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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Sun, Junbao Liu, Haopeng Li, Xu Feng, Haibo Fu, Yili Zhang, Songyuan Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964796

In order to make the robot have high dynamic motion ability, this paper uses the trajectory optimization method to plan the jumping motion trajectory of the humanoid robot quickly and effectively, and carries out the jumping motion experiment on the HIT-HU humanoid robot platform. In order to improve the solving speed of trajectory optimization problem, simplified centroid dynamics model and single rigid body model are established. Differential dynamic programming (DDP) based on the combination of the centroid dynamic model and the whole body joint kinematic model is used to solve the hopping trajectory optimization problem with high accuracy, and the external penalty function method is used to deal with the relevant constraints. In order to overcome the problem that the solver is sensitive to the initial point selection, a hierarchical trajectory optimization framework is proposed. The framework uses the direct collocation method based on the single rigid body model. The trajectory of the simplified model is used as the initial trajectory guess, and the differential dynamic programming method is introduced to solve the optimal trajectory of the whole joint. The differential dynamic programming algorithm using the direct method of warm start is about twice as fast as the method of manually given initial trajectory. The simulation and experimental verification of the vertical jump trajectories generated by the algorithm on the humanoid robot HIT-HU show that the jump trajectories generated by the algorithm can be effectively transformed into the motion trajectories of humanoid robots, and can be effectively executed on the physical prototype. This further verifies the effectiveness of the algorithm and plays an important role in practical application. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Anthropomorphic robots

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Design of A Rigid-soft Hybrid Robotic Glove with Force Sensing Function

Design of A Rigid-soft Hybrid Robotic Glove with Force Sensi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hexin Li Li Jiang Ruichen Zhen Ming Cheng Kehan Ding State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Soft robotic gloves can not only provide timely, effective, safe and cheap rehabilitation training for patients with impaired movement function of hand, but also assist in completing daily grasping activities. However, most soft robotic gloves are completely composed of flexible structures. Although they have high flexibility and safety, there are problems such as poor fit and low output force. In order to solve these problems, this paper refers to the structure of the human hand and designs an articulated rigid-soft hybrid robotic glove, which combines the advantages of rigid robotic gloves and soft robotic gloves, and has high flexibility, high output force and good fit. In addition, soft robotic gloves generally lack the ability to sense the force between the human hand and the glove. Therefore, this paper designed an array flexible force sensor, and studied the structure, signal acquisition and preparation process of the sensor. Finally, a complete test platform was built to test the performance of the rigid-soft hybrid robotic glove with force sensing function. The test results show that the robotic glove has good fit and high output force, can effectively assist training and assist grasping, and can perceive the contact force.

关键词： Training Sensitivity Force Grasping Soft robotics Robot sensing systems Safety

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MEIC-global-CO_(2):A new global CO_(2)emission inventory with highly-resolved source category and sub-country information

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Science China Earth Sciences 2024年第2期67卷 450-465页

作者： Ruochong XU Dan TONG Qingyang XIAO Xinying QIN Cuihong CHEN Liu YAN Jing CHENG Can CUI Hanwen HU Wenyu LIU Xizhe YAN Huaxuan WANG Xiaodong LIU Guannan GENG Yu LEI Dabo GUAN Kebin HE Qiang ZHANG Department of Earth System Science Ministry of Education Key Laboratory for Earth System ModelingInstitute for Global Change StudiesTsinghua UniversityBeijing100084China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing100084China Chinese Academy of Environmental Planning Beijing100041China Institute for Carbon Neutrality Tsinghua UniversityBeijing100084China

CO_(2)emission inventory provides fundamental data for climate research and emission ***,most global CO_(2)emission inventories were developed with energy statistics from International Energy Agency(IEA)and were available at country level with limited source ***,as the first step toward a high-resolution and dynamic updated global CO_(2)emission database,we developed a data-driven approach to construct seamless and highly-resolved energy consumption data cubes for 208 countries/territories,797 sub-country administrative divisions in 29 countries,42 fuel types,and 52 sectors,with the fusion of activity data from 24 international statistics and 65 regional/local *** CO_(2)emissions from fossil fuel combustion and cement production in 1970–2021 were then estimated with highly-resolved source category(1,484 of total)and sub-country information(797 of total).Specifically,73%of global CO_(2)emissions in 2021 were estimated with sub-country information,providing considerably improved spatial resolution for global CO_(2)emission *** the support of detailed information,the dynamics of global CO_(2)emissions across sectors and fuel types were presented,representing the evolution of global economy and progress of climate *** differences of sectoral contribution were found across sub-country administrative divisions within a given country,revealing the uneven distribution of energy and economic structure among different *** estimates were generally consistent with existing databases at aggregated level for global total or large emitters,while large discrepancies were observed for middle and small *** database,named the Multiresolution Emission Inventory model for Climate and air pollution research(MEIC)is publicly available through http://*** with highly-resolved information and timely update,which provides an independent carbon emission accounting data source for climate rese

关键词： CO_(2)emissions Data-driven approach Highly-resolved source category Sub-country information

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Metabolomic profiles in a green alga (Raphidocelis subcapitata) following erythromycin treatment: ABC transporters and energy metabolism

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Journal of Environmental Sciences 2023年第2期124卷 591-601页

作者： Jiezhang Mo Zhihua Ma Shiwei Yan Napo KM Cheung Fangshe Yang Xiunan Yao Jiahua Guo Shaanxi Key Laboratory of Earth Surface System and Environmental Carrying Capacity College of Urban and Environmental SciencesNorthwest UniversityXi’an 710127China State Key Laboratory of Marine Pollution and Department of Chemistry City University of Hong KongKowloonHong KongChina

A recent study showed that erythromycin(ERY)exposure caused hormesis in a model alga(Raphidocelis subcapitata)where the growth was promoted at an environmentally realistic concentration(4μg/L)but inhibited at two higher concentrations(80 and 120μg/L),associated with opposite actions of certain signaling pathways(e.g.,xenobiotic metabolism,DNA replication).However,these transcriptional alterations remain to be investigated and verified at the metabolomic *** study uncovered metabolomic profiles and detailed toxic mechanisms of ERY in *** using *** analysis showed that metabolomic pathways including ABC transporters,fatty acid biosynthesis and purine metabolism were associated with growth promotion in algae treated with 4μg/L *** overcompensation was possibly activated by the low level of ERY in algae where more resources were reallocated to efficiently restore the temporary impairments,ultimately leading to the outperformance of *** contrast,algal growth inhibition in the 80 and 120μg/L ERY treatments was likely attributed to the dysfunction of metabolomic pathways related to ABC transporters,energy metabolism and metabolism of *** from binding of ERY to the 50S subunit of ribosomes to inhibit protein translation as in bacteria,the data presented here indicate that inhibition of protein translation and growth performance of algae by ERY may also result from the suppression of amino acid biosynthesis and aminoacyl-tRNA *** study provides novel insights into the dose-dependent toxicity of ERY on ***.

关键词： Hormesis Metabolome ABC transporters DNA replication Microalgae Macrolide antibiotic

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Macrocyclic peptides:up-and-coming weapons to combat antimicrobial resistance

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Signal Transduction and Targeted Therapy 2024年第5期9卷 1786-1787页

作者： Wen-Jing Wang Xiang-Min Dong Guo-Bo L Department of Biotherapy Cancer Center and State Key Laboratory of BiotherapyWest China HospitalSichuan UniversityChengduSichuanChina Key Laboratory of Drug Targeting and Drug Delivery System of Ministry of Education Department of Medicinal ChemistryWest China School of PharmacySichuan UniversityChengduSichuanChina

Recently,two companion papers published in Nature reported a first-in-class tethered macrocyclic peptide antibiotic targeting carbapenem-resistant ***(CRAB)and unveiled their unique antibacterial mechanism,which invol... 详细信息

关键词： outer macrocyclic Macrocyclic

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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios 7

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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7th International Conference on Automation, Control and Robots, ICACR 2023

作者： Li, Xu Fu, Yili Cheng, Zuolun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China

ISBN: (纸本)9798350302882

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints;as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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The hydrodynamics of self-rolling locomotion driven by the flexible pectoral fins of 3-D bionic dolphin

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Journal of Ocean Engineering and Science 2022年第1期7卷 29-40页

作者： Zhihan Li Dan Xia Xufeng Zhou Jiabo Cao Weishan Chen Xingsong Wang School of Mechanical Engineering Southeast UniversityNanjing 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The novel autonomous rolling performance is realized by the pair of pectoral fins of a three-dimensional(3-D)bionic dolphin in this paper numerically.3-D Navier-Stokes equations are employed to simulate the viscous fluid around the bionic *** effect of self-rolling manoeuvrability is ex-plored using the dynamic mesh technology and user-defined function(UDF).By varying the parameter ratios,the interaction of flexible pectoral fins is divided into two motion modes,amplitude differential and frequency differential *** the primary driving source,the differential motion of a pair of pec-toral fins can effectively provide the rolling torque,and the trajectory of the entire rolling process is approximately the clockwise *** results demonstrate that the rolling angular velocity and driving torque in the steady state can be improved by increasing parameter ratios,and the rolling efficiency can reach the maximum under the optimal parameter ***,different parameter ratios do not af-fect the rolling radius of the self-rolling *** evolution process around the pair of pectoral fins is shown by the flow structures in self-rolling swimming,reasonably revealing that self-rolling locomotion is produced by the pressure and wake vortices surrounding the pair of pectoral fins,and the wake struc-tures depend primarily on the variation of parameter *** properly turns out that the application of the pair of pectoral fins can realize the self-rolling performance through parameter differential modes.

关键词： Self-rolling dolphin Parameter differential mode Numerical simulation Hydrodynamic performance Flow structures

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Constrained future brightening of solar radiation and its implication for China's solar power

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National Science Review 2023年第1期10卷 154-165页

作者： Yanyi He Kun Yang Martin Wild Kaicun Wang Dan Tong Changkun Shao Tianjun Zhou Department of Earth System Science Ministry of Education Key Laboratory for Earth System Modeling Institute for Global Change Studies Tsinghua University National Tibetan Plateau Data Center State Key Laboratory of Tibetan Plateau Earth System and Resource Environment Institute of Tibetan Plateau Research Chinese Academy of Sciences Institute for Atmospheric and Climate Science ETH Zürich Sino-French Institute for Earth System Science College of Urban and Environmental Sciences Peking University State Key Laboratory of Numerical Modeling for Atmospheric Sciences and Geophysical Fluid Dynamics Institute of Atmospheric PhysicsChinese Academy of Sciences

As Earth's primary energy source,surface downward solar radiation（Rs） determines the solar power potential and usage for climate change *** projections of Rsbased on climate models have large uncertainties that interfere with the efficient deployment of solar energy to achieve China' s carbon-neutrality *** we assess 24 models in the latest Coupled Model Inter comparison Project Phase 6 with historical observations in China and find systematic biases in simulating historical Rsvalues likely due to model biases in cloud cover and clear-sky radiation,resulting in largely uncertain projections for future changes in Based on emergent constraints,we obtain credible Rswith narrowed uncertainties by ～56% in the mid-twenty-first century and show that the mean Rschange during 2050-2069 relative to 1995-2014 is 30% more brightening than the raw *** in North China and Southeast China with higher power demand,the constrained projections present more significant brightening,highlighting the importance of considering the spatial changes in future Rswhen locating new solar energy infrastructures.

关键词： surface downward solar radiation CMIP6 model emergent constraint future change solar energy

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Analysis and Suppression of Voltage Overshoot in Symmetrical Hybrid Five-level Converter 10

Analysis and Suppression of Voltage Overshoot in Symmetrical...

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10th IEEE International Power Electronics and Motion Control Conference, IPEMC 2024 ECCE Asia

作者： Liu, Nianzhou Zhang, Mingqi Pang, Jupeng Xie, Pengfei Qiu, Changqing Wang, Kui Li, Yongdong State Key Laboratory of Electromagnetic Energy Wuhan430064 China Tsinghua University State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Beijing100084 China

ISBN: (纸本)9798350351330

This paper analyzes the device voltage overshoot in the symmetrical hybrid five-level converter. Owing to the presence of stray inductance, the voltage that the power devices need to withstand during switching operations may exceed their rated values. To address this issue, a device voltage overshoot suppression method suitable for the topology is proposed in this paper. This method suppresses SiC MOSFET voltage overshoot through adjustment of switching speed and the utilization of snubber capacitance, and it employs the design of RC and dual-RCD snubber circuits to suppress Si IGBT voltage overshoot. Simulation and experimental results certificate the effectiveness of the proposed method in suppressing device voltage overshoot. © 2024 IEEE.

关键词： Capacitance

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General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model

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Frontiers of Mechanical Engineering 2022年第2期17卷 85-101页

作者： Tao SONG Bo PAN Guojun NIU Jiawen YAN Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China

The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblems based on the product of exponential model. However, the simple combination of subproblems cannot solve all the inverse kinematics problems, and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship. The novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper. The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems. The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship. The inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics. Huaque III minimally invasive surgical robot is used as the experimental platform for the simulation, and a master–slave tracking experiment is conducted to verify the NAG methods. The simulation result shows the inverse solutions and six sets given joint angles are consistent. Additionally, the mean and maximum of the master–slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm, respectively, while the mean and maximum of the master–slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm, respectively. The experiments results demonstrate that the closed-form solution is superior to the compensation method. The results verify the proposed general closed-form inverse kinematics based on the NAG methods.

关键词： inverse kinematics Paden-Kahan subproblems three-joint subproblems product of exponential closed-form solution

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