising feasibility in liver rupture repair surgery. ©2024 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons.

关键词： Image classification

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Design and Analysis of a Multi-Legged Robot with Pitch Adjustive Units

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Chinese Journal of Mechanical engineering 2021年第3期34卷 226-242页

作者： Qiang Ruan Jianxu Wu Yan-an Yao Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijing 100044China Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China

The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle *** only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex *** leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting *** pitch adjustment in leg unit requires as few independent adjusting actuators as *** on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and *** configuration of the robot is designed to obtain a compact structure and pragmatic *** uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are *** the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried *** results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.

关键词： Mechanical leg Multi-legged robot Obstacle surmounting Adjustive pitch Leg unit

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3D bioprinting of in vitro porous hepatoma models:establishment,evaluation,and anticancer drug testing

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Bio-Design and Manufacturing 2024年第2期7卷 137-152页

作者： Xiaoyuan Wang Zixian Liu Qianqian Duan Boye Zhang Yanyan Cao Zhizhong Shen Meng Li Yanfeng Xi Jianming Wang Shengbo Sang Shanxi Key Laboratory of Micro Nano Sensors and Artificial Intelligence Perception College of Electronic Information and Optical EngineeringTaiyuan University of TechnologyTaiyuan 030024China Key Lab of Advanced Transducers and Intelligent Control System of the Ministry of Education Taiyuan University of TechnologyTaiyuan 030024China Shanxi Institute of 6D Artificial Intelligence Biomedical Science Taiyuan 030031China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030024China Department of Pathology Shanxi Provincial Cancer HospitalTaiyuan 030024China General Hospital of Taiyuan Iron and Steel Company Taiyuan 030809China

Traditional tumor models do not tend to accurately simulate tumor growth in vitro or enable personalized treatment and are particularly unable to discover more beneficial targeted *** address this,this study describes the use of threedimensional(3D)bioprinting technology to construct a 3D model with human hepatocarcinoma SMMC-7721 cells(3DP-7721)by combining gelatin methacrylate(GelMA)and poly(ethylene oxide)(PEO)as two immiscible aqueous phases to form a bioink and innovatively applying fluorescent carbon quantum dots for long-term tracking of *** GelMA(10%,mass fraction)and PEO(1.6%,mass fraction)hydrogel with 3:1 volume ratio offered distinct pore-forming characteristics,satisfactorymechanical properties,and biocompatibility for the creation of the 3DP-7721 *** analysis and quantitative real-time fluorescence polymerase chain reaction(PCR)were used to evaluate the biological properties of the *** with the two-dimensional culture cell model(2D-7721)and the 3D mixed culture cell model(3DM-7721),3DP-7721 significantly improved the proliferation of cells and expression of tumor-related proteins and ***,we evaluated the differences between the three culture models and the effectiveness of antitumor drugs in the three models and discovered that the efficacy of antitumor drugs varied because of significant differences in resistance proteins and genes between the three *** addition,the comparison of tumor formation in the three models found that the cells cultured by the 3DP-7721 model had strong tumorigenicity in nude *** evaluation of the levels of biochemical indicators related to the formation of solid tumors showed that the 3DP-7721 model group exhibited pathological characteristics of malignant tumors,the generated solid tumors were similar to actual tumors,and the deterioration was *** research therefore acts as a foundation for the application of 3DP-7721 models in drug devel

关键词： 3D bioprinting Hepatoma tumor models Drug screening Antitumor drug development

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An asymmetrically substituted dithieno[3,2-b:2',3'-d]pyrrole organic small-molecule hole-transporting material for high-performance perovskite solar cells

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Chinese Journal of Chemical engineering 2022年第5期35卷 51-57页

作者： Jingwen Jia Yue Zhang Liangsheng Duan Quanping Wu Yu Chen Song Xue Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China Tianjin Key Laboratory of Organic Solar Cells and Photochemical Conversion Department of Applied ChemistryTianjin University of TechnologyTianjin 300384China

Hole-transporting materials play a vital role in terms of the performance of perovskite solar cells(PSCs).The dithieno[3,2-b:2’,3’-d]pyrrole(DTP),an S,N-heterocyclic building block,has been proved to be desirable for molecular design of hole-transporting materials in *** developed an asymmetrically substituted DTP small-molecule(JW12)and a reference compound(JW11).The asymmetrical structure of JW12 leads to different absorption properties and electron *** device in a planar n-i-p architecture using JW12 shows a much higher PCE(18.07%)than that based on JW11(15.46%),which is also better than the device based on spiro-OMe TAD(17.47%).We hope our research can provide a new perspective in molecular design of organic HTMs for perovskite solar cells.

关键词： Hole-transporting materials DTP Perovskite Photovoltaic performance

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Structural Properties of Ions and Polyelectrolytes in Aqueous Solutions under External Electric Fields:The Sign Effect

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Chinese Journal of Polymer Science 2024年第9期42卷 1341-1352,I0007页

作者： Cheng-Jiang Lin Jun-Jun Wang Yuan Jiang Shu-Li Chen Hong-Fei Li Wen-Han Zhao Qing-Rong Huang Chang-Ru Rong Xiao-Zheng Duan State Key Laboratory of Polymer Physics and Chemistry Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun130022China School of Applied Chemistry and Engineering University of Science and Technology of ChinaHefei230026China National Key Laboratory of Advanced Vehicle Integration and Control China FAW Group Co.Ltd.Changchun130013China State Key Laboratory of Molecular Engineering of Polymers Department of Macromolecular ScienceFudan UniversityShanghai200438China Department of Food Science Rutgers University65 Dudley RoadNew BrunswickNew Jersey08901USA

We utilize molecular dynamics simulations to investigate the microstructures of ions and polyelectrolytes in aqueous solutions under external electric *** focusing on the multi-body interactions between ionic components and H_(2)O molecules,as well as their responses to the external electric fields,we clarify several nontrivial molecular features of the ionic and polyelectrolyte solutions,such as the solvations of cations and anions,clustering of the ions,and dispersions/aggregations of polyelectrolyte chains,as well as the corresponding responses of H_(2)O molecules in these *** simulations illustrate the variations in structures of ionic solutions caused by reversing the charge sign of the ions,and elucidate the disparity in structures between anionic and cationic polyelectrolyte solutions in the presence of the external electric *** work clarifies the mechanism for the alternations in complex multi-body interactions in aqueous solutions caused by the application electric field,which can contribute to the fundamental understanding of the physical and chemical natures of ion-containing and charged polymeric systems.

关键词： Polyelectrolyte Ions Aqueous solutions External electric fields Asymmetric dipole

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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Cyborg and Bionic systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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Microstructural evolution and its influence on mechanical and corrosion behaviors in a high-Al/Zn containing duplex Mg-Li alloy after friction stir processing

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Journal of Materials Science & Technology 2024年第17期184卷 245-255页

作者： Yixing Zhu Mengran Zhou Yingxin Geng Shun Zhang Tongzheng Xin Gaoqiang Chen Yifan Zhou Xiaoyu Zhou Ruizhi Wu Qingyu Shi State Key Laboratory of Clean and Efficient Turbomachinery Power Equipment Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China Key Laboratory for Advanced Materials Processing Technology Ministry of EducationBeijing 100084China Key Laboratory of Superlight Materials&Surface Technology(Ministry of Education) Harbin Engineering UniversityHarbin 150001China Key Laboratory of Solidification Control and Digital Preparation Technology(Liaoning Province) School of Materials Science and EngineeringDalian University of TechnologyDalian 116024China Beijing North Vehicle Group Corporation Beijing 100072China

Ultralight Mg-Li alloys offer promising applications across various ***-Li alloys enriched with Al and Zn hold theoretical potential for achieving excellent mechanical strength and corrosion ***,the structural and performance characteristics of such Mg-Li alloys,particularly after thermo-mechanical processing,remain inadequately explored and *** study investigated the mi-crostructural evolution of a Mg-9Li-5Al-4Zn alloy after friction stir processing and its consequent effects on the mechanical and corrosion *** grain size of the alloy was effectively refined and sta-bilized during friction stir processing at various heat *** yield strength of the alloy increased by 86.4%after friction stir processing under the highest heat input condition,which was attributed to fine grain strengthening,solid solution strengthening and dispersion ***,the alloy ex-perienced a slight decrease in elongation after the friction stir *** alloy subjected to friction stir processing with the highest heat input exhibited a minimal corrosion current density of 6.10×10^(−6) A/cm^(2),which was only 25%of the base *** enhanced anti-corrosion properties can be attributed to the dispersion and distribution of precipitated particles induced by friction stir processing,which hin-dered the micro-galvanic corrosion and promoted the generation of a compact surface film,leading to minimal and uniform *** investigation can be significant for understanding the metallurgical mechanisms and performance evolution of Mg-Li alloys during thermomechanical processes.

关键词： Mg-Li-Al-Zn alloy Friction stir processing Microstructure evolution Thermal-mechanical stability Corrosion behavior

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