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Synergistic control of soft robotic hands for human-like grasp postures

Science China(Technological Sciences) 2022年第3期65卷 553-568页

作者： ZHANG NingBin ZHAO Yi GU GuoYing ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Although significant advances in the design of soft robotic hands have been made to mimic the structure of the human hands,there are great challenges to control them for coordinated and human-like *** on the principle of postural synergies in the human hand,we present a synergistic approach for coordinated control of a soft robotic hand to replicate the human-like grasp *** this end,we firstly develop a kinematic model to describe the control variables and the various postures of the soft robotic *** on the postural synergies,we use the developed model and Principal Component Analysis(PCA)method to describe the various postures of the soft robotic hand in a low-dimensional space formed by the synergies of actuator ***,the coordinates of these synergies can be used as low-dimensional control inputs for the soft robotic hand with a higher-dimensional postural ***,we establish an experimental platform on a customized soft robotic hand with6 pneumatical actuators to verify the effectiveness of the *** results demonstrate that with only a 2-dimensional control input,the soft robotic hand can reliably replicate 30 grasp postures in the Feix taxonomy of the human hand.

关键词： soft robotic hand synergistic control human-like grasp postures principal component analysis pneumatic actuation

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Interactions Among Food systems,Climate Change,and Air Pollution:A Review

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工程（英文） 2025年第1期44卷 215-233页

作者： Chaopeng Hong Rui Zhong Mengyao Xu Peidong He Huibin Mo Yue Qin Danna Shi Xinlei Chen Kebin He Qiang Zhang Shenzhen Key Laboratory of Ecological Remediation and Carbon Sequestration Institute of Environment and EcologyShenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China Shenzhen Key Laboratory of Ecological Remediation and Carbon Sequestration Institute of Environment and EcologyShenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055China College of Environmental Sciences and Engineering Peking UniversityBeijing 100871China Institute of Data and Information Shenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System ScienceTsinghua UniversityBeijing 100084China

Food systems are deeply affected by climate change and air pollution,while being key contributors to these environmental *** the complex interactions among food systems,climate change,and air pollution is crucial for mitigating climate change,improving air quality,and promoting the sustainable development of food ***,the literature lacks a comprehensive review of these interactions,particularly in the current phase of rapid development in the *** address this gap,this study systematically reviews recent research on the impacts of climate change and air pollution on food systems,as well as the greenhouse gas and air pollutant emissions from agri-food systems and their contribution to global climate change and air *** addition,this study summarizes various strategies for mitigation and adaptation,including adjustments in agricultural practices and food supply *** changes in food systems are urgently needed to enhance adaptability and reduce *** review offers a critical overview of current research on the interactions among food systems,climate change,and air pollution and highlights future research directions to support the transition to sustainable food systems.

关键词： Food systems Climate change Air pollution Interactions systematic review

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A Modulation Scheme of CLLC Converters for Bidirectional Power Transfer with Reduced Switching Frequency Range

A Modulation Scheme of CLLC Converters for Bidirectional Pow...

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2024 IEEE Energy Conversion Congress and Exposition, ECCE 2024

作者： Wang, Leheng Chen, Huan Sun, Kai Tsinghua University State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Beijing China

ISBN: (纸本)9798350376067

CLLC converters are broadly used in battery energy storage systems (BESS), where the capabilities of bidirectional operation and voltage regulation are desired. In the existing bidirectional power transfer scheme, pulse frequency modulation (PFM) is used to realize the reciprocal gain of forward and backward directions. It leads to not only large frequency modulation range but also asymmetric transfer characteristics. In this paper, a novel modulation scheme of CLLC converters for bidirectional power transfer is proposed. In the proposed backward power transfer scheme, the driving signals of primary and secondary-side switches are aligned at the falling-edge, which brings about symmetrical characteristics as forward scheme. This symmetry further ensures the identical switching frequency in both directions, which simplifies parameter design, minimizes switching frequency range, and improves efficiency. A 10-kW prototype is built and the experimental results validate the effectiveness of the proposed scheme, offering potential for cost-effective and efficient applications. © 2024 IEEE.

关键词： Switching frequency

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Optimal Scheduling of Active-Reactive Power for PV-BES system Considering Voltage Support and Frequency Regulation 50

Optimal Scheduling of Active-Reactive Power for PV-BES Syste...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Zhang, Jiamei Sun, Kai Department of Electrical Engineering State Key Laboratory of Power System Operation and Control Tsinghua University Beijing China

ISBN: (纸本)9781665464543

The voltage support capability of renewable resources (RES) is emphasized by grid codes for stable and secure operation faced with grid faults. However, there is another problem occurs when the penetration of RES is boosting. The capability occupation due to injected power for voltage support leads to the decrease of output power for loads, which may result in frequency issues when the inertia of the system decreases. To guarantee the voltage and frequency security during fault ride through (FRT) process, this paper proposes an optimal scheduling scheme for PV-BES system considering voltage support and frequency regulation. In the optimal model, in order to map the voltage and frequency constraints into power constraints, the evaluation model of required injected power for voltage support is formulated firstly. Based on center of inertia theorem and time scale characteristics of FRT, the frequency deviation is represented by distributed generator (DG) adjustment. The voltage and frequency constraint are incorporated into the optimal scheduling model and the quasi-steady-state of the PV-BES system during FRT can be analyzed. The proposed method is fully tested, and the results demonstrate that with the proposed method, the voltage and frequency security can be well guaranteed. © 2024 IEEE.

关键词： Renewable energy

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Influence of Thermal Conductivity of Multi-scale Particles Epoxy Composites on High-Frequency Electrical Insulation Property 5

Influence of Thermal Conductivity of Multi-scale Particles E...

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5th IEEE International Conference on Dielectrics, ICD 2024

作者： Song, Yan-Hui Dang, Zhi-Min Tsinghua University State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Beijing China

ISBN: (纸本)9798350308976

Epoxy, with excellent electrical insulation properties, processing performance, and low price, is commonly used for transformers (110kV and below) and power electronic transformers (high-frequency transformers) as the primary insulating material. Since the thermal conductivity of epoxy resins is only 0.2 W/(m·K), the electrical insulation properties decline significantly at high frequency. Preparing epoxy composites with high thermal conductivity and excellent electrical insulation at high frequencies is a great challenge for industrial production. It is considered that SiO2 (9 eV), BN (5.9 eV), and Al2O3 (7.2-8.8 eV) are thermally conductive particles with good electrical insulation properties. The materials filled with different micron-scale particles have higher thermal conductivity than the nanofilled materials. In this study, 5 μm SiO2, 25 μm BN, and 40 μm Al2O3 were used as fillers, and the filler ratios were calculated according to the Dinger-Funk model, focusing on the effects of the variation of filler content on thermal conductivity and electrical insulation properties. The thermal conductivity of the epoxy composites improved with the increase of filler content up to 1.003 W/(m·K), while the AC breakdown field strength gradually decreased. However, the breakdown time at 20 kHz, 35 kV/mm bipolar square wave appeared to increase and then decrease with the increase of content. Therefore, the optimum content of fillers allows the preparation of efficient epoxy composites as insulating materials for power electronic transformers. This study provides ideas for designing thermally conductive composites operating at high frequency and high voltage fields. © 2024 IEEE.

关键词： epoxy resin high frequency bipolar square wave inorganic particle compounding thermal conductive electrical insulation

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25%-Efficiency flexible perovskite solar cells via controllable growth of SnO_(2)

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iEnergy 2024年第1期3卷 39-45页

作者： Ningyu Ren Liguo Tan Minghao Li Junjie Zhou Yiran Ye Boxin Jiao Liming Ding Chenyi Yi State Key Laboratory of Power System Operation and Control Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Center for Excellence in Nanoscience(CAS) Key Laboratory of Nanosystem and Hierarchical Fabrication(CAS)National Center for Nanoscience and TechnologyBeijing 100190China

High power conversion efficiency(PCE)flexible perovskite solar cells(FPSCs)are highly desired power sources for aerospace crafts and flexible ***,their PCEs still lag far behind their rigid ***,we report a high PCE FPSC by controllable growth of a SnO_(2)electron transport layer through constant pH chemical bath deposition(CBD).The application of SnSO_(4)as tin source enables us to perform CBD without strong acid,which in turn makes it applicable to acid-sensitive flexible indium tin ***,a mild and controllable growth environment leads to uniform particle growth and dense SnO_(2)deposition with full coverage and reproducibility,resulting in a record PCE of up to 25.09%(certified 24.90%)for FPSCs to *** as-fabricated FPSCs exhibited high durability,maintaining over 90% of their initial PCE after 10000 bending cycles.

关键词： Flexible perovskite solar cells chemical bath deposition SnO_(2) electron transport layer

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Attack-detection and multi-clock source cooperation-based accurate time synchronization for PLC-AIoT in smart parks

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Digital Communications and Networks 2024年第6期10卷 1732-1740页

作者： Zhigang Du Sunxuan Zhang Zijia Yao Zhenyu Zhou Muhammad Tariq State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China Electrical Engineering Department National University of Computer and Emerging SciencesIslamabad 44000Pakistan

Power Line Communications-Artificial Intelligence of Things(PLC-AIo T)combines the low cost and high coverage of PLC with the learning ability of Artificial Intelligence(AI)to provide data collection and transmission capabilities for PLC-AIo T devices in smart *** the development of smart parks,their emerging services require secure and accurate time synchronization of PLC-AIo T ***,the impact of attackers on the accuracy of time synchronization cannot be *** solve the aforementioned problems,we propose a tampering attack-aware Deep Q-Network(DQN)-based time synchronization ***,we construct an abnormal clock source detection ***,the abnormal clock source is detected and excluded by comparing the time synchronization information between the device and the ***,the proposed algorithm realizes the joint guarantee of high accuracy and low delay for PLC-AIo T in smart parks by intelligently selecting the multi-clock source cooperation strategy and timing *** results show that the proposed algorithm has better time synchronization delay and accuracy performance.

关键词： Smart park Power line communications Artificial intelligence of things Tampering attack awareness Abnormal clock source detection Multi-clock source cooperation

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S2H-GNN: Learning Soft to Hard Feature Matching with Sparsified Graph Neural Network

S2H-GNN: Learning Soft to Hard Feature Matching with Sparsif...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Xie, Tao Li, Ruifeng Jiang, Zhiqiang Dai, Kun Wang, Ke Zhao, Lijun Li, Shuozhan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150006 China -HIT Research Institute of Engineering and Technology Quanzhou China

ISBN: (纸本)9798350327182

In this work, we introduce a soft-to-hard network (S2H-GNN) for precise local feature matching between image pairs. The core of S2H-GNN is a weighted context aggregation algorithm that enables nodes to receive information from their neighbors in order to form a more global understanding. S2HGNN leverages a sparsified graph neural network to enhance the features, consisting of the following modules alternately: (1) Inducing Point Initial Module that uses cosine correlation to identify highly scored keypoints as Inducing points. (2) Message Passing Module that integrates the features of original keypoints into those of Inducing points, which are further leveraged to exchange messages through self attention and cross attention. (3) Attention Upsample Module that propagates the feature of Inducing points to that of original keypoints, obtaining discriminative feature representation. Additionally, we propose an assignment layer to obtain a soft assignment matrix, which views feature matching as a graphy matching problem. Finally, we introduce a novel gap loss to guide S2H-GNN in learning a discriminative cognition of matching and non-matching keypoints, ultimately obtaining the hard assignment matrix. Experimental results demonstrate that S2H-GNN achieves comparable or higher performance in image matching and homography estimation tasks. © 2023 IEEE.

关键词： Graph neural networks

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Triclosan toxicity in a model cyanobacterium (Anabaena flos-aquae): Growth, photosynthesis and transcriptomic response

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Journal of Environmental Sciences 2023年第5期127卷 82-90页

作者： Jiezhang Mo Linrong Han Runnan Lv Michael W.L.Chiang Rong Fan 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 Kong SARChina

Exposure to triclosan(TCS)has been reported to reduce photosynthetic pigments,suppress photosynthesis,and inhibit growth in both prokaryotic and eukaryotic algae including Anabaena flos-aquae(a model cyanobacterium).In particular,cyanobacteria are more sensitive to TCS toxicity compared to eukaryotic algae possibly due to the structural similarity to bacteria(target organisms);however,whether TCS exerts its toxicity to cyanobacteria by targeting signaling pathways of fatty acid biosynthesis as in bacteria remains virtually unknown,particularly at environmental exposure *** the complete genome sequence of ***-aquae presented in this study,the transcriptomic alterations and potential toxic mechanisms in ***-aquae under TCS stress were *** growth,pigments and photosynthetic activity of ***-aquae were markedly suppressed following a 7-day TCS exposure at 0.5μg/L but not 0.1μg/L(both concentrations applied are environmentally relevant).The transcriptomic sequencing analysis showed that signaling pathways,such as biofilm formation–Pseudomonas aeruginosa,two-component system,starch and sucrose metabolism,and photosynthesis were closely related to the TCS-induced growth inhibition in the 0.5μg/L TCS *** systems and potentially two-component system were identified to be sensitive targets of TCS toxicity in *** present study provides novel insights on TCS toxicity at the transcriptomic level in ***-aquae.

关键词： Genome Transcriptome Photosynthesis inhibition Two-component system Antimicrobial toxicity

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Causes of Winter Persistent Extreme Cold Events in Northeastern China

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Advances in Atmospheric Sciences 2025年第4期42卷 780-793页

作者： Ming YANG Qingjiu GAO Tim LI State Key Laboratory of Climate System Prediction and Risk Management/Key Laboratory of Meteorological Disaster Ministry of Education/Collaborative Innovation Center on Forecast and Evaluation of Meteorological DisastersNanjing University of Information Science and TechnologyNanjing 210044China Department of Atmospheric Sciences University of Hawaii at ManoaHonoluluHI 96822USA

Persistent(5-day or longer)extreme cold events(ECEs)over northeastern China during the boreal winter of 1979–2020 are investigated using daily minimum temperature(Tmin)from the China Meteorological Data *** extreme cooling area and intensity indices associated with the ECEs exhibit a dominant 10–40-day periodicity,indicating a close link with atmospheric intraseasonal oscillations(ISOs).The ECEs are categorized into W-and *** the former,the low-frequency cooling associated with the ISO first penetrates into the western boundary of the northeastern China domain and later occupies the entire domain at its peak *** upper-tropospheric circulation associated with this type is characterized by a northwest–southeast-oriented Rossby wave train,expanding from the Ural Mountains to the western Pacific *** the latter,the cooling invades the northern boundary first and then penetrates into the entire *** upper tropospheric precursory signal associated with this type is a zonally oriented negative geopotential height anomaly,which slowly moves southward.A downward-propagating signal is observed in the stratospheric potential vorticity field prior to the peak cooling,implying a possible stratospheric *** addition to the W-and N-types,ECEs can also occur in a localized region near either at the northern or southern boundary of the domain.

关键词： extreme cold events low-frequency ISO mode Rossby wave train composite analysis downward propagation potential vorticity

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